Iterative learning-based decentralized adaptive tracker for large-scale systems: a digital redesign approach.

PubMed

Tsai, Jason Sheng-Hong; Du, Yan-Yi; Huang, Pei-Hsiang; Guo, Shu-Mei; Shieh, Leang-San; Chen, Yuhua

2011-07-01

In this paper, a digital redesign methodology of the iterative learning-based decentralized adaptive tracker is proposed to improve the dynamic performance of sampled-data linear large-scale control systems consisting of N interconnected multi-input multi-output subsystems, so that the system output will follow any trajectory which may not be presented by the analytic reference model initially. To overcome the interference of each sub-system and simplify the controller design, the proposed model reference decentralized adaptive control scheme constructs a decoupled well-designed reference model first. Then, according to the well-designed model, this paper develops a digital decentralized adaptive tracker based on the optimal analog control and prediction-based digital redesign technique for the sampled-data large-scale coupling system. In order to enhance the tracking performance of the digital tracker at specified sampling instants, we apply the iterative learning control (ILC) to train the control input via continual learning. As a result, the proposed iterative learning-based decentralized adaptive tracker not only has robust closed-loop decoupled property but also possesses good tracking performance at both transient and steady state. Besides, evolutionary programming is applied to search for a good learning gain to speed up the learning process of ILC. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Minimal-Approximation-Based Decentralized Backstepping Control of Interconnected Time-Delay Systems.

PubMed

Choi, Yun Ho; Yoo, Sung Jin

2016-12-01

A decentralized adaptive backstepping control design using minimal function approximators is proposed for nonlinear large-scale systems with unknown unmatched time-varying delayed interactions and unknown backlash-like hysteresis nonlinearities. Compared with existing decentralized backstepping methods, the contribution of this paper is to design a simple local control law for each subsystem, consisting of an actual control with one adaptive function approximator, without requiring the use of multiple function approximators and regardless of the order of each subsystem. The virtual controllers for each subsystem are used as intermediate signals for designing a local actual control at the last step. For each subsystem, a lumped unknown function including the unknown nonlinear terms and the hysteresis nonlinearities is derived at the last step and is estimated by one function approximator. Thus, the proposed approach only uses one function approximator to implement each local controller, while existing decentralized backstepping control methods require the number of function approximators equal to the order of each subsystem and a calculation of virtual controllers to implement each local actual controller. The stability of the total controlled closed-loop system is analyzed using the Lyapunov stability theorem.

Decentralized control of large flexible structures by joint decoupling

NASA Technical Reports Server (NTRS)

Su, Tzu-Jeng; Juang, Jer-Nan

1992-01-01

A decentralized control design method is presented for large complex flexible structures by using the idea of joint decoupling. The derivation is based on a coupled substructure state-space model, which is obtained from enforcing conditions of interface compatibility and equilibrium to the substructure state-space models. It is shown that by restricting the control law to be localized state feedback and by setting the joint actuator input commands to decouple joint 'degrees of freedom' (dof) from interior dof, the global structure control design problem can be decomposed into several substructure control design problems. The substructure control gains and substructure observers are designed based on modified substructure state-space models. The controllers produced by the proposed method can operate successfully at the individual substructure level as well as at the global structure level. Therefore, not only control design but also control implementation is decentralized. Stability and performance requirement of the closed-loop system can be achieved by using any existing state feedback control design method. A two-component mass-spring damper system and a three-truss structure are used as examples to demonstrate the proposed method.

On the applicability of the decentralized control mechanism extracted from the true slime mold: a robotic case study with a serpentine robot.

PubMed

Sato, Takahide; Kano, Takeshi; Ishiguro, Akio

2011-06-01

A systematic method for an autonomous decentralized control system is still lacking, despite its appealing concept. In order to alleviate this, we focused on the amoeboid locomotion of the true slime mold, and extracted a design scheme for the decentralized control mechanism that leads to adaptive behavior for the entire system, based on the so-called discrepancy function. In this paper, we intensively investigate the universality of this design scheme by applying it to a different type of locomotion based on a 'synthetic approach'. As a first step, we implement this design scheme to the control of a real physical two-dimensional serpentine robot that exhibits slithering locomotion. The experimental results show that the robot exhibits adaptive behavior and responds to the environmental changes; it is also robust against malfunctions of the body segments due to the local sensory feedback control that is based on the discrepancy function. We expect the results to shed new light on the methodology of autonomous decentralized control systems.

Decentralized control experiments on the JPL flexible spacecraft

NASA Technical Reports Server (NTRS)

Ozguner, U.; Ossman, K.; Donne, J.; Boesch, M.; Ahmed, A.

1990-01-01

Decentralized control experiments were successfully demonstrated for the JPL/AFAL Flexible Structure. A simulation package using MATRIXx showed strong correlation between the simulations and experimental result, while providing a means for test and debug of the various control strategies. Implementation was simplified by a modular software design that was easily transported from the simulation environment to the experimental environment. Control designs worked well for suppression of the dominant modes of the structure. Static decentralized output feedback dampened the excited modes of the structure, but sometimes excited higher order modes upon startup of the controller. A second-order frequency shaping controller helped to eliminate excitation of the higher order modes by attenuating high frequencies in the control effort. However, it also resulted in slightly longer settling times.

Two controller design approaches for decentralized systems

NASA Technical Reports Server (NTRS)

Ozguner, U.; Khorrami, F.; Iftar, A.

1988-01-01

Two different philosophies for designing the controllers of decentralized systems are considered within a quadratic regulator framework which is generalized to admit decentralized frequency weighting. In the first approach, the total system model is examined, and the feedback strategy for each channel or subsystem is determined. In the second approach, separate, possibly overlapping, and uncoupled models are analyzed for each channel, and the results can be combined to study the original system. The two methods are applied to the example of a model of the NASA COFS Mast Flight System.

Real-Time Decentralized Neural Control via Backstepping for a Robotic Arm Powered by Industrial Servomotors.

PubMed

Vazquez, Luis A; Jurado, Francisco; Castaneda, Carlos E; Santibanez, Victor

2018-02-01

This paper presents a continuous-time decentralized neural control scheme for trajectory tracking of a two degrees of freedom direct drive vertical robotic arm. A decentralized recurrent high-order neural network (RHONN) structure is proposed to identify online, in a series-parallel configuration and using the filtered error learning law, the dynamics of the plant. Based on the RHONN subsystems, a local neural controller is derived via backstepping approach. The effectiveness of the decentralized neural controller is validated on a robotic arm platform, of our own design and unknown parameters, which uses industrial servomotors to drive the joints.

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

Application of Transfer Matrix Approach to Modeling and Decentralized Control of Lattice-Based Structures

NASA Technical Reports Server (NTRS)

Cramer, Nick; Swei, Sean Shan-Min; Cheung, Kenny; Teodorescu, Mircea

2015-01-01

This paper presents a modeling and control of aerostructure developed by lattice-based cellular materials/components. The proposed aerostructure concept leverages a building block strategy for lattice-based components which provide great adaptability to varying ight scenarios, the needs of which are essential for in- ight wing shaping control. A decentralized structural control design is proposed that utilizes discrete-time lumped mass transfer matrix method (DT-LM-TMM). The objective is to develop an e ective reduced order model through DT-LM-TMM that can be used to design a decentralized controller for the structural control of a wing. The proposed approach developed in this paper shows that, as far as the performance of overall structural system is concerned, the reduced order model can be as e ective as the full order model in designing an optimal stabilizing controller.

A discrete decentralized variable structure robotic controller

NASA Technical Reports Server (NTRS)

Tumeh, Zuheir S.

1989-01-01

A decentralized trajectory controller for robotic manipulators is designed and tested using a multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal model-based component and a correction component based on a variable structure suction control approach. The second control component is designed using bounds on the difference between the used and actual values of the model parameters. Since the continuous manipulator system is digitally controlled along a trajectory, a discretized equivalent model of the manipulator is used to derive the controller. The motivation for decentralized control is that the derived algorithms can be executed in parallel using a distributed, relatively inexpensive, architecture where each joint is assigned a microprocessor. Nonlinear interaction and coupling between joints is treated as a disturbance torque that is estimated and compensated for.

Partitioning of centralized integrated flight/propulsion control design for decentralized implementation

NASA Technical Reports Server (NTRS)

Garg, Sanjay

1993-01-01

The notion of partitioning a centralized controller into a decentralized, hierarchical structure suitable for integrated flight/propulsion control (IFPC) implementation is discussed. A systematic procedure is developed for determining partitioned airframe and engine subsystem controllers (subcontrollers), with the desired interconnection structure, that approximate the closed-loop performance and robustness characteristics of a given centralized controller. The procedure is demonstrated by application to IFPC design for a short take-off and vertical landing (STOVL) aircraft in the landing-approach-to-hover-transition flight phase.

Controllability analysis and decentralized control of a wet limestone flue gas desulfurization plant

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

Perales, A.L.V.; Ortiz, F.J.G.; Ollero, P.

2008-12-15

Presently, decentralized feedback control is the only control strategy used in wet limestone flue gas desulfurization (WLFGD) plants. Proper tuning of this control strategy is becoming an important issue in WLFGD plants because more stringent SO{sub 2} regulations have come into force recently. Controllability analysis is a highly valuable tool for proper design of control systems, but it has not been applied to WLFGD plants so far. In this paper a decentralized control strategy is designed and applied to a WLFGD pilot plant taking into account the conclusions of a controllability analysis. The results reveal that good SO{sub 2} controlmore » in WLFGD plants can be achieved mainly because the main disturbance of the process is well-aligned with the plant and interactions between control loops are beneficial to SO{sub 2} control.« less

Partially Decentralized Control Architectures for Satellite Formations

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell; Bauer, Frank H.

2002-01-01

In a partially decentralized control architecture, more than one but less than all nodes have supervisory capability. This paper describes an approach to choosing the number of supervisors in such au architecture, based on a reliability vs. cost trade. It also considers the implications of these results for the design of navigation systems for satellite formations that could be controlled with a partially decentralized architecture. Using an assumed cost model, analytic and simulation-based results indicate that it may be cheaper to achieve a given overall system reliability with a partially decentralized architecture containing only a few supervisors, than with either fully decentralized or purely centralized architectures. Nominally, the subset of supervisors may act as centralized estimation and control nodes for corresponding subsets of the remaining subordinate nodes, and act as decentralized estimation and control peers with respect to each other. However, in the context of partially decentralized satellite formation control, the absolute positions and velocities of each spacecraft are unique, so that correlations which make estimates using only local information suboptimal only occur through common biases and process noise. Covariance and monte-carlo analysis of a simplified system show that this lack of correlation may allow simplification of the local estimators while preserving the global optimality of the maneuvers commanded by the supervisors.

Decentralized control of sound radiation using iterative loop recovery.

PubMed

Schiller, Noah H; Cabell, Randolph H; Fuller, Chris R

2010-10-01

A decentralized model-based control strategy is designed to reduce low-frequency sound radiation from periodically stiffened panels. While decentralized control systems tend to be scalable, performance can be limited due to modeling error introduced by the unmodeled interaction between neighboring control units. Since bounds on modeling error are not known in advance, it is difficult to ensure the decentralized control system will be robust without making the controller overly conservative. Therefore an iterative approach is suggested, which utilizes frequency-shaped loop recovery. The approach accounts for modeling error introduced by neighboring control loops, requires no communication between subsystems, and is relatively simple. The control strategy is evaluated numerically using a model of a stiffened aluminum panel that is representative of the sidewall of an aircraft. Simulations demonstrate that the iterative approach can achieve significant reductions in radiated sound power from the stiffened panel without destabilizing neighboring control units.

Decentralized Control of Sound Radiation Using Iterative Loop Recovery

NASA Technical Reports Server (NTRS)

Schiller, Noah H.; Cabell, Randolph H.; Fuller, Chris R.

2009-01-01

A decentralized model-based control strategy is designed to reduce low-frequency sound radiation from periodically stiffened panels. While decentralized control systems tend to be scalable, performance can be limited due to modeling error introduced by the unmodeled interaction between neighboring control units. Since bounds on modeling error are not known in advance, it is difficult to ensure the decentralized control system will be robust without making the controller overly conservative. Therefore an iterative approach is suggested, which utilizes frequency-shaped loop recovery. The approach accounts for modeling error introduced by neighboring control loops, requires no communication between subsystems, and is relatively simple. The control strategy is evaluated numerically using a model of a stiffened aluminum panel that is representative of the sidewall of an aircraft. Simulations demonstrate that the iterative approach can achieve significant reductions in radiated sound power from the stiffened panel without destabilizing neighboring control units.

Optimal decentralized feedback control for a truss structure

NASA Technical Reports Server (NTRS)

Cagle, A.; Ozguner, U.

1989-01-01

One approach to the decentralized control of large flexible space structures involves the design of controllers for the substructures of large systems and their subsequent application to the entire coupled system. This approach is presently developed for the case of active vibration damping on an experimental large struss structure. The isolated boundary loading method is used to define component models by FEM; component controllers are designed using an interlocking control concept which minimizes the motion of the boundary nodes, thereby reducing the exchange of mechanical disturbances among components.

A distributed finite-element modeling and control approach for large flexible structures

NASA Technical Reports Server (NTRS)

Young, K. D.

1989-01-01

An unconventional framework is described for the design of decentralized controllers for large flexible structures. In contrast to conventional control system design practice which begins with a model of the open loop plant, the controlled plant is assembled from controlled components in which the modeling phase and the control design phase are integrated at the component level. The developed framework is called controlled component synthesis (CCS) to reflect that it is motivated by the well developed Component Mode Synthesis (CMS) methods which were demonstrated to be effective for solving large complex structural analysis problems for almost three decades. The design philosophy behind CCS is also closely related to that of the subsystem decomposition approach in decentralized control.

Fully decentralized estimation and control for a modular wheeled mobile robot

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

Mutambara, A.G.O.; Durrant-Whyte, H.F.

2000-06-01

In this paper, the problem of fully decentralized data fusion and control for a modular wheeled mobile robot (WMR) is addressed. This is a vehicle system with nonlinear kinematics, distributed multiple sensors, and nonlinear sensor models. The problem is solved by applying fully decentralized estimation and control algorithms based on the extended information filter. This is achieved by deriving a modular, decentralized kinematic model by using plane motion kinematics to obtain the forward and inverse kinematics for a generalized simple wheeled vehicle. This model is then used in the decentralized estimation and control algorithms. WMR estimation and control is thusmore » obtained locally using reduced order models with reduced communication of information between nodes is carried out after every measurement (full rate communication), the estimates and control signals obtained at each node are equivalent to those obtained by a corresponding centralized system. Transputer architecture is used as the basis for hardware and software design as it supports the extensive communication and concurrency requirements that characterize modular and decentralized systems. The advantages of a modular WMR vehicle include scalability, application flexibility, low prototyping costs, and high reliability.« less

Feasibility of Decentralized Linear-Quadratic-Gaussian Control of Autonomous Distributed Spacecraft

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

1999-01-01

A distributed satellite formation, modeled as an arbitrary number of fully connected nodes in a network, could be controlled using a decentralized controller framework that distributes operations in parallel over the network. For such problems, a solution that minimizes data transmission requirements, in the context of linear-quadratic-Gaussian (LQG) control theory, was given by Speyer. This approach is advantageous because it is non-hierarchical, detected failures gracefully degrade system performance, fewer local computations are required than for a centralized controller, and it is optimal with respect to the standard LQG cost function. Disadvantages of the approach are the need for a fully connected communications network, the total operations performed over all the nodes are greater than for a centralized controller, and the approach is formulated for linear time-invariant systems. To investigate the feasibility of the decentralized approach to satellite formation flying, a simple centralized LQG design for a spacecraft orbit control problem is adapted to the decentralized framework. The simple design uses a fixed reference trajectory (an equatorial, Keplerian, circular orbit), and by appropriate choice of coordinates and measurements is formulated as a linear time-invariant system.

Decentralized control experiments on NASA's flexible grid

NASA Technical Reports Server (NTRS)

Ozguner, U.; Yurkowich, S.; Martin, J., III; Al-Abbass, F.

1986-01-01

Methods arising from the area of decentralized control are emerging for analysis and control synthesis for large flexible structures. In this paper the control strategy involves a decentralized model reference adaptive approach using a variable structure control. Local models are formulated based on desired damping and response time in a model-following scheme for various modal configurations. Variable structure controllers are then designed employing co-located angular rate and position feedback. In this scheme local control forces the system to move on a local sliding mode in some local error space. An important feature of this approach is that the local subsystem is made insensitive to dynamical interactions with other subsystems once the sliding surface is reached. Experiments based on the above have been performed for NASA's flexible grid experimental apparatus. The grid is designed to admit appreciable low-frequency structural dynamics, and allows for implementation of distributed computing components, inertial sensors, and actuation devices. A finite-element analysis of the grid provides the model for control system design and simulation; results of several simulations are reported on here, and a discussion of application experiments on the apparatus is presented.

Decentralized control

NASA Technical Reports Server (NTRS)

Steffen, Chris

1990-01-01

An overview of the time-delay problem and the reliability problem which arise in trying to perform robotic construction operations at a remote space location are presented. The effects of the time-delay upon the control system design will be itemized. A high level overview of a decentralized method of control which is expected to perform better than the centralized approach in solving the time-delay problem is given. The lower level, decentralized, autonomous, Troter Move-Bar algorithm is also presented (Troters are coordinated independent robots). The solution of the reliability problem is connected to adding redundancy to the system. One method of adding redundancy is given.

Experimental Verification of Fully Decentralized Control Inspired by Plasmodium of True Slime Mold

NASA Astrophysics Data System (ADS)

Umedachi, Takuya; Takeda, Koichi; Nakagaki, Toshiyuki; Kobayashi, Ryo; Ishiguro, Akio

This paper presents a fully decentralized control inspired by plasmodium of true slime mold and its validity using a soft-bodied amoeboid robot. The notable features of this paper are twofold: (1) the robot has truly soft and deformable body stemming from real-time tunable springs and a balloon, the former is utilized as an outer skin of the body and the latter serves as protoplasm; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts induced by the law of conservation of protoplasmic mass. Experimental results show that this robot exhibits truly supple locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design scheme for autonomous decentralized control system.

Decentralized stabilization for a class of continuous-time nonlinear interconnected systems using online learning optimal control approach.

PubMed

Liu, Derong; Wang, Ding; Li, Hongliang

2014-02-01

In this paper, using a neural-network-based online learning optimal control approach, a novel decentralized control strategy is developed to stabilize a class of continuous-time nonlinear interconnected large-scale systems. First, optimal controllers of the isolated subsystems are designed with cost functions reflecting the bounds of interconnections. Then, it is proven that the decentralized control strategy of the overall system can be established by adding appropriate feedback gains to the optimal control policies of the isolated subsystems. Next, an online policy iteration algorithm is presented to solve the Hamilton-Jacobi-Bellman equations related to the optimal control problem. Through constructing a set of critic neural networks, the cost functions can be obtained approximately, followed by the control policies. Furthermore, the dynamics of the estimation errors of the critic networks are verified to be uniformly and ultimately bounded. Finally, a simulation example is provided to illustrate the effectiveness of the present decentralized control scheme.

Decentralized PID controller for TITO systems using characteristic ratio assignment with an experimental application.

PubMed

Hajare, V D; Patre, B M

2015-11-01

This paper presents a decentralized PID controller design method for two input two output (TITO) systems with time delay using characteristic ratio assignment (CRA) method. The ability of CRA method to design controller for desired transient response has been explored for TITO systems. The design methodology uses an ideal decoupler to reduce the interaction. Each decoupled subsystem is reduced to first order plus dead time (FOPDT) model to design independent diagonal controllers. Based on specified overshoot and settling time, the controller parameters are computed using CRA method. To verify performance of the proposed controller, two benchmark simulation examples are presented. To demonstrate applicability of the proposed controller, experimentation is performed on real life interacting coupled tank level system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Power Source Status Estimation and Drive Control Method for Autonomous Decentralized Hybrid Train

NASA Astrophysics Data System (ADS)

Furuya, Takemasa; Ogawa, Kenichi; Yamamoto, Takamitsu; Hasegawa, Hitoshi

A hybrid control system has two main functions: power sharing and equipment protection. In this paper, we discuss the design, construction and testing of a drive control method for an autonomous decentralized hybrid train with 100-kW-class fuel cells (FC) and 36-kWh lithium-ion batteries (Li-Batt). The main objectives of this study are to identify the operation status of the power sources on the basis of the input voltage of the traction inverter and to estimate the maximum traction power control basis of the power-source status. The proposed control method is useful in preventing overload operation of the onboard power sources in an autonomous decentralized hybrid system that has a flexible main circuit configuration and a few control signal lines. Further, with this method, the initial cost of a hybrid system can be reduced and the retrofit design of the hybrid system can be simplified. The effectiveness of the proposed method is experimentally confirmed by using a real-scale hybrid train system.

Controller design via structural reduced modeling by FETM

NASA Technical Reports Server (NTRS)

Yousuff, A.

1986-01-01

The Finite Element - Transfer Matrix (FETM) method has been developed to reduce the computations involved in analysis of structures. This widely accepted method, however, has certain limitations, and does not directly produce reduced models for control design. To overcome these shortcomings, a modification of FETM method has been developed. The modified FETM method easily produces reduced models that are tailored toward subsequent control design. Other features of this method are its ability to: (1) extract open loop frequencies and mode shapes with less computations, (2) overcome limitations of the original FETM method, and (3) simplify the procedures for output feedback, constrained compensation, and decentralized control. This semi annual report presents the development of the modified FETM, and through an example, illustrates its applicability to an output feedback and a decentralized control design.

A survey of decentralized control techniques for large space structures

NASA Technical Reports Server (NTRS)

Lindner, D. K.; Reichard, K.

1987-01-01

Preliminary results on the design of decentralized controllers for the COFS I Mast are reported. A nine mode finite element model is used along with second order model of the actuators. It is shown that without actuator dynamics, the system is stable with collocated rate feedback and has acceptable performace. However, when actuator dynamics are included, the system is unstable.

Decentralized Fuzzy MPC on Spatial Power Control of a Large PHWR

NASA Astrophysics Data System (ADS)

Liu, Xiangjie; Jiang, Di; Lee, Kwang Y.

2016-08-01

Reliable power control for stabilizing the spatial oscillations is quite important for ensuring the safe operation of a modern pressurized heavy water reactor (PHWR), since these spatial oscillations can cause “flux tilting” in the reactor core. In this paper, a decentralized fuzzy model predictive control (DFMPC) is proposed for spatial control of PHWR. Due to the load dependent dynamics of the nuclear power plant, fuzzy modeling is used to approximate the nonlinear process. A fuzzy Lyapunov function and “quasi-min-max” strategy is utilized in designing the DFMPC, to reduce the conservatism. The plant-wide stability is achieved by the asymptotically positive realness constraint (APRC) for this decentralized MPC. The solving optimization problem is based on a receding horizon scheme involving the linear matrix inequalities (LMIs) technique. Through dynamic simulations, it is demonstrated that the designed DFMPC can effectively suppress spatial oscillations developed in PHWR, and further, shows the advantages over the typical parallel distributed compensation (PDC) control scheme.

Decentralized adaptive control designs and microstrip antennas for smart structures

NASA Astrophysics Data System (ADS)

Khorrami, Farshad; Jain, Sandeep; Das, Nirod K.

1996-05-01

Smart structures lend themselves naturally to a decentralized control design framework, especially with adaptation mechanisms. The main reason being that it is highly undesirable to connect all the sensors and actuators in a large structure to a central processor. It is rather desirable to have local decision-making at each smart patch. Furthermore, this local controllers should be easily `expandable' to `contractible.' This corresponds to the fact that addition/deletion of several smart patches should not require a total redesign of the control system. The decentralized control strategies advocated in this paper are of expandable/contractible type. On another front, we are considering utilization of micro-strip antennas for power transfer to and from smart structures. We have made preliminary contributions in this direction and further developments are underway. These approaches are being pursued for active vibration damping and noise cancellation via piezoelectric ceramics although the methodology is general enough to be applicable to other type of active structures.

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.

The Large Introductory Class as an Exercise in Organization Design.

ERIC Educational Resources Information Center

Wagner, John A., III; Van Dyne, Linn

1999-01-01

Four methods for large group instruction differ in control and coordination dimensions: (1) centralization with mutual adjustment; (2) centralization with standardization; (3) decentralization with standardization; and (4) decentralization with mutual adjustment. Other factors to consider include class size and interests of various constituencies:…

A decentralized linear quadratic control design method for flexible structures

NASA Technical Reports Server (NTRS)

Su, Tzu-Jeng; Craig, Roy R., Jr.

1990-01-01

A decentralized suboptimal linear quadratic control design procedure which combines substructural synthesis, model reduction, decentralized control design, subcontroller synthesis, and controller reduction is proposed for the design of reduced-order controllers for flexible structures. The procedure starts with a definition of the continuum structure to be controlled. An evaluation model of finite dimension is obtained by the finite element method. Then, the finite element model is decomposed into several substructures by using a natural decomposition called substructuring decomposition. Each substructure, at this point, still has too large a dimension and must be reduced to a size that is Riccati-solvable. Model reduction of each substructure can be performed by using any existing model reduction method, e.g., modal truncation, balanced reduction, Krylov model reduction, or mixed-mode method. Then, based on the reduced substructure model, a subcontroller is designed by an LQ optimal control method for each substructure independently. After all subcontrollers are designed, a controller synthesis method called substructural controller synthesis is employed to synthesize all subcontrollers into a global controller. The assembling scheme used is the same as that employed for the structure matrices. Finally, a controller reduction scheme, called the equivalent impulse response energy controller (EIREC) reduction algorithm, is used to reduce the global controller to a reasonable size for implementation. The EIREC reduced controller preserves the impulse response energy of the full-order controller and has the property of matching low-frequency moments and low-frequency power moments. An advantage of the substructural controller synthesis method is that it relieves the computational burden associated with dimensionality. Besides that, the SCS design scheme is also a highly adaptable controller synthesis method for structures with varying configuration, or varying mass and stiffness properties.

Decentralized stabilization of semi-active vibrating structures

NASA Astrophysics Data System (ADS)

Pisarski, Dominik

2018-02-01

A novel method of decentralized structural vibration control is presented. The control is assumed to be realized by a semi-active device. The objective is to stabilize a vibrating system with the optimal rates of decrease of the energy. The controller relies on an easily implemented decentralized switched state-feedback control law. It uses a set of communication channels to exchange the state information between the neighboring subcontrollers. The performance of the designed method is validated by means of numerical experiments performed for a double cantilever system equipped with a set of elastomers with controlled viscoelastic properties. In terms of the assumed objectives, the proposed control strategy significantly outperforms the passive damping cases and is competitive with a standard centralized control. The presented methodology can be applied to a class of bilinear control systems concerned with smart structural elements.

Decentralized Control of Sound Radiation using a High-Authority/Low-Authority Control Strategy with Anisotropic Actuators

NASA Technical Reports Server (NTRS)

Schiller, Noah H.; Cabell, Randolph H.; Fuller, Chris R.

2008-01-01

This paper describes a combined control strategy designed to reduce sound radiation from stiffened aircraft-style panels. The control architecture uses robust active damping in addition to high-authority linear quadratic Gaussian (LQG) control. Active damping is achieved using direct velocity feedback with triangularly shaped anisotropic actuators and point velocity sensors. While active damping is simple and robust, stability is guaranteed at the expense of performance. Therefore the approach is often referred to as low-authority control. In contrast, LQG control strategies can achieve substantial reductions in sound radiation. Unfortunately, the unmodeled interaction between neighboring control units can destabilize decentralized control systems. Numerical simulations show that combining active damping and decentralized LQG control can be beneficial. In particular, augmenting the in-bandwidth damping supplements the performance of the LQG control strategy and reduces the destabilizing interaction between neighboring control units.

A Two-Time Scale Decentralized Model Predictive Controller Based on Input and Output Model

PubMed Central

Niu, Jian; Zhao, Jun; Xu, Zuhua; Qian, Jixin

2009-01-01

A decentralized model predictive controller applicable for some systems which exhibit different dynamic characteristics in different channels was presented in this paper. These systems can be regarded as combinations of a fast model and a slow model, the response speeds of which are in two-time scale. Because most practical models used for control are obtained in the form of transfer function matrix by plant tests, a singular perturbation method was firstly used to separate the original transfer function matrix into two models in two-time scale. Then a decentralized model predictive controller was designed based on the two models derived from the original system. And the stability of the control method was proved. Simulations showed that the method was effective. PMID:19834542

Centralized vs. decentralized nursing stations: effects on nurses' functional use of space and work environment.

PubMed

Zborowsky, Terri; Bunker-Hellmich, Lou; Morelli, Agneta; O'Neill, Mike

2010-01-01

Evidence-based findings of the effects of nursing station design on nurses' work environment and work behavior are essential to improve conditions and increase retention among these fundamental members of the healthcare delivery team. The purpose of this exploratory study was to investigate how nursing station design (i.e., centralized and decentralized nursing station layouts) affected nurses' use of space, patient visibility, noise levels, and perceptions of the work environment. Advances in information technology have enabled nurses to move away from traditional centralized paper-charting stations to smaller decentralized work stations and charting substations located closer to, or inside of, patient rooms. Improved understanding of the trade-offs presented by centralized and decentralized nursing station design has the potential to provide useful information for future nursing station layouts. This information will be critical for understanding the nurse environment "fit." The study used an exploratory design with both qualitative and quantitative methods. Qualitative data regarding the effects of nursing station design on nurses' health and work environment were gathered by means of focus group interviews. Quantitative data-gathering techniques included place- and person-centered space use observations, patient visibility assessments, sound level measurements, and an online questionnaire regarding perceptions of the work environment. Nurses on all units were observed most frequently performing telephone, computer, and administrative duties. Time spent using telephones, computers, and performing other administrative duties was significantly higher in the centralized nursing stations. Consultations with medical staff and social interactions were significantly less frequent in decentralized nursing stations. There were no indications that either centralized or decentralized nursing station designs resulted in superior visibility. Sound levels measured in all nursing stations exceeded recommended levels during all shifts. No significant differences were identified in nurses' perceptions of work control-demand-support in centralized and decentralized nursing station designs. The "hybrid" nursing design model in which decentralized nursing stations are coupled with centralized meeting rooms for consultation between staff members may strike a balance between the increase in computer duties and the ongoing need for communication and consultation that addresses the conflicting demands of technology and direct patient care.

Decentralization, stabilization, and estimation of large-scale linear systems

NASA Technical Reports Server (NTRS)

Siljak, D. D.; Vukcevic, M. B.

1976-01-01

In this short paper we consider three closely related aspects of large-scale systems: decentralization, stabilization, and estimation. A method is proposed to decompose a large linear system into a number of interconnected subsystems with decentralized (scalar) inputs or outputs. The procedure is preliminary to the hierarchic stabilization and estimation of linear systems and is performed on the subsystem level. A multilevel control scheme based upon the decomposition-aggregation method is developed for stabilization of input-decentralized linear systems Local linear feedback controllers are used to stabilize each decoupled subsystem, while global linear feedback controllers are utilized to minimize the coupling effect among the subsystems. Systems stabilized by the method have a tolerance to a wide class of nonlinearities in subsystem coupling and high reliability with respect to structural perturbations. The proposed output-decentralization and stabilization schemes can be used directly to construct asymptotic state estimators for large linear systems on the subsystem level. The problem of dimensionality is resolved by constructing a number of low-order estimators, thus avoiding a design of a single estimator for the overall system.

Decentralized adaptive neural control for high-order interconnected stochastic nonlinear time-delay systems with unknown system dynamics.

PubMed

Si, Wenjie; Dong, Xunde; Yang, Feifei

2018-03-01

This paper is concerned with the problem of decentralized adaptive backstepping state-feedback control for uncertain high-order large-scale stochastic nonlinear time-delay systems. For the control design of high-order large-scale nonlinear systems, only one adaptive parameter is constructed to overcome the over-parameterization, and neural networks are employed to cope with the difficulties raised by completely unknown system dynamics and stochastic disturbances. And then, the appropriate Lyapunov-Krasovskii functional and the property of hyperbolic tangent functions are used to deal with the unknown unmatched time-delay interactions of high-order large-scale systems for the first time. At last, on the basis of Lyapunov stability theory, the decentralized adaptive neural controller was developed, and it decreases the number of learning parameters. The actual controller can be designed so as to ensure that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB) and the tracking error converges in the small neighborhood of zero. The simulation example is used to further show the validity of the design method. Copyright © 2018 Elsevier Ltd. All rights reserved.

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 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.

Decentralized finite-time attitude synchronization for multiple rigid spacecraft via a novel disturbance observer.

PubMed

Zong, Qun; Shao, Shikai

2016-11-01

This paper investigates decentralized finite-time attitude synchronization for a group of rigid spacecraft by using quaternion with the consideration of environmental disturbances, inertia uncertainties and actuator saturation. Nonsingular terminal sliding mode (TSM) is used for controller design. Firstly, a theorem is proven that there always exists a kind of TSM that converges faster than fast terminal sliding mode (FTSM) for quaternion-descripted attitude control system. Controller with this kind of TSM has faster convergence and reduced computation than FTSM controller. Then, combining with an adaptive parameter estimation strategy, a novel terminal sliding mode disturbance observer is proposed. The proposed disturbance observer needs no upper bound information of the lumped uncertainties or their derivatives. On the basis of undirected topology and the disturbance observer, decentralized attitude synchronization control laws are designed and all attitude errors are ensured to converge to small regions in finite time. As for actuator saturation problem, an auxiliary variable is introduced and accommodated by the disturbance observer. Finally, simulation results are given and the effectiveness of the proposed control scheme is testified. Copyright © 2016. Published by Elsevier Ltd.

Decentralized automatic generation control of interconnected power systems incorporating asynchronous tie-lines.

PubMed

Ibraheem; Hasan, Naimul; Hussein, Arkan Ahmed

2014-01-01

This Paper presents the design of decentralized automatic generation controller for an interconnected power system using PID, Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). The designed controllers are tested on identical two-area interconnected power systems consisting of thermal power plants. The area interconnections between two areas are considered as (i) AC tie-line only (ii) Asynchronous tie-line. The dynamic response analysis is carried out for 1% load perturbation. The performance of the intelligent controllers based on GA and PSO has been compared with the conventional PID controller. The investigations of the system dynamic responses reveal that PSO has the better dynamic response result as compared with PID and GA controller for both type of area interconnection.

Neural-Network-Based Adaptive Decentralized Fault-Tolerant Control for a Class of Interconnected Nonlinear Systems.

PubMed

Li, Xiao-Jian; Yang, Guang-Hong

2018-01-01

This paper is concerned with the adaptive decentralized fault-tolerant tracking control problem for a class of uncertain interconnected nonlinear systems with unknown strong interconnections. An algebraic graph theory result is introduced to address the considered interconnections. In addition, to achieve the desirable tracking performance, a neural-network-based robust adaptive decentralized fault-tolerant control (FTC) scheme is given to compensate the actuator faults and system uncertainties. Furthermore, via the Lyapunov analysis method, it is proven that all the signals of the resulting closed-loop system are semiglobally bounded, and the tracking errors of each subsystem exponentially converge to a compact set, whose radius is adjustable by choosing different controller design parameters. Finally, the effectiveness and advantages of the proposed FTC approach are illustrated with two simulated examples.

Design and implementation of robust decentralized control laws for the ACES structure at Marshall Space Flight Center

NASA Technical Reports Server (NTRS)

Collins, Emmanuel G., Jr.; Phillips, Douglas; Hyland, David C.

1990-01-01

An experiment was conducted to design controllers that would provide substantial reduction of line-of-sight control errors. The satisfaction of this objective required the controllers to attenuate the beam vibration significantly. Particular emphasis was placed on controller simplicity (i.e., reduced-order and decentralized controller architectures). Complexity reduction in control law implementation is of paramount interest due to stringent limitations on throughput of even state-of-the-art space qualified processors. The results of this experiment successfully demonstrate active vibrator control for a flexible structure. The testbed is the ACES structure at the NASA Marshall Space Flight Center. The ACES structure is dynamically traceable to future space systems and especially allows the study of line-of-sight control issues.

Centralized and Decentralized Control for Demand Response

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

Lu, Shuai; Samaan, Nader A.; Diao, Ruisheng

2011-04-29

Demand response has been recognized as an essential element of the smart grid. Frequency response, regulation and contingency reserve functions performed traditionally by generation resources are now starting to involve demand side resources. Additional benefits from demand response include peak reduction and load shifting, which will defer new infrastructure investment and improve generator operation efficiency. Technical approaches designed to realize these functionalities can be categorized into centralized control and decentralized control, depending on where the response decision is made. This paper discusses these two control philosophies and compares their relative advantages and disadvantages in terms of delay time, predictability, complexity,more » and reliability. A distribution system model with detailed household loads and controls is built to demonstrate the characteristics of the two approaches. The conclusion is that the promptness and reliability of decentralized control should be combined with the predictability and simplicity of centralized control to achieve the best performance of the smart grid.« less

Decentralized control of large-scale systems: Fixed modes, sensitivity and parametric robustness. Ph.D. Thesis - Universite Paul Sabatier, 1985

NASA Technical Reports Server (NTRS)

Tarras, A.

1987-01-01

The problem of stabilization/pole placement under structural constraints of large scale linear systems is discussed. The existence of a solution to this problem is expressed in terms of fixed modes. The aim is to provide a bibliographic survey of the available results concerning the fixed modes (characterization, elimination, control structure selection to avoid them, control design in their absence) and to present the author's contribution to this problem which can be summarized by the use of the mode sensitivity concept to detect or to avoid them, the use of vibrational control to stabilize them, and the addition of parametric robustness considerations to design an optimal decentralized robust control.

On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems

PubMed Central

Albattat, Ali; Gruenwald, Benjamin C.; Yucelen, Tansel

2016-01-01

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches. PMID:27537894

On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems.

PubMed

Albattat, Ali; Gruenwald, Benjamin C; Yucelen, Tansel

2016-08-16

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches.

Network-Cognizant Design of Decentralized Volt/VAR Controllers

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

Baker, Kyri A; Bernstein, Andrey; Zhao, Changhong

This paper considers the problem of designing decentralized Volt/VAR controllers for distributed energy resources (DERs). The voltage-reactive power characteristics of individual DERs are obtained by solving a convex optimization problem, where given performance objectives (e.g., minimization of the voltage deviations from a given profile) are specified and stability constraints are enforced. The resultant Volt/VAR characteristics are network-cognizant, in the sense that they embed information on the location of the DERs and, consequently, on the effect of reactive-power adjustments on the voltages throughout the feeder. Bounds on the maximum voltage deviation incurred by the controllers are analytically established. Numerical results aremore » reported to corroborate the technical findings.« less

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.

Decentralized Control of Sound Radiation from an Aircraft-Style Panel Using Iterative Loop Recovery

NASA Technical Reports Server (NTRS)

Schiller, Noah H.; Cabell, Randolph H.; Fuller, Chris R.

2008-01-01

A decentralized LQG-based control strategy is designed to reduce low-frequency sound transmission through periodically stiffened panels. While modern control strategies have been used to reduce sound radiation from relatively simple structural acoustic systems, significant implementation issues have to be addressed before these control strategies can be extended to large systems such as the fuselage of an aircraft. For instance, centralized approaches typically require a high level of connectivity and are computationally intensive, while decentralized strategies face stability problems caused by the unmodeled interaction between neighboring control units. Since accurate uncertainty bounds are not known a priori, it is difficult to ensure the decentralized control system will be robust without making the controller overly conservative. Therefore an iterative approach is suggested, which utilizes frequency-shaped loop recovery. The approach accounts for modeling error introduced by neighboring control loops, requires no communication between subsystems, and is relatively simple. The control strategy is validated using real-time control experiments performed on a built-up aluminum test structure representative of the fuselage of an aircraft. Experiments demonstrate that the iterative approach is capable of achieving 12 dB peak reductions and a 3.6 dB integrated reduction in radiated sound power from the stiffened panel.

Organically Grown Architectures: Creating Decentralized, Autonomous Systems by Embryomorphic Engineering

NASA Astrophysics Data System (ADS)

Doursat, René

Exploding growth growth in computational systems forces us to gradually replace rigid design and control with decentralization and autonomy. Information technologies will progress, instead, by"meta-designing" mechanisms of system self-assembly, self-regulation and evolution. Nature offers a great variety of efficient complex systems, in which numerous small elements form large-scale, adaptive patterns. The new engineering challenge is to recreate this self-organization and let it freely generate innovative designs under guidance. This article presents an original model of artificial system growth inspired by embryogenesis. A virtual organism is a lattice of cells that proliferate, migrate and self-pattern into differentiated domains. Each cell's fate is controlled by an internal gene regulatory network network. Embryomorphic engineering emphasizes hyperdistributed architectures, and their development as a prerequisite of evolutionary design.

Integration of a Decentralized Linear-Quadratic-Gaussian Control into GSFC's Universal 3-D Autonomous Formation Flying Algorithm

NASA Technical Reports Server (NTRS)

Folta, David C.; Carpenter, J. Russell

1999-01-01

A decentralized control is investigated for applicability to the autonomous formation flying control algorithm developed by GSFC for the New Millenium Program Earth Observer-1 (EO-1) mission. This decentralized framework has the following characteristics: The approach is non-hierarchical, and coordination by a central supervisor is not required; Detected failures degrade the system performance gracefully; Each node in the decentralized network processes only its own measurement data, in parallel with the other nodes; Although the total computational burden over the entire network is greater than it would be for a single, centralized controller, fewer computations are required locally at each node; Requirements for data transmission between nodes are limited to only the dimension of the control vector, at the cost of maintaining a local additional data vector. The data vector compresses all past measurement history from all the nodes into a single vector of the dimension of the state; and The approach is optimal with respect to standard cost functions. The current approach is valid for linear time-invariant systems only. Similar to the GSFC formation flying algorithm, the extension to linear LQG time-varying systems requires that each node propagate its filter covariance forward (navigation) and controller Riccati matrix backward (guidance) at each time step. Extension of the GSFC algorithm to non-linear systems can also be accomplished via linearization about a reference trajectory in the standard fashion, or linearization about the current state estimate as with the extended Kalman filter. To investigate the feasibility of the decentralized integration with the GSFC algorithm, an existing centralized LQG design for a single spacecraft orbit control problem is adapted to the decentralized framework while using the GSFC algorithm's state transition matrices and framework. The existing GSFC design uses both reference trajectories of each spacecraft in formation and by appropriate choice of coordinates and simplified measurement modeling is formulated as a linear time-invariant system. Results for improvements to the GSFC algorithm and a multiple satellite formation will be addressed. The goal of this investigation is to progressively relax the assumptions that result in linear time-invariance, ultimately to the point of linearization of the non-linear dynamics about the current state estimate as in the extended Kalman filter. An assessment will then be made about the feasibility of the decentralized approach to the realistic formation flying application of the EO-1/Landsat 7 formation flying experiment.

Robust decentralized hybrid adaptive output feedback fuzzy control for a class of large-scale MIMO nonlinear systems and its application to AHS.

PubMed

Huang, Yi-Shao; Liu, Wel-Ping; Wu, Min; Wang, Zheng-Wu

2014-09-01

This paper presents a novel observer-based decentralized hybrid adaptive fuzzy control scheme for a class of large-scale continuous-time multiple-input multiple-output (MIMO) uncertain nonlinear systems whose state variables are unmeasurable. The scheme integrates fuzzy logic systems, state observers, and strictly positive real conditions to deal with three issues in the control of a large-scale MIMO uncertain nonlinear system: algorithm design, controller singularity, and transient response. Then, the design of the hybrid adaptive fuzzy controller is extended to address a general large-scale uncertain nonlinear system. It is shown that the resultant closed-loop large-scale system keeps asymptotically stable and the tracking error converges to zero. The better characteristics of our scheme are demonstrated by simulations. Copyright © 2014. Published by Elsevier Ltd.

Adaptive Neural Networks Prescribed Performance Control Design for Switched Interconnected Uncertain Nonlinear Systems.

PubMed

Li, Yongming; Tong, Shaocheng

2017-06-28

In this paper, an adaptive neural networks (NNs)-based decentralized control scheme with the prescribed performance is proposed for uncertain switched nonstrict-feedback interconnected nonlinear systems. It is assumed that nonlinear interconnected terms and nonlinear functions of the concerned systems are unknown, and also the switching signals are unknown and arbitrary. A linear state estimator is constructed to solve the problem of unmeasured states. The NNs are employed to approximate unknown interconnected terms and nonlinear functions. A new output feedback decentralized control scheme is developed by using the adaptive backstepping design technique. The control design problem of nonlinear interconnected switched systems with unknown switching signals can be solved by the proposed scheme, and only a tuning parameter is needed for each subsystem. The proposed scheme can ensure that all variables of the control systems are semi-globally uniformly ultimately bounded and the tracking errors converge to a small residual set with the prescribed performance bound. The effectiveness of the proposed control approach is verified by some simulation results.

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.

TROTER's (Tiny Robotic Operation Team Experiment): A new concept of space robots

NASA Technical Reports Server (NTRS)

Su, Renjeng

1990-01-01

In view of the future need of automation and robotics in space and the existing approaches to the problem, we proposed a new concept of robots for space construction. The new concept is based on the basic idea of decentralization. Decentralization occurs, on the one hand, in using teams of many cooperative robots for construction tasks. Redundancy and modular design are explored to achieve high reliability for team robotic operations. Reliability requirement on individual robots is greatly reduced. Another area of decentralization is manifested by the proposed control hierarchy which eventually includes humans in the loop. The control strategy is constrained by various time delays and calls for different levels of abstraction of the task dynamics. Such technology is needed for remote control of robots in an uncertain environment. Thus, concerns of human safety around robots are relaxed. This presentation also introduces the required technologies behind the new robotic concept.

A comparison of decentralized, distributed, and centralized vibro-acoustic control.

PubMed

Frampton, Kenneth D; Baumann, Oliver N; Gardonio, Paolo

2010-11-01

Direct velocity feedback control of structures is well known to increase structural damping and thus reduce vibration. In multi-channel systems the way in which the velocity signals are used to inform the actuators ranges from decentralized control, through distributed or clustered control to fully centralized control. The objective of distributed controllers is to exploit the anticipated performance advantage of the centralized control while maintaining the scalability, ease of implementation, and robustness of decentralized control. However, and in seeming contradiction, some investigations have concluded that decentralized control performs as well as distributed and centralized control, while other results have indicated that distributed control has significant performance advantages over decentralized control. The purpose of this work is to explain this seeming contradiction in results, to explore the effectiveness of decentralized, distributed, and centralized vibro-acoustic control, and to expand the concept of distributed control to include the distribution of the optimization process and the cost function employed.

The Use of Decentralized Control in the Design of a Large Segmented Space Reflector

NASA Technical Reports Server (NTRS)

Ryaciotaki-Boussalis, Helen; Mirmirani, Maj; Rad, Khosrow; Morales, Mauricio; Velazquez, Efrain; Chassiakos, Anastasios; Luzardo, Jose-Alberto

1997-01-01

The 3-dimensional model for a segmented reflector telescope is developed using finite element techniques. The structure is decomposed into six subsystems. System control design using neural networks is performed. Performance evaluation is demonstrated via simulation using PRO-MATLAB and SIMULINK.

Mitigation of Remedial Action Schemes by Decentralized Robust Governor Control

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

Elizondo, Marcelo A.; Marinovici, Laurentiu D.; Lian, Jianming

This paper presents transient stability improvement by a new distributed hierarchical control architecture (DHC). The integration of remedial action schemes (RAS) to the distributed hierarchical control architecture is studied. RAS in power systems are designed to maintain stability and avoid undesired system conditions by rapidly switching equipment and/or changing operating points according to predetermined rules. The acceleration trend relay currently in use in the US western interconnection is an example of RAS that trips generators to maintain transient stability. The link between RAS and DHC is through fast acting robust turbine/governor control that can also improve transient stability. In thismore » paper, the influence of the decentralized robust turbine/governor control on the design of RAS is studied. Benefits of combining these two schemes are increasing power transfer capability and mitigation of RAS generator tripping actions; the later benefit is shown through simulations.« less

Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles

NASA Astrophysics Data System (ADS)

Kobravi, Hamid-Reza; Erfanian, Abbas

2009-08-01

A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist-antagonist muscles.

PubMed

Kobravi, Hamid-Reza; Erfanian, Abbas

2009-08-01

A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles. Each muscle joint is considered as a subsystem and individual controllers are designed for each subsystem. Each controller operates solely on its associated subsystem, with no exchange of information between the subsystems. The interactions between the subsystems are taken as external disturbances for each isolated subsystem. In order to achieve robustness with respect to external disturbances, unmodeled dynamics, model uncertainty and time-varying properties of muscle-joint dynamics, a robust control framework is proposed which is based on the synergistic combination of an adaptive nonlinear compensator with a sliding mode control and is referred to as an adaptive robust control. Extensive simulations and experiments on healthy and paraplegic subjects were performed to demonstrate the robustness against the time-varying properties of muscle-joint dynamics, day-to-day variations, subject-to-subject variations, fast convergence, stability and tracking accuracy of the proposed method. The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and reject the external disturbance. Moreover, the controller is able to automatically regulate the interaction between agonist and antagonist muscles under different conditions of operating without any preprogrammed antagonist activities.

Chained Aggregation and Control System Design:; A Geometric Approach.

DTIC Science & Technology

1982-10-01

Furthermore, it explicitly identifies a reduced order modal used to meet the design goals. This results in an interactive design pro- cedure which allows...same framework. This leads directly to dynamic compen- sator design. The results are applied to decentralized control problems, non interactive ...goals. Furthermore, it explicitly identifies a reduced order model used to meet the design goals. This results in an interactive design procedure which

Decentralized adaptive control of robot manipulators with robust stabilization design

NASA Technical Reports Server (NTRS)

Yuan, Bau-San; Book, Wayne J.

1988-01-01

Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.

Combat Systems Vision 2030 Conceptual Design of Control Structures for Combat Systems

DTIC Science & Technology

1992-02-01

IEEE, 68(6), pp. 644-654, 1980. 26. Singh , M. G.; Titli, A.; and Malinowski, K.; "Decentralized Control Design: An Overview," Large Scale Systems...IFAC Symposium, pp. 335-339, 1988. 40. Cameron, E. J.; Petschenik, N. H.; Ruston, Lillian; Shah, Swati ; and Srinidhi, Hassan, (Bell Communications

Peeling the Onion: Why Centralized Control / Decentralized Execution Works

DTIC Science & Technology

2014-04-01

March–April 2014 Air & Space Power Journal | 24 Feature Peeling the Onion Why Centralized Control / Decentralized Execution Works Lt Col Alan Docauer...DATES COVERED 00-00-2014 to 00-00-2014 4. TITLE AND SUBTITLE Peeling the Onion : Why Centralized Control / Decentralized Execution Works 5a...Air & Space Power Journal | 25 Docauer Peeling the Onion Feature What Is Centralized Control / Decentralized Execution? Emerging in the aftermath of

Centralized Command, Distributed Control, and Decentralized Execution - a Command and Control Solution to US Air Force A2/AD Challenges

DTIC Science & Technology

2017-04-28

Regional Air Component Commander (the Leader) 5 CC-DC- DE Solution to A2/AD – Distributed Theater Air Control System (the System) 9 CC-DC- DE ... Control , Decentralized Execution” to a new framework of “Centralized Command, Distributed Control , and Decentralized Execution” (CC-DC- DE ).4 5 This...USAF C2 challenges in A2/AD environments describes a three-part Centralized Command, Distributed Control , and Decentralized Execution (CC-DC- DE

Indirect decentralized repetitive control

NASA Technical Reports Server (NTRS)

Lee, Soo Cheol; Longman, Richard W.

1993-01-01

Learning control refers to controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect decentralized learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper extends these results to apply to the indirect repetitive control problem in which a periodic (i.e., repetitive) command is given to a control system. Decentralized indirect repetitive control algorithms are presented that have guaranteed convergence to zero tracking error under very general conditions. The original motivation of the repetitive control and learning control fields was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the desired trajectory. Decentralized repetitive control is natural for this application because the feedback control for link rotations is normally implemented in a decentralized manner, treating each link as if it is independent of the other links.

Energy storage requirements of dc microgrids with high penetration renewables under droop control

DOE PAGES

Weaver, Wayne W.; Robinett, Rush D.; Parker, Gordon G.; ...

2015-01-09

Energy storage is a important design component in microgrids with high penetration renewable sources to maintain the system because of the highly variable and sometimes stochastic nature of the sources. Storage devices can be distributed close to the sources and/or at the microgrid bus. In addition, storage requirements can be minimized with a centralized control architecture, but this creates a single point of failure. Distributed droop control enables a completely decentralized architecture but, the energy storage optimization becomes more difficult. Our paper presents an approach to droop control that enables the local and bus storage requirements to be determined. Givenmore » a priori knowledge of the design structure of a microgrid and the basic cycles of the renewable sources, we found that the droop settings of the sources are such that they minimize both the bus voltage variations and overall energy storage capacity required in the system. This approach can be used in the design phase of a microgrid with a decentralized control structure to determine appropriate droop settings as well as the sizing of energy storage devices.« less

Disturbance decoupling, decentralized control and the Riccati equation

NASA Technical Reports Server (NTRS)

Garzia, M. R.; Loparo, K. A.; Martin, C. F.

1981-01-01

The disturbance decoupling and optimal decentralized control problems are looked at using identical mathematical techniques. A statement of the problems and the development of their solution approach is presented. Preliminary results are given for the optimal decentralized control problem.

Formation Flying With Decentralized Control in Libration Point Orbits

NASA Technical Reports Server (NTRS)

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

2000-01-01

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

What supervisors want to know about decentralization.

PubMed

Boissoneau, R; Belton, P

1991-06-01

Many organizations in various industries have tended to move away from strict centralization, yet some centralization is still vital to top management. With 19 of the 22 executives interviewed favoring or implementing some form of decentralization, it is probable that traditionally centralized organizations will follow the trend and begin to decentralize their organizational structures. The incentives and advantages of decentralization are too attractive to ignore. Decentralization provides responsibility, clear objectives, accountability for results, and more efficient and effective decision making. However, one must remember that decentralization can be overextended and that centralization is still viable in certain functions. Finding the correct balance between control and autonomy is a key to decentralization. Too much control and too much autonomy are the primary reasons for decentralization failures. In today's changing, competitive environment, structures must be continuously redefined, with the goal of finding an optimal balance between centralization and decentralization. Organizations are cautioned not to seek out and install a single philosopher-king to impose unified direction, but to unify leadership goals, participation, style, and control to develop improved methods of making all responsible leaders of one mind about the organization's needs and goals.

Reliable Decentralized Control of Fuzzy Discrete-Event Systems and a Test Algorithm.

PubMed

Liu, Fuchun; Dziong, Zbigniew

2013-02-01

A framework for decentralized control of fuzzy discrete-event systems (FDESs) has been recently presented to guarantee the achievement of a given specification under the joint control of all local fuzzy supervisors. As a continuation, this paper addresses the reliable decentralized control of FDESs in face of possible failures of some local fuzzy supervisors. Roughly speaking, for an FDES equipped with n local fuzzy supervisors, a decentralized supervisor is called k-reliable (1 ≤ k ≤ n) provided that the control performance will not be degraded even when n - k local fuzzy supervisors fail. A necessary and sufficient condition for the existence of k-reliable decentralized supervisors of FDESs is proposed by introducing the notions of M̃uc-controllability and k-reliable coobservability of fuzzy language. In particular, a polynomial-time algorithm to test the k-reliable coobservability is developed by a constructive methodology, which indicates that the existence of k-reliable decentralized supervisors of FDESs can be checked with a polynomial complexity.

Research on Coordination of Fresh Produce Supply Chain in Big Market Sales Environment

PubMed Central

Su, Juning; Liu, Chenguang

2014-01-01

In this paper, we propose two decision models for decentralized and centralized fresh produce supply chains with stochastic supply and demand and controllable transportation time. The optimal order quantity and the optimal transportation time in these two supply chain systems are derived. To improve profits in a decentralized supply chain, based on analyzing the risk taken by each participant in the supply chain, we design a set of contracts which can coordinate this type of fresh produce supply chain with stochastic supply and stochastic demand, and controllable transportation time as well. We also obtain a value range of contract parameters that can increase profits of all participants in the decentralized supply chain. The expected profits of the decentralized setting and the centralized setting are compared with respect to given numerical examples. Furthermore, the sensitivity analyses of the deterioration rate factor and the freshness factor are performed. The results of numerical examples show that the transportation time is shorter, the order quantity is smaller, the total profit of whole supply chain is less, and the possibility of cooperation between supplier and retailer is higher for the fresh produce which is more perishable and its quality decays more quickly. PMID:24764770

Research on coordination of fresh produce supply chain in big market sales environment.

PubMed

Su, Juning; Wu, Jiebing; Liu, Chenguang

2014-01-01

In this paper, we propose two decision models for decentralized and centralized fresh produce supply chains with stochastic supply and demand and controllable transportation time. The optimal order quantity and the optimal transportation time in these two supply chain systems are derived. To improve profits in a decentralized supply chain, based on analyzing the risk taken by each participant in the supply chain, we design a set of contracts which can coordinate this type of fresh produce supply chain with stochastic supply and stochastic demand, and controllable transportation time as well. We also obtain a value range of contract parameters that can increase profits of all participants in the decentralized supply chain. The expected profits of the decentralized setting and the centralized setting are compared with respect to given numerical examples. Furthermore, the sensitivity analyses of the deterioration rate factor and the freshness factor are performed. The results of numerical examples show that the transportation time is shorter, the order quantity is smaller, the total profit of whole supply chain is less, and the possibility of cooperation between supplier and retailer is higher for the fresh produce which is more perishable and its quality decays more quickly.

Survey of decentralized control methods. [for large scale dynamic systems

NASA Technical Reports Server (NTRS)

Athans, M.

1975-01-01

An overview is presented of the types of problems that are being considered by control theorists in the area of dynamic large scale systems with emphasis on decentralized control strategies. Approaches that deal directly with decentralized decision making for large scale systems are discussed. It is shown that future advances in decentralized system theory are intimately connected with advances in the stochastic control problem with nonclassical information pattern. The basic assumptions and mathematical tools associated with the latter are summarized, and recommendations concerning future research are presented.

Robust decentralized power system controller design: Integrated approach

NASA Astrophysics Data System (ADS)

Veselý, Vojtech

2017-09-01

A unique approach to the design of gain scheduled controller (GSC) is presented. The proposed design procedure is based on the Bellman-Lyapunov equation, guaranteed cost and robust stability conditions using the parameter dependent quadratic stability approach. The obtained feasible design procedures for robust GSC design are in the form of BMI with guaranteed convex stability conditions. The obtained design results and their properties are illustrated in the simultaneously design of controllers for simple model (6-order) turbogenerator. The results of the obtained design procedure are a PI automatic voltage regulator (AVR) for synchronous generator, a PI governor controller and a power system stabilizer for excitation system.

Decentralized Formation Flying Control in a Multiple-Team Hierarchy

NASA Technical Reports Server (NTRS)

Mueller, Joseph .; Thomas, Stephanie J.

2005-01-01

This paper presents the prototype of a system that addresses these objectives-a decentralized guidance and control system that is distributed across spacecraft using a multiple-team framework. The objective is to divide large clusters into teams of manageable size, so that the communication and computational demands driven by N decentralized units are related to the number of satellites in a team rather than the entire cluster. The system is designed to provide a high-level of autonomy, to support clusters with large numbers of satellites, to enable the number of spacecraft in the cluster to change post-launch, and to provide for on-orbit software modification. The distributed guidance and control system will be implemented in an object-oriented style using MANTA (Messaging Architecture for Networking and Threaded Applications). In this architecture, tasks may be remotely added, removed or replaced post-launch to increase mission flexibility and robustness. This built-in adaptability will allow software modifications to be made on-orbit in a robust manner. The prototype system, which is implemented in MATLAB, emulates the object-oriented and message-passing features of the MANTA software. In this paper, the multiple-team organization of the cluster is described, and the modular software architecture is presented. The relative dynamics in eccentric reference orbits is reviewed, and families of periodic, relative trajectories are identified, expressed as sets of static geometric parameters. The guidance law design is presented, and an example reconfiguration scenario is used to illustrate the distributed process of assigning geometric goals to the cluster. Next, a decentralized maneuver planning approach is presented that utilizes linear-programming methods to enact reconfiguration and coarse formation keeping maneuvers. Finally, a method for performing online collision avoidance is discussed, and an example is provided to gauge its performance.

Decentralized learning in Markov games.

PubMed

Vrancx, Peter; Verbeeck, Katja; Nowé, Ann

2008-08-01

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

Modeling, Analysis, and Control of a Hypersonic Vehicle with Significant Aero-Thermo-Elastic-Propulsion Interactions: Elastic, Thermal and Mass Uncertainty

NASA Astrophysics Data System (ADS)

Khatri, Jaidev

This thesis examines themodeling, analysis, and control system design issues for scramjet powered hypersonic vehicles. A nonlinear three degrees of freedom longitudinal model which includes aero-propulsion-elasticity effects was used for all analyses. This model is based upon classical compressible flow and Euler-Bernouli structural concepts. Higher fidelity computational fluid dynamics and finite element methods are needed for more precise intermediate and final evaluations. The methods presented within this thesis were shown to be useful for guiding initial control relevant design. The model was used to examine the vehicle's static and dynamic characteristics over the vehicle's trimmable region. The vehicle has significant longitudinal coupling between the fuel equivalency ratio (FER) and the flight path angle (FPA). For control system design, a two-input two-output plant (FER - elevator to speed-FPA) with 11 states (including 3 flexible modes) was used. Velocity, FPA, and pitch were assumed to be available for feedback. Aerodynamic heat modeling and design for the assumed TPS was incorporated to original Bolender's model to study the change in static and dynamic properties. De-centralized control stability, feasibility and limitations issues were dealt with the change in TPS elasticity, mass and physical dimension. The impact of elasticity due to TPS mass, TPS physical dimension as well as prolonged heating was also analyzed to understand performance limitations of de-centralized control designed for nominal model.

Energy-efficient pulse-coupled synchronization strategy design for wireless sensor networks through reduced idle listening

PubMed Central

Wang, Yongqiang; Núñez, Felipe; Doyle, Francis J.

2013-01-01

Synchronization is crucial to wireless sensor networks due to their decentralized structure. We propose an energy-efficient pulse-coupled synchronization strategy to achieve this goal. The basic idea is to reduce idle listening by intentionally introducing a large refractory period in the sensors’ cooperation. The large refractory period greatly reduces idle listening in each oscillation period, and is analytically proven to have no influence on the time to synchronization. Hence, it significantly reduces the total energy consumption in a synchronization process. A topology control approach tailored for pulse-coupled synchronization is given to guarantee a k-edge strongly connected interaction topology, which is tolerant to communication-link failures. The topology control approach is totally decentralized and needs no information exchange among sensors, and it is applicable to dynamic network topologies as well. This facilitates a completely decentralized implementation of the synchronization strategy. The strategy is applicable to mobile sensor networks, too. QualNet case studies confirm the effectiveness of the synchronization strategy. PMID:24307831

Development of a decentralized multi-axis synchronous control approach for real-time networks.

PubMed

Xu, Xiong; Gu, Guo-Ying; Xiong, Zhenhua; Sheng, Xinjun; Zhu, Xiangyang

2017-05-01

The message scheduling and the network-induced delays of real-time networks, together with the different inertias and disturbances in different axes, make the synchronous control of the real-time network-based systems quite challenging. To address this challenge, a decentralized multi-axis synchronous control approach is developed in this paper. Due to the limitations of message scheduling and network bandwidth, error of the position synchronization is firstly defined in the proposed control approach as a subset of preceding-axis pairs. Then, a motion message estimator is designed to reduce the effect of network delays. It is proven that position and synchronization errors asymptotically converge to zero in the proposed controller with the delay compensation. Finally, simulation and experimental results show that the developed control approach can achieve the good position synchronization performance for the multi-axis motion over the real-time network. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Using Systems Theory to Examine Patient and Nurse Structures, Processes, and Outcomes in Centralized and Decentralized Units.

PubMed

Real, Kevin; Fay, Lindsey; Isaacs, Kathy; Carll-White, Allison; Schadler, Aric

2018-01-01

This study utilizes systems theory to understand how changes to physical design structures impact communication processes and patient and staff design-related outcomes. Many scholars and researchers have noted the importance of communication and teamwork for patient care quality. Few studies have examined changes to nursing station design within a systems theory framework. This study employed a multimethod, before-and-after, quasi-experimental research design. Nurses completed surveys in centralized units and later in decentralized units ( N = 26 pre , N = 51 post ). Patients completed surveys ( N = 62 pre ) in centralized units and later in decentralized units ( N = 49 post ). Surveys included quantitative measures and qualitative open-ended responses. Patients preferred the decentralized units because of larger single-occupancy rooms, greater privacy/confidentiality, and overall satisfaction with design. Nurses had a more complex response. Nurses approved the patient rooms, unit environment, and noise levels in decentralized units. However, they reported reduced access to support spaces, lower levels of team/mentoring communication, and less satisfaction with design than in centralized units. Qualitative findings supported these results. Nurses were more positive about centralized units and patients were more positive toward decentralized units. The results of this study suggest a need to understand how system components operate in concert. A major contribution of this study is the inclusion of patient satisfaction with design, an important yet overlooked fact in patient satisfaction. Healthcare design researchers and practitioners may consider how changing system interdependencies can lead to unexpected changes to communication processes and system outcomes in complex systems.

On the decentralized observer/controller strategy for disturbance rejection

NASA Astrophysics Data System (ADS)

Faria, Cassio T.; Dong, ZhongZhe; Zhang, Xueji

2017-04-01

Centralized controllers and state estimation strategies are the most common topology implemented for disturbance rejection in smart systems. Although this architecture has been proven to be feasible the advances in computation power and size of logic devices can also enable the implementation of decentralized strategies which, on a large scale, can lead to an overall reliability increase of the system. The goal of this paper is to present this concept within the field of disturbance rejection for smart systems and to explore its capabilities and bottlenecks. A simple example is carried out for a composite plate with two controller/estimator centers. Simulation is used to validate the efficacy of the topology and a design procedure is proposed to guarantee the consensus of the agents within the network.

Substructure-based control of flexible structures

NASA Technical Reports Server (NTRS)

Babuska, Vit; Craig, Roy R., Jr.

1993-01-01

A decentralized procedure is presented for the design of controllers for flexible structures. Spatially significant components are created which approximate the response of a specific part of the complete structure. For each component, the controller and observer gain matrices which are used in a controller for the complete structure. The proposed method is illustrated on a model of NASA Langley's CSI testbed structure.

Quantitative Reevaluation of the Effects of Short- and Long-Term Removal of Descending Modulatory Inputs on the Pyloric Rhythm of the Crab, Cancer borealis1,2,3

PubMed Central

Hamood, Albert W.; Haddad, Sara A.; Otopalik, Adriane G.; Rosenbaum, Philipp

2015-01-01

Abstract The crustacean stomatogastric ganglion (STG) receives descending neuromodulatory inputs from three anterior ganglia: the paired commissural ganglia (CoGs), and the single esophageal ganglion (OG). In this paper, we provide the first detailed and quantitative analyses of the short- and long-term effects of removal of these descending inputs (decentralization) on the pyloric rhythm of the STG. Thirty minutes after decentralization, the mean frequency of the pyloric rhythm dropped from 1.20 Hz in control to 0.52 Hz. Whereas the relative phase of pyloric neuron activity was approximately constant across frequency in the controls, after decentralization this changed markedly. Nine control preparations kept for 5–6 d in vitro maintained pyloric rhythm frequencies close to their initial values. Nineteen decentralized preparations kept for 5–6 d dropped slightly in frequency from those seen at 30 min following decentralization, but then displayed stable activity over 6 d. Bouts of higher frequency activity were intermittently seen in both control and decentralized preparations, but the bouts began earlier and were more frequent in the decentralized preparations. Although the bouts may indicate that the removal of the modulatory inputs triggered changes in neuronal excitability, these changes did not produce obvious long-lasting changes in the frequency of the decentralized preparations. PMID:25914899

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.

Indirect decentralized learning control

NASA Technical Reports Server (NTRS)

Longman, Richard W.; Lee, Soo C.; Phan, M.

1992-01-01

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controllers in decentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The basic result of the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

Hierarchical Decentralized Control Strategy for Demand-Side Primary Frequency Response

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

Lian, Jianming; Hansen, Jacob; Marinovici, Laurentiu D.

The Grid Friendlymore » $$^\\textrm{TM}$$ Appliance~(GFA) controller, developed at Pacific Northwest National Laboratory, was designed for the purpose of autonomously switching off appliances by detecting under-frequency events. In this paper, a new frequency responsive load~(FRL) controller is first proposed by extending the functionality of the original GFA controller. The proposed FRL controller can autonomously switch on (or off) end-use loads by detecting over-frequency (or under-frequency) events through local frequency measurement. Then, a hierarchical decentralized control framework is developed for engaging the end-use loads to provide primary frequency response with the proposed FRL controller. The developed framework has several important features that are desirable in terms of providing primary frequency control. It not only exclusively maintains the autonomous operation of the end-use loads, but also effectively overcomes the stability issue associated with high penetration of FRLs. The simulation results illustrate the effectiveness of the developed hierarchical control framework for providing primary frequency response with the proposed FRL controller.« less

Decentralized Interleaving of Paralleled Dc-Dc Buck Converters

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

Johnson, Brian B; Rodriguez, Miguel; Sinha, Mohit

We present a decentralized control strategy that yields switch interleaving among parallel-connected dc-dc buck converters. The proposed method is based on the digital implementation of the dynamics of a nonlinear oscillator circuit as the controller. Each controller is fully decentralized, i.e., it only requires the locally measured output current to synthesize the pulse width modulation (PWM) carrier waveform and no communication between different controllers is needed. By virtue of the intrinsic electrical coupling between converters, the nonlinear oscillator-based controllers converge to an interleaved state with uniform phase-spacing across PWM carriers. To the knowledge of the authors, this work presents themore » first fully decentralized strategy for switch interleaving in paralleled dc-dc buck converters.« less

Decentralized Interleaving of Paralleled Dc-Dc Buck Converters: Preprint

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

Johnson, Brian B; Rodriguez, Miguel; Sinha, Mohit

We present a decentralized control strategy that yields switch interleaving among parallel connected dc-dc buck converters without communication. The proposed method is based on the digital implementation of the dynamics of a nonlinear oscillator circuit as the controller. Each controller is fully decentralized, i.e., it only requires the locally measured output current to synthesize the pulse width modulation (PWM) carrier waveform. By virtue of the intrinsic electrical coupling between converters, the nonlinear oscillator-based controllers converge to an interleaved state with uniform phase-spacing across PWM carriers. To the knowledge of the authors, this work represents the first fully decentralized strategy formore » switch interleaving of paralleled dc-dc buck converters.« less

A Decentralized Event-Triggered Dissipative Control Scheme for Systems With Multiple Sensors to Sample the System Outputs.

PubMed

Zhang, Xian-Ming; Han, Qing-Long

2016-12-01

This paper is concerned with decentralized event-triggered dissipative control for systems with the entries of the system outputs having different physical properties. Depending on these different physical properties, the entries of the system outputs are grouped into multiple nodes. A number of sensors are used to sample the signals from different nodes. A decentralized event-triggering scheme is introduced to select those necessary sampled-data packets to be transmitted so that communication resources can be saved significantly while preserving the prescribed closed-loop performance. First, in order to organize the decentralized data packets transmitted from the sensor nodes, a data packet processor (DPP) is used to generate a new signal to be held by the zero-order-hold once the signal stored by the DPP is updated at some time instant. Second, under the mechanism of the DPP, the resulting closed-loop system is modeled as a linear system with an interval time-varying delay. A sufficient condition is derived such that the closed-loop system is asymptotically stable and strictly (Q 0 ,S 0 ,R 0 ) -dissipative, where Q 0 ,S 0 , and R 0 are real matrices of appropriate dimensions with Q 0 and R 0 symmetric. Third, suitable output-based controllers can be designed based on solutions to a set of a linear matrix inequality. Finally, two examples are given to demonstrate the effectiveness of the proposed method.

Financial management systems under decentralization and their effect on malaria control in Uganda.

PubMed

Kivumbi, George W; Nangendo, Florence; Ndyabahika, Boniface Rutagira

2004-01-01

A descriptive case study with multiple sites and a single level of analysis was carried out in four purposefully selected administrative districts of Uganda to investigate the effect of financial management systems under decentralization on malaria control. Data were primarily collected from 36 interviews with district managers, staff at health units and local leaders. A review of records and documents related to decentralization at the central and district level was also used to generate data for the study. We found that a long, tedious, and bureaucratic process combined with lack of knowledge in working with new financial systems by several actors characterized financial flow under decentralization. This affected the timely use of financial resources for malaria control in that there were funds in the system that could not be accessed for use. We were also told that sometimes these funds were returned to the central government because of non-use due to difficulties in accessing them and/or stringent conditions not to divert them to other uses. Our data showed that a cocktail of bureaucratic control systems, corruption and incompetence make the financial management system under decentralization counter-productive for malaria control. The main conclusion is that good governance through appropriate and efficient financial management systems is very important for effective malaria control under decentralization.

Design Of Combined Stochastic Feedforward/Feedback Control

NASA Technical Reports Server (NTRS)

Halyo, Nesim

1989-01-01

Methodology accommodates variety of control structures and design techniques. In methodology for combined stochastic feedforward/feedback control, main objectives of feedforward and feedback control laws seen clearly. Inclusion of error-integral feedback, dynamic compensation, rate-command control structure, and like integral element of methodology. Another advantage of methodology flexibility to develop variety of techniques for design of feedback control with arbitrary structures to obtain feedback controller: includes stochastic output feedback, multiconfiguration control, decentralized control, or frequency and classical control methods. Control modes of system include capture and tracking of localizer and glideslope, crab, decrab, and flare. By use of recommended incremental implementation, control laws simulated on digital computer and connected with nonlinear digital simulation of aircraft and its systems.

The Use of Meta-Level Control for Coordination in a Distributed Problem Solving Network,

DTIC Science & Technology

1983-01-01

crucial aspect of the design organizational structuring in coordinating the local activity of achs decentralized network control policies. It is...TEMTED EXflD.MENTS WITn and ratings of the subgoals." Threshold values indicating ORGANIZATIONAL STRUCIURING IkeA usaw lani of a subal are specif’ied in...the monitoring are. This environmental vehicle, approximate position, time frame, and belief. The scenario was designed to test the networks ability

Robust decentralized controller for minimizing coupling effect in single inductor multiple output DC-DC converter operating in continuous conduction mode.

PubMed

Medeiros, Renan Landau Paiva de; Barra, Walter; Bessa, Iury Valente de; Chaves Filho, João Edgar; Ayres, Florindo Antonio de Cavalho; Neves, Cleonor Crescêncio das

2018-02-01

This paper describes a novel robust decentralized control design methodology for a single inductor multiple output (SIMO) DC-DC converter. Based on a nominal multiple input multiple output (MIMO) plant model and performance requirements, a pairing input-output analysis is performed to select the suitable input to control each output aiming to attenuate the loop coupling. Thus, the plant uncertainty limits are selected and expressed in interval form with parameter values of the plant model. A single inductor dual output (SIDO) DC-DC buck converter board is developed for experimental tests. The experimental results show that the proposed methodology can maintain a desirable performance even in the presence of parametric uncertainties. Furthermore, the performance indexes calculated from experimental data show that the proposed methodology outperforms classical MIMO control techniques. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

40 CFR 51.353 - Network type and program evaluation.

Code of Federal Regulations, 2013 CFR

2013-07-01

..., decentralized, or a hybrid of the two at the State's discretion, but shall be demonstrated to achieve the same... § 51.351 or 51.352 of this subpart. For decentralized programs other than those meeting the design.... (a) Presumptive equivalency. A decentralized network consisting of stations that only perform...

Reduced modeling of flexible structures for decentralized control

NASA Technical Reports Server (NTRS)

Yousuff, A.; Tan, T. M.; Bahar, L. Y.; Konstantinidis, M. F.

1986-01-01

Based upon the modified finite element-transfer matrix method, this paper presents a technique for reduced modeling of flexible structures for decentralized control. The modeling decisions are carried out at (finite-) element level, and are dictated by control objectives. A simply supported beam with two sets of actuators and sensors (linear force actuator and linear position and velocity sensors) is considered for illustration. In this case, it is conjectured that the decentrally controlled closed loop system is guaranteed to be at least marginally stable.

On l(1): Optimal decentralized performance

NASA Technical Reports Server (NTRS)

Sourlas, Dennis; Manousiouthakis, Vasilios

1993-01-01

In this paper, the Manousiouthakis parametrization of all decentralized stabilizing controllers is employed in mathematically formulating the l(sup 1) optimal decentralized controller synthesis problem. The resulting optimization problem is infinite dimensional and therefore not directly amenable to computations. It is shown that finite dimensional optimization problems that have value arbitrarily close to the infinite dimensional one can be constructed. Based on this result, an algorithm that solves the l(sup 1) decentralized performance problems is presented. A global optimization approach to the solution of the infinite dimensional approximating problems is also discussed.

Decentralized Modular Systems Versus Centralized Systems.

ERIC Educational Resources Information Center

Crossey, R. E.

Building design, planning, and construction programing for modular decentralized mechanical building systems are outlined in terms of costs, performance, expansion and flexibility. Design strategy, approach, and guidelines for implementing such systems for buildings are suggested, with emphasis on mechanical equipment and building element…

Decentralized Control of Autonomous Vehicles

DTIC Science & Technology

2003-01-01

Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

Local Design Methodologies for a Hierarchic Control Architecture

DTIC Science & Technology

1990-04-12

regional (in the sense of knowledge and influence) controllers which are distributed throughout the structure [9,39,54,56,65,68]. Many decentralized...occurs, it is necessary that - gpk = gk > 0 (3.74) I which is true provided Hk > 0 and gt 0 0. These conditions will be met near a strong minimum, but...Astronautics, 19763 Semester spent at Leningrad State University, 1975 PROFESSIONAL SUMMARY Current major area of teaching and research is in the design and

Shifting Landscapes: The Impact of Centralized and Decentralized Nursing Station Models on the Efficiency of Care.

PubMed

Fay, Lindsey; Carll-White, Allison; Schadler, Aric; Isaacs, Kathy B; Real, Kevin

2017-10-01

The focus of this research was to analyze the impact of decentralized and centralized hospital design layouts on the delivery of efficient care and the resultant level of caregiver satisfaction. An interdisciplinary team conducted a multiphased pre- and postoccupancy evaluation of a cardiovascular service line in an academic hospital that moved from a centralized to decentralized model. This study examined the impact of walkability, room usage, allocation of time, and visibility to better understand efficiency in the care environment. A mixed-methods data collection approach was utilized, which included pedometer measurements of staff walking distances, room usage data, time studies in patient rooms and nurses' stations, visibility counts, and staff questionnaires yielding qualitative and quantitative results. Overall, the data comparing the centralized and decentralized models yielded mixed results. This study's centralized design was rated significantly higher in its ability to support teamwork and efficient patient care with decreased staff walking distances. The decentralized unit design was found to positively influence proximity to patients in a larger design footprint and contribute to increased visits to and time spent in patient rooms. Among the factors contributing to caregiver efficiency and satisfaction are nursing station design, an integrated team approach, and the overall physical layout of the space on walkability, allocation of caregiver time, and visibility. However, unit design alone does not solely impact efficiency, suggesting that designers must consider the broader implications of a culture of care and processes.

Ophiuroid robot that self-organizes periodic and non-periodic arm movements.

PubMed

Kano, Takeshi; Suzuki, Shota; Watanabe, Wataru; Ishiguro, Akio

2012-09-01

Autonomous decentralized control is a key concept for understanding the mechanism underlying adaptive and versatile locomotion of animals. Although the design of an autonomous decentralized control system that ensures adaptability by using coupled oscillators has been proposed previously, it cannot comprehensively reproduce the versatility of animal behaviour. To tackle this problem, we focus on using ophiuroids as a simple model that exhibits versatile locomotion including periodic and non-periodic arm movements. Our existing model for ophiuroid locomotion uses an active rotator model that describes both oscillatory and excitatory properties. In this communication, we develop an ophiuroid robot to confirm the validity of this proposed model in the real world. We show that the robot travels by successfully coordinating periodic and non-periodic arm movements in response to external stimuli.

Extended Decentralized Linear-Quadratic-Gaussian Control

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

2000-01-01

A straightforward extension of a solution to the decentralized linear-Quadratic-Gaussian problem is proposed that allows its use for commonly encountered classes of problems that are currently solved with the extended Kalman filter. This extension allows the system to be partitioned in such a way as to exclude the nonlinearities from the essential algebraic relationships that allow the estimation and control to be optimally decentralized.

On decentralized control of large-scale systems

NASA Technical Reports Server (NTRS)

Siljak, D. D.

1978-01-01

A scheme is presented for decentralized control of large-scale linear systems which are composed of a number of interconnected subsystems. By ignoring the interconnections, local feedback controls are chosen to optimize each decoupled subsystem. Conditions are provided to establish compatibility of the individual local controllers and achieve stability of the overall system. Besides computational simplifications, the scheme is attractive because of its structural features and the fact that it produces a robust decentralized regulator for large dynamic systems, which can tolerate a wide range of nonlinearities and perturbations among the subsystems.

Interaction Metrics for Feedback Control of Sound Radiation from Stiffened Panels

NASA Technical Reports Server (NTRS)

Cabell, Randolph H.; Cox, David E.; Gibbs, Gary P.

2003-01-01

Interaction metrics developed for the process control industry are used to evaluate decentralized control of sound radiation from bays on an aircraft fuselage. The metrics are applied to experimentally measured frequency response data from a model of an aircraft fuselage. The purpose is to understand how coupling between multiple bays of the fuselage can destabilize or limit the performance of a decentralized active noise control system. The metrics quantitatively verify observations from a previous experiment, in which decentralized controllers performed worse than centralized controllers. The metrics do not appear to be useful for explaining control spillover which was observed in a previous experiment.

Robust decentralized control laws for the ACES structure

NASA Technical Reports Server (NTRS)

Collins, Emmanuel G., Jr.; Phillips, Douglas J.; Hyland, David C.

1991-01-01

Control system design for the Active Control Technique Evaluation for Spacecraft (ACES) structure at NASA Marshall Space Flight Center is discussed. The primary objective of this experiment is to design controllers that provide substantial reduction of the line-of-sight pointing errors. Satisfaction of this objective requires the controllers to attenuate beam vibration significantly. The primary method chosen for control design is the optimal projection approach for uncertain systems (OPUS). The OPUS design process allows the simultaneous tradeoff of five fundamental issues in control design: actuator sizing, sensor accuracy, controller order, robustness, and system performance. A brief description of the basic ACES configuration is given. The development of the models used for control design and control design for eight system loops that were selected by analysis of test data collected from the structure are discussed. Experimental results showing that very significant performance improvement is achieved when all eight feedback loops are closed are presented.

How changing quality management influenced PGME accreditation: a focus on decentralization and quality improvement.

PubMed

Akdemir, Nesibe; Lombarts, Kiki M J M H; Paternotte, Emma; Schreuder, Bas; Scheele, Fedde

2017-06-02

Evaluating the quality of postgraduate medical education (PGME) programs through accreditation is common practice worldwide. Accreditation is shaped by educational quality and quality management. An appropriate accreditation design is important, as it may drive improvements in training. Moreover, accreditors determine whether a PGME program passes the assessment, which may have major consequences, such as starting, continuing or discontinuing PGME. However, there is limited evidence for the benefits of different choices in accreditation design. Therefore, this study aims to explain how changing views on educational quality and quality management have impacted the design of the PGME accreditation system in the Netherlands. To determine the historical development of the Dutch PGME accreditation system, we conducted a document analysis of accreditation documents spanning the past 50 years and a vision document outlining the future system. A template analysis technique was used to identify the main elements of the system. Four themes in the Dutch PGME accreditation system were identified: (1) objectives of accreditation, (2) PGME quality domains, (3) quality management approaches and (4) actors' responsibilities. Major shifts have taken place regarding decentralization, residency performance and physician practice outcomes, and quality improvement. Decentralization of the responsibilities of the accreditor was absent in 1966, but this has been slowly changing since 1999. In the future system, there will be nearly a maximum degree of decentralization. A focus on outcomes and quality improvement has been introduced in the current system. The number of formal documents striving for quality assurance has increased enormously over the past 50 years, which has led to increased bureaucracy. The future system needs to decrease the number of standards to focus on measurable outcomes and to strive for quality improvement. The challenge for accreditors is to find the right balance between trusting and controlling medical professionals. Their choices will be reflected in the accreditation design. The four themes could enhance international comparisons and encourage better choices in the design of accreditation systems.

The Impact of Human-Automation Collaboration in Decentralized Multiple Unmanned Vehicle Control

DTIC Science & Technology

2011-01-01

based decentralized auctions for robust task allocation ,[ IEEE Trans. Robot., vol. 25, no. 4, pp...operators can aid such systems by bringing their knowledge- based reasoning and experience to bear. Given a decentralized task planner and a goal- based ...experience to bear. Given a decentralized task planner and a goal- based operator interface for a network of unmanned vehicles in a search, track,

Decentralized Estimation and Control for Preserving the Strong Connectivity of Directed Graphs.

PubMed

Sabattini, Lorenzo; Secchi, Cristian; Chopra, Nikhil

2015-10-01

In order to accomplish cooperative tasks, decentralized systems are required to communicate among each other. Thus, maintaining the connectivity of the communication graph is a fundamental issue. Connectivity maintenance has been extensively studied in the last few years, but generally considering undirected communication graphs. In this paper, we introduce a decentralized control and estimation strategy to maintain the strong connectivity property of directed communication graphs. In particular, we introduce a hierarchical estimation procedure that implements power iteration in a decentralized manner, exploiting an algorithm for balancing strongly connected directed graphs. The output of the estimation system is then utilized for guaranteeing preservation of the strong connectivity property. The control strategy is validated by means of analytical proofs and simulation results.

Consensus positive position feedback control for vibration attenuation of smart structures

NASA Astrophysics Data System (ADS)

Omidi, Ehsan; Nima Mahmoodi, S.

2015-04-01

This paper presents a new network-based approach for active vibration control in smart structures. In this approach, a network with known topology connects collocated actuator/sensor elements of the smart structure to one another. Each of these actuators/sensors, i.e., agent or node, is enhanced by a separate multi-mode positive position feedback (PPF) controller. The decentralized PPF controlled agents collaborate with each other in the designed network, under a certain consensus dynamics. The consensus constraint forces neighboring agents to cooperate with each other such that the disagreement between the time-domain actuation of the agents is driven to zero. The controller output of each agent is calculated using state-space variables; hence, optimal state estimators are designed first for the proposed observer-based consensus PPF control. The consensus controller is numerically investigated for a flexible smart structure, i.e., a thin aluminum beam that is clamped at its both ends. Results demonstrate that the consensus law successfully imposes synchronization between the independently controlled agents, as the disagreements between the decentralized PPF controller variables converge to zero in a short time. The new consensus PPF controller brings extra robustness to vibration suppression in smart structures, where malfunctions of an agent can be compensated for by referencing the neighboring agents’ performance. This is demonstrated in the results by comparing the new controller with former centralized PPF approach.

Centralized vs. Decentralized Nursing Stations: An Evaluation of the Implications of Communication Technologies in Healthcare.

PubMed

Bayramzadeh, Sara; Alkazemi, Mariam F

2014-01-01

This study aims to explore the relationship between the nursing station design and use of communication technologies by comparing centralized and decentralized nursing stations. The rapid changes in communication technologies in healthcare are inevitable. Communication methods can change the way occupants use a space. In the meantime, decentralized nursing stations are emerging as a replacement for the traditional centralized nursing stations; however, not much research has been done on how the design of nursing stations can impact the use of communication technologies. A cross sectional study was conducted using an Internet-based survey among registered nurses in a Southeastern hospital in the United States. Two units with centralized nursing stations and two units with decentralized nursing stations were compared in terms of the application of communication technologies. A total of 70 registered nurses completed the survey in a 2-week period. The results revealed no significant differences between centralized and decentralized nursing stations in terms of frequency of communication technologies used. However, a difference was found between perception of nurses toward communication technologies and perceptions of the use of communication technologies in decentralized nursing stations. Although the study was limited to one hospital, the results indicate that nurses hold positive attitudes toward communication technologies. The results also reveal the strengths and weaknesses of each nursing station design with regard to communication technologies. Hospital, interdisciplinary, nursing, technology, work environment.

Robust control of multi-jointed arm with a decentralized autonomous control mechanism

NASA Technical Reports Server (NTRS)

Kimura, Shinichi; Miyazaki, Ken; Suzuki, Yoshiaki

1994-01-01

A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.

Model reference, sliding mode adaptive control for flexible structures

NASA Technical Reports Server (NTRS)

Yurkovich, S.; Ozguner, U.; Al-Abbass, F.

1988-01-01

A decentralized model reference adaptive approach using a variable-structure sliding model control has been developed for the vibration suppression of large flexible structures. Local models are derived based upon the desired damping and response time in a model-following scheme, and variable structure controllers are then designed which employ colocated angular rate and position feedback. Numerical simulations have been performed using NASA's flexible grid experimental apparatus.

Does Decentralization Improve Health System Performance and Outcomes in Low- and Middle-Income Countries? A Systematic Review of Evidence From Quantitative Studies.

PubMed

Dwicaksono, Adenantera; Fox, Ashley M

2018-06-01

Policy Points: For more than 3 decades, international development agencies have advocated health system decentralization to improve health system performance in low- and middle-income countries. We found little rigorous evidence documenting the impact of decentralization processes on health system performance or outcomes in part due to challenges in measuring such far-reaching and multifaceted system-level changes. We propose a renewed research agenda that focuses on discrete definitions of decentralization and how institutional factors and mechanisms affect health system performance and outcomes within the general context of decentralized governance structures. Despite the widespread adoption of decentralization reforms as a means to improve public service delivery in developing countries since the 1980s, empirical evidence of the role of decentralization on health system improvement is still limited and inconclusive. This study reviewed studies published from 2000 to 2016 with adequate research designs to identify evidence on whether and how decentralization processes have impacted health systems. We conducted a systematic review of peer-reviewed journal articles from the public health and social science literature. We searched for articles within 9 databases using predefined search terms reflecting decentralization and health system constructs. Inclusion criteria were original research articles, low- and middle-income country settings, quantifiable outcome measures, and study designs that use comparisons or statistical adjustments. We excluded studies in high-income country settings and/or published in a non-English language. Sixteen studies met our prespecified inclusion and exclusion criteria and were grouped based on outcomes measured: health system inputs (n = 3), performance (n = 7), and health outcomes (n = 7). Numerous studies addressing conceptual issues related to decentralization but without any attempt at empirical estimation were excluded. Overall, we found mixed results regarding the effects of decentralization on health system indicators with seemingly beneficial effects on health system performance and health outcomes. Only 10 studies were considered to have relatively low risks of bias. This study reveals the limited empirical knowledge of the impact of decentralization on health system performance. Mixed empirical findings on the role of decentralization on health system performance and outcomes highlight the complexity of decentralization processes and their systemwide effects. Thus, we propose a renewed research agenda that focuses on discrete definitions of decentralization and how institutional factors and mechanisms affect health system performance and outcomes within the general context of decentralized governance structures. © 2018 Milbank Memorial Fund.

Annual Review of Research under the Joint Services Electronics Program,

DTIC Science & Technology

1981-12-01

nonlinear system under investigation to be transformed, without approximation, into an equivalent linear system to which classical design methodologies are...employed his work in the design of an experimental helicopter autopilot which is presently under- going simulation and is expected to fly in the near...decentralized, and non -quad- duced from that which would be required ratic systems is presented. Here, one for an optimal non -linlar controller. designs a

An empirical examination of the impacts of decentralized nursing unit design.

PubMed

Pati, Debajyoti; Harvey, Thomas E; Redden, Pamela; Summers, Barbara; Pati, Sipra

2015-01-01

The objective of the study was to examine the impact of decentralization on operational efficiency, staff well-being, and teamwork on three inpatient units. Decentralized unit operations and the corresponding physical design solution were hypothesized to positively affect several concerns-productive use of nursing time, staff stress, walking distances, and teamwork, among others. With a wide adoption of the concept, empirical evidence on the impact of decentralization was warranted. A multimethod, before-and-after, quasi-experimental design was adopted for the study, focusing on five issues, namely, (1) how nurses spend their time, (2) walking distance, (3) acute stress, (4) productivity, and (5) teamwork. Data on all five issues were collected on three older units with centralized operational model (before move). The same set of data, with identical tools and measures, were collected on the same units after move in to new physical units with decentralized operational model. Data were collected during spring and fall of 2011. Documentation, nurse station use, medication room use, and supplies room use showed consistent change across the three units. Walking distance increased (statistically significant) on two of the three units. Self-reported level of collaboration decreased, although assessment of the physical facility for collaboration increased. Decentralized nursing and physical design models potentially result in quality of work improvements associated with documentation, medication, and supplies. However, there are unexpected consequences associated with walking, and staff collaboration and teamwork. The solution to the unexpected consequences may lie in operational interventions and greater emphasis on culture change. © The Author(s) 2015.

Integrated flight/propulsion control system design based on a decentralized, hierarchical approach

NASA Technical Reports Server (NTRS)

Mattern, Duane; Garg, Sanjay; Bullard, Randy

1989-01-01

A sample integrated flight/propulsion control system design is presented for the piloted longitudinal landing task with a modern, statistically unstable fighter aircraft. The design procedure is summarized. The vehicle model used in the sample study is described, and the procedure for partitioning the integrated system is presented along with a description of the subsystems. The high-level airframe performance specifications and control design are presented and the control performance is evaluated. The generation of the low-level (engine) subsystem specifications from the airframe requirements are discussed, and the engine performance specifications are presented along with the subsystem control design. A compensator to accommodate the influence of airframe outputs on the engine subsystem is also considered. Finally, the entire closed loop system performance and stability characteristics are examined.

Integrated flight/propulsion control system design based on a decentralized, hierarchical approach

NASA Technical Reports Server (NTRS)

Mattern, Duane; Garg, Sanjay; Bullard, Randy

1989-01-01

A sample integrated flight/propulsion control system design is presented for the piloted longitiudinal landing task with a modern, statistically unstable fighter aircraft. The design procedure is summarized, the vehicle model used in the sample study is described, and the procedure for partitioning the integrated system is presented along with a description of the subsystems. The high-level airframe performance specifications and control design are presented and the control performance is evaluated. The generation of the low-level (engine) subsystem specifications from the airframe requirements are discussed, and the engine performance specifications are presented along with the subsystem control design. A compensator to accommodate the influence of airframe outputs on the engine subsystem is also considered. Finally, the entire closed loop system performance and stability characteristics are examined.

Linear decentralized learning control

NASA Technical Reports Server (NTRS)

Lee, Soo C.; Longman, Richard W.; Phan, Minh

1992-01-01

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

Controller partitioning for integrated flight/propulsion control implementation

NASA Technical Reports Server (NTRS)

Garg, Sanjay

1993-01-01

The notion of partitioning a centralized controller into a decentralized, hierarchical structure suitable for integrated flight/propulsion control (IFPC) implementation is discussed. A systematic procedure is developed for determining partitioned airframe and engine subsystem controllers (subcontrollers), with the desired interconnection structure, that approximate the closed-loop performance and robustness characteristics of a given centralized controller. The procedure is demonstrated by application to IFPC design for a Short Take-Off and Vertical Landing (STOVL) aircraft in the landing approach to hover transition flight phase.

OPTIMIZATION OF DECENTRALIZED BMP CONTROLS IN URBAN AREAS

EPA Science Inventory

This paper will present an overview of a recently completed project for the US EPA entitled, Optimization of Urban Wet-weather Flow Control Systems. The focus of this effort is on techniques that are suitable for evaluating decentralized BMP controls. The four major components ...

OPTIMIZATION OF DECENTRALIZED BMP CONTROLS IN URBAN AREAS

EPA Science Inventory

This paper will present an overview of a recently completed project for the US EPA entitled Optimization of Urban Wet-weather Flow Control Systems. The focus of this effort is on techniques that are suitable for evaluating decentralized BMP controls. The four major components o...

Decentralization of Educational Development Reforms in Nigeria: A Comparative Perspective

ERIC Educational Resources Information Center

Ikoya, Peter O.

2007-01-01

Purpose: The purpose of this paper is to seek to appraise regional compliance to decentralization laws establishing Education Boards and Committees since the Nigerian Government has for some time now been making efforts aimed at reforming her educational system. Design/methodology/approach: Employing ex post facto design, the study uses survey…

Model-Based Design of Tree WSNs for Decentralized Detection.

PubMed

Tantawy, Ashraf; Koutsoukos, Xenofon; Biswas, Gautam

2015-08-20

The classical decentralized detection problem of finding the optimal decision rules at the sensor and fusion center, as well as variants that introduce physical channel impairments have been studied extensively in the literature. The deployment of WSNs in decentralized detection applications brings new challenges to the field. Protocols for different communication layers have to be co-designed to optimize the detection performance. In this paper, we consider the communication network design problem for a tree WSN. We pursue a system-level approach where a complete model for the system is developed that captures the interactions between different layers, as well as different sensor quality measures. For network optimization, we propose a hierarchical optimization algorithm that lends itself to the tree structure, requiring only local network information. The proposed design approach shows superior performance over several contentionless and contention-based network design approaches.

Decentralized event-triggered synchronization of uncertain Markovian jumping neutral-type neural networks with mixed delays.

PubMed

Senan, Sibel; Syed Ali, M; Vadivel, R; Arik, Sabri

2017-02-01

In this study, we present an approach for the decentralized event-triggered synchronization of Markovian jumping neutral-type neural networks with mixed delays. We present a method for designing decentralized event-triggered synchronization, which only utilizes locally available information, in order to determine the time instants for transmission from sensors to a central controller. By applying a novel Lyapunov-Krasovskii functional, as well as using the reciprocal convex combination method and some inequality techniques such as Jensen's inequality, we obtain several sufficient conditions in terms of a set of linear matrix inequalities (LMIs) under which the delayed neural networks are stochastically stable in terms of the error systems. Finally, we conclude that the drive systems synchronize stochastically with the response systems. We show that the proposed stability criteria can be verified easily using the numerically efficient Matlab LMI toolbox. The effectiveness and feasibility of the results obtained are verified by numerical examples. Copyright © 2016 Elsevier Ltd. All rights reserved.

Decentralized and Modular Electrical Architecture

NASA Astrophysics Data System (ADS)

Elisabelar, Christian; Lebaratoux, Laurence

2014-08-01

This paper presents the studies made on the definition and design of a decentralized and modular electrical architecture that can be used for power distribution, active thermal control (ATC), standard inputs-outputs electrical interfaces.Traditionally implemented inside central unit like OBC or RTU, these interfaces can be dispatched in the satellite by using MicroRTU.CNES propose a similar approach of MicroRTU. The system is based on a bus called BRIO (Bus Réparti des IO), which is composed, by a power bus and a RS485 digital bus. BRIO architecture is made with several miniature terminals called BTCU (BRIO Terminal Control Unit) distributed in the spacecraft.The challenge was to design and develop the BTCU with very little volume, low consumption and low cost. The standard BTCU models are developed and qualified with a configuration dedicated to ATC, while the first flight model will fly on MICROSCOPE for PYRO actuations and analogue acquisitions. The design of the BTCU is made in order to be easily adaptable for all type of electric interface needs.Extension of this concept is envisaged for power conditioning and distribution unit, and a Modular PCDU based on BRIO concept is proposed.

Implementation of a decentralized community-based treatment program to improve the management of Buruli ulcer in the Ouinhi district of Benin, West Africa

PubMed Central

Amoussouhoui, Arnaud Setondji; Wadagni, Anita Carolle; Johnson, Roch Christian; Aoulou, Paulin; Agbo, Inès Elvire; Houezo, Jean-Gabin; Boyer, Micah; Nichter, Mark

2018-01-01

Background Mycobacterium ulcerans infection, commonly known as Buruli ulcer (BU), is a debilitating neglected tropical disease. Its management remains complex and has three main components: antibiotic treatment combining rifampicin and streptomycin for 56 days, wound dressings and skin grafts for large ulcerations, and physical therapy to prevent functional limitations after care. In Benin, BU patient care is being integrated into the government health system. In this paper, we report on an innovative pilot program designed to introduce BU decentralization in Ouinhi district, one of Benin’s most endemic districts previously served by centralized hospital-based care. Methodology/Principal findings We conducted intervention-oriented research implemented in four steps: baseline study, training of health district clinical staff, outreach education, outcome and impact assessments. Study results demonstrated that early BU lesions (71% of all detected cases) could be treated in the community following outreach education, and that most of the afflicted were willing to accept decentralized treatment. Ninety-three percent were successfully treated with antibiotics alone. The impact evaluation found that community confidence in decentralized BU care was greatly enhanced by clinic staff who came to be seen as having expertise in the care of most chronic wounds. Conclusions/Significance This study documents a successful BU outreach and decentralized care program reaching early BU cases not previously treated by a proactive centralized BU program. The pilot program further demonstrates the added value of integrated wound management for NTD control. PMID:29529087

Implementation of a decentralized community-based treatment program to improve the management of Buruli ulcer in the Ouinhi district of Benin, West Africa.

PubMed

Amoussouhoui, Arnaud Setondji; Sopoh, Ghislain Emmanuel; Wadagni, Anita Carolle; Johnson, Roch Christian; Aoulou, Paulin; Agbo, Inès Elvire; Houezo, Jean-Gabin; Boyer, Micah; Nichter, Mark

2018-03-01

Mycobacterium ulcerans infection, commonly known as Buruli ulcer (BU), is a debilitating neglected tropical disease. Its management remains complex and has three main components: antibiotic treatment combining rifampicin and streptomycin for 56 days, wound dressings and skin grafts for large ulcerations, and physical therapy to prevent functional limitations after care. In Benin, BU patient care is being integrated into the government health system. In this paper, we report on an innovative pilot program designed to introduce BU decentralization in Ouinhi district, one of Benin's most endemic districts previously served by centralized hospital-based care. We conducted intervention-oriented research implemented in four steps: baseline study, training of health district clinical staff, outreach education, outcome and impact assessments. Study results demonstrated that early BU lesions (71% of all detected cases) could be treated in the community following outreach education, and that most of the afflicted were willing to accept decentralized treatment. Ninety-three percent were successfully treated with antibiotics alone. The impact evaluation found that community confidence in decentralized BU care was greatly enhanced by clinic staff who came to be seen as having expertise in the care of most chronic wounds. This study documents a successful BU outreach and decentralized care program reaching early BU cases not previously treated by a proactive centralized BU program. The pilot program further demonstrates the added value of integrated wound management for NTD control.

The social control of energy: A case for the promise of decentralized solar technologies

NASA Astrophysics Data System (ADS)

Gilmer, R. W.

1980-05-01

Decentralized solar technology and centralized electric utilities were contrasted in the ways they assign property rights in capital and energy output; in the assignment of operational control; and in the means of monitoring, policing, and enforcing property rights. An analogy was drawn between the decision of an energy consumer to use decentralized solar and the decision of a firm to vertically integrate, that is, to extend the boundary of a the firm to vertically integrate, that is, to extend the boundary of the firm by making inputs or further processing output. Decentralized solar energy production offers the small energy consumer the chance to cut ties to outside suppliers--to vertically integrate energy production into the home or business. The development of this analogy provides insight into important noneconomic aspects of solar energy, and it points clearly to the lighter burdens of social management offered by decentralized solar technology.

Decentralized stochastic control

NASA Technical Reports Server (NTRS)

Speyer, J. L.

1980-01-01

Decentralized stochastic control is characterized by being decentralized in that the information to one controller is not the same as information to another controller. The system including the information has a stochastic or uncertain component. This complicates the development of decision rules which one determines under the assumption that the system is deterministic. The system is dynamic which means the present decisions affect future system responses and the information in the system. This circumstance presents a complex problem where tools like dynamic programming are no longer applicable. These difficulties are discussed from an intuitive viewpoint. Particular assumptions are introduced which allow a limited theory which produces mechanizable affine decision rules.

Decentralized Adaptive Control of Systems with Uncertain Interconnections, Plant-Model Mismatch and Actuator Failures

NASA Technical Reports Server (NTRS)

Patre, Parag; Joshi, Suresh M.

2011-01-01

Decentralized adaptive control is considered for systems consisting of multiple interconnected subsystems. It is assumed that each subsystem s parameters are uncertain and the interconnection parameters are not known. In addition, mismatch can exist between each subsystem and its reference model. A strictly decentralized adaptive control scheme is developed, wherein each subsystem has access only to its own state but has the knowledge of all reference model states. The mismatch is estimated online for each subsystem and the mismatch estimates are used to adaptively modify the corresponding reference models. The adaptive control scheme is extended to the case with actuator failures in addition to mismatch.

Effectiveness Through Control: Centralized Execution in Air Mobility Operations

DTIC Science & Technology

2013-03-01

decentralized execution, as “the delegation of authority to designated lower-level commanders and other tactical-level decision makers to achieve effective span...asset “into a flying hospital of sorts with cardiac monitors, defibrillators , intubation devices, litters and various supplies to sustain many types... designated , versus dedicated airlift. A 2006 Air Force Magazine article described the flexibility of this concept, highlighting “When an injured service

Retention in Differentiated Care: Multiple Measures Analysis for a Decentralized HIV Care and Treatment Program in North Central Nigeria

PubMed Central

Agaba, Patricia A; Genberg, Becky L; Sagay, Atiene S; Agbaji, Oche O; Meloni, Seema T; Dadem, Nancin Y; Kolawole, Grace O; Okonkwo, Prosper; Kanki, Phyllis J; Ware, Norma C

2018-01-01

Objective Differentiated care refers collectively to flexible service models designed to meet the differing needs of HIV-infected persons in resource-scarce settings. Decentralization is one such service model. Retention is a key indicator for monitoring the success of HIV treatment and care programs. We used multiple measures to compare retention in a cohort of patients receiving HIV care at “hub” (central) and “spoke” (decentralized) sites in a large public HIV treatment program in north central Nigeria. Methods This retrospective cohort study utilized longitudinal program data representing central and decentralized levels of care in the Plateau State Decentralization Initiative, north central Nigeria. We examined retention with patient- level (retention at fixed times, loss-to-follow-up [LTFU]) and visit-level (gaps-in-care, visit constancy) measures. Regression models with generalized estimating equations (GEE) were used to estimate the effect of decentralization on visit-level measures. Patient-level measures were examined using survival methods with Cox regression models, controlling for baseline variables. Results Of 15,650 patients, 43% were enrolled at the hub. Median time in care was 3.1 years. Hub patients were less likely to be LTFU (adjusted hazard ratio (AHR)=0.91, 95% CI: 0.85-0.97), compared to spoke patients. Visit constancy was lower at the hub (−4.5%, 95% CI: −3.5, −5.5), where gaps in care were also more likely to occur (adjusted odds ratio=1.95, 95% CI: 1.83-2.08). Conclusion Decentralized sites demonstrated better retention outcomes using visit-level measures, while the hub achieved better retention outcomes using patient-level measures. Retention estimates produced by incorporating multiple measures showed substantial variation, confirming the influence of measurement strategies on the results of retention research. Future studies of retention in HIV care in sub-Saharan Africa will be well-served by including multiple measures. PMID:29682399

Retention in Differentiated Care: Multiple Measures Analysis for a Decentralized HIV Care and Treatment Program in North Central Nigeria.

PubMed

Agaba, Patricia A; Genberg, Becky L; Sagay, Atiene S; Agbaji, Oche O; Meloni, Seema T; Dadem, Nancin Y; Kolawole, Grace O; Okonkwo, Prosper; Kanki, Phyllis J; Ware, Norma C

2018-01-01

Differentiated care refers collectively to flexible service models designed to meet the differing needs of HIV-infected persons in resource-scarce settings. Decentralization is one such service model. Retention is a key indicator for monitoring the success of HIV treatment and care programs. We used multiple measures to compare retention in a cohort of patients receiving HIV care at "hub" (central) and "spoke" (decentralized) sites in a large public HIV treatment program in north central Nigeria. This retrospective cohort study utilized longitudinal program data representing central and decentralized levels of care in the Plateau State Decentralization Initiative, north central Nigeria. We examined retention with patient- level (retention at fixed times, loss-to-follow-up [LTFU]) and visit-level (gaps-in-care, visit constancy) measures. Regression models with generalized estimating equations (GEE) were used to estimate the effect of decentralization on visit-level measures. Patient-level measures were examined using survival methods with Cox regression models, controlling for baseline variables. Of 15,650 patients, 43% were enrolled at the hub. Median time in care was 3.1 years. Hub patients were less likely to be LTFU (adjusted hazard ratio (AHR)=0.91, 95% CI: 0.85-0.97), compared to spoke patients. Visit constancy was lower at the hub (-4.5%, 95% CI: -3.5, -5.5), where gaps in care were also more likely to occur (adjusted odds ratio=1.95, 95% CI: 1.83-2.08). Decentralized sites demonstrated better retention outcomes using visit-level measures, while the hub achieved better retention outcomes using patient-level measures. Retention estimates produced by incorporating multiple measures showed substantial variation, confirming the influence of measurement strategies on the results of retention research. Future studies of retention in HIV care in sub-Saharan Africa will be well-served by including multiple measures.

Model-Based Design of Tree WSNs for Decentralized Detection †

PubMed Central

Tantawy, Ashraf; Koutsoukos, Xenofon; Biswas, Gautam

2015-01-01

The classical decentralized detection problem of finding the optimal decision rules at the sensor and fusion center, as well as variants that introduce physical channel impairments have been studied extensively in the literature. The deployment of WSNs in decentralized detection applications brings new challenges to the field. Protocols for different communication layers have to be co-designed to optimize the detection performance. In this paper, we consider the communication network design problem for a tree WSN. We pursue a system-level approach where a complete model for the system is developed that captures the interactions between different layers, as well as different sensor quality measures. For network optimization, we propose a hierarchical optimization algorithm that lends itself to the tree structure, requiring only local network information. The proposed design approach shows superior performance over several contentionless and contention-based network design approaches. PMID:26307989

Controller design via structural reduced modeling by FETM

NASA Technical Reports Server (NTRS)

Yousuff, Ajmal

1987-01-01

The Finite Element-Transfer Matrix (FETM) method has been developed to reduce the computations involved in analysis of structures. This widely accepted method, however, has certain limitations, and does not address the issues of control design. To overcome these, a modification of the FETM method has been developed. The new method easily produces reduced models tailored toward subsequent control design. Other features of this method are its ability to: (1) extract open loop frequencies and mode shapes with less computations, (2) overcome limitations of the original FETM method, and (3) simplify the design procedures for output feedback, constrained compensation, and decentralized control. This report presents the development of the new method, generation of reduced models by this method, their properties, and the role of these reduced models in control design. Examples are included to illustrate the methodology.

Control and stabilization of decentralized systems

NASA Technical Reports Server (NTRS)

Byrnes, Christopher I.; Gilliam, David; Martin, Clyde F.

1989-01-01

Proceeding from the problem posed by the need to stabilize the motion of two helicopters maneuvering a single load, a methodology is developed for the stabilization of classes of decentralized systems based on a more algebraic approach, which involves the external symmetries of decentralized systems. Stabilizing local-feedback laws are derived for any class of decentralized systems having a semisimple algebra of symmetries; the helicopter twin-lift problem, as well as certain problems involving the stabilization of discretizations of distributed parameter problems, have just such algebras of symmetries.

DAISY-DAMP: A distributed AI system for the dynamic allocation and management of power

NASA Technical Reports Server (NTRS)

Hall, Steven B.; Ohler, Peter C.

1988-01-01

One of the critical parameters that must be addressed when designing a loosely coupled Distributed AI SYstem (DAISY) has to do with the degree to which authority is centralized or decentralized. The decision to implement the Dynamic Allocation and Management of Power (DAMP) system as a network of cooperating agents mandated this study. The DAISY-DAMP problem is described; the component agents of the system are characterized; and the communication protocols system elucidated. The motivations and advantages in designing the system with authority decentralized is discussed. Progress in the area of Speech Act theory is proposed as playing a role in constructing decentralized systems.

Effects of nursing unit spatial layout on nursing team communication patterns, quality of care, and patient safety.

PubMed

Hua, Ying; Becker, Franklin; Wurmser, Teri; Bliss-Holtz, Jane; Hedges, Christine

2012-01-01

Studies investigating factors contributing to improved quality of care have found that effective team member communication is among the most critical and influential aspects in the delivery of quality care. Relatively little research has examined the role of the physical design of nursing units on communication patterns among care providers. Although the concept of decentralized unit design is intended to increase patient safety, reduce nurse fatigue, and control the noisy, chaotic, and crowded space associated with centralized nursing stations, until recently little attention has been paid to how such nursing unit designs affected communication patterns or other medical and organizational outcomes. Using a pre/post research design comparing more centralized or decentralized unit designs with a new multi-hub design, the aim of this study was to describe the relationship between the clinical spatial environment and its effect on communication patterns, nurse satisfaction, distance walked, organizational outcomes, patient safety, and patient satisfaction. Hospital institutional data indicated that patient satisfaction increased substantially. Few significant changes were found in communication patterns; no significant changes were found in nurse job satisfaction, patient falls, pressure ulcers, or organizational outcomes such as average length of stay or patient census.

Decentralized Bayesian search using approximate dynamic programming methods.

PubMed

Zhao, Yijia; Patek, Stephen D; Beling, Peter A

2008-08-01

We consider decentralized Bayesian search problems that involve a team of multiple autonomous agents searching for targets on a network of search points operating under the following constraints: 1) interagent communication is limited; 2) the agents do not have the opportunity to agree in advance on how to resolve equivalent but incompatible strategies; and 3) each agent lacks the ability to control or predict with certainty the actions of the other agents. We formulate the multiagent search-path-planning problem as a decentralized optimal control problem and introduce approximate dynamic heuristics that can be implemented in a decentralized fashion. After establishing some analytical properties of the heuristics, we present computational results for a search problem involving two agents on a 5 x 5 grid.

Stability of Fiber Optic Networked Decentralized Distributed Engine Control Under Time Delays

DTIC Science & Technology

2009-08-01

Nomenclature FADEC = Full Authority Digital Engine Control D2FADEC = Decentralized Distributed Full Authority Digital Engine Control DEC...Corporation (IFOS), bm@ifos.com. I American Institute of Aeronautics and Astronautics 2 II. Distributed Engine Control Systems FADEC Based on...of Full Authority Digital Engine Control ( FADEC ) are distributed at the component level. Each sensor/actuator is to be replaced by a smart sensor

Adaptive Decentralized Control

DTIC Science & Technology

1985-04-01

and implementation of the decentralized controllers. It raises, however, many difficult questions regarding the conditions under which such a scheme ...adaptive controller, and a general form of the model reference adaptive controller (4]. We believe that this work represents a significant advance in the...Comparing the adaptive system with the tuned system results in the development of a generic adaptive error system. Passivity theory was used to derive

On the decentralized control of large-scale systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Chong, C.

1973-01-01

The decentralized control of stochastic large scale systems was considered. Particular emphasis was given to control strategies which utilize decentralized information and can be computed in a decentralized manner. The deterministic constrained optimization problem is generalized to the stochastic case when each decision variable depends on different information and the constraint is only required to be satisfied on the average. For problems with a particular structure, a hierarchical decomposition is obtained. For the stochastic control of dynamic systems with different information sets, a new kind of optimality is proposed which exploits the coupled nature of the dynamic system. The subsystems are assumed to be uncoupled and then certain constraints are required to be satisfied, either in a off-line or on-line fashion. For off-line coordination, a hierarchical approach of solving the problem is obtained. The lower level problems are all uncoupled. For on-line coordination, distinction is made between open loop feedback optimal coordination and closed loop optimal coordination.

Decentralized DC Microgrid Monitoring and Optimization via Primary Control Perturbations

NASA Astrophysics Data System (ADS)

Angjelichinoski, Marko; Scaglione, Anna; Popovski, Petar; Stefanovic, Cedomir

2018-06-01

We treat the emerging power systems with direct current (DC) MicroGrids, characterized with high penetration of power electronic converters. We rely on the power electronics to propose a decentralized solution for autonomous learning of and adaptation to the operating conditions of the DC Mirogrids; the goal is to eliminate the need to rely on an external communication system for such purpose. The solution works within the primary droop control loops and uses only local bus voltage measurements. Each controller is able to estimate (i) the generation capacities of power sources, (ii) the load demands, and (iii) the conductances of the distribution lines. To define a well-conditioned estimation problem, we employ decentralized strategy where the primary droop controllers temporarily switch between operating points in a coordinated manner, following amplitude-modulated training sequences. We study the use of the estimator in a decentralized solution of the Optimal Economic Dispatch problem. The evaluations confirm the usefulness of the proposed solution for autonomous MicroGrid operation.

Decentralized control of human visceral leishmaniasis in endemic urban areas of Brazil: a literature review.

PubMed

Menon, Sonia S; Rossi, Rodolfo; Nshimyumukiza, Leon; Zinszer, Kate

2016-01-01

Human migration and concomitant HIV infections are likely to bring about major changes in the epidemiology of some parasitic infections in Brazil. Human visceral leishmaniasis (HVL) control is particularly fraught with intricacies. It is against a backdrop of decentralized health care that the complex HVL control initiatives are brought to bear. This comprehensive review aims to explore the obstacles facing decentralized HVL control in urban endemic areas in Brazil. A literature search was carried out in December 2015 by means of three databases: MEDLINE, Google Scholar, and Web of Science. Although there have been many strides that have been made in elucidating the eco-epidemiology of Leishmania infantum, which forms the underpinnings of the national control program, transmission risk factors for HVL are still insufficiently elucidated in urban settings. Decentralized HVL epidemiological surveillance and control for animal reservoirs and vectors may compromise sustainability. In addition, it may hamper timely human HVL case management. With the burgeoning of the HIV-HVL co-infection, the potential human transmission may be underestimated. HVL is a disease with focal transmission at a critical juncture, which warrants that the bottlenecks facing the control program within contexts of decentralized healthcare systems be taken into account. In addition, HIV-driven HVL epidemics may substantially increase the transmission potential of the human reservoir. Calculating the basic reproductive number to fine-tune interventions will have to take into consideration the specific socio-economic development context.

Decentring and distraction reduce overgeneral autobiographical memory in depression.

PubMed

Watkins, E; Teasdale, J D; Williams, R M

2000-07-01

Increased recall of categorical autobiographical memories is a phenomenon unique to depression and post-traumatic stress disorder, and is associated with a poor prognosis for depression. Although the elevated recall of categorical memories does not change on remission from depression, recent findings suggest that overgeneral memory may be reduced by cognitive interventions and maintained by rumination. This study tested whether cognitive manipulations could influence the recall of categorical memories in dysphoric participants. Forty-eight dysphoric and depressed participants were randomly allocated to rumination or distraction conditions. Before and after the manipulation, participants completed the Autobiographical Memory Test, a standard measure of overgeneral memory. Participants were then randomized to either a 'decentring' question (Socratic questions designed to facilitate viewing moods within a wider perspective) or a control question condition, before completing the Autobiographical Memory Test again. Distraction produced significantly greater decreases in the proportion of memories retrieved that were categorical than rumination. Decentring questions produced significantly greater decreases in the proportion of memories retrieved that were categorical than control questions, with this effect independent of the prior manipulation. Elevated categorical memory in depression is more modifiable than has been previously assumed; it may reflect the dynamic maintenance of a cognitive style that can be interrupted by brief cognitive interventions.

Theoretical Perspectives on School District Decentralization.

ERIC Educational Resources Information Center

O'Shea, David

Drawing largely on data from Los Angeles, but with reference to other cities where appropriate, this paper attempts to clarify the distinctive positions taken by advocates of community control as opposed to proponents of administrative decentralization. While community control is essentially a political demand, oriented toward citizens influencing…

Taming instabilities in power grid networks by decentralized control

NASA Astrophysics Data System (ADS)

Schäfer, B.; Grabow, C.; Auer, S.; Kurths, J.; Witthaut, D.; Timme, M.

2016-05-01

Renewables will soon dominate energy production in our electric power system. And yet, how to integrate renewable energy into the grid and the market is still a subject of major debate. Decentral Smart Grid Control (DSGC) was recently proposed as a robust and decentralized approach to balance supply and demand and to guarantee a grid operation that is both economically and dynamically feasible. Here, we analyze the impact of network topology by assessing the stability of essential network motifs using both linear stability analysis and basin volume for delay systems. Our results indicate that if frequency measurements are averaged over sufficiently large time intervals, DSGC enhances the stability of extended power grid systems. We further investigate whether DSGC supports centralized and/or decentralized power production and find it to be applicable to both. However, our results on cycle-like systems suggest that DSGC favors systems with decentralized production. Here, lower line capacities and lower averaging times are required compared to those with centralized production.

Decentralizing the Team Station: Simulation before Reality as a Best-Practice Approach.

PubMed

Charko, Jackie; Geertsen, Alice; O'Brien, Patrick; Rouse, Wendy; Shahid, Ammarah; Hardenne, Denise

2016-01-01

The purpose of this article is to share the logistical planning requirements and simulation experience of one Canadian hospital as it prepared its staff for the change from a centralized inpatient unit model to the decentralized design planned for its new community hospital. With the commitment and support of senior leadership, project management resources and clinical leads worked collaboratively to design a decentralized prototype in the form of a pod-style environment in the hospital's current setting. Critical success factors included engaging the right stakeholders, providing an opportunity to test new workflows and technology, creating a strong communication plan and building on lessons learned as subsequent pod prototypes are launched.

A modified Finite Element-Transfer Matrix for control design of space structures

NASA Technical Reports Server (NTRS)

Tan, T.-M.; Yousuff, A.; Bahar, L. Y.; Konstandinidis, M.

1990-01-01

The Finite Element-Transfer Matrix (FETM) method was developed for reducing the computational efforts involved in structural analysis. While being widely used by structural analysts, this method does, however, have certain limitations, particularly when used for the control design of large flexible structures. In this paper, a new formulation based on the FETM method is presented. The new method effectively overcomes the limitations in the original FETM method, and also allows an easy construction of reduced models that are tailored for the control design. Other advantages of this new method include the ability to extract open loop frequencies and mode shapes with less computation, and simplification of the design procedures for output feedback, constrained compensation, and decentralized control. The development of this new method and the procedures for generating reduced models using this method are described in detail and the role of the reduced models in control design is discussed through an illustrative example.

Leadership and the Decentralized Control of Schools

ERIC Educational Resources Information Center

Steinberg, Matthew P.

2013-01-01

This review examines the literature related to leadership and the decentralized control of schools. It first considers the distinctive goals of public and private agencies, the specific constraints that shape the autonomy of leaders in different sectors, and the ways in which new models of public management are infusing public agencies with…

Is decentralization good for logistics systems? Evidence on essential medicine logistics in Ghana and Guatemala.

PubMed

Bossert, Thomas J; Bowser, Diana M; Amenyah, Johnnie K

2007-03-01

Efficient logistics systems move essential medicines down the supply chain to the service delivery point, and then to the end user. Experts on logistics systems tend to see the supply chain as requiring centralized control to be most effective. However, many health reforms have involved decentralization, which experts fear has disrupted the supply chain and made systems less effective. There is no consensus on an appropriate methodology for assessing the effectiveness of decentralization in general, and only a few studies have attempted to address decentralization of logistics systems. This paper sets out a framework and methodology of a pioneering exploratory study that examines the experiences of decentralization in two countries, Guatemala and Ghana, and presents suggestive results of how decentralization affected the performance of their logistics systems. The analytical approach assessed decentralization using the principal author's 'decision space' approach, which defines decentralization as the degree of choice that local officials have over different health system functions. In this case the approach focused on 15 different logistics functions and measured the relationship between the degree of choice and indicators of performance for each of the functions. The results of both studies indicate that less choice (i.e. more centralized) was associated with better performance for two key functions (inventory control and information systems), while more choice (i.e. more decentralized) over planning and budgeting was associated with better performance. With different systems of procurement in Ghana and Guatemala, we found that a system with some elements of procurement that are centralized (selection of firms and prices fixed by national tender) was positively related in Guatemala but negatively related in Ghana, where a system of 'cash and carry' cost recovery allowed more local choice. The authors conclude that logistics systems can be effectively decentralized for some functions while others should remain centralized. These preliminary findings, however, should be subject to alternative methodologies to confirm the findings.

Humanoid robot Lola: design and walking control.

PubMed

Buschmann, Thomas; Lohmeier, Sebastian; Ulbrich, Heinz

2009-01-01

In this paper we present the humanoid robot LOLA, its mechatronic hardware design, simulation and real-time walking control. The goal of the LOLA-project is to build a machine capable of stable, autonomous, fast and human-like walking. LOLA is characterized by a redundant kinematic configuration with 7-DoF legs, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution of the legs to achieve good dynamic performance. Trajectory generation and control aim at faster, more flexible and robust walking. Center of mass trajectories are calculated in real-time from footstep locations using quadratic programming and spline collocation methods. Stabilizing control uses hybrid position/force control in task space with an inner joint position control loop. Inertial stabilization is achieved by modifying the contact force trajectories.

Intelligent Reconfigurable System with Self-Dammage Assessmentand Control Stress Capabilities

NASA Astrophysics Data System (ADS)

Trivailo, P.; Plotnikova, L.; Kao, T. W.

2002-01-01

Modern space structures are constructed using a modular approach that facilitates their transportation and assembly in space. Modular architecture of space structures also enables reconfiguration of large structures such that they can adapt to possible changes in environment, and also allows use of the limited structural resources available in space for completion of a much larger variety of tasks. An increase in size and complexity demands development of materials with a "smart" or active structural modulus and also of effective control algorithms to control the motion of large flexible structures. This challenging task has generated a lot of interest amongst scientists and engineers during the last two decades, however, research into the development of control schemes which can adapt to structural configuration changes has received less attention. This is possibly due to the increased complexity caused by alterations in geometry, which inevitably lead to changes in the dynamic properties of the system. This paper presents results of the application of a decentralized control approach for active control of large flexible structures undergoing significant reconfigurations. The Control Component Synthesis methodology was used to build controlled components and to assemble them into a controlled flexible structure that meets required performance specifications. To illustrate the efficiency of the method, numerical simulations were conducted for 2D and 3D modular truss structures and a multi-link beam system. In each case the performance of the decentralized control system has been evaluated using pole location maps, step and impulse response simulations and frequency response analysis. The performance of the decentralized control system has been measured against the optimal centralised control system for various excitation scenarios. A special case where one of the local component controllers fails was also examined. For better interpretation of the efficiency of the designed controllers, results of the simulations are illustrated using a Virtual Reality computer environment, offering advanced visual effects. Plotnikova@rmit.edu.au # Tsunwah@hotmail.com

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

PubMed

Zhao, Bo; Li, Chenghao; Liu, Derong; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

PubMed Central

Zhao, Bo; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

Construction of a controllable β-carotene biosynthetic pathway by decentralized assembly strategy in Saccharomyces cerevisiae.

PubMed

Xie, Wenping; Liu, Min; Lv, Xiaomei; Lu, Wenqiang; Gu, Jiali; Yu, Hongwei

2014-01-01

Saccharomyces cerevisiae is an important platform organism for the synthesis of a great number of natural products. However, the assembly of controllable and genetically stable heterogeneous biosynthetic pathways in S. cerevisiae still remains a significant challenge. Here, we present a strategy for reconstructing controllable multi-gene pathways by employing the GAL regulatory system. A set of marker recyclable integrative plasmids (pMRI) was designed for decentralized assembly of pathways. As proof-of-principle, a controllable β-carotene biosynthesis pathway (∼16 kb) was reconstructed and optimized by repeatedly using GAL10-GAL1 bidirectional promoters with high efficiency (80-100%). By controling the switch time of the pathway, production of 11 mg/g DCW of total carotenoids (72.57 mg/L) and 7.41 mg/g DCW of β-carotene was achieved in shake-flask culture. In addition, the engineered yeast strain exhibited high genetic stability after 20 generations of subculture. The results demonstrated a controllable and genetically stable biosynthetic pathway capable of increasing the yield of target products. Furthermore, the strategy presented in this study could be extended to construct other pathways in S. cerevisisae. © 2013 Wiley Periodicals, Inc.

Organizational Systems Theory and Command and Control Concepts

DTIC Science & Technology

2013-03-01

Decentralized C2 • Problem is determinable • Many solutions • Predictable results • Low Risk • Slow feedback loop • Plans: Engineered or designed • C2...of these concepts in the Art of Command and the Science of Control, but lacks a proper model to assist commanders in determining how to correctly...commanders in determining how to correctly apply the concepts based on the operational environment. The paper concludes with a recommendation that the

Market-oriented Programming Using Small-world Networks for Controlling Building Environments

NASA Astrophysics Data System (ADS)

Shigei, Noritaka; Miyajima, Hiromi; Osako, Tsukasa

The market model, which is one of the economic activity models, is modeled as an agent system, and applying the model to the resource allocation problem has been studied. For air conditioning control of building, which is one of the resource allocation problems, an effective method based on the agent system using auction has been proposed for traditional PID controller. On the other hand, it has been considered that this method is performed by decentralized control. However, its decentralization is not perfect, and its performace is not enough. In this paper, firstly, we propose a perfectly decentralized agent model and show its performance. Secondly, in order to improve the model, we propose the agent model based on small-world model. The effectiveness of the proposed model is shown by simulation.

Decentralized adaptive control

NASA Technical Reports Server (NTRS)

Oh, B. J.; Jamshidi, M.; Seraji, H.

1988-01-01

A decentralized adaptive control is proposed to stabilize and track the nonlinear, interconnected subsystems with unknown parameters. The adaptation of the controller gain is derived by using model reference adaptive control theory based on Lyapunov's direct method. The adaptive gains consist of sigma, proportional, and integral combination of the measured and reference values of the corresponding subsystem. The proposed control is applied to the joint control of a two-link robot manipulator, and the performance in computer simulation corresponds with what is expected in theoretical development.

Decentralizing Maternity Services to Increase Skilled Attendance at Birth and Antenatal Care Utilization in Rural Rwanda: A Prospective Cohort Study

PubMed Central

Nathan, Lisa M.; Shi, Quihu; Plewniak, Kari; Zhang, Charles; Nsabimana, Damien; Sklar, Marc; Mutimura, Eugene; Merkatz, Irwin R.; Einstein, Mark H.; Anastos, Kathryn

2015-01-01

To evaluate the effectiveness of decentralizing ambulatory reproductive and intrapartum services to increase rates of antenatal care (ANC) utilization and skilled attendance at birth (SAB) in Rwanda. A prospective cohort study was implemented with one control and two intervention sites: decentralized ambulatory reproductive healthcare and decentralized intrapartum care. Multivariate logistic regression analysis was performed with primary outcome of lack of SAB and secondary outcome of ≥3 ANC visits. 536 women were entered in the study. Distance lived from delivery site significantly predicted SAB (p = 0.007), however distance lived to ANC site did not predict ≥3 ANC visits (p = 0.81). Neither decentralization of ambulatory reproductive healthcare (p = 0.10) nor intrapartum care (p = 0.40) was significantly associated with SAB. The control site had the greatest percentage of women receive ≥3 ANC visits (p < 0.001). Receiving <3 ANC visits was associated with a 3.98 times greater odds of not having SAB (p = 0.001). No increase in adverse outcomes was found with decentralization of ambulatory reproductive health care or intrapartum care. The factors that predict utilization of physically accessible services in rural Africa are complex. Decentralization of services may be one strategy to increase rates of SAB and ANC utilization, but selection biases may have precluded accurate analysis. Efforts to increase ANC utilization may be a worthwhile investment to increase SAB. PMID:25652061

Control allocation for gimballed/fixed thrusters

NASA Astrophysics Data System (ADS)

Servidia, Pablo A.

2010-02-01

Some overactuated control systems use a control distribution law between the controller and the set of actuators, usually called control allocator. Beyond the control allocator, the configuration of actuators may be designed to be able to operate after a single point of failure, for system optimization and/or decentralization objectives. For some type of actuators, a control allocation is used even without redundancy, being a good example the design and operation of thruster configurations. In fact, as the thruster mass flow direction and magnitude only can be changed under certain limits, this must be considered in the feedback implementation. In this work, the thruster configuration design is considered in the fixed (F), single-gimbal (SG) and double-gimbal (DG) thruster cases. The minimum number of thrusters for each case is obtained and for the resulting configurations a specific control allocation is proposed using a nonlinear programming algorithm, under nominal and single-point of failure conditions.

Participation, Decentralization, and Advocacy Planning, Resource Paper No. 25.

ERIC Educational Resources Information Center

Kasperson, Roger E.; Breitbart, Myrna

This resource paper on the subject of citizen participation, decentralization, and advocacy planning is part of a series designed to supplement undergraduate geography courses. The approach of the paper de-emphasizes inventory or case study reviews of specific participation or advocacy planning projects for a more general conceptual discussion of…

Centralization and Decentralization of Schools' Physical Facilities Management in Nigeria

ERIC Educational Resources Information Center

Ikoya, Peter O.

2008-01-01

Purpose: This research aims to examine the difference in the availability, adequacy and functionality of physical facilities in centralized and decentralized schools districts, with a view to making appropriate recommendations to stakeholders on the reform programmes in the Nigerian education sector. Design/methodology/approach: Principals,…

Online Self-Organizing Social Systems: The Decentralized Future of Online Learning.

ERIC Educational Resources Information Center

Wiley, David A.; Edwards, Erin K.

2002-01-01

Describes an online self-organizing social system (OSOSS) which allows large numbers of individuals to self-organize in a highly decentralized manner to solve problems and accomplish other goals. Topics include scalability and bandwidth in online learning; self-organization; learning objects; instructional design underlying OSOSS, including…

A note on decentralized integral controllability

NASA Technical Reports Server (NTRS)

Nwokah, O. D. I.; Frazho, A. E.; Le, D. K.

1993-01-01

A concept of decentralized integral controllability (DIC) defined on a given gain space Phi is clarified and related to the original definition given by Morari and Zafirou (1989). This leads to a simple proof of the existence of DIC on Phi from which existence conditions for DIC can be routinely deduced in the sense of Morari and Zafirou.

Lost in Translation: Ever Changing and Competing Purposes for National Examinations in the Czech Republic

ERIC Educational Resources Information Center

Greger, D.; Kifer, E.

2012-01-01

In reaction to central control of schooling by the Soviet Union, the Czech Republic countered with what some say was the most decentralized system in Europe. While the political move to democracy was extraordinarily successful, there were numerous governments between 1989 and the present. The combination of the decentralized control of schooling…

Centralized versus decentralized decision-making for recycled material flows.

PubMed

Hong, I-Hsuan; Ammons, Jane C; Realff, Matthew J

2008-02-15

A reverse logistics system is a network of transportation logistics and processing functions that collect, consolidate, refurbish, and demanufacture end-of-life products. This paper examines centralized and decentralized models of decision-making for material flows and associated transaction prices in reverse logistics networks. We compare the application of a centralized model for planning reverse production systems, where a single planner is acquainted with all of the system information and has the authority to determine decision variables for the entire system, to a decentralized approach. In the decentralized approach, the entities coordinate between tiers of the system using a parametrized flow function and compete within tiers based on reaching a price equilibrium. We numerically demonstrate the increase in the total net profit of the centralized system relative to the decentralized one. This implies that one may overestimate the system material flows and profit if the system planner utilizes a centralized viewto predict behaviors of independent entities in the system and that decentralized contract mechanisms will require careful design to avoid losses in the efficiency and scope of these systems.

Decentral Smart Grid Control

NASA Astrophysics Data System (ADS)

Schäfer, Benjamin; Matthiae, Moritz; Timme, Marc; Witthaut, Dirk

2015-01-01

Stable operation of complex flow and transportation networks requires balanced supply and demand. For the operation of electric power grids—due to their increasing fraction of renewable energy sources—a pressing challenge is to fit the fluctuations in decentralized supply to the distributed and temporally varying demands. To achieve this goal, common smart grid concepts suggest to collect consumer demand data, centrally evaluate them given current supply and send price information back to customers for them to decide about usage. Besides restrictions regarding cyber security, privacy protection and large required investments, it remains unclear how such central smart grid options guarantee overall stability. Here we propose a Decentral Smart Grid Control, where the price is directly linked to the local grid frequency at each customer. The grid frequency provides all necessary information about the current power balance such that it is sufficient to match supply and demand without the need for a centralized IT infrastructure. We analyze the performance and the dynamical stability of the power grid with such a control system. Our results suggest that the proposed Decentral Smart Grid Control is feasible independent of effective measurement delays, if frequencies are averaged over sufficiently large time intervals.

Asymptotically suboptimal control of weakly interconnected dynamical systems

NASA Astrophysics Data System (ADS)

Dmitruk, N. M.; Kalinin, A. I.

2016-10-01

Optimal control problems for a group of systems with weak dynamical interconnections between its constituent subsystems are considered. A method for decentralized control is proposed which distributes the control actions between several controllers calculating in real time control inputs only for theirs subsystems based on the solution of the local optimal control problem. The local problem is solved by asymptotic methods that employ the representation of the weak interconnection by a small parameter. Combination of decentralized control and asymptotic methods allows to significantly reduce the dimension of the problems that have to be solved in the course of the control process.

Decentralized control mechanism underlying interlimb coordination of millipedes.

PubMed

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

2017-04-04

Legged animals exhibit adaptive and resilient locomotion through interlimb coordination. The long-term goal of this study is to clarify the relationship between the number of legs and the inherent decentralized control mechanism for interlimb coordination. As a preliminary step, the study focuses on millipedes as they represent the species with the greatest number of legs among various animal species. A decentralized control mechanism involving local force feedback was proposed based on the qualitative findings of behavioural experiments in which responses to the removal of part of the terrain and leg amputation were observed. The proposed mechanism was implemented in a developed millipede-like robot to demonstrate that the robot can adapt to the removal of the part of the terrain and leg amputation in a manner similar to that in behavioural experiments.

Towards a Decentralized Magnetic Indoor Positioning System

PubMed Central

Kasmi, Zakaria; Norrdine, Abdelmoumen; Blankenbach, Jörg

2015-01-01

Decentralized magnetic indoor localization is a sophisticated method for processing sampled magnetic data directly on a mobile station (MS), thereby decreasing or even avoiding the need for communication with the base station. In contrast to central-oriented positioning systems, which transmit raw data to a base station, decentralized indoor localization pushes application-level knowledge into the MS. A decentralized position solution has thus a strong feasibility to increase energy efficiency and to prolong the lifetime of the MS. In this article, we present a complete architecture and an implementation for a decentralized positioning system. Furthermore, we introduce a technique for the synchronization of the observed magnetic field on the MS with the artificially-generated magnetic field from the coils. Based on real-time clocks (RTCs) and a preemptive operating system, this method allows a stand-alone control of the coils and a proper assignment of the measured magnetic fields on the MS. A stand-alone control and synchronization of the coils and the MS have an exceptional potential to implement a positioning system without the need for wired or wireless communication and enable a deployment of applications for rescue scenarios, like localization of miners or firefighters. PMID:26690145

Towards a Decentralized Magnetic Indoor Positioning System.

PubMed

Kasmi, Zakaria; Norrdine, Abdelmoumen; Blankenbach, Jörg

2015-12-04

Decentralized magnetic indoor localization is a sophisticated method for processing sampled magnetic data directly on a mobile station (MS), thereby decreasing or even avoiding the need for communication with the base station. In contrast to central-oriented positioning systems, which transmit raw data to a base station, decentralized indoor localization pushes application-level knowledge into the MS. A decentralized position solution has thus a strong feasibility to increase energy efficiency and to prolong the lifetime of the MS. In this article, we present a complete architecture and an implementation for a decentralized positioning system. Furthermore, we introduce a technique for the synchronization of the observed magnetic field on the MS with the artificially-generated magnetic field from the coils. Based on real-time clocks (RTCs) and a preemptive operating system, this method allows a stand-alone control of the coils and a proper assignment of the measured magnetic fields on the MS. A stand-alone control and synchronization of the coils and the MS have an exceptional potential to implement a positioning system without the need for wired or wireless communication and enable a deployment of applications for rescue scenarios, like localization of miners or firefighters.

Decentralized Patrolling Under Constraints in Dynamic Environments.

PubMed

Shaofei Chen; Feng Wu; Lincheng Shen; Jing Chen; Ramchurn, Sarvapali D

2016-12-01

We investigate a decentralized patrolling problem for dynamic environments where information is distributed alongside threats. In this problem, agents obtain information at a location, but may suffer attacks from the threat at that location. In a decentralized fashion, each agent patrols in a designated area of the environment and interacts with a limited number of agents. Therefore, the goal of these agents is to coordinate to gather as much information as possible while limiting the damage incurred. Hence, we model this class of problem as a transition-decoupled partially observable Markov decision process with health constraints. Furthermore, we propose scalable decentralized online algorithms based on Monte Carlo tree search and a factored belief vector. We empirically evaluate our algorithms on decentralized patrolling problems and benchmark them against the state-of-the-art online planning solver. The results show that our approach outperforms the state-of-the-art by more than 56% for six agents patrolling problems and can scale up to 24 agents in reasonable time.

Design and implementation of robust decentralized control laws for the ACES structure at Marshall Space Flight Center

NASA Technical Reports Server (NTRS)

Collins, Emmanuel G., Jr.; Phillips, Douglas J.; Hyland, David C.

1990-01-01

Many large space system concepts will require active vibration control to satisfy critical performance requirements such as line-of-sight accuracy. In order for these concepts to become operational it is imperative that the benefits of active vibration control be practically demonstrated in ground based experiments. The results of the experiment successfully demonstrate active vibration control for a flexible structure. The testbed is the Active Control Technique Evaluation for Spacecraft (ACES) structure at NASA Marshall Space Flight Center. The ACES structure is dynamically traceable to future space systems and especially allows the study of line-of-sight control issues.

Tuberculosis in developing countries: conditions for successful use of a decentralized approach in a rural health district.

PubMed

Méda, Ziemlé Clément; Huang, Chung-Chien; Sombié, Issiaka; Konaté, Lassina; Somda, Paulin Küssome; Djibougou, Arthur Diakourga; Sanou, Moussa

2014-01-01

This article reports the results and the lessons learned from implementing the decentralized approach to tuberculosis (TB) detection and treatment, embedded with Human Immunodeficiency Virus (HIV) co-infection in health district. The objective was to increase the TB screening indicators in the district using the common ways for offering care to patients in health district. Conducted from August 2006 to July 2007, this large-scale intervention using Non-experimental study Designs has implemented a decentralized approach for fighting against TB in Orodara Health District (OHD), Burkina Faso. Pretest-posttest design has been used for quantitative part using indicators in one hand, and postests-only design for the qualitative part in other hand. In the pretest-posttest design, the TB indicators from years before 2006 (from 2002 to 2005) were used as earlier measurement observations allowing examining changes over time. The decentralized approach was incorporated into the annual planning of the OHD. For the quantitative study design, indicators used were those from National TB Program in Burkina Faso: TB detection rate, incidence density of TB per 100,000 inhabitants per year, and HIV prevalence in incident TB cases with positive smears. Data entry and analysis employed Microsoft Access and Excel software. For the qualitative, in-depth interview was used in which a total of 16 persons have been interviewed. Discussions were tape-recorded and transcribed verbatim for analysis using the computer-based qualitative software program named QSR NVIVO. There were a total of 99,259 outpatient visits during the study period: the7,345 patients (7.43%) presented with cough. Of the 7,345 patient having cough, 503 cases (6.8%) were declared chronic coughing. These 503 patients were screened for TB, including 35.59% whose coughing had lasted 10 to 15 days. We observed an increase in a measured variable was observed. The TB detection rate and incidence-density rate based on positive smears were 16.11% (11.00% in 2005) and 10.42 per 100,000 inhabitants per year (6.88 per 100,000 inhabitants in 2005), respectively. There were 29 patients positive for TB: 41.37% of these had cough lasting 10 to 15 days, 10.34% were also positive for HIV, and 68.97% were from rural areas. Health workers and patients reported satisfaction with the intervention. It was found that implementing a decentralized approach to TB prevention in rural areas is plausible and effective under some conditions: considering that health district system is functional; carefully designing the intervention for TB case management; setting up and implementing of decentralized approach including strong monitoring; and taking into account the all financing, community and volunteer involvement, evaluation of the cost savings from integrating specific donor funding, and being supported by regional and central levels including National TB program. The study has shown that TB detection rate can be increased by implementing a decentralized approach to primary care. When carefully implemented, a decentralized approach is a suitable approach to TB and HIV prevention in rural and inaccessible settings.

Tuberculosis in developing countries: conditions for successful use of a decentralized approach in a rural health district

PubMed Central

Méda, Ziemlé Clément; Huang, Chung-Chien; Sombié, Issiaka; Konaté, Lassina; Somda, Paulin Küssome; Djibougou, Arthur Diakourga; Sanou, Moussa

2014-01-01

Introduction This article reports the results and the lessons learned from implementing the decentralized approach to tuberculosis (TB) detection and treatment, embedded with Human Immunodeficiency Virus (HIV) co-infection in health district. The objective was to increase the TB screening indicators in the district using the common ways for offering care to patients in health district. Methods Conducted from August 2006 to July 2007, this large-scale intervention using Non-experimental study Designs has implemented a decentralized approach for fighting against TB in Orodara Health District (OHD), Burkina Faso. Pretest-posttest design has been used for quantitative part using indicators in one hand, and postests-only design for the qualitative part in other hand. In the pretest-posttest design, the TB indicators from years before 2006 (from 2002 to 2005) were used as earlier measurement observations allowing examining changes over time. The decentralized approach was incorporated into the annual planning of the OHD. For the quantitative study design, indicators used were those from National TB Program in Burkina Faso: TB detection rate, incidence density of TB per 100,000 inhabitants per year, and HIV prevalence in incident TB cases with positive smears. Data entry and analysis employed Microsoft Access and Excel software. For the qualitative, in-depth interview was used in which a total of 16 persons have been interviewed. Discussions were tape-recorded and transcribed verbatim for analysis using the computer-based qualitative software program named QSR NVIVO Results There were a total of 99,259 outpatient visits during the study period: the7,345 patients (7.43%) presented with cough. Of the 7,345 patient having cough, 503 cases (6.8%) were declared chronic coughing. These 503 patients were screened for TB, including 35.59% whose coughing had lasted 10 to 15 days. We observed an increase in a measured variable was observed. The TB detection rate and incidence-density rate based on positive smears were 16.11% (11.00% in 2005) and 10.42 per 100,000 inhabitants per year (6.88 per 100,000 inhabitants in 2005), respectively. There were 29 patients positive for TB: 41.37% of these had cough lasting 10 to 15 days, 10.34% were also positive for HIV, and 68.97% were from rural areas. Health workers and patients reported satisfaction with the intervention. It was found that implementing a decentralized approach to TB prevention in rural areas is plausible and effective under some conditions: considering that health district system is functional; carefully designing the intervention for TB case management; setting up and implementing of decentralized approach including strong monitoring; and taking into account the all financing, community and volunteer involvement, evaluation of the cost savings from integrating specific donor funding, and being supported by regional and central levels including National TB program. Conclusion The study has shown that TB detection rate can be increased by implementing a decentralized approach to primary care. When carefully implemented, a decentralized approach is a suitable approach to TB and HIV prevention in rural and inaccessible settings. PMID:25396024

Event-triggered decentralized adaptive fault-tolerant control of uncertain interconnected nonlinear systems with actuator failures.

PubMed

Choi, Yun Ho; Yoo, Sung Jin

2018-06-01

This paper investigates the event-triggered decentralized adaptive tracking problem of a class of uncertain interconnected nonlinear systems with unexpected actuator failures. It is assumed that local control signals are transmitted to local actuators with time-varying faults whenever predefined conditions for triggering events are satisfied. Compared with the existing control-input-based event-triggering strategy for adaptive control of uncertain nonlinear systems, the aim of this paper is to propose a tracking-error-based event-triggering strategy in the decentralized adaptive fault-tolerant tracking framework. The proposed approach can relax drastic changes in control inputs caused by actuator faults in the existing triggering strategy. The stability of the proposed event-triggering control system is analyzed in the Lyapunov sense. Finally, simulation comparisons of the proposed and existing approaches are provided to show the effectiveness of the proposed theoretical result in the presence of actuator faults. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Decentralized control of Markovian decision processes: Existence Sigma-admissable policies

NASA Technical Reports Server (NTRS)

Greenland, A.

1980-01-01

The problem of formulating and analyzing Markov decision models having decentralized information and decision patterns is examined. Included are basic examples as well as the mathematical preliminaries needed to understand Markov decision models and, further, to superimpose decentralized decision structures on them. The notion of a variance admissible policy for the model is introduced and it is proved that there exist (possibly nondeterministic) optional policies from the class of variance admissible policies. Directions for further research are explored.

A cylindrical SPECT camera with de-centralized readout scheme

NASA Astrophysics Data System (ADS)

Habte, F.; Stenström, P.; Rillbert, A.; Bousselham, A.; Bohm, C.; Larsson, S. A.

2001-09-01

An optimized brain single photon emission computed tomograph (SPECT) camera is being designed at Stockholm University and Karolinska Hospital. The design goal is to achieve high sensitivity, high-count rate and high spatial resolution. The sensitivity is achieved by using a cylindrical crystal, which gives a closed geometry with large solid angles. A de-centralized readout scheme where only a local environment around the light excitation is readout supports high-count rates. The high resolution is achieved by using an optimized crystal configuration. A 12 mm crystal plus 12 mm light guide combination gave an intrinsic spatial resolution better than 3.5 mm (140 keV) in a prototype system. Simulations show that a modified configuration can improve this value. A cylindrical configuration with a rotating collimator significantly simplifies the mechanical design of the gantry. The data acquisition and control system uses early digitization and subsequent digital signal processing to extract timing and amplitude information, and monitors the position of the collimator. The readout system consists of 12 or more modules each based on programmable logic and a digital signal processor. The modules send data to a PC file server-reconstruction engine via a Firewire (IEEE-1394) network.

Development of an interface for an ultrareliable fault-tolerant control system and an electronic servo-control unit

NASA Technical Reports Server (NTRS)

Shaver, Charles; Williamson, Michael

1986-01-01

The NASA Ames Research Center sponsors a research program for the investigation of Intelligent Flight Control Actuation systems. The use of artificial intelligence techniques in conjunction with algorithmic techniques for autonomous, decentralized fault management of flight-control actuation systems is explored under this program. The design, development, and operation of the interface for laboratory investigation of this program is documented. The interface, architecturally based on the Intel 8751 microcontroller, is an interrupt-driven system designed to receive a digital message from an ultrareliable fault-tolerant control system (UFTCS). The interface links the UFTCS to an electronic servo-control unit, which controls a set of hydraulic actuators. It was necessary to build a UFTCS emulator (also based on the Intel 8751) to provide signal sources for testing the equipment.

Robust Power Management Control for Stand-Alone Hybrid Power Generation System

NASA Astrophysics Data System (ADS)

Kamal, Elkhatib; Adouane, Lounis; Aitouche, Abdel; Mohammed, Walaa

2017-01-01

This paper presents a new robust fuzzy control of energy management strategy for the stand-alone hybrid power systems. It consists of two levels named centralized fuzzy supervisory control which generates the power references for each decentralized robust fuzzy control. Hybrid power systems comprises: a photovoltaic panel and wind turbine as renewable sources, a micro turbine generator and a battery storage system. The proposed control strategy is able to satisfy the load requirements based on a fuzzy supervisor controller and manage power flows between the different energy sources and the storage unit by respecting the state of charge and the variation of wind speed and irradiance. Centralized controller is designed based on If-Then fuzzy rules to manage and optimize the hybrid power system production by generating the reference power for photovoltaic panel and wind turbine. Decentralized controller is based on the Takagi-Sugeno fuzzy model and permits us to stabilize each photovoltaic panel and wind turbine in presence of disturbances and parametric uncertainties and to optimize the tracking reference which is given by the centralized controller level. The sufficient conditions stability are formulated in the format of linear matrix inequalities using the Lyapunov stability theory. The effectiveness of the proposed Strategy is finally demonstrated through a SAHPS (stand-alone hybrid power systems) to illustrate the effectiveness of the overall proposed method.

Application of an integrated flight/propulsion control design methodology to a STOVL aircraft

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Mattern, Duane L.

1991-01-01

Results are presented from the application of an emerging Integrated Flight/Propulsion Control (IFPC) design methodology to a Short Take Off and Vertical Landing (STOVL) aircraft in transition flight. The steps in the methodology consist of designing command shaping prefilters to provide the overall desired response to pilot command inputs. A previously designed centralized controller is first validated for the integrated airframe/engine plant used. This integrated plant is derived from a different model of the engine subsystem than the one used for the centralized controller design. The centralized controller is then partitioned in a decentralized, hierarchical structure comprising of airframe lateral and longitudinal subcontrollers and an engine subcontroller. Command shaping prefilters from the pilot control effector inputs are then designed and time histories of the closed loop IFPC system response to simulated pilot commands are compared to desired responses based on handling qualities requirements. Finally, the propulsion system safety and nonlinear limited protection logic is wrapped around the engine subcontroller and the response of the closed loop integrated system is evaluated for transients that encounter the propulsion surge margin limit.

Adaptive Probabilistic Protocols for Advanced Networks/Assuring the Integrity of Highly Decentralized Communications Systems

DTIC Science & Technology

2005-03-01

to obtain a protocol customized to the needs of a specific setting, under control of an automated theorem proving system that can guarantee...new “compositional” method for protocol design and implementation, in which small microprotocols are combined to obtain a protocol customized to the...and Network Centric Enterprise (NCES) visions. This final report documents a wide range of contributions and technology transitions, including: A

Concept of an innovative water management system with decentralized water reclamation and cascading material-cycle for agricultural areas.

PubMed

Fujiwara, T

2012-01-01

Unlike in urban areas where intensive water reclamation systems are available, development of decentralized technologies and systems is required for water use to be sustainable in agricultural areas. To overcome various water quality issues in those areas, a research project entitled 'Development of an innovative water management system with decentralized water reclamation and cascading material-cycle for agricultural areas under the consideration of climate change' was launched in 2009. This paper introduces the concept of this research and provides detailed information on each of its research areas: (1) development of a diffuse agricultural pollution control technology using catch crops; (2) development of a decentralized differentiable treatment system for livestock and human excreta; and (3) development of a cascading material-cycle system for water pollution control and value-added production. The author also emphasizes that the innovative water management system for agricultural areas should incorporate a strategy for the voluntary collection of bio-resources.

The rise of governmentality in the Italian National Health System: physiology or pathology of a decentralized and (ongoing) federalist system?

PubMed

Lega, Federico; Sargiacomo, Massimo; Ianni, Luca

2010-11-01

In this paper, we aim to discuss the implications and lessons that can be learnt from the ongoing process of federalism affecting the Italian National Health System (INHS). Many countries are currently taking decisions concerning the decentralization or re-centralization of their health-care systems, with several key issues that are illustrated in the recent history of the INHS. The decentralization process of INHS has produced mixed results, as some regions took advantage of it to strengthen their systems, whereas others were not capable of developing an effective steering role. We argue that the mutual reinforcement of the decentralization and recentralization processes is not paradoxical, but is actually an effective way for the State to maintain control over the equity and efficiency of its health-care system while decentralizing at a regional level. In this perspective, we provide evidence backing up some of the assumptions made in previous works as well as new food-for thought - specifically on how governmentality and federalism should meet - to reshape the debate on decentralization in health care.

Trends in modern system theory

NASA Technical Reports Server (NTRS)

Athans, M.

1976-01-01

The topics considered are related to linear control system design, adaptive control, failure detection, control under failure, system reliability, and large-scale systems and decentralized control. It is pointed out that the design of a linear feedback control system which regulates a process about a desirable set point or steady-state condition in the presence of disturbances is a very important problem. The linearized dynamics of the process are used for design purposes. The typical linear-quadratic design involving the solution of the optimal control problem of a linear time-invariant system with respect to a quadratic performance criterion is considered along with gain reduction theorems and the multivariable phase margin theorem. The stumbling block in many adaptive design methodologies is associated with the amount of real time computation which is necessary. Attention is also given to the desperate need to develop good theories for large-scale systems, the beginning of a microprocessor revolution, the translation of the Wiener-Hopf theory into the time domain, and advances made in dynamic team theory, dynamic stochastic games, and finite memory stochastic control.

Benefits of production extension and shifting with thermal storage for a 1MW CSP-ORC plant in Morocco

NASA Astrophysics Data System (ADS)

Bennouna, El Ghali; Mimet, Abdelaziz; Frej, Hicham

2016-05-01

The importance of thermal storage for commercial CSP (concentrated Solar Power) plants has now become obvious, this regardless of the solar technology used and the power cycle. The availability of a storage system to a plant operator brings a lot of possibilities for production management, cash flow optimization and grid stabilizing. In particular, and depending on plant location and local grid strategy, thermal storage can contribute, when wisely used, to control production and adapt it to the demand and / or power unbalances and varying prices. Storage systems design, sizing and configuration are proper to each power plant, hence systems that are now widely installed within large commercial solar plants are not necessarily suited for small scale decentralized production, and will not have the same effects. In this paper the benefits of thermal storage are studied for a 1MWe CSP plant with an ORC (Organic Rankine Cycle), this plant has many specific features which call for a detail analysis about the appropriate storage design and optimum operating strategies for decentralized solutions.

A Comparison of a Centralized Versus De-Centralized Recruitment Schema in Two Community-Based Participatory Research Studies for Cancer Prevention

PubMed Central

Adams, Swann Arp; Heiney, Sue P.; Brandt, Heather M.; Wirth, Michael D.; Khan, Samira; Johnson, Hiluv; Davis, Lisa; Wineglass, Cassandra M.; Warren-Jones, Tatiana Y.; Felder, Tisha M.; Drayton, Ruby F.; Davis, Briana; Farr, Deeonna E.; Hébert, James R.

2014-01-01

Use of community-based participatory research (CBPR) approaches is increasing with the goal of making more meaningful and impactful advances in eliminating cancer-related health disparities. While many reports have espoused its advantages, few investigations have focused on comparing CBPR-oriented recruitment and retention. Consequently, the purpose of this analysis was to report and compare two different CBPR approaches in two cancer prevention studies. We utilized frequencies and chi-squared tests to compare and contrast subject recruitment and retention for two studies that incorporated a randomized, controlled intervention design of a dietary and physical activity intervention among African Americans. One study utilized a de-centralized approach to recruitment in which primary responsibility for recruitment was assigned to the general AA community of various church partners whereas the other incorporated a centralized approach to recruitment in which a single lay community individual was hired as research personnel to lead recruitment and intervention delivery. Both studies performed equally well for both recruitment and retention (75 and 88% recruitment rates and 71 and 66% retention rates) far exceeding those rates traditionally cited for cancer clinical trials (~5%). The de-centralized approach to retention appeared to result in statistically greater retention for the control participants compared to the centralized approach (77 vs 51%, P<0.01). Consequently, both CBPR approaches appeared to greatly enhance recruitment and retention rates of AA populations. We further note lessons learned and challenges to consider for future research opportunities. PMID:25086566

Does HIV services decentralization protect against the risk of catastrophic health expenditures?: some lessons from Cameroon.

PubMed

Boyer, Sylvie; Abu-Zaineh, Mohammad; Blanche, Jérôme; Loubière, Sandrine; Bonono, Renée-Cécile; Moatti, Jean-Paul; Ventelou, Bruno

2011-12-01

Scaling up antiretroviral treatment (ART) through decentralization of HIV care is increasingly recommended as a strategy toward ensuring equitable access to treatment. However, there have been hitherto few attempts to empirically examine the performance of this policy, and particularly its role in protecting against the risk of catastrophic health expenditures (CHE). This article therefore seeks to assess whether HIV care decentralization has a protective effect against the risk of CHE associated with HIV infection. DATA SOURCE AND STUDY DESIGN: We use primary data from the cross-sectional EVAL-ANRS 12-116 survey, conducted in 2006-2007 among a random sample of 3,151 HIV-infected outpatients followed up in 27 hospitals in Cameroon. DATA COLLECTION AND METHODS: Data collected contain sociodemographic, economic, and clinical information on patients as well as health care supply-related characteristics. We assess the determinants of CHE among the ART-treated patients using a hierarchical logistic model (n = 2,412), designed to adequately investigate the separate effects of patients and supply-related characteristics. Expenditures for HIV care exceed 17 percent of household income for 50 percent of the study population. After adjusting for individual characteristics and technological level, decentralization of HIV services emerges as the main health system factor explaining interclass variance, with a protective effect on the risk of CHE. The findings suggest that HIV care decentralization is likely to enhance equity in access to ART. Decentralization appears, however, to be a necessary but insufficient condition to fully remove the risk of CHE, unless other innovative reforms in health financing are introduced. © Health Research and Educational Trust.

Decentralized model reference adaptive control of large flexible structures

NASA Technical Reports Server (NTRS)

Lee, Fu-Ming; Fong, I-Kong; Lin, Yu-Hwan

1988-01-01

A decentralized model reference adaptive control (DMRAC) method is developed for large flexible structures (LFS). The development follows that of a centralized model reference adaptive control for LFS that have been shown to be feasible. The proposed method is illustrated using a simply supported beam with collocated actuators and sensors. Results show that the DMRAC can achieve either output regulation or output tracking with adequate convergence, provided the reference model inputs and their time derivatives are integrable, bounded, and approach zero as t approaches infinity.

Predicting crystalline lens fall caused by accommodation from changes in wavefront error

PubMed Central

He, Lin; Applegate, Raymond A.

2011-01-01

PURPOSE To illustrate and develop a method for estimating crystalline lens decentration as a function of accommodative response using changes in wavefront error and show the method and limitations using previously published data (2004) from 2 iridectomized monkey eyes so that clinicians understand how spherical aberration can induce coma, in particular in intraocular lens surgery. SETTINGS College of Optometry, University of Houston, Houston, USA. DESIGN Evaluation of diagnostic test or technology. METHODS Lens decentration was estimated by displacing downward the wavefront error of the lens with respect to the limiting aperture (7.0 mm) and ocular first surface wavefront error for each accommodative response (0.00 to 11.00 diopters) until measured values of vertical coma matched previously published experimental data (2007). Lens decentration was also calculated using an approximation formula that only included spherical aberration and vertical coma. RESULTS The change in calculated vertical coma was consistent with downward lens decentration. Calculated downward lens decentration peaked at approximately 0.48 mm of vertical decentration in the right eye and approximately 0.31 mm of decentration in the left eye using all Zernike modes through the 7th radial order. Calculated lens decentration using only coma and spherical aberration formulas was peaked at approximately 0.45 mm in the right eye and approximately 0.23 mm in the left eye. CONCLUSIONS Lens fall as a function of accommodation was quantified noninvasively using changes in vertical coma driven principally by the accommodation-induced changes in spherical aberration. The newly developed method was valid for a large pupil only. PMID:21700108

Problems in Decentralized Decision making and Computation.

DTIC Science & Technology

1984-12-01

systesis being referred to. Findeisen [1982] clarifies this distinction by talking about the "programing" and "execution" phases.) 5. The lower and higher...n ... *iii... -258- Findeisen , W., (1982), "Decentralized and Hierarchical Control Under Consistency or Disagreement of Interest," Automatica, Vol. 18

Nitrogen Control Through Decentralized Wastewater Treatment: Process Performance and Alternative Management Strategies

EPA Science Inventory

Decentralized or onsite wastewater treatment (OWT) systems have long been implicated in being a major source of N inputs to surface and ground waters and numerous regulatory bodies have promulgated strict total N (TN) effluent standards in N-sensitive areas. These standards, howe...

Three alternative structural configurations for phlebotomy: a comparison of effectiveness.

PubMed

Mannion, Heidi; Nadder, Teresa

2007-01-01

This study was designed to compare the effectiveness of three alternative structural configurations for inpatient phlebotomy. It was hypothesized that decentralized was less effective when compared to centralized inpatient phlebotomy. A non-experimental prospective survey design was conducted at the institution level. Laboratory managers completed an organizational survey and collected data on inpatient blood specimens during a 30-day data collection period. A random sample (n=31) of hospitals with onsite laboratories in the United States was selected from a database purchased from the Joint Commission on Accreditations of Healthcare Organizations (JCAHO). Effectiveness of the blood collection process was measured by the percentage of specimens rejected during the data collection period. Analysis of variance showed a statistically significant difference in the percentage of specimens rejected for centralized, hybrid, and decentralized phlebotomy configurations [F (2, 28) = 4.27, p = .02] with an effect size of .23. Post-hoc comparison using Tukey's HSD indicated that mean percentage of specimens rejected for centralized phlebotomy (M = .045, SD = 0.36) was significantly different from the decentralized configuration (M = 1.42, SD = 0.92, p = .03). found to be more effective when compared to the decentralized configuration.

Finding idle machines in a workstation-based distributed system

NASA Technical Reports Server (NTRS)

Theimer, Marvin M.; Lantz, Keith A.

1989-01-01

The authors describe the design and performance of scheduling facilities for finding idle hosts in a workstation-based distributed system. They focus on the tradeoffs between centralized and decentralized architectures with respect to scalability, fault tolerance, and simplicity of design, as well as several implementation issues of interest when multicast communication is used. They conclude that the principal tradeoff between the two approaches is that a centralized architecture can be scaled to a significantly greater degree and can more easily monitor global system statistics, whereas a decentralized architecture is simpler to implement.

Distributed Coordinated Control of Large-Scale Nonlinear Networks

DOE PAGES

Kundu, Soumya; Anghel, Marian

2015-11-08

We provide a distributed coordinated approach to the stability analysis and control design of largescale nonlinear dynamical systems by using a vector Lyapunov functions approach. In this formulation the large-scale system is decomposed into a network of interacting subsystems and the stability of the system is analyzed through a comparison system. However finding such comparison system is not trivial. In this work, we propose a sum-of-squares based completely decentralized approach for computing the comparison systems for networks of nonlinear systems. Moreover, based on the comparison systems, we introduce a distributed optimal control strategy in which the individual subsystems (agents) coordinatemore » with their immediate neighbors to design local control policies that can exponentially stabilize the full system under initial disturbances.We illustrate the control algorithm on a network of interacting Van der Pol systems.« less

Decentralization: The Corridor Is the Problem, Not the Alcove.

PubMed

Hamilton, D Kirk; Swoboda, Sandra M; Lee, Jin-Ting; Anderson, Diana C

There is controversy today about whether decentralized intensive care unit (ICU) designs featuring alcoves and multiple sites for charting are effective. There are issues relating to travel distance, visibility of patients, visibility of staff colleagues, and communications among caregivers, along with concerns about safety risk. When these designs became possible and popular, many ICU designs moved away from the high-visibility circular, semicircular, or box-like shapes and began to feature units with more linear shapes and footprints similar to acute bed units. Critical care nurses on the new, linear units have expressed concerns. This theory and opinion article relies upon field observations in unrelated research studies and consulting engagements, along with material from the relevant literature. It leads to a challenging hypothesis that criticism of decentralized charting alcoves may be misplaced, and that the associated problem may stem from corridor design and unit size in contemporary ICU design. The authors conclude that reliable data from research investigations are needed to confirm the anecdotal reports of nurses. If problems are present in current facilities, organizations may wish to consider video monitoring, expanded responsibilities in the current buddy system, and use of greater information sharing during daily team huddles. New designs need to involve nurses and carefully consider these issues.

High speed, precision motion strategies for lightweight structures

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1989-01-01

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms.

Decentralized formation flying control in a multiple-team hierarchy.

PubMed

Mueller, Joseph B; Thomas, Stephanie J

2005-12-01

In recent years, formation flying has been recognized as an enabling technology for a variety of mission concepts in both the scientific and defense arenas. Examples of developing missions at NASA include magnetospheric multiscale (MMS), solar imaging radio array (SIRA), and terrestrial planet finder (TPF). For each of these missions, a multiple satellite approach is required in order to accomplish the large-scale geometries imposed by the science objectives. In addition, the paradigm shift of using a multiple satellite cluster rather than a large, monolithic spacecraft has also been motivated by the expected benefits of increased robustness, greater flexibility, and reduced cost. However, the operational costs of monitoring and commanding a fleet of close-orbiting satellites is likely to be unreasonable unless the onboard software is sufficiently autonomous, robust, and scalable to large clusters. This paper presents the prototype of a system that addresses these objectives-a decentralized guidance and control system that is distributed across spacecraft using a multiple team framework. The objective is to divide large clusters into teams of "manageable" size, so that the communication and computation demands driven by N decentralized units are related to the number of satellites in a team rather than the entire cluster. The system is designed to provide a high level of autonomy, to support clusters with large numbers of satellites, to enable the number of spacecraft in the cluster to change post-launch, and to provide for on-orbit software modification. The distributed guidance and control system will be implemented in an object-oriented style using a messaging architecture for networking and threaded applications (MANTA). In this architecture, tasks may be remotely added, removed, or replaced post launch to increase mission flexibility and robustness. This built-in adaptability will allow software modifications to be made on-orbit in a robust manner. The prototype system, which is implemented in Matlab, emulates the object-oriented and message-passing features of the MANTA software. In this paper, the multiple team organization of the cluster is described, and the modular software architecture is presented. The relative dynamics in eccentric reference orbits is reviewed, and families of periodic, relative trajectories are identified, expressed as sets of static geometric parameters. The guidance law design is presented, and an example reconfiguration scenario is used to illustrate the distributed process of assigning geometric goals to the cluster. Next, a decentralized maneuver planning approach is presented that utilizes linear-programming methods to enact reconfiguration and coarse formation keeping maneuvers. Finally, a method for performing online collision avoidance is discussed, and an example is provided to gauge its performance.

Evaluating the Life Cycle Environmental Benefits and Trade-Offs of Water Reuse Systems for Net-Zero Buildings.

PubMed

Hasik, Vaclav; Anderson, Naomi E; Collinge, William O; Thiel, Cassandra L; Khanna, Vikas; Wirick, Jason; Piacentini, Richard; Landis, Amy E; Bilec, Melissa M

2017-02-07

Aging water infrastructure and increased water scarcity have resulted in higher interest in water reuse and decentralization. Rating systems for high-performance buildings implicitly promote the use of building-scale, decentralized water supply and treatment technologies. It is important to recognize the potential benefits and trade-offs of decentralized and centralized water systems in the context of high-performance buildings. For this reason and to fill a gap in the current literature, we completed a life cycle assessment (LCA) of the decentralized water system of a high-performance, net-zero energy, net-zero water building (NZB) that received multiple green building certifications and compared the results with two modeled buildings (conventional and water efficient) using centralized water systems. We investigated the NZB's impacts over varying lifetimes, conducted a break-even analysis, and included Monte Carlo uncertainty analysis. The results show that, although the NZB performs better in most categories than the conventional building, the water efficient building generally outperforms the NZB. The lifetime of the NZB, septic tank aeration, and use of solar energy have been found to be important factors in the NZB's impacts. While these findings are specific to the case study building, location, and treatment technologies, the framework for comparison of water and wastewater impacts of various buildings can be applied during building design to aid decision making. As we design and operate high-performance buildings, the potential trade-offs of advanced decentralized water treatment systems should be considered.

Intelligent Decentralized Control In Large Distributed Computer Systems

DTIC Science & Technology

1988-04-01

decentralized. The goal is to find a way for the agents to coordinate their actions to maximize some index of system performance. (Our main...shown in Figure 4.13. The controller observes the environ- ment through sensors, and then may issue a command (i.e., take action ) to affect the...the Hypothesis Generator and the Belief Manager, and finally actions are issued by the Action Generator, the Experiment Generator, or the Reflex

[Mes differ by positioning: empirical testing of decentralized dynamics of the self].

PubMed

Mizokami, Shinichi

2013-10-01

The present study empirically tested the conceptualization of the decentralized dynamics of the self proposed by Hermans & Kempen (1993), which they developed theoretically and from clinical cases, not from large samples of empirical data. They posited that worldviews and images of the self could vary by positioning even in the same individual, and denied that the ego was an omniscient entity that knew and controlled all aspects of the self (centralized ego). Study 1 tested their conceptualization empirically with 47 university students in an experimental group and 17 as a control group. The results showed that the scores on the Rosenberg's self-esteem scale and images of the Mes in the experimental group significantly varied by positioning, but those in the control group did not. Similar results were found in Study 2 with a sample of 120 university students. These results empirically supported the conceptualization of the decentralized dynamics of the self.

Performance of centralized versus decentralized tuberculosis treatment services in Southern Brazil, 2006-2015.

PubMed

Scheffer, Mara Cristina; Prim, Rodrigo Ivan; Wildner, Leticia Muraro; Medeiros, Taiane Freitas; Maurici, Rosemeri; Kupek, Emil; Bazzo, Maria Luiza

2018-04-25

Tuberculosis (TB) control programs face the challenges of decreasing incidence, mortality rates, and drug resistance while increasing treatment adherence. The Brazilian TB control program recommended the decentralization of patient care as a strategy for combating the disease. This study evaluated the performance of this policy in an area with high default rates, comparing epidemiological and operational indicators between two similar municipalities. This study analyzed epidemiological and operational indicators on new cases of pulmonary tuberculosis reported in the Brazilian Notifiable Diseases Information System between 2006 and 2015. In addition, to characterize differences between the populations of the two studied municipalities, a prospective cohort study was conducted between 2014 and 2015, in which patients with new cases of culture-confirmed pulmonary tuberculosis were interviewed and monitored until the disease outcome. A descriptive analysis, the chi-square test, and a Poisson regression model were employed to compare TB treatment outcomes and health care indicators between the municipalities. Two thousand three hundred nine cases were evaluated, of which 207 patients were interviewed. Over the 2006-2015 period, TB incidence per 100,000 population in the municipality with decentralized care was significantly higher (39%, 95% CI 27-49%) in comparison to that of the municipality with centralized care. TB treatment default rate (45%, 95% CI 12-90%) was also higher in the municipality with decentralized care. During the two-year follow-up, significant differences were found between patients in centralized care and those in decentralized care regarding treatment success (84.5 vs. 66.1%), treatment default (10.7 vs. 25.8%), illicit drug use (27.7 vs. 45.9%), and homelessness (3.6 vs. 12.9%). The operational indicators revealed that the proportion of control smear tests, medical imaging, and HIV tests were all significantly higher in the centralized care. However, a significantly higher proportion of patients started treatment in the early stages of the disease in the municipality with decentralized care. These data showed a low success rate in TB treatment in both municipalities. Decentralization of TB care, alone, did not improve the main epidemiological and operational indicators related to disease control when compared to centralized care. Full implementation of strategies already recommended is needed to improve TB treatment success rates.

Decentralized Optimal Dispatch of Photovoltaic Inverters in Residential Distribution Systems

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

Dall'Anese, Emiliano; Dhople, Sairaj V.; Johnson, Brian B.

Summary form only given. Decentralized methods for computing optimal real and reactive power setpoints for residential photovoltaic (PV) inverters are developed in this paper. It is known that conventional PV inverter controllers, which are designed to extract maximum power at unity power factor, cannot address secondary performance objectives such as voltage regulation and network loss minimization. Optimal power flow techniques can be utilized to select which inverters will provide ancillary services, and to compute their optimal real and reactive power setpoints according to well-defined performance criteria and economic objectives. Leveraging advances in sparsity-promoting regularization techniques and semidefinite relaxation, this papermore » shows how such problems can be solved with reduced computational burden and optimality guarantees. To enable large-scale implementation, a novel algorithmic framework is introduced - based on the so-called alternating direction method of multipliers - by which optimal power flow-type problems in this setting can be systematically decomposed into sub-problems that can be solved in a decentralized fashion by the utility and customer-owned PV systems with limited exchanges of information. Since the computational burden is shared among multiple devices and the requirement of all-to-all communication can be circumvented, the proposed optimization approach scales favorably to large distribution networks.« less

Decentralized adaptive control of interconnected nonlinear systems with unknown control directions.

PubMed

Huang, Jiangshuai; Wang, Qing-Guo

2018-03-01

In this paper, we propose a decentralized adaptive control scheme for a class of interconnected strict-feedback nonlinear systems without a priori knowledge of subsystems' control directions. To address this problem, a novel Nussbaum-type function is proposed and a key theorem is drawn which involves quantifying the interconnections of multiple Nussbaum-type functions of the subsystems with different control directions in a single inequality. Global stability of the closed-loop system and asymptotic stabilization of subsystems' output are proved and a simulation example is given to illustrate the effectiveness of the proposed control scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Outdoor flocking of quadcopter drones with decentralized model predictive control.

PubMed

Yuan, Quan; Zhan, Jingyuan; Li, Xiang

2017-11-01

In this paper, we present a multi-drone system featured with a decentralized model predictive control (DMPC) flocking algorithm. The drones gather localized information from neighbors and update their velocities using the DMPC flocking algorithm. In the multi-drone system, data packages are transmitted through XBee ® wireless modules in broadcast mode, yielding such an anonymous and decentralized system where all the calculations and controls are completed on an onboard minicomputer of each drone. Each drone is a double-layered agent system with the coordination layer running multi-drone flocking algorithms and the flight control layer navigating the drone, and the final formation of the flock relies on both the communication range and the desired inter-drone distance. We give both numerical simulations and field tests with a flock of five drones, showing that the DMPC flocking algorithm performs well on the presented multi-drone system in both the convergence rate and the ability of tracking a desired path. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

In-the-bag decentration of an intraocular lens in a patient with a tendency to hypertrophic scarring

PubMed Central

Joshi, Rajesh Subhash

2016-01-01

Summary We report a case of rapid anterior lens capsular contraction leading to decentration of a hydrophilic acrylic lens with stiff haptics (Rayner design). To our knowledge, this is the first report to investigate early capsular contraction with folding of the haptic over the optic in a patient with a tendency toward hypertrophic scar formation. PMID:27330480

Decentralized operating procedures for orchestrating data and behavior across distributed military systems and assets

NASA Astrophysics Data System (ADS)

Peach, Nicholas

2011-06-01

In this paper, we present a method for a highly decentralized yet structured and flexible approach to achieve systems interoperability by orchestrating data and behavior across distributed military systems and assets with security considerations addressed from the beginning. We describe an architecture of a tool-based design of business processes called Decentralized Operating Procedures (DOP) and the deployment of DOPs onto run time nodes, supporting the parallel execution of each DOP at multiple implementation nodes (fixed locations, vehicles, sensors and soldiers) throughout a battlefield to achieve flexible and reliable interoperability. The described method allows the architecture to; a) provide fine grain control of the collection and delivery of data between systems; b) allow the definition of a DOP at a strategic (or doctrine) level by defining required system behavior through process syntax at an abstract level, agnostic of implementation details; c) deploy a DOP into heterogeneous environments by the nomination of actual system interfaces and roles at a tactical level; d) rapidly deploy new DOPs in support of new tactics and systems; e) support multiple instances of a DOP in support of multiple missions; f) dynamically add or remove run-time nodes from a specific DOP instance as missions requirements change; g) model the passage of, and business reasons for the transmission of each data message to a specific DOP instance to support accreditation; h) run on low powered computers with lightweight tactical messaging. This approach is designed to extend the capabilities of existing standards, such as the Generic Vehicle Architecture (GVA).

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.

Historical and Cultural Perspectives on Centralization/Decentralization in Continuing Education.

ERIC Educational Resources Information Center

Edelson, Paul J.

1995-01-01

Views centralization/decentralization from four perspectives: historical, as an outgrowth of professionalism, in the culture of higher education, and management theory. Suggests that some form of centralized control will always be necessary if continuing education is to function in a larger organization, but smaller units may be the wave of the…

Parental Contributions, School-Level Finances and Decentralization: An Analysis of Nicaraguan Autonomous School Budgets

ERIC Educational Resources Information Center

Gershberg, Alec Ian; Meade, Ben

2005-01-01

The Nicaraguan Autonomous School Programme is notable among the growing number of school governance decentralization reforms in the Americas in the degree of control given to parents, especially in decisions regarding the allocation of school resources. Much of schools' discretionary spending was accumulated through various school charges. This…

ALEPH: Israel's Research Library Network: Background, Evolution, and Implications for Networking in a Small Country.

ERIC Educational Resources Information Center

Lazinger, Susan S.

1991-01-01

Describes ALEPH, the research library network in Israel, and analyzes the strengths and weaknesses of its decentralized structure. Highlights include comparisons between RLIN and ALEPH; centralized versus decentralized networks; the format of ALEPH; authority control in ALEPH; and non-Roman scripts in both networks. (16 references) (LRW)

Design of a decentralized reusable research database architecture to support data acquisition in large research projects.

PubMed

Iavindrasana, Jimison; Depeursinge, Adrien; Ruch, Patrick; Spahni, Stéphane; Geissbuhler, Antoine; Müller, Henning

2007-01-01

The diagnostic and therapeutic processes, as well as the development of new treatments, are hindered by the fragmentation of information which underlies them. In a multi-institutional research study database, the clinical information system (CIS) contains the primary data input. An important part of the money of large scale clinical studies is often paid for data creation and maintenance. The objective of this work is to design a decentralized, scalable, reusable database architecture with lower maintenance costs for managing and integrating distributed heterogeneous data required as basis for a large-scale research project. Technical and legal aspects are taken into account based on various use case scenarios. The architecture contains 4 layers: data storage and access are decentralized at their production source, a connector as a proxy between the CIS and the external world, an information mediator as a data access point and the client side. The proposed design will be implemented inside six clinical centers participating in the @neurIST project as part of a larger system on data integration and reuse for aneurism treatment.

A decentralized and onsite wastewater management course: bringing together global concerns and practical pedagogy.

PubMed

Gaulke, L S; Borgford-Parnell, J L; Stensel, H D

2008-01-01

This paper reports on the design, implementation, and results of a course focused on decentralized and onsite wastewater treatment in global contexts. Problem-based learning was the primary pedagogical method, with which students tackled real-world problems and designed systems to meet the needs of diverse populations. Both learning and course evaluations demonstrated that the course was successful in fulfilling learning objectives, increasing student design skills, and raising awareness of global applications. Based on this experience a list of recommendations was created for co-developing and team-teaching multidisciplinary design courses. These recommendations include ideas for aligning student and teacher goals, overcoming barriers to effective group-work, and imbedding continuous course assessments. Copyright IWA Publishing 2008.

Decentralized semi-active damping of free structural vibrations by means of structural nodes with an on/off ability to transmit moments

NASA Astrophysics Data System (ADS)

Poplawski, Blazej; Mikułowski, Grzegorz; Mróz, Arkadiusz; Jankowski, Łukasz

2018-02-01

This paper proposes, tests numerically and verifies experimentally a decentralized control algorithm with local feedback for semi-active mitigation of free vibrations in frame structures. The algorithm aims at transferring the vibration energy of low-order, lightly-damped structural modes into high-frequency modes of vibration, where it is quickly damped by natural mechanisms of material damping. Such an approach to mitigation of vibrations, known as the prestress-accumulation release (PAR) strategy, has been earlier applied only in global control schemes to the fundamental vibration mode of a cantilever beam. In contrast, the decentralization and local feedback allows the approach proposed here to be applied to more complex frame structures and vibration patterns, where the global control ceases to be intuitively obvious. The actuators (truss-frame nodes with controllable ability to transmit moments) are essentially unblockable hinges that become unblocked only for very short time periods in order to trigger local modal transfer of energy. The paper proposes a computationally simple model of the controllable nodes, specifies the control performance measure, yields basic characteristics of the optimum control, proposes the control algorithm and then tests it in numerical and experimental examples.

Decentralization's impact on the health workforce: Perspectives of managers, workers and national leaders

PubMed Central

Kolehmainen-Aitken, Riitta-Liisa

2004-01-01

Designers and implementers of decentralization and other reform measures have focused much attention on financial and structural reform measures, but ignored their human resource implications. Concern is mounting about the impact that the reallocation of roles and responsibilities has had on the health workforce and its management, but the experiences and lessons of different countries have not been widely shared. This paper examines evidence from published literature on decentralization's impact on the demand side of the human resource equation, as well as the factors that have contributed to the impact. The elements that make such an impact analysis exceptionally complex are identified. They include the mode of decentralization that a country is implementing, the level of responsibility for the salary budget and pay determination, and the civil service status of transferred health workers. The main body of the paper is devoted to examining decentralization's impact on human resource issues from three different perspectives: that of local health managers, health workers themselves, and national health leaders. These three groups have different concerns in the human resource realm, and consequently, have been differently affected by decentralization processes. The paper concludes with recommendations regarding three key concerns that national authorities and international agencies should give prompt attention to. They are (1) defining the essential human resource policy, planning and management skills for national human resource managers who work in decentralized countries, and developing training programs to equip them with such skills; (2) supporting research that focuses on improving the knowledge base of how different modes of decentralization impact on staffing equity; and (3) identifying factors that most critically influence health worker motivation and performance under decentralization, and documenting the most cost-effective best practices to improve them. Notable experiences from South Africa, Ghana, Indonesia and Mexico are shared in an annex. PMID:15144558

The predictive protective control of the heat exchanger

NASA Astrophysics Data System (ADS)

Nevriva, Pavel; Filipova, Blanka; Vilimec, Ladislav

2016-06-01

The paper deals with the predictive control applied to flexible cogeneration energy system FES. FES was designed and developed by the VITKOVICE POWER ENGINEERING joint-stock company and represents a new solution of decentralized cogeneration energy sources. In FES, the heating medium is flue gas generated by combustion of a solid fuel. The heated medium is power gas, which is a gas mixture of air and water steam. Power gas is superheated in the main heat exchanger and led to gas turbines. To protect the main heat exchanger against damage by overheating, the novel predictive protective control based on the mathematical model of exchanger was developed. The paper describes the principle, the design and the simulation of the predictive protective method applied to main heat exchanger of FES.

Four experimental demonstrations of active vibration control for flexible structures

NASA Technical Reports Server (NTRS)

Phillips, Doug; Collins, Emmanuel G., Jr.

1990-01-01

Laboratory experiments designed to test prototype active-vibration-control systems under development for future flexible space structures are described, summarizing previously reported results. The control-synthesis technique employed for all four experiments was the maximum-entropy optimal-projection (MEOP) method (Bernstein and Hyland, 1988). Consideration is given to: (1) a pendulum experiment on large-amplitude LF dynamics; (2) a plate experiment on broadband vibration suppression in a two-dimensional structure; (3) a multiple-hexagon experiment combining the factors studied in (1) and (2) to simulate the complexity of a large space structure; and (4) the NASA Marshall ACES experiment on a lightweight deployable 45-foot beam. Extensive diagrams, drawings, graphs, and photographs are included. The results are shown to validate the MEOP design approach, demonstrating that good performance is achievable using relatively simple low-order decentralized controllers.

Integrated control strategy for autonomous decentralized conveyance systems based on distributed MEMS arrays

NASA Astrophysics Data System (ADS)

Zhou, Lingfei; Chapuis, Yves-Andre; Blonde, Jean-Philippe; Bervillier, Herve; Fukuta, Yamato; Fujita, Hiroyuki

2004-07-01

In this paper, the authors proposed to study a model and a control strategy of a two-dimensional conveyance system based on the principles of the Autonomous Decentralized Microsystems (ADM). The microconveyance system is based on distributed cooperative MEMS actuators which can produce a force field onto the surface of the device to grip and move a micro-object. The modeling approach proposed here is based on a simple model of a microconveyance system which is represented by a 5 x 5 matrix of cells. Each cell is consisted of a microactuator, a microsensor, and a microprocessor to provide actuation, autonomy and decentralized intelligence to the cell. Thus, each cell is able to identify a micro-object crossing on it and to decide by oneself the appropriate control strategy to convey the micro-object to its destination target. The control strategy could be established through five simple decision rules that the cell itself has to respect at each calculate cycle time. Simulation and FPGA implementation results are given in the end of the paper in order to validate model and control approach of the microconveyance system.

Primary Health Care and tuberculosis: services evaluation.

PubMed

Wysocki, Anneliese Domingues; Ponce, Maria Amélia Zanon; Brunello, Maria Eugênia Firmino; Beraldo, Aline Ale; Vendramini, Silvia Helena Figueiredo; Scatena, Lúcia Marina; Ruffino, Antonio; Villa, Tereza Cristina Scatena

2017-01-01

In order to control tuberculosis, the Brazilian Ministry of Health recommends the decentralization of control actions directed to the Primary Health Care, and there are few studies on the performance of the Tuberculosis Control Program in decentralized contexts. To evaluate the performance of Primary Health Care services in tuberculosis treatment. This is an evaluative study with cross-sectional approach conducted in 2011. Two hundred and thirty-nine health professionals from Primary Health Care units were interviewed using a structured instrument based on the evaluation reference of the health services quality (structure - process - results). The performance of these services was analyzed applying techniques of descriptive statistics, validation, and construction of indicators and by determining the reduced variable "Z". The indicators "participation of professionals in tuberculosis patients' care" (structure) and "reference and counterreference" (process) had the best evaluations, whereas "professional training" (structure) and "external actions for tuberculosis control" (process) had the worst results. The decentralization of tuberculosis control actions has been taking place in a vertical manner in Primary Health Care. The challenge of controlling tuberculosis involves overcoming constraints related to the engagement, training, and turnover rates among health professionals, which is a coordination between services and monitoring of control actions in Primary Health Care.

Trust: The Key to the Success of Mission Command in the Joint Force

DTIC Science & Technology

2015-05-18

Malaysia, Kuala Lumpur: International Conference on ISO9000. Schmidt, Todd A. “ Design , Mission Command and the Network: Enabling Organization...acknowledge that trust is one of the most important component of a decentralized command philosophy. Adding to this challenge is an increasingly...moving to mission command, we must acknowledge that trust is one of the most important components of a decentralized command philosophy. Adding to this

Application of controller partitioning optimization procedure to integrated flight/propulsion control design for a STOVL aircraft

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Schmidt, Phillip H.

1993-01-01

A parameter optimization framework has earlier been developed to solve the problem of partitioning a centralized controller into a decentralized, hierarchical structure suitable for integrated flight/propulsion control implementation. This paper presents results from the application of the controller partitioning optimization procedure to IFPC design for a Short Take-Off and Vertical Landing (STOVL) aircraft in transition flight. The controller partitioning problem and the parameter optimization algorithm are briefly described. Insight is provided into choosing various 'user' selected parameters in the optimization cost function such that the resulting optimized subcontrollers will meet the characteristics of the centralized controller that are crucial to achieving the desired closed-loop performance and robustness, while maintaining the desired subcontroller structure constraints that are crucial for IFPC implementation. The optimization procedure is shown to improve upon the initial partitioned subcontrollers and lead to performance comparable to that achieved with the centralized controller. This application also provides insight into the issues that should be addressed at the centralized control design level in order to obtain implementable partitioned subcontrollers.

Decentralizing Education in Transition Societies: Case Studies from Central and Eastern Europe. WBI Learning Resources Series.

ERIC Educational Resources Information Center

Fiszbein, Ariel, Ed.

This book is about education system reform in Central and Eastern Europe, with emphasis on decentralization and management. In the past, local authorities served as implementation arms of the central ministry, while finance and decision-making were controlled by the central government, leaving local communities with little influence. New education…

The Riccati equation, imprimitive actions and symplectic forms. [with application to decentralized optimal control problem

NASA Technical Reports Server (NTRS)

Garzia, M. R.; Loparo, K. A.; Martin, C. F.

1982-01-01

This paper looks at the structure of the solution of a matrix Riccati differential equation under a predefined group of transformations. The group of transformations used is an expanded form of the feedback group. It is shown that this group of transformations is a subgroup of the symplectic group. The orbits of the Riccati differential equation under the action of this group are studied and it is seen how these techniques apply to a decentralized optimal control problem.

Financing indicators for health care decentralization in Latin America: information and suggestions for health planning.

PubMed

Arredondo, A; Parada, I

2001-01-01

This article presents the results from an evaluative longitudinal study with before-after design. The main objective was to determine the effects of health care decentralization on changes in health financing. Taking into account feasibility, political and technical criteria, three Latin American countries were selected as study populations: Mexico, Nicaragua and Peru. The methodology had two main phases. In the first phase, the study referred to secondary sources of data and documents to obtain information about the following variables: type of decentralization implemented, source of finance, funds of financing, providers, final use of resources and mechanisms for resource allocation. In the second phase, the study referred to primary data collected in a survey of key personnel from the health sectors of each country. Taking into account the changes implemented in the three countries, as well as the strengths and weaknesses of each country in financing and decentralization, a rule for decision-making is proposed that attempts to identify the main financial changes implemented in each country and the basic indicators that can be used in future years to direct the planning, assessment, adjustment and correction of health financing and decentralization.

Design of bearings for rotor systems based on stability

NASA Technical Reports Server (NTRS)

Dhar, D.; Barrett, L. E.; Knospe, C. R.

1992-01-01

Design of rotor systems incorporating stable behavior is of great importance to manufacturers of high speed centrifugal machinery since destabilizing mechanisms (from bearings, seals, aerodynamic cross coupling, noncolocation effects from magnetic bearings, etc.) increase with machine efficiency and power density. A new method of designing bearing parameters (stiffness and damping coefficients or coefficients of the controller transfer function) is proposed, based on a numerical search in the parameter space. The feedback control law is based on a decentralized low order controller structure, and the various design requirements are specified as constraints in the specification and parameter spaces. An algorithm is proposed for solving the problem as a sequence of constrained 'minimax' problems, with more and more eigenvalues into an acceptable region in the complex plane. The algorithm uses the method of feasible directions to solve the nonlinear constrained minimization problem at each stage. This methodology emphasizes the designer's interaction with the algorithm to generate acceptable designs by relaxing various constraints and changing initial guesses interactively. A design oriented user interface is proposed to facilitate the interaction.

Distributed Environment Control Using Wireless Sensor/Actuator Networks for Lighting Applications

PubMed Central

Nakamura, Masayuki; Sakurai, Atsushi; Nakamura, Jiro

2009-01-01

We propose a decentralized algorithm to calculate the control signals for lights in wireless sensor/actuator networks. This algorithm uses an appropriate step size in the iterative process used for quickly computing the control signals. We demonstrate the accuracy and efficiency of this approach compared with the penalty method by using Mote-based mesh sensor networks. The estimation error of the new approach is one-eighth as large as that of the penalty method with one-fifth of its computation time. In addition, we describe our sensor/actuator node for distributed lighting control based on the decentralized algorithm and demonstrate its practical efficacy. PMID:22291525

Finite-time resilient decentralized control for interconnected impulsive switched systems with neutral delay.

PubMed

Ren, Hangli; Zong, Guangdeng; Hou, Linlin; Yang, Yi

2017-03-01

This paper is concerned with the problem of finite-time control for a class of interconnected impulsive switched systems with neutral delay in which the time-varying delay appears in both the state and the state derivative. The concepts of finite-time boundedness and finite-time stability are respectively extended to interconnected impulsive switched systems with neutral delay for the first time. By applying the average dwell time method, sufficient conditions are first derived to cope with the problem of finite-time boundedness and finite-time stability for interconnected impulsive switched systems with neutral delay. In addition, the purpose of finite-time resilient decentralized control is to construct a resilient decentralized state-feedback controller such that the closed-loop system is finite-time bounded and finite-time stable. All the conditions are formulated in terms of linear matrix inequalities to ensure finite-time boundedness and finite-time stability of the given system. Finally, an example is presented to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Soft sensor based composition estimation and controller design for an ideal reactive distillation column.

PubMed

Vijaya Raghavan, S R; Radhakrishnan, T K; Srinivasan, K

2011-01-01

In this research work, the authors have presented the design and implementation of a recurrent neural network (RNN) based inferential state estimation scheme for an ideal reactive distillation column. Decentralized PI controllers are designed and implemented. The reactive distillation process is controlled by controlling the composition which has been estimated from the available temperature measurements using a type of RNN called Time Delayed Neural Network (TDNN). The performance of the RNN based state estimation scheme under both open loop and closed loop have been compared with a standard Extended Kalman filter (EKF) and a Feed forward Neural Network (FNN). The online training/correction has been done for both RNN and FNN schemes for every ten minutes whenever new un-trained measurements are available from a conventional composition analyzer. The performance of RNN shows better state estimation capability as compared to other state estimation schemes in terms of qualitative and quantitative performance indices. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

A Decentralized VPN Service over Generalized Mobile Ad-Hoc Networks

NASA Astrophysics Data System (ADS)

Fujita, Sho; Shima, Keiichi; Uo, Yojiro; Esaki, Hiroshi

We present a decentralized VPN service that can be built over generalized mobile ad-hoc networks (Generalized MANETs), in which topologies can be represented as a time-varying directed multigraph. We address wireless ad-hoc networks and overlay ad-hoc networks as instances of Generalized MANETs. We first propose an architecture to operate on various kinds of networks through a single set of operations. Then, we design and implement a decentralized VPN service on the proposed architecture. Through the development and operation of a prototype system we implemented, we found that the proposed architecture makes the VPN service applicable to each instance of Generalized MANETs, and that the VPN service makes it possible for unmodified applications to operate on the networks.

The School Elections: A Critique of the 1969 New York City School Decentralization.

ERIC Educational Resources Information Center

Demas, Boulton H.

When local school board members in New York City assumed office on 31 local school boards in 1969, this should have resulted in more responsive local boards with sufficient power to control local policy; but this was not the actual result. Specific examination of the decentralization bill, the politics of the election, and the election procedures…

Commentary on "Finance, Management, and Costs of Public and Private Schools in Indonesia" and "Do Local Contributions Affect the Efficiency of Public Primary Schools?"

ERIC Educational Resources Information Center

Berger, Mark C.

1996-01-01

Studies on Indonesia and the Philippines in this special issue examine how local financial control affects costs of providing primary schooling. In both countries, schools with greater financial decentralization operated more efficiently. These results have important implications for U.S. schools, where decentralization reforms in Kentucky and…

INTRAOCULAR LENS POSITION IN COMBINED PHACOEMULSIFICATION AND VITREORETINAL SURGERY.

PubMed

Ozates, Serdar; Kiziltoprak, Hasan; Koc, Mustafa; Uzel, Mehmet Murat; Teke, Mehmet Yasin

2017-10-09

To assess the decentration and angle of tilt of the intraocular lens (IOL) according to the intravitreal tamponade types used in combined phacoemulsification and vitreoretinal surgery. This prospective and randomized clinical study involved 73 eyes of 69 patients who underwent combined vitreoretinal surgery. Eyes with intravitreal tamponades formed the study group and eyes without intravitreal tamponades formed the control group. The study group was further divided into silicone oil and gas tamponade subgroups. Cross-sectional IOL images were captured using a Pentacam HR (Oculus, Germany) and tilt and decentration were calculated with Adobe Photoshop software (Adobe, San Jose, CA). The mean angle of tilt and decentration at the vertical meridian were significantly higher in both tamponade groups than in the control group (P < 0.05 for all). No significant difference was observed among the groups regarding IOL position parameters at the horizontal meridian (P > 0.05). When comparing the silicone oil and gas tamponade subgroups, no significant differences were noted on the position of IOL at both meridians (P > 0.05 for all). Intravitreal tamponades have an important effect on the position of IOL in combined vitreoretinal surgery. Silicone oil and gas tamponades may induce postoperative tilt and decentration of one-piece acrylic IOLs.

Polya's bees: A model of decentralized decision-making.

PubMed

Golman, Russell; Hagmann, David; Miller, John H

2015-09-01

How do social systems make decisions with no single individual in control? We observe that a variety of natural systems, including colonies of ants and bees and perhaps even neurons in the human brain, make decentralized decisions using common processes involving information search with positive feedback and consensus choice through quorum sensing. We model this process with an urn scheme that runs until hitting a threshold, and we characterize an inherent tradeoff between the speed and the accuracy of a decision. The proposed common mechanism provides a robust and effective means by which a decentralized system can navigate the speed-accuracy tradeoff and make reasonably good, quick decisions in a variety of environments. Additionally, consensus choice exhibits systemic risk aversion even while individuals are idiosyncratically risk-neutral. This too is adaptive. The model illustrates how natural systems make decentralized decisions, illuminating a mechanism that engineers of social and artificial systems could imitate.

Polya’s bees: A model of decentralized decision-making

PubMed Central

Golman, Russell; Hagmann, David; Miller, John H.

2015-01-01

How do social systems make decisions with no single individual in control? We observe that a variety of natural systems, including colonies of ants and bees and perhaps even neurons in the human brain, make decentralized decisions using common processes involving information search with positive feedback and consensus choice through quorum sensing. We model this process with an urn scheme that runs until hitting a threshold, and we characterize an inherent tradeoff between the speed and the accuracy of a decision. The proposed common mechanism provides a robust and effective means by which a decentralized system can navigate the speed-accuracy tradeoff and make reasonably good, quick decisions in a variety of environments. Additionally, consensus choice exhibits systemic risk aversion even while individuals are idiosyncratically risk-neutral. This too is adaptive. The model illustrates how natural systems make decentralized decisions, illuminating a mechanism that engineers of social and artificial systems could imitate. PMID:26601255

Crossbar Switches For Optical Data-Communication Networks

NASA Technical Reports Server (NTRS)

Monacos, Steve P.

1994-01-01

Optoelectronic and electro-optical crossbar switches called "permutation engines" (PE's) developed to route packets of data through fiber-optic communication networks. Basic network concept described in "High-Speed Optical Wide-Area Data-Communication Network" (NPO-18983). Nonblocking operation achieved by decentralized switching and control scheme. Each packet routed up or down in each column of this 5-input/5-output permutation engine. Routing algorithm ensures each packet arrives at its designated output port without blocking any other packet that does not contend for same output port.

A VLF-based technique in applications to digital control of nonlinear hybrid multirate systems

NASA Astrophysics Data System (ADS)

Vassilyev, Stanislav; Ulyanov, Sergey; Maksimkin, Nikolay

2017-01-01

In this paper, a technique for rigorous analysis and design of nonlinear multirate digital control systems on the basis of the reduction method and sublinear vector Lyapunov functions is proposed. The control system model under consideration incorporates continuous-time dynamics of the plant and discrete-time dynamics of the controller and takes into account uncertainties of the plant, bounded disturbances, nonlinear characteristics of sensors and actuators. We consider a class of multirate systems where the control update rate is slower than the measurement sampling rates and periodic non-uniform sampling is admitted. The proposed technique does not use the preliminary discretization of the system, and, hence, allows one to eliminate the errors associated with the discretization and improve the accuracy of analysis. The technique is applied to synthesis of digital controller for a flexible spacecraft in the fine stabilization mode and decentralized controller for a formation of autonomous underwater vehicles. Simulation results are provided to validate the good performance of the designed controllers.

Neural joint control for Space Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Atkins, Mark A.; Cox, Chadwick J.; Lothers, Michael D.; Pap, Robert M.; Thomas, Charles R.

1992-01-01

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Optimal Decentralized Protocol for Electric Vehicle Charging

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

Gan, LW; Topcu, U; Low, SH

We propose a decentralized algorithm to optimally schedule electric vehicle (EV) charging. The algorithm exploits the elasticity of electric vehicle loads to fill the valleys in electric load profiles. We first formulate the EV charging scheduling problem as an optimal control problem, whose objective is to impose a generalized notion of valley-filling, and study properties of optimal charging profiles. We then give a decentralized algorithm to iteratively solve the optimal control problem. In each iteration, EVs update their charging profiles according to the control signal broadcast by the utility company, and the utility company alters the control signal to guidemore » their updates. The algorithm converges to optimal charging profiles (that are as "flat" as they can possibly be) irrespective of the specifications (e.g., maximum charging rate and deadline) of EVs, even if EVs do not necessarily update their charging profiles in every iteration, and use potentially outdated control signal when they update. Moreover, the algorithm only requires each EV solving its local problem, hence its implementation requires low computation capability. We also extend the algorithm to track a given load profile and to real-time implementation.« less

Decentralized nursing education in Northern Norway: a basis for continuing education to meet competence needs in rural Arctic healthcare services

PubMed Central

Skaalvik, Mari Wolff; Gaski, Margrete; Norbye, Bente

2014-01-01

Background Ensuring a sufficient nursing workforce, with respect to both number and relevant professional competencies, is crucial in rural Arctic regions in Norway. This study examines the continuing education (CE) of nurses who graduated from a decentralized nursing programme between 1994 and 2011. Objective This study aims to measure the extent to which the decentralized nursing education (DNE) in question has served as a basis for CE that is adapted to current and future community health care service needs in rural Arctic regions in northern Norway. More specifically, the study aims to investigate the frequency and scope of CE courses among the graduates of a DNE, the choice of study model and the degree of employment with respect to the relevant CE. Design This study is a quantitative survey providing descriptive statistics. Results The primary finding in this study is that 56% of the participants had engaged in CE and that they were employed in positions related to their education. The majority of students with decentralized bachelor's degrees engaged in CE that was part time and/or decentralized. Conclusions More than half of the population in this study had completed CE despite no mandatory obligation in order to maintain licensure. Furthermore, 31% of the participants had completed more than one CE programme. The findings show that the participants preferred CE organized as part time and or decentralized studies. PMID:25279355

A novel test method to determine the filter material service life of decentralized systems treating runoff from traffic areas.

PubMed

Huber, Maximilian; Welker, Antje; Dierschke, Martina; Drewes, Jörg E; Helmreich, Brigitte

2016-09-01

In recent years, there has been a significant increase in the development and application of technical decentralized filter systems for the treatment of runoff from traffic areas. However, there are still many uncertainties regarding the service life and the performance of filter materials that are employed in decentralized treatment systems. These filter media are designed to prevent the transport of pollutants into the environment. A novel pilot-scale test method was developed to determine - within a few days - the service lives and long-term removal efficiencies for dissolved heavy metals in stormwater treatment systems. The proposed method consists of several steps including preloading the filter media in a pilot-scale model with copper and zinc by a load of n-1 years of the estimated service life (n). Subsequently, three representative rain events are simulated to evaluate the long-term performance by dissolved copper and zinc during the last year of application. The presented results, which verified the applicability of this method, were obtained for three filter channel systems and six filter shaft systems. The performance of the evaluated systems varied largely for both tested heavy metals and during all three simulated rain events. A validation of the pilot-scale assessment method with field measurements was also performed for two systems. Findings of this study suggest that this novel method does provide a standardized and accurate estimation of service intervals of decentralized treatment systems employing various filter materials. The method also provides regulatory authorities, designers, and operators with an objective basis for performance assessment and supports stormwater managers to make decisions for the installation of such decentralized treatment systems. Copyright © 2016 Elsevier Ltd. All rights reserved.

Decentralized water resources management in Mozambique: Challenges of implementation at the river basin level

NASA Astrophysics Data System (ADS)

Inguane, Ronaldo; Gallego-Ayala, Jordi; Juízo, Dinis

In the context of integrated water resources management implementation, the decentralization of water resources management (DWRM) at the river basin level is a crucial aspect for its success. However, decentralization requires the creation of new institutions on the ground, to stimulate an environment enabling stakeholder participation and integration into the water management decision-making process. In 1991, Mozambique began restructuring its water sector toward operational decentralized water resources management. Within this context of decentralization, new legal and institutional frameworks have been created, e.g., Regional Water Administrations (RWAs) and River Basin Committees. This paper identifies and analyzes the key institutional challenges and opportunities of DWRM implementation in Mozambique. The paper uses a critical social science research methodology for in-depth analysis of the roots of the constraining factors for the implementation of DWRM. The results obtained suggest that RWAs should be designed considering the specific geographic and infrastructural conditions of their jurisdictional areas and that priorities should be selected in their institutional capacity building strategies that match local realities. Furthermore, the results also indicate that RWAs have enjoyed limited support from basin stakeholders, mainly in basins with less hydraulic infrastructure, in securing water availability for their users and minimizing the effect of climate variability.

Flexible Multi agent Algorithm for Distributed Decision Making

DTIC Science & Technology

2015-01-01

How, J. P. Consensus - Based Auction Approaches for Decentralized task Assignment. Proceedings of the AIAA Guidance, Navigation, and Control...G. ; Kim, Y. Market- based Decentralized Task Assignment for Cooperative UA V Mission Including Rendezvous. Proceedings of the AIAA Guidance...scalable and adaptable to a variety of specific mission tasks . Additionally, the algorithm could easily be adapted for use on land or sea- based systems

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

Autonomous, Decentralized Grid Architecture: Prosumer-Based Distributed Autonomous Cyber-Physical Architecture for Ultra-Reliable Green Electricity Networks

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

None

2012-01-11

GENI Project: Georgia Tech is developing a decentralized, autonomous, internet-like control architecture and control software system for the electric power grid. Georgia Tech’s new architecture is based on the emerging concept of electricity prosumers—economically motivated actors that can produce, consume, or store electricity. Under Georgia Tech’s architecture, all of the actors in an energy system are empowered to offer associated energy services based on their capabilities. The actors achieve their sustainability, efficiency, reliability, and economic objectives, while contributing to system-wide reliability and efficiency goals. This is in marked contrast to the current one-way, centralized control paradigm.

A parameter optimization approach to controller partitioning for integrated flight/propulsion control application

NASA Technical Reports Server (NTRS)

Schmidt, Phillip; Garg, Sanjay; Holowecky, Brian

1992-01-01

A parameter optimization framework is presented to solve the problem of partitioning a centralized controller into a decentralized hierarchical structure suitable for integrated flight/propulsion control implementation. The controller partitioning problem is briefly discussed and a cost function to be minimized is formulated, such that the resulting 'optimal' partitioned subsystem controllers will closely match the performance (including robustness) properties of the closed-loop system with the centralized controller while maintaining the desired controller partitioning structure. The cost function is written in terms of parameters in a state-space representation of the partitioned sub-controllers. Analytical expressions are obtained for the gradient of this cost function with respect to parameters, and an optimization algorithm is developed using modern computer-aided control design and analysis software. The capabilities of the algorithm are demonstrated by application to partitioned integrated flight/propulsion control design for a modern fighter aircraft in the short approach to landing task. The partitioning optimization is shown to lead to reduced-order subcontrollers that match the closed-loop command tracking and decoupling performance achieved by a high-order centralized controller.

A parameter optimization approach to controller partitioning for integrated flight/propulsion control application

NASA Technical Reports Server (NTRS)

Schmidt, Phillip H.; Garg, Sanjay; Holowecky, Brian R.

1993-01-01

A parameter optimization framework is presented to solve the problem of partitioning a centralized controller into a decentralized hierarchical structure suitable for integrated flight/propulsion control implementation. The controller partitioning problem is briefly discussed and a cost function to be minimized is formulated, such that the resulting 'optimal' partitioned subsystem controllers will closely match the performance (including robustness) properties of the closed-loop system with the centralized controller while maintaining the desired controller partitioning structure. The cost function is written in terms of parameters in a state-space representation of the partitioned sub-controllers. Analytical expressions are obtained for the gradient of this cost function with respect to parameters, and an optimization algorithm is developed using modern computer-aided control design and analysis software. The capabilities of the algorithm are demonstrated by application to partitioned integrated flight/propulsion control design for a modern fighter aircraft in the short approach to landing task. The partitioning optimization is shown to lead to reduced-order subcontrollers that match the closed-loop command tracking and decoupling performance achieved by a high-order centralized controller.

Decentralized authority, increased enforcement guide Mexico's environmental evolution

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

Ranger, E.M.; Alonzo, A.L.

1994-01-01

Environmental regulation in Mexico is evolving into a decentralized system where local authorities assume responsibility for compliance. Articles 25, 27 and 73 of Mexico's constitution establish federal, state and municipal jurisdictions for environmental protection, and empower the federal congress to promulgate environmental legislation. An established federal and local environmental legislative and normative framework, along with increased enforcement, provide the country with a comprehensive regulatory system to prevent and control industrial pollution.

Decentralized-feedback pole placement of linear systems

NASA Technical Reports Server (NTRS)

Wang, X.; Martin, C. F.; Gilliam, D.; Byrnes, C. I.

1992-01-01

A projectile product spaces model is used to analyze decentralized systems. The degree of the pole placement map is computed. The conditions under which the degree is odd are also given. Twin lift systems are studied. It is proved that the poles of a twin lift system can be assigned to any values by local static and local dynamic feedback laws if and only if the system is jointly controllable.

Adaptive Critic Nonlinear Robust Control: A Survey.

PubMed

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

Adaptive dynamic programming (ADP) and reinforcement learning are quite relevant to each other when performing intelligent optimization. They are both regarded as promising methods involving important components of evaluation and improvement, at the background of information technology, such as artificial intelligence, big data, and deep learning. Although great progresses have been achieved and surveyed when addressing nonlinear optimal control problems, the research on robustness of ADP-based control strategies under uncertain environment has not been fully summarized. Hence, this survey reviews the recent main results of adaptive-critic-based robust control design of continuous-time nonlinear systems. The ADP-based nonlinear optimal regulation is reviewed, followed by robust stabilization of nonlinear systems with matched uncertainties, guaranteed cost control design of unmatched plants, and decentralized stabilization of interconnected systems. Additionally, further comprehensive discussions are presented, including event-based robust control design, improvement of the critic learning rule, nonlinear H ∞ control design, and several notes on future perspectives. By applying the ADP-based optimal and robust control methods to a practical power system and an overhead crane plant, two typical examples are provided to verify the effectiveness of theoretical results. Overall, this survey is beneficial to promote the development of adaptive critic control methods with robustness guarantee and the construction of higher level intelligent systems.

UAV Flight Control Using Distributed Actuation and Sensing

NASA Technical Reports Server (NTRS)

Barnwell, William G.; Heinzen, Stearns N.; Hall, Charles E., Jr.; Chokani, Ndaona; Raney, David L. (Technical Monitor)

2003-01-01

An array of effectors and sensors has been designed, tested and implemented on a Blended Wing Body Uninhabited Aerial Vehicle (UAV). This UAV is modified to serve as a flying, controls research, testbed. This effectorhensor array provides for the dynamic vehicle testing of controller designs and the study of decentralized control techniques. Each wing of the UAV is equipped with 12 distributed effectors that comprise a segmented array of independently actuated, contoured control surfaces. A single pressure sensor is installed near the base of each effector to provide a measure of deflections of the effectors. The UAV wings were tested in the North Carolina State University Subsonic Wind Tunnel and the pressure distribution that result from the deflections of the effectors are characterized. The results of the experiments are used to develop a simple, but accurate, prediction method, such that for any arrangement of the effector array the corresponding pressure distribution can be determined. Numerical analysis using the panel code CMARC verifies this prediction method.

Resilience in social insect infrastructure systems

PubMed Central

2016-01-01

Both human and insect societies depend on complex and highly coordinated infrastructure systems, such as communication networks, supply chains and transportation networks. Like human-designed infrastructure systems, those of social insects are regularly subject to disruptions such as natural disasters, blockages or breaks in the transportation network, fluctuations in supply and/or demand, outbreaks of disease and loss of individuals. Unlike human-designed systems, there is no deliberate planning or centralized control system; rather, individual insects make simple decisions based on local information. How do these highly decentralized, leaderless systems deal with disruption? What factors make a social insect system resilient, and which factors lead to its collapse? In this review, we bring together literature on resilience in three key social insect infrastructure systems: transportation networks, supply chains and communication networks. We describe how systems differentially invest in three pathways to resilience: resistance, redirection or reconstruction. We suggest that investment in particular resistance pathways is related to the severity and frequency of disturbance. In the final section, we lay out a prospectus for future research. Human infrastructure networks are rapidly becoming decentralized and interconnected; indeed, more like social insect infrastructures. Human infrastructure management might therefore learn from social insect researchers, who can in turn make use of the mature analytical and simulation tools developed for the study of human infrastructure resilience. PMID:26962030

Optimal Policy of Cross-Layer Design for Channel Access and Transmission Rate Adaptation in Cognitive Radio Networks

NASA Astrophysics Data System (ADS)

He, Hao; Wang, Jun; Zhu, Jiang; Li, Shaoqian

2010-12-01

In this paper, we investigate the cross-layer design of joint channel access and transmission rate adaptation in CR networks with multiple channels for both centralized and decentralized cases. Our target is to maximize the throughput of CR network under transmission power constraint by taking spectrum sensing errors into account. In centralized case, this problem is formulated as a special constrained Markov decision process (CMDP), which can be solved by standard linear programming (LP) method. As the complexity of finding the optimal policy by LP increases exponentially with the size of action space and state space, we further apply action set reduction and state aggregation to reduce the complexity without loss of optimality. Meanwhile, for the convenience of implementation, we also consider the pure policy design and analyze the corresponding characteristics. In decentralized case, where only local information is available and there is no coordination among the CR users, we prove the existence of the constrained Nash equilibrium and obtain the optimal decentralized policy. Finally, in the case that the traffic load parameters of the licensed users are unknown for the CR users, we propose two methods to estimate the parameters for two different cases. Numerical results validate the theoretic analysis.

Preliminary analysis of the PreFlexMS molten salt once-through steam generator dynamics and control strategy

NASA Astrophysics Data System (ADS)

Trabucchi, Stefano; Casella, Francesco; Maioli, Tommaso; Elsido, Cristina; Franzini, Davide; Ramond, Mathieu

2017-06-01

Concentrated Solar Power plants (CSP) coupled with thermal storage have the potential to guarantee both flexible and continuous energy production, thus being competitive with conventional fossil fuel and hydro power plants, in terms of dispatchability and provision of ancillary services. Hence, the plant equipment and control design have to be focused on flexible operation on one hand, and on plant safety concerning the molten salt freezing on the other hand. The PreFlexMS European project aims to introduce a molten salt Once-Through Steam Generator (OTSG) within a Rankine cycle based power unit, a technology that has greater flexibility potential if compared to steam drum boilers, currently used in CSP plants. The dynamic modelling and simulation from the early design stages is, thus, of paramount importance, to assess the plant dynamic behavior and controllability, and to predict the achievable closed-loop dynamic performance, potentially saving money and time during the detailed design, construction and commissioning phases. The present paper reports the main results of the analysis carried out during the first part of the project, regarding the system analysis and control design. In particular, two different control systems have been studied and tested with the plant dynamic model: a decentralized control strategy based on PI controllers and a Linear Model Predictive Control (LMPC).

Distributed Synchronization Control of Multiagent Systems With Unknown Nonlinearities.

PubMed

Su, Shize; Lin, Zongli; Garcia, Alfredo

2016-01-01

This paper revisits the distributed adaptive control problem for synchronization of multiagent systems where the dynamics of the agents are nonlinear, nonidentical, unknown, and subject to external disturbances. Two communication topologies, represented, respectively, by a fixed strongly-connected directed graph and by a switching connected undirected graph, are considered. Under both of these communication topologies, we use distributed neural networks to approximate the uncertain dynamics. Decentralized adaptive control protocols are then constructed to solve the cooperative tracker problem, the problem of synchronization of all follower agents to a leader agent. In particular, we show that, under the proposed decentralized control protocols, the synchronization errors are ultimately bounded, and their ultimate bounds can be reduced arbitrarily by choosing the control parameter appropriately. Simulation study verifies the effectiveness of our proposed protocols.

Economic considerations for social distancing and behavioral based policies during an epidemic

PubMed Central

Fenichel, Eli P.

2013-01-01

Public policies intended to induce behavioral change, specifically incentives to reduce interpersonal contacts or to “social distance,” increasingly play a prominent role in public disease response strategies as governments plan for and respond to major epidemics. I compare social distancing incentives and outcomes under decentralized, full control social planner, and constrained social planner, without health class specific control, decision making scenarios. Constrained social planner decision making, based on non-health class specific controls, can in some instances make society worse off than decentralized decision making (i.e. no intervention). The oft neglected behavior of recovered and immune individuals is important for welfare and health outcomes. PMID:23419635

Impact of heterogeneity and socioeconomic factors on individual behavior in decentralized sharing ecosystems.

PubMed

Gavaldà-Miralles, Arnau; Choffnes, David R; Otto, John S; Sánchez, Mario A; Bustamante, Fabián E; Amaral, Luís A N; Duch, Jordi; Guimerà, Roger

2014-10-28

Tens of millions of individuals around the world use decentralized content distribution systems, a fact of growing social, economic, and technological importance. These sharing systems are poorly understood because, unlike in other technosocial systems, it is difficult to gather large-scale data about user behavior. Here, we investigate user activity patterns and the socioeconomic factors that could explain the behavior. Our analysis reveals that (i) the ecosystem is heterogeneous at several levels: content types are heterogeneous, users specialize in a few content types, and countries are heterogeneous in user profiles; and (ii) there is a strong correlation between socioeconomic indicators of a country and users behavior. Our findings open a research area on the dynamics of decentralized sharing ecosystems and the socioeconomic factors affecting them, and may have implications for the design of algorithms and for policymaking.

Challenges to the implementation of health sector decentralization in Tanzania: experiences from Kongwa district council

PubMed Central

Frumence, Gasto; Nyamhanga, Tumaini; Mwangu, Mughwira; Hurtig, Anna-Karin

2013-01-01

Background During the 1990s, the government of Tanzania introduced the decentralization by devolution (D by D) approach involving the transfer of functions, power and authority from the centre to the local government authorities (LGAs) to improve the delivery of public goods and services, including health services. Objective This article examines and documents the experiences facing the implementation of decentralization of health services from the perspective of national and district officials. Design The study adopted a qualitative approach, and data were collected using semi-structured interviews and were analysed for themes and patterns. Results The results showed several benefits of decentralization, including increased autonomy in local resource mobilization and utilization, an enhanced bottom-up planning approach, increased health workers’ accountability and reduction of bureaucratic procedures in decision making. The findings also revealed several challenges which hinder the effective functioning of decentralization. These include inadequate funding, untimely disbursement of funds from the central government, insufficient and unqualified personnel, lack of community participation in planning and political interference. Conclusion The article concludes that the central government needs to adhere to the principles that established the local authorities and grant more autonomy to them, offer special incentives to staff working in the rural areas and create the capacity for local key actors to participate effectively in the planning process. PMID:23993021

The economics of central billing offices.

PubMed

Woodcock, E; Nguyen, L

2000-01-01

The anticipation of economies of scale in physician billing has led many medical practices to consolidate their billing operations. This article analyzes these economies of scale, comparing performance indicators from centralized and decentralized operations. While consolidation provides compliance, control and information, diseconomies of scale can exist in the centralized receivables management process. The authors conclude that physician practices should consider a hybrid approach to billing, thus reaping the benefits of both centralization and decentralization.

A Summary of Some Discrete-Event System Control Problems

NASA Astrophysics Data System (ADS)

Rudie, Karen

A summary of the area of control of discrete-event systems is given. In this research area, automata and formal language theory is used as a tool to model physical problems that arise in technological and industrial systems. The key ingredients to discrete-event control problems are a process that can be modeled by an automaton, events in that process that cannot be disabled or prevented from occurring, and a controlling agent that manipulates the events that can be disabled to guarantee that the process under control either generates all the strings in some prescribed language or as many strings as possible in some prescribed language. When multiple controlling agents act on a process, decentralized control problems arise. In decentralized discrete-event systems, it is presumed that the agents effecting control cannot each see all event occurrences. Partial observation leads to some problems that cannot be solved in polynomial time and some others that are not even decidable.

Effects of Patient Care Unit Design and Technology on Nurse and Patient Care Technician Communication.

PubMed

Beck, Mary S; Doscher, Mindy

2018-04-01

The current study described RN and patient care technician (PCT) communication in centralized and hybrid decentralized workstation designs using hands-free communication technology and infrared locator badge technology to facilitate communication. New construction of an oncology unit provided the opportunity to compare staff communication in two different workstation designs. Observations and questionnaires compared nurse and PCT communication in the two-unit designs. Descriptive statistics were used to analyze the differences. The hybrid decentralized unit had increased use of hands-free communication technology and hallway communication by nurses and PCTs, and increased patient room communication by nurses. Perceptions of communication between nurses and PCTs and congruency of priorities for care were similar for both units. The locator badge technology had limited adoption. Replacement of nurse workstations with new construction or remodeling impact staff communication patterns, necessitating that nurse leaders understand the impact of design and technology on communication. [Journal of Gerontological Nursing, 44(4), 17-22.]. Copyright 2018, SLACK Incorporated.

Bibliographic Control in South Africa

ERIC Educational Resources Information Center

Musiker, Reuben

1972-01-01

The author sets as his task the consideration of the present state of bibliographical control of South Africa's bookstock with special reference to centralization and decentralization. (20 references) (Author/SJ)

A control approach for robots with flexible links and rigid end-effectors

NASA Technical Reports Server (NTRS)

Barbieri, Enrique; Ozguner, Umit

1989-01-01

Multiarm flexible robots with dexterous end effectors are currently being considered in such tasks as satellite retrieval, servicing and repair where a two phase problem can be identified: Phase 1, robot positioning in space; Phase 2, object retrieval. Some issues in Phase 1 regarding modelling and control strategies for a robotic system comprised of along flexible arm and a rigid three-link end effector are presented. The control objective is to maintain the last (rigid) link stationary in space in the presence of an additive disturbance caused by the flexible energy in the first link after a positioning maneuver has been accomplished. Several configuration strategies can be considered, and optimal decentralized servocompensators can be designed. Preliminary computer simulations are included for a simple proportional controller to illustrate the approach.

Distributed Actuation and Sensing on an Uninhabited Aerial Vehicle

NASA Technical Reports Server (NTRS)

Barnwell, William Garrard

2003-01-01

An array of effectors and sensors has been designed, tested and implemented on a Blended Wing Body Uninhabited Aerial Vehicle (UAV). The UAV is modified to serve as a flying, controls research, testbed. This effector/sensor array provides for the dynamic vehicle testing of controller designs and the study of decentralized control techniques. Each wing of the UAV is equipped with 12 distributed effectors that comprise a segmented array of independently actuated, contoured control surfaces. A single pressure sensor is installed near the base of each effector to provide a measure of deflections of the effectors. The UAV wings were tested in the North Carolina State University Subsonic Wind Tunnel and the pressure distribution that result from the deflections of the effectors are characterized. The results of the experiments are used to develop a simple, but accurate, prediction method, such that for any arrangement of the effector array the corresponding pressure distribution can be determined. Numerical analysis using the panel code CMARC verifies this prediction method.

Distributed Engine Control Empirical/Analytical Verification Tools

NASA Technical Reports Server (NTRS)

DeCastro, Jonathan; Hettler, Eric; Yedavalli, Rama; Mitra, Sayan

2013-01-01

NASA's vision for an intelligent engine will be realized with the development of a truly distributed control system featuring highly reliable, modular, and dependable components capable of both surviving the harsh engine operating environment and decentralized functionality. A set of control system verification tools was developed and applied to a C-MAPSS40K engine model, and metrics were established to assess the stability and performance of these control systems on the same platform. A software tool was developed that allows designers to assemble easily a distributed control system in software and immediately assess the overall impacts of the system on the target (simulated) platform, allowing control system designers to converge rapidly on acceptable architectures with consideration to all required hardware elements. The software developed in this program will be installed on a distributed hardware-in-the-loop (DHIL) simulation tool to assist NASA and the Distributed Engine Control Working Group (DECWG) in integrating DCS (distributed engine control systems) components onto existing and next-generation engines.The distributed engine control simulator blockset for MATLAB/Simulink and hardware simulator provides the capability to simulate virtual subcomponents, as well as swap actual subcomponents for hardware-in-the-loop (HIL) analysis. Subcomponents can be the communication network, smart sensor or actuator nodes, or a centralized control system. The distributed engine control blockset for MATLAB/Simulink is a software development tool. The software includes an engine simulation, a communication network simulation, control algorithms, and analysis algorithms set up in a modular environment for rapid simulation of different network architectures; the hardware consists of an embedded device running parts of the CMAPSS engine simulator and controlled through Simulink. The distributed engine control simulation, evaluation, and analysis technology provides unique capabilities to study the effects of a given change to the control system in the context of the distributed paradigm. The simulation tool can support treatment of all components within the control system, both virtual and real; these include communication data network, smart sensor and actuator nodes, centralized control system (FADEC full authority digital engine control), and the aircraft engine itself. The DECsim tool can allow simulation-based prototyping of control laws, control architectures, and decentralization strategies before hardware is integrated into the system. With the configuration specified, the simulator allows a variety of key factors to be systematically assessed. Such factors include control system performance, reliability, weight, and bandwidth utilization.

Analysis of Decentralized Variable Structure Control for Collective Search by Mobile Robots

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

Feddema, J.; Goldsmith, S.; Robinett, R.

1998-11-04

This paper presents an analysis of a decentralized coordination strategy for organizing and controlling a team of mobile robots performing collective search. The alpha-beta coordination strategy is a family of collective search algorithms that allow teams of communicating robots to implicitly coordinate their search activities through a division of labor based on self-selected roIes. In an alpha-beta team. alpha agents are motivated to improve their status by exploring new regions of the search space. Beta a~ents are conservative, and reiy on the alpha agents to provide advanced information on favorable regions of the search space. An agent selects its currentmore » role dynamically based on its current status value relative to the current status values of the other team members. Status is determined by some function of the agent's sensor readings, and is generally a measurement of source intensity at the agent's current location. Variations on the decision rules determining alpha and beta behavior produce different versions of the algorithm that lead to different global properties. The alpha-beta strategy is based on a simple finite-state machine that implements a form of Variable Structure Control (VSC). The VSC system changes the dynamics of the collective system by abruptly switching at defined states to alternative control laws . In VSC, Lyapunov's direct method is often used to design control surfaces which guide the system to a given goal. We introduce the alpha-beta aIgorithm and present an analysis of the equilibrium point and the global stability of the alpha-beta algorithm based on Lyapunov's method.« less

Analysis of decentralized variable structure control for collective search by mobile robots

NASA Astrophysics Data System (ADS)

Goldsmith, Steven Y.; Feddema, John T.; Robinett, Rush D., III

1998-10-01

This paper presents an analysis of a decentralized coordination strategy for organizing and controlling a team of mobile robots performing collective search. The alpha- beta coordination strategy is a family of collective search algorithms that allow teams of communicating robots to implicitly coordinate their search activities through a division of labor based on self-selected roles. In an alpha- beta team, alpha agents are motivated to improve their status by exploring new regions of the search space. Beta agents are conservative, and rely on the alpha agents to provide advanced information on favorable regions of the search space. An agent selects its current role dynamically based on its current status value relative to the current status values of the other team members. Status is determined by some function of the agent's sensor readings, and is generally a measurement of source intensity at the agent's current location. Variations on the decision rules determining alpha and beta behavior produce different versions of the algorithm that lead to different global properties. The alpha-beta strategy is based on a simple finite-state machine that implements a form of Variable Structure Control (VSC). The VSC system changes the dynamics of the collective system by abruptly switching at defined states to alternative control laws. In VSC, Lyapunov's direct method is often used to design control surfaces which guide the system to a given goal. We introduce the alpha- beta algorithm and present an analysis of the equilibrium point and the global stability of the alpha-beta algorithm based on Lyapunov's method.

Spillover stabilization and decentralized modal control of large space structures

NASA Technical Reports Server (NTRS)

Czajkowski, Eva A.; Preumont, Andre

1987-01-01

The stabilization of the neglected dynamics of the higher modes of vibration in large space structures is studied, and the influence of the structure of the plant noise intensity matrix of the Kalman-Bucy filter on the stability margin of the residual modes is shown. An optimization procedure uses information on the residual modes to minimize spillover of known residual modes while preserving robustness with respect to the unknown dynamics, and the optimum plant noise intensity matrix is selected to maximize the stability margins of the residual modes and to properly place the observer poles. Examples for both centralized and decentralized control are considered.

Asynchronous, Decentralized DS-CDMA Using Feedback-Controlled Spreading Sequences for Time-Dispersive Channels

NASA Astrophysics Data System (ADS)

Miyatake, Teruhiko; Chiba, Kazuki; Hamamura, Masanori; Tachikawa, Shin'ichi

We propose a novel asynchronous direct-sequence codedivision multiple access (DS-CDMA) using feedback-controlled spreading sequences (FCSSs) (FCSS/DS-CDMA). At the receiver of FCSS/DS-CDMA, the code-orthogonalizing filter (COF) produces a spreading sequence, and the receiver returns the spreading sequence to the transmitter. Then the transmitter uses the spreading sequence as its updated version. The performance of FCSS/DS-CDMA is evaluated over time-dispersive channels. The results indicate that FCSS/DS-CDMA greatly suppresses both the intersymbol interference (ISI) and multiple access interference (MAI) over time-invariant channels. FCSS/DS-CDMA is applicable to the decentralized multiple access.

The Role of the Built Environment: How Decentralized Nurse Stations Shape Communication, Patient Care Processes, and Patient Outcomes.

PubMed

Real, Kevin; Bardach, Shoshana H; Bardach, David R

2017-12-01

Increasingly, health communication scholars are attending to how hospital built environments shape communication, patient care processes, and patient outcomes. This multimethod study was conducted on two floors of a newly designed urban hospital. Nine focus groups interviews were conducted with 35 health care professionals from 10 provider groups. Seven of the groups were homogeneous by profession or level: nursing (three groups), nurse managers (two groups), and one group each of nurse care technicians ("techs") and physicians. Two mixed groups were comprised of staff from pharmacy, occupational therapy, patient care facilitators, physical therapy, social work, and pastoral care. Systematic qualitative analysis was conducted using a conceptual framework based on systems theory and prior health care design and communication research. Additionally, quantitative modeling was employed to assess walking distances in two different hospital designs. Results indicate nurses walked significantly more in the new hospital environment. Qualitative analysis revealed three insights developed in relationship to system structures, processes, and outcomes. First, decentralized nurse stations changed system interdependencies by reducing nurse-to-nurse interactions and teamwork while heightening nurse interdependencies and teamwork with other health care occupations. Second, many nursing-related processes remained centralized while nurse stations were decentralized, creating systems-based problems for nursing care. Third, nursing communities of practices were adversely affected by the new design. Implications of this study suggest that nurse station design shapes communication, patient care processes, and patient outcomes. Further, it is important to understand how the built environment, often treated as invisible in communication research, is crucial to understanding communication within complex health care systems.

Impact of heterogeneity and socioeconomic factors on individual behavior in decentralized sharing ecosystems

PubMed Central

Gavaldà-Miralles, Arnau; Choffnes, David R.; Otto, John S.; Sánchez, Mario A.; Bustamante, Fabián E.; Amaral, Luís A. N.; Duch, Jordi; Guimerà, Roger

2014-01-01

Tens of millions of individuals around the world use decentralized content distribution systems, a fact of growing social, economic, and technological importance. These sharing systems are poorly understood because, unlike in other technosocial systems, it is difficult to gather large-scale data about user behavior. Here, we investigate user activity patterns and the socioeconomic factors that could explain the behavior. Our analysis reveals that (i) the ecosystem is heterogeneous at several levels: content types are heterogeneous, users specialize in a few content types, and countries are heterogeneous in user profiles; and (ii) there is a strong correlation between socioeconomic indicators of a country and users behavior. Our findings open a research area on the dynamics of decentralized sharing ecosystems and the socioeconomic factors affecting them, and may have implications for the design of algorithms and for policymaking. PMID:25288755

Decentralized safety concept for closed-loop controlled intensive care.

PubMed

Kühn, Jan; Brendle, Christian; Stollenwerk, André; Schweigler, Martin; Kowalewski, Stefan; Janisch, Thorsten; Rossaint, Rolf; Leonhardt, Steffen; Walter, Marian; Kopp, Rüdger

2017-04-01

This paper presents a decentralized safety concept for networked intensive care setups, for which a decentralized network of sensors and actuators is realized by embedded microcontroller nodes. It is evaluated for up to eleven medical devices in a setup for automated acute respiratory distress syndrome (ARDS) therapy. In this contribution we highlight a blood pump supervision as exemplary safety measure, which allows a reliable bubble detection in an extracorporeal blood circulation. The approach is validated with data of animal experiments including 35 bubbles with a size between 0.05 and 0.3 ml. All 18 bubbles with a size down to 0.15 ml are successfully detected. By using hidden Markov models (HMMs) as statistical method the number of necessary sensors can be reduced by two pressure sensors.

Decentralized Hypothesis Testing in Energy Harvesting Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Tarighati, Alla; Gross, James; Jalden, Joakim

2017-09-01

We consider the problem of decentralized hypothesis testing in a network of energy harvesting sensors, where sensors make noisy observations of a phenomenon and send quantized information about the phenomenon towards a fusion center. The fusion center makes a decision about the present hypothesis using the aggregate received data during a time interval. We explicitly consider a scenario under which the messages are sent through parallel access channels towards the fusion center. To avoid limited lifetime issues, we assume each sensor is capable of harvesting all the energy it needs for the communication from the environment. Each sensor has an energy buffer (battery) to save its harvested energy for use in other time intervals. Our key contribution is to formulate the problem of decentralized detection in a sensor network with energy harvesting devices. Our analysis is based on a queuing-theoretic model for the battery and we propose a sensor decision design method by considering long term energy management at the sensors. We show how the performance of the system changes for different battery capacities. We then numerically show how our findings can be used in the design of sensor networks with energy harvesting sensors.

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.

Wave field synthesis, adaptive wave field synthesis and ambisonics using decentralized transformed control: Potential applications to sound field reproduction and active noise control

NASA Astrophysics Data System (ADS)

Gauthier, Philippe-Aubert; Berry, Alain; Woszczyk, Wieslaw

2005-09-01

Sound field reproduction finds applications in listening to prerecorded music or in synthesizing virtual acoustics. The objective is to recreate a sound field in a listening environment. Wave field synthesis (WFS) is a known open-loop technology which assumes that the reproduction environment is anechoic. Classical WFS, therefore, does not perform well in a real reproduction space such as room. Previous work has suggested that it is physically possible to reproduce a progressive wave field in-room situation using active control approaches. In this paper, a formulation of adaptive wave field synthesis (AWFS) introduces practical possibilities for an adaptive sound field reproduction combining WFS and active control (with WFS departure penalization) with a limited number of error sensors. AWFS includes WFS and closed-loop ``Ambisonics'' as limiting cases. This leads to the modification of the multichannel filtered-reference least-mean-square (FXLMS) and the filtered-error LMS (FELMS) adaptive algorithms for AWFS. Decentralization of AWFS for sound field reproduction is introduced on the basis of sources' and sensors' radiation modes. Such decoupling may lead to decentralized control of source strength distributions and may reduce computational burden of the FXLMS and the FELMS algorithms used for AWFS. [Work funded by NSERC, NATEQ, Université de Sherbrooke and VRQ.] Ultrasound/Bioresponse to

Optimizing Natural Gas Networks through Dynamic Manifold Theory and a Decentralized Algorithm: Belgium Case Study

NASA Astrophysics Data System (ADS)

Koch, Caleb; Winfrey, Leigh

2014-10-01

Natural Gas is a major energy source in Europe, yet political instabilities have the potential to disrupt access and supply. Energy resilience is an increasingly essential construct and begins with transmission network design. This study proposes a new way of thinking about modelling natural gas flow. Rather than relying on classical economic models, this problem is cast into a time-dependent Hamiltonian dynamics discussion. Traditional Natural Gas constraints, including inelastic demand and maximum/minimum pipe flows, are portrayed as energy functions and built into the dynamics of each pipe flow. Doing so allows the constraints to be built into the dynamics of each pipeline. As time progresses in the model, natural gas flow rates find the minimum energy, thus the optimal gas flow rates. The most important result of this study is using dynamical principles to ensure the output of natural gas at demand nodes remains constant, which is important for country to country natural gas transmission. Another important step in this study is building the dynamics of each flow in a decentralized algorithm format. Decentralized regulation has solved congestion problems for internet data flow, traffic flow, epidemiology, and as demonstrated in this study can solve the problem of Natural Gas congestion. A mathematical description is provided for how decentralized regulation leads to globally optimized network flow. Furthermore, the dynamical principles and decentralized algorithm are applied to a case study of the Fluxys Belgium Natural Gas Network.

A Closed-Loop Hardware Simulation of Decentralized Satellite Formation Control

NASA Technical Reports Server (NTRS)

Ebimuma, Takuji; Lightsey, E. Glenn; Baur, Frank (Technical Monitor)

2002-01-01

In recent years, there has been significant interest in the use of formation flying spacecraft for a variety of earth and space science missions. Formation flying may provide smaller and cheaper satellites that, working together, have more capability than larger and more expensive satellites. Several decentralized architectures have been proposed for autonomous establishment and maintenance of satellite formations. In such architectures, each satellite cooperatively maintains the shape of the formation without a central supervisor, and processing only local measurement information. The Global Positioning System (GPS) sensors are ideally suited to provide such local position and velocity measurements to the individual satellites. An investigation of the feasibility of a decentralized approach to satellite formation flying was originally presented by Carpenter. He extended a decentralized linear-quadratic-Gaussian (LQG) framework proposed by Speyer in a fashion similar to an extended Kalman filter (EKE) which processed GPS position fix solutions. The new decentralized LQG architecture was demonstrated in a numerical simulation for a realistic scenario that is similar to missions that have been proposed by NASA and the U.S. Air Force. Another decentralized architecture was proposed by Park et al. using carrier differential-phase GPS (CDGPS). Recently, Busse et al demonstrated the decentralized CDGPS architecture in a hardware-in-the-loop simulation on the Formation Flying TestBed (FFTB) at Goddard Space Flight Center (GSFC), which features two Spirent Cox 16 channel GPS signal generator. Although representing a step forward by utilizing GPS signal simulators for a spacecraft formation flying simulation, only an open-loop performance, in which no maneuvers were executed based on the real-time state estimates, was considered. In this research, hardware experimentation has been extended to include closed-loop integrated guidance and navigation of multiple spacecraft formations using GPS receivers and real-time vehicle telemetry. A hardware closed-loop simulation has been performed using the decentralized LQG architecture proposed by Carpenter in the GPS test facility at the Center for Space Research (CSR). This is the first presentation using this type of hardware for demonstration of closed-loop spacecraft formation flying.

NASA Mars rover: a testbed for evaluating applications of covariance intersection

NASA Astrophysics Data System (ADS)

Uhlmann, Jeffrey K.; Julier, Simon J.; Kamgar-Parsi, Behzad; Lanzagorta, Marco O.; Shyu, Haw-Jye S.

1999-07-01

The Naval Research Laboratory (NRL) has spearheaded the development and application of Covariance Intersection (CI) for a variety of decentralized data fusion problems. Such problems include distributed control, onboard sensor fusion, and dynamic map building and localization. In this paper we describe NRL's development of a CI-based navigation system for the NASA Mars rover that stresses almost all aspects of decentralized data fusion. We also describe how this project relates to NRL's augmented reality, advanced visualization, and REBOT projects.

The role of human-automation consensus in multiple unmanned vehicle scheduling.

PubMed

Cummings, M L; Clare, Andrew; Hart, Christin

2010-02-01

This study examined the impact of increasing automation replanning rates on operator performance and workload when supervising a decentralized network of heterogeneous unmanned vehicles. Futuristic unmanned vehicles systems will invert the operator-to-vehicle ratio so that one operator can control multiple dissimilar vehicles connected through a decentralized network. Significant human-automation collaboration will be needed because of automation brittleness, but such collaboration could cause high workload. Three increasing levels of replanning were tested on an existing multiple unmanned vehicle simulation environment that leverages decentralized algorithms for vehicle routing and task allocation in conjunction with human supervision. Rapid replanning can cause high operator workload, ultimately resulting in poorer overall system performance. Poor performance was associated with a lack of operator consensus for when to accept the automation's suggested prompts for new plan consideration as well as negative attitudes toward unmanned aerial vehicles in general. Participants with video game experience tended to collaborate more with the automation, which resulted in better performance. In decentralized unmanned vehicle networks, operators who ignore the automation's requests for new plan consideration and impose rapid replans both increase their own workload and reduce the ability of the vehicle network to operate at its maximum capacity. These findings have implications for personnel selection and training for futuristic systems involving human collaboration with decentralized algorithms embedded in networks of autonomous systems.

The Cluster Concept and Community Services

ERIC Educational Resources Information Center

Collins, Charles; Tillery, Dale

1972-01-01

An innovative design for the organization of community services and continuing education in a community college district calls for the centralization of administration and the decentralization of program offerings. (RN)

Control Strategies for Distributed Energy Resources to Maximize the Use of Wind Power in Rural Microgrids

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

Lu, Shuai; Elizondo, Marcelo A.; Samaan, Nader A.

2011-10-10

The focus of this paper is to design control strategies for distributed energy resources (DERs) to maximize the use of wind power in a rural microgrid. In such a system, it may be economical to harness wind power to reduce the consumption of fossil fuels for electricity production. In this work, we develop control strategies for DERs, including diesel generators, energy storage and demand response, to achieve high penetration of wind energy in a rural microgrid. Combinations of centralized (direct control) and decentralized (autonomous response) control strategies are investigated. Detailed dynamic models for a rural microgrid are built to conductmore » simulations. The system response to large disturbances and frequency regulation are tested. It is shown that optimal control coordination of DERs can be achieved to maintain system frequency while maximizing wind power usage and reducing the wear and tear on fossil fueled generators.« less

Slew maneuvers of Spacecraft Control Laboratory Experiment (SCOLE)

NASA Technical Reports Server (NTRS)

Kakad, Yogendra P.

1992-01-01

This is the final report on the dynamics and control of slew maneuvers of the Spacecraft Control Laboratory Experiment (SCOLE) test facility. The report documents the basic dynamical equation derivations for an arbitrary large angle slew maneuver as well as the basic decentralized slew maneuver control algorithm. The set of dynamical equations incorporate rigid body slew maneuver and three dimensional vibrations of the complete assembly comprising the rigid shuttle, the flexible beam, and the reflector with an offset mass. The analysis also includes kinematic nonlinearities of the entire assembly during the maneuver and the dynamics of the interactions between the rigid shuttle and the flexible appendage. The equations are simplified and evaluated numerically to include the first ten flexible modes to yield a model for designing control systems to perform slew maneuvers. The control problem incorporates the nonlinear dynamical equations and is expressed in terms of a two point boundary value problem.

Design of a patient-centered, multi-institutional healthcare information network using peer-to-peer communication in a highly distributed architecture.

PubMed

Geissbuhler, Antoine; Spahni, Stéphane; Assimacopoulos, André; Raetzo, Marc-André; Gobet, Gérard

2004-01-01

to design a community healthcare information network for all 450,000 citizen in the State of Geneva, Switzerland, connecting public and private healthcare professionals. Requirements include the decentralized storage of information at the source of its production, the creation of a virtual patient record at the time of the consultation, the control by the patient of the access rights to the information, and the interoperability with other similar networks at the national and european level. a participative approach and real-world pilot projects are used to design, test and validate key components of the network, including its technical architecture and the strategy for the management of access rights by the patients. a distributed architecture using peer-to-peer communication of information mediators can implement the various requirements while limiting to an absolute minimum the amount of centralized information. Access control can be managed by the patient with the help of a medical information mediator, the physician of trust.

Holonic Rationale and Bio-inspiration on Design of Complex Emergent and Evolvable Systems

NASA Astrophysics Data System (ADS)

Leitao, Paulo

Traditional centralized and rigid control structures are becoming inflexible to face the requirements of reconfigurability, responsiveness and robustness, imposed by customer demands in the current global economy. The Holonic Manufacturing Systems (HMS) paradigm, which was pointed out as a suitable solution to face these requirements, translates the concepts inherited from social organizations and biology to the manufacturing world. It offers an alternative way of designing adaptive systems where the traditional centralized control is replaced by decentralization over distributed and autonomous entities organized in hierarchical structures formed by intermediate stable forms. In spite of its enormous potential, methods regarding the self-adaptation and self-organization of complex systems are still missing. This paper discusses how the insights from biology in connection with new fields of computer science can be useful to enhance the holonic design aiming to achieve more self-adaptive and evolvable systems. Special attention is devoted to the discussion of emergent behavior and self-organization concepts, and the way they can be combined with the holonic rationale.

Resilience in social insect infrastructure systems.

PubMed

Middleton, Eliza J T; Latty, Tanya

2016-03-01

Both human and insect societies depend on complex and highly coordinated infrastructure systems, such as communication networks, supply chains and transportation networks. Like human-designed infrastructure systems, those of social insects are regularly subject to disruptions such as natural disasters, blockages or breaks in the transportation network, fluctuations in supply and/or demand, outbreaks of disease and loss of individuals. Unlike human-designed systems, there is no deliberate planning or centralized control system; rather, individual insects make simple decisions based on local information. How do these highly decentralized, leaderless systems deal with disruption? What factors make a social insect system resilient, and which factors lead to its collapse? In this review, we bring together literature on resilience in three key social insect infrastructure systems: transportation networks, supply chains and communication networks. We describe how systems differentially invest in three pathways to resilience: resistance, redirection or reconstruction. We suggest that investment in particular resistance pathways is related to the severity and frequency of disturbance. In the final section, we lay out a prospectus for future research. Human infrastructure networks are rapidly becoming decentralized and interconnected; indeed, more like social insect infrastructures. Human infrastructure management might therefore learn from social insect researchers, who can in turn make use of the mature analytical and simulation tools developed for the study of human infrastructure resilience. © 2016 The Author(s).

Maximum Entropy/Optimal Projection Design Synthesis for Decentralized Control of Large Space Structures

DTIC Science & Technology

1988-05-01

M 21 M2 I SI M1l[11 II1211 - - - M= II 2+111 I11-211 NONNEGATIVE CONE ORDERING Figure 25. The Matrix Majorant Is a Bound for the Hatrix Block Norm...the with respect to the cone of nonnegative -definite matrices. inequality (1.5) by the r x r nonnegative matrix equation Indeed, the majorant bound...t) eA-) e ea ’ A rT(" 3 ds, t> O , ju E [0 , 1] 0 J(G, )= tr (0,(6)R,) which is monotonically increasing in the nonnegative -definite G , cone with

Experimenting with Decentralization: The Politics of Change.

ERIC Educational Resources Information Center

Wohlstetter, Priscilla

The relationship between the political context of school districts and their choices of decentralization policy is explored in this paper. It was expected that district politics would affect decentralization policies in two ways: the form of decentralization adopted and the degree of change. The decision to decentralize in three large urban school…

Cross Feedback Control of a Magnetic Bearing System: Controller Design Considering Gyroscopic Effects

NASA Technical Reports Server (NTRS)

Ahrens, Markus; Kucera, Ladislav

1996-01-01

For flywheel rotors or other rotors with significant ratios of moments of inertia, the influence of gyroscopic effects has to be considered. While conservative or damped systems remain stable even under gyroscopic effects, magnetically suspended rotors can be destabilized with increasing rotational speed. The influence of gyroscopic effects on the stability and behavior of a magnetic bearing system is analyzed. The analysis is carried out with a rigid body model for the rotor and a nonlinear model for the magnetic bearing and its amplifier. Cross feedback control can compensate gyroscopic effects. This compensation leads to better system performance and can avoid instability. Furthermore, the implementation of this compensation is simple. The main structure of a decentralized controller can still be used. It has only to be expanded by the cross feedback path.

Ecology Based Decentralized Agent Management System

NASA Technical Reports Server (NTRS)

Peysakhov, Maxim D.; Cicirello, Vincent A.; Regli, William C.

2004-01-01

The problem of maintaining a desired number of mobile agents on a network is not trivial, especially if we want a completely decentralized solution. Decentralized control makes a system more r e bust and less susceptible to partial failures. The problem is exacerbated on wireless ad hoc networks where host mobility can result in significant changes in the network size and topology. In this paper we propose an ecology-inspired approach to the management of the number of agents. The approach associates agents with living organisms and tasks with food. Agents procreate or die based on the abundance of uncompleted tasks (food). We performed a series of experiments investigating properties of such systems and analyzed their stability under various conditions. We concluded that the ecology based metaphor can be successfully applied to the management of agent populations on wireless ad hoc networks.

A Framework for Information Theoretic Cooperative Sensing and Predictive Control

DTIC Science & Technology

2012-09-11

Miroslav Barić and Francesco Borelli , Decentralized Robust Control Invariance for a Network of Integrators, Proceeding of American Control...from http: //www.mpc.berkeley.edu. P4 Miroslav Barić and Francesco Borelli , Distributed Averaging with Flow Constraints, Proceeding of American Control

Decentralized reinforcement-learning control and emergence of motion patterns

NASA Astrophysics Data System (ADS)

Svinin, Mikhail; Yamada, Kazuyaki; Okhura, Kazuhiro; Ueda, Kanji

1998-10-01

In this paper we propose a system for studying emergence of motion patterns in autonomous mobile robotic systems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, the control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior--such as collision avoidance, wall-following, light-seeking--can emerge from the local controllers.

Decentralization in Zambia: resource allocation and district performance.

PubMed

Bossert, Thomas; Chitah, Mukosha Bona; Bowser, Diana

2003-12-01

Zambia implemented an ambitious process of health sector decentralization in the mid 1990s. This article presents an assessment of the degree of decentralization, called 'decision space', that was allowed to districts in Zambia, and an analysis of data on districts available at the national level to assess allocation choices made by local authorities and some indicators of the performance of the health systems under decentralization. The Zambian officials in health districts had a moderate range of choice over expenditures, user fees, contracting, targeting and governance. Their choices were quite limited over salaries and allowances and they did not have control over additional major sources of revenue, like local taxes. The study found that the formula for allocation of government funding which was based on population size and hospital beds resulted in relatively equal per capita expenditures among districts. Decentralization allowed the districts to make decisions on internal allocation of resources and on user fee levels and expenditures. General guidelines for the allocation of resources established a maximum and minimum percentage to be allocated to district offices, hospitals, health centres and communities. Districts tended to exceed the maximum for district offices, but the large urban districts and those without public district hospitals were not even reaching the minimum for hospital allocations. Wealthier and urban districts were more successful in raising revenue through user fees, although the proportion of total expenditures that came from user fees was low. An analysis of available indicators of performance, such as the utilization of health services, immunization coverage and family planning activities, found little variation during the period 1995-98 except for a decline in immunization coverage, which may have also been affected by changes in donor funding. These findings suggest that decentralization may not have had either a positive or negative impact on services.

Synthesizing Virtual Oscillators to Control Islanded Inverters

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

Johnson, Brian B.; Sinha, Mohit; Ainsworth, Nathan G.

Virtual oscillator control (VOC) is a decentralized control strategy for islanded microgrids where inverters are regulated to emulate the dynamics of weakly nonlinear oscillators. Compared to droop control, which is only well defined in sinusoidal steady state, VOC is a time-domain controller that enables interconnected inverters to stabilize arbitrary initial conditions to a synchronized sinusoidal limit cycle. However, the nonlinear oscillators that are elemental to VOC cannot be designed with conventional linear-control design methods. We address this challenge by applying averaging- and perturbation-based nonlinear analysis methods to extract the sinusoidal steady-state and harmonic behavior of such oscillators. The averaged modelsmore » reveal conclusive links between real- and reactive-power outputs and the terminal-voltage dynamics. Similarly, the perturbation methods aid in quantifying higher order harmonics. The resultant models are then leveraged to formulate a design procedure for VOC such that the inverter satisfies standard ac performance specifications related to voltage regulation, frequency regulation, dynamic response, and harmonic content. Experimental results for a single-phase 750 VA, 120 V laboratory prototype demonstrate the validity of the design approach. They also demonstrate that droop laws are, in fact, embedded within the equilibria of the nonlinear-oscillator dynamics. This establishes the backward compatibility of VOC in that, while acting on time-domain waveforms, it subsumes droop control in sinusoidal steady state.« less

Effects of wireless packet loss in industrial process control systems.

PubMed

Liu, Yongkang; Candell, Richard; Moayeri, Nader

2017-05-01

Timely and reliable sensing and actuation control are essential in networked control. This depends on not only the precision/quality of the sensors and actuators used but also on how well the communications links between the field instruments and the controller have been designed. Wireless networking offers simple deployment, reconfigurability, scalability, and reduced operational expenditure, and is easier to upgrade than wired solutions. However, the adoption of wireless networking has been slow in industrial process control due to the stochastic and less than 100% reliable nature of wireless communications and lack of a model to evaluate the effects of such communications imperfections on the overall control performance. In this paper, we study how control performance is affected by wireless link quality, which in turn is adversely affected by severe propagation loss in harsh industrial environments, co-channel interference, and unintended interference from other devices. We select the Tennessee Eastman Challenge Model (TE) for our study. A decentralized process control system, first proposed by N. Ricker, is adopted that employs 41 sensors and 12 actuators to manage the production process in the TE plant. We consider the scenario where wireless links are used to periodically transmit essential sensor measurement data, such as pressure, temperature and chemical composition to the controller as well as control commands to manipulate the actuators according to predetermined setpoints. We consider two models for packet loss in the wireless links, namely, an independent and identically distributed (IID) packet loss model and the two-state Gilbert-Elliot (GE) channel model. While the former is a random loss model, the latter can model bursty losses. With each channel model, the performance of the simulated decentralized controller using wireless links is compared with the one using wired links providing instant and 100% reliable communications. The sensitivity of the controller to the burstiness of packet loss is also characterized in different process stages. The performance results indicate that wireless links with redundant bandwidth reservation can meet the requirements of the TE process model under normal operational conditions. When disturbances are introduced in the TE plant model, wireless packet loss during transitions between process stages need further protection in severely impaired links. Techniques such as retransmission scheduling, multipath routing and enhanced physical layer design are discussed and the latest industrial wireless protocols are compared. Published by Elsevier Ltd.

Effects of Wireless Packet Loss in Industrial Process Control Systems

PubMed Central

Liu, Yongkang; Candell, Richard; Moayeri, Nader

2017-01-01

Timely and reliable sensing and actuation control are essential in networked control. This depends on not only the precision/quality of the sensors and actuators used but also on how well the communications links between the field instruments and the controller have been designed. Wireless networking offers simple deployment, reconfigurability, scalability, and reduced operational expenditure, and is easier to upgrade than wired solutions. However, the adoption of wireless networking has been slow in industrial process control due to the stochastic and less than 100 % reliable nature of wireless communications and lack of a model to evaluate the effects of such communications imperfections on the overall control performance. In this paper, we study how control performance is affected by wireless link quality, which in turn is adversely affected by severe propagation loss in harsh industrial environments, co-channel interference, and unintended interference from other devices. We select the Tennessee Eastman Challenge Model (TE) for our study. A decentralized process control system, first proposed by N. Ricker, is adopted that employs 41 sensors and 12 actuators to manage the production process in the TE plant. We consider the scenario where wireless links are used to periodically transmit essential sensor measurement data, such as pressure, temperature and chemical composition to the controller as well as control commands to manipulate the actuators according to predetermined setpoints. We consider two models for packet loss in the wireless links, namely, an independent and identically distributed (IID) packet loss model and the two-state Gilbert-Elliot (GE) channel model. While the former is a random loss model, the latter can model bursty losses. With each channel model, the performance of the simulated decentralized controller using wireless links is compared with the one using wired links providing instant and 100 % reliable communications. The sensitivity of the controller to the burstiness of packet loss is also characterized in different process stages. The performance results indicate that wireless links with redundant bandwidth reservation can meet the requirements of the TE process model under normal operational conditions. When disturbances are introduced in the TE plant model, wireless packet loss during transitions between process stages need further protection in severely impaired links. Techniques such as retransmission scheduling, multipath routing and enhanced physical layer design are discussed and the latest industrial wireless protocols are compared. PMID:28190566

Energy management and multi-layer control of networked microgrids

NASA Astrophysics Data System (ADS)

Zamora, Ramon

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

Autonomous Decentralized Voltage Profile Control of Super Distributed Energy System using Multi-agent Technology

NASA Astrophysics Data System (ADS)

Tsuji, Takao; Hara, Ryoichi; Oyama, Tsutomu; Yasuda, Keiichiro

A super distributed energy system is a future energy system in which the large part of its demand is fed by a huge number of distributed generators. At one time some nodes in the super distributed energy system behave as load, however, at other times they behave as generator - the characteristic of each node depends on the customers' decision. In such situation, it is very difficult to regulate voltage profile over the system due to the complexity of power flows. This paper proposes a novel control method of distributed generators that can achieve the autonomous decentralized voltage profile regulation by using multi-agent technology. The proposed multi-agent system employs two types of agent; a control agent and a mobile agent. Control agents generate or consume reactive power to regulate the voltage profile of neighboring nodes and mobile agents transmit the information necessary for VQ-control among the control agents. The proposed control method is tested through numerical simulations.

The joint relationship between organizational design factors and HR practice factors on direct care workers' job satisfaction and turnover intent.

PubMed

Kim, Jungyoon; Wehbi, Nizar; Dellifraine, Jami L; Brannon, Diane

2014-01-01

Human resource (HR) practices, such as training and communication, have been linked to positive employee job commitment and lower turnover intent for direct care workers (DCWs). Not many studies have looked at the combined interaction of HR practices and organizational structure. The aim of this study is to examine the relationship between organizational structure (centralization, formalization, and span of control) and HR practices (training, horizontal communication, and vertical communication) on DCW's job satisfaction and turnover intent. Data were collected from 58 long-term care facilities in five states. We used latent class analysis to group facility characteristics into three sets of combinations: "organic," "mechanistic," and "minimalist." We used multivariate regression to test the relationship of each of these groups on DCW's job satisfaction and turnover intent. After controlling for state, organizational, and individual covariates, the organic group, which represents decentralized and less formalized structures and high levels of job training and communication, was positively related to job satisfaction and negatively related to intent to leave. On the other hand, the minimalist group, which is characterized by low levels of job-related training and communication, showed no significant differences from the mechanistic group (referent) on job satisfaction and intent to leave. These findings imply that managers in long-term care facilities may want to consider adopting organic, decentralized structures and HR practices to retain DCWs.

Comparison of myopia control between toric and spherical periphery design orthokeratology in myopic children with moderate-to-high corneal astigmatism.

PubMed

Zhang, Yu; Chen, Yue-Guo

2018-01-01

To compare clinical results between toric and spherical periphery design orthokeratology (ortho-k) in myopic children with moderate-to-high corneal astigmatism. This retrospective study enrolled 62 eyes of 62 subjects using toric ortho-k lenses. These subjects were assigned to the toric group. Based on the one-to-one match principle (same age, proximate spherical equivalence and corneal astigmatism), 62 eyes of 62 subjects were enrolled and included in the spherical group. At one-year follow-up visit, visual acuity, corneal astigmatism, treatment zone decentration, axial elongation and adverse reaction were compared between these two groups. At the one-year visit, corneal astigmatism was significantly lower in the toric group (1.22±0.76 D) than in the spherical group (2.05±0.85 D) ( P =0.012). The mean magnitude of the treatment zone decentration was 0.62±0.42 mm in the toric group and 1.07±0.40 mm in the spherical group ( P =0.004). Axial elongation was significantly slower in the toric group (0.04±0.13 mm) than in the spherical group (0.09±0.13 mm) ( P =0.001). The one-year axial elongation was significantly correlated with initial age ( r =-0.487, P <0.001) and periphery design of ortho-k lens ( r =0.315, P <0.001). The incidence of corneal staining was lower in the toric group (8.1%) than in the spherical group (19.4%) ( P <0.001). Toric periphery design ortho-k lenses may provide lower corneal astigmatism, better centration, slower axial elongation and lower incidence of corneal staining in myopic children with moderate-to-high corneal astigmatism.

Life Cycle Impact Assessment of a Rainwater Harvesting System Compared with an A/C Condensate System

EPA Science Inventory

This study reviewed U.S. commercial buildings to design a decentralized rooftop rainwater harvesting (RWH) system and air-conditioning (AC) condensate harvesting (ACH) system for non-potable use. RWH systems were designed for one-to multi-story buildings selected from each of th...

Formation Learning Control of Multiple Autonomous Underwater Vehicles With Heterogeneous Nonlinear Uncertain Dynamics.

PubMed

Yuan, Chengzhi; Licht, Stephen; He, Haibo

2017-09-26

In this paper, a new concept of formation learning control is introduced to the field of formation control of multiple autonomous underwater vehicles (AUVs), which specifies a joint objective of distributed formation tracking control and learning/identification of nonlinear uncertain AUV dynamics. A novel two-layer distributed formation learning control scheme is proposed, which consists of an upper-layer distributed adaptive observer and a lower-layer decentralized deterministic learning controller. This new formation learning control scheme advances existing techniques in three important ways: 1) the multi-AUV system under consideration has heterogeneous nonlinear uncertain dynamics; 2) the formation learning control protocol can be designed and implemented by each local AUV agent in a fully distributed fashion without using any global information; and 3) in addition to the formation control performance, the distributed control protocol is also capable of accurately identifying the AUVs' heterogeneous nonlinear uncertain dynamics and utilizing experiences to improve formation control performance. Extensive simulations have been conducted to demonstrate the effectiveness of the proposed results.

InkTag: Secure Applications on an Untrusted Operating System

PubMed Central

Hofmann, Owen S.; Kim, Sangman; Dunn, Alan M.; Lee, Michael Z.; Witchel, Emmett

2014-01-01

InkTag is a virtualization-based architecture that gives strong safety guarantees to high-assurance processes even in the presence of a malicious operating system. InkTag advances the state of the art in untrusted operating systems in both the design of its hypervisor and in the ability to run useful applications without trusting the operating system. We introduce paraverification, a technique that simplifies the InkTag hypervisor by forcing the untrusted operating system to participate in its own verification. Attribute-based access control allows trusted applications to create decentralized access control policies. InkTag is also the first system of its kind to ensure consistency between secure data and metadata, ensuring recoverability in the face of system crashes. PMID:24429939

InkTag: Secure Applications on an Untrusted Operating System.

PubMed

Hofmann, Owen S; Kim, Sangman; Dunn, Alan M; Lee, Michael Z; Witchel, Emmett

2013-01-01

InkTag is a virtualization-based architecture that gives strong safety guarantees to high-assurance processes even in the presence of a malicious operating system. InkTag advances the state of the art in untrusted operating systems in both the design of its hypervisor and in the ability to run useful applications without trusting the operating system. We introduce paraverification , a technique that simplifies the InkTag hypervisor by forcing the untrusted operating system to participate in its own verification. Attribute-based access control allows trusted applications to create decentralized access control policies. InkTag is also the first system of its kind to ensure consistency between secure data and metadata, ensuring recoverability in the face of system crashes.

Devolution and human resources in primary healthcare in rural Mali

PubMed Central

2011-01-01

Devolution, as other types of decentralization (e.g. deconcentration, delegation, privatization), profoundly changes governance relations in the health system. Devolution is meant to affect performance of the health system by transferring responsibilities and authority to locally elected governments. The key question of this article is: what does devolution mean for human resources for health in Mali? This article assesses the key advantages and dilemmas associated with devolution such as responsiveness to local needs, downward accountability and health worker retention. Challenges of politics and capacities are also addressed in relation to human resources for health at the local level. Examples are derived from experiences in Mali with a capacity development programme and from case studies of other countries. It is not research findings that are presented, but highlights of key issues at stake aimed at inspiring the debate in Mali and elsewhere. A first lesson from the discussion suggests that in the context of human resources for health, decentralization of authority and resources is not the main issue. The challenge is to develop or strengthen accountability of those who decide and act, whether they are local politicians, bureaucrats or community representatives. If decentralization policies do not address public accountability, they will not fundamentally change human resource management, quality and equity of staffing. A second lesson is that successful devolution requires innovations in capacity development of all actors involved and in designing effective incentive measures. A final key conclusion is that the topic of devolution policy and its effects on human resources for health, and vice versa, merit more attention. A better understanding may lead to more appropriate policy designs and better preparation for the actors involved in countries that are embarking on decentralization, as is the case in Mali. PMID:21651817

U-Form vs. M-Form: How to Understand Decision Autonomy Under Healthcare Decentralization?

PubMed Central

Bustamante, Arturo Vargas

2016-01-01

For more than three decades healthcare decentralization has been promoted in developing countries as a way of improving the financing and delivery of public healthcare. Decision autonomy under healthcare decentralization would determine the role and scope of responsibility of local authorities. Jalal Mohammed, Nicola North, and Toni Ashton analyze decision autonomy within decentralized services in Fiji. They conclude that the narrow decision space allowed to local entities might have limited the benefits of decentralization on users and providers. To discuss the costs and benefits of healthcare decentralization this paper uses the U-form and M-form typology to further illustrate the role of decision autonomy under healthcare decentralization. This paper argues that when evaluating healthcare decentralization, it is important to determine whether the benefits from decentralization are greater than its costs. The U-form and M-form framework is proposed as a useful typology to evaluate different types of institutional arrangements under healthcare decentralization. Under this model, the more decentralized organizational form (M-form) is superior if the benefits from flexibility exceed the costs of duplication and the more centralized organizational form (U-form) is superior if the savings from economies of scale outweigh the costly decision-making process from the center to the regions. Budgetary and financial autonomy and effective mechanisms to maintain local governments accountable for their spending behavior are key decision autonomy variables that could sway the cost-benefit analysis of healthcare decentralization. PMID:27694684

The Study on Flood Reduction and Securing Instreamflow by applying Decentralized Rainwater Retention Facilities for Chunggyechun in Seoul of Korea

NASA Astrophysics Data System (ADS)

Park, J. H.; Jun, S. M.; Park, C. G.

2014-12-01

Recently abnormal climate phenomena and urbanization recently causes the changes of the hydrological environment. To restore the hydrological cycle in urban area some fundamental solutions such as decentralized rainwater management system and Low Impact Development (LID) techniques may be choosed. In this study, SWMM 5 was used to analyze the effects of decentralized stormwater retention for preventing the urban flood and securing the instreamflow. The Chunggyechun stream watershed(21.29㎢) which is located in Seoul city(Korea) and fully developed as urban area was selected as the study watershed, and the runoff characteristics of urban stream with various methods of LID techniques (Permeable pavement, small rainwater storage tank, large rainwater storage tank) were analyzed. By the simulation results, the permeability of pavement materials and detention storage at the surface soil layer make high effect to the flood discharge, and the initial rainfall retention at the rainwater storage tank effected to reduce the flood peak. The peak discharge was decreased as 22% for the design precipitation. Moreover the instreamflow was increased as 55% by using adequate LID techniques These kind of data could be used as the basis data for designing urban flood prevention facilities, urban regeneration planning in the view of the integrated watershed management.

An informal paper on large-scale dynamic systems

NASA Technical Reports Server (NTRS)

Ho, Y. C.

1975-01-01

Large scale systems are defined as systems requiring more than one decision maker to control the system. Decentralized control and decomposition are discussed for large scale dynamic systems. Information and many-person decision problems are analyzed.

A decentralized charging control strategy for plug-in electric vehicles to mitigate wind farm intermittency and enhance frequency regulation

NASA Astrophysics Data System (ADS)

Luo, Xiao; Xia, Shiwei; Chan, Ka Wing

2014-02-01

This paper proposes a decentralized charging control strategy for a large population of plug-in electric vehicles (PEVs) to neutralize wind power fluctuations so as to improve the regulation of system frequency. Without relying on a central control entity, each PEV autonomously adjusts its charging or discharging power in response to a communal virtual price signal and based on its own urgency level of charging. Simulation results show that under the proposed charging control, the aggregate PEV power can effectively neutralize wind power fluctuations in real-time while differential allocation of neutralization duties among the PEVs can be realized to meet the PEV users' charging requirements. Also, harmful wind-induced cyclic operations in thermal units can be mitigated. As shown in economic analysis, the proposed strategy can create cost saving opportunities for both PEV users and utility.

Optical zone centration: a retrospective analysis of the excimer laser after three years

NASA Astrophysics Data System (ADS)

Vervecken, Filip; Trau, Rene; Mertens, Erik L.; Vanhorenbeeck, R.; Van Aerde, F.; Zen, J.; Haustrate, F.; Tassignon, Marie J.

1996-12-01

The aim of this study was to evaluate the implication of the mechanical factor 'decentration' on the visual outcome after PRK. 100 eyes of 70 patients were included. The mean decentration was 0.27 mm +/- 0.18. Decentration was less than 0.5 mm in 84 percent of the cases. The importance of the decentration was investigated by the statistical correlation of decentration from the pupilcenter and the visual outcome. We did not find any statistical significant association for decentrations less than 1 mm. Our conclusion is that decentration, if less than 1 mm, does not play an important role in the final visual outcome after PRK.

Control strategy of an electrically actuated morphing flap for the next generation green regional aircraft

NASA Astrophysics Data System (ADS)

Arena, Maurizio; Noviello, Maria Chiara; Rea, Francesco; Amoroso, Francesco; Pecora, Rosario

2018-03-01

The design and application of adaptive devices are currently ambitious targets in the field of aviation research addressed at new generation aircraft. The development of intelligent structures involves aspects of multidisciplinary nature: the combination of compact architectures, embedded electrical systems and smart materials, allows for developing a highly innovative device. The paper aims to present the control system design of an innovative morphing flap tailored for the next generation regional aircraft, within Clean Sky 2 - Airgreen 2 European Research Scenario. A distributed system of electromechanical actuators (EMAs) has been sized to enable up to three operating modes of a structure arranged in four blocks along the chord-wise direction: •overall camber-morphing; •upwards/downwards deflection and twisting of the final tip segment. A state-of-art feedback logic based on a decentralized control strategy for shape control is outlined, including the results of dynamic stability analysis based on the blocks rational schematization within Matlab/Simulink® environment. Such study has been performed implementing a state-space model, considering also design parameters as the torsional stiffness and damping of the actuation chain. The design process is flowing towards an increasingly "robotized" system, which can be externally controlled to perform certain operations. Future developments will be the control laws implementation as well as the functionality test on a real flap prototype.

Decentralized supply chain network design: monopoly, duopoly and oligopoly competitions under uncertainty

NASA Astrophysics Data System (ADS)

Seyedhosseini, Seyed Mohammad; Fahimi, Kaveh; Makui, Ahmad

2017-12-01

This paper presents the competitive supply chain network design problem in which n decentralized supply chains simultaneously enter the market with no existing rival chain, shape their networks and set wholesale and retail prices in competitive mode. The customer demand is elastic and price dependent, customer utility function is based on the Hoteling model and the chains produce identical or highly substitutable products. We construct a solution algorithm based on bi-level programming and possibility theory. In the proposed bi-level model, the inner part sets the prices based on simultaneous extra- and Stackleberg intra- chains competitions, and the outer part shapes the networks in cooperative competitions. Finally, we use a real-word study to discuss the effect of the different structures of the competitors on the equilibrium solution. Moreover, sensitivity analyses are conducted and managerial insights are offered.

Student leadership in small group science inquiry

NASA Astrophysics Data System (ADS)

Oliveira, Alandeom W.; Boz, Umit; Broadwell, George A.; Sadler, Troy D.

2014-09-01

Background: Science educators have sought to structure collaborative inquiry learning through the assignment of static group roles. This structural approach to student grouping oversimplifies the complexities of peer collaboration and overlooks the highly dynamic nature of group activity. Purpose: This study addresses this issue of oversimplification of group dynamics by examining the social leadership structures that emerge in small student groups during science inquiry. Sample: Two small student groups investigating the burning of a candle under a jar participated in this study. Design and method: We used a mixed-method research approach that combined computational discourse analysis (computational quantification of social aspects of small group discussions) with microethnography (qualitative, in-depth examination of group discussions). Results: While in one group social leadership was decentralized (i.e., students shared control over topics and tasks), the second group was dominated by a male student (centralized social leadership). Further, decentralized social leadership was found to be paralleled by higher levels of student cognitive engagement. Conclusions: It is argued that computational discourse analysis can provide science educators with a powerful means of developing pedagogical models of collaborative science learning that take into account the emergent nature of group structures and highly fluid nature of student collaboration.

Fuzzy bilevel programming with multiple non-cooperative followers: model, algorithm and application

NASA Astrophysics Data System (ADS)

Ke, Hua; Huang, Hu; Ralescu, Dan A.; Wang, Lei

2016-04-01

In centralized decision problems, it is not complicated for decision-makers to make modelling technique selections under uncertainty. When a decentralized decision problem is considered, however, choosing appropriate models is no longer easy due to the difficulty in estimating the other decision-makers' inconclusive decision criteria. These decision criteria may vary with different decision-makers because of their special risk tolerances and management requirements. Considering the general differences among the decision-makers in decentralized systems, we propose a general framework of fuzzy bilevel programming including hybrid models (integrated with different modelling methods in different levels). Specially, we discuss two of these models which may have wide applications in many fields. Furthermore, we apply the proposed two models to formulate a pricing decision problem in a decentralized supply chain with fuzzy coefficients. In order to solve these models, a hybrid intelligent algorithm integrating fuzzy simulation, neural network and particle swarm optimization based on penalty function approach is designed. Some suggestions on the applications of these models are also presented.

Does fiscal decentralization improve health outcomes? Evidence from infant mortality in Italy.

PubMed

Cavalieri, Marina; Ferrante, Livio

2016-09-01

Despite financial and decision-making responsibilities having been increasingly devolved to lower levels of government worldwide, the potential impact of these reforms remains largely controversial. This paper investigates the hypothesis that a shift towards a higher degree of fiscal autonomy of sub-national governments could improve health outcomes, as measured by infant mortality rates. Italy is used as a case study since responsibilities for healthcare have been decentralized to regions, though the central government still retains a key role in ensuring all citizens uniform access to health services throughout the country. A linear fixed-effects regression model with robust standard errors is employed for a panel of 20 regions over the period 1996-2012 (340 observations in the full sample). Decentralization is proxied by two different indicators, capturing the degree of decision-making autonomy in the allocation of tax revenues and the extent to which regions rely on fiscal transfers from the central government. The results show that a higher proportion of tax revenues raised and/or controlled locally as well as a lower transfer dependency from the central government are consistently associated with lower infant mortality rates, ceteris paribus. The marginal benefit from fiscal decentralization, however, is not constant but depends on the level of regional wealth, favouring poorest regions. In terms of policy implications, this study outlines how the effectiveness of decentralization in improving health outcomes is contingent on the characteristics of the context in which the process takes place. Copyright © 2016 Elsevier Ltd. All rights reserved.

Wave scheduling - Decentralized scheduling of task forces in multicomputers

NASA Technical Reports Server (NTRS)

Van Tilborg, A. M.; Wittie, L. D.

1984-01-01

Decentralized operating systems that control large multicomputers need techniques to schedule competing parallel programs called task forces. Wave scheduling is a probabilistic technique that uses a hierarchical distributed virtual machine to schedule task forces by recursively subdividing and issuing wavefront-like commands to processing elements capable of executing individual tasks. Wave scheduling is highly resistant to processing element failures because it uses many distributed schedulers that dynamically assign scheduling responsibilities among themselves. The scheduling technique is trivially extensible as more processing elements join the host multicomputer. A simple model of scheduling cost is used by every scheduler node to distribute scheduling activity and minimize wasted processing capacity by using perceived workload to vary decentralized scheduling rules. At low to moderate levels of network activity, wave scheduling is only slightly less efficient than a central scheduler in its ability to direct processing elements to accomplish useful work.

Improving antiretroviral therapy scale-up and effectiveness through service integration and decentralization.

PubMed

Suthar, Amitabh B; Rutherford, George W; Horvath, Tara; Doherty, Meg C; Negussie, Eyerusalem K

2014-03-01

Current service delivery systems do not reach all people in need of antiretroviral therapy (ART). In order to inform the operational and service delivery section of the WHO 2013 consolidated antiretroviral guidelines, our objective was to summarize systematic reviews on integrating ART delivery into maternal, newborn, and child health (MNCH) care settings in countries with generalized epidemics, tuberculosis (TB) treatment settings in which the burden of HIV and TB is high, and settings providing opiate substitution therapy (OST); and decentralizing ART into primary health facilities and communities. A summary of systematic reviews. The reviewers searched PubMed, Embase, PsycINFO, Web of Science, CENTRAL, and the WHO Index Medicus databases. Randomized controlled trials and observational cohort studies were included if they compared ART coverage, retention in HIV care, and/or mortality in MNCH, TB, or OST facilities providing ART with MNCH, TB, or OST facilities providing ART services separately; or primary health facilities or communities providing ART with hospitals providing ART. The reviewers identified 28 studies on integration and decentralization. Antiretroviral therapy integration into MNCH facilities improved ART coverage (relative risk [RR] 1.37, 95% confidence interval [CI] 1.05-1.79) and led to comparable retention in care. ART integration into TB treatment settings improved ART coverage (RR 1.83, 95% CI 1.48-2.23) and led to a nonsignificant reduction in mortality (RR 0.55, 95% CI 0.29-1.05). The limited data on ART integration into OST services indicated comparable rates of ART coverage, retention, and mortality. Partial decentralization into primary health facilities improved retention (RR 1.05, 95% CI 1.01-1.09) and reduced mortality (RR 0.34, 95% CI 0.13-0.87). Full decentralization improved retention (RR 1.12, 95% CI 1.08-1.17) and led to comparable mortality. Community-based ART led to comparable rates of retention and mortality. Integrating ART into MNCH, TB, and OST services was often associated with improvements in ART coverage, and decentralization of ART into primary health facilities and communities was often associated with improved retention. Neither integration nor decentralization was associated with adverse outcomes. These data contributed to recommendations in the WHO 2013 consolidated antiretroviral guidelines to integrate ART delivery into MNCH, TB, and OST services and to decentralize ART.

Balancing Officer Community Manpower through Decentralization: Granular Programming Revisited (1REV)

DTIC Science & Technology

2017-08-01

supply-demand imbalances Economic theory identifies costs and benefits associated with decentralization. On the benefits side, decentralized decision...patterns rather than costs . Granular programming as a decentralized, market-based initiative The costs and benefits of decentralized (instead of...paygrade-specific rates were based on average MPN costs by paygrade. The benefits of this approach to granular programming are that it is conceptually

U-Form vs. M-Form: How to Understand Decision Autonomy Under Healthcare Decentralization? Comment on "Decentralisation of Health Services in Fiji: A Decision Space Analysis".

PubMed

Bustamante, Arturo Vargas

2016-06-07

For more than three decades healthcare decentralization has been promoted in developing countries as a way of improving the financing and delivery of public healthcare. Decision autonomy under healthcare decentralization would determine the role and scope of responsibility of local authorities. Jalal Mohammed, Nicola North, and Toni Ashton analyze decision autonomy within decentralized services in Fiji. They conclude that the narrow decision space allowed to local entities might have limited the benefits of decentralization on users and providers. To discuss the costs and benefits of healthcare decentralization this paper uses the U-form and M-form typology to further illustrate the role of decision autonomy under healthcare decentralization. This paper argues that when evaluating healthcare decentralization, it is important to determine whether the benefits from decentralization are greater than its costs. The U-form and M-form framework is proposed as a useful typology to evaluate different types of institutional arrangements under healthcare decentralization. Under this model, the more decentralized organizational form (M-form) is superior if the benefits from flexibility exceed the costs of duplication and the more centralized organizational form (U-form) is superior if the savings from economies of scale outweigh the costly decision-making process from the center to the regions. Budgetary and financial autonomy and effective mechanisms to maintain local governments accountable for their spending behavior are key decision autonomy variables that could sway the cost-benefit analysis of healthcare decentralization. © 2016 by Kerman University of Medical Sciences.

Decentralization and primary health care: some negative implications in developing countries.

PubMed

Collins, C; Green, A

1994-01-01

Decentralization is a highly popular concept, being a key element of Primary Health Care policies. There are, however, certain negative implications of decentralization that must be taken into account. These are analyzed in this article with particular reference to developing countries. The authors criticize the tendency for decentralization to be associated with state limitations, and discuss the dilemma of relating decentralization, which is the enhancement of the different, to equity, which is the promotion of equivalence. Those situations in which decentralization can strengthen political domination are described. The authors conclude by setting out a checklist of warning questions and issues to be taken into account to ensure that decentralization genuinely facilitates the Primary Health Care orientation of health policy.

Formation Flying for Satellites and UAVs

NASA Technical Reports Server (NTRS)

Merrill, Garrick; Becker, Chris

2015-01-01

A formation monitoring and control system was developed utilizing mesh networking and decentralized control. Highlights of this system include low latency, seamless addition and removal of vehicles, network relay functionality, and the ability to run on a variety of hardware.

Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

PubMed

Stilwell, Daniel J; Bishop, Bradley E; Sylvester, Caleb A

2005-08-01

An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

Linear decentralized systems with special structure. [for twin lift helicopters

NASA Technical Reports Server (NTRS)

Martin, C. F.

1982-01-01

Certain fundamental structures associated with linear systems having internal symmetries are outlined. It is shown that the theory of finite-dimensional algebras and their representations are closely related to such systems. It is also demonstrated that certain problems in the decentralized control of symmetric systems are equivalent to long-standing problems of linear systems theory. Even though the structure imposed arose in considering the problems of twin-lift helicopters, any large system composed of several identical intercoupled control systems can be modeled by a linear system that satisfies the constraints imposed. Internal symmetry can be exploited to yield new system-theoretic invariants and a better understanding of the way in which the underlying structure affects overall system performance.

Survey on large scale system control methods

NASA Technical Reports Server (NTRS)

Mercadal, Mathieu

1987-01-01

The problem inherent to large scale systems such as power network, communication network and economic or ecological systems were studied. The increase in size and flexibility of future spacecraft has put those dynamical systems into the category of large scale systems, and tools specific to the class of large systems are being sought to design control systems that can guarantee more stability and better performance. Among several survey papers, reference was found to a thorough investigation on decentralized control methods. Especially helpful was the classification made of the different existing approaches to deal with large scale systems. A very similar classification is used, even though the papers surveyed are somehow different from the ones reviewed in other papers. Special attention is brought to the applicability of the existing methods to controlling large mechanical systems like large space structures. Some recent developments are added to this survey.

Adaptive Fuzzy Output-Constrained Fault-Tolerant Control of Nonlinear Stochastic Large-Scale Systems With Actuator Faults.

PubMed

Li, Yongming; Ma, Zhiyao; Tong, Shaocheng

2017-09-01

The problem of adaptive fuzzy output-constrained tracking fault-tolerant control (FTC) is investigated for the large-scale stochastic nonlinear systems of pure-feedback form. The nonlinear systems considered in this paper possess the unstructured uncertainties, unknown interconnected terms and unknown nonaffine nonlinear faults. The fuzzy logic systems are employed to identify the unknown lumped nonlinear functions so that the problems of structured uncertainties can be solved. An adaptive fuzzy state observer is designed to solve the nonmeasurable state problem. By combining the barrier Lyapunov function theory, adaptive decentralized and stochastic control principles, a novel fuzzy adaptive output-constrained FTC approach is constructed. All the signals in the closed-loop system are proved to be bounded in probability and the system outputs are constrained in a given compact set. Finally, the applicability of the proposed controller is well carried out by a simulation example.

Patient Experiences of Decentralized HIV Treatment and Care in Plateau State, North Central Nigeria: A Qualitative Study

PubMed Central

Kolawole, Grace O.; Gilbert, Hannah N.; Dadem, Nancin Y.; Genberg, Becky L.; Agbaji, Oche O.

2017-01-01

Background. Decentralization of care and treatment for HIV infection in Africa makes services available in local health facilities. Decentralization has been associated with improved retention and comparable or superior treatment outcomes, but patient experiences are not well understood. Methods. We conducted a qualitative study of patient experiences in decentralized HIV care in Plateau State, north central Nigeria. Five decentralized care sites in the Plateau State Decentralization Initiative were purposefully selected. Ninety-three patients and 16 providers at these sites participated in individual interviews and focus groups. Data collection activities were audio-recorded and transcribed. Transcripts were inductively content analyzed to derive descriptive categories representing patient experiences of decentralized care. Results. Patient participants in this study experienced the transition to decentralized care as a series of “trade-offs.” Advantages cited included saving time and money on travel to clinic visits, avoiding dangers on the road, and the “family-like atmosphere” found in some decentralized clinics. Disadvantages were loss of access to ancillary services, reduced opportunities for interaction with providers, and increased risk of disclosure. Participants preferred decentralized services overall. Conclusion. Difficulty and cost of travel remain a fundamental barrier to accessing HIV care outside urban centers, suggesting increased availability of community-based services will be enthusiastically received. PMID:28331636

Patient Experiences of Decentralized HIV Treatment and Care in Plateau State, North Central Nigeria: A Qualitative Study.

PubMed

Kolawole, Grace O; Gilbert, Hannah N; Dadem, Nancin Y; Genberg, Becky L; Agaba, Patricia A; Okonkwo, Prosper; Agbaji, Oche O; Ware, Norma C

2017-01-01

Background. Decentralization of care and treatment for HIV infection in Africa makes services available in local health facilities. Decentralization has been associated with improved retention and comparable or superior treatment outcomes, but patient experiences are not well understood. Methods. We conducted a qualitative study of patient experiences in decentralized HIV care in Plateau State, north central Nigeria. Five decentralized care sites in the Plateau State Decentralization Initiative were purposefully selected. Ninety-three patients and 16 providers at these sites participated in individual interviews and focus groups. Data collection activities were audio-recorded and transcribed. Transcripts were inductively content analyzed to derive descriptive categories representing patient experiences of decentralized care. Results. Patient participants in this study experienced the transition to decentralized care as a series of "trade-offs." Advantages cited included saving time and money on travel to clinic visits, avoiding dangers on the road, and the "family-like atmosphere" found in some decentralized clinics. Disadvantages were loss of access to ancillary services, reduced opportunities for interaction with providers, and increased risk of disclosure. Participants preferred decentralized services overall. Conclusion. Difficulty and cost of travel remain a fundamental barrier to accessing HIV care outside urban centers, suggesting increased availability of community-based services will be enthusiastically received.

A Discussion of Change Theory, System Theory, and State Designed Standards and Accountability Initiatives.

ERIC Educational Resources Information Center

McNeal, Larry; Christy, W. Keith

This brief paper is a presentation that preceeded another case of considering the ongoing dialogue on the advantages and disadvantages of centralized and decentralized school-improvement processes. It attempts to raise a number of questions about the relationship between state-designed standards and accountability initiatives and change and…

Design Mechanisms for Mediawiki to Support Collaborative Writing in a Mandatory Context

ERIC Educational Resources Information Center

Kasemvilas, Sumonta

2011-01-01

Because MediaWiki is not appropriate for use in the classroom setting due to its decentralization, arbitrariness, and sharing, its flexible characteristics complicate concepts of practical design when applying MediaWiki in a mandatory writing context. This dissertation identifies a need to add extensions to facilitate increased accountability,…

The school as a force for community change in Tanzania

NASA Astrophysics Data System (ADS)

Maliyamkono, T. L.

1980-09-01

In newly independent countries where traditional theories of educational policy have continued to be followed, education has persisted as little more than a sophisticated mechanism for the recruitment of elites, and there has been an increased dependence on the advanced industrial nations for aid, experts and educational models. Tanzania, however, has attempted to break away from traditional strategies, and the author here describes and analyses the impact of two of the most far-reaching reforms — Education for Self-Reliance, and Decentralization — on national goals and policies. President Nyerere enunciated the objectives for Education for Self-Reliance in 1967 as relating education to rural life, correcting the elitist bias of education, and changing negative attitudes among students towards agriculture and rural life. Five major programmes of reform covering primary and secondary education, teacher and higher education, and examinations were to be pursued, ensuring a closer integration of schools with local communities, e.g., through school farms and co-operative shops, and making curricula directly relevant to local needs. A policy of Decentralization is being implemented, allowing, theoretically at least, a much greater participation at community level in decision-making. In primary and adult education this has already been effected to some extent, though there is evidence to suggest that decentralization in some regions and districts has resulted in the creation of local bureaucratic machinery for control, defeating the intention of the reform. Decentralization of secondary and teacher education is likely to follow, leaving only higher education centrally controlled for manpower training and allocation purposes. Finally the author discusses the question of the transferability of the Tanzanian reforms.

Contribution of Optical Zone Decentration and Pupil Dilation on the Change of Optical Quality After Myopic Photorefractive Keratectomy in a Cat Model

PubMed Central

Bühren, Jens; Yoon, Geunyoung; MacRae, Scott; Huxlin, Krystel

2010-01-01

PURPOSE To simulate the simultaneous contribution of optical zone decentration and pupil dilation on retinal image quality using wavefront error data from a myopic photorefractive keratectomy (PRK) cat model. METHODS Wavefront error differences were obtained from five cat eyes 19±7 weeks (range: 12 to 24 weeks) after spherical myopic PRK for −6.00 diopters (D) (three eyes) and −10.00 D (two eyes). A computer model was used to simulate decentration of a 6-mm sub-aperture relative to the measured wavefront error difference. Changes in image quality (visual Strehl ratio based on the optical transfer function [VSOTF]) were computed for simulated decentrations from 0 to 1500 μm over pupil diameters of 3.5 to 6.0 mm in 0.5-mm steps. For each eye, a bivariate regression model was applied to calculate the simultaneous contribution of pupil dilation and decentration on the pre- to postoperative change of the log VSOTF. RESULTS Pupil diameter and decentration explained up to 95% of the variance of VSOTF change (adjusted R2=0.95). Pupil diameter had a higher impact on VSOTF (median β=−0.88, P<.001) than decentration (median β= −0.45, P<.001). If decentration-induced lower order aberrations were corrected, the impact of decentration further decreased (β= −0.26) compared to the influence of pupil dilation (β= −0.95). CONCLUSIONS Both pupil dilation and decentration of the optical zone affected the change of retinal image quality (VSOTF) after myopic PRK with decentration exerting a lower impact on VSOTF change. Thus, under physiological conditions pupil dilation is likely to have more effect on VSOTF change after PRK than optical zone decentration. PMID:20229950

Contribution of optical zone decentration and pupil dilation on the change of optical quality after myopic photorefractive keratectomy in a cat model.

PubMed

Bühren, Jens; Yoon, Geunyoung; MacRae, Scott; Huxlin, Krystel

2010-03-01

To simulate the simultaneous contribution of optical zone decentration and pupil dilation on retinal image quality using wavefront error data from a myopic photorefractive keratectomy (PRK) cat model. Wavefront error differences were obtained from five cat eyes 19+/-7 weeks (range: 12 to 24 weeks) after spherical myopic PRK for -6.00 diopters (D) (three eyes) and -10.00 D (two eyes). A computer model was used to simulate decentration of a 6-mm sub-aperture relative to the measured wavefront error difference. Changes in image quality (visual Strehl ratio based on the optical transfer function [VSOTF]) were computed for simulated decentrations from 0 to 1500 mum over pupil diameters of 3.5 to 6.0 mm in 0.5-mm steps. For each eye, a bivariate regression model was applied to calculate the simultaneous contribution of pupil dilation and decentration on the pre- to postoperative change of the log VSOTF. Pupil diameter and decentration explained up to 95% of the variance of VSOTF change (adjusted R(2)=0.95). Pupil diameter had a higher impact on VSOTF (median beta=-0.88, P<.001) than decentration (median beta=-0.45, P<.001). If decentration-induced lower order aberrations were corrected, the impact of decentration further decreased (beta=-0.26) compared to the influence of pupil dilation (beta=-0.95). Both pupil dilation and decentration of the optical zone affected the change of retinal image quality (VSOTF) after myopic PRK with decentration exerting a lower impact on VSOTF change. Thus, under physiological conditions pupil dilation is likely to have more effect on VSOTF change after PRK than optical zone decentration. Copyright 2010, SLACK Incorporated.

SPHERES tethered formation flight testbed: application to NASA's SPECS mission

NASA Astrophysics Data System (ADS)

Chung, Soon-Jo; Kong, Edmund M.; Miller, David W.

2005-08-01

This paper elaborates on theory and experiment of the formation flight control for the future space-borne tethered interferometers. The nonlinear equations of multi-vehicle tethered spacecraft system are derived by Lagrange equations and decoupling method. The preliminary analysis predicts unstable dynamics depending on the direction of the tether motor. The controllability analysis indicates that both array resizing and spin-up are fully controllable only by the reaction wheels and the tether motor, thereby eliminating the need for thrusters. Linear and nonlinear decentralized control techniques have been implemented into the tethered SPHERES testbed, and tested at the NASA MSFC's flat floor facility using two and three SPHERES configurations. The nonlinear control using feedback linearization technique performed successfully in both two SPHERES in-line configuration and three triangular configuration while varying the tether length. The relative metrology system, using the ultra sound metrology system and the inertial sensors as well as the decentralized nonlinear estimator, is developed to provide necessary state information.

Minimization of transmission cost in decentralized control systems

NASA Technical Reports Server (NTRS)

Wang, S.-H.; Davison, E. J.

1978-01-01

This paper considers the problem of stabilizing a linear time-invariant multivariable system by using local feedback controllers and some limited information exchange among local stations. The problem of achieving a given degree of stability with minimum transmission cost is solved.

Rethinking Partnerships on a Decentralized Campus

ERIC Educational Resources Information Center

Dufault, Katie H.

2017-01-01

Decentralization is an effective approach for structuring campus learning and success centers. McShane & Von Glinow (2007) describe decentralization as "an organizational model where decision authority and power are dispersed among units rather than held by a single small group of administrators" (p. 237). A decentralized structure…

The design of water markets when instream flows have value.

PubMed

Murphy, James J; Dinar, Ariel; Howitt, Richard E; Rassenti, Stephen J; Smith, Vernon L; Weinberg, Marca

2009-02-01

The main objective of this paper is to design and test a decentralized exchange mechanism that generates the location-specific pricing necessary to achieve efficient allocations in the presence of instream flow values. Although a market-oriented approach has the potential to improve upon traditional command and control regulations, questions remain about how these rights-based institutions can be implemented such that the potential gains from liberalized trade can be realized. This article uses laboratory experiments to test three different water market institutions designed to incorporate instream flow values into the allocation mechanism through active participation of an environmental trader. The smart, computer-coordinated market described herein offers the potential to significantly reduce coordination problems and transaction costs associated with finding mutually beneficial trades that satisfy environmental constraints. We find that direct environmental participation in the market can achieve highly efficient and stable outcomes, although the potential does exist for the environmental agent to influence outcomes.

Back to basics: does decentralization improve health system performance? Evidence from Ceara in north-east Brazil.

PubMed Central

Atkinson, Sarah; Haran, Dave

2004-01-01

OBJECTIVE: To examine whether decentralization has improved health system performance in the State of Ceara, north-east Brazil. METHODS: Ceara is strongly committed to decentralization. A survey across 45 local (municipio) health systems collected data on performance and formal organization, including decentralization, informal management and local political culture. The indicators for informal management and local political culture were based on prior ethnographic research. Data were analysed using analysis of variance, Duncan's post-hoc test and multiple regression. FINDINGS: Decentralization was associated with improved performance, but only for 5 of our 22 performance indicators. Moreover, in the multiple regression, decentralization explained the variance in only one performance indicator; indicators for informal management and political culture appeared to be more important influences. However, some indicators for informal management were themselves associated with decentralization but not any of the political culture indicators. CONCLUSION: Good management practices in the study led to decentralized local health systems rather than vice versa. Any apparent association between decentralization and performance seems to be an artefact of the informal management, and the wider political culture in which a local health system is embedded strongly influences the performance of local health systems. PMID:15640917

Comparative Perspectives on Educational Decentralization: An Exercise in Contradiction?

ERIC Educational Resources Information Center

Weiler, Hans N.

1990-01-01

It is argued that policies decentralizing the governance of educational systems, although appealing in the abstract, tend to be fundamentally ambivalent and in conflict with powerful forces favoring centralization. Tensions surrounding the issue of decentralization are discussed, with emphasis on the relationship between decentralization and…

Decentralized Opportunistic Spectrum Resources Access Model and Algorithm toward Cooperative Ad-Hoc Networks.

PubMed

Liu, Ming; Xu, Yang; Mohammed, Abdul-Wahid

2016-01-01

Limited communication resources have gradually become a critical factor toward efficiency of decentralized large scale multi-agent coordination when both system scales up and tasks become more complex. In current researches, due to the agent's limited communication and observational capability, an agent in a decentralized setting can only choose a part of channels to access, but cannot perceive or share global information. Each agent's cooperative decision is based on the partial observation of the system state, and as such, uncertainty in the communication network is unavoidable. In this situation, it is a major challenge working out cooperative decision-making under uncertainty with only a partial observation of the environment. In this paper, we propose a decentralized approach that allows agents cooperatively search and independently choose channels. The key to our design is to build an up-to-date observation for each agent's view so that a local decision model is achievable in a large scale team coordination. We simplify the Dec-POMDP model problem, and each agent can jointly work out its communication policy in order to improve its local decision utilities for the choice of communication resources. Finally, we discuss an implicate resource competition game, and show that, there exists an approximate resources access tradeoff balance between agents. Based on this discovery, the tradeoff between real-time decision-making and the efficiency of cooperation using these channels can be well improved.

Local Control: Fear or Fantasy?

ERIC Educational Resources Information Center

Fuhrman, Susan H.

1974-01-01

From all existing evidence, there is no inevitability about the relationship between centralized fiscal responsibility and decentralized decisionmaking. He who pays the piper does not necessarily call the tune. (Author)

School Desegregation and the Courts

ERIC Educational Resources Information Center

Gittell, Marilyn

1976-01-01

Asserts that community control is not an all-or-nothing situation, but that centralization can co-exist with decentralization. Argues for states to have the responsibility for insuring desegregation and equitable funding and for communities to have control of personnel, curriculum and budget priorities. (Author/AM)

Electric Water Heater Modeling and Control Strategies for Demand Response

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

Diao, Ruisheng; Lu, Shuai; Elizondo, Marcelo A.

2012-07-22

Abstract— Demand response (DR) has a great potential to provide balancing services at normal operating conditions and emergency support when a power system is subject to disturbances. Effective control strategies can significantly relieve the balancing burden of conventional generators and reduce investment on generation and transmission expansion. This paper is aimed at modeling electric water heaters (EWH) in households and tests their response to control strategies to implement DR. The open-loop response of EWH to a centralized signal is studied by adjusting temperature settings to provide regulation services; and two types of decentralized controllers are tested to provide frequency supportmore » following generator trips. EWH models are included in a simulation platform in DIgSILENT to perform electromechanical simulation, which contains 147 households in a distribution feeder. Simulation results show the dependence of EWH response on water heater usage . These results provide insight suggestions on the need of control strategies to achieve better performance for demand response implementation. Index Terms— Centralized control, decentralized control, demand response, electrical water heater, smart grid« less

Hybrid Control for Multi-Agent Systems in Complex Sensing Environments

DTIC Science & Technology

2012-02-28

controllers , the overall closed-loop system is time -varying but can potentially exhibit better stability and performance... system is time -varying and yet, once 4 feedback-interconnected with a suitable controller , it can potentially yield better stability and performance...resolution Sensing, Control and Switched Systems 13 4 Metric-Based Receding Horizon Control 14 5 Decentralized Control and Finite Wordlength Channels 15

Decentralized control algorithms of a group of vehicles in 2D space

NASA Astrophysics Data System (ADS)

Pshikhopov, V. K.; Medvedev, M. Y.; Fedorenko, R. V.; Gurenko, B. V.

2017-02-01

The problem of decentralized control of group of robots, described by kinematic and dynamic equations of motion in the plane, is considered. Group performs predetermined rectangular area passing at a fixed speed, keeping the line and a uniform distribution. The environment may contain a priori unknown moving or stationary obstacles. Decentralized control algorithms, based on the formation of repellers in the state space of robots, are proposed. These repellers form repulsive forces generated by dynamic subsystems that extend the state space of robots. These repulsive forces are dynamic functions of distances and velocities of robots in the area of operation of the group. The process of formation of repellers allows to take into account the dynamic properties of robots, such as the maximum speed and acceleration. The robots local control law formulas are derived based on positionally-trajectory control method, which allows to operate with non-linear models. Lyapunov function in the form of a quadratic function of the state variables is constructed to obtain a nonlinear closed-loop control system. Due to the fact that a closed system is decomposed into two independent subsystems Lyapunov function is also constructed as two independent functions. Numerical simulation of the motion of a group of five robots is presented. In this simulation obstacles are presented by the boundaries of working area and a movable object of a given radius, moving rectilinear and uniform. Obstacle speed is comparable to the speeds of the robots in a group. The advantage of the proposed method is ensuring the stability of the trajectories and consideration of the limitations on the speed and acceleration at the trajectory planning stage. Proposed approach can be used for more general robots' models, including robots in the three-dimensional environment.

Economic analysis of centralized vs. decentralized electronic data capture in multi-center clinical studies.

PubMed

Walden, Anita; Nahm, Meredith; Barnett, M Edwina; Conde, Jose G; Dent, Andrew; Fadiel, Ahmed; Perry, Theresa; Tolk, Chris; Tcheng, James E; Eisenstein, Eric L

2011-01-01

New data management models are emerging in multi-center clinical studies. We evaluated the incremental costs associated with decentralized vs. centralized models. We developed clinical research network economic models to evaluate three data management models: centralized, decentralized with local software, and decentralized with shared database. Descriptive information from three clinical research studies served as inputs for these models. The primary outcome was total data management costs. Secondary outcomes included: data management costs for sites, local data centers, and central coordinating centers. Both decentralized models were more costly than the centralized model for each clinical research study: the decentralized with local software model was the most expensive. Decreasing the number of local data centers and case book pages reduced cost differentials between models. Decentralized vs. centralized data management in multi-center clinical research studies is associated with increases in data management costs.

Economic Analysis of Centralized vs. Decentralized Electronic Data Capture in Multi-Center Clinical Studies

PubMed Central

Walden, Anita; Nahm, Meredith; Barnett, M. Edwina; Conde, Jose G.; Dent, Andrew; Fadiel, Ahmed; Perry, Theresa; Tolk, Chris; Tcheng, James E.; Eisenstein, Eric L.

2012-01-01

Background New data management models are emerging in multi-center clinical studies. We evaluated the incremental costs associated with decentralized vs. centralized models. Methods We developed clinical research network economic models to evaluate three data management models: centralized, decentralized with local software, and decentralized with shared database. Descriptive information from three clinical research studies served as inputs for these models. Main Outcome Measures The primary outcome was total data management costs. Secondary outcomes included: data management costs for sites, local data centers, and central coordinating centers. Results Both decentralized models were more costly than the centralized model for each clinical research study: the decentralized with local software model was the most expensive. Decreasing the number of local data centers and case book pages reduced cost differentials between models. Conclusion Decentralized vs. centralized data management in multi-center clinical research studies is associated with increases in data management costs. PMID:21335692

Using Economic Experiments to Test Electricity Policy

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

Kiesling, Lynne

2005-11-01

The industry's history of central generation, coordination, and regulation breeds a natural suspicion of whether or not decentralized coordination and a more market-based, decentralized regulatory approach can work. To see how people will behave in a decentralized environment with decentralized institutions, one must test the environment and institutions experimentally, with real people.

Educational Decentralization, Public Spending, and Social Justice in Nigeria

ERIC Educational Resources Information Center

Geo-Jaja, Macleans A.

2006-01-01

This study situates the process of educational decentralization in the narrower context of social justice. Its main object, however, is to analyze the implications of decentralization for strategies of equity and social justice in Nigeria. It starts from the premise that the early optimism that supported decentralization as an efficient and…

[Municipal Health Councils: activity and representation of grassroots communities].

PubMed

Gerschman, Silvia

2004-01-01

This article was based on the results of research concerning health policy in municipalities that achieved the most extensive development of decentralization and innovation in the State of Rio de Janeiro, Brazil. The study applied a questionnaire for health system users' representatives in Municipal Health Councils. The central issues were: the Councils' political role; social control by the Councils, viewed as surveillance by organized society over government actions; the nature of social representation exercised by the Council members; and the type of mandate they serve. Community representatives in the Councils reinforce aspects pertaining to the exercise of representation in unequal societies. There is a predominance of a differentiated elite consisting of older males with more schooling and higher income than the community average. The notion of "social control" as the basis for the Councils is difficult for the members to grasp. Exercise of representation is diffuse, occurring by way of designation by community associations, election in assemblies, or designation by institutional health policy agencies.

Case mix management education in a Canadian hospital.

PubMed

Moffat, M; Prociw, M

1992-01-01

The Sunnybrook Health Science Centre's matrix organization model includes a traditional departmental structure, a strategic program-based structure and a case management-based structure--the Clinical Unit structure. The Clinical Unit structure allows the centre to give responsibility for the management of case mix and volume to decentralized Clinical Unit teams, each of which manages its own budget. To train physicians and nurses in their respective roles of Medical Unit directors and Nursing Unit directors, Sunnybrook designed unique short courses on financial management and budgeting, and case-costing and case mix management. This paper discusses how these courses were organized, details their contents and explains how they fit into Sunnybrook's program of decentralized management.

GoDisco: Selective Gossip Based Dissemination of Information in Social Community Based Overlays

NASA Astrophysics Data System (ADS)

Datta, Anwitaman; Sharma, Rajesh

We propose and investigate a gossip based, social principles and behavior inspired decentralized mechanism (GoDisco) to disseminate information in online social community networks, using exclusively social links and exploiting semantic context to keep the dissemination process selective to relevant nodes. Such a designed dissemination scheme using gossiping over a egocentric social network is unique and is arguably a concept whose time has arrived, emulating word of mouth behavior and can have interesting applications like probabilistic publish/subscribe, decentralized recommendation and contextual advertisement systems, to name a few. Simulation based experiments show that despite using only local knowledge and contacts, the system has good global coverage and behavior.

Design and evaluation of a failure detection and isolation algorithm for restructurable control systems

NASA Technical Reports Server (NTRS)

Weiss, Jerold L.; Hsu, John Y.

1986-01-01

The use of a decentralized approach to failure detection and isolation for use in restructurable control systems is examined. This work has produced: (1) A method for evaluating fundamental limits to FDI performance; (2) Application using flight recorded data; (3) A working control element FDI system with maximal sensitivity to critical control element failures; (4) Extensive testing on realistic simulations; and (5) A detailed design methodology involving parameter optimization (with respect to model uncertainties) and sensitivity analyses. This project has concentrated on detection and isolation of generic control element failures since these failures frequently lead to emergency conditions and since knowledge of remaining control authority is essential for control system redesign. The failures are generic in the sense that no temporal failure signature information was assumed. Thus, various forms of functional failures are treated in a unified fashion. Such a treatment results in a robust FDI system (i.e., one that covers all failure modes) but sacrifices some performance when detailed failure signature information is known, useful, and employed properly. It was assumed throughout that all sensors are validated (i.e., contain only in-spec errors) and that only the first failure of a single control element needs to be detected and isolated. The FDI system which has been developed will handle a class of multiple failures.

Decentralized event-triggered consensus control strategy for leader-follower networked systems

NASA Astrophysics Data System (ADS)

Zhang, Shouxu; Xie, Duosi; Yan, Weisheng

2017-08-01

In this paper, the consensus problem of leader-follower networked systems is addressed. At first, a centralized and a decentralized event-triggered control strategy are proposed, which make the control actuators of followers update at aperiodic invent interval. In particular, the latter one makes each follower requires the local information only. After that, an improved triggering function that only uses the follower's own information and the neighbors' states at their latest event instants is developed to relax the requirement of the continuous state of the neighbors. In addition, the strategy does not require the information of the topology, nor the eigenvalues of the Laplacian matrix. And if the follower does not have direct connection to the leader, the leader's information is not required either. It is analytically shown that by using the proposed strategy the leader-follower networked system is able to reach consensus without continuous communication among followers. Simulation examples are given to show effectiveness of the proposed control strategy.

Malaria Distribution, Prevalence, Drug Resistance and Control in Indonesia

PubMed Central

Elyazar, Iqbal R.F.; Hay, Simon I.; Baird, J. Kevin

2011-01-01

Approximately 230 million people live in Indonesia. The country is also home to over 20 anopheline vectors of malaria which transmit all four of the species of Plasmodium that routinely infect humans. A complex mosaic of risk of infection across this 5000-km-long archipelago of thousands of islands and distinctive habitats seriously challenges efforts to control malaria. Social, economic and political dimensions contribute to these complexities. This chapter examines malaria and its control in Indonesia, from the earliest efforts by malariologists of the colonial Netherlands East Indies, through the Global Malaria Eradication Campaign of the 1950s, the tumult following the coup d’état of 1965, the global resurgence of malaria through the 1980s and 1990s and finally through to the decentralization of government authority following the fall of the authoritarian Soeharto regime in 1998. We detail important methods of control and their impact in the context of the political systems that supported them. We examine prospects for malaria control in contemporary decentralized and democratized Indonesia with multidrug-resistant malaria and greatly diminished capacities for integrated malaria control management programs. PMID:21295677

Decentralization: Why, How, and toward What Ends? Special Policy Report, No. 1. Policy Briefs Series.

ERIC Educational Resources Information Center

Stinnette, Lynn J.

Administrators are looking at decentralization as a solution to issues troubling schools, teachers, and students. The notion of decentralization is accompanied by two assumptions. First, decentralization will produce an improvement in education because classroom decision making will be more responsive to the specific needs of a school. Second, in…

Decentralized Planning for Autonomous Agents Cooperating in Complex Missions

DTIC Science & Technology

2010-09-01

Consensus - based decentralized auctions for robust task allocation ," IEEE Transactions on Robotics...Robotics, vol. 24, pp. 209-222, 2006. [44] H.-L. Choi, L. Brunet, and J. P. How, " Consensus - based decentralized auctions for robust task allocation ...2003. 123 [31] L. Brunet, " Consensus - Based Auctions for Decentralized Task Assignment," Master’s thesis, Dept.

The political economy of decentralization of health and social services in Canada.

PubMed

Tsalikis, G

1989-01-01

A trend to decentralization in Canada's 'welfare state' has received support from the Left and from the Right. Some social critics of the Left expect decentralization to result in holistic services adjusted to local needs. Others, moreover, feel we are in the dawn of a new epoch in which major economic transformations are to bring about, through new class alliances and conflict, decentralization of power and a better quality of life in communities. These assumptions and their theoretical pitfalls are discussed here following an historical overview of the centralization/decentralization issue in Canadian social policy. It is argued that recent proposals of decentralization are a continuation of reactionary tendencies to constrain social expenditures, but not a path to better quality of life.

Control and Coordination of Frequency Responsive Residential Water Heaters

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

Williams, Tess L.; Kalsi, Karanjit; Elizondo, Marcelo A.

2016-07-31

Demand-side frequency control can complement traditional generator controls to maintain the stability of large electric systems in the face of rising uncertainty and variability associated with renewable energy resources. This paper presents a hierarchical frequency-based load control strategy that uses a supervisor to flexibly adjust control gains that a population of end-use loads respond to in a decentralized manner to help meet the NERC BAL-003-1 frequency response standard at both the area level and interconnection level. The load model is calibrated and used to model populations of frequency-responsive water heaters in a PowerWorld simulation of the U.S. Western Interconnection (WECC).more » The proposed design is implemented and demonstrated on physical water heaters in a laboratory setting. A significant fraction of the required frequency response in the WECC could be supplied by electric water heaters alone at penetration levels of less than 15%, while contributing to NERC requirements at the interconnection and area levels.« less

Autonomous Decentralized Control of Supply and Demand by Inverter Based Distributed Generations in Isolated Microgrid

NASA Astrophysics Data System (ADS)

Shiki, Akira; Yokoyama, Akihiko; Baba, Jyunpei; Takano, Tomihiro; Gouda, Takahiro; Izui, Yoshio

Recently, because of the environmental burden mitigation, energy conservations, energy security, and cost reductions, distributed generations are attracting our strong attention. These distributed generations (DGs) have been already installed to the distribution system, and much more DGs will be expected to be connected in the future. On the other hand, a new concept called “Microgrid” which is a small power supply network consisting of only DGs was proposed and some prototype projects are ongoing in Japan. The purpose of this paper is to develop the three-phase instantaneous valued digital simulator of microgrid consisting of a lot of inverter based DGs and to develop a supply and demand control method in isolated microgrid. First, microgrid is modeled using MATLAB/SIMULINK. We develop models of three-phase instantaneous valued inverter type CVCF generator, PQ specified generator, PV specified generator, PQ specified load as storage battery, photovoltaic generation, fuel cell and inverter load respectively. Then we propose an autonomous decentralized control method of supply and demand in isolated microgrid where storage batteries, fuel cells, photovoltaic generations and loads are connected. It is proposed here that the system frequency is used as a means to control DG output. By changing the frequency of the storage battery due to unbalance of supply and demand, all inverter based DGs detect the frequency fluctuation and change their own outputs. Finally, a new frequency control method in autonomous decentralized control of supply and demand is proposed. Though the frequency is used to transmit the information on the supply and demand unbalance to DGs, after the frequency plays the role, the frequency finally has to return to a standard value. To return the frequency to the standard value, the characteristic curve of the fuel cell is shifted in parallel. This control is carried out corresponding to the fluctuation of the load. The simulation shows that the frequency can be controlled well and has been made clear the effectiveness of the frequency control system.

Path planning of decentralized multi-quadrotor based on fuzzy-cell decomposition algorithm

NASA Astrophysics Data System (ADS)

Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam

2017-04-01

The paper aims to present a design algorithm for multi quadrotor lanes in order to move towards the goal quickly and avoid obstacles in an area with obstacles. There are several problems in path planning including how to get to the goal position quickly and avoid static and dynamic obstacles. To overcome the problem, therefore, the paper presents fuzzy logic algorithm and fuzzy cell decomposition algorithm. Fuzzy logic algorithm is one of the artificial intelligence algorithms which can be applied to robot path planning that is able to detect static and dynamic obstacles. Cell decomposition algorithm is an algorithm of graph theory used to make a robot path map. By using the two algorithms the robot is able to get to the goal position and avoid obstacles but it takes a considerable time because they are able to find the shortest path. Therefore, this paper describes a modification of the algorithms by adding a potential field algorithm used to provide weight values on the map applied for each quadrotor by using decentralized controlled, so that the quadrotor is able to move to the goal position quickly by finding the shortest path. The simulations conducted have shown that multi-quadrotor can avoid various obstacles and find the shortest path by using the proposed algorithms.

Interdependent Network Recovery Games.

PubMed

Smith, Andrew M; González, Andrés D; Dueñas-Osorio, Leonardo; D'Souza, Raissa M

2017-10-30

Recovery of interdependent infrastructure networks in the presence of catastrophic failure is crucial to the economy and welfare of society. Recently, centralized methods have been developed to address optimal resource allocation in postdisaster recovery scenarios of interdependent infrastructure systems that minimize total cost. In real-world systems, however, multiple independent, possibly noncooperative, utility network controllers are responsible for making recovery decisions, resulting in suboptimal decentralized processes. With the goal of minimizing recovery cost, a best-case decentralized model allows controllers to develop a full recovery plan and negotiate until all parties are satisfied (an equilibrium is reached). Such a model is computationally intensive for planning and negotiating, and time is a crucial resource in postdisaster recovery scenarios. Furthermore, in this work, we prove this best-case decentralized negotiation process could continue indefinitely under certain conditions. Accounting for network controllers' urgency in repairing their system, we propose an ad hoc sequential game-theoretic model of interdependent infrastructure network recovery represented as a discrete time noncooperative game between network controllers that is guaranteed to converge to an equilibrium. We further reduce the computation time needed to find a solution by applying a best-response heuristic and prove bounds on ε-Nash equilibrium, where ε depends on problem inputs. We compare best-case and ad hoc models on an empirical interdependent infrastructure network in the presence of simulated earthquakes to demonstrate the extent of the tradeoff between optimality and computational efficiency. Our method provides a foundation for modeling sociotechnical systems in a way that mirrors restoration processes in practice. © 2017 Society for Risk Analysis.

A qualitative study of patient experiences of decentralized acute healthcare services

PubMed Central

Linqvist Leonardsen, Ann-Chatrin; Del Busso, Lilliana; Abrahamsen Grøndahl, Vigdis; Ghanima, Waleed; Barach, Paul; Jelsness-Jørgensen, Lars-Petter

2016-01-01

Objective Municipality acute wards (MAWs) have recently been launched in Norway as an alternative to hospitalizations, and are aimed at providing treatment for patients who otherwise would have been hospitalized. The objective of this study was to explore how patients normally admitted to hospitals perceived the quality and safety of treatment in MAWs. Design The study had a qualitative design. Thematic analysis was used to analyze the data. Setting The study was conducted in a county in south-eastern Norway and included five different MAWs. Patients Semi-structured interviews were conducted with 27 participants who had required acute health care and who had been discharged from the five MAWs. Results Three subthemes were identified that related to the overarching theme of hospital-like standards (“almost a hospital, but…”), namely (a) treatment and competence, (b) location and physical environment, and (c) adequate time for care. Participants reported the treatment to be comparable to hospital care, but they also experienced limitations. Participants spoke positively about MAW personnel and the advantages of having a single patient room, a calm environment, and proximity to home. Conclusions Participants felt safe when treated at MAWs, even though they realized that the diagnostic services were not similar to that in hospitals. Geographical proximity, treatment facilities and time for care positively distinguished MAWs from hospitals, while the lack of diagnostic resources was stressed as a limitation. Key Points Municipality acute wards (MAWs) have been implemented across Norway. Research on patient perspectives on the decentralization of acute healthcare in MAWs is lacking.  • Patients perceive decentralized acute healthcare and treatment as being comparable to the quality they would have expected in hospitals.  • Geographical proximity, a home-like atmosphere and time for care were aspects stressed as positive features of the decentralized services.  • Lack of diagnostic resources was seen as a limitation. PMID:27559763

Administrative Decentralization in School Systems and Its Effect on the Organization of Media Services. Atlanta Public Schools: A Case Study.

ERIC Educational Resources Information Center

Williams, R. David

This study reviews the literature on public school administration and on decentralization to establish the groundwork for an analysis of the administration of a decentralized school system and its media services, discusses some of the confusion in the centralization vs. decentralization debate, and presents a heuristic study of the administration…

Decentralization of Education: Why, When, What, and How? Fundamentals of Educational Planning Series, Number 64.

ERIC Educational Resources Information Center

Welsh, Thomas; McGinn, Noel F.

Decentralization is arguably one of the most important phenomena to come on to the educational planning agenda in the last 15 years. Why a country should decentralize its educational decision-making process and which decisions should be decentralized are two questions that many decision-makers raise. This booklet is intended to provide educational…

The tradeoff between centralized and decentralized health services: evidence from rural areas in Mexico.

PubMed

Vargas Bustamante, Arturo

2010-09-01

This study investigates the effectiveness of centralized and decentralized health care providers in rural Mexico. It compares provider performance since both centralized and decentralized providers co-exist in rural areas of the country. The data are drawn from the 2003 household survey of Oportunidades, a comprehensive study of rural families from seven states in Mexico. The analyses compare out-of-pocket health care expenditures and utilization of preventive care among rural households with access to either centralized or decentralized health care providers. This study benefits from differences in timing of health care decentralization and from a quasi-random distribution of providers. Results show that overall centralized providers perform better. Households served by this organization report less regressive out-of-pocket health care expenditures (32% lower), and observe higher utilization of preventive services (3.6% more). Decentralized providers that were devolved to state governments in the early 1980s observe a slightly better performance than providers that were decentralized in the mid-1990s. These findings are robust to decentralization timing, heterogeneity in per capita government health expenditures, state and health infrastructure effects, and other confounders. Copyright (c) 2010 Elsevier Ltd. All rights reserved.

Decentralization of health care systems and health outcomes: Evidence from a natural experiment.

PubMed

Jiménez-Rubio, Dolores; García-Gómez, Pilar

2017-09-01

While many countries worldwide are shifting responsibilities for their health systems to local levels of government, there is to date insufficient evidence about the potential impact of these policy reforms. We estimate the impact of decentralization of the health services on infant and neonatal mortality using a natural experiment: the devolution of health care decision making powers to Spanish regions. The devolution was implemented gradually and asymmetrically over a twenty-year period (1981-2002). The order in which the regions were decentralized was driven by political factors and hence can be considered exogenous to health outcomes. In addition, we exploit the dynamic effect of decentralization of health services and allow for heterogeneous effects by the two main types of decentralization implemented across regions: full decentralization (political and fiscal powers) versus political decentralization only. Our difference in differences results based on a panel dataset for the 50 Spanish provinces over the period 1980 to 2010 show that the lasting benefit of decentralization accrues only to regions which enjoy almost full fiscal and political powers and which are also among the richest regions. Copyright © 2017 Elsevier Ltd. All rights reserved.

The snow system: A decentralized medical data processing system.

PubMed

Bellika, Johan Gustav; Henriksen, Torje Starbo; Yigzaw, Kassaye Yitbarek

2015-01-01

Systems for large-scale reuse of electronic health record data is claimed to have the potential to transform the current health care delivery system. In principle three alternative solutions for reuse exist: centralized, data warehouse, and decentralized solutions. This chapter focuses on the decentralized system alternative. Decentralized systems may be categorized into approaches that move data to enable computations or move computations to the where data is located to enable computations. We describe a system that moves computations to where the data is located. Only this kind of decentralized solution has the capabilities to become ideal systems for reuse as the decentralized alternative enables computation and reuse of electronic health record data without moving or exposing the information to outsiders. This chapter describes the Snow system, which is a decentralized medical data processing system, its components and how it has been used. It also describes the requirements this kind of systems need to support to become sustainable and successful in recruiting voluntary participation from health institutions.

A Modified Actor-Power-Accountability Framework (MAPAF) for analyzing decentralized forest governance: case study from Ethiopia.

PubMed

Mohammed, Abrar Juhar; Inoue, Makoto

2014-06-15

This paper posits a Modified Actor-Power-Accountability Framework (MAPAF) that makes three major improvements on the Actor-Power-Accountability Framework (APAF) developed by Agrawal and Ribot (1999). These improvements emphasize the nature of decentralized property rights, linking the outputs of decentralization with its outcomes and the inclusion of contextual factors. Applying MAPAF to analyze outputs and outcomes from two major decentralized forest policies in Ethiopia, i.e., delegation and devolution, has demonstrated the following strengths of the framework. First, by incorporating vital bundles of property rights into APAF, MAPAF creates a common ground for exploring and comparing the extent of democratization achieved by different decentralizing reforms. Second, the inclusion of social and environmental outcomes in MAPAF makes it possible to link the output of decentralization with local level outcomes. Finally, the addition of contextual factors enhances MAPAF's explanatory power by providing room for investigating exogenous factors other than democratization that contribute to the outcomes of decentralization reforms. Copyright © 2014 Elsevier Ltd. All rights reserved.

Usability Testing, User-Centered Design, and LibGuides Subject Guides: A Case Study

ERIC Educational Resources Information Center

Sonsteby, Alec; DeJonghe, Jennifer

2013-01-01

Usability testing has become a routine way for many libraries to ensure that their Web presence is user-friendly and accessible. At the same time, popular subject guide creation systems, such as LibGuides, decentralize Web content creation and put authorship into the hands of librarians who may not be trained in user-centered design principles. At…

Project To Design a Marketing Plan for Promoting Educators' Awareness of and Access to ERIC Products. Proposed Marketing Plan.

ERIC Educational Resources Information Center

Contemporary Associates, Inc., Washington, DC.

The proposed strategy, which is designed to maximize the effectiveness and minimize the costs of marketing the Information Analysis Products (IAPs) produced by the 16 ERIC Clearinghouses, is based on a study of the concept of centralized versus decentralized ordering of selected ERIC products. The experiment measured four variables--postage,…

Decentralization, democratization, and health: the Philippine experiment.

PubMed

Langran, Irene V

2011-01-01

In 1991, the Philippines joined a growing list of countries that reformed health planning through decentralization. Reformers viewed decentralization as a tool that would solve multiple problems, leading to more meaningful democracy and more effective health planning. Today, nearly two decades after the passage of decentralization legislation, questions about the effectiveness of the reforms persist. Inadequate financing, inequity, and a lack of meaningful participation remain challenges, in many ways mirroring broader weaknesses of Philippine democracy. These concerns pose questions regarding the nature of contemporary decentralization, democratization, and health planning and whether these three strategies are indeed mutually enforcing.

Enhanced drinking water supply through harvested rainwater treatment

NASA Astrophysics Data System (ADS)

Naddeo, Vincenzo; Scannapieco, Davide; Belgiorno, Vincenzo

2013-08-01

Decentralized drinking water systems represent an important element in the process of achieving the Millennium Development Goals, as centralized systems are often inefficient or nonexistent in developing countries. In those countries, most water quality related problems are due to hygiene factors and pathogens. A potential solution might include decentralized systems, which might rely on thermal and/or UV disinfection methods as well as physical and chemical treatments to provide drinking water from rainwater. For application in developing countries, decentralized systems major constraints include low cost, ease of use, environmental sustainability, reduced maintenance and independence from energy sources. This work focuses on an innovative decentralized system that can be used to collect and treat rainwater for potable use (drinking and cooking purposes) of a single household, or a small community. The experimented treatment system combines in one compact unit a Filtration process with an adsorption step on GAC and a UV disinfection phase in an innovative design (FAD - Filtration Adsorption Disinfection). All tests have been carried out using a full scale FAD treatment unit. The efficiency of FAD technology has been discussed in terms of pH, turbidity, COD, TOC, DOC, Escherichia coli and Total coliforms. FAD technology is attractive since it provides a total barrier for pathogens and organic contaminants, and reduces turbidity, thus increasing the overall quality of the water. The FAD unit costs are low, especially if compared to other water treatment technologies and could become a viable option for developing countries.

High School Locker Bays.

ERIC Educational Resources Information Center

Trotsky, George

2002-01-01

Discusses planning, specification, and installation of student lockers, asserting that for the two basic types of lockers, corridor student lockers and athletic lockers, design considerations must focus on space requirements and ease of supervision. Discusses centralized versus decentralized configuration and locker size and type. Includes a chart…

Design of a Decentralized Asynchronous Membership Protocol and an Implementation of Its Communications Layer

DTIC Science & Technology

1993-03-01

sstm[MAXFD], stpm [MAXFD]; u-short fport,bport; char sfport[MLAXPORTI, sbport[MAXPORTII; int childpid; char my~name[MAXHOSTNAME+ 1 ], *ip~add&, char my...34, "tpm", stpm , (char*) NULL); printf ("Error executing tpm\

Advanced Decentralized Water/Energy Network Design for Sustainable Infrastructure

EPA Science Inventory

In order to provide a water infrastructure that is more sustainable into and beyond the 21st century, drinking water distribution systems and wastewater collection systems must account for our diminishing water supply, increasing demands, climate change, energy cost and availabil...

Research directions in large scale systems and decentralized control

NASA Technical Reports Server (NTRS)

Tenney, R. R.

1980-01-01

Control theory provides a well established framework for dealing with automatic decision problems and a set of techniques for automatic decision making which exploit special structure, but it does not deal well with complexity. The potential exists for combining control theoretic and knowledge based concepts into a unified approach. The elements of control theory are diagrammed, including modern control and large scale systems.

Operator Objective Function Guidance for a Real-Time Unmanned Vehicle Scheduling Algorithm

DTIC Science & Technology

2012-12-01

Consensus - Based Decentralized Auctions for Robust Task Allocation ,” IEEE Transactions on Robotics and Automation, Vol. 25, No. 4, No. 4, 2009, pp. 912...planning for the fleet. The decentralized task planner used in OPS-USERS is the consensus - based bundle algorithm (CBBA), a decentralized , polynomial...and surveillance (OPS-USERS), which leverages decentralized algorithms for vehicle routing and task allocation . This

Governing decentralization in health care under tough budget constraint: what can we learn from the Italian experience?

PubMed

Tediosi, Fabrizio; Gabriele, Stefania; Longo, Francesco

2009-05-01

In many European countries, since the World War II, there has been a trend towards decentralization of health policy to lower levels of governments, while more recently there have been re-centralization processes. Whether re-centralization will be the new paradigm of European health policy or not is difficult to say. In the Italian National Health Service (SSN) decentralization raised two related questions that might be interesting for the international debate on decentralization in health care: (a) what sort of regulatory framework and institutional balances are required to govern decentralization in health care in a heterogeneous country under tough budget constraints? (b) how can it be ensured that the most advanced parts of the country remain committed to solidarity, supporting the weakest ones? To address these questions this article describes the recent trends in SSN funding and expenditure, it reviews the strategy adopted by the Italian government for governing the decentralization process and discusses the findings to draw policy conclusions. The main lessons emerging from this experience are that: (1) when the differences in administrative and policy skills, in socio-economic standards and social capital are wide, decentralization may lead to undesirable divergent evolution paths; (2) even in decentralized systems, the role of the Central government can be very important to contain health expenditure; (3) a strong governance of the Central government may help and not hinder the enforcement of decentralization; and (4) supporting the weakest Regions and maintaining inter-regional solidarity is hard but possible. In Italy, despite an increasing role of the Central government in steering the SSN, the pattern of regional decentralization of health sector decision making does not seem at risk. Nevertheless, the Italian case confirms the complexity of decentralization and re-centralization processes that sometimes can be paradoxically reinforcing each other.

Health sector decentralization and local decision-making: Decision space, institutional capacities and accountability in Pakistan.

PubMed

Bossert, Thomas John; Mitchell, Andrew David

2011-01-01

Health sector decentralization has been widely adopted to improve delivery of health services. While many argue that institutional capacities and mechanisms of accountability required to transform decentralized decision-making into improvements in local health systems are lacking, few empirical studies exist which measure or relate together these concepts. Based on research instruments administered to a sample of 91 health sector decision-makers in 17 districts of Pakistan, this study analyzes relationships between three dimensions of decentralization: decentralized authority (referred to as "decision space"), institutional capacities, and accountability to local officials. Composite quantitative indicators of these three dimensions were constructed within four broad health functions (strategic and operational planning, budgeting, human resources management, and service organization/delivery) and on an overall/cross-function basis. Three main findings emerged. First, district-level respondents report varying degrees of each dimension despite being under a single decentralization regime and facing similar rules across provinces. Second, within dimensions of decentralization-particularly decision space and capacities-synergies exist between levels reported by respondents in one function and those reported in other functions (statistically significant coefficients of correlation ranging from ρ=0.22 to ρ=0.43). Third, synergies exist across dimensions of decentralization, particularly in terms of an overall indicator of institutional capacities (significantly correlated with both overall decision space (ρ=0.39) and accountability (ρ=0.23)). This study demonstrates that decentralization is a varied experience-with some district-level officials making greater use of decision space than others and that those who do so also tend to have more capacity to make decisions and are held more accountable to elected local officials for such choices. These findings suggest that Pakistan's decentralization policy should focus on synergies among dimensions of decentralization to encouraging more use of de jure decision space, work toward more uniform institutional capacity, and encourage greater accountability to local elected officials. Copyright © 2010 Elsevier Ltd. All rights reserved.

School-Based Management and Arts Education: Lessons from Chicago

ERIC Educational Resources Information Center

Fitzpatrick, Kate R.

2012-01-01

School-based management, or local school control, is an organizational school reform effort aimed at decentralizing school decision-making that has become prevalent in districts throughout the United States. Using the groundbreaking Chicago system of local school control as an exemplar, this article outlines the implications of such reform efforts…

A Study on the Autonomy of Educational Administration. Regular Report 86-21.

ERIC Educational Resources Information Center

Chung, Chan-young; And Others

Excessive centralized control begets uniformity, which denies local need and school uniqueness. Further, control, order, and supervision create impassivity and work against autonomy. The decentralization of authority to lower echelons more familar with local needs may provide a more relevant administration that encourages local initiatives; school…

Application-Defined Decentralized Access Control

PubMed Central

Xu, Yuanzhong; Dunn, Alan M.; Hofmann, Owen S.; Lee, Michael Z.; Mehdi, Syed Akbar; Witchel, Emmett

2014-01-01

DCAC is a practical OS-level access control system that supports application-defined principals. It allows normal users to perform administrative operations within their privilege, enabling isolation and privilege separation for applications. It does not require centralized policy specification or management, giving applications freedom to manage their principals while the policies are still enforced by the OS. DCAC uses hierarchically-named attributes as a generic framework for user-defined policies such as groups defined by normal users. For both local and networked file systems, its execution time overhead is between 0%–9% on file system microbenchmarks, and under 1% on applications. This paper shows the design and implementation of DCAC, as well as several real-world use cases, including sandboxing applications, enforcing server applications’ security policies, supporting NFS, and authenticating user-defined sub-principals in SSH, all with minimal code changes. PMID:25426493

Performance of a continuous flow ventricular assist device: magnetic bearing design, construction, and testing.

PubMed

Allaire, P; Hilton, E; Baloh, M; Maslen, E; Bearnson, G; Noh, D; Khanwilkar, P; Olsen, D

1998-06-01

A new centrifugal continuous flow ventricular assist device, the CFVAD III, which is fully magnetic bearing suspended, has been developed. It has only one moving part (the impeller), has no contact (magnetic suspension), is compact, and has minimal heating. A centrifugal impeller of 2 inch outer diameter is driven by a permanent magnet brushless DC motor. This paper discusses the design, construction, testing, and performance of the magnetic bearings in the unit. The magnetic suspension consists of an inlet side magnetic bearing and an outlet side magnetic bearing, each divided into 8 pole segments to control axial and radial displacements as well as angular displacements. The magnetic actuators are composed of several different materials to minimize size and weight while having sufficient load capacity to support the forces on the impeller. Flux levels in the range of 0.1 T are employed in the magnetic bearings. Self sensing electronic circuits (without physical sensors) are employed to determine the impellar position and provide the feedback control signal needed for the magnetic bearing control loops. The sensors provide position sensitivity of approximately 0.025 mm. A decentralized 5 axis controller has been developed using modal control techniques. Proportional integral derivative controls are used for each axis to levitate the magnetically supported impeller.

Highways and Urban Decentralization

DOT National Transportation Integrated Search

1998-01-01

This report documents a retrospective study of the relationship between highways and urban decentralization. We see decentralization as caused largely by the increased consumption of land by residents and businesses which occurs mainly because of hig...

A design optimization process for Space Station Freedom

NASA Technical Reports Server (NTRS)

Chamberlain, Robert G.; Fox, George; Duquette, William H.

1990-01-01

The Space Station Freedom Program is used to develop and implement a process for design optimization. Because the relative worth of arbitrary design concepts cannot be assessed directly, comparisons must be based on designs that provide the same performance from the point of view of station users; such designs can be compared in terms of life cycle cost. Since the technology required to produce a space station is widely dispersed, a decentralized optimization process is essential. A formulation of the optimization process is provided and the mathematical models designed to facilitate its implementation are described.

Modeling and control of flexible space platforms with articulated payloads

NASA Technical Reports Server (NTRS)

Graves, Philip C.; Joshi, Suresh M.

1989-01-01

The first steps in developing a methodology for spacecraft control-structure interaction (CSI) optimization are identification and classification of anticipated missions, and the development of tractable mathematical models in each mission class. A mathematical model of a generic large flexible space platform (LFSP) with multiple independently pointed rigid payloads is considered. The objective is not to develop a general purpose numerical simulation, but rather to develop an analytically tractable mathematical model of such composite systems. The equations of motion for a single payload case are derived, and are linearized about zero steady-state. The resulting model is then extended to include multiple rigid payloads, yielding the desired analytical form. The mathematical models developed clearly show the internal inertial/elastic couplings, and are therefore suitable for analytical and numerical studies. A simple decentralized control law is proposed for fine pointing the payloads and LFSP attitude control, and simulation results are presented for an example problem. The decentralized controller is shown to be adequate for the example problem chosen, but does not, in general, guarantee stability. A centralized dissipative controller is then proposed, requiring a symmetric form of the composite system equations. Such a controller guarantees robust closed loop stability despite unmodeled elastic dynamics and parameter uncertainties.

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.

Autonomous formation flight of helicopters: Model predictive control approach

NASA Astrophysics Data System (ADS)

Chung, Hoam

Formation flight is the primary movement technique for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams are required to fly in tight formations and under harsh conditions. This dissertation proposes that the automation of helicopter formations is a realistic solution capable of alleviating risks. Helicopter formation flight operations in battlefield situations are highly dynamic and dangerous, and, therefore, we maintain that both a high-level formation management system and a distributed coordinated control algorithm should be implemented to help ensure safe formations. The starting point for safe autonomous formation flights is to design a distributed control law attenuating external disturbances coming into a formation, so that each vehicle can safely maintain sufficient clearance between it and all other vehicles. While conventional methods are limited to homogeneous formations, our decentralized model predictive control (MPC) approach allows for heterogeneity in a formation. In order to avoid the conservative nature inherent in distributed MPC algorithms, we begin by designing a stable MPC for individual vehicles, and then introducing carefully designed inter-agent coupling terms in a performance index. Thus the proposed algorithm works in a decentralized manner, and can be applied to the problem of helicopter formations comprised of heterogenous vehicles. Individual vehicles in a team may be confronted by various emerging situations that will require the capability for in-flight reconfiguration. We propose the concept of a formation manager to manage separation, join, and synchronization of flight course changes. The formation manager accepts an operator's commands, information from neighboring vehicles, and its own vehicle states. Inside the formation manager, there are multiple modes and complex mode switchings represented as a finite state machine (FSM). Based on the current mode and collected information, the FSM generates discrete reference points in state space. Then, the reference trajectory generator makes smooth trajectories from discrete reference points using interpolation and/or an online optimization scheme. By modifying the reference trajectory and triggering mode changes, the formation manager can override behaviors of the MPC controller. When a vehicle outside of the formation approaches a vehicle at the edge of the formation, the motion of the vehicle at the formation edge acts like a disturbance with respect to the vehicle attempting to join the formation. The vehicle at the edge of the formation cannot cooperate with any vehicle outside of the formation due to constraints on maintaining the existing formation. (Abstract shortened by UMI.)

Taking stock of decentralized disaster risk reduction in Indonesia

NASA Astrophysics Data System (ADS)

Grady, Anthony; Gersonius, Berry; Makarigakis, Alexandros

2016-09-01

The Sendai Framework, which outlines the global course on disaster risk reduction until 2030, places strong importance on the role of local government in disaster risk reduction. An aim of decentralization is to increase the influence and authority of local government in decision making. Yet, there is limited empirical evidence of the extent, character and effects of decentralization in current disaster risk reduction implementation, and of the barriers that are most critical to this. This paper evaluates decentralization in relation to disaster risk reduction in Indonesia, chosen for its recent actions to decentralize governance of DRR coupled with a high level of disaster risk. An analytical framework was developed to evaluate the various dimensions of decentralized disaster risk reduction, which necessitated the use of a desk study, semi-structured interviews and a gap analysis. Key barriers to implementation in Indonesia included: capacity gaps at lower institutional levels, low compliance with legislation, disconnected policies, issues in communication and coordination and inadequate resourcing. However, any of these barriers are not unique to disaster risk reduction, and similar barriers have been observed for decentralization in other developing countries in other public sectors.

Platform Architecture for Decentralized Positioning Systems.

PubMed

Kasmi, Zakaria; Norrdine, Abdelmoumen; Blankenbach, Jörg

2017-04-26

A platform architecture for positioning systems is essential for the realization of a flexible localization system, which interacts with other systems and supports various positioning technologies and algorithms. The decentralized processing of a position enables pushing the application-level knowledge into a mobile station and avoids the communication with a central unit such as a server or a base station. In addition, the calculation of the position on low-cost and resource-constrained devices presents a challenge due to the limited computing, storage capacity, as well as power supply. Therefore, we propose a platform architecture that enables the design of a system with the reusability of the components, extensibility (e.g., with other positioning technologies) and interoperability. Furthermore, the position is computed on a low-cost device such as a microcontroller, which simultaneously performs additional tasks such as data collecting or preprocessing based on an operating system. The platform architecture is designed, implemented and evaluated on the basis of two positioning systems: a field strength system and a time of arrival-based positioning system.

Platform Architecture for Decentralized Positioning Systems

PubMed Central

Kasmi, Zakaria; Norrdine, Abdelmoumen; Blankenbach, Jörg

2017-01-01

A platform architecture for positioning systems is essential for the realization of a flexible localization system, which interacts with other systems and supports various positioning technologies and algorithms. The decentralized processing of a position enables pushing the application-level knowledge into a mobile station and avoids the communication with a central unit such as a server or a base station. In addition, the calculation of the position on low-cost and resource-constrained devices presents a challenge due to the limited computing, storage capacity, as well as power supply. Therefore, we propose a platform architecture that enables the design of a system with the reusability of the components, extensibility (e.g., with other positioning technologies) and interoperability. Furthermore, the position is computed on a low-cost device such as a microcontroller, which simultaneously performs additional tasks such as data collecting or preprocessing based on an operating system. The platform architecture is designed, implemented and evaluated on the basis of two positioning systems: a field strength system and a time of arrival-based positioning system. PMID:28445414

Decentralized robust nonlinear model predictive controller for unmanned aerial systems

NASA Astrophysics Data System (ADS)

Garcia Garreton, Gonzalo A.

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

Concurrent Learning of Control in Multi agent Sequential Decision Tasks

DTIC Science & Technology

2018-04-17

Concurrent Learning of Control in Multi-agent Sequential Decision Tasks The overall objective of this project was to develop multi-agent reinforcement...learning (MARL) approaches for intelligent agents to autonomously learn distributed control policies in decentral- ized partially observable...shall be subject to any oenalty for failing to comply with a collection of information if it does not display a currently valid OMB control number

Maritime Homeland Command Control: Teaching an Old Dog New Tricks

DTIC Science & Technology

2002-02-04

Security, Command and Control, Navy, Coast Guard, Customs Service, Centralized Control, Decentralized Execution, Organization by Objectives 15.Abstract...primarily responsible for the maritime homeland, the Navy, the Coast guard, the Customs Service, should provide resources and command capabilities to a...Coast Guard, the Customs Service, should provide resources and command capabilities to a unified command and control structure. Coast Guard forces and

[Analysis of the healthcare service decentralization process in Côte d'Ivoire].

PubMed

Soura, B D; Coulibaly, S S

2014-01-01

The decentralization of healthcare services is becoming increasingly important in strategies of public sector management. This concept is analyzed from various points of view, including legal, economic, political, and sociological. Several typologies have been proposed in the literature to analyze this decentralization process, which can take different forms ranging from simple deconcentration to more elaborate devolution. In some instances, decentralization can be analyzed by the degree of autonomy given to local authorities. This article applies these typologies to analyze the healthcare system decentralization process in Cote d'Ivoire. Special attention is paid to the new forms of community healthcare organizations. These decentralized structures enjoy a kind of autonomy, with characteristics closer to those of devolution. The model might serve as an example for population involvement in defining and managing healthcare problems in Cote d'Ivoire. We end with proposals for the improvement of the process.

The Effect of Fiscal Decentralization on Under-five Mortality in Iran: A Panel Data Analysis.

PubMed

Samadi, Ali Hussein; Keshtkaran, Ali; Kavosi, Zahra; Vahedi, Sajad

2013-11-01

Fiscal Decentralization (FD) in many cases is encouraged as a strong means of improving the efficiency and equity in the provision of public goods, such as healthcare services. This issue has urged the researchers to experimentally examine the relationship between fiscal decentralization indicators and health outcomes. In this study we examine the effect of Fiscal Decentralization in Medical Universities (FDMU) and Fiscal Decentralization in Provincial Revenues (FDPR) on Under-Five Mortality Rate (U5M) in provinces of Iran over the period between 2007 and 2010. We employed panel data methods in this article. The results of the Pesaran CD test demonstrated that most of the variables used in the analysis were cross-sectionally dependent. The Hausman test results suggested that fixed-effects were more appropriate to estimate our model. We estimated the fixed-effect model by using Driscoll-Kraay standard errors as a remedy for cross-sectional dependency. According to the findings of this research, fiscal decentralization in the health sector had a negative impact on U5M. On the other hand, fiscal decentralization in provincial revenues had a positive impact on U5M. In addition, U5M had a negative association with the density of physicians, hospital beds, and provincial GDP per capita, but a positive relationship with Gini coefficient and unemployment. The findings of our study indicated that fiscal decentralization should be emphasized in the health sector. The results suggest the need for caution in the implementation of fiscal decentralization in provincial revenues.

Relationships between digital signal processing and control and estimation theory

NASA Technical Reports Server (NTRS)

Willsky, A. S.

1978-01-01

Research directions in the fields of digital signal processing and modern control and estimation theory are discussed. Stability theory, linear prediction and parameter identification, system synthesis and implementation, two-dimensional filtering, decentralized control and estimation, and image processing are considered in order to uncover some of the basic similarities and differences in the goals, techniques, and philosophy of the disciplines.

Requirements for sustainable schistosomiasis control.

PubMed

Traoré, M

1996-01-01

In Mali the increased transmission of schistosomiasis following the construction of numerous reservoirs and irrigation schemes, together with experience gained in tackling the disease, have led to a major effort to train personnel in control methods, to achieve decentralized delivery and management, and to foster self-reliance in this field. The author outlines the essential components of a sound national control programme requiring long-term commitment.

Reconfigurable Software for Controlling Formation Flying

NASA Technical Reports Server (NTRS)

Mueller, Joseph B.

2006-01-01

Software for a system to control the trajectories of multiple spacecraft flying in formation is being developed to reflect underlying concepts of (1) a decentralized approach to guidance and control and (2) reconfigurability of the control system, including reconfigurability of the software and of control laws. The software is organized as a modular network of software tasks. The computational load for both determining relative trajectories and planning maneuvers is shared equally among all spacecraft in a cluster. The flexibility and robustness of the software are apparent in the fact that tasks can be added, removed, or replaced during flight. In a computational simulation of a representative formation-flying scenario, it was demonstrated that the following are among the services performed by the software: Uploading of commands from a ground station and distribution of the commands among the spacecraft, Autonomous initiation and reconfiguration of formations, Autonomous formation of teams through negotiations among the spacecraft, Working out details of high-level commands (e.g., shapes and sizes of geometrically complex formations), Implementation of a distributed guidance law providing autonomous optimization and assignment of target states, and Implementation of a decentralized, fuel-optimal, impulsive control law for planning maneuvers.

Decentralized Quasi-Newton Methods

NASA Astrophysics Data System (ADS)

Eisen, Mark; Mokhtari, Aryan; Ribeiro, Alejandro

2017-05-01

We introduce the decentralized Broyden-Fletcher-Goldfarb-Shanno (D-BFGS) method as a variation of the BFGS quasi-Newton method for solving decentralized optimization problems. The D-BFGS method is of interest in problems that are not well conditioned, making first order decentralized methods ineffective, and in which second order information is not readily available, making second order decentralized methods impossible. D-BFGS is a fully distributed algorithm in which nodes approximate curvature information of themselves and their neighbors through the satisfaction of a secant condition. We additionally provide a formulation of the algorithm in asynchronous settings. Convergence of D-BFGS is established formally in both the synchronous and asynchronous settings and strong performance advantages relative to first order methods are shown numerically.

An Effective and Robust Decentralized Target Tracking Scheme in Wireless Camera Sensor Networks.

PubMed

Fu, Pengcheng; Cheng, Yongbo; Tang, Hongying; Li, Baoqing; Pei, Jun; Yuan, Xiaobing

2017-03-20

In this paper, we propose an effective and robust decentralized tracking scheme based on the square root cubature information filter (SRCIF) to balance the energy consumption and tracking accuracy in wireless camera sensor networks (WCNs). More specifically, regarding the characteristics and constraints of camera nodes in WCNs, some special mechanisms are put forward and integrated in this tracking scheme. First, a decentralized tracking approach is adopted so that the tracking can be implemented energy-efficiently and steadily. Subsequently, task cluster nodes are dynamically selected by adopting a greedy on-line decision approach based on the defined contribution decision (CD) considering the limited energy of camera nodes. Additionally, we design an efficient cluster head (CH) selection mechanism that casts such selection problem as an optimization problem based on the remaining energy and distance-to-target. Finally, we also perform analysis on the target detection probability when selecting the task cluster nodes and their CH, owing to the directional sensing and observation limitations in field of view (FOV) of camera nodes in WCNs. From simulation results, the proposed tracking scheme shows an obvious improvement in balancing the energy consumption and tracking accuracy over the existing methods.

An Effective and Robust Decentralized Target Tracking Scheme in Wireless Camera Sensor Networks

PubMed Central

Fu, Pengcheng; Cheng, Yongbo; Tang, Hongying; Li, Baoqing; Pei, Jun; Yuan, Xiaobing

2017-01-01

In this paper, we propose an effective and robust decentralized tracking scheme based on the square root cubature information filter (SRCIF) to balance the energy consumption and tracking accuracy in wireless camera sensor networks (WCNs). More specifically, regarding the characteristics and constraints of camera nodes in WCNs, some special mechanisms are put forward and integrated in this tracking scheme. First, a decentralized tracking approach is adopted so that the tracking can be implemented energy-efficiently and steadily. Subsequently, task cluster nodes are dynamically selected by adopting a greedy on-line decision approach based on the defined contribution decision (CD) considering the limited energy of camera nodes. Additionally, we design an efficient cluster head (CH) selection mechanism that casts such selection problem as an optimization problem based on the remaining energy and distance-to-target. Finally, we also perform analysis on the target detection probability when selecting the task cluster nodes and their CH, owing to the directional sensing and observation limitations in field of view (FOV) of camera nodes in WCNs. From simulation results, the proposed tracking scheme shows an obvious improvement in balancing the energy consumption and tracking accuracy over the existing methods. PMID:28335537

Spatial optimization for decentralized non-potable water reuse

NASA Astrophysics Data System (ADS)

Kavvada, Olga; Nelson, Kara L.; Horvath, Arpad

2018-06-01

Decentralization has the potential to reduce the scale of the piped distribution network needed to enable non-potable water reuse (NPR) in urban areas by producing recycled water closer to its point of use. However, tradeoffs exist between the economies of scale of treatment facilities and the size of the conveyance infrastructure, including energy for upgradient distribution of recycled water. To adequately capture the impacts from distribution pipes and pumping requirements, site-specific conditions must be accounted for. In this study, a generalized framework (a heuristic modeling approach using geospatial algorithms) is developed that estimates the financial cost, the energy use, and the greenhouse gas emissions associated with NPR (for toilet flushing) as a function of scale of treatment and conveyance networks with the goal of determining the optimal degree of decentralization. A decision-support platform is developed to assess and visualize NPR system designs considering topography, economies of scale, and building size. The platform can be used for scenario development to explore the optimal system size based on the layout of current or new buildings. The model also promotes technology innovation by facilitating the systems-level comparison of options to lower costs, improve energy efficiency, and lower greenhouse gas emissions.

76 FR 54190 - Proposed Privacy Act System of Records

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-31

... decentralized, with each mission area and agency managing its respective FOIA programs. At the end of each year...-know basis. Role-based access controls are used, and FX is only accessible via the Internet using USDA...

ERIC Abstracts: A Collection of ERIC Document Resumes on Citizen Involvement in the Control of Schools.

ERIC Educational Resources Information Center

American Association of School Administrators, Washington, DC.

ERIC abstracts on citizen involvement in the control of schools, announced in RIE through Novermber 1970, are presented. The key terms used in compiling this collection are "citizen participation,""decentralization,""parent participation,""parent school relationship,""school community relationship," and "school district autonomy." The following…

Coordination of Distributed Fuzzy Behaviors in Mobile Robot Control

NASA Technical Reports Server (NTRS)

Tunstel, E.

1995-01-01

This presentation describes an approach to behavior coordination and conflict resolution within the context of a hierarchical architecture of fuzzy behaviors. Coordination is achieved using weighted decision-making based on behavioral degrees of applicability. This strategy is appropriate for fuzzy control of systems that can be represented by hierarchical or decentralized structures.

Technology and Music Education in a Digitized, Disembodied, Posthuman World

ERIC Educational Resources Information Center

Thwaites, Trevor

2014-01-01

Digital forms of sound manipulation are eroding traditional methods of sound development and transmission, causing a disjuncture in the ontology of music. Sound, the ambient phenomenon, is becoming disrupted and decentred by the struggles between long established controls, beliefs and desires as well as controls from within technologized contexts.…

Decentralized Control of a Large Space Structure as Applied to the CSDL 2 Model.

DTIC Science & Technology

1982-12-01

and are arranged by their respective controller assignments. The individual modes may be identified by the imaginary parts of the eigen- values, as...August 1958 to Phillip Z. and Hanako Y. Aldridge in Johnson Air Force Base, Japan. After a childhood in the United States, he returned to Japan

PROFILES OF SIGNIFICANT SCHOOLS.

ERIC Educational Resources Information Center

FEATHERSTONE, RICHARD L.; LEU, DONALD J.

A DESCRIPTION OF THE HOLLAND HIGH SCHOOL IN MICHIGAN IS GIVEN. INDIVIDUAL STUDENT NEEDS, TECHNOLOGICAL EQUIPMENT, AND COLLEGE PREPARATORY CURRICULUM WERE EMPHASIZED BY THE CONSULTANT AND THE ARCHITECT WHO DESIGNED THE BUILDING. THE CAMPUS WAS OF A DECENTRALIZED PLAN WITH FOUR SMALL SCHOOLS ADJOINING A COMMON UNIT FOR SCIENCE AND BUSINESS…

NATIONAL RESEARCH NEEDS CONFERENCE PROCEEDINGS: RISK-BASED DECISION MAKING FOR ONSITE WASTEWATER TREATMENT

EPA Science Inventory

The Research Needs Conference Proceedings consist of a description of the background for the project and a series of white papers on the topics of integrated risk assessment/management for decentralized wastewater systems, design and performance of onsite soil adsorption systems,...

Driving Parameters for Distributed and Centralized Air Transportation Architectures

NASA Technical Reports Server (NTRS)

Feron, Eric

2001-01-01

This report considers the problem of intersecting aircraft flows under decentralized conflict avoidance rules. Using an Eulerian standpoint (aircraft flow through a fixed control volume), new air traffic control models and scenarios are defined that enable the study of long-term airspace stability problems. Considering a class of two intersecting aircraft flows, it is shown that airspace stability, defined both in terms of safety and performance, is preserved under decentralized conflict resolution algorithms. Performance bounds are derived for the aircraft flow problem under different maneuver models. Besides analytical approaches, numerical examples are presented to test the theoretical results, as well as to generate some insight about the structure of the traffic flow after resolution. Considering more than two intersecting aircraft flows, simulations indicate that flow stability may not be guaranteed under simple conflict avoidance rules. Finally, a comparison is made with centralized strategies to conflict resolution.

Decentralization can help reduce deforestation when user groups engage with local government.

PubMed

Wright, Glenn D; Andersson, Krister P; Gibson, Clark C; Evans, Tom P

2016-12-27

Policy makers around the world tout decentralization as an effective tool in the governance of natural resources. Despite the popularity of these reforms, there is limited scientific evidence on the environmental effects of decentralization, especially in tropical biomes. This study presents evidence on the institutional conditions under which decentralization is likely to be successful in sustaining forests. We draw on common-pool resource theory to argue that the environmental impact of decentralization hinges on the ability of reforms to engage local forest users in the governance of forests. Using matching techniques, we analyze longitudinal field observations on both social and biophysical characteristics in a large number of local government territories in Bolivia (a country with a decentralized forestry policy) and Peru (a country with a much more centralized forestry policy). We find that territories with a decentralized forest governance structure have more stable forest cover, but only when local forest user groups actively engage with the local government officials. We provide evidence in support of a possible causal process behind these results: When user groups engage with the decentralized units, it creates a more enabling environment for effective local governance of forests, including more local government-led forest governance activities, fora for the resolution of forest-related conflicts, intermunicipal cooperation in the forestry sector, and stronger technical capabilities of the local government staff.

Decentralization can help reduce deforestation when user groups engage with local government

PubMed Central

Wright, Glenn D.; Gibson, Clark C.; Evans, Tom P.

2016-01-01

Policy makers around the world tout decentralization as an effective tool in the governance of natural resources. Despite the popularity of these reforms, there is limited scientific evidence on the environmental effects of decentralization, especially in tropical biomes. This study presents evidence on the institutional conditions under which decentralization is likely to be successful in sustaining forests. We draw on common-pool resource theory to argue that the environmental impact of decentralization hinges on the ability of reforms to engage local forest users in the governance of forests. Using matching techniques, we analyze longitudinal field observations on both social and biophysical characteristics in a large number of local government territories in Bolivia (a country with a decentralized forestry policy) and Peru (a country with a much more centralized forestry policy). We find that territories with a decentralized forest governance structure have more stable forest cover, but only when local forest user groups actively engage with the local government officials. We provide evidence in support of a possible causal process behind these results: When user groups engage with the decentralized units, it creates a more enabling environment for effective local governance of forests, including more local government-led forest governance activities, fora for the resolution of forest-related conflicts, intermunicipal cooperation in the forestry sector, and stronger technical capabilities of the local government staff. PMID:27956644

Strategies of Educational Decentralization: Key Questions and Core Issues.

ERIC Educational Resources Information Center

Hanson, E. Mark

1998-01-01

Explains key issues and forces that shape organization and management strategies of educational decentralization, using examples from Colombia, Venezuela, Argentina, Nicaragua, and Spain. Core decentralization issues include national and regional goals, planning, political stress, resource distribution, infrastructure development, and job…

Decentralized Adaptive Control For Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Precise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.

Household Schooling Behaviors and Decentralization.

ERIC Educational Resources Information Center

Behrman, Jere R.; King, Elizabeth M.

2001-01-01

Presents a simple framework for (1) demonstrating how households determine schooling investments through choice and voice; and (2) considering effects of decentralization on household behaviors, given information problems. Some aspects of decentralization may increase efficiency; others may be neutral or decrease efficiency. Further research is…

Leadership in Decentralized Schools.

ERIC Educational Resources Information Center

Madsen, Jean

1997-01-01

Summarizes a study that examined principals' leadership in three private schools and its implications for decentralized public schools. With the increase of charter and privatized managed schools, principals will need to redefine their leadership styles. Private schools, as decentralized entities, offer useful perspectives on developing school…

Attitudes and perceptions of stakeholders on decentralization of health services in Uganda: the case of Lira and Apac districts.

PubMed

Anokbonggo, W W; Ogwal-Okeng, J W; Ross-Degnan, D; Aupont, O

2004-02-01

In Uganda, the decentralization of administrative functions, management, and responsibility for health care to districts, which began in 1994, resulted in fundamental changes in health care delivery. Since the introduction of the policy in Uganda, little information has been available on stakeholders' perceptions about the benefits of the policy and how decentralization affected health care delivery. To identify the perceptions and beliefs of key stakeholders on the impact and process of decentralization and on the operations of health services in two districts in Uganda, and to report their suggestions to improve future implementation of similar policies. We used qualitative research methods that included focus group discussions with 90 stakeholders from both study districts. The sample population comprised of 12 health workers from the two hospitals, 11 district health administrators, and 67 Local Council Leaders. Perceptions and concerns of stakeholders on the impact of decentralization on district health services. There was a general consensus that decentralization empowered local administrative and political decision-making. Among stakeholders, the policy was perceived to have created a sense of ownership and responsibility. Major problems that were said to be associated with decentralization included political harassment of civil servants, increased nepotism, inadequate financial resources, and mismanagement of resources. This study elicited perceptions about critical factors upon which successful implementation of the decentralization policy depended. These included: appreciation of the role of all stakeholders by district politicians; adequate availability and efficient utilization of resources; reasonably developed infrastructure prior to the policy change; appropriate sensitisation and training of those implementing policies; and the good will and active involvement of the local community. In the absence of these factors, implementation of decentralization of services to districts may not immediately make economic and administrative sense.

Robust detection-isolation-accommodation for sensor failures

NASA Technical Reports Server (NTRS)

Weiss, J. L.; Pattipati, K. R.; Willsky, A. S.; Eterno, J. S.; Crawford, J. T.

1985-01-01

The results of a one year study to: (1) develop a theory for Robust Failure Detection and Identification (FDI) in the presence of model uncertainty, (2) develop a design methodology which utilizes the robust FDI ththeory, (3) apply the methodology to a sensor FDI problem for the F-100 jet engine, and (4) demonstrate the application of the theory to the evaluation of alternative FDI schemes are presented. Theoretical results in statistical discrimination are used to evaluate the robustness of residual signals (or parity relations) in terms of their usefulness for FDI. Furthermore, optimally robust parity relations are derived through the optimization of robustness metrics. The result is viewed as decentralization of the FDI process. A general structure for decentralized FDI is proposed and robustness metrics are used for determining various parameters of the algorithm.

Centralized vs decentralized options for an European Data Relay Satellite system

NASA Astrophysics Data System (ADS)

Saint Aubert, S.; Hervieux, M.; Perbos, J. L.; Saggese, E.; Soprano, C.

1985-10-01

The European Data Relay Satellite (DRS) is now being planned to support future European missions in the nineties and in particular the various elements of the in-orbit infrastructure. Studies are being conducted to investigate the usefulness of the relay system as well as to provide the basis for issuing technical specifications for a development and launch in 1993. This paper presents the results of a study issued by ESA on possible options for a DRS System, concentrating on the comparison between a centralized and a decentralized data distribution concept. After recalling the space programs foreseen in Europe, the paper discusses the architecture and design of the various elements of the System: space segment, DRS ground segment, and user ground segment for different options of data dissemination.

Centralized vs decentralized options for a european data relay satellite system

NASA Astrophysics Data System (ADS)

Aubert, Ph. Saint; Hervieux, M.; Perbos, J. L.; Saggese, E.; Soprano, C.

The European Data Relay Satellite (DRS) is now being planned to support future European missions in the nineties and in particular the various elements of the in-orbit infrastructure. Studies are being conducted to investigate the usefulness of the Relay System as well as to provide the basis for issuing technical specifications for a development and launch in 1993. This paper presents the results of a study issued by ESA on possible options for a DRS System, concentrating on the comparison between a centralized and a decentralized data distribution concept. After recalling the space programmes foreseen in Europe, the paper discusses the architecture and design of the various elements of the System: space segment, DRS ground segment and user ground segment for different options of data dissemination.

Introduction to Blueweb: A Decentralized Scatternet Formation Algorithm for Bluetooth Ad Hoc Networks

NASA Astrophysics Data System (ADS)

Yu, Chih-Min; Huang, Chia-Chi

In this letter, a decentralized scatternet formation algorithm called Bluelayer is proposed. First, Bluelayer uses a designated root to construct a tree-shaped subnet and propagates an integer variable k1 called counter limit as well as a constant k in its downstream direction to determine new roots. Then each new root asks its upstream master to start a return connection procedure to convert the tree-shaped subnet into a web-shaped subnet for its immediate upstream root. At the same time, each new root repeats the same procedure as the root to build its own subnet until the whole scatternet is formed. Simulation results show that Bluelayer achieves good network scalability and generates an efficient scatternet configuration for various sizes of Bluetooth ad hoc network.

Decentralized State/Federal Level Emergency Evacuation Management Centers

DTIC Science & Technology

1982-08-01

or federal control , have been used for disaster mitigation, control , and relief, and to o provide personal and property security. The prestige and...level (or state/region-level) agencies. This change shortens the chain of command, which broadens the span of control . Typically, more reliable...amount of information passed up from operating to middle and top-levels will increase, as will the decisions and controls passed down. There will be

Modeling and Optimization of Recycled Water Systems to Augment Urban Groundwater Recharge through Underutilized Stormwater Spreading Basins.

PubMed

Bradshaw, Jonathan L; Luthy, Richard G

2017-10-17

Infrastructure systems that use stormwater and recycled water to augment groundwater recharge through spreading basins represent cost-effective opportunities to diversify urban water supplies. However, technical questions remain about how these types of managed aquifer recharge systems should be designed; furthermore, existing planning tools are insufficient for performing robust design comparisons. Addressing this need, we present a model for identifying the best-case design and operation schedule for systems that deliver recycled water to underutilized stormwater spreading basins. Resulting systems are optimal with respect to life cycle costs and water deliveries. Through a case study of Los Angeles, California, we illustrate how delivering recycled water to spreading basins could be optimally implemented. Results illustrate trade-offs between centralized and decentralized configurations. For example, while a centralized Hyperion system could deliver more recycled water to the Hansen Spreading Grounds, this system incurs approximately twice the conveyance cost of a decentralized Tillman system (mean of 44% vs 22% of unit life cycle costs). Compared to existing methods, our model allows for more comprehensive and precise analyses of cost, water volume, and energy trade-offs among different design scenarios. This model can inform decisions about spreading basin operation policies and the development of new water supplies.

Designing Decentralized Water and Electricity Supply System for Small Recreational Facilities in the South of Russia

NASA Astrophysics Data System (ADS)

Kasharin, D. V.

2017-11-01

The article tackles the issues of designing seasonal water and power supply systems for small recreational facilities in the south of Russia based on intelligent decision support systems. The paper proposes modular prefabricated shell water and power supply works (MPSW&PW) along with energy-efficient standalone water-treatment plants as the principal facilities compliant with the environmental and infrastructural requirements applied to specially protected areas and ensuring the least possible damage to the environment due to a maximum possible use of local construction materials characterized by impressive safety margins in highly seismic environments. The task of designing water and power supply systems requires the consideration of issues pertaining to the development of an intelligent GIS-based system for the selection of water intake sites that facilitate automation of data-processing systems using a priori scanning methods with a variable step and random directions. The paper duly addresses such issues and develops parameterized optimization algorithms for MPSW&PW shell facilities. It equally provides the substantiation of water-treatment plants intelligent design based on energy recovery reverse osmosis and nanofiltration plants that enhance the energy efficiency of such plants serving as the optimum solution for the decentralized water supply of small recreational facilities from renewable energy sources.

Educational decentralization, public spending, and social justice in Nigeria

NASA Astrophysics Data System (ADS)

Geo-Jaja, Macleans A.

2007-01-01

This study situates the process of educational decentralization in the narrower context of social justice. Its main object, however, is to analyze the implications of decentralization for strategies of equity and social justice in Nigeria. It starts from the premise that the early optimism that supported decentralization as an efficient and effective educational reform tool has been disappointed. The author maintains that decentralization — on its own — cannot improve education service delivery, the capacities of subordinate governments, or the integration of social policy in broader development goals. If the desired goals are to be met, public spending must be increased, greater tax revenues must be secured, and macro-economic stabilization must be achieved without re-instituting the welfare state.

A decentralized mechanism for improving the functional robustness of distribution networks.

PubMed

Shi, Benyun; Liu, Jiming

2012-10-01

Most real-world distribution systems can be modeled as distribution networks, where a commodity can flow from source nodes to sink nodes through junction nodes. One of the fundamental characteristics of distribution networks is the functional robustness, which reflects the ability of maintaining its function in the face of internal or external disruptions. In view of the fact that most distribution networks do not have any centralized control mechanisms, we consider the problem of how to improve the functional robustness in a decentralized way. To achieve this goal, we study two important problems: 1) how to formally measure the functional robustness, and 2) how to improve the functional robustness of a network based on the local interaction of its nodes. First, we derive a utility function in terms of network entropy to characterize the functional robustness of a distribution network. Second, we propose a decentralized network pricing mechanism, where each node need only communicate with its distribution neighbors by sending a "price" signal to its upstream neighbors and receiving "price" signals from its downstream neighbors. By doing so, each node can determine its outflows by maximizing its own payoff function. Our mathematical analysis shows that the decentralized pricing mechanism can produce results equivalent to those of an ideal centralized maximization with complete information. Finally, to demonstrate the properties of our mechanism, we carry out a case study on the U.S. natural gas distribution network. The results validate the convergence and effectiveness of our mechanism when comparing it with an existing algorithm.

Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic

DOEpatents

Feddema, John T.; Driessen, Brian J.; Kwok, Kwan S.

2002-01-01

A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.

Design of Availability-Dependent Distributed Services in Large-Scale Uncooperative Settings

ERIC Educational Resources Information Center

Morales, Ramses Victor

2009-01-01

Thesis Statement: "Availability-dependent global predicates can be efficiently and scalably realized for a class of distributed services, in spite of specific selfish and colluding behaviors, using local and decentralized protocols". Several types of large-scale distributed systems spanning the Internet have to deal with availability variations…

Collaborative Teaching and Learning through Multi-Institutional Integrated Group Projects

ERIC Educational Resources Information Center

Long, Suzanna K.; Carlo, Héctor J.

2013-01-01

This teaching brief describes an innovative multi-institutional initiative through which integrated student groups from different courses collaborate on a common course project. In this integrated group project, students are asked to design a decentralized manufacturing organization for a company that will manufacture industrial Proton-Exchange…

An Allocation Model for Teaching and Nonteaching Staff in a Decentralized Institution.

ERIC Educational Resources Information Center

Dijkman, Frank G

1985-01-01

An allocation model for teaching and nonteaching staff developed at the University of Utrecht is characterized as highly normative, leading to lump sums to be allocated to academic departments. Details are given regarding the reasons for designing the new model and the process of implementation. (Author/MLW)

Design Considerations for Construction of Rural Primary Schools.

ERIC Educational Resources Information Center

Siddiqui, Kalim A.; And Others

Widely differing local conditions, increased community participation in education, more lifelong education, and decentralization of schools are factors which should affect the architecture of rural primary schools in Pakistan. Also significant are the results of a 1977 survey which indicate that building quality is unrelated to school attendance…

Experience API: Flexible, Decentralized and Activity-Centric Data Collection

ERIC Educational Resources Information Center

Kevan, Jonathan M.; Ryan, Paul R.

2016-01-01

This emerging technology report describes the Experience API (xAPI), a new e-learning specification designed to support the learning community in standardizing and collecting both formal and informal distributed learning activities. Informed by Activity Theory, a framework aligned with constructivism, data is collected in the form of activity…

40 CFR 51.353 - Network type and program evaluation.

Code of Federal Regulations, 2010 CFR

2010-07-01

... § 51.351 or 51.352 of this subpart. For decentralized programs other than those meeting the design... presumptively equivalent to a centralized, test-only system including comparable test elements. States may allow...-serve gasoline, pre-packaged oil, or other, non-automotive, convenience store items. At the State's...

40 CFR 51.353 - Network type and program evaluation.

Code of Federal Regulations, 2012 CFR

2012-07-01

... § 51.351 or 51.352 of this subpart. For decentralized programs other than those meeting the design... presumptively equivalent to a centralized, test-only system including comparable test elements. States may allow...-serve gasoline, pre-packaged oil, or other, non-automotive, convenience store items. At the State's...

40 CFR 51.353 - Network type and program evaluation.

Code of Federal Regulations, 2014 CFR

2014-07-01

... § 51.351 or 51.352 of this subpart. For decentralized programs other than those meeting the design... presumptively equivalent to a centralized, test-only system including comparable test elements. States may allow...-serve gasoline, pre-packaged oil, or other, non-automotive, convenience store items. At the State's...

School-Based Decision Making: A Principal-Agent Perspective.

ERIC Educational Resources Information Center

Ferris, James M.

1992-01-01

A principal-agent framework is used to examine potential gains in educational performance and potential threats to public accountability that school-based decision-making proposals pose. Analysis underscores the need to tailor the design of decentralized decision making to the sources of poor educational performance and threats to school…

The Information Revolution.

ERIC Educational Resources Information Center

Gilder, George

1993-01-01

A technological revolution is erupting all about us. A millionfold rise in computation and communications cost effectiveness will transform all industries and bureaucracies. The information revolution is a decentralizing, microcosmic electronic force opposing the centralizing, controlling Industrial-Age mentality persisting in schools. Television…

New Teacher Induction and Mentoring Program for a Virtual Setting

ERIC Educational Resources Information Center

Marsh, Rose M.

2012-01-01

Schools have gone through educational reforms having various focuses on curriculum changes, consolidation, open classrooms, mastery learning, decentralization, shared decisionmaking, legislative mandates and controls, high expectations, integrated thematic instruction, professional development, technology integration, and standards with…

Decentralized Decision Making Toward Educational Goals.

ERIC Educational Resources Information Center

Monahan, William W.; Johnson, Homer M.

This monograph provides guidelines to help those school districts considering a more decentralized form of management. The authors discuss the levels at which different types of decisions should be made, describe the changing nature of the educational environment, identify different centralization-decentralization models, and suggest a flexible…

Decentralized Budgeting in Education: Model Variations and Practitioner Perspectives.

ERIC Educational Resources Information Center

Hall, George; Metsinger, Jackie; McGinnis, Patricia

In educational settings, decentralized budgeting refers to various fiscal practices that disperse budgeting responsibility away from central administration to the line education units. This distributed decision-making is common to several financial management models. Among the many financial management models that employ decentralized budgeting…

Decentralization and equity of resource allocation: evidence from Colombia and Chile.

PubMed Central

Bossert, Thomas J.; Larrañaga, Osvaldo; Giedion, Ursula; Arbelaez, José Jesus; Bowser, Diana M.

2003-01-01

OBJECTIVE: To investigate the relation between decentralization and equity of resource allocation in Colombia and Chile. METHODS: The "decision space" approach and analysis of expenditures and utilization rates were used to provide a comparative analysis of decentralization of the health systems of Colombia and Chile. FINDINGS: Evidence from Colombia and Chile suggests that decentralization, under certain conditions and with some specific policy mechanisms, can improve equity of resource allocation. In these countries, equitable levels of per capita financial allocations at the municipal level were achieved through different forms of decentralization--the use of allocation formulae, adequate local funding choices and horizontal equity funds. Findings on equity of utilization of services were less consistent, but they did show that increased levels of funding were associated with increased utilization. This suggests that improved equity of funding over time might reduce inequities of service utilization. CONCLUSION: Decentralization can contribute to, or at least maintain, equitable allocation of health resources among municipalities of different incomes. PMID:12751417

The Kerala Decentration Meter. A new method and devise for fitting the optical of spectacle lenses in the visual axis.

PubMed

Joseph, T K; Kartha, C P

1982-01-01

Centring of spectacle lenses is much neglected field of ophthalmology. The prismatic effect caused by wrong centring results in a phoria on the eye muscles which in turn causes persistent eyestrain. The theory of visual axis, optical axis and angle alpha is discussed. Using new methods the visual axis and optical axis of 35 subjects were measured. The results were computed for facial asymmetry, parallax error, angle alpha and also decentration for near vision. The results show that decentration is required on account of each of these factors. Considerable correction is needed in the vertical direction, a fact much neglected nowadays; and vertical decentration results in vertical phoria which is more symptomatic than horizontal phorias. Angle Alpha was computed for each of these patients. A new devise called 'The Kerala Decentration Meter' using the pinhole method for measuring the degree of decentration from the datum centre of the frame, and capable of correcting all the factors described above, is shown with diagrams.

ECASTAR: Energy conservation. An assessment of systems, technologies and requirements

NASA Technical Reports Server (NTRS)

1975-01-01

A methodology was presented for a systems approach to energy conservation actions and their potentials and impacts in the United States. Constraints affecting the approach were ranked, and the most important ones are the present economic and technical conditions. The following unresolved issues were identified: consumptive lifestyles vs. conservation ethic, environmental standards vs. energy conservation, capital availability, decentralization and vertical integration vs. centralization, fuel rich regions vs. fuel poor regions, supply vs. end use conservation, life cycle costing vs. initial cost, mandatory savings vs. voluntary savings, labor intensive vs. capital intensive, price control vs. free market. The following recommendations were made: provide action/impact assessment, establish regional energy centers, improve technology articulation with government, design total energy systems, utilize existing systems approach expertise.

Factors influencing flap and INTACS decentration after femtosecond laser application in normal and keratoconic eyes.

PubMed

Ertan, Aylin; Karacal, Humeyra

2008-10-01

To compare accuracy of LASIK flap and INTACS centration following femtosecond laser application in normal and keratoconic eyes. This is a retrospective case series comprising 133 eyes of 128 patients referred for refractive surgery. All eyes were divided into two groups according to preoperative diagnosis: group 1 (LASIK group) comprised 74 normal eyes of 72 patients undergoing LASIK with a femtosecond laser (IntraLase), and group 2 (INTACS group) consisted of 59 eyes of 39 patients with keratoconus for whom INTACS were implanted using a femtosecond laser (IntraLase). Decentration of the LASIK flap and INTACS was analyzed using Pentacam. Temporal decentration was 612.56 +/- 384.24 microm (range: 30 to 2120 microm) in the LASIK group and 788.33 +/- 500.34 microm (range: 30 to 2450 microm) in the INTACS group. A statistically significant difference was noted between the groups in terms of decentration (P < .05). Regression analysis showed that the amount of decentration of the LASIK flap and INTACS correlated with the central corneal thickness in the LASIK group and preoperative sphere and cylinder in the INTACS group, respectively. Decentration with the IntraLase occurred in most cases, especially in keratoconic eyes. The applanation performed for centralization during IntraLase application may flatten and shift the pupil center, and thus cause decentralization of the LASIK flap and INTACS. Central corneal thickness in the LASIK group and preoperative sphere and cylinder in the INTACS group proved to be statistically significant parameters associated with decentration.

A Hierarchical Framework for Demand-Side Frequency Control

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

Moya, Christian; Zhang, Wei; Lian, Jianming

2014-06-02

With large-scale plans to integrate renewable generation, more resources will be needed to compensate for the uncertainty associated with intermittent generation resources. Under such conditions, performing frequency control using only supply-side resources become not only prohibitively expensive but also technically difficult. It is therefore important to explore how a sufficient proportion of the loads could assume a routine role in frequency control to maintain the stability of the system at an acceptable cost. In this paper, a novel hierarchical decentralized framework for frequency based load control is proposed. The framework involves two decision layers. The top decision layer determines themore » optimal droop gain required from the aggregated load response on each bus using a robust decentralized control approach. The second layer consists of a large number of devices, which switch probabilistically during contingencies so that the aggregated power change matches the desired droop amount according to the updated gains. The proposed framework is based on the classical nonlinear multi-machine power system model, and can deal with timevarying system operating conditions while respecting the physical constraints of individual devices. Realistic simulation results based on a 68-bus system are provided to demonstrate the effectiveness of the proposed strategy.« less

Using a Novel Wireless-Networked Decentralized Control Scheme under Unpredictable Environmental Conditions

PubMed Central

Chang, Chung-Liang; Huang, Yi-Ming; Hong, Guo-Fong

2015-01-01

The direction of sunshine or the installation sites of environmental control facilities in the greenhouse result in different temperature and humidity levels in the various zones of the greenhouse, and thus, the production quality of crop is inconsistent. This study proposed a wireless-networked decentralized fuzzy control scheme to regulate the environmental parameters of various culture zones within a greenhouse. The proposed scheme can create different environmental conditions for cultivating different crops in various zones and achieve diversification or standardization of crop production. A star-type wireless sensor network is utilized to communicate with each sensing node, actuator node, and control node in various zones within the greenhouse. The fuzzy rule-based inference system is used to regulate the environmental parameters for temperature and humidity based on real-time data of plant growth response provided by a growth stage selector. The growth stage selector defines the control ranges of temperature and humidity of the various culture zones according to the leaf area of the plant, the number of leaves, and the cumulative amount of light. The experimental results show that the proposed scheme is stable and robust and provides basis for future greenhouse applications. PMID:26569264

Some aspects of control of a large-scale dynamic system

NASA Technical Reports Server (NTRS)

Aoki, M.

1975-01-01

Techniques of predicting and/or controlling the dynamic behavior of large scale systems are discussed in terms of decentralized decision making. Topics discussed include: (1) control of large scale systems by dynamic team with delayed information sharing; (2) dynamic resource allocation problems by a team (hierarchical structure with a coordinator); and (3) some problems related to the construction of a model of reduced dimension.

Command in Air War: Centralized vs. Decentralized Control of Combat Airpower

DTIC Science & Technology

2005-05-19

centralized control of these missions, requiring a full day for scheduling a target, was ineffective at supporting the D-day invasion and even proved...dangerous to friendly troops. Americans developed a method of scheduling a steady stream of...controller took over this function. Thus, although the aircraft were still scheduled and routed by a centralized �Combined Operations Center,� they

Facility Monitoring: A Qualitative Theory for Sensor Fusion

NASA Technical Reports Server (NTRS)

Figueroa, Fernando

2001-01-01

Data fusion and sensor management approaches have largely been implemented with centralized and hierarchical architectures. Numerical and statistical methods are the most common data fusion methods found in these systems. Given the proliferation and low cost of processing power, there is now an emphasis on designing distributed and decentralized systems. These systems use analytical/quantitative techniques or qualitative reasoning methods for date fusion.Based on other work by the author, a sensor may be treated as a highly autonomous (decentralized) unit. Each highly autonomous sensor (HAS) is capable of extracting qualitative behaviours from its data. For example, it detects spikes, disturbances, noise levels, off-limit excursions, step changes, drift, and other typical measured trends. In this context, this paper describes a distributed sensor fusion paradigm and theory where each sensor in the system is a HAS. Hence, given the reach qualitative information from each HAS, a paradigm and formal definitions are given so that sensors and processes can reason and make decisions at the qualitative level. This approach to sensor fusion makes it possible the implementation of intuitive (effective) methods to monitor, diagnose, and compensate processes/systems and their sensors. This paradigm facilitates a balanced distribution of intelligence (code and/or hardware) to the sensor level, the process/system level, and a higher controller level. The primary application of interest is in intelligent health management of rocket engine test stands.

Decentralization or centralization: striking a balance.

PubMed

Dirschel, K M

1994-09-01

An Executive Vice President for Nursing can provide the necessary link to meet diverse clinical demands when encountering centralization--decentralization decisions. Centralized communication links hospital departments giving nurses a unified voice. Decentralization acknowledges the need for diversity and achieves the right balance of uniformity through a responsive communications network.

Centralization vs. Decentralization: A Location Analysis Approach for Librarians

ERIC Educational Resources Information Center

Raffel, Jeffrey; Shishko, Robert

1972-01-01

An application of location theory to the question of centralized versus decentralized library facilities for a university, with relevance for special libraries is presented. The analysis provides models for a single library, for two or more libraries, or for decentralized facilities. (6 references) (Author/NH)

Adaptive Fault-Tolerant Control of Uncertain Nonlinear Large-Scale Systems With Unknown Dead Zone.

PubMed

Chen, Mou; Tao, Gang

2016-08-01

In this paper, an adaptive neural fault-tolerant control scheme is proposed and analyzed for a class of uncertain nonlinear large-scale systems with unknown dead zone and external disturbances. To tackle the unknown nonlinear interaction functions in the large-scale system, the radial basis function neural network (RBFNN) is employed to approximate them. To further handle the unknown approximation errors and the effects of the unknown dead zone and external disturbances, integrated as the compounded disturbances, the corresponding disturbance observers are developed for their estimations. Based on the outputs of the RBFNN and the disturbance observer, the adaptive neural fault-tolerant control scheme is designed for uncertain nonlinear large-scale systems by using a decentralized backstepping technique. The closed-loop stability of the adaptive control system is rigorously proved via Lyapunov analysis and the satisfactory tracking performance is achieved under the integrated effects of unknown dead zone, actuator fault, and unknown external disturbances. Simulation results of a mass-spring-damper system are given to illustrate the effectiveness of the proposed adaptive neural fault-tolerant control scheme for uncertain nonlinear large-scale systems.

Particulate emission abatement for Krakow boiler houses

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

Wysk, S.R.; Surowka, J.

1995-11-01

Environmental clean-up and pollution control are considered top priorities in Poland. The magnitude of environmental problems and public awareness of it has forced the Polish government to implement more aggressive regulatory controls. The extent of this condition has in fact prompted the government to designate pollution control a a top priority for foreign investment. During the past five years, Poland has also made significant progress in reorienting its central-planned economy to one based on open market principals. Efforts to decentralize has led to the privatization of many government-owned businesses with a concomitant shift in buying decisions to privately-owned enterprises. Thismore » movement toward privatizing the economy along with cleaning and protecting the environment has created numerous business opportunities for both Polish and foreign companies. As a result, there has been a drastic downsizing of large formerly state-owned companies. And, new startups and small businesses have become the main hope in reviving the Polish economy.« less

The Paradox of Decentralizing Schools: Lessons from Business, Government, and the Catholic Church.

ERIC Educational Resources Information Center

Murphy, Jerome T.

1989-01-01

By the year 2000, school decentralization could become another unfortunate, ineffectual pendulum swing. According to this article, a dynamic, ever-changing system of decentralization and centralization balances the benefits of local administrative autonomy with the pursuit of unified goals and helps each leadership level understand its…

On Deciding How to Decide: To Centralize or Decentralize.

ERIC Educational Resources Information Center

Chaffee, Ellen Earle

Issues concerning whether to centralize or decentralize decision-making are addressed, with applications for colleges. Centralization/decentralization (C/D) must be analyzed with reference to a particular decision. Three components of C/D are locus of authority, breadth of participation, and relative contribution by the decision-maker's staff. C/D…

Centralization Versus Decentralization: A Location Analysis Approach for Librarians.

ERIC Educational Resources Information Center

Shishko, Robert; Raffel, Jeffrey

One of the questions that seems to perplex many university and special librarians is whether to move in the direction of centralizing or decentralizing the library's collections and facilities. Presented is a theoretical approach, employing location theory, to the library centralization-decentralization question. Location theory allows the analyst…

Effects of Decentralization on School Resources

ERIC Educational Resources Information Center

Ahlin, Asa; Mork, Eva

2008-01-01

Sweden has undertaken major national reforms of its school sector, which, consequently, has been classified as one of the most decentralized ones in the OECD. This paper investigates whether local tax base, grants, and preferences affected local school resources differently as decentralization took place. We find that municipal tax base affects…

Responsibility Center Management: Lessons from 25 Years of Decentralized Management.

ERIC Educational Resources Information Center

Strauss, Jon C.; Curry, John R.

Decentralization of authority is a natural act in universities, but decentralization of responsibility is not. A problem faced by universities is the decoupling of academic authority from financial responsibility. The solution proposed in this book for the coupling is Responsibility Center Management (RCM), also called Revenue Responsibility…

A Review of Characteristics and Experiences of Decentralization of Education

ERIC Educational Resources Information Center

Mwinjuma, Juma Saidi; Kadir, Suhaida bte Abd.; Hamzah, Azimi; Basri, Ramli

2015-01-01

This paper scrutinizes decentralization of education with reference to some countries around the world. We consider discussion on decentralization to be complex, critical and broad question in the contemporary education planning, administration and politics of education reforms. Even though the debate on and implementation of decentralization…

Visualizing the Collective Learner through Decentralized Networks

ERIC Educational Resources Information Center

Castro, Juan Carlos

2015-01-01

Understandings of decentralized networks are increasingly used to describe a way to structure curriculum and pedagogy. It is often understood as a structural model to organize pedagogical and curricular relationships in which there is no center. While this is important it also bears introducing into the discourse that decentralized networks are…

Organizational decentralization in radiology.

PubMed

Aas, I H Monrad

2006-01-01

At present, most hospitals have a department of radiology where images are captured and interpreted. Decentralization is the opposite of centralization and means 'away from the centre'. With a Picture Archiving and Communication System (PACS) and broadband communications, transmitting radiology images between sites will be far easier than before. Qualitative interviews of 26 resource persons were performed in Norway. There was a response rate of 90%. Decentralization of radiology interpretations seems less relevant than centralization, but several forms of decentralization have a role to play. The respondents mentioned several advantages, including exploitation of capacity and competence. They also mentioned several disadvantages, including splitting professional communities and reduced contact between radiologists and clinicians. With the new technology decentralization and centralization of image interpretation are important possibilities in organizational change. This will be important for the future of teleradiology.

Effects of health care decentralization in Spain from a citizens' perspective.

PubMed

Antón, José-Ignacio; Muñoz de Bustillo, Rafael; Fernández Macías, Enrique; Rivera, Jesús

2014-05-01

The aim of this article is to analyze the impact of the decentralization of the public national health system in Spain on citizens' satisfaction with different dimensions of primary and hospital care. Using micro-data from the Health Barometer 1996-2009 and taking advantage of the exogeneity of the different pace of decentralization across Spain using a difference-in-differences strategy, we find that, in general, decentralization has not improved citizens' satisfaction with different features of the health services. In our base model, we find that there are even some small negative effects on a subset of variables. Sensitivity analysis confirms that there is no empirical evidence for supporting that decentralization has had a positive impact on citizens' satisfaction with health care. We outline several possible reasons for this.

Aboard the "Moving School."

ERIC Educational Resources Information Center

Ainscow, Mel; Hopkins, David

1992-01-01

In many countries, education legislation embodies contradictory pressures for centralization and decentralization. In the United Kingdom, there is growing government control over policy and direction of schools; schools are also being given more responsibility for resource management. "Moving" schools within Improving the Quality of…

[Territory and decentralization in the agenda for productive transformation with equity].

PubMed

Sojo, A

1991-08-01

The regional perspective and the decentralization in Latin American and Caribbean countries was examined in light of technological changes and transformation of economic production to boost productivity. National population policies were not the major cause of redistribution of the population, rather such transformation significantly changed the comparative regional and urban advantages in the use of territory affecting the spatial distribution of the population. Hypotheses were advanced using the transformation of production, regional development, and decentralization on the retention, attraction, and migration of population in different areas with varying economic conditions. Spurious competitiveness means global strategies of enterprises that establish foreign operations by means of factor sourcing. Flexible specialization is a company strategy of permanent innovation based on flexible equipment and a qualified work force. The increasing transnationalization of capital is the source of skills and technology that sustain competitive advantages. Decentralization can resolve local demand, facilitate access to information, mobilize resources, and exercise control over local operations. In Japan, Germany, and Italy vs. the US and France there is a social contract among companies, trade unions, universities, and regional administrations in the interest of capital and the work force. There is no direct relationship between technology and region, the industrial cluster exhibits systemic competitiveness in developed countries (the Emilian model in Italy affirms the ability of small enterprises to develop new products), the regional impact is diverse relative to new technologies (some deprived rural economic areas have potential as in central and northern Italy), and population and region are linked (regional and rural-urban differences in the growth of population and migratory flows account for spatial distribution of the population). Decentralization and systemic competitiveness concern productivity and regional policies (spatial diversity for increased productivity) and technology and human resources are interdependent (technical progress is determined by the level of qualification of the population).

Vertical and Horizontal Forces: A Framework for Understanding Airpower Command and Control

DTIC Science & Technology

2014-05-22

failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ...ABSTRACT The Air Force has long maintained the tenet of “centralized control , decentralized execution.” Changes in the contextual environment and...help commanders understand how command and control (C2) systems work best today. The proposed cognitive framework moves beyond centralization

A decentralized approach to reducing the social costs of cascading failures

NASA Astrophysics Data System (ADS)

Hines, Paul

Large cascading failures in electrical power networks come with enormous social costs. These can be direct financial costs, such as the loss of refrigerated foods in grocery stores, or more indirect social costs, such as the traffic congestion that results from the failure of traffic signals. While engineers and policy makers have made numerous technical and organizational changes to reduce the frequency and impact of large cascading failures, the existing data, as described in Chapter 2 of this work, indicate that the overall frequency and impact of large electrical blackouts in the United States are not decreasing. Motivated by the cascading failure problem, this thesis describes a new method for Distributed Model Predictive Control and a power systems application. The central goal of the method, when applied to power systems, is to reduce the social costs of cascading failures by making small, targeted reductions in load and generation and changes to generator voltage set points. Unlike some existing schemes that operate from centrally located control centers, the method is operated by software agents located at substations distributed throughout the power network. The resulting multi-agent control system is a new approach to decentralized control, combining Distributed Model Predictive Control and Reciprocal Altruism. Experimental results indicate that this scheme can in fact decrease the average size, and thus social costs, of cascading failures. Over 100 randomly generated disturbances to a model of the IEEE 300 bus test network, the method resulted in nearly an order of magnitude decrease in average event size (measured in cost) relative to cascading failure simulations without remedial control actions. Additionally, the communication requirements for the method are measured, and found to be within the bandwidth capabilities of current communications technology (on the order of 100kB/second). Experiments on several resistor networks with varying structures, including a random graph, a scale-free network and a power grid indicate that the effectiveness of decentralized control schemes, like the method proposed here, is a function of the structure of the network that is to be controlled.

Tilt and decentration of intraocular lenses in vivo from Purkinje and Scheimpflug imaging. Validation study.

PubMed

de Castro, Alberto; Rosales, Patricia; Marcos, Susana

2007-03-01

To measure tilt and decentration of intraocular lenses (IOLs) with Scheimpflug and Purkinje imaging systems in physical model eyes with known amounts of tilt and decentration and patients. Instituto de Optica Daza de Valdés, Consejo Superior de Investigaciones Científicas, Madrid, Spain. Measurements of IOL tilt and decentration were obtained using a commercial Scheimpflug system (Pentacam, Oculus), custom algorithms, and a custom-built Purkinje imaging apparatus. Twenty-five Scheimpflug images of the anterior segment of the eye were obtained at different meridians. Custom algorithms were used to process the images (correction of geometrical distortion, edge detection, and curve fittings). Intraocular lens tilt and decentration were estimated by fitting sinusoidal functions to the projections of the pupillary axis and IOL axis in each image. The Purkinje imaging system captures pupil images showing reflections of light from the anterior corneal surface and anterior and posterior lens surfaces. Custom algorithms were used to detect the Purkinje image locations and estimate IOL tilt and decentration based on a linear system equation and computer eye models with individual biometry. Both methods were validated with a physical model eye in which IOL tilt and decentration can be set nominally. Twenty-one eyes of 12 patients with IOLs were measured with both systems. Measurements of the physical model eye showed an absolute discrepancy between nominal and measured values of 0.279 degree (Purkinje) and 0.243 degree (Scheimpflug) for tilt and 0.094 mm (Purkinje) and 0.228 mm (Scheimpflug) for decentration. In patients, the mean tilt was less than 2.6 degrees and the mean decentration less than 0.4 mm. Both techniques showed mirror symmetry between right eyes and left eyes for tilt around the vertical axis and for decentration in the horizontal axis. Both systems showed high reproducibility. Validation experiments on physical model eyes showed slightly higher accuracy with the Purkinje method than the Scheimpflug imaging method. Horizontal measurements of patients with both techniques were highly correlated. The IOLs tended to be tilted and decentered nasally in most patients.

Optical performance of toric intraocular lenses in the presence of decentration.

PubMed

Zhang, Bin; Ma, Jin-Xue; Liu, Dan-Yan; Du, Ying-Hua; Guo, Cong-Rong; Cui, Yue-Xian

2015-01-01

To evaluate the optical performance of toric intraocular lenses (IOLs) after decentration and with different pupil diameters, but with the IOL astigmatic axis aligned. Optical performances of toric T5 and SN60AT spherical IOLs after decentration were tested on a theoretical pseudophakic model eye based on the Hwey-Lan Liou schematic eye using the Zemax ray-tracing program. Changes in optical performance were analyzed in model eyes with 3-mm, 4-mm, and 5-mm pupil diameters and decentered from 0.25 mm to 0.75 mm with an interval of 5° at the meridian direction from 0° to 90°. The ratio of the modulation transfer function (MTF) between a decentered and a centered IOL (MTFDecentration/MTFCentration) was calculated to analyze the decrease in optical performance. Optical performance of the toric IOL remained unchanged when IOLs were decentered in any meridian direction. The MTFs of the two IOLs decreased, whereas optical performance remained equivalent after decentration. The MTFDecentration/MTFCentration ratios of the IOLs at a decentration from 0.25 mm to 0.75 mm were comparable in the toric and SN60AT IOLs. After decentration, MTF decreased further, with the MTF of the toric IOL being slightly lower than that of the SN60AT IOL. Imaging qualities of the two IOLs decreased when the pupil diameter and the degree of decentration increased, but the decrease was similar in the toric and spherical IOLs. Toric IOLs were comparable to spherical IOLs in terms of tolerance to decentration at the correct axial position.

Optical performance of toric intraocular lenses in the presence of decentration

PubMed Central

Zhang, Bin; Ma, Jin-Xue; Liu, Dan-Yan; Du, Ying-Hua; Guo, Cong-Rong; Cui, Yue-Xian

2015-01-01

AIM To evaluate the optical performance of toric intraocular lenses (IOLs) after decentration and with different pupil diameters, but with the IOL astigmatic axis aligned. METHODS Optical performances of toric T5 and SN60AT spherical IOLs after decentration were tested on a theoretical pseudophakic model eye based on the Hwey-Lan Liou schematic eye using the Zemax ray-tracing program. Changes in optical performance were analyzed in model eyes with 3-mm, 4-mm, and 5-mm pupil diameters and decentered from 0.25 mm to 0.75 mm with an interval of 5° at the meridian direction from 0° to 90°. The ratio of the modulation transfer function (MTF) between a decentered and a centered IOL (MTFDecentration/MTFCentration) was calculated to analyze the decrease in optical performance. RESULTS Optical performance of the toric IOL remained unchanged when IOLs were decentered in any meridian direction. The MTFs of the two IOLs decreased, whereas optical performance remained equivalent after decentration. The MTFDecentration/MTFCentration ratios of the IOLs at a decentration from 0.25 mm to 0.75 mm were comparable in the toric and SN60AT IOLs. After decentration, MTF decreased further, with the MTF of the toric IOL being slightly lower than that of the SN60AT IOL. Imaging qualities of the two IOLs decreased when the pupil diameter and the degree of decentration increased, but the decrease was similar in the toric and spherical IOLs. CONCLUSIONS Toric IOLs were comparable to spherical IOLs in terms of tolerance to decentration at the correct axial position. PMID:26309871

Automatic control of solar power plants

NASA Astrophysics Data System (ADS)

Ermakov, V. S.; Dubilovich, V. M.

1982-02-01

The automatic control of the heliostat field of a 200-MW solar power plant is discussed. The advantages of the decentralized control principle with the solution of a number of individual problems in a single control center are emphasized. The basic requirements on heliostat construction are examined, and possible functional schemes for the automatic control of a heliostat field are described. It is proposed that groups of heliostats can be controlled from a single center and on the basis of a single algorithm.

Centralization and Decentralization: An International Viewpoint on an American Dilemma. A Special CASEA Report.

ERIC Educational Resources Information Center

Walker, William G.

This report outlines the history of the centralization-decentralization dilemma in the goverance of organizations, discusses two types of centralization-decentralization continua, and suggests further research. The first type of continuum discussed -- the traditional American -- refers to decisionmaking in the areas of public debate and partisan…

Providing leadership to a decentralized total quality process.

PubMed

Diederich, J J; Eisenberg, M

1993-01-01

Integrating total quality management into the culture of an organization and the daily work of employees requires a decentralized leadership structure that encourages all employees to become involved. This article, based upon the experience of the University of Michigan Hospitals Professional Services Divisional Lead Team, outlines a process for decentralizing the total quality management process.

The Effect of Political Decentralization on School Leadership in German Vocational Schools

ERIC Educational Resources Information Center

Gessler, Michael; Ashmawy, Iman K.

2016-01-01

In this explorative qualitative study the effect of political decentralization on vocational school leadership is investigated. Through conducting structural interviews with 15 school principals in the states of Bremen and Lower Saxony in Germany, the study was able to conclude that political decentralization entails the creation of elected bodies…

Institutional v. Technical Environments: Reconciling the Goals of Decentralization in an Evolving Charter School Organization

ERIC Educational Resources Information Center

Huerta, Luis A.

2009-01-01

This article analyzes how macrolevel institutional forces persist and limit the expansion of decentralized schools that attempt to challenge normative definitions and practices of traditional school organizations. Using qualitative case study methodology, the analysis focuses on how one decentralized charter school navigated and reconciled its…

After Decentralization: Delimitations and Possibilities within New Fields

ERIC Educational Resources Information Center

Wahlstrom, Ninni

2008-01-01

The shift from a centralized to a decentralized school system can be seen as a solution to an uncertain problem. Through analysing the displacements in the concept of equivalence within Sweden's decentralized school system, this study illustrates how the meaning of the concept of equivalence shifts over time, from a more collective target…