On the internal target model in a tracking task

NASA Technical Reports Server (NTRS)

Caglayan, A. K.; Baron, S.

1981-01-01

An optimal control model for predicting operator's dynamic responses and errors in target tracking ability is summarized. The model, which predicts asymmetry in the tracking data, is dependent on target maneuvers and trajectories. Gunners perception, decision making, control, and estimate of target positions and velocity related to crossover intervals are discussed. The model provides estimates for means, standard deviations, and variances for variables investigated and for operator estimates of future target positions and velocities.

Advances in structural monitoring with Global Positioning System technology: 1997-2006

NASA Astrophysics Data System (ADS)

Ogaja, Clement; Li, Xiaojing; Rizos, Chris

2007-11-01

Over the last decade, users of the Global Positioning System (GPS) have developed the technology capable of meeting stringent requirements to study the dynamics of tall buildings, towers, and bridges during earthquakes, wind-induced deformation and traffic loading. Dynamic measurements of relative displacements of structures is currently possible using real-time kinematic (RTK) positioning techniques, now advanced to record typically at 10-20 Hz (or higher - e.g., 100 Hz) with an accuracy of ±1 cm horizontally and ±2 cm vertically. With further advances in the technology and improvements in sampling capability, it is possible to meet the needs of real-time displacement information for the structural engineering community. After a decade of great strides in proving the feasibility of the technology, focus is moving to sensor integration and operational systems. Several investigators are now routinely researching the integration of GPS with other sensors (accelerometers, fibre optics, pseudolites, etc.) to utilise the complementary benefits and overcome limitations of the individual systems. Examples of real-time operational systems exist to demonstrate the significance of GPS technology in measuring the dynamic behaviour of large engineering structures.

30 CFR 250.432 - How do I obtain a departure to diverter design and installation requirements?

Code of Federal Regulations, 2010 CFR

2010-07-01

..., DEPARTMENT OF THE INTERIOR OFFSHORE OIL AND GAS AND SULPHUR OPERATIONS IN THE OUTER CONTINENTAL SHELF Oil and Gas Drilling Operations Diverter System Requirements § 250.432 How do I obtain a departure to diverter... diverter line for floating drilling operations on a dynamically positioned drillship Maintain an...

Quantum Markov chains

NASA Astrophysics Data System (ADS)

Gudder, Stanley

2008-07-01

A new approach to quantum Markov chains is presented. We first define a transition operation matrix (TOM) as a matrix whose entries are completely positive maps whose column sums form a quantum operation. A quantum Markov chain is defined to be a pair (G,E) where G is a directed graph and E =[Eij] is a TOM whose entry Eij labels the edge from vertex j to vertex i. We think of the vertices of G as sites that a quantum system can occupy and Eij is the transition operation from site j to site i in one time step. The discrete dynamics of the system is obtained by iterating the TOM E. We next consider a special type of TOM called a transition effect matrix. In this case, there are two types of dynamics, a state dynamics and an operator dynamics. Although these two types are not identical, they are statistically equivalent. We next give examples that illustrate various properties of quantum Markov chains. We conclude by showing that our formalism generalizes the usual framework for quantum random walks.

Development of a precision, wide-dynamic-range actuator for use in active optical systems

NASA Technical Reports Server (NTRS)

Lorell, K. R.; Aubrun, J-N.; Zacharie, D. F.; Perez, E. O.

1989-01-01

The design, operation, and performance of a wide-dynamic-range optical-quality actuator are discussed. The actuator uses a closed-loop control system to maintain accurate positioning and has an rms noise performance of 20 nm. A unique force offloading mechanism allows the actuator coil to dissipate less than 3 mW under quiescent conditions. The operation of an experimental segmented optical system that uses 18 of the actuators is examined to show how they are integrated into an actual system.

Measurement of hand dynamics in a microsurgery environment: Preliminary data in the design of a bimanual telemicro-operation test bed

NASA Technical Reports Server (NTRS)

Charles, Steve; Williams, Roy

1989-01-01

Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Extended space expectation values in quantum dynamical system evolutions

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

Demiralp, Metin

2014-10-06

The time variant power series expansion for the expectation value of a given quantum dynamical operator is well-known and well-investigated issue in quantum dynamics. However, depending on the operator and Hamiltonian singularities this expansion either may not exist or may not converge for all time instances except the beginning of the evolution. This work focuses on this issue and seeks certain cures for the negativities. We work in the extended space obtained by adding all images of the initial wave function under the system Hamiltonian’s positive integer powers. This requires the introduction of certain appropriately defined weight operators. The resultingmore » better convergence in the temporal power series urges us to call the new defined entities “extended space expectation values” even though they are constructed over certain weight operators and are somehow pseudo expectation values.« less

Performance of magnetic resonance imaging in the evaluation of first-time and reoperative primary hyperparathyroidism.

PubMed

Kluijfhout, Wouter P; Venkatesh, Shriya; Beninato, Toni; Vriens, Menno R; Duh, Quan-Yang; Wilson, David M; Hope, Thomas A; Suh, Insoo

2016-09-01

Preoperative imaging in patients with primary hyperparathyroidism and a previous parathyroid operation is essential; however, performance of conventional imaging is poor in this subgroup. Magnetic resonance imaging appears to be a good alternative, though overall evidence remains scarce. We retrospectively investigated the performance of magnetic resonance imaging in patients with and without a previous parathyroid operation, with a separate comparison for dynamic gadolinium-enhanced magnetic resonance imaging. All patients undergoing magnetic resonance imaging prior to parathyroidectomy for primary hyperparathyroidism (first time or recurrent) between January 2000 and August 2015 at a high-volume, tertiary care, referral center for endocrine operations were included. We compared the sensitivity and positive predictive value of magnetic resonance imaging with conventional ultrasound and sestamibi on a per-lesion level. A total of 3,450 patients underwent parathyroidectomy, of which 84 patients with recurrent (n = 10) or persistent (n = 74) disease and 41 patients with a primary operation were included. Magnetic resonance imaging had a sensitivity and positive predictive value of 79.9% and 84.7%, respectively, and performance was good in both patients with and without a previous parathyroid operation. Adding magnetic resonance imaging to the combination of ultrasound and sestamibi resulted in a significant increase in sensitivity from 75.2% to 91.5%. Dynamic magnetic resonance imaging produced excellent results in the reoperative group, with sensitivity and a positive predictive value of 90.1%. Technologic advances have enabled faster and more accurate magnetic resonance imaging protocols, making magnetic resonance imaging an excellent alternative modality without associated ionizing radiation. Our study shows that the sensitivity of multimodality imaging for parathyroid adenomas improved significantly with the use of conventional and dynamic magnetic resonance imaging, even in the case of recurrent or persistent disease. Published by Elsevier Inc.

Indirect rotor position sensing in real time for brushless permanent magnet motor drives

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

Ertugrul, N.; Acarnley, P.P.

1998-07-01

This paper describes a modern solution to real-time rotor position estimation of brushless permanent magnet (PM) motor drives. The position estimation scheme, based on flux linkage and line-current estimation, is implemented in real time by using the abc reference frame, and it is tested dynamically. The position estimation model of the test motor, development of hardware, and basic operation of the digital signal processor (DSP) are discussed. The overall position estimation strategy is accomplished with a fast DSP (TMS320C30). The method is a shaft position sensorless method that is applicable to a wide range of excitation types in brushless PMmore » motors without any restriction on the motor model and the current excitation. Both rectangular and sinewave-excited brushless PM motor drives are examined, and the results are given to demonstrate the effectiveness of the method with dynamic loads in closed estimated position loop.« less

Adaptive servo control for umbilical mating

NASA Technical Reports Server (NTRS)

Zia, Omar

1988-01-01

Robotic applications at Kennedy Space Center are unique and in many cases require the fime positioning of heavy loads in dynamic environments. Performing such operations is beyond the capabilities of an off-the-shelf industrial robot. Therefore Robotics Applications Development Laboratory at Kennedy Space Center has put together an integrated system that coordinates state of the art robotic system providing an excellent easy to use testbed for NASA sensor integration experiments. This paper reviews the ways of improving the dynamic response of the robot operating under force feedback with varying dynamic internal perturbations in order to provide continuous stable operations under variable load conditions. The goal is to improve the stability of the system with force feedback using the adaptive control feature of existing system over a wide range of random motions. The effect of load variations on the dynamics and the transfer function (order or values of the parameters) of the system has been investigated, more accurate models of the system have been determined and analyzed.

Kraus Operators for a Pair of Interacting Qubits: a Case Study

NASA Astrophysics Data System (ADS)

Arsenijević, M.; Jeknić-Dugić, J.; Dugić, M.

2018-04-01

The Kraus form of the completely positive dynamical maps is appealing from the mathematical and the point of the diverse applications of the open quantum systems theory. Unfortunately, the Kraus operators are poorly known for the two-qubit processes. In this paper, we derive the Kraus operators for a pair of interacting qubits, while the strength of the interaction is arbitrary. One of the qubits is subjected to the x-projection spin measurement. The obtained results are applied to calculate the dynamics of the entanglement in the qubits system. We obtain the loss of the correlations in the finite time interval; the stronger the inter-qubit interaction, the longer lasting entanglement in the system.

Kraus Operators for a Pair of Interacting Qubits: a Case Study

NASA Astrophysics Data System (ADS)

Arsenijević, M.; Jeknić-Dugić, J.; Dugić, M.

2018-06-01

The Kraus form of the completely positive dynamical maps is appealing from the mathematical and the point of the diverse applications of the open quantum systems theory. Unfortunately, the Kraus operators are poorly known for the two-qubit processes. In this paper, we derive the Kraus operators for a pair of interacting qubits, while the strength of the interaction is arbitrary. One of the qubits is subjected to the x-projection spin measurement. The obtained results are applied to calculate the dynamics of the entanglement in the qubits system. We obtain the loss of the correlations in the finite time interval; the stronger the inter-qubit interaction, the longer lasting entanglement in the system.

An approach for generating trajectory-based dynamics which conserves the canonical distribution in the phase space formulation of quantum mechanics. II. Thermal correlation functions.

PubMed

Liu, Jian; Miller, William H

2011-03-14

We show the exact expression of the quantum mechanical time correlation function in the phase space formulation of quantum mechanics. The trajectory-based dynamics that conserves the quantum canonical distribution-equilibrium Liouville dynamics (ELD) proposed in Paper I is then used to approximately evaluate the exact expression. It gives exact thermal correlation functions (of even nonlinear operators, i.e., nonlinear functions of position or momentum operators) in the classical, high temperature, and harmonic limits. Various methods have been presented for the implementation of ELD. Numerical tests of the ELD approach in the Wigner or Husimi phase space have been made for a harmonic oscillator and two strongly anharmonic model problems, for each potential autocorrelation functions of both linear and nonlinear operators have been calculated. It suggests ELD can be a potentially useful approach for describing quantum effects for complex systems in condense phase.

Design and Analysis of Precise Pointing Systems

NASA Technical Reports Server (NTRS)

Kim, Young K.

2000-01-01

The mathematical models of Glovebox Integrated Microgravity Isolation Technology (g- LIMIT) dynamics/control system, which include six degrees of freedom (DOF) equations of motion, mathematical models of position sensors, accelerometers and actuators, and acceleration and position controller, were developed using MATLAB and TREETOPS simulations. Optimal control parameters of G-LIMIT control system were determined through sensitivity studies and its performance were evaluated with the TREETOPS model of G-LIMIT dynamics and control system. The functional operation and performance of the Tektronix DTM920 digital thermometer were studied and the inputs to the crew procedures and training of the DTM920 were documented.

Comparison of static and dynamic computer-assisted guidance methods in implantology.

PubMed

Mischkowski, R A; Zinser, M J; Neugebauer, J; Kübler, A C; Zöller, J E

2006-01-01

The planning of dental implant position and its transfer to the operation site can be considered as one of the most important factors for the long-term success of implant-supported prosthetic and epithetic restorations. This study compares computer-assisted fabricated surgical templates as the static method with intro-operative image guided navigation as the dynamic method for transfer of three-dimensional pre-operative planning. For the static method, the systems Med3D, coDiagnostix/ gonyX, and SimPlant were used. For the dynamic method, the systems RoboDent und VectorVision2 were applied. A total of 746 implants were inserted between August 1999 and December 2005 in 206 patients. The static approach was used most frequently, accounting for 611 fixtures in 168 patients. The failure ratios within the first 6 months were 1.31% in the statically controlled insertion group compared to 2.96% in the dynamically controlled insertion group. Complications related to an incorrect position of the implants have not been observed so far in either group. All computer-assisted methods included in this study were successfully applied in a clinical setting after a certain start-up period. The indications for application of computer-assisted methods in implantology are currently given in difficult anatomical situations. Due to uncomplicated handling and low resource demands, the static template technique can be recommended as the method of choice for the majority of all cases falling into this category.

Uncalibrated Three-Dimensional Microrobot Control

DTIC Science & Technology

2016-05-11

environment is essential. While many groups have already demonstrated the ability to control a microrobot in three dimensions through magnetically...or “uncalibrated”) controller which can dynamically adjust to changes in the operation environment is essential. While many groups have already...error squared and drive the microrobot to the desired position, [2]. The control signal is computed via a quasi -Newton method operating an

Cyclogiro windmill

DOEpatents

Brulle, R.V.

1981-09-03

A cyclogiro windmill has a rotor provided with blades shaped in the configuration of symmetrical airfoils and actuators to pivot the blades about axes parallel to the axis of rotation for the rotor. The actuator for each blade constantly changes the rock angle for the blade, that is its angle with respect to a reference on the rotor, and this modulation is such that the blade in making a revolution around the axis of rotation for the rotor undergoes an interval of static operation wherein its angle of attack is for the most part constant and less than the static stall angle, a short interval where the blade flips to position in which its opposite surface is presented toward the free wind, a short interval of dynamic operation wherein the angle of attack exceeds the static stal angle, another interval of static operation at an angle of attack of essentially the same magnitude as before, another interval of blade flip, and another interval of dynamic operation. During the intervals of dynamic operation, the blades experience a significant increase in lift force without a corresponding increase in drag, so that a high lift-to-drag ratio develops. The blades during dynamic operation further develop strong vortices which are directed outwardly at the sides of the windmill stream tube, and this increases the width of the stream tube, causing a greater mass of air to flow through the rotor. The short intervals of operation under dynamic conditions enable the blades to extract more energy from the free wind than would be possible if the blade operated solely under static conditions, and this in turn renders the windmill more useful in moderate velocity winds as well as high velocity winds.

Cyclogiro windmill

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

Brulle, R.V.

1981-09-03

A cyclogiro windmill has a rotor provided with blades shaped in the configuration of symmetrical airfoils and actuators to pivot the blades about axes parallel to the axis of rotation for the rotor. The actuator for each blade constantly changes the rock angle for the blade, that is its angle with respect to a reference on the rotor, and this modulation is such that the blade in making a revolution around the axis of rotation for the rotor undergoes an interval of static operation wherein its angle of attack is for the most part constant and less than the staticmore » stall angle, a short interval where the blade flips to position in which its opposite surface is presented toward the free wind, a short interval of dynamic operation wherein the angle of attack exceeds the static stal angle, another interval of static operation at an angle of attack of essentially the same magnitude as before, another interval of blade flip, and another interval of dynamic operation. During the intervals of dynamic operation, the blades experience a significant increase in lift force without a corresponding increase in drag, so that a high lift-to-drag ratio develops. The blades during dynamic operation further develop strong vortices which are directed outwardly at the sides of the windmill stream tube, and this increases the width of the stream tube, causing a greater mass of air to flow through the rotor. The short intervals of operation under dynamic conditions enable the blades to extract more energy from the free wind than would be possible if the blade operated solely under static conditions, and this in turn renders the windmill more useful in moderate velocity winds as well as high velocity winds.« less

Effect of Eccentricity on the Static and Dynamic Performance of a Turbulent Hybrid Bearing

NASA Technical Reports Server (NTRS)

Sanandres, Luis A.

1991-01-01

The effect of journal eccentricity on the static and dynamic performance of a water lubricated, 5-recess hybrid bearing is presented in detail. The hydrostatic bearing has been designed to operate at a high speed and with a large level of external pressurization. The operating conditions determine the flow in the bearing to be highly turbulent and strongly dominated by fluid inertia effects. The analysis covers the spectrum of journal center displacements directed towards the middle of a recess and towards the mid-land portion between two consecutive recesses. Predicted dynamic force coefficients are uniform for small to moderate eccentricities. For large journal center displacements, fluid cavitation and recess position determine large changes in the bearing dynamic performance. The effect of fluid inertia force coefficients on the threshold speed of instability and whirl ratio of a single mass flexible rotor is discussed.

Precise tracking of remote sensing satellites with the Global Positioning System

NASA Technical Reports Server (NTRS)

Yunck, Thomas P.; Wu, Sien-Chong; Wu, Jiun-Tsong; Thornton, Catherine L.

1990-01-01

The Global Positioning System (GPS) can be applied in a number of ways to track remote sensing satellites at altitudes below 3000 km with accuracies of better than 10 cm. All techniques use a precise global network of GPS ground receivers operating in concert with a receiver aboard the user satellite, and all estimate the user orbit, GPS orbits, and selected ground locations simultaneously. The GPS orbit solutions are always dynamic, relying on the laws of motion, while the user orbit solution can range from purely dynamic to purely kinematic (geometric). Two variations show considerable promise. The first one features an optimal synthesis of dynamics and kinematics in the user solution, while the second introduces a novel gravity model adjustment technique to exploit data from repeat ground tracks. These techniques, to be demonstrated on the Topex/Poseidon mission in 1992, will offer subdecimeter tracking accuracy for dynamically unpredictable satellites down to the lowest orbital altitudes.

Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties

NASA Astrophysics Data System (ADS)

Sun, Liang; Zheng, Zewei

2017-04-01

An adaptive relative pose control strategy is proposed for a pursue spacecraft in proximity operations on a tumbling target. Relative position vector between two spacecraft is required to direct towards the docking port of the target while the attitude of them must be synchronized. With considering the thrust misalignment of pursuer, an integrated controller for relative translational and relative rotational dynamics is developed by using norm-wise adaptive estimations. Parametric uncertainties, unknown coupled dynamics, and bounded external disturbances are compensated online by adaptive update laws. It is proved via Lyapunov stability theory that the tracking errors of relative pose converge to zero asymptotically. Numerical simulations including six degrees-of-freedom rigid body dynamics are performed to demonstrate the effectiveness of the proposed controller.

Diver Relative UUV Navigation for Joint Human-Robot Operations

DTIC Science & Technology

2013-09-01

loop response: (10) where Kej is the gain that scales the position error to force . Substituting the measured values for ζ and ων as well as the...Underwater Vehicle; Tethered ; Hovering; Autonomous Underwater Vehicle; Joint human-robot operations; dynamic, uncertain environments 15. NUMBER OF PAGES...4   Figure 3.   The SeaBotix vLBV300 tethered AUV platform (left), and the planar vectored thruster

Voltage directive drive with claw pole motor and control without rotor position indicator

NASA Astrophysics Data System (ADS)

Stroenisch, Volker Ewald

Design and testing of a voltage directive drive for synchronous variable speed claw pole motor and control without rotor position indicator is described. Economic analysis of the designed regulation is performed. Computations of stationary and dynamic behavior are given and experimental operational behavior is determined. The motors can be used for electric transportation vehicles, diesel motors, and electric railway engines.

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

Cirilo-Lombardo, Diego Julio; Bogoliubov Laboratory of Theoretical Physics, Joint Institute for Nuclear Research, 141980 Dubna

The central role played by pseudodifferential operators in relativistic dynamics is known very well. In this work, operators like the Schrodinger one (e.g., square root) are treated from the point of view of the non-local pseudodifferential Green functions. Starting from the explicit construction of the Green (semigroup) theoretical kernel, a theorem linking the integrability conditions and their dependence on the spacetime dimensions is given. Relativistic wave equations with arbitrary spin and the causality problem are discussed with the algebraic interpretation of the radical operator and their relation with coherent and squeezed states. Also we perform by means of pure theoreticalmore » procedures (based in physical concepts and symmetry) the relativistic position operator which satisfies the conditions of integrability: it is a non-local, Lorentz invariant and does not have the same problems as the “local”position operator proposed by Newton and Wigner. Physical examples, as zitterbewegung and rogue waves, are presented and deeply analyzed in this theoretical framework.« less

Non-equilibrium dynamics from RPMD and CMD.

PubMed

Welsch, Ralph; Song, Kai; Shi, Qiang; Althorpe, Stuart C; Miller, Thomas F

2016-11-28

We investigate the calculation of approximate non-equilibrium quantum time correlation functions (TCFs) using two popular path-integral-based molecular dynamics methods, ring-polymer molecular dynamics (RPMD) and centroid molecular dynamics (CMD). It is shown that for the cases of a sudden vertical excitation and an initial momentum impulse, both RPMD and CMD yield non-equilibrium TCFs for linear operators that are exact for high temperatures, in the t = 0 limit, and for harmonic potentials; the subset of these conditions that are preserved for non-equilibrium TCFs of non-linear operators is also discussed. Furthermore, it is shown that for these non-equilibrium initial conditions, both methods retain the connection to Matsubara dynamics that has previously been established for equilibrium initial conditions. Comparison of non-equilibrium TCFs from RPMD and CMD to Matsubara dynamics at short times reveals the orders in time to which the methods agree. Specifically, for the position-autocorrelation function associated with sudden vertical excitation, RPMD and CMD agree with Matsubara dynamics up to O(t 4 ) and O(t 1 ), respectively; for the position-autocorrelation function associated with an initial momentum impulse, RPMD and CMD agree with Matsubara dynamics up to O(t 5 ) and O(t 2 ), respectively. Numerical tests using model potentials for a wide range of non-equilibrium initial conditions show that RPMD and CMD yield non-equilibrium TCFs with an accuracy that is comparable to that for equilibrium TCFs. RPMD is also used to investigate excited-state proton transfer in a system-bath model, and it is compared to numerically exact calculations performed using a recently developed version of the Liouville space hierarchical equation of motion approach; again, similar accuracy is observed for non-equilibrium and equilibrium initial conditions.

Prospective in-patient cohort study of moves between levels of therapeutic security: the DUNDRUM-1 triage security, DUNDRUM-3 programme completion and DUNDRUM-4 recovery scales and the HCR-20.

PubMed

Davoren, Mary; O'Dwyer, Sarah; Abidin, Zareena; Naughton, Leena; Gibbons, Olivia; Doyle, Elaine; McDonnell, Kim; Monks, Stephen; Kennedy, Harry G

2012-07-13

We examined whether new structured professional judgment instruments for assessing need for therapeutic security, treatment completion and recovery in forensic settings were related to moves from higher to lower levels of therapeutic security and added anything to assessment of risk. This was a prospective naturalistic twelve month observational study of a cohort of patients in a forensic hospital placed according to their need for therapeutic security along a pathway of moves from high to progressively less secure units in preparation for discharge. Patients were assessed using the DUNDRUM-1 triage security scale, the DUNDRUM-3 programme completion scale and the DUNDRUM-4 recovery scale and assessments of risk of violence, self harm and suicide, symptom severity and global function. Patients were subsequently observed for positive moves to less secure units and negative moves to more secure units. There were 86 male patients at baseline with mean follow-up 0.9 years, 11 positive and 9 negative moves. For positive moves, logistic regression indicated that along with location at baseline, the DUNDRUM-1, HCR-20 dynamic and PANSS general symptom scores were associated with subsequent positive moves. The receiver operating characteristic was significant for the DUNDRUM-1 while ANOVA co-varying for both location at baseline and HCR-20 dynamic score was significant for DUNDRUM-1. For negative moves, logistic regression showed DUNDRUM-1 and HCR-20 dynamic scores were associated with subsequent negative moves, along with DUNDRUM-3 and PANSS negative symptoms in some models. The receiver operating characteristic was significant for the DUNDRUM-4 recovery and HCR-20 dynamic scores with DUNDRUM-1, DUNDRUM-3, PANSS general and GAF marginal. ANOVA co-varying for both location at baseline and HCR-20 dynamic scores showed only DUNDRUM-1 and PANSS negative symptoms associated with subsequent negative moves. Clinicians appear to decide moves based on combinations of current and imminent (dynamic) risk measured by HCR-20 dynamic score and historical seriousness of risk as measured by need for therapeutic security (DUNDRUM-1) in keeping with Scott's formulation of risk and seriousness. The DUNDRUM-3 programme completion and DUNDRUM-4 recovery scales have utility as dynamic measures that can off-set perceived 'dangerousness'.

Prospective in-patient cohort study of moves between levels of therapeutic security: the DUNDRUM-1 triage security, DUNDRUM-3 programme completion and DUNDRUM-4 recovery scales and the HCR-20

PubMed Central

2012-01-01

Background We examined whether new structured professional judgment instruments for assessing need for therapeutic security, treatment completion and recovery in forensic settings were related to moves from higher to lower levels of therapeutic security and added anything to assessment of risk. Methods This was a prospective naturalistic twelve month observational study of a cohort of patients in a forensic hospital placed according to their need for therapeutic security along a pathway of moves from high to progressively less secure units in preparation for discharge. Patients were assessed using the DUNDRUM-1 triage security scale, the DUNDRUM-3 programme completion scale and the DUNDRUM-4 recovery scale and assessments of risk of violence, self harm and suicide, symptom severity and global function. Patients were subsequently observed for positive moves to less secure units and negative moves to more secure units. Results There were 86 male patients at baseline with mean follow-up 0.9 years, 11 positive and 9 negative moves. For positive moves, logistic regression indicated that along with location at baseline, the DUNDRUM-1, HCR-20 dynamic and PANSS general symptom scores were associated with subsequent positive moves. The receiver operating characteristic was significant for the DUNDRUM-1 while ANOVA co-varying for both location at baseline and HCR-20 dynamic score was significant for DUNDRUM-1. For negative moves, logistic regression showed DUNDRUM-1 and HCR-20 dynamic scores were associated with subsequent negative moves, along with DUNDRUM-3 and PANSS negative symptoms in some models. The receiver operating characteristic was significant for the DUNDRUM-4 recovery and HCR-20 dynamic scores with DUNDRUM-1, DUNDRUM-3, PANSS general and GAF marginal. ANOVA co-varying for both location at baseline and HCR-20 dynamic scores showed only DUNDRUM-1 and PANSS negative symptoms associated with subsequent negative moves. Conclusions Clinicians appear to decide moves based on combinations of current and imminent (dynamic) risk measured by HCR-20 dynamic score and historical seriousness of risk as measured by need for therapeutic security (DUNDRUM-1) in keeping with Scott's formulation of risk and seriousness. The DUNDRUM-3 programme completion and DUNDRUM-4 recovery scales have utility as dynamic measures that can off-set perceived 'dangerousness'. PMID:22794187

Operator-assisted planning and execution of proximity operations subject to operational constraints

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1991-01-01

Future multi-vehicle operations will involve multiple scenarios that will require a planning tool for the rapid, interactive creation of fuel-efficient trajectories. The planning process must deal with higher-order, non-linear processes involving dynamics that are often counter-intuitive. The optimization of resulting trajectories can be difficult to envision. An interaction proximity operations planning system is being developed to provide the operator with easily interpreted visual feedback of trajectories and constraints. This system is hosted on an IRIS 4D graphics platform and utilizes the Clohessy-Wiltshire equations. An inverse dynamics algorithm is used to remove non-linearities while the trajectory maneuvers are decoupled and separated in a geometric spreadsheet. The operator has direct control of the position and time of trajectory waypoints to achieve the desired end conditions. Graphics provide the operator with visualization of satisfying operational constraints such as structural clearance, plume impingement, approach velocity limits, and arrival or departure corridors. Primer vector theory is combined with graphical presentation to improve operator understanding of suggested automated system solutions and to allow the operator to review, edit, or provide corrective action to the trajectory plan.

Augmented Computer Mouse Would Measure Applied Force

NASA Technical Reports Server (NTRS)

Li, Larry C. H.

1993-01-01

Proposed computer mouse measures force of contact applied by user. Adds another dimension to two-dimensional-position-measuring capability of conventional computer mouse; force measurement designated to represent any desired continuously variable function of time and position, such as control force, acceleration, velocity, or position along axis perpendicular to computer video display. Proposed mouse enhances sense of realism and intuition in interaction between operator and computer. Useful in such applications as three-dimensional computer graphics, computer games, and mathematical modeling of dynamics.

Dynamic MRI confirms support of the mid-urethra by TVT and TVT-O surgery for stress incontinence.

PubMed

Rinne, Kirsi; Kainulainen, Sakari; Aukee, Sinikka; Heinonen, Seppo; Nilsson, Carl G

2011-06-01

To study changes in mid-urethral function with dynamic MRI in stress urinary incontinent women undergoing either tension-free vaginal tape (TVT) or TVT-obturator sling operations. Prospective clinical study. University hospital. Forty-two parous women with stress urinary incontinence recruited to dynamic magnetic resonance imaging before and after mid-urethral sling surgery. Control group of 16 healthy women. Dynamic magnetic resonance imaging at rest, during pelvic floor muscle contraction, coughing and voiding with a bladder volume of 200-300 ml. X- and Y- coordinates were used to determine the location of the mid-urethra during these activities. Changes in mid-urethral position after TVT and TVT-obturator operations during the different activities. Postoperatively the women could elevate their mid-urethra by pelvic floor muscle contraction significantly higher than before the operation (p<0.05). Despite a different support angle between the TVT and the TVT-O mid-urethral slings, we could not see any differences in the movement patterns. Mid-urethral slings support the mid-urethra and restrict downward movement during different activities. Movement patterns are similar after TVT and TVT-O operations. © 2011 The Authors Acta Obstetricia et Gynecologica Scandinavica© 2011 Nordic Federation of Societies of Obstetrics and Gynecology.

Dynamic optometer. [for electronic recording of human lens anterior surface

NASA Technical Reports Server (NTRS)

Wilson, D. C.

1974-01-01

A dynamic optometer that electronically records the position of the anterior surface of the human lens is described. The geometrical optics of the eye and optometer, and the scattering of light from the lens, are closely examined to determine the optimum conditions for adjustment of the instrument. The light detector and associated electronics are also considered, and the operating conditions for obtaining the best signal-to-noise ratio are determined.

The use of visual cues for vehicle control and navigation

NASA Technical Reports Server (NTRS)

Hart, Sandra G.; Battiste, Vernol

1991-01-01

At least three levels of control are required to operate most vehicles: (1) inner-loop control to counteract the momentary effects of disturbances on vehicle position; (2) intermittent maneuvers to avoid obstacles, and (3) outer-loop control to maintain a planned route. Operators monitor dynamic optical relationships in their immediate surroundings to estimate momentary changes in forward, lateral, and vertical position, rates of change in speed and direction of motion, and distance from obstacles. The process of searching the external scene to find landmarks (for navigation) is intermittent and deliberate, while monitoring and responding to subtle changes in the visual scene (for vehicle control) is relatively continuous and 'automatic'. However, since operators may perform both tasks simultaneously, the dynamic optical cues available for a vehicle control task may be determined by the operator's direction of gaze for wayfinding. An attempt to relate the visual processes involved in vehicle control and wayfinding is presented. The frames of reference and information used by different operators (e.g., automobile drivers, airline pilots, and helicopter pilots) are reviewed with particular emphasis on the special problems encountered by helicopter pilots flying nap of the earth (NOE). The goal of this overview is to describe the context within which different vehicle control tasks are performed and to suggest ways in which the use of visual cues for geographical orientation might influence visually guided control activities.

Predation risk suppresses the positive feedback between size structure and cannibalism.

PubMed

Kishida, Osamu; Trussell, Geoffrey C; Ohno, Ayaka; Kuwano, Shinya; Ikawa, Takuya; Nishimura, Kinya

2011-11-01

1. Cannibalism can play a prominent role in the structuring and dynamics of ecological communities. Previous studies have emphasized the importance of size structure and density of cannibalistic species in shaping short- and long-term cannibalism dynamics, but our understanding of how predators influence cannibalism dynamics is limited. This is despite widespread evidence that many prey species exhibit behavioural and morphological adaptations in response to predation risk. 2. This study examined how the presence and absence of predation risk from larval dragonflies Aeshna nigroflava affected cannibalism dynamics in its prey larval salamanders Hynobius retardatus. 3. We found that feedback dynamics between size structure and cannibalism depended on whether dragonfly predation risk was present. In the absence of dragonfly risk cues, a positive feedback between salamander size structure and cannibalism through time occurred because most of the replicates in this treatment contained at least one salamander larvae having an enlarged gape (i.e. cannibal). In contrast, this feedback and the emergence of cannibalism were rarely observed in the presence of the dragonfly risk cues. Once salamander size divergence occurred, experimental reversals of the presence or absence of dragonfly risk cues did not alter existing cannibalism dynamics as the experiment progressed. Thus, the effects of risk on the mechanisms driving cannibalism dynamics likely operated during the early developmental period of the salamander larvae. 4. The effects of dragonfly predation risk on behavioural aspects of cannibalistic interactions among hatchlings may prohibit the initiation of dynamics between size structure and cannibalism. Our predation trials clearly showed that encounter rates among hatchlings and biting and ingestion rates of prospective prey by prospective cannibals were significantly lower in the presence vs. absence of dragonfly predation risk even though the size asymmetry between cannibals and victims was similar in both risk treatments. These results suggest that dragonfly risk cues first suppress cannibalism among hatchlings and then prevent size variation from increasing through time. 5. We suggest that the positive feedback dynamics between size structure and cannibalism and their modification by predation risk may also operate in other systems to shape the population dynamics of cannibalistic prey species as well as overall community dynamics. © 2011 The Authors. Journal of Animal Ecology © 2011 British Ecological Society.

Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

Ring polymer dynamics in curved spaces

NASA Astrophysics Data System (ADS)

Wolf, S.; Curotto, E.

2012-07-01

We formulate an extension of the ring polymer dynamics approach to curved spaces using stereographic projection coordinates. We test the theory by simulating the particle in a ring, {T}^1, mapped by a stereographic projection using three potentials. Two of these are quadratic, and one is a nonconfining sinusoidal model. We propose a new class of algorithms for the integration of the ring polymer Hamilton equations in curved spaces. These are designed to improve the energy conservation of symplectic integrators based on the split operator approach. For manifolds, the position-position autocorrelation function can be formulated in numerous ways. We find that the position-position autocorrelation function computed from configurations in the Euclidean space {R}^2 that contains {T}^1 as a submanifold has the best statistical properties. The agreement with exact results obtained with vector space methods is excellent for all three potentials, for all values of time in the interval simulated, and for a relatively broad range of temperatures.

Analytical modeling of the dynamics of brushless dc motors for aerospace applications: A conceptual framework

NASA Technical Reports Server (NTRS)

Demerdash, N. A. O.

1976-01-01

The modes of operation of the brushless d.c. machine and its corresponding characteristics (current flow, torque-position, etc.) are presented. The foundations and basic principles on which the preliminary numerical model is based, are discussed.

Static Analysis of Large-Scale Multibody System Using Joint Coordinates and Spatial Algebra Operator

PubMed Central

Omar, Mohamed A.

2014-01-01

Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations. PMID:25045732

Static analysis of large-scale multibody system using joint coordinates and spatial algebra operator.

PubMed

Omar, Mohamed A

2014-01-01

Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can eliminate these transients and lead to stable simulation. Most exiting multibody formulations determine the static equilibrium position by minimizing the system potential energy. This paper presents a new general purpose approach for solving the static equilibrium in large-scale articulated multibody. The proposed approach introduces an energy drainage mechanism based on Baumgarte constraint stabilization approach to determine the static equilibrium position. The spatial algebra operator is used to express the kinematic and dynamic equations of the closed-loop multibody system. The proposed multibody system formulation utilizes the joint coordinates and modal elastic coordinates as the system generalized coordinates. The recursive nonlinear equations of motion are formulated using the Cartesian coordinates and the joint coordinates to form an augmented set of differential algebraic equations. Then system connectivity matrix is derived from the system topological relations and used to project the Cartesian quantities into the joint subspace leading to minimum set of differential equations.

Analysis of Separation Corridors for Visiting Vehicles from the International Space Station

NASA Technical Reports Server (NTRS)

Zaczek, Mariusz P.; Schrock, Rita R.; Schrock, Mark B.; Lowman, Bryan C.

2011-01-01

The International Space Station (ISS) is a very dynamic vehicle with many operational constraints that affect its performance, operations, and vehicle lifetime. Most constraints are designed to alleviate various safety concerns that are a result of dynamic activities between the ISS and various Visiting Vehicles (VVs). One such constraint that has been in place for Russian Vehicle (RV) operations is the limitation placed on Solar Array (SA) positioning in order to prevent collisions during separation and subsequent relative motion of VVs. An unintended consequence of the SA constraint has been the impacts to the operational flexibility of the ISS resulting from the reduced power generation capability as well as from a reduction in the operational lifetime of various SA components. The purpose of this paper is to discuss the technique and the analysis that were applied in order to relax the SA constraints for RV undockings, thereby improving both the ISS operational flexibility and extending its lifetime for many years to come. This analysis focused on the effects of the dynamic motion that occur both prior to and following RV separations. The analysis involved a parametric approach in the conservative application of various initial conditions and assumptions. These included the use of the worst case minimum and maximum vehicle configurations, worst case initial attitudes and attitude rates, and the worst case docking port separation dynamics. Separations were calculated for multiple ISS docking ports, at varied deviations from the nominal undocking attitudes and included the use of two separate attitude control schemes: continuous free-drift and a post separation attitude hold. The analysis required numerical propagation of both the separation motion and the vehicle attitudes using 3-degree-of-freedom (DOF) relative motion equations coupled with rigid body rotational dynamics to generate a large set of separation trajectories.

MERCATOR: Methods and Realization for Control of the Attitude and the Orbit of spacecraft

NASA Technical Reports Server (NTRS)

Tavernier, Gilles; Campan, Genevieve

1993-01-01

Since 1974, CNES has been involved in geostationary positioning. Among different entities participating in operations and their preparation, the Flight Dynamics Center (FDC) is in charge of performing the following tasks: orbit determination; attitude determination; computation, monitoring, and calibration of orbit maneuvers; computation, monitoring, and calibration of attitude maneuvers; and operational predictions. In order to fulfill this mission, the FDC receives telemetry from the satellite and localization measurements from ground stations (e.g., CNES, NASA, INTELSAT). These data are processed by space dynamics programs integrated in the MERCATOR system which is run on SUN workstations (UNIX O.S.). The main features of MERCATOR are redundancy, modularity, and flexibility: efficient, flexible, and user friendly man-machine interface; and four identical SUN stations redundantly linked in an Ethernet network. Each workstation can perform all the tasks from data acquisition to computation results dissemination through a video network. A team of four engineers can handle the space mechanics aspects of a complete geostationary positioning from the injection into a transfer orbit to the final maneuvers in the station-keeping window. MERCATOR has been or is to be used for operations related to more than ten geostationary positionings. Initially developed for geostationary satellites, MERCATOR's methodology was also used for satellite control centers and can be applied to a wide range of satellites and to future manned missions.

Dynamical Localization for Discrete and Continuous Random Schrödinger Operators

NASA Astrophysics Data System (ADS)

Germinet, F.; De Bièvre, S.

We show for a large class of random Schrödinger operators Ho on and on that dynamical localization holds, i.e. that, with probability one, for a suitable energy interval I and for q a positive real, Here ψ is a function of sufficiently rapid decrease, and PI(Ho) is the spectral projector of Ho corresponding to the interval I. The result is obtained through the control of the decay of the eigenfunctions of Ho and covers, in the discrete case, the Anderson tight-binding model with Bernoulli potential (dimension ν = 1) or singular potential (ν > 1), and in the continuous case Anderson as well as random Landau Hamiltonians.

Molecular dynamics simulation of trp-repressor/operator complex: analysis of hydrogen bond patterns of protein DNA interaction

NASA Astrophysics Data System (ADS)

Suenaga, A.; Yatsu, C.; Komeiji, Y.; Uebayasi, M.; Meguro, T.; Yamato, I.

2000-08-01

Molecular dynamics simulation of Escherichia colitrp-repressor/operator complex was performed to elucidate protein-DNA interactions in solution for 800 ps on special-purpose computer MD-GRAPE. The Ewald summation method was employed to treat the electrostatic interaction without cutoff. DNA kept stable conformation in comparison with the result of the conventional cutoff method. Thus, the trajectories obtained were used to analyze the protein-DNA interaction and to understand the role of dynamics of water molecules forming sequence specific recognition interface. The dynamical cross-correlation map showed a significant positive correlation between the helix-turn-helix DNA-binding motifs and the major grooves of operator DNA. The extensive contact surface was stable during the simulation. Most of the contacts consisted of direct interactions between phosphates of DNA and the protein, but several water-mediated polar contacts were also observed. These water-mediated interactions, which were also seen in the crystal structure (Z. Otwinowski, et al., Nature, 335 (1998) 321) emerged spontaneously from the randomized initial configuration of the solvent. This result suggests the importance of the water-mediated interaction in specific recognition of DNA by the trp-repressor, consistent with X-ray structural information.

An application of the Caputo-Fabrizio operator to replicator-mutator dynamics: Bifurcation, chaotic limit cycles and control

NASA Astrophysics Data System (ADS)

Doungmo Goufo, Emile Franc

2018-02-01

The physical behaviors of replicator-mutator processes found in theoretical biophysics, physical chemistry, biochemistry and population biology remain complex with unlimited expressibility. People languages, for instance, have impressively and unpredictably changed over the time in human history. This is mainly due to the collection of small changes and collaboration with other languages. In this paper, the Caputo-Fabrizio operator is applied to a replicator-mutator dynamic taking place in midsts with movement. The model is fully analyzed and solved numerically via the Crank-Nicolson scheme. Stability and convergence results are provided. A concrete application to replicator-mutator dynamics for a population with three strategies is performed with numerical simulations provided for some fixed values of the physical position of the population symbolized by r and the grid points. Physically, it happens that limit cycles appear, not only in function of the mutation parameter μ but also in function of the values given to r . The amplitudes of limit cycles also appear to be proportional to r but the stability of the system remains unaffected. However, those limit cycles instead of disappearing as expected, are immediately followed by chaotic and unpredictable behaviors certainly due to the non-singular kernel used in the model and suitable to non-linear dynamics. Hence, the appearance and disappearance of limit cycles might be controlled by the position variable r which can also apprehend chaos.

Study of virgin olive oil clarification by settling under dynamic conditions.

PubMed

Gila, Abraham; Bejaoui, Mohamed Aymen; Beltrán, Gabriel; Aguilera, María Paz; Jiménez, Antonio

2018-04-16

Vertical centrifugation is the main method for virgin olive oil (VOO) clarification. However, in recent years, settling tanks are also being used to clarify the oils from decanters. They can operate under static or dynamic conditions. In this work, vertical centrifugation and settling under dynamic conditions for VOO clarification and their effects on VOO characteristics were compared. VOO quality parameters were not affected by the clarification systems studied. The vertical centrifugal separator (VCS) showed higher clarification efficiency, giving clarified oils with higher phenol content and better sensory characteristics. VOOs clarified by dynamic settling showed notable losses of phenols and worse sensory characteristics, since the tank purge system was not efficient, with most of the impurities remaining in the tanks. The VCS with minimal water addition is a quick operation with low water consumption and is a better option to produce VOOs of improved quality, especially in terms of longer shelf life and preservation of positive sensory notes. © 2018 Society of Chemical Industry. © 2018 Society of Chemical Industry.

Dynamic Ground Effect for a Cranked Arrow Wing Airplane

NASA Technical Reports Server (NTRS)

Curry, Robert E.

1997-01-01

Flight-determined ground effect characteristics for an F-16XL airplane are presented and correlated with wind tunnel predictions and similar flight results from other aircraft. Maneuvers were conducted at a variety of flightpath angles. Conventional ground effect flight test methods were used, with the exception that space positioning data were obtained using the differential global positioning system (DGPS). Accuracy of the DGPS was similar to that of optical tracking methods, but it was operationally more attractive. The dynamic flight determined lift and drag coefficient increments were measurably lower than steady-state wind-tunnel predictions. This relationship is consistent with the results of other aircraft for which similar data are available. Trends in the flight measured lift increments caused by ground effect as a function of flightpath angle were evident but weakly correlated. An engineering model of dynamic ground effect was developed based on linear aerodynamic theory and super-positioning of flows. This model was applied to the F-16XL data set and to previously published data for an F-15 airplane. In both cases, the model provided an engineering estimate of the ratio between the steady-state and dynamic data sets.

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

PubMed

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

2014-11-18

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

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

PubMed Central

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

2014-01-01

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

Liquid Microjunction Surface Sampling Probe Fluid Dynamics: Computational and Experimental Analysis of Coaxial Intercapillary Positioning Effects on Sample Manipulation

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

ElNaggar, Mariam S; Barbier, Charlotte N; Van Berkel, Gary J

A coaxial geometry liquid microjunction surface sampling probe (LMJ-SSP) enables direct extraction of analytes from surfaces for subsequent analysis by techniques like mass spectrometry. Solution dynamics at the probe-to-sample surface interface in the LMJ-SSP has been suspected to influence sampling efficiency and dispersion but has not been rigorously investigated. The effect on flow dynamics and analyte transport to the mass spectrometer caused by coaxial retraction of the inner and outer capillaries from each other and the surface during sampling with a LMJ-SSP was investigated using computational fluid dynamics and experimentation. A transparent LMJ-SSP was constructed to provide the means formore » visual observation of the dynamics of the surface sampling process. Visual observation, computational fluid dynamics (CFD) analysis, and experimental results revealed that inner capillary axial retraction from the flush position relative to the outer capillary transitioned the probe from a continuous sampling and injection mode through an intermediate regime to sample plug formationmode caused by eddy currents at the sampling end of the probe. The potential for analytical implementation of these newly discovered probe operational modes is discussed.« less

The kinematic architecture of the Active Headframe: A new head support for awake brain surgery.

PubMed

Malosio, Matteo; Negri, Simone Pio; Pedrocchi, Nicola; Vicentini, Federico; Cardinale, Francesco; Tosatti, Lorenzo Molinari

2012-01-01

This paper presents the novel hybrid kinematic structure of the Active Headframe, a robotic head support to be employed in brain surgery operations for an active and dynamic control of the patient's head position and orientation, particularly addressing awake surgery requirements. The topology has been conceived in order to satisfy all the installation, functional and dynamic requirements. A kinetostatic optimization has been performed to obtain the actual geometric dimensions of the prototype currently being developed.

A Module for Automatic Dock and Detumble (MADD) for orbital rescue operations

NASA Technical Reports Server (NTRS)

Snow, W. R.; Kunciw, B. G.; Kaplan, M. H.

1973-01-01

The module for automatic dock and detumble (MADD) is an automated device for bringing a passive, tumbling space base under control in an orbital rescue situation. The conceptual design of such a device resulted from a consideration of tumbling motion analyses and mission constraints. Specific topics of investigation include orbit and attitude dynamics and detumble profiles. Position and attitude control systems for the various phases of operation were developed. Dynamic motion of a passive vehicle with MADD attached is considered as an example application and to determine control requirements. Since time is a critical factor in rescue operations, it is essential to execute the detumbling maneuver in a minimum of time. Optimization of the MADD thrusting sequence has also been investigated. Results indicate the control torque must be directed opposite to the angular momentum vector for the assumption used here.

Quantum learning of classical stochastic processes: The completely positive realization problem

NASA Astrophysics Data System (ADS)

Monràs, Alex; Winter, Andreas

2016-01-01

Among several tasks in Machine Learning, a specially important one is the problem of inferring the latent variables of a system and their causal relations with the observed behavior. A paradigmatic instance of this is the task of inferring the hidden Markov model underlying a given stochastic process. This is known as the positive realization problem (PRP), [L. Benvenuti and L. Farina, IEEE Trans. Autom. Control 49(5), 651-664 (2004)] and constitutes a central problem in machine learning. The PRP and its solutions have far-reaching consequences in many areas of systems and control theory, and is nowadays an important piece in the broad field of positive systems theory. We consider the scenario where the latent variables are quantum (i.e., quantum states of a finite-dimensional system) and the system dynamics is constrained only by physical transformations on the quantum system. The observable dynamics is then described by a quantum instrument, and the task is to determine which quantum instrument — if any — yields the process at hand by iterative application. We take as a starting point the theory of quasi-realizations, whence a description of the dynamics of the process is given in terms of linear maps on state vectors and probabilities are given by linear functionals on the state vectors. This description, despite its remarkable resemblance with the hidden Markov model, or the iterated quantum instrument, is however devoid of any stochastic or quantum mechanical interpretation, as said maps fail to satisfy any positivity conditions. The completely positive realization problem then consists in determining whether an equivalent quantum mechanical description of the same process exists. We generalize some key results of stochastic realization theory, and show that the problem has deep connections with operator systems theory, giving possible insight to the lifting problem in quotient operator systems. Our results have potential applications in quantum machine learning, device-independent characterization and reverse-engineering of stochastic processes and quantum processors, and more generally, of dynamical processes with quantum memory [M. Guţă, Phys. Rev. A 83(6), 062324 (2011); M. Guţă and N. Yamamoto, e-print arXiv:1303.3771(2013)].

Ergonomically neutral arm support system

DOEpatents

Siminovitch, Michael J; Chung, Jeffrey Y; Dellinges, Steven; Lafever, Robin E

2005-08-02

An ergonomic arm support system maintains a neutral position for the forearm. A mechanical support structure attached to a chair or other mounting structure supports the arms of a sitting or standing person. The system includes moving elements and tensioning elements to provide a dynamic balancing force against the forearms. The support structure is not fixed or locked in a rigid position, but is an active dynamic system that is maintained in equipoise by the continuous operation of the opposing forces. The support structure includes an armrest connected to a flexible linkage or articulated or pivoting assembly, which includes a tensioning element such as a spring. The pivoting assembly moves up and down, with the tensioning element providing the upward force that balances the downward force of the arm.

Development of an empirically based dynamic biomechanical strength model

NASA Technical Reports Server (NTRS)

Pandya, A.; Maida, J.; Aldridge, A.; Hasson, S.; Woolford, B.

1992-01-01

The focus here is on the development of a dynamic strength model for humans. Our model is based on empirical data. The shoulder, elbow, and wrist joints are characterized in terms of maximum isolated torque, position, and velocity in all rotational planes. This information is reduced by a least squares regression technique into a table of single variable second degree polynomial equations determining the torque as a function of position and velocity. The isolated joint torque equations are then used to compute forces resulting from a composite motion, which in this case is a ratchet wrench push and pull operation. What is presented here is a comparison of the computed or predicted results of the model with the actual measured values for the composite motion.

Adaptive multiphoton endomicroscopy through a dynamically deformed multicore optical fiber using proximal detection.

PubMed

Warren, Sean C; Kim, Youngchan; Stone, James M; Mitchell, Claire; Knight, Jonathan C; Neil, Mark A A; Paterson, Carl; French, Paul M W; Dunsby, Chris

2016-09-19

This paper demonstrates multiphoton excited fluorescence imaging through a polarisation maintaining multicore fiber (PM-MCF) while the fiber is dynamically deformed using all-proximal detection. Single-shot proximal measurement of the relative optical path lengths of all the cores of the PM-MCF in double pass is achieved using a Mach-Zehnder interferometer read out by a scientific CMOS camera operating at 416 Hz. A non-linear least squares fitting procedure is then employed to determine the deformation-induced lateral shift of the excitation spot at the distal tip of the PM-MCF. An experimental validation of this approach is presented that compares the proximally measured deformation-induced lateral shift in focal spot position to an independent distally measured ground truth. The proximal measurement of deformation-induced shift in focal spot position is applied to correct for deformation-induced shifts in focal spot position during raster-scanning multiphoton excited fluorescence imaging.

CLASSICAL AREAS OF PHENOMENOLOGY: Correcting dynamic residual aberrations of conformal optical systems using AO technology

NASA Astrophysics Data System (ADS)

Li, Yan; Li, Lin; Huang, Yi-Fan; Du, Bao-Lin

2009-07-01

This paper analyses the dynamic residual aberrations of a conformal optical system and introduces adaptive optics (AO) correction technology to this system. The image sharpening AO system is chosen as the correction scheme. Communication between MATLAB and Code V is established via ActiveX technique in computer simulation. The SPGD algorithm is operated at seven zoom positions to calculate the optimized surface shape of the deformable mirror. After comparison of performance of the corrected system with the baseline system, AO technology is proved to be a good way of correcting the dynamic residual aberration in conformal optical design.

Probing the Ca(2+) switch of the neuronal Ca(2+) sensor GCAP2 by time-resolved fluorescence spectroscopy.

PubMed

Kollmann, Heiko; Becker, Simon F; Shirdel, Javid; Scholten, Alexander; Ostendorp, Anna; Lienau, Christoph; Koch, Karl-Wilhelm

2012-06-15

We report fluorescence lifetime and rotational anisotropy measurements of the fluorescent dye Alexa647 attached to the guanylate cyclase-activating protein 2 (GCAP2), an intracellular myristoylated calcium sensor protein operating in photoreceptor cells. By linking the dye to different protein regions critical for monitoring calcium-induced conformational changes, we could measure fluorescence lifetimes and rotational correlation times as a function of myristoylation, calcium, and position of the attached dye, while GCAP2 was still able to regulate guanylate cyclase in a Ca(2+)-sensitive manner. We observe distinct site-specific variations in the fluorescence dynamics when externally changing the protein conformation. A clear reduction in fluorescence lifetime suggests that in the calcium-free state a dye marker in amino acid position 131 senses a more hydrophobic protein environment than in position 111. Saturating GCAP2 with calcium increases the fluorescence lifetime and hence leads to larger exposure of position 111 to the solvent and at the same time to a movement of position 131 into a hydrophobic protein cleft. In addition, we find distinct, biexponential anisotropy decays reflecting the reorientational motion of the fluorophore dipole and the dye/protein complex, respectively. Our experimental data are well described by a "wobbling-in-a-cone" model and reveal that for dye markers in position 111 of the GCAP2 protein both addition of calcium and myristoylation results in a pronounced increase in orientational flexibility of the fluorophore. Our results provide evidence that the up-and-down movement of an α-helix that is situated between position 111 and 131 is a key feature of the dynamics of the protein-dye complex. Operation of this piston-like movement is triggered by the intracellular messenger calcium.

Multiple-Fiber-Optic Probe For Light-Scattering Measurements

NASA Technical Reports Server (NTRS)

Dhadwal, Harbans Singh; Ansari, Rafat R.

1996-01-01

Multiple-fiber-optical probe developed for use in measuring light scattered at various angles from specimens of materials. Designed for both static and dynamic light-scattering measurements of colloidal dispersions. Probe compact, rugged unit containing no moving parts and remains stationary during operation. Not restricted to operation in controlled, research-laboratory environment. Positioned inside or outside light-scattering chamber. Provides simultaneous measurements at small angular intervals over range of angles, made to include small scattering angles by orienting probe in appropriate direction.

Feasibility of Detecting Natural Frequencies of Hydraulic Turbines While in Operation, Using Strain Gauges.

PubMed

Valentín, David; Presas, Alexandre; Bossio, Matias; Egusquiza, Mònica; Egusquiza, Eduard; Valero, Carme

2018-01-10

Nowadays, hydropower plays an essential role in the energy market. Due to their fast response and regulation capacity, hydraulic turbines operate at off-design conditions with a high number of starts and stops. In this situation, dynamic loads and stresses over the structure are high, registering some failures over time, especially in the runner. Therefore, it is important to know the dynamic response of the runner while in operation, i.e., the natural frequencies, damping and mode shapes, in order to avoid resonance and fatigue problems. Detecting the natural frequencies of hydraulic turbine runners while in operation is challenging, because they are inaccessible structures strongly affected by their confinement in water. Strain gauges are used to measure the stresses of hydraulic turbine runners in operation during commissioning. However, in this paper, the feasibility of using them to detect the natural frequencies of hydraulic turbines runners while in operation is studied. For this purpose, a large Francis turbine runner (444 MW) was instrumented with several strain gauges at different positions. First, a complete experimental strain modal testing (SMT) of the runner in air was performed using the strain gauges and accelerometers. Then, the natural frequencies of the runner were estimated during operation by means of analyzing accurately transient events or rough operating conditions.

Feasibility of Detecting Natural Frequencies of Hydraulic Turbines While in Operation, Using Strain Gauges

PubMed Central

Presas, Alexandre; Bossio, Matias; Egusquiza, Eduard; Valero, Carme

2018-01-01

Nowadays, hydropower plays an essential role in the energy market. Due to their fast response and regulation capacity, hydraulic turbines operate at off-design conditions with a high number of starts and stops. In this situation, dynamic loads and stresses over the structure are high, registering some failures over time, especially in the runner. Therefore, it is important to know the dynamic response of the runner while in operation, i.e., the natural frequencies, damping and mode shapes, in order to avoid resonance and fatigue problems. Detecting the natural frequencies of hydraulic turbine runners while in operation is challenging, because they are inaccessible structures strongly affected by their confinement in water. Strain gauges are used to measure the stresses of hydraulic turbine runners in operation during commissioning. However, in this paper, the feasibility of using them to detect the natural frequencies of hydraulic turbines runners while in operation is studied. For this purpose, a large Francis turbine runner (444 MW) was instrumented with several strain gauges at different positions. First, a complete experimental strain modal testing (SMT) of the runner in air was performed using the strain gauges and accelerometers. Then, the natural frequencies of the runner were estimated during operation by means of analyzing accurately transient events or rough operating conditions. PMID:29320422

Convergence of damped inertial dynamics governed by regularized maximally monotone operators

NASA Astrophysics Data System (ADS)

Attouch, Hedy; Cabot, Alexandre

2018-06-01

In a Hilbert space setting, we study the asymptotic behavior, as time t goes to infinity, of the trajectories of a second-order differential equation governed by the Yosida regularization of a maximally monotone operator with time-varying positive index λ (t). The dissipative and convergence properties are attached to the presence of a viscous damping term with positive coefficient γ (t). A suitable tuning of the parameters γ (t) and λ (t) makes it possible to prove the weak convergence of the trajectories towards zeros of the operator. When the operator is the subdifferential of a closed convex proper function, we estimate the rate of convergence of the values. These results are in line with the recent articles by Attouch-Cabot [3], and Attouch-Peypouquet [8]. In this last paper, the authors considered the case γ (t) = α/t, which is naturally linked to Nesterov's accelerated method. We unify, and often improve the results already present in the literature.

Analysis for the amplitude oscillatory movements of the ship in response to the incidence wave

NASA Astrophysics Data System (ADS)

Chiţu, M. G.; Zăgan, R.; Manea, E.

2015-11-01

Event of major accident navigation near offshore drilling rigs remains unacceptably high, known as the complications arising from the problematic of the general motions of the ship sailing under real sea. Dynamic positioning system is an effective instrument used on board of the ships operating in the extraction of oil and gas in the continental shelf of the seas and oceans, being essential that the personnel on board of the vessel can maintain position and operating point or imposed on a route with high precision. By the adoption of a strict safety in terms of handling and positioning of the vessel in the vicinity of the drilling platform, the risk of accidents can be reduced to a minimum. Possibilities in anticipation amplitudes of the oscillatory movements of the ships navigating in real sea, is a challenge for naval architects and OCTOPUS software is a tool used increasingly more in this respect, complementing navigational facilities offered by dynamic positioning systems. This paper presents a study on the amplitudes of the oscillations categories of supply vessels in severe hydro meteorological conditions of navigation. The study provides information on the RAO (Response Amplitude Operator) response operator of the ship, for the amplitude of the roll movements, in some incident wave systems, interpreted using the energy spectrum Jonswap and whose characteristics are known (significant height of the wave, wave period, pulsation of the wave). Ship responses are analyzed according to different positioning of the ship in relation to the wave front (incident angle ranging from 10 to 10 degree from 0 to 180), highlighting the value of the ship roll motion amplitude. For the study, was used, as a tool for modeling and simulation, the features offered by OCTOPUS software that allows the study of the computerized behavior of the ship on the waves, in the real conditions of navigation. Program library was used for both the vessel itself and navigation modeling environment, for regular waves as well for the irregular waves which was modeled using Jonswap energy spectrum.

Dynamical emergence of Markovianity in local time scheme.

PubMed

Jeknić-Dugić, J; Arsenijević, M; Dugić, M

2016-06-01

Recently we pointed out the so-called local time scheme as a novel approach to quantum foundations that solves the preferred pointer-basis problem. In this paper, we introduce and analyse in depth a rather non-standard dynamical map that is imposed by the scheme. On the one hand, the map does not allow for introducing a properly defined generator of the evolution nor does it represent a quantum channel. On the other hand, the map is linear, positive, trace preserving and unital as well as completely positive, but is not divisible and therefore non-Markovian. Nevertheless, we provide quantitative criteria for dynamical emergence of time-coarse-grained Markovianity, for exact dynamics of an open system, as well as for operationally defined approximation of a closed or open many-particle system. A closed system never reaches a steady state, whereas an open system may reach a unique steady state given by the Lüders-von Neumann formula; where the smaller the open system, the faster a steady state is attained. These generic findings extend the standard open quantum systems theory and substantially tackle certain cosmological issues.

3D Surgical Simulation

PubMed Central

Cevidanes, Lucia; Tucker, Scott; Styner, Martin; Kim, Hyungmin; Chapuis, Jonas; Reyes, Mauricio; Proffit, William; Turvey, Timothy; Jaskolka, Michael

2009-01-01

This paper discusses the development of methods for computer-aided jaw surgery. Computer-aided jaw surgery allows us to incorporate the high level of precision necessary for transferring virtual plans into the operating room. We also present a complete computer-aided surgery (CAS) system developed in close collaboration with surgeons. Surgery planning and simulation include construction of 3D surface models from Cone-beam CT (CBCT), dynamic cephalometry, semi-automatic mirroring, interactive cutting of bone and bony segment repositioning. A virtual setup can be used to manufacture positioning splints for intra-operative guidance. The system provides further intra-operative assistance with the help of a computer display showing jaw positions and 3D positioning guides updated in real-time during the surgical procedure. The CAS system aids in dealing with complex cases with benefits for the patient, with surgical practice, and for orthodontic finishing. Advanced software tools for diagnosis and treatment planning allow preparation of detailed operative plans, osteotomy repositioning, bone reconstructions, surgical resident training and assessing the difficulties of the surgical procedures prior to the surgery. CAS has the potential to make the elaboration of the surgical plan a more flexible process, increase the level of detail and accuracy of the plan, yield higher operative precision and control, and enhance documentation of cases. Supported by NIDCR DE017727, and DE018962 PMID:20816308

Modular Software for Spacecraft Navigation Using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Truong, S. H.; Hartman, K. R.; Weidow, D. A.; Berry, D. L.; Oza, D. H.; Long, A. C.; Joyce, E.; Steger, W. L.

1996-01-01

The Goddard Space Flight Center Flight Dynamics and Mission Operations Divisions have jointly investigated the feasibility of engineering modular Global Positioning SYSTEM (GPS) navigation software to support both real time flight and ground postprocessing configurations. The goals of this effort are to define standard GPS data interfaces and to engineer standard, reusable navigation software components that can be used to build a broad range of GPS navigation support applications. The paper discusses the GPS modular software (GMOD) system and operations concepts, major requirements, candidate software architecture, feasibility assessment and recommended software interface standards. In additon, ongoing efforts to broaden the scope of the initial study and to develop modular software to support autonomous navigation using GPS are addressed,

Type-2 fuzzy logic control of a 2-DOF helicopter (TRMS system)

NASA Astrophysics Data System (ADS)

Zeghlache, Samir; Kara, Kamel; Saigaa, Djamel

2014-09-01

The helicopter dynamic includes nonlinearities, parametric uncertainties and is subject to unknown external disturbances. Such complicated dynamics involve designing sophisticated control algorithms that can deal with these difficulties. In this paper, a type 2 fuzzy logic PID controller is proposed for TRMS (twin rotor mimo system) control problem. Using triangular membership functions and based on a human operator experience, two controllers are designed to control the position of the yaw and the pitch angles of the TRMS. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

Phase Space Tweezers for Tailoring Cavity Fields by Quantum Zeno Dynamics

NASA Astrophysics Data System (ADS)

Raimond, J. M.; Sayrin, C.; Gleyzes, S.; Dotsenko, I.; Brune, M.; Haroche, S.; Facchi, P.; Pascazio, S.

2010-11-01

We discuss an implementation of quantum Zeno dynamics in a cavity quantum electrodynamics experiment. By performing repeated unitary operations on atoms coupled to the field, we restrict the field evolution in chosen subspaces of the total Hilbert space. This procedure leads to promising methods for tailoring nonclassical states. We propose to realize “tweezers” picking a coherent field at a point in phase space and moving it towards an arbitrary final position without affecting other nonoverlapping coherent components. These effects could be observed with a state-of-the-art apparatus.

Modeling and controller design of a 6-DOF precision positioning system

NASA Astrophysics Data System (ADS)

Cai, Kunhai; Tian, Yanling; Liu, Xianping; Fatikow, Sergej; Wang, Fujun; Cui, Liangyu; Zhang, Dawei; Shirinzadeh, Bijan

2018-05-01

A key hurdle to meet the needs of micro/nano manipulation in some complex cases is the inadequate workspace and flexibility of the operation ends. This paper presents a 6-degree of freedom (DOF) serial-parallel precision positioning system, which consists of two compact type 3-DOF parallel mechanisms. Each parallel mechanism is driven by three piezoelectric actuators (PEAs), guided by three symmetric T-shape hinges and three elliptical flexible hinges, respectively. It can extend workspace and improve flexibility of the operation ends. The proposed system can be assembled easily, which will greatly reduce the assembly errors and improve the positioning accuracy. In addition, the kinematic and dynamic model of the 6-DOF system are established, respectively. Furthermore, in order to reduce the tracking error and improve the positioning accuracy, the Discrete-time Model Predictive Controller (DMPC) is applied as an effective control method. Meanwhile, the effectiveness of the DMCP control method is verified. Finally, the tracking experiment is performed to verify the tracking performances of the 6-DOF stage.

Dynamic fiber Bragg grating strain sensor interrogation with real-time measurement

NASA Astrophysics Data System (ADS)

Park, Jinwoo; Kwon, Yong Seok; Ko, Myeong Ock; Jeon, Min Yong

2017-11-01

We demonstrate a 1550 nm band resonance Fourier-domain mode-locked (FDML) fiber laser with fiber Bragg grating (FBG) array. Using the FDML fiber laser, we successfully demonstrate real-time monitoring of dynamic FBG strain sensor interrogation for structural health monitoring. The resonance FDML fiber laser consists of six multiplexed FBGs, which are arranged in series with delay fiber lengths. It is operated by driving the fiber Fabry-Perot tunable filter (FFP-TF) with a sinusoidal waveform at a frequency corresponding to the round-trip time of the laser cavity. Each FBG forms a laser cavity independently in the FDML fiber laser because the light travels different length for each FBG. The very closely positioned two FBGs in a pair are operated simultaneously with a frequency in the FDML fiber laser. The spatial positions of the sensing pair can be distinguished from the variation of the applied frequency to the FFP-TF. One of the FBGs in the pair is used as a reference signal and the other one is fixed on the piezoelectric transducer stack to apply the dynamic strain. We successfully achieve real-time measurement of the abrupt change of the frequencies applied to the FBG without any signal processing delay. The real-time monitoring system is displayed simultaneously on the monitor for the variation of the two peaks, the modulation interval of the two peaks, and their fast Fourier transform spectrum. The frequency resolution of the dynamic variation could reach up to 0.5 Hz for 2 s integration time. It depends on the integration time to measure the dynamic variation. We believe that the real-time monitoring system will have a potential application for structural health monitoring.

Adaptive backstepping control of train systems with traction/braking dynamics and uncertain resistive forces

NASA Astrophysics Data System (ADS)

Song, Qi; Song, Y. D.; Cai, Wenchuan

2011-09-01

Although backstepping control design approach has been widely utilised in many practical systems, little effort has been made in applying this useful method to train systems. The main purpose of this paper is to apply this popular control design technique to speed and position tracking control of high-speed trains. By integrating adaptive control with backstepping control, we develop a control scheme that is able to address not only the traction and braking dynamics ignored in most existing methods, but also the uncertain friction and aerodynamic drag forces arisen from uncertain resistance coefficients. As such, the resultant control algorithms are able to achieve high precision train position and speed tracking under varying operation railway conditions, as validated by theoretical analysis and numerical simulations.

Iterants, Fermions and Majorana Operators

NASA Astrophysics Data System (ADS)

Kauffman, Louis H.

Beginning with an elementary, oscillatory discrete dynamical system associated with the square root of minus one, we study both the foundations of mathematics and physics. Position and momentum do not commute in our discrete physics. Their commutator is related to the diffusion constant for a Brownian process and to the Heisenberg commutator in quantum mechanics. We take John Wheeler's idea of It from Bit as an essential clue and we rework the structure of that bit to a logical particle that is its own anti-particle, a logical Marjorana particle. This is our key example of the amphibian nature of mathematics and the external world. We show how the dynamical system for the square root of minus one is essentially the dynamics of a distinction whose self-reference leads to both the fusion algebra and the operator algebra for the Majorana Fermion. In the course of this, we develop an iterant algebra that supports all of matrix algebra and we end the essay with a discussion of the Dirac equation based on these principles.

A general framework for complete positivity

NASA Astrophysics Data System (ADS)

Dominy, Jason M.; Shabani, Alireza; Lidar, Daniel A.

2016-01-01

Complete positivity of quantum dynamics is often viewed as a litmus test for physicality; yet, it is well known that correlated initial states need not give rise to completely positive evolutions. This observation spurred numerous investigations over the past two decades attempting to identify necessary and sufficient conditions for complete positivity. Here, we describe a complete and consistent mathematical framework for the discussion and analysis of complete positivity for correlated initial states of open quantum systems. This formalism is built upon a few simple axioms and is sufficiently general to contain all prior methodologies going back to Pechakas (Phys Rev Lett 73:1060-1062, 1994). The key observation is that initial system-bath states with the same reduced state on the system must evolve under all admissible unitary operators to system-bath states with the same reduced state on the system, in order to ensure that the induced dynamical maps on the system are well defined. Once this consistency condition is imposed, related concepts such as the assignment map and the dynamical maps are uniquely defined. In general, the dynamical maps may not be applied to arbitrary system states, but only to those in an appropriately defined physical domain. We show that the constrained nature of the problem gives rise to not one but three inequivalent types of complete positivity. Using this framework, we elucidate the limitations of recent attempts to provide conditions for complete positivity using quantum discord and the quantum data processing inequality. In particular, we correct the claim made by two of us (Shabani and Lidar in Phys Rev Lett 102:100402-100404, 2009) that vanishing discord is necessary for complete positivity, and explain that it is valid only for a particular class of initial states. The problem remains open, and may require fresh perspectives and new mathematical tools. The formalism presented herein may be one step in that direction.

Dynamically Timed Electric Motor

NASA Technical Reports Server (NTRS)

Casper, Ann M. (Inventor)

1997-01-01

A brushless DC motor including a housing having an end cap secured thereto. The housing encloses a rotor. a stator and a rotationally displaceable commutation board having sensors secured thereon and spaced around the periphery of the rotor. An external rotational force is applied to the commutation board for displacement of the sensors to various positions whereby varying feedback signals are generated by the positioning of the sensors relative to the rotating rotor. The commutation board is secured in a fixed position in response to feedback signals indicative of optimum sensor position being determined. The rotation of the commutation board and the securing of the sensors in the desired fixed position is accomplished without requiring the removal of the end cap and with the DC motor operating.

A hybrid method for accurate star tracking using star sensor and gyros.

PubMed

Lu, Jiazhen; Yang, Lie; Zhang, Hao

2017-10-01

Star tracking is the primary operating mode of star sensors. To improve tracking accuracy and efficiency, a hybrid method using a star sensor and gyroscopes is proposed in this study. In this method, the dynamic conditions of an aircraft are determined first by the estimated angular acceleration. Under low dynamic conditions, the star sensor is used to measure the star vector and the vector difference method is adopted to estimate the current angular velocity. Under high dynamic conditions, the angular velocity is obtained by the calibrated gyros. The star position is predicted based on the estimated angular velocity and calibrated gyros using the star vector measurements. The results of the semi-physical experiment show that this hybrid method is accurate and feasible. In contrast with the star vector difference and gyro-assisted methods, the star position prediction result of the hybrid method is verified to be more accurate in two different cases under the given random noise of the star centroid.

Accurate mobile malware detection and classification in the cloud.

PubMed

Wang, Xiaolei; Yang, Yuexiang; Zeng, Yingzhi

2015-01-01

As the dominator of the Smartphone operating system market, consequently android has attracted the attention of s malware authors and researcher alike. The number of types of android malware is increasing rapidly regardless of the considerable number of proposed malware analysis systems. In this paper, by taking advantages of low false-positive rate of misuse detection and the ability of anomaly detection to detect zero-day malware, we propose a novel hybrid detection system based on a new open-source framework CuckooDroid, which enables the use of Cuckoo Sandbox's features to analyze Android malware through dynamic and static analysis. Our proposed system mainly consists of two parts: anomaly detection engine performing abnormal apps detection through dynamic analysis; signature detection engine performing known malware detection and classification with the combination of static and dynamic analysis. We evaluate our system using 5560 malware samples and 6000 benign samples. Experiments show that our anomaly detection engine with dynamic analysis is capable of detecting zero-day malware with a low false negative rate (1.16 %) and acceptable false positive rate (1.30 %); it is worth noting that our signature detection engine with hybrid analysis can accurately classify malware samples with an average positive rate 98.94 %. Considering the intensive computing resources required by the static and dynamic analysis, our proposed detection system should be deployed off-device, such as in the Cloud. The app store markets and the ordinary users can access our detection system for malware detection through cloud service.

Transparent lattice characterization with gated turn-by-turn data of diagnostic bunch train

NASA Astrophysics Data System (ADS)

Li, Yongjun; Cheng, Weixing; Ha, Kiman; Rainer, Robert

2017-11-01

Methods of characterization of a storage ring's lattice have traditionally been intrusive to routine operations. More importantly, the lattice seen by particles can drift with the beam current due to collective effects. To circumvent this, we have developed a novel approach for dynamically characterizing a storage ring's lattice that is transparent to operations. Our approach adopts a dedicated filling pattern which has a short, separate diagnostic bunch train (DBT). Through the use of a bunch-by-bunch feedback system, the DBT can be selectively excited on demand. Gated functionality of a beam position monitor system is capable of collecting turn-by-turn data of the DBT, from which the lattice can then be characterized after excitation. As the DBT comprises only about one percent of the total operational bunches, the effects of its excitation are negligible to users. This approach allows us to localize the distributed quadrupolar wakefields generated in the storage ring vacuum chamber during beam accumulation. While effectively transparent to operations, our approach enables us to dynamically control the beta beat and phase beat, and unobtrusively optimize performance of the National Synchrotron Light Source-II accelerator during routine operations.

Transparent lattice characterization with gated turn-by-turn data of diagnostic bunch train

DOE PAGES

Li, Yongjun; Cheng, Weixing; Ha, Kiman; ...

2017-11-21

Methods of characterization of a storage ring's lattice have traditionally been intrusive to routine operations. More importantly, the lattice seen by particles can drift with the beam current due to collective effects. To circumvent this, we have developed a novel approach for dynamically characterizing a storage ring's lattice that is transparent to operations. Our approach adopts a dedicated filling pattern which has a short, separate Diagnostic Bunch-Train (DBT). Through the use of a bunch-by-bunch feedback system, the DBT can be selectively excited on-demand. Gated functionality of a beam position monitor system is capable of collecting turn-by-turn data of the DBT,more » from which the lattice can then be characterized after excitation. As the DBT comprises only about one percent of the total operational bunches, the effects of its excitation are negligible to users. Therefore, this approach allows us to localize the distributed quadrupolar wake fields generated in the storage ring vacuum chamber during beam accumulation. While effectively transparent to operations, our approach enables us to dynamically control the beta-beat and phase-beat, and unobtrusively optimize performance of National Synchrotron Light Source-II accelerator during routine operations.« less

Wind loading analysis and strategy for deflection reduction on HET wide field upgrade

NASA Astrophysics Data System (ADS)

South, Brian J.; Soukup, Ian M.; Worthington, Michael S.; Zierer, Joseph J.; Booth, John A.; Good, John M.

2010-07-01

Wind loading can be a detrimental source of vibration and deflection for any large terrestrial optical telescope. The Hobby-Eberly Telescope* (HET) in the Davis Mountains of West Texas is undergoing a Wide Field Upgrade (WFU) in support of the Dark Energy Experiment (HETDEX) that will greatly increase the size of the instrumentation subjected to operating wind speeds of up to 20.1 m/s (45 mph). A non-trivial consideration for this telescope (or others) is to quantify the wind loads and resulting deflections of telescope structures induced under normal operating conditions so that appropriate design changes can be made. A quasi-static computational fluid dynamics (CFD) model was generated using wind speeds collected on-site as inputs to characterize dynamic wind forces on telescope structures under various conditions. The CFD model was refined until predicted wind speed and direction inside the dome agreed with experimental data. The dynamic wind forces were then used in static loading analysis to determine maximum deflections under typical operating conditions. This approach also allows for exploration of operating parameters without impact to the observation schedule of the telescope. With optimum combinations of parameters (i.e. dome orientation, tracker position, and louver deployment), deflections due to current wind conditions can be significantly reduced. Furthermore, the upper limit for operating wind speed could be increased, provided these parameters are monitored closely. This translates into increased image quality and observing time.

Quantum learning of classical stochastic processes: The completely positive realization problem

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

Monràs, Alex; Centre for Quantum Technologies, National University of Singapore, 3 Science Drive 2, Singapore 117543; Winter, Andreas

2016-01-15

Among several tasks in Machine Learning, a specially important one is the problem of inferring the latent variables of a system and their causal relations with the observed behavior. A paradigmatic instance of this is the task of inferring the hidden Markov model underlying a given stochastic process. This is known as the positive realization problem (PRP), [L. Benvenuti and L. Farina, IEEE Trans. Autom. Control 49(5), 651–664 (2004)] and constitutes a central problem in machine learning. The PRP and its solutions have far-reaching consequences in many areas of systems and control theory, and is nowadays an important piece inmore » the broad field of positive systems theory. We consider the scenario where the latent variables are quantum (i.e., quantum states of a finite-dimensional system) and the system dynamics is constrained only by physical transformations on the quantum system. The observable dynamics is then described by a quantum instrument, and the task is to determine which quantum instrument — if any — yields the process at hand by iterative application. We take as a starting point the theory of quasi-realizations, whence a description of the dynamics of the process is given in terms of linear maps on state vectors and probabilities are given by linear functionals on the state vectors. This description, despite its remarkable resemblance with the hidden Markov model, or the iterated quantum instrument, is however devoid of any stochastic or quantum mechanical interpretation, as said maps fail to satisfy any positivity conditions. The completely positive realization problem then consists in determining whether an equivalent quantum mechanical description of the same process exists. We generalize some key results of stochastic realization theory, and show that the problem has deep connections with operator systems theory, giving possible insight to the lifting problem in quotient operator systems. Our results have potential applications in quantum machine learning, device-independent characterization and reverse-engineering of stochastic processes and quantum processors, and more generally, of dynamical processes with quantum memory [M. Guţă, Phys. Rev. A 83(6), 062324 (2011); M. Guţă and N. Yamamoto, e-print http://arxiv.org/abs/1303.3771 (2013)].« less

On the implementation of an auxiliary pantograph for speed increase on existing lines

NASA Astrophysics Data System (ADS)

Liu, Zhendong; Jönsson, Per-Anders; Stichel, Sebastian; Rønnquist, Anders

2016-08-01

The contact between pantograph and catenary at high speeds suffers from high dynamic contact force variation due to stiffness variations and wave propagation. To increase operational speed on an existing catenary system, especially for soft catenary systems, technical upgrading is usually necessary. Therefore, it is desirable to explore a more practical and cost-saving method to increase the operational speed. Based on a 3D pantograph-catenary finite element model, a parametric study on two-pantograph operation with short spacing distances at high speeds shows that, although the performance of the leading pantograph gets deteriorated, the trailing pantograph feels an improvement if pantographs are spaced at a proper distance. Then, two main positive effects, which can cause the improvement, are addressed. Based on a discussion on wear mechanisms, this paper suggests to use the leading pantograph as an auxiliary pantograph, which does not conduct any electric current, to minimise additional wear caused by the leading pantograph. To help implementation and achieve further improvement under this working condition, this paper investigates cases with optimised uplift force on the leading pantograph and with system parameter deviations. The results show that the two positive effects still remain even with some system parameter deviations. About 30% of speed increase should be possibly achieved still sustaining a good dynamic performance with help of the optimised uplift force.

An equilibrium-preserving discretization for the nonlinear Rosenbluth-Fokker-Planck operator in arbitrary multi-dimensional geometry

NASA Astrophysics Data System (ADS)

Taitano, W. T.; Chacón, L.; Simakov, A. N.

2017-06-01

The Fokker-Planck collision operator is an advection-diffusion operator which describe dynamical systems such as weakly coupled plasmas [1,2], photonics in high temperature environment [3,4], biological [5], and even social systems [6]. For plasmas in the continuum, the Fokker-Planck collision operator supports such important physical properties as conservation of number, momentum, and energy, as well as positivity. It also obeys the Boltzmann's H-theorem [7-11], i.e., the operator increases the system entropy while simultaneously driving the distribution function towards a Maxwellian. In the discrete, when these properties are not ensured, numerical simulations can either fail catastrophically or suffer from significant numerical pollution [12,13]. There is strong emphasis in the literature on developing numerical techniques to solve the Fokker-Planck equation while preserving these properties [12-24]. In this short note, we focus on the analytical equilibrium preserving property, meaning that the Fokker-Planck collision operator vanishes when acting on an analytical Maxwellian distribution function. The equilibrium preservation property is especially important, for example, when one is attempting to capture subtle transport physics. Since transport arises from small O (ɛ) corrections to the equilibrium [25] (where ɛ is a small expansion parameter), numerical truncation error present in the equilibrium solution may dominate, overwhelming transport dynamics.

Autonomous Collision-Free Navigation of Microvehicles in Complex and Dynamically Changing Environments.

PubMed

Li, Tianlong; Chang, Xiaocong; Wu, Zhiguang; Li, Jinxing; Shao, Guangbin; Deng, Xinghong; Qiu, Jianbin; Guo, Bin; Zhang, Guangyu; He, Qiang; Li, Longqiu; Wang, Joseph

2017-09-26

Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro/nanorobotics in complex and dynamically changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator. The microscope-coupled CCD camera provides real-time localization of the chemically powered Janus microsphere vehicle and environmental detection for path planning to generate optimal collision-free routes, while the moving direction of the microrobot toward a reference position is determined by the external electromagnetic torque. Real-time object detection offers adaptive path planning in response to dynamically changing environments. We demonstrate that the autonomous navigation system can guide the vehicle movement in complex patterns, in the presence of dynamically changing obstacles, and in complex biological environments. Such a navigation system for micro/nanoscale vehicles, relying on vision-based close-loop control and path planning, is highly promising for their autonomous operation in complex dynamic settings and unpredictable scenarios expected in a variety of realistic nanoscale scenarios.

Forecasting and Evaluation of Gas Pipelines Geometric Forms Breach Hazard

NASA Astrophysics Data System (ADS)

Voronin, K. S.

2016-10-01

Main gas pipelines during operation are under the influence of the permanent pressure drops which leads to their lengthening and as a result, to instability of their position in space. In dynamic systems that have feedback, phenomena, preceding emergencies, should be observed. The article discusses the forced vibrations of the gas pipeline cylindrical surface under the influence of dynamic loads caused by pressure surges, and the process of its geometric shape deformation. Frequency of vibrations, arising in the pipeline at the stage preceding its bending, is being determined. Identification of this frequency can be the basis for the development of a method of monitoring the technical condition of the gas pipeline, and forecasting possible emergency situations allows planning and carrying out in due time reconstruction works on sections of gas pipeline with a possible deviation from the design position.

Safety by design: effects of operating room floor marking on the position of surgical devices to promote clean air flow compliance and minimise infection risks.

PubMed

de Korne, Dirk F; van Wijngaarden, Jeroen D H; van Rooij, Jeroen; Wauben, Linda S G L; Hiddema, U Frans; Klazinga, Niek S

2012-09-01

To evaluate the use of floor marking on the positioning of surgical devices within the clean air flow in an operating room (OR) to minimise infection risk. Laminar flow clean air systems are important in preventing infection in ORs but, for optimal results, surgical devices must be correctly positioned. The authors evaluated floor marking in four ORs at an eye hospital using time series analysis. Through observations during 829 surgeries over a 20-month period, the positions of surgical devices were determined. Eight semistructured interviews with surgical staff were conducted to assess user experiences and team dynamics. Before marking, the instrument table was positioned completely within the laminar flow in only 6.1% of the cases. This increased to 36.1% and finally 53.8%. Mayo stands were increasingly positioned within the laminar flow: from 74.2% to 84.7%. The surgical lamp decreasingly obstructed flow: from 41.8% to 28.7%. At T3 (20 months), however, in 48.6% of the applicable cases the lamp was positioned in the flow again. Discussions and site visits between airside operators and surgical staff resulted in increasing awareness of specific risk areas in the OR. OR floor markings facilitated and stimulated safety awareness and resulted in significantly increased compliance with the positioning of surgical devices in the clean air flow. Safety and quality approaches in hospital care, therefore, should include a human factors approach that focuses on system design in addition to teaching clinical and non-technical skills.

Many-body excitations and deexcitations in trapped ultracold bosonic clouds

NASA Astrophysics Data System (ADS)

Theisen, Marcus; Streltsov, Alexej I.

2016-11-01

We employ the multiconfigurational time-dependent Hartree for bosons (MCTDHB) method to study excited states of interacting Bose-Einstein condensates confined by harmonic and double-well trap potentials. Two approaches to access excitations, one static and the other dynamic, are investigated and contrasted. In static simulations the low-lying excitations are computed by utilizing a linear-response theory constructed on top of a static MCTDHB solution (LR-MCTDHB). Complimentarily, we propose two dynamic protocols that address excitations by propagating the MCTDHB wave function. In particular, we investigate dipolelike oscillations induced by shifting the origin of the confining potential and breathinglike excitations by quenching the frequency of a parabolic part of the trap. To contrast static predictions and dynamic results we compute the time evolution and regard the respective Fourier transform of several local and nonlocal observables. Namely, we study the expectation value of the position operator , its variance Var [x (t )] , and a local density computed at selected positions. We find that the variance is the most sensitive and informative quantity: Along with excitations it contains information about deexcitations even in a linear regime of the induced dynamics. The dynamic protocols are found to access the many-body excitations predicted by the static LR-MCTDHB approach.

Dynamically timed electric motor

NASA Technical Reports Server (NTRS)

Casper, Ann M. (Inventor)

1994-01-01

The invention disclosed in this document is a brushless DC motor including a housing having an end cap secured thereto. The housing encloses a rotor, a stator and a rotationally displaceable commutation board having 5 sensors secured thereon and spaced around the periphery of the rotor. An external rotational force is applied to the commutation board for displacement of the sensors to various positions whereby varying feedback signals are generated by the positioning of the sensors relative to the rotating rotor. The commutation board is secured in a fixed position in response to feedback signals indicative of optimum sensor position being determined. The rotation of the commutation board and the securing of the sensors in the desired fixed position is accomplished without requiring the removal of the 5 end cap and with the DC motor operating.

The Global Positioning System: Theory and operation

NASA Astrophysics Data System (ADS)

Tucker, Lester Plunkett

Scope and method of study. The purpose of this study is to document the theory, development, and training needs of the United States Global Positioning System for the United States Air Force. This subject area had very little information and to assess the United States Air Force training needs required an investigation into existing training accomplished on the Global Positioning System. The United States Air Force has only one place to obtain the data at Headquarters Air Education and Training Command. Findings and conclusion. The United States Air Force, at the time of this study, does not have a theory and operations course dealing with the newest technology advancement in world navigation. Although this new technology is being provided on aircraft in the form of new navigation hardware, no official course of study is provided by the United States Air Force to it's pilots and navigators dealing with theory and operation. Based on the latest reports dealing with the Global Positioning System, a course on the Global Positioning System was developed in the Instructional Systems Design format to provide background information and understanding of this new technology. Readers of this study must be aware that the information contained in this study is very dynamic. Technology is advancing so fast in this area that it might make this information obsolete in a short amount of time.

Relative reward effects on operant behavior: Incentive contrast, induction and variety effects

PubMed Central

Webber, E.S.; Chambers, N. E.; Kostek, J.A.; Mankin, D.E; Cromwell, H.C.

2015-01-01

Comparing different rewards automatically produces dynamic relative outcome effects on behavior. Each new outcome exposure is to an updated version evaluated relative to alternatives. Relative reward effects include incentive contrast, positive induction and variety effects. The present study utilized a novel behavioral design to examine relative reward effects on a chain of operant behavior using auditory cues. Incentive contrast is the most often examined effect and focuses on increases or decreases in behavioral performance after value upshifts (positive) or downshifts (negative) relative to another outcome. We examined the impact of comparing two reward outcomes in a repeated measures design with three sessions: a single outcome and a mixed outcome and a final single outcome session. Relative reward effects should be apparent when comparing trials for the identical outcome between the single and mixed session types. An auditory cue triggered a series of operant responses (nosepoke-leverpress-food retrieval), and we measured possible contrast effects for different reward magnitude combinations. We found positive contrast for trials with the greatest magnitude differential but positive induction or variety effects in other combinations. This behavioral task could be useful for analyzing environmental or neurobiological factors involved in reward comparisons, decision-making and choice during instrumental, goal-directed action. PMID:25979604

The effect of robot dynamics on smoothness during wrist pointing.

PubMed

Erwin, Andrew; Pezent, Evan; Bradley, Joshua; O'Malley, Marcia K

2017-07-01

The improvement of movement smoothness over the course of therapy is one of the positive outcomes observed during robotic rehabilitation. Although movements are generally robust to disturbances, certain perturbations might disrupt an individual's ability to produce these smooth movements. In this paper, we explore how a rehabilitation robot's inherent dynamics impact movement smoothness during pointing tasks. Able-bodied participants made wrist pointing movements under four different operating conditions. Despite the relative transparency of the device, inherent dynamic characteristics negatively impacted movement smoothness. Active compensation for Coulomb friction effects failed to mitigate the degradation in smoothness. Assessment of movements that involved coupled motions of the robot's joints reduced the bias seen in single degree of freedom movements. When using robotic devices for assessment of movement quality, the impact of the inherent dynamics must be considered.

Low-Impact Mating System for Docking Spacecraft

NASA Technical Reports Server (NTRS)

Lewis, James L.; Robertson, Brandan; Carroll, Monty B.; Le, Thang; Morales, Ray

2008-01-01

A document describes a low-impact mating system suitable for both docking (mating of two free-flying spacecraft) and berthing (in which a robot arm in one spacecraft positions an object for mating with either spacecraft). The low-impact mating system is fully androgynous: it mates with a copy of itself, i.e., all spacecraft and other objects to be mated are to be equipped with identical copies of the system. This aspect of the design helps to minimize the number of unique parts and to standardize and facilitate mating operations. The system includes a closed-loop feedback control subsystem that actively accommodates misalignments between mating spacecraft, thereby attenuating spacecraft dynamics and mitigating the need for precise advance positioning of the spacecraft. The operational characteristics of the mating system can be easily configured in software, during operation, to enable mating of spacecraft having various masses, center-of-gravity offsets, and closing velocities. The system design provides multi-fault tolerance for critical operations: for example, to ensure unmating at a critical time, a redundant unlatching mechanism and two independent pyrotechnic release subsystems are included.

A linear quadratic Gaussian with loop transfer recovery proximity operations autopilot for spacecraft. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Chen, George T.

1987-01-01

An automatic control scheme for spacecraft proximity operations is presented. The controller is capable of holding the vehicle at a prescribed location relative to a target, or maneuvering it to a different relative position using straight line-of-sight translations. The autopilot uses a feedforward loop to initiate and terminate maneuvers, and for operations at nonequilibrium set-points. A multivariate feedback loop facilitates precise position and velocity control in the presence of sensor noise. The feedback loop is formulated using the Linear Quadratic Gaussian (LQG) with Loop Transfer Recovery (LTR) design procedure. Linear models of spacecraft dynamics, adapted from Clohessey-Wiltshire Equations, are augmented and loop shaping techniques are applied to design a target feedback loop. The loop transfer recovery procedure is used to recover the frequency domain properties of the target feedback loop. The resulting compensator is integrated into an autopilot which is tested in a high fidelity Space Shuttle Simulator. The autopilot performance is evaluated for a variety of proximity operations tasks envisioned for future Shuttle flights.

Spinoff For Deepsea Drillships

NASA Technical Reports Server (NTRS)

1979-01-01

For deepwater operations the self-propelled oil drillship is employed. This type of vessel resembles a cargo ship except for its large derrick, which supports the drilling equipment. Extending from the drillship to the well thousands of feet steel tube usually one to two feet in diameter. The drilling equipment, or drill string, is lowered to the well through this riser. The riser is not rigid nor strictly vertical; it is described by one expert as "a very long piece of spaghetti," held in tension at the well and at the ship end by strong cables. Obviously, the ship must remain often for months-in a position directly over the well. If it were to drift excessively forward, aft or to either side, its movement could snap the riser and disrupt operations at a cost of millions. That's where space technology is playing a part. The same technology employed to locate a spacecraft in orbit and maintain a precise position is applicable to drillship operation. In space, automatic navigation equipment sights on reference points-the Earth, the sun or other stars--to determine spacecraft location. If the space mission requires the spacecraft to hold a certain position, it is accomplished by the firing of computer- directed control thrusters. Two major aerospace companies- Honeywell Inc. and TRW Inc.-have applied their extensive experience in spacecraft positioning and control to the offshore drilling technique known as dynamic positioning, meaning holding the drillship in precise position over the work site.

An automated two-dimensional optical force clamp for single molecule studies.

PubMed Central

Lang, Matthew J; Asbury, Charles L; Shaevitz, Joshua W; Block, Steven M

2002-01-01

We constructed a next-generation optical trapping instrument to study the motility of single motor proteins, such as kinesin moving along a microtubule. The instrument can be operated as a two-dimensional force clamp, applying loads of fixed magnitude and direction to motor-coated microscopic beads moving in vitro. Flexibility and automation in experimental design are achieved by computer control of both the trap position, via acousto-optic deflectors, and the sample position, using a three-dimensional piezo stage. Each measurement is preceded by an initialization sequence, which includes adjustment of bead height relative to the coverslip using a variant of optical force microscopy (to +/-4 nm), a two-dimensional raster scan to calibrate position detector response, and adjustment of bead lateral position relative to the microtubule substrate (to +/-3 nm). During motor-driven movement, both the trap and stage are moved dynamically to apply constant force while keeping the trapped bead within the calibrated range of the detector. We present details of force clamp operation and preliminary data showing kinesin motor movement subject to diagonal and forward loads. PMID:12080136

On the problem of time in quantum mechanics

NASA Astrophysics Data System (ADS)

Bauer, M.

2017-05-01

The problem of time in quantum mechanics (QM) concerns the fact that in the Schrödinger equation time is a parameter, not an operator. Pauli's objection to a time-energy uncertainty relation analogue to the position-momentum one, conjectured by Heisenberg early on, seemed to exclude the existence of such an operator. However Dirac's formulation of an electron's relativistic QM does allow the introduction of a dynamical time operator that is self-adjoint. Consequently, it can be considered as the generator of a unitary transformation of the system, as well as an additional system observable subject to uncertainty. In the present paper these aspects are examined within the standard framework of relativistic QM.

Robot Position Sensor Fault Tolerance

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.

1997-01-01

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

On the dynamical and geometrical symmetries of Keplerian motion

NASA Astrophysics Data System (ADS)

Wulfman, Carl E.

2009-05-01

The dynamical symmetries of classical, relativistic and quantum-mechanical Kepler systems are considered to arise from geometric symmetries in PQET phase space. To establish their interconnection, the symmetries are related with the aid of a Lie-algebraic extension of Dirac's correspondence principle, a canonical transformation containing a Cunningham-Bateman inversion, and a classical limit involving a preliminary canonical transformation in ET space. The Lie-algebraic extension establishes the conditions under which the uncertainty principle allows the local dynamical symmetry of a quantum-mechanical system to be the same as the geometrical phase-space symmetry of its classical counterpart. The canonical transformation converts Poincaré-invariant free-particle systems into ISO(3,1) invariant relativistic systems whose classical limit produces Keplerian systems. Locally Cartesian relativistic PQET coordinates are converted into a set of eight conjugate position and momentum coordinates whose classical limit contains Fock projective momentum coordinates and the components of Runge-Lenz vectors. The coordinate systems developed via the transformations are those in which the evolution and degeneracy groups of the classical system are generated by Poisson-bracket operators that produce ordinary rotation, translation and hyperbolic motions in phase space. The way in which these define classical Keplerian symmetries and symmetry coordinates is detailed. It is shown that for each value of the energy of a Keplerian system, the Poisson-bracket operators determine two invariant functions of positions and momenta, which together with its regularized Hamiltonian, define the manifold in six-dimensional phase space upon which motions evolve.

Analysis of Nonlinear Dynamics in Linear Compressors Driven by Linear Motors

NASA Astrophysics Data System (ADS)

Chen, Liangyuan

2018-03-01

The analysis of dynamic characteristics of the mechatronics system is of great significance for the linear motor design and control. Steady-state nonlinear response characteristics of a linear compressor are investigated theoretically based on the linearized and nonlinear models. First, the influence factors considering the nonlinear gas force load were analyzed. Then, a simple linearized model was set up to analyze the influence on the stroke and resonance frequency. Finally, the nonlinear model was set up to analyze the effects of piston mass, spring stiffness, driving force as an example of design parameter variation. The simulating results show that the stroke can be obtained by adjusting the excitation amplitude, frequency and other adjustments, the equilibrium position can be adjusted by adjusting the DC input, and to make the more efficient operation, the operating frequency must always equal to the resonance frequency.

Simulating the dynamic behavior of a vertical axis wind turbine operating in unsteady conditions

NASA Astrophysics Data System (ADS)

Battisti, L.; Benini, E.; Brighenti, A.; Soraperra, G.; Raciti Castelli, M.

2016-09-01

The present work aims at assessing the reliability of a simulation tool capable of computing the unsteady rotational motion and the associated tower oscillations of a variable speed VAWT immersed in a coherent turbulent wind. As a matter of fact, since the dynamic behaviour of a variable speed turbine strongly depends on unsteady wind conditions (wind gusts), a steady state approach can't accurately catch transient correlated issues. The simulation platform proposed here is implemented using a lumped mass approach: the drive train is described by resorting to both the polar inertia and the angular position of rotating parts, also considering their speed and acceleration, while rotor aerodynamic is based on steady experimental curves. The ultimate objective of the presented numerical platform is the simulation of transient phenomena, driven by turbulence, occurring during rotor operation, with the aim of supporting the implementation of efficient and robust control algorithms.

Work/control stations in Space Station weightlessness

NASA Technical Reports Server (NTRS)

Willits, Charles

1990-01-01

An ergonomic integration of controls, displays, and associated interfaces with an operator, whose body geometry and dynamics may be altered by the state of weightlessness, is noted to rank in importance with the optimal positioning of controls relative to the layout and architecture of 'body-ported' work/control stations applicable to the NASA Space Station Freedom. A long-term solution to this complex design problem is envisioned to encompass the following features: multiple imaging, virtual optics, screen displays controlled by a keyboard ergonomically designed for weightlessness, cursor control, a CCTV camera, and a hand-controller featuring 'no-grip' vernier/tactile positioning. This controller frees all fingers for multiple-switch actuations, while retaining index/register determination with the hand controller. A single architectural point attachment/restraint may be used which requires no residual muscle tension in either brief or prolonged operation.

Multitask neurovision processor with extensive feedback and feedforward connections

NASA Astrophysics Data System (ADS)

Gupta, Madan M.; Knopf, George K.

1991-11-01

A multi-task neuro-vision parameter which performs a variety of information processing operations associated with the early stages of biological vision is presented. The network architecture of this neuro-vision processor, called the positive-negative (PN) neural processor, is loosely based on the neural activity fields exhibited by thalamic and cortical nervous tissue layers. The computational operation performed by the processor arises from the strength of the recurrent feedback among the numerous positive and negative neural computing units. By adjusting the feedback connections it is possible to generate diverse dynamic behavior that may be used for short-term visual memory (STVM), spatio-temporal filtering (STF), and pulse frequency modulation (PFM). The information attributes that are to be processes may be regulated by modifying the feedforward connections from the signal space to the neural processor.

Congenital cheek teratoma with temporo-mandibular joint ankylosis managed with ultra-thin silicone sheet interpositional arthroplasty.

PubMed

Bhatnagar, Ankur; Verma, Vinay Kumar; Purohit, Vishal

2013-01-01

Primary cheek teratomas are rare with < 5 reported cases. None had associated temporo mandibular joint ankylosis (TMJA). The fundamental aim in the treatment of TMJA is the successful surgical resection of ankylotic bone, prevention of recurrence, and aesthetic improvement by ensuring functional occlusion. Early treatment is necessary to promote proper growth and function of mandible and to facilitate the positive psychological development of child. Inter-positional arthroplasty with ultra-thin silicone sheet was performed. Advantages include short operative time, less foreign material in the joint space leading to negligible foreign body reactions and least chances of implant extrusion. Instead of excising a large bony segment, a thin silicone sheet was interposed and then sutured ensuring preservation of mandibular height. Aggressive post-operative physiotherapy with custom made dynamic jaw exerciser was used to prevent recurrence.

Stomatal kinetics and photosynthetic gas exchange along a continuum of isohydric to anisohydric regulation of plant water status

Treesearch

Frederick C. Meinzer; Duncan D. Smith; David R. Woodruff; Danielle E. Marias; Katherine A. McCulloh; Ava R. Howard; Alicia L. Magedman

2017-01-01

Species’ differences in the stringency of stomatal control of plant water potential represent a continuum of isohydric to anisohydric behaviours. However, little is known about how quasi-steady-state stomatal regulation of water potential may relate to dynamic behaviour of stomata and photosynthetic gas exchange in species operating at different positions along this...

Lower cost offshore field development utilizing autonomous vehicles

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

Frisbie, F.R.; Vie, K.J.; Welch, D.W.

1996-12-31

The offshore oil and gas industry has the requirement to inspect offshore oil and gas pipelines for scour, corrosion and damage as well as inspect and intervene on satellite production facilities. This task is currently performed with Remotely Operated Vehicles (ROV) operated from dynamically positioned (DP) offshore supply or diving support boats. Currently, these tasks are expensive due to the high day rates for DP ships and the slow, umbilical impeded, 1 knot inspection rates of the tethered ROVs, Emerging Autonomous Undersea Vehicle (AUV) technologies offer opportunities to perform these same inspection tasks for 50--75% lower cost, with comparable ormore » improved quality. The new generation LAPV (Linked Autonomous Power Vehicles) will operate from fixed facilities such as TLPs or FPFs and cover an operating field 10 kms in diameter.« less

Dynamics of molecular motors with finite processivity on heterogeneous tracks.

PubMed

Kafri, Yariv; Lubensky, David K; Nelson, David R

2005-04-01

The dynamics of molecular motors which occasionally detach from a heterogeneous track like DNA or RNA is considered. Motivated by recent single-molecule experiments, we study a simple model for a motor moving along a disordered track using chemical energy while an external force opposes its motion. The motors also have finite processivity, i.e., they can leave the track with a position-dependent rate. We show that the response of the system to disorder in the hopping-off rate depends on the value of the external force. For most values of the external force, strong disorder causes the motors which survive for long times on the track to be localized at preferred positions. However, near the stall force, localization occurs for any amount of disorder. To obtain these results, we study the complex eigenvalue spectrum of the time evolution operator. Existence of localized states near the top of the band implies a stretched exponential contribution to the decay of the survival probability. A similar spectral analysis also provides a very efficient method for studying the dynamics of motors with infinite processivity.

Expert performance in sport and the dynamics of talent development.

PubMed

Phillips, Elissa; Davids, Keith; Renshaw, Ian; Portus, Marc

2010-04-01

Research on expertise, talent identification and development has tended to be mono-disciplinary, typically adopting genocentric or environmentalist positions, with an overriding focus on operational issues. In this paper, the validity of dualist positions on sport expertise is evaluated. It is argued that, to advance understanding of expertise and talent development, a shift towards a multidisciplinary and integrative science focus is necessary, along with the development of a comprehensive multidisciplinary theoretical rationale. Here we elucidate dynamical systems theory as a multidisciplinary theoretical rationale for capturing how multiple interacting constraints can shape the development of expert performers. This approach suggests that talent development programmes should eschew the notion of common optimal performance models, emphasize the individual nature of pathways to expertise, and identify the range of interacting constraints that impinge on performance potential of individual athletes, rather than evaluating current performance on physical tests referenced to group norms.

Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

NASA Astrophysics Data System (ADS)

Thekkedan, Midhin Das; Chin, Cheng Siong; Woo, Wai Lok

2015-03-01

In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV's GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

The research of conformal optical design

NASA Astrophysics Data System (ADS)

Li, Lin; Li, Yan; Huang, Yi-fan; Du, Bao-lin

2009-07-01

Conformal optical domes are characterized as having external more elongated optical surfaces that are optimized to minimize drag, increased missile velocity and extended operational range. The outer surface of the conformal domes typically deviate greatly from spherical surface descriptions, so the inherent asymmetry of conformal surfaces leads to variations in the aberration content presented to the optical sensor as it is gimbaled across the field of regard, which degrades the sensor's ability to properly image targets of interest and then undermine the overall system performance. Consequently, the aerodynamic advantages of conformal domes cannot be realized in practical systems unless the dynamic aberration correction techniques are developed to restore adequate optical imaging capabilities. Up to now, many optical correction solutions have been researched in conformal optical design, including static aberrations corrections and dynamic aberrations corrections. There are three parts in this paper. Firstly, the combination of static and dynamic aberration correction is introduced. A system for correcting optical aberration created by a conformal dome has an outer surface and an inner surface. The optimization of the inner surface is regard as the static aberration correction; moreover, a deformable mirror is placed at the position of the secondary mirror in the two-mirror all reflective imaging system, which is the dynamic aberration correction. Secondly, the using of appropriate surface types is very important in conformal dome design. Better performing optical systems can result from surface types with adequate degrees of freedom to describe the proper corrector shape. Two surface types and the methods of using them are described, including Zernike polynomial surfaces used in correct elements and user-defined surfaces used in deformable mirror (DM). Finally, the Adaptive optics (AO) correction is presented. In order to correct the dynamical residual aberration in conformal optical design, the SPGD optimization algorithm is operated at each zoom position to calculate the optimized surface shape of the MEMS DM. The communication between MATLAB and Code V established via ActiveX technique is applied in simulation analysis.

Fast Auroral Snapshot performance using a multi-body dynamic simulation

NASA Technical Reports Server (NTRS)

Zimbelman, Darrell; Walker, Mary

1993-01-01

This paper examines the complex dynamic interaction between two 2.6 m long stacer booms, four 30 m long flexible wire booms and the attitude control system of the Fast Auroral SnapshoT (FAST) spacecraft. The FAST vehicle will nominally operate as a negative orbit spinner, positioned in a 83 deg inclination, 350 x 4200 km orbit. For this study, a three-axis, non-linear, seven body dynamic simulation is developed using the TREETOPS software package. The significance of this approach is the ability to model each component of the FAST spacecraft as an individual member and connect them together in order to better understand the dynamic coupling between structures and the control system. Both the wire and stacer booms are modeled as separate bodies attached to a rigid central body. The wire booms are oriented perpendicular to the spin axis at right angles relative to each other, whereas the stacer booms are aligned with the spin axis. The analysis consists of a comparison between the simulated in-plane and out-of-plane boom motions with theoretically derived frequencies, and an examination of the dynamic coupling between the control system and boom oscillations. Results show that boom oscillations of up to 0.36 deg are acceptable in order to meet the performance requirements. The dynamic motion is well behaved when the precession coil is operating, however, activation of the spin coil produces an erratic trend in the spin rate which approaches the spin rate requirement.

Soft tissue deformation for surgical simulation: a position-based dynamics approach.

PubMed

Camara, Mafalda; Mayer, Erik; Darzi, Ara; Pratt, Philip

2016-06-01

To assist the rehearsal and planning of robot-assisted partial nephrectomy, a real-time simulation platform is presented that allows surgeons to visualise and interact with rapidly constructed patient-specific biomechanical models of the anatomical regions of interest. Coupled to a framework for volumetric deformation, the platform furthermore simulates intracorporeal 2D ultrasound image acquisition, using preoperative imaging as the data source. This not only facilitates the planning of optimal transducer trajectories and viewpoints, but can also act as a validation context for manually operated freehand 3D acquisitions and reconstructions. The simulation platform was implemented within the GPU-accelerated NVIDIA FleX position-based dynamics framework. In order to validate the model and determine material properties and other simulation parameter values, a porcine kidney with embedded fiducial beads was CT-scanned and segmented. Acquisitions for the rest position and three different levels of probe-induced deformation were collected. Optimal values of the cluster stiffness coefficients were determined for a range of different particle radii, where the objective function comprised the mean distance error between real and simulated fiducial positions over the sequence of deformations. The mean fiducial error at each deformation stage was found to be compatible with the level of ultrasound probe calibration error typically observed in clinical practice. Furthermore, the simulation exhibited unconditional stability on account of its use of clustered shape-matching constraints. A novel position-based dynamics implementation of soft tissue deformation has been shown to facilitate several desirable simulation characteristics: real-time performance, unconditional stability, rapid model construction enabling patient-specific behaviour and accuracy with respect to reference CT images.

High-precision GPS autonomous platforms for sea ice dynamics and physical oceanography

NASA Astrophysics Data System (ADS)

Elosegui, P.; Wilkinson, J.; Olsson, M.; Rodwell, S.; James, A.; Hagan, B.; Hwang, B.; Forsberg, R.; Gerdes, R.; Johannessen, J.; Wadhams, P.; Nettles, M.; Padman, L.

2012-12-01

Project "Arctic Ocean sea ice and ocean circulation using satellite methods" (SATICE), is the first high-rate, high-precision, continuous GPS positioning experiment on sea ice in the Arctic Ocean. The SATICE systems collect continuous, dual-frequency carrier-phase GPS data while drifting on sea ice. Additional geophysical measurements also collected include ocean water pressure, ocean surface salinity, atmospheric pressure, snow-depth, air-ice-ocean temperature profiles, photographic imagery, and others, enabling sea ice drift, freeboard, weather, ice mass balance, and sea-level height determination. Relatively large volumes of data from each buoy are streamed over a satellite link to a central computer on the Internet in near real time, where they are processed to estimate the time-varying buoy positions. SATICE system obtains continuous GPS data at sub-minute intervals with a positioning precision of a few centimetres in all three dimensions. Although monitoring of sea ice motions goes back to the early days of satellite observations, these autonomous platforms bring out a level of spatio-temporal detail that has never been seen before, especially in the vertical axis. These high-resolution data allows us to address new polar science questions and challenge our present understanding of both sea ice dynamics and Arctic oceanography. We will describe the technology behind this new autonomous platform, which could also be adapted to other applications that require high resolution positioning information with sustained operations and observations in the polar marine environment, and present results pertaining to sea ice dynamics and physical oceanography.

Team Training for Dynamic Cross-Functional Teams in Aviation: Behavioral, Cognitive, and Performance Outcomes.

PubMed

Littlepage, Glenn E; Hein, Michael B; Moffett, Richard G; Craig, Paul A; Georgiou, Andrea M

2016-12-01

This study evaluates the effectiveness of a training program designed to improve cross-functional coordination in airline operations. Teamwork across professional specializations is essential for safe and efficient airline operations, but aviation education primarily emphasizes positional knowledge and skill. Although crew resource management training is commonly used to provide some degree of teamwork training, it is generally focused on specific specializations, and little training is provided in coordination across specializations. The current study describes and evaluates a multifaceted training program designed to enhance teamwork and team performance of cross-functional teams within a simulated airline flight operations center. The training included a variety of components: orientation training, position-specific declarative knowledge training, position-specific procedural knowledge training, a series of high-fidelity team simulations, and a series of after-action reviews. Following training, participants demonstrated more effective teamwork, development of transactive memory, and more effective team performance. Multifaceted team training that incorporates positional training and team interaction in complex realistic situations and followed by after-action reviews can facilitate teamwork and team performance. Team training programs, such as the one described here, have potential to improve the training of aviation professionals. These techniques can be applied to other contexts where multidisciplinary teams and multiteam systems work to perform highly interdependent activities. © 2016, Human Factors and Ergonomics Society.

Ballistic Transport for Limit-Periodic Jacobi Matrices with Applications to Quantum Many-Body Problems

NASA Astrophysics Data System (ADS)

Fillman, Jake

2017-03-01

We study Jacobi matrices that are uniformly approximated by periodic operators. We show that if the rate of approximation is sufficiently rapid, then the associated quantum dynamics are ballistic in a rather strong sense; namely, the (normalized) Heisenberg evolution of the position operator converges strongly to a self-adjoint operator that is injective on the space of absolutely summable sequences. In particular, this means that all transport exponents corresponding to well-localized initial states are equal to one. Our result may be applied to a class of quantum many-body problems. Specifically, we establish a lower bound on the Lieb-Robinson velocity for an isotropic XY spin chain on the integers with limit-periodic couplings.

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

NASA Technical Reports Server (NTRS)

Davis, Larry S.; Dementhon, Daniel; Bestul, Thor; Ziavras, Sotirios; Srinivasan, H. V.; Siddalingaiah, Madhu; Harwood, David

1989-01-01

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Computer simulation of a cruise missile using brushless dc motor fin control

NASA Astrophysics Data System (ADS)

Franklin, G. C.

1985-03-01

This thesis describes a computer simulation developed in order to provide a method of establishing the potential of brushless dc motors for applications to tactical cruise missile control surface positioning. In particular, an altitude hold controller has been developed that provides an operational load test condition for the evaluation of the electromechanical actuator. A proportional integral control scheme in conjunction with tachometer feedback provides the position control for the missile tailfin surfaces. The fin control system is further imbedded in a cruise missile model to allow altitude control of the missile. The load on the fin is developed from the dynamic fluid environment that the missile will be operating in and is proportional to such factors as fin size and air density. The program written in CSMP language is suitable for parametric studies including motor and torque load characteristics, and missile and control system parameters.

Congenital cheek teratoma with temporo-mandibular joint ankylosis managed with ultra-thin silicone sheet interpositional arthroplasty

PubMed Central

Bhatnagar, Ankur; Verma, Vinay Kumar; Purohit, Vishal

2013-01-01

Primary cheek teratomas are rare with < 5 reported cases. None had associated temporo mandibular joint ankylosis (TMJA). The fundamental aim in the treatment of TMJA is the successful surgical resection of ankylotic bone, prevention of recurrence, and aesthetic improvement by ensuring functional occlusion. Early treatment is necessary to promote proper growth and function of mandible and to facilitate the positive psychological development of child. Inter-positional arthroplasty with ultra-thin silicone sheet was performed. Advantages include short operative time, less foreign material in the joint space leading to negligible foreign body reactions and least chances of implant extrusion. Instead of excising a large bony segment, a thin silicone sheet was interposed and then sutured ensuring preservation of mandibular height. Aggressive post-operative physiotherapy with custom made dynamic jaw exerciser was used to prevent recurrence. PMID:24163567

RFID-Based Vehicle Positioning and Its Applications in Connected Vehicles

PubMed Central

Wang, Jianqiang; Ni, Daiheng; Li, Keqiang

2014-01-01

This paper proposed an RFID-based vehicle positioning approach to facilitate connected vehicles applications. When a vehicle passes over an RFID tag, the vehicle position is given by the accurate position stored in the tag. At locations without RFID coverage, the vehicle position is estimated from the most recent tag location using a kinematics integration algorithm till updates from the next tag. The accuracy of RFID positioning is verified empirically in two independent ways with one using radar and the other a photoelectric switch. The former is designed to verify whether the dynamic position obtained from RFID tags matches the position measured by radar that is regarded as accurate. The latter aims to verify whether the position estimated from the kinematics integration matches the position obtained from RFID tags. Both means supports the accuracy of RFID-based positioning. As a supplement to GPS which suffers from issues such as inaccuracy and loss of signal, RFID positioning is promising in facilitating connected vehicles applications. Two conceptual applications are provided here with one in vehicle operational control and the other in Level IV intersection control. PMID:24599188

RFID-based vehicle positioning and its applications in connected vehicles.

PubMed

Wang, Jianqiang; Ni, Daiheng; Li, Keqiang

2014-03-04

This paper proposed an RFID-based vehicle positioning approach to facilitate connected vehicles applications. When a vehicle passes over an RFID tag, the vehicle position is given by the accurate position stored in the tag. At locations without RFID coverage, the vehicle position is estimated from the most recent tag location using a kinematics integration algorithm till updates from the next tag. The accuracy of RFID positioning is verified empirically in two independent ways with one using radar and the other a photoelectric switch. The former is designed to verify whether the dynamic position obtained from RFID tags matches the position measured by radar that is regarded as accurate. The latter aims to verify whether the position estimated from the kinematics integration matches the position obtained from RFID tags. Both means supports the accuracy of RFID-based positioning. As a supplement to GPS which suffers from issues such as inaccuracy and loss of signal, RFID positioning is promising in facilitating connected vehicles applications. Two conceptual applications are provided here with one in vehicle operational control and the other in Level IV intersection control.

Synchronous dynamics of zooplankton competitors prevail in temperate lake ecosystems.

PubMed

Vasseur, David A; Fox, Jeremy W; Gonzalez, Andrew; Adrian, Rita; Beisner, Beatrix E; Helmus, Matthew R; Johnson, Catherine; Kratina, Pavel; Kremer, Colin; de Mazancourt, Claire; Miller, Elizabeth; Nelson, William A; Paterson, Michael; Rusak, James A; Shurin, Jonathan B; Steiner, Christopher F

2014-08-07

Although competing species are expected to exhibit compensatory dynamics (negative temporal covariation), empirical work has demonstrated that competitive communities often exhibit synchronous dynamics (positive temporal covariation). This has led to the suggestion that environmental forcing dominates species dynamics; however, synchronous and compensatory dynamics may appear at different length scales and/or at different times, making it challenging to identify their relative importance. We compiled 58 long-term datasets of zooplankton abundance in north-temperate and sub-tropical lakes and used wavelet analysis to quantify general patterns in the times and scales at which synchronous/compensatory dynamics dominated zooplankton communities in different regions and across the entire dataset. Synchronous dynamics were far more prevalent at all scales and times and were ubiquitous at the annual scale. Although we found compensatory dynamics in approximately 14% of all combinations of time period/scale/lake, there were no consistent scales or time periods during which compensatory dynamics were apparent across different regions. Our results suggest that the processes driving compensatory dynamics may be local in their extent, while those generating synchronous dynamics operate at much larger scales. This highlights an important gap in our understanding of the interaction between environmental and biotic forces that structure communities. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

The consequences of neural degeneration regarding optimal cochlear implant position in scala tympani: a model approach.

PubMed

Briaire, Jeroen J; Frijns, Johan H M

2006-04-01

Cochlear implant research endeavors to optimize the spatial selectivity, threshold and dynamic range with the objective of improving the speech perception performance of the implant user. One of the ways to achieve some of these goals is by electrode design. New cochlear implant electrode designs strive to bring the electrode contacts into close proximity to the nerve fibers in the modiolus: this is done by placing the contacts on the medial side of the array and positioning the implant against the medial wall of scala tympani. The question remains whether this is the optimal position for a cochlea with intact neural fibers and, if so, whether it is also true for a cochlea with degenerated neural fibers. In this study a computational model of the implanted human cochlea is used to investigate the optimal position of the array with respect to threshold, dynamic range and spatial selectivity for a cochlea with intact nerve fibers and for degenerated nerve fibers. In addition, the model is used to evaluate the predictive value of eCAP measurements for obtaining peri-operative information on the neural status. The model predicts improved threshold, dynamic range and spatial selectivity for the peri-modiolar position at the basal end of the cochlea, with minimal influence of neural degeneration. At the apical end of the array (1.5 cochlear turns), the dynamic range and the spatial selectivity are limited due to the occurrence of cross-turn stimulation, with the exception of the condition without neural degeneration and with the electrode array along the lateral wall of scala tympani. The eCAP simulations indicate that a large P(0) peak occurs before the N(1)P(1) complex when the fibers are not degenerated. The absence of this peak might be used as an indicator for neural degeneration.

Verification Challenges of Dynamic Testing of Space Flight Hardware

NASA Technical Reports Server (NTRS)

Winnitoy, Susan

2010-01-01

The Six Degree-of-Freedom Dynamic Test System (SDTS) is a test facility at the National Aeronautics and Space Administration (NASA) Johnson Space Center in Houston, Texas for performing dynamic verification of space structures and hardware. Some examples of past and current tests include the verification of on-orbit robotic inspection systems, space vehicle assembly procedures and docking/berthing systems. The facility is able to integrate a dynamic simulation of on-orbit spacecraft mating or demating using flight-like mechanical interface hardware. A force moment sensor is utilized for input to the simulation during the contact phase, thus simulating the contact dynamics. While the verification of flight hardware presents many unique challenges, one particular area of interest is with respect to the use of external measurement systems to ensure accurate feedback of dynamic contact. There are many commercial off-the-shelf (COTS) measurement systems available on the market, and the test facility measurement systems have evolved over time to include two separate COTS systems. The first system incorporates infra-red sensing cameras, while the second system employs a laser interferometer to determine position and orientation data. The specific technical challenges with the measurement systems in a large dynamic environment include changing thermal and humidity levels, operational area and measurement volume, dynamic tracking, and data synchronization. The facility is located in an expansive high-bay area that is occasionally exposed to outside temperature when large retractable doors at each end of the building are opened. The laser interferometer system, in particular, is vulnerable to the environmental changes in the building. The operational area of the test facility itself is sizeable, ranging from seven meters wide and five meters deep to as much as seven meters high. Both facility measurement systems have desirable measurement volumes and the accuracies vary within the respective volumes. In addition, because this is a dynamic facility with a moving test bed, direct line-of-sight may not be available at all times between the measurement sensors and the tracking targets. Finally, the feedback data from the active test bed along with the two external measurement systems must be synchronized to allow for data correlation. To ensure the desired accuracy and resolution of these systems, calibration of the systems must be performed regularly. New innovations in sensor technology itself are periodically incorporated into the facility s overall measurement scheme. In addressing the challenges of the measurement systems, the facility is able to provide essential position and orientation data to verify the dynamic performance of space flight hardware.

Predictive IP controller for robust position control of linear servo system.

PubMed

Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

2016-07-01

Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Three-dimensional surgical simulation.

PubMed

Cevidanes, Lucia H C; Tucker, Scott; Styner, Martin; Kim, Hyungmin; Chapuis, Jonas; Reyes, Mauricio; Proffit, William; Turvey, Timothy; Jaskolka, Michael

2010-09-01

In this article, we discuss the development of methods for computer-aided jaw surgery, which allows us to incorporate the high level of precision necessary for transferring virtual plans into the operating room. We also present a complete computer-aided surgery system developed in close collaboration with surgeons. Surgery planning and simulation include construction of 3-dimensional surface models from cone-beam computed tomography, dynamic cephalometry, semiautomatic mirroring, interactive cutting of bone, and bony segment repositioning. A virtual setup can be used to manufacture positioning splints for intraoperative guidance. The system provides further intraoperative assistance with a computer display showing jaw positions and 3-dimensional positioning guides updated in real time during the surgical procedure. The computer-aided surgery system aids in dealing with complex cases with benefits for the patient, with surgical practice, and for orthodontic finishing. Advanced software tools for diagnosis and treatment planning allow preparation of detailed operative plans, osteotomy repositioning, bone reconstructions, surgical resident training, and assessing the difficulties of the surgical procedures before the surgery. Computer-aided surgery can make the elaboration of the surgical plan a more flexible process, increase the level of detail and accuracy of the plan, yield higher operative precision and control, and enhance documentation of cases. 2010 American Association of Orthodontists. Published by Mosby, Inc. All rights reserved.

Advisory Algorithm for Scheduling Open Sectors, Operating Positions, and Workstations

NASA Technical Reports Server (NTRS)

Bloem, Michael; Drew, Michael; Lai, Chok Fung; Bilimoria, Karl D.

2012-01-01

Air traffic controller supervisors configure available sector, operating position, and work-station resources to safely and efficiently control air traffic in a region of airspace. In this paper, an algorithm for assisting supervisors with this task is described and demonstrated on two sample problem instances. The algorithm produces configuration schedule advisories that minimize a cost. The cost is a weighted sum of two competing costs: one penalizing mismatches between configurations and predicted air traffic demand and another penalizing the effort associated with changing configurations. The problem considered by the algorithm is a shortest path problem that is solved with a dynamic programming value iteration algorithm. The cost function contains numerous parameters. Default values for most of these are suggested based on descriptions of air traffic control procedures and subject-matter expert feedback. The parameter determining the relative importance of the two competing costs is tuned by comparing historical configurations with corresponding algorithm advisories. Two sample problem instances for which appropriate configuration advisories are obvious were designed to illustrate characteristics of the algorithm. Results demonstrate how the algorithm suggests advisories that appropriately utilize changes in airspace configurations and changes in the number of operating positions allocated to each open sector. The results also demonstrate how the advisories suggest appropriate times for configuration changes.

Dynamic Positioning System (DPS) Risk Analysis Using Probabilistic Risk Assessment (PRA)

NASA Technical Reports Server (NTRS)

Thigpen, Eric B.; Boyer, Roger L.; Stewart, Michael A.; Fougere, Pete

2017-01-01

The National Aeronautics and Space Administration (NASA) Safety & Mission Assurance (S&MA) directorate at the Johnson Space Center (JSC) has applied its knowledge and experience with Probabilistic Risk Assessment (PRA) to projects in industries ranging from spacecraft to nuclear power plants. PRA is a comprehensive and structured process for analyzing risk in complex engineered systems and/or processes. The PRA process enables the user to identify potential risk contributors such as, hardware and software failure, human error, and external events. Recent developments in the oil and gas industry have presented opportunities for NASA to lend their PRA expertise to both ongoing and developmental projects within the industry. This paper provides an overview of the PRA process and demonstrates how this process was applied in estimating the probability that a Mobile Offshore Drilling Unit (MODU) operating in the Gulf of Mexico and equipped with a generically configured Dynamic Positioning System (DPS) loses location and needs to initiate an emergency disconnect. The PRA described in this paper is intended to be generic such that the vessel meets the general requirements of an International Maritime Organization (IMO) Maritime Safety Committee (MSC)/Circ. 645 Class 3 dynamically positioned vessel. The results of this analysis are not intended to be applied to any specific drilling vessel, although provisions were made to allow the analysis to be configured to a specific vessel if required.

High accuracy satellite drag model (HASDM)

NASA Astrophysics Data System (ADS)

Storz, M.; Bowman, B.; Branson, J.

The dominant error source in the force models used to predict low perigee satellite trajectories is atmospheric drag. Errors in operational thermospheric density models cause significant errors in predicted satellite positions, since these models do not account for dynamic changes in atmospheric drag for orbit predictions. The Air Force Space Battlelab's High Accuracy Satellite Drag Model (HASDM) estimates and predicts (out three days) a dynamically varying high-resolution density field. HASDM includes the Dynamic Calibration Atmosphere (DCA) algorithm that solves for the phases and amplitudes of the diurnal, semidiurnal and terdiurnal variations of thermospheric density near real-time from the observed drag effects on a set of Low Earth Orbit (LEO) calibration satellites. The density correction is expressed as a function of latitude, local solar time and altitude. In HASDM, a time series prediction filter relates the extreme ultraviolet (EUV) energy index E10.7 and the geomagnetic storm index a p to the DCA density correction parameters. The E10.7 index is generated by the SOLAR2000 model, the first full spectrum model of solar irradiance. The estimated and predicted density fields will be used operationally to significantly improve the accuracy of predicted trajectories for all low perigee satellites.

High accuracy satellite drag model (HASDM)

NASA Astrophysics Data System (ADS)

Storz, Mark F.; Bowman, Bruce R.; Branson, Major James I.; Casali, Stephen J.; Tobiska, W. Kent

The dominant error source in force models used to predict low-perigee satellite trajectories is atmospheric drag. Errors in operational thermospheric density models cause significant errors in predicted satellite positions, since these models do not account for dynamic changes in atmospheric drag for orbit predictions. The Air Force Space Battlelab's High Accuracy Satellite Drag Model (HASDM) estimates and predicts (out three days) a dynamically varying global density field. HASDM includes the Dynamic Calibration Atmosphere (DCA) algorithm that solves for the phases and amplitudes of the diurnal and semidiurnal variations of thermospheric density near real-time from the observed drag effects on a set of Low Earth Orbit (LEO) calibration satellites. The density correction is expressed as a function of latitude, local solar time and altitude. In HASDM, a time series prediction filter relates the extreme ultraviolet (EUV) energy index E10.7 and the geomagnetic storm index ap, to the DCA density correction parameters. The E10.7 index is generated by the SOLAR2000 model, the first full spectrum model of solar irradiance. The estimated and predicted density fields will be used operationally to significantly improve the accuracy of predicted trajectories for all low-perigee satellites.

The impact of dynamic data assimilation on the numerical simulations of the QE II cyclone and an analysis of the jet streak influencing the precyclogenetic environment

NASA Technical Reports Server (NTRS)

Manobianco, John; Uccellini, Louis W.; Brill, Keith F.; Kuo, Ying-Hwa

1992-01-01

A mesoscale numerical model is combined with a dynamic data assimilation via Newtonian relaxation, or 'nudging', to provide initial conditions for subsequent simulations of the QE II cyclone. Both the nudging technique and the inclusion of supplementary data are shown to have a large positive impact on the simulation of the QE II cyclone during the initial phase of rapid cyclone development. Within the initial development period (from 1200 to 1800 UTC 9 September 1978), the dynamic assimilation of operational and bogus data yields a coherent two-layer divergence pattern that is not well defined in the model run using only the operational data and static initialization. Diagnostic analysis based on the simulations show that the initial development of the QE II storm between 0000 UTC 9 September and 0000 UTC 10 September was embedded within an indirect circulation of an intense 300-hPa jet streak, was related to baroclinic processes extending throughout a deep portion of the troposphere, and was associated with a classic two-layer mass-divergence profile expected for an extratropical cyclone.

Real-time maneuver optimization of space-based robots in a dynamic environment: Theory and on-orbit experiments

NASA Astrophysics Data System (ADS)

Chamitoff, Gregory E.; Saenz-Otero, Alvar; Katz, Jacob G.; Ulrich, Steve; Morrell, Benjamin J.; Gibbens, Peter W.

2018-01-01

This paper presents the development of a real-time path-planning optimization approach to controlling the motion of space-based robots. The algorithm is capable of planning three dimensional trajectories for a robot to navigate within complex surroundings that include numerous static and dynamic obstacles, path constraints and performance limitations. The methodology employs a unique transformation that enables rapid generation of feasible solutions for complex geometries, making it suitable for application to real-time operations and dynamic environments. This strategy was implemented on the Synchronized Position Hold Engage Reorient Experimental Satellite (SPHERES) test-bed on the International Space Station (ISS), and experimental testing was conducted onboard the ISS during Expedition 17 by the first author. Lessons learned from the on-orbit tests were used to further refine the algorithm for future implementations.

Application of a three-dimensional model for a study of the energy transfer of a high-pressure mercury horizontal lamp

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

Ben Hamida, M. B.; Charrada, K.

2012-06-15

This paper is devoted to study the dynamics of a discharge lamp with high intensity in a horizontal position. As an example of application, we chose the high-pressure mercury lamp. For this, we realized a three-dimensional model, a stable and powered DC. After the validation of this model, we used it to reproduce the influence of some parameters that have appeared on major transport phenomena of mass and energy in studying the lamp operating in a horizontal position. Indeed, the mass of mercury and the electric current are modified and the effect of convective transport is studied.

Scheduling Aircraft Landings under Constrained Position Shifting

NASA Technical Reports Server (NTRS)

Balakrishnan, Hamsa; Chandran, Bala

2006-01-01

Optimal scheduling of airport runway operations can play an important role in improving the safety and efficiency of the National Airspace System (NAS). Methods that compute the optimal landing sequence and landing times of aircraft must accommodate practical issues that affect the implementation of the schedule. One such practical consideration, known as Constrained Position Shifting (CPS), is the restriction that each aircraft must land within a pre-specified number of positions of its place in the First-Come-First-Served (FCFS) sequence. We consider the problem of scheduling landings of aircraft in a CPS environment in order to maximize runway throughput (minimize the completion time of the landing sequence), subject to operational constraints such as FAA-specified minimum inter-arrival spacing restrictions, precedence relationships among aircraft that arise either from airline preferences or air traffic control procedures that prevent overtaking, and time windows (representing possible control actions) during which each aircraft landing can occur. We present a Dynamic Programming-based approach that scales linearly in the number of aircraft, and describe our computational experience with a prototype implementation on realistic data for Denver International Airport.

Guidance, Control and Positioning of Future Precision Guided Stand-off Weapons Systems

DTIC Science & Technology

1986-06-01

environment tests. The programme consists of approximately ten fl ights, the firsts having a passive nature . These are followed by progressive...Limited _. .. , 40 Chigwell Lane, Loughton, Essex IGIO 3TZ PREFACE The environment in which tactical air forces must be able to operate is becoming...GUIDANCE SYSTEM CONCEPT FOR HIGH-DYNAMIC ENVIRONMENT * by U.K.Krogmann 17 APPLICATIONS DES CENTRALES A COMPOSANTS LIES AUX MISSILES TACTIQUES: CAS DES

Detection and Prevention of Android Malware Attempting to Root the Device

DTIC Science & Technology

2014-03-01

detect the operation of malware trying to root the phone. This research aims to detect the Exploid, RageAgainstTheCage, and Gingerbreak exploits on...attackers can use malware to root the system. By placing sensors inside the critical paths, the research detected all 379 malware samples trying the root...zero false positive results. Unlike static signature detection at the application level, this research provides dynamic detection at the kernel level

Identification of Rotorcraft Structural Dynamics from Flight and Wind Tunnel Data

NASA Technical Reports Server (NTRS)

McKillip, Robert M., Jr.

1997-01-01

Excessive vibration remains one one of the most difficult problems that faces the helicopter industry today, affecting all production helicopters at some phase of their development. Vibrations in rotating structures may arise from external periodic dynamic airloads whose frequencies are are close to the natural frequencies of the rotating system itself. The goal for the structures engineer would thus be to design a structure as free from resonance effects as possible. In the case of a helicopter rotor blade these dynamic loads are a consequence of asymmetric airload distribution on the rotor blade in forward flight, leading to a rich collection of higher harmonic airloads that force rotor and airframe response. Accurate prediction of the dynamic characteristics of a helicopter rotor blade will provide the opportunity to affect in a positive manner noise intensity, vibration level, durability, reliability and operating costs by reducing objectionable frequencies or moving them to a different frequency range and thus providing us with a lower vibration rotor. In fact, the dynamic characteristics tend to define the operating limits of a rotorcraft. As computing power has increased greatly over the last decade, researchers and engineers have turned to analyzing the vibrational characteristics of aerospace structures at the design and development stage of the production of an aircraft. Modern rotor blade construction methods lead to products with low mass and low inherent damping so careful design and analysis is required to avoid resonance and an undesirable dynamic performance. In addition, accurate modal analysis is necessary for several current approaches in elastic system identification and active control.

Neural network based adaptive control for nonlinear dynamic regimes

NASA Astrophysics Data System (ADS)

Shin, Yoonghyun

Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.

The Global Positioning System (GPS) and attitude determination: Applications and activities in the Flight Dynamics Division

NASA Technical Reports Server (NTRS)

Ketchum, Eleanor; Garrick, Joe

1995-01-01

The application of GPS to spacecraft attitude determination is a new and growing field. Although the theoretical literature is extensive, space flight testing is currently sparse and inadequate. As an operations organization, the Flight Dynamics Division (FDD) has the responsibility to investigate this new technology, and determine how best to implement the innovation to provide adequate support for future missions. This paper presents some of the current efforts within FDD with regard to GPS attitude determination. This effort specifically addresses institutional capabilities to accommodate a new type of sensor, critically evaluating the literature for recent advancements, and in examining some available -albeit crude- flight data.

Spectral analysis of point-vortex dynamics: first application to vortex polygons in a circular domain

NASA Astrophysics Data System (ADS)

Speetjens, M. F. M.; Meleshko, V. V.; van Heijst, G. J. F.

2014-06-01

The present study addresses the classical problem of the dynamics and stability of a cluster of N-point vortices of equal strength arranged in a polygonal configuration (‘N-vortex polygons’). In unbounded domains, such N-vortex polygons are unconditionally stable for N\\leqslant 7. Confinement in a circular domain tightens the stability conditions to N\\leqslant 6 and a maximum polygon size relative to the domain radius. This work expands on existing studies on stability and integrability by a first giving an exploratory spectral analysis of the dynamics of N vortex polygons in circular domains. Key to this is that the spectral signature of the time evolution of vortex positions reflects their qualitative behaviour. Expressing vortex motion by a generic evolution operator (the so-called Koopman operator) provides a rigorous framework for such spectral analyses. This paves the way to further differentiation and classification of point-vortex behaviour beyond stability and integrability. The concept of Koopman-based spectral analysis is demonstrated for N-vortex polygons. This reveals that conditional stability can be seen as a local form of integrability and confirms an important generic link between spectrum and dynamics: discrete spectra imply regular (quasi-periodic) motion; continuous (sub-)spectra imply chaotic motion. Moreover, this exposes rich nonlinear dynamics as intermittency between regular and chaotic motion and quasi-coherent structures formed by chaotic vortices. Dedicated to the memory of Slava Meleshko, a dear friend and inspiring colleague.

A Dynamic Nuclear Polarization spectrometer at 95 GHz/144 MHz with EPR and NMR excitation and detection capabilities.

PubMed

Feintuch, Akiva; Shimon, Daphna; Hovav, Yonatan; Banerjee, Debamalya; Kaminker, Ilia; Lipkin, Yaacov; Zibzener, Koby; Epel, Boris; Vega, Shimon; Goldfarb, Daniella

2011-04-01

A spectrometer specifically designed for systematic studies of the spin dynamics underlying Dynamic Nuclear Polarization (DNP) in solids at low temperatures is described. The spectrometer functions as a fully operational NMR spectrometer (144 MHz) and pulse EPR spectrometer (95 GHz) with a microwave (MW) power of up to 300 mW at the sample position, generating a MW B(1) field as high as 800 KHz. The combined NMR/EPR probe comprises of an open-structure horn-reflector configuration that functions as a low Q EPR cavity and an RF coil that can accommodate a 30-50 μl sample tube. The performance of the spectrometer is demonstrated through some basic pulsed EPR experiments, such as echo-detected EPR, saturation recovery and nutation measurements, that enable quantification of the actual intensity of MW irradiation at the position of the sample. In addition, DNP enhanced NMR signals of samples containing TEMPO and trityl are followed as a function of the MW frequency. Buildup curves of the nuclear polarization are recorded as a function of the microwave irradiation time period at different temperatures and for different MW powers. Copyright © 2011 Elsevier Inc. All rights reserved.

Dynamics and control of escape and rescue from a tumbling spacecraft

NASA Technical Reports Server (NTRS)

Kaplan, M. H.

1972-01-01

Papers on the problem of controlling a tumbling spacecraft before crew rescue is affected are presented. Fluid jets are considered; It is concluded that a gas jet results in long tumble times and low utilization efficiencies and a liquid jet appears more attractive because it can be directed. A conceptual design of an unmanned antitumbling module for automatic dock and detumble is formulated, and analyses of its dynamics and control, synthesis of position and attitude control systems, and sequence of operations are given. The minimum time detumble operation is analyzed with respect to (1) to a constraint on the magnitude of the control moment vector and (2) to constraints on the magnitude of each of the three components of the control moment vector. Internal passive and active mechanisms of energy dissipation are also considered. Structural flexibility modelling techniques and detumbling effects of structural flexibility on free-tumbling motion, are reviewed. Mass expulsion, momentum exchange, and moveable mass techniques are described, and methods of analyzing these devices are surveyed.

STS-40 Space Shuttle mission report

NASA Technical Reports Server (NTRS)

Fricke, Robert W.

1991-01-01

The STS-40 Space Shuttle Program Mission Report contains a summary of the vehicle subsystem operations during the forty-first flight of the Space Shuttle and the eleventh flight of the Orbiter Vehicle Columbia (OV-102). In addition to the Columbia vehicle, the flight vehicle consisted of an External Tank (ET) designated as ET-41 (LWT-34), three Space Shuttle main engines (SSME's) (serial numbers 2015, 2022, and 2027 in positions 1, 2, and 3, respectively), and two Solid Rocket Boosters (SRB's) designated as BI-044. The primary objective of the STS-40 flight was to successfully perform the planned operations of the Spacelab Life Sciences-1 (SLS-1) payload. The secondary objectives of this flight were to perform the operations required by the Getaway Special (GAS) payloads and the Middeck O-Gravity Dynamics Experiment (MODE) payload.

STS-40 Space Shuttle mission report

NASA Astrophysics Data System (ADS)

Fricke, Robert W.

1991-07-01

The STS-40 Space Shuttle Program Mission Report contains a summary of the vehicle subsystem operations during the forty-first flight of the Space Shuttle and the eleventh flight of the Orbiter Vehicle Columbia (OV-102). In addition to the Columbia vehicle, the flight vehicle consisted of an External Tank (ET) designated as ET-41 (LWT-34), three Space Shuttle main engines (SSME's) (serial numbers 2015, 2022, and 2027 in positions 1, 2, and 3, respectively), and two Solid Rocket Boosters (SRB's) designated as BI-044. The primary objective of the STS-40 flight was to successfully perform the planned operations of the Spacelab Life Sciences-1 (SLS-1) payload. The secondary objectives of this flight were to perform the operations required by the Getaway Special (GAS) payloads and the Middeck O-Gravity Dynamics Experiment (MODE) payload.

Fault tolerant operation of switched reluctance machine

NASA Astrophysics Data System (ADS)

Wang, Wei

The energy crisis and environmental challenges have driven industry towards more energy efficient solutions. With nearly 60% of electricity consumed by various electric machines in industry sector, advancement in the efficiency of the electric drive system is of vital importance. Adjustable speed drive system (ASDS) provides excellent speed regulation and dynamic performance as well as dramatically improved system efficiency compared with conventional motors without electronics drives. Industry has witnessed tremendous grow in ASDS applications not only as a driving force but also as an electric auxiliary system for replacing bulky and low efficiency auxiliary hydraulic and mechanical systems. With the vast penetration of ASDS, its fault tolerant operation capability is more widely recognized as an important feature of drive performance especially for aerospace, automotive applications and other industrial drive applications demanding high reliability. The Switched Reluctance Machine (SRM), a low cost, highly reliable electric machine with fault tolerant operation capability, has drawn substantial attention in the past three decades. Nevertheless, SRM is not free of fault. Certain faults such as converter faults, sensor faults, winding shorts, eccentricity and position sensor faults are commonly shared among all ASDS. In this dissertation, a thorough understanding of various faults and their influence on transient and steady state performance of SRM is developed via simulation and experimental study, providing necessary knowledge for fault detection and post fault management. Lumped parameter models are established for fast real time simulation and drive control. Based on the behavior of the faults, a fault detection scheme is developed for the purpose of fast and reliable fault diagnosis. In order to improve the SRM power and torque capacity under faults, the maximum torque per ampere excitation are conceptualized and validated through theoretical analysis and experiments. With the proposed optimal waveform, torque production is greatly improved under the same Root Mean Square (RMS) current constraint. Additionally, position sensorless operation methods under phase faults are investigated to account for the combination of physical position sensor and phase winding faults. A comprehensive solution for position sensorless operation under single and multiple phases fault are proposed and validated through experiments. Continuous position sensorless operation with seamless transition between various numbers of phase fault is achieved.

An attentive multi-camera system

NASA Astrophysics Data System (ADS)

Napoletano, Paolo; Tisato, Francesco

2014-03-01

Intelligent multi-camera systems that integrate computer vision algorithms are not error free, and thus both false positive and negative detections need to be revised by a specialized human operator. Traditional multi-camera systems usually include a control center with a wall of monitors displaying videos from each camera of the network. Nevertheless, as the number of cameras increases, switching from a camera to another becomes hard for a human operator. In this work we propose a new method that dynamically selects and displays the content of a video camera from all the available contents in the multi-camera system. The proposed method is based on a computational model of human visual attention that integrates top-down and bottom-up cues. We believe that this is the first work that tries to use a model of human visual attention for the dynamic selection of the camera view of a multi-camera system. The proposed method has been experimented in a given scenario and has demonstrated its effectiveness with respect to the other methods and manually generated ground-truth. The effectiveness has been evaluated in terms of number of correct best-views generated by the method with respect to the camera views manually generated by a human operator.

Sensor Measurement Strategies for Monitoring Offshore Wind and Wave Energy Devices

NASA Astrophysics Data System (ADS)

O'Donnell, Deirdre; Srbinovsky, Bruno; Murphy, Jimmy; Popovici, Emanuel; Pakrashi, Vikram

2015-07-01

While the potential of offshore wind and wave energy devices is well established and accepted, operations and maintenance issues are still not very well researched or understood. In this regard, scaled model testing has gained popularity over time for such devices at various technological readiness levels. The dynamic response of these devices are typically measured by different instruments during such scaled tests but agreed sensor choice, measurement and placement guidelines are still not in place. This paper compared the dynamic responses of some of these sensors from a scaled ocean wave testing to highlight the importance of sensor measurement strategies. The possibility of using multiple, cheaper sensors of seemingly inferior performance as opposed to the deployment of a small number of expensive and accurate sensors are also explored. An energy aware adaptive sampling theory is applied to highlight the possibility of more efficient computing when large volumes of data are available from the tested structures. Efficient sensor measurement strategies are expected to have a positive impact on the development of an device at different technological readiness levels while it is expected to be helpful in reducing operation and maintenance costs if such an approach is considered for the devices when they are in operation.

Development of the Transport Class Model (TCM) Aircraft Simulation From a Sub-Scale Generic Transport Model (GTM) Simulation

NASA Technical Reports Server (NTRS)

Hueschen, Richard M.

2011-01-01

A six degree-of-freedom, flat-earth dynamics, non-linear, and non-proprietary aircraft simulation was developed that is representative of a generic mid-sized twin-jet transport aircraft. The simulation was developed from a non-proprietary, publicly available, subscale twin-jet transport aircraft simulation using scaling relationships and a modified aerodynamic database. The simulation has an extended aerodynamics database with aero data outside the normal transport-operating envelope (large angle-of-attack and sideslip values). The simulation has representative transport aircraft surface actuator models with variable rate-limits and generally fixed position limits. The simulation contains a generic 40,000 lb sea level thrust engine model. The engine model is a first order dynamic model with a variable time constant that changes according to simulation conditions. The simulation provides a means for interfacing a flight control system to use the simulation sensor variables and to command the surface actuators and throttle position of the engine model.

Enabling full-field physics-based optical proximity correction via dynamic model generation

NASA Astrophysics Data System (ADS)

Lam, Michael; Clifford, Chris; Raghunathan, Ananthan; Fenger, Germain; Adam, Kostas

2017-07-01

As extreme ultraviolet lithography becomes closer to reality for high volume production, its peculiar modeling challenges related to both inter and intrafield effects have necessitated building an optical proximity correction (OPC) infrastructure that operates with field position dependency. Previous state-of-the-art approaches to modeling field dependency used piecewise constant models where static input models are assigned to specific x/y-positions within the field. OPC and simulation could assign the proper static model based on simulation-level placement. However, in the realm of 7 and 5 nm feature sizes, small discontinuities in OPC from piecewise constant model changes can cause unacceptable levels of edge placement errors. The introduction of dynamic model generation (DMG) can be shown to effectively avoid these dislocations by providing unique mask and optical models per simulation region, allowing a near continuum of models through the field. DMG allows unique models for electromagnetic field, apodization, aberrations, etc. to vary through the entire field and provides a capability to precisely and accurately model systematic field signatures.

Acoustic measurement of bubble size and position in a piezo driven inkjet printhead

NASA Astrophysics Data System (ADS)

van der Bos, Arjan; Jeurissen, Roger; de Jong, Jos; Stevens, Richard; Versluis, Michel; Reinten, Hans; van den Berg, Marc; Wijshoff, Herman; Lohse, Detlef

2008-11-01

A bubble can be entrained in the ink channel of a piezo-driven inkjet printhead, where it grows by rectified diffusion. If large enough, the bubble counteracts the pressure buildup at the nozzle, resulting in nozzle failure. Here an acoustic sizing method for the volume and position of the bubble is presented. The bubble response is detected by the piezo actuator itself, operating in a sensor mode. The method used to determine the volume and position of the bubble is based on a linear model in which the interaction between the bubble and the channel are included. This model predicts the acoustic signal for a given position and volume of the bubble. The inverse problem is to infer the position and volume of the bubble from the measured acoustic signal. By solving it, we can thus acoustically measure size and position of the bubble. The validity of the presented method is supported by time-resolved optical observations of the dynamics of the bubble within an optically accessible ink-jet channel.

Overcoming the drawback of lower sense margin in tunnel FET based dynamic memory along with enhanced charge retention and scalability

NASA Astrophysics Data System (ADS)

Navlakha, Nupur; Kranti, Abhinav

2017-11-01

The work reports on the use of a planar tri-gate tunnel field effect transistor (TFET) to operate as dynamic memory at 85 °C with an enhanced sense margin (SM). Two symmetric gates (G1) aligned to the source at a partial region of intrinsic film result into better electrostatic control that regulates the read mechanism based on band-to-band tunneling, while the other gate (G2), positioned adjacent to the first front gate is responsible for charge storage and sustenance. The proposed architecture results in an enhanced SM of ˜1.2 μA μm-1 along with a longer retention time (RT) of ˜1.8 s at 85 °C, for a total length of 600 nm. The double gate architecture towards the source increases the tunneling current and also reduces short channel effects, enhancing SM and scalability, thereby overcoming the critical bottleneck faced by TFET based dynamic memories. The work also discusses the impact of overlap/underlap and interface charges on the performance of TFET based dynamic memory. Insights into device operation demonstrate that the choice of appropriate architecture and biases not only limit the trade-off between SM and RT, but also result in improved scalability with drain voltage and total length being scaled down to 0.8 V and 115 nm, respectively.

Robust adaptive relative position and attitude control for spacecraft autonomous proximity.

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2016-07-01

This paper provides new results of the dynamical modeling and controller designing for autonomous close proximity phase during rendezvous and docking in the presence of kinematic couplings and model uncertainties. A globally defined relative motion mechanical model for close proximity operations is introduced firstly. Then, in spite of the kinematic couplings and thrust misalignment between relative rotation and relative translation, robust adaptive relative position and relative attitude controllers are designed successively. Finally, stability of the overall system is proved that the relative position and relative attitude are uniformly ultimately bounded, and the size of the ultimate bound can be regulated small enough by control system parameters. Performance of the controlled overall system is demonstrated via a representative numerical example. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Static and dynamic stability of pneumatic vibration isolators and systems of isolators

NASA Astrophysics Data System (ADS)

Ryaboy, Vyacheslav M.

2014-01-01

Pneumatic vibration isolation is the most widespread effective method for creating vibration-free environments that are vital for precise experiments and manufacturing operations in optoelectronics, life sciences, microelectronics, nanotechnology and other areas. The modeling and design principles of a dual-chamber pneumatic vibration isolator, basically established a few decades ago, continue to attract attention of researchers. On the other hand, behavior of systems of such isolators was never explained in the literature in sufficient detail. This paper covers a range of questions essential for understanding the mechanics of pneumatic isolation systems from both design and application perspectives. The theory and a model of a single standalone isolator are presented in concise form necessary for subsequent analysis. Then the dynamics of a system of isolators supporting a payload is considered with main attention directed to two aspects of their behavior: first, the static stability of payloads with high positions of the center of gravity; second, dynamic stability of the feedback system formed by mechanical leveling valves. The direct method of calculating the maximum stable position of the center of gravity is presented and illustrated by three-dimensional stability domains; analytic formulas are given that delineate these domains. A numerical method for feedback stability analysis of self-leveling valve systems is given, and the results are compared with the analytical estimates for a single isolator. The relation between the static and dynamic phenomena is discussed.

An energy-saving nonlinear position control strategy for electro-hydraulic servo systems.

PubMed

Baghestan, Keivan; Rezaei, Seyed Mehdi; Talebi, Heidar Ali; Zareinejad, Mohammad

2015-11-01

The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Dynamics of changing impacts of tropical Indo-Pacific variability on Indian and Australian rainfall

NASA Astrophysics Data System (ADS)

Li, Ziguang; Cai, Wenju; Lin, Xiaopei

2016-08-01

A positive Indian Ocean Dipole (IOD) and a warm phase of the El Niño-Southern Oscillation (ENSO) reduce rainfall over the Indian subcontinent and southern Australia. However, since the 1980s, El Niño’s influence has been decreasing, accompanied by a strengthening in the IOD’s influence on southern Australia but a reversal in the IOD’s influence on the Indian subcontinent. The dynamics are not fully understood. Here we show that a post-1980 weakening in the ENSO-IOD coherence plays a key role. During the pre-1980 high coherence, ENSO drives both the IOD and regional rainfall, and the IOD’s influence cannot manifest itself. During the post-1980 weak coherence, a positive IOD leads to increased Indian rainfall, offsetting the impact from El Niño. Likewise, the post-1980 weak ENSO-IOD coherence means that El Niño’s pathway for influencing southern Australia cannot fully operate, and as positive IOD becomes more independent and more frequent during this period, its influence on southern Australia rainfall strengthens. There is no evidence to support that greenhouse warming plays a part in these decadal fluctuations.

Dynamics of changing impacts of tropical Indo-Pacific variability on Indian and Australian rainfall.

PubMed

Li, Ziguang; Cai, Wenju; Lin, Xiaopei

2016-08-22

A positive Indian Ocean Dipole (IOD) and a warm phase of the El Niño-Southern Oscillation (ENSO) reduce rainfall over the Indian subcontinent and southern Australia. However, since the 1980s, El Niño's influence has been decreasing, accompanied by a strengthening in the IOD's influence on southern Australia but a reversal in the IOD's influence on the Indian subcontinent. The dynamics are not fully understood. Here we show that a post-1980 weakening in the ENSO-IOD coherence plays a key role. During the pre-1980 high coherence, ENSO drives both the IOD and regional rainfall, and the IOD's influence cannot manifest itself. During the post-1980 weak coherence, a positive IOD leads to increased Indian rainfall, offsetting the impact from El Niño. Likewise, the post-1980 weak ENSO-IOD coherence means that El Niño's pathway for influencing southern Australia cannot fully operate, and as positive IOD becomes more independent and more frequent during this period, its influence on southern Australia rainfall strengthens. There is no evidence to support that greenhouse warming plays a part in these decadal fluctuations.

F-actin mechanics control spindle centring in the mouse zygote

NASA Astrophysics Data System (ADS)

Chaigne, Agathe; Campillo, Clément; Voituriez, Raphaël; Gov, Nir S.; Sykes, Cécile; Verlhac, Marie-Hélène; Terret, Marie-Emilie

2016-01-01

Mitotic spindle position relies on interactions between astral microtubules nucleated by centrosomes and a rigid cortex. Some cells, such as mouse oocytes, do not possess centrosomes and astral microtubules. These cells rely only on actin and on a soft cortex to position their spindle off-centre and undergo asymmetric divisions. While the first mouse embryonic division also occurs in the absence of centrosomes, it is symmetric and not much is known on how the spindle is positioned at the exact cell centre. Using interdisciplinary approaches, we demonstrate that zygotic spindle positioning follows a three-step process: (1) coarse centring of pronuclei relying on the dynamics of an F-actin/Myosin-Vb meshwork; (2) fine centring of the metaphase plate depending on a high cortical tension; (3) passive maintenance at the cell centre. Altogether, we show that F-actin-dependent mechanics operate the switch between asymmetric to symmetric division required at the oocyte to embryo transition.

Real time simulation of computer-assisted sequencing of terminal area operations

NASA Technical Reports Server (NTRS)

Dear, R. G.

1981-01-01

A simulation was developed to investigate the utilization of computer assisted decision making for the task of sequencing and scheduling aircraft in a high density terminal area. The simulation incorporates a decision methodology termed Constrained Position Shifting. This methodology accounts for aircraft velocity profiles, routes, and weight classes in dynamically sequencing and scheduling arriving aircraft. A sample demonstration of Constrained Position Shifting is presented where six aircraft types (including both light and heavy aircraft) are sequenced to land at Denver's Stapleton International Airport. A graphical display is utilized and Constrained Position Shifting with a maximum shift of four positions (rearward or forward) is compared to first come, first serve with respect to arrival at the runway. The implementation of computer assisted sequencing and scheduling methodologies is investigated. A time based control concept will be required and design considerations for such a system are discussed.

Development of a Linear Stirling Model with Varying Heat Inputs

NASA Technical Reports Server (NTRS)

Regan, Timothy F.; Lewandowski, Edward J.

2007-01-01

The linear model of the Stirling system developed by NASA Glenn Research Center (GRC) has been extended to include a user-specified heat input. Previously developed linear models were limited to the Stirling convertor and electrical load. They represented the thermodynamic cycle with pressure factors that remained constant. The numerical values of the pressure factors were generated by linearizing GRC s non-linear System Dynamic Model (SDM) of the convertor at a chosen operating point. The pressure factors were fixed for that operating point, thus, the model lost accuracy if a transition to a different operating point were simulated. Although the previous linear model was used in developing controllers that manipulated current, voltage, and piston position, it could not be used in the development of control algorithms that regulated hot-end temperature. This basic model was extended to include the thermal dynamics associated with a hot-end temperature that varies over time in response to external changes as well as to changes in the Stirling cycle. The linear model described herein includes not only dynamics of the piston, displacer, gas, and electrical circuit, but also the transient effects of the heater head thermal inertia. The linear version algebraically couples two separate linear dynamic models, one model of the Stirling convertor and one model of the thermal system, through the pressure factors. The thermal system model includes heat flow of heat transfer fluid, insulation loss, and temperature drops from the heat source to the Stirling convertor expansion space. The linear model was compared to a nonlinear model, and performance was very similar. The resulting linear model can be implemented in a variety of computing environments, and is suitable for analysis with classical and state space controls analysis techniques.

Development of a Linear Stirling System Model with Varying Heat Inputs

NASA Technical Reports Server (NTRS)

Regan, Timothy F.; Lewandowski, Edward J.

2007-01-01

The linear model of the Stirling system developed by NASA Glenn Research Center (GRC) has been extended to include a user-specified heat input. Previously developed linear models were limited to the Stirling convertor and electrical load. They represented the thermodynamic cycle with pressure factors that remained constant. The numerical values of the pressure factors were generated by linearizing GRC's nonlinear System Dynamic Model (SDM) of the convertor at a chosen operating point. The pressure factors were fixed for that operating point, thus, the model lost accuracy if a transition to a different operating point were simulated. Although the previous linear model was used in developing controllers that manipulated current, voltage, and piston position, it could not be used in the development of control algorithms that regulated hot-end temperature. This basic model was extended to include the thermal dynamics associated with a hot-end temperature that varies over time in response to external changes as well as to changes in the Stirling cycle. The linear model described herein includes not only dynamics of the piston, displacer, gas, and electrical circuit, but also the transient effects of the heater head thermal inertia. The linear version algebraically couples two separate linear dynamic models, one model of the Stirling convertor and one model of the thermal system, through the pressure factors. The thermal system model includes heat flow of heat transfer fluid, insulation loss, and temperature drops from the heat source to the Stirling convertor expansion space. The linear model was compared to a nonlinear model, and performance was very similar. The resulting linear model can be implemented in a variety of computing environments, and is suitable for analysis with classical and state space controls analysis techniques.

The Sustainable Development of Space: Astro-environmental and dynamical considerations

NASA Astrophysics Data System (ADS)

Boley, Aaron; Byers, Michael; Russell, Sara

2018-04-01

The sustainable development of space is a global (and exo-global) challenge that is not limited by borders or research disciplines. Sustainable development is "development that meets the needs of the present without compromising the ability of future generations to meet their own needs". While the development of space brings new economic and scientific possibilities, it also carries significant political, legal, and technical uncertainties. For example, the rapidly increasing accessibility of space is motivating states to unilaterally adopt legislation for the new era of space use, which may have significant unintended consequences, such as increased risks to space assets, disputes among state as well as non-state actors, and changes to unique astro-environments. Any policy or legal position must be informed by the dynamical and astrophysical realities of space use, creating complex and interwoven challenges. Here, we explore several of these potential challenges related to astro-environmentalism, space minining operations, and the associated dynamics.

Design and Performance Evaluation of an Electro-Hydraulic Camless Engine Valve Actuator for Future Vehicle Applications

PubMed Central

Nam, Kanghyun; Cho, Kwanghyun; Park, Sang-Shin; Choi, Seibum B.

2017-01-01

This paper details the new design and dynamic simulation of an electro-hydraulic camless engine valve actuator (EH-CEVA) and experimental verification with lift position sensors. In general, camless engine technologies have been known for improving fuel efficiency, enhancing power output, and reducing emissions of internal combustion engines. Electro-hydraulic valve actuators are used to eliminate the camshaft of an existing internal combustion engines and used to control the valve timing and valve duration independently. This paper presents novel electro-hydraulic actuator design, dynamic simulations, and analysis based on design specifications required to satisfy the operation performances. An EH-CEVA has initially been designed and modeled by means of a powerful hydraulic simulation software, AMESim, which is useful for the dynamic simulations and analysis of hydraulic systems. Fundamental functions and performances of the EH-CEVA have been validated through comparisons with experimental results obtained in a prototype test bench. PMID:29258270

Design and Performance Evaluation of an Electro-Hydraulic Camless Engine Valve Actuator for Future Vehicle Applications.

PubMed

Nam, Kanghyun; Cho, Kwanghyun; Park, Sang-Shin; Choi, Seibum B

2017-12-18

This paper details the new design and dynamic simulation of an electro-hydraulic camless engine valve actuator (EH-CEVA) and experimental verification with lift position sensors. In general, camless engine technologies have been known for improving fuel efficiency, enhancing power output, and reducing emissions of internal combustion engines. Electro-hydraulic valve actuators are used to eliminate the camshaft of an existing internal combustion engines and used to control the valve timing and valve duration independently. This paper presents novel electro-hydraulic actuator design, dynamic simulations, and analysis based on design specifications required to satisfy the operation performances. An EH-CEVA has initially been designed and modeled by means of a powerful hydraulic simulation software, AMESim, which is useful for the dynamic simulations and analysis of hydraulic systems. Fundamental functions and performances of the EH-CEVA have been validated through comparisons with experimental results obtained in a prototype test bench.

Deterministic chaos in an ytterbium-doped mode-locked fiber laser

NASA Astrophysics Data System (ADS)

Mélo, Lucas B. A.; Palacios, Guillermo F. R.; Carelli, Pedro V.; Acioli, Lúcio H.; Rios Leite, José R.; de Miranda, Marcio H. G.

2018-05-01

We experimentally study the nonlinear dynamics of a femtosecond ytterbium doped mode-locked fiber laser. With the laser operating in the pulsed regime a route to chaos is presented, starting from stable mode-locking, period two, period four, chaos and period three regimes. Return maps and bifurcation diagrams were extracted from time series for each regime. The analysis of the time series with the laser operating in the quasi mode-locked regime presents deterministic chaos described by an unidimensional Rossler map. A positive Lyapunov exponent $\\lambda = 0.14$ confirms the deterministic chaos of the system. We suggest an explanation about the observed map by relating gain saturation and intra-cavity loss.

Recursive flexible multibody system dynamics using spatial operators

NASA Technical Reports Server (NTRS)

Jain, A.; Rodriguez, G.

1992-01-01

This paper uses spatial operators to develop new spatially recursive dynamics algorithms for flexible multibody systems. The operator description of the dynamics is identical to that for rigid multibody systems. Assumed-mode models are used for the deformation of each individual body. The algorithms are based on two spatial operator factorizations of the system mass matrix. The first (Newton-Euler) factorization of the mass matrix leads to recursive algorithms for the inverse dynamics, mass matrix evaluation, and composite-body forward dynamics for the systems. The second (innovations) factorization of the mass matrix, leads to an operator expression for the mass matrix inverse and to a recursive articulated-body forward dynamics algorithm. The primary focus is on serial chains, but extensions to general topologies are also described. A comparison of computational costs shows that the articulated-body, forward dynamics algorithm is much more efficient than the composite-body algorithm for most flexible multibody systems.

An Evaluation of Operational Airspace Sectorization Integrated System (OASIS) Advisory Tool

NASA Technical Reports Server (NTRS)

Lee, Paul U.; Mogford, Richard H.; Bridges, Wayne; Buckley, Nathan; Evans, Mark; Gujral, Vimmy; Lee, Hwasoo; Peknik, Daniel; Preston, William

2013-01-01

In January 2013, a human-in-the-loop evaluation of the Operational Airspace Sectorization Integrated System (OASIS) was conducted in the Airspace Operations Laboratory of the Human Systems Integration Division (Code TH) in conjunction with the Aviation Systems Division (Code AF). The development of OASIS is a major activity of the Dynamic Airspace Configuration (DAC) research focus area within the Aeronautics Research Mission Directorate (ARMD) Airspace Systems Program. OASIS is an advisory tool to assist Federal Aviation Administration (FAA) En Route Area Supervisors in their planning of sector combinedecombine operations as well as opening closing of Data-side (D-side) control positions. These advisory solutions are tailored to the predicted traffic demand over the next few hours. During the experiment, eight retired FAA personnel served as participants for a part-task evaluation of OASIS functionality, covering the user interface as well as the underlying algorithm. Participants gave positive feedback on both the user interface and the algorithm solutions for airspace configuration, including an excellent average rating of 94 on the tool usability scales. They also suggested various enhancements to the OASIS tool, which will be incorporated into the next tool development cycle for the full-scale human-in-the-loop evaluation to be conducted later this year.

77 FR 26562 - Mobile Offshore Drilling Unit Dynamic Positioning Guidance

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-04

... regarding a draft policy letter on Dynamic Positioning (DP) Systems, Emergency Disconnect Systems, Blowout... Coast Guard, NOSAC issued the report ``Recommendations for Dynamic Positioning System Design and... DEPARTMENT OF HOMELAND SECURITY Coast Guard [USCG-2011-1106] Mobile Offshore Drilling Unit Dynamic...

Remote Triggering in the Koyna-Warna Reservoir-Induced Seismic Zone, Western India

NASA Astrophysics Data System (ADS)

Bansal, Abhey Ram; Rao, N. Purnachandra; Peng, Zhigang; Shashidhar, D.; Meng, Xiaofeng

2018-03-01

Dynamic triggering following large distant earthquakes has been observed in many regions globally. In this study, we present evidence for remote dynamic triggering in the Koyna-Warna region of Western India, which is known to be a premier site of reservoir-induced seismicity. Using data from a closely spaced broadband network of 11 stations operated in the region since 2005, we conduct a systematic search for dynamic triggering following 20 large distant earthquakes with dynamic stresses of at least 1 kPa in the region. We find that the only positive cases of dynamic triggering occurred during 11 April 2012, Mw8.6 Indian Ocean earthquake and its largest aftershock of Mw8.2. In the first case, microearthquakes started to occur in the first few cycles of the Love waves, and the largest event of magnitude 3.3 occurred during the first few cycles of the Rayleigh waves. The increase of microseismicity lasted for up to five days, including a magnitude 4.8 event occurred approximately three days later. Our results suggest that the Koyna-Warna region is stress sensitive and susceptible for remote dynamic triggering, although the apparent triggering threshold appears to be slightly higher than other regions.

Group-wise feature-based registration of CT and ultrasound images of spine

NASA Astrophysics Data System (ADS)

Rasoulian, Abtin; Mousavi, Parvin; Hedjazi Moghari, Mehdi; Foroughi, Pezhman; Abolmaesumi, Purang

2010-02-01

Registration of pre-operative CT and freehand intra-operative ultrasound of lumbar spine could aid surgeons in the spinal needle injection which is a common procedure for pain management. Patients are always in a supine position during the CT scan, and in the prone or sitting position during the intervention. This leads to a difference in the spinal curvature between the two imaging modalities, which means a single rigid registration cannot be used for all of the lumbar vertebrae. In this work, a method for group-wise registration of pre-operative CT and intra-operative freehand 2-D ultrasound images of the lumbar spine is presented. The approach utilizes a pointbased registration technique based on the unscented Kalman filter, taking as input segmented vertebrae surfaces in both CT and ultrasound data. Ultrasound images are automatically segmented using a dynamic programming approach, while the CT images are semi-automatically segmented using thresholding. Since the curvature of the spine is different between the pre-operative and the intra-operative data, the registration approach is designed to simultaneously align individual groups of points segmented from each vertebra in the two imaging modalities. A biomechanical model is used to constrain the vertebrae transformation parameters during the registration and to ensure convergence. The mean target registration error achieved for individual vertebrae on five spine phantoms generated from CT data of patients, is 2.47 mm with standard deviation of 1.14 mm.

Operators' perception of comfort in two tractor cabs.

PubMed

Ferrari, E; Cavallo, E

2013-01-01

Workspace characteristics affect the perceived comfort level of the operator and uncomfortable working conditions have been found to have a negative impact on productivity and safety. The comfort of the operator is increasingly recognized by manufacturers as a product's added value. Comfort can positively distinguish a product and increase its competitiveness. The concept of comfort is controversial, and a clear operational definition is missing. Nevertheless, it is widely accepted that comfort is a subjective phenomenon that can be evaluated by the final users. In this study, comfort aspects of the tractor workspace interior (i.e., the cab) were investigated. Users with various levels of expertise and two medium-power utility tractors of different brands were used in a 2 x 2 mixed-factorial experimental design. Participants were involved in a dynamic assessment of the cabs, and their opinions about the different workspaces were collected through a questionnaire. Additionally, objective measurements were taken on both tractors, and subjective data were compared with objective data. Results indicate significant differences in terms of the ease of locating and operating the controls (i.e., rear-mounted three-point linkage, hydraulic system, and power take-off), the ease of starting the tractor, the ease exiting the cab, the required level of concentration in executing the tasks, the adequacy of lateral visibility from the driving station, and the level of noise at the operator's position. This article provides guidance for improving the comfort of tractor workspace interiors. Agricultural machinery manufactures would benefit from research results, differentiating themselves from competitors.

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

Petersen, T.; Diamond, J.; Liu, N.

The readout electronics for the resonant beam position monitors (BPMs) in the Fermilab Switchyard (SY) have been upgraded, utilizing a low noise amplifier transition board and Fermilab designed digitizer boards. The stripline BPMs are estimated to have an average signal output of between -110 dBm and -80 dBm, with an estimated peak output of -70 dBm. The external resonant circuit is tuned to the SY machine frequency of 53.10348 MHz. Both the digitizer and transition boards have variable gain in order to accommodate the large dynamic range and irregularity of the resonant extraction spill. These BPMs will aid in auto-tuningmore » of the SY beamline as well as enabling operators to monitor beam position through the spill.« less

A Radio-genomics Approach for Identifying High Risk Estrogen Receptor-positive Breast Cancers on DCE-MRI: Preliminary Results in Predicting OncotypeDX Risk Scores

PubMed Central

Wan, Tao; Bloch, B. Nicolas; Plecha, Donna; Thompson, CheryI L.; Gilmore, Hannah; Jaffe, Carl; Harris, Lyndsay; Madabhushi, Anant

2016-01-01

To identify computer extracted imaging features for estrogen receptor (ER)-positive breast cancers on dynamic contrast en-hanced (DCE)-MRI that are correlated with the low and high OncotypeDX risk categories. We collected 96 ER-positivebreast lesions with low (<18, N = 55) and high (>30, N = 41) OncotypeDX recurrence scores. Each lesion was quantitatively charac-terize via 6 shape features, 3 pharmacokinetics, 4 enhancement kinetics, 4 intensity kinetics, 148 textural kinetics, 5 dynamic histogram of oriented gradient (DHoG), and 6 dynamic local binary pattern (DLBP) features. The extracted features were evaluated by a linear discriminant analysis (LDA) classifier in terms of their ability to distinguish low and high OncotypeDX risk categories. Classification performance was evaluated by area under the receiver operator characteristic curve (Az). The DHoG and DLBP achieved Az values of 0.84 and 0.80, respectively. The 6 top features identified via feature selection were subsequently combined with the LDA classifier to yield an Az of 0.87. The correlation analysis showed that DHoG (ρ = 0.85, P < 0.001) and DLBP (ρ = 0.83, P < 0.01) were significantly associated with the low and high risk classifications from the OncotypeDX assay. Our results indicated that computer extracted texture features of DCE-MRI were highly correlated with the high and low OncotypeDX risk categories for ER-positive cancers. PMID:26887643

Experiments in advanced control concepts for space robotics - An overview of the Stanford Aerospace Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hollars, M. G.; Cannon, R. H., Jr.; Alexander, H. L.; Morse, D. F.

1987-01-01

The Stanford University Aerospace Robotics Laboratory is actively developing and experimentally testing advanced robot control strategies for space robotic applications. Early experiments focused on control of very lightweight one-link manipulators and other flexible structures. The results are being extended to position and force control of mini-manipulators attached to flexible manipulators and multilink manipulators with flexible drive trains. Experimental results show that end-point sensing and careful dynamic modeling or adaptive control are key to the success of these control strategies. Free-flying space robot simulators that operate on an air cushion table have been built to test control strategies in which the dynamics of the base of the robot and the payload are important.

Telemanipulation of cooperative robots: a case of study

NASA Astrophysics Data System (ADS)

Pliego-Jiménez, Javier; Arteaga-Pérez, Marco

2018-06-01

This article addresses the problem of dexterous robotic grasping by means of a telemanipulation system composed of a single master and two slave robot manipulators. The slave robots are analysed as a cooperative system where it is assumed that the robots can push but not pull the object. In order to achieve a stable rigid grasp, a centralised adaptive position-force control algorithm for the slave robots is proposed. On the other hand, a linear velocity observer for the master robot is developed to avoid numerical differentiation. A set of experiments with different human operators were carried out to show the good performance and capabilities of the proposed control-observer algorithm. In addition, the dynamic model and closed-loop dynamics of the telemanipulation is presented.

Time-dependent constitutive modeling of drive belts—II. The effect of the shape of material retardation spectrum on the strain accumulation process

NASA Astrophysics Data System (ADS)

Zupančič, B.; Emri, I.

2009-11-01

This is the second paper in the series addressing the constitutive modeling of dynamically loaded elastomeric products such as power transmission belts. During the normal operation of such belts certain segments of the belt structure are loaded via tooth-like cyclical loading. When the time-dependent properties of the elastomeric material “match” the time-scale of the dynamic loading a strain accumulation (incrementation) process occurs. It was shown that the location of a critical rotation speed strongly depends on the distribution (shape) of the retardation spectrum, whereas the magnitude of the accumulated strain is governed by the strength of the corresponding spectrum lines. These interrelations are extremely non-linear. The strain accumulation process is most intensive at the beginning of the drive belt operation, and is less intensive for longer belts. The strain accumulation process is governed by the spectrum lines that are positioned within a certain region, which we call the Strain Accumulation Window (SAW). An SAW is always located to the right of the spectrum line, L i , at log ( ω λ i )=0, where ω is the operational angular velocity. The width of the SAW depends on the width of the material spectrum. Based on the following analysis a new designing criterion is proposed for use in engineering applications for selecting a proper material for general drive-belt operations.

Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Daly, John

2013-05-01

Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

A continuous function model for path prediction of entities

NASA Astrophysics Data System (ADS)

Nanda, S.; Pray, R.

2007-04-01

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

Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

NASA Technical Reports Server (NTRS)

Malachowski, M. J.

1990-01-01

Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

Analysis of ship maneuvering data from simulators

NASA Astrophysics Data System (ADS)

Frette, V.; Kleppe, G.; Christensen, K.

2011-03-01

We analyze complex manuevering histories of ships obtained from training sessions on bridge simulators. Advanced ships are used in fields like offshore oil exploration: dive support vessels, supply vessels, anchor handling vessels, tugs, cable layers, and multi-purpose vessels. Due to high demands from the operations carried out, these ships need to have very high maneuverability. This is achieved through a propulsion system with several thrusters, water jets, and rudders in addition to standard propellers. For some operations, like subsea maintenance, it is crucial that the ship accurately keeps a fixed position. Therefore, bridge systems usually incorporate equipment for Dynamic Positioning (DP). DP is a method to keep ships and semi submersible rigs in a fixed position using the propulsion systems instead of anchors. It may also be used for sailing a vessel from one position to another along a predefined route. Like an autopilot on an airplane, DP may operate without human involvement. The method relies on accurate determination of position from external reference systems like GPS, as well as a continuously adjusted mathematical model of the ship and external forces from wind, waves and currents. In a specific simulator exercise for offshore crews, a ship is to be taken up to an installation consisting of three nearby oil platforms connected by bridges (Frigg field, North Sea), where a subsea inspection is to be carried out. Due to the many degrees of freedom during maneuvering, including partly or full use of DP, the chosen routes vary significantly. In this poster we report preliminary results on representations of the complex maneuvering histories; representations that allow comparison between crew groups, and, possibly, sorting of the different strategic choices behind.

On the Chern-Gauss-Bonnet Theorem and Conformally Twisted Spectral Triples for C*-Dynamical Systems

NASA Astrophysics Data System (ADS)

Fathizadeh, Farzad; Gabriel, Olivier

2016-02-01

The analog of the Chern-Gauss-Bonnet theorem is studied for a C^*-dynamical system consisting of a C^*-algebra A equipped with an ergodic action of a compact Lie group G. The structure of the Lie algebra g of G is used to interpret the Chevalley-Eilenberg complex with coefficients in the smooth subalgebra A subset A as noncommutative differential forms on the dynamical system. We conformally perturb the standard metric, which is associated with the unique G-invariant state on A, by means of a Weyl conformal factor given by a positive invertible element of the algebra, and consider the Hermitian structure that it induces on the complex. A Hodge decomposition theorem is proved, which allows us to relate the Euler characteristic of the complex to the index properties of a Hodge-de Rham operator for the perturbed metric. This operator, which is shown to be selfadjoint, is a key ingredient in our construction of a spectral triple on A and a twisted spectral triple on its opposite algebra. The conformal invariance of the Euler characteristic is interpreted as an indication of the Chern-Gauss-Bonnet theorem in this setting. The spectral triples encoding the conformally perturbed metrics are shown to enjoy the same spectral summability properties as the unperturbed case.

JASMINE: constructor of the dynamical structure of the Galactic bulge

NASA Astrophysics Data System (ADS)

Gouda, N.; Kobayashi, Y.; Yamada, Y.; Yano, T.; Tsujimoto, T.; Suganuma, M.; Niwa, Y.; Yamauchi, M.

2008-07-01

We introduce a Japanese space astrometry project which is called JASMINE. JASMINE (Japan Astrometry Satellite Mission for INfrared Exploration) will measure distances and tangential motions of stars in the Galactic bulge with yet unprecedented precision. JASMINE will operate in z-band whose central wavelength is 0.9 micron. It will measure parallaxes, positions with accuracy of about 10 micro-arcsec and proper motions with accuracy of about 10 micro- arcsec/year for the stars brighter than z=14 mag. The number of stars observed by JASMINE with high accuracy of parallaxes in the Galactic bulge is much larger than that observed in other space astrometry projects operating in optical bands. With the completely new “map of the Galactic bulge” including motions of bulge stars, we expect that many new exciting scientific results will be obtained in studies of the Galactic bulge. One of them is the construction of the dynamical structure of the Galactic bulge. Kinematics and distance data given by JASMINE are the closest approach to a view of the exact dynamical structure of the Galactic bulge. Presently, JASMINE is in a development phase, with a target launch date around 2016. We comment on the outline of JASMINE mission, scientific targets and a preliminary design of JASMINE in this paper.

Steering and positioning targets for HWIL IR testing at cryogenic conditions

NASA Astrophysics Data System (ADS)

Perkes, D. W.; Jensen, G. L.; Higham, D. L.; Lowry, H. S.; Simpson, W. R.

2006-05-01

In order to increase the fidelity of hardware-in-the-loop ground-truth testing, it is desirable to create a dynamic scene of multiple, independently controlled IR point sources. ATK-Mission Research has developed and supplied the steering mirror systems for the 7V and 10V Space Simulation Test Chambers at the Arnold Engineering Development Center (AEDC), Air Force Materiel Command (AFMC). A portion of the 10V system incorporates multiple target sources beam-combined at the focal point of a 20K cryogenic collimator. Each IR source consists of a precision blackbody with cryogenic aperture and filter wheels mounted on a cryogenic two-axis translation stage. This point source target scene is steered by a high-speed steering mirror to produce further complex motion. The scene changes dynamically in order to simulate an actual operational scene as viewed by the System Under Test (SUT) as it executes various dynamic look-direction changes during its flight to a target. Synchronization and real-time hardware-in-the-loop control is accomplished using reflective memory for each subsystem control and feedback loop. This paper focuses on the steering mirror system and the required tradeoffs of optical performance, precision, repeatability and high-speed motion as well as the complications of encoder feedback calibration and operation at 20K.

Longitudinal Dynamics of 3-Dimensional Components of Selfhood After Severe Traumatic Brain Injury: A qEEG Case Study.

PubMed

Fingelkurts, Andrew A; Fingelkurts, Alexander A

2017-09-01

In this report, we describe the case of a patient who sustained extremely severe traumatic brain damage with diffuse axonal injury in a traffic accident and whose recovery was monitored during 6 years. Specifically, we were interested in the recovery dynamics of 3-dimensional components of selfhood (a 3-dimensional construct model for the complex experiential selfhood has been recently proposed based on the empirical findings on the functional-topographical specialization of 3 operational modules of brain functional network responsible for the self-consciousness processing) derived from the electroencephalographic (EEG) signal. The analysis revealed progressive (though not monotonous) restoration of EEG functional connectivity of 3 modules of brain functional network responsible for the self-consciousness processing, which was also paralleled by the clinically significant functional recovery. We propose that restoration of normal integrity of the operational modules of the self-referential brain network may underlie the positive dynamics of 3 aspects of selfhood and provide a neurobiological mechanism for their recovery. The results are discussed in the context of recent experimental studies that support this inference. Studies of ongoing recovery after severe brain injury utilizing knowledge about each separate aspect of complex selfhood will likely help to develop more efficient and targeted rehabilitation programs for patients with brain trauma.

Experience with dynamic reinforcement rates decreases resistance to extinction.

PubMed

Craig, Andrew R; Shahan, Timothy A

2016-03-01

The ability of organisms to detect reinforcer-rate changes in choice preparations is positively related to two factors: the magnitude of the change in rate and the frequency with which rates change. Gallistel (2012) suggested similar rate-detection processes are responsible for decreases in responding during operant extinction. Although effects of magnitude of change in reinforcer rate on resistance to extinction are well known (e.g., the partial-reinforcement-extinction effect), effects of frequency of changes in rate prior to extinction are unknown. Thus, the present experiments examined whether frequency of changes in baseline reinforcer rates impacts resistance to extinction. Pigeons pecked keys for variable-interval food under conditions where reinforcer rates were stable and where they changed within and between sessions. Overall reinforcer rates between conditions were controlled. In Experiment 1, resistance to extinction was lower following exposure to dynamic reinforcement schedules than to static schedules. Experiment 2 showed that resistance to presession feeding, a disruptor that should not involve change-detection processes, was unaffected by baseline-schedule dynamics. These findings are consistent with the suggestion that change detection contributes to extinction. We discuss implications of change-detection processes for extinction of simple and discriminated operant behavior and relate these processes to the behavioral-momentum based approach to understanding extinction. © 2016 Society for the Experimental Analysis of Behavior.

[The ultrasound semiotics of uncomplicated wound healing after inguinal mesh plastics].

PubMed

Kharitonov, S V; Ziniakova, M V

2012-01-01

Dynamic ultrasound (US) investigation was performed in 89 patients operated on inguinal hernia with the use of meshes of various type. The US scanning proved to be a highly informative means of visualization, allowing the objective postoperative assessment of muscular and aponeurotic structures as well as the implant form and position. The study showed, that the mesh implantation was always accompanied by the exudative tissue reaction, which was determined by the physico-chemical characteristics of the implant.

[Design of medical devices management system supporting full life-cycle process management].

PubMed

Su, Peng; Zhong, Jianping

2014-03-01

Based on the analysis of the present status of medical devices management, this paper optimized management process, developed a medical devices management system with Web technologies. With information technology to dynamic master the use of state of the entire life-cycle of medical devices. Through the closed-loop management with pre-event budget, mid-event control and after-event analysis, improved the delicacy management level of medical devices, optimized asset allocation, promoted positive operation of devices.

Dynamic Pricing Criteria in Linear Programming

DTIC Science & Technology

1988-07-01

DTICE’ECTE h QSEPO08 19880 Department of Operations Researchs Stanford University Stanford, CA 94305 Fl . dommd lum b dLvulbcjasa Im %ailmft@d.I &~ T...information about positive ones. 38 C- M .9 ~ ,~- - ~ fl .’ %’% ’ % % .,h.] However, this rule works extremely well on the PILOT set, achieving...34 .r " .:." ," "e .-r".’.€ .-,N., N REFERENCES [1] Adler, I., Resende, M.G. and Veiga , G. (1986). An implementation of Karmax- kar’s algorithm for

77 FR 1779 - Meeting and Webinar on Integrated Dynamic Transit Operations; Notice of Public Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2012-01-11

.... Transit- oriented Connected Vehicle for Mobility applications support dynamic system operations and... DEPARTMENT OF TRANSPORTATION Meeting and Webinar on Integrated Dynamic Transit Operations; Notice... Transportation. ACTION: Notice. The U.S. Department of Transportation (USDOT) Intelligent Transportation System...

Detecting eye movements in dynamic environments.

PubMed

Reimer, Bryan; Sodhi, Manbir

2006-11-01

To take advantage of the increasing number of in-vehicle devices, automobile drivers must divide their attention between primary (driving) and secondary (operating in-vehicle device) tasks. In dynamic environments such as driving, however, it is not easy to identify and quantify how a driver focuses on the various tasks he/she is simultaneously engaged in, including the distracting tasks. Measures derived from the driver's scan path have been used as correlates of driver attention. This article presents a methodology for analyzing eye positions, which are discrete samples of a subject's scan path, in order to categorize driver eye movements. Previous methods of analyzing eye positions recorded in a dynamic environment have relied completely on the manual identification of the focus of visual attention from a point of regard superimposed on a video of a recorded scene, failing to utilize information regarding movement structure in the raw recorded eye positions. Although effective, these methods are too time consuming to be easily used when the large data sets that would be required to identify subtle differences between drivers, under different road conditions, and with different levels of distraction are processed. The aim of the methods presented in this article are to extend the degree of automation in the processing of eye movement data by proposing a methodology for eye movement analysis that extends automated fixation identification to include smooth and saccadic movements. By identifying eye movements in the recorded eye positions, a method of reducing the analysis of scene video to a finite search space is presented. The implementation of a software tool for the eye movement analysis is described, including an example from an on-road test-driving sample.

FLEXnav: a fuzzy logic expert dead-reckoning system for the Segway RMP

NASA Astrophysics Data System (ADS)

Ojeda, Lauro; Raju, Mukunda; Borenstein, Johann

2004-09-01

Most mobile robots use a combination of absolute and relative sensing techniques for position estimation. Relative positioning techniques are generally known as dead-reckoning. Many systems use odometry as their only dead-reckoning means. However, in recent years fiber optic gyroscopes have become more affordable and are being used on many platforms to supplement odometry, especially in indoor applications. Still, if the terrain is not level (i.e., rugged or rolling terrain), the tilt of the vehicle introduces errors into the conversion of gyro readings to vehicle heading. In order to overcome this problem vehicle tilt must be measured and factored into the heading computation. A unique new mobile robot is the Segway Robotics Mobility Platform (RMP). This functionally close relative of the innovative Segway Human Transporter (HT) stabilizes a statically unstable single-axle robot dynamically, based on the principle of the inverted pendulum. While this approach works very well for human transportation, it introduces as unique set of challenges to navigation equipment using an onboard gyro. This is due to the fact that in operation the Segway RMP constantly changes its forward tilt, to prevent dynamically falling over. This paper introduces our new Fuzzy Logic Expert rule-based navigation (FLEXnav) method for fusing data from multiple gyroscopes and accelerometers in order to estimate accurately the attitude (i.e., heading and tilt) of a mobile robot. The attitude information is then further fused with wheel encoder data to estimate the three-dimensional position of the mobile robot. We have further extended this approach to include the special conditions of operation on the Segway RMP. The paper presents experimental results of a Segway RMP equipped with our system and running over moderately rugged terrain.

Tape functionality: sonographic tape characteristics and outcome after TVT incontinence surgery.

PubMed

Kociszewski, Jacek; Rautenberg, Oliver; Perucchini, Daniele; Eberhard, Jakob; Geissbühler, Verena; Hilgers, Reinhard; Viereck, Volker

2008-01-01

To investigate tension-free vaginal tape (TVT) position and shape using ultrasound (US) and correlate the findings to outcome. The results of TVT surgery were investigated in 72 women with urodynamic stress urinary incontinence. The main outcome parameters were US tape position in relation to the urethra and dynamic changes in TVT shape at rest and during straining. Sixty-two patients (86%) were continent, 6 (8%) significantly improved, and the operation failed in four cases (6%). The median tape position was at 66% of the urethral length measured by US. The median tape-urethra-lumen distance was 3.8 mm at rest. Tape placement in the upper or lower quarter of the urethra was associated with a higher failure rate. Tapes positioned less than 3 mm from the urethra significantly increased postoperative complications (P < 0.0001). The tape was flat at rest and curved during straining in 44 (61%) patients; 98% (43/44) of these women were continent after surgery. An unchanged tape shape was associated with a poorer outcome (P = 0.00038). Patients with a flat tape at rest and during straining failed in 25% and patients with a permanent curved shape in 10%. TVT position relative to the patient's urethra seems to play a role in treatment outcome. Outcome was best in patients with dynamic change in tape shape during straining and location of the tape at the junction between the lower and middle urethra and at least 3 mm from the urethral lumen. (c) 2008 Wiley-Liss, Inc.

Further Characterization of 394-GHz Gyrotron FU CW GII with Additional PID Control System for 600-MHz DNP-SSNMR Spectroscopy

NASA Astrophysics Data System (ADS)

Ueda, Keisuke; Matsuki, Yoh; Fujiwara, Toshimichi; Tatematsu, Yoshinori; Ogawa, Isamu; Idehara, Toshitaka

2016-09-01

A 394-GHz gyrotron, FU CW GII, has been designed at the University of Fukui, Japan, for dynamic nuclear polarization (DNP)-enhanced solid-state nuclear magnetic resonance (SSNMR) experiments at 600-MHz 1H resonant frequency. After installation at the Institute for Protein Research (IPR), Osaka University, Japan, a PID feedback control system was equipped to regulate the electron gun heater current for stabilization of the electron beam current, which ultimately achieved stabilization of output power when operating in continuous wave (CW) mode. During exploration to further optimize operating conditions, a continuous tuning bandwidth of approximately 1 GHz was observed by varying the operating voltage at a fixed magnetic field. In the frequency range required for positive DNP enhancement, the output power was improved by increasing the magnetic field and the operating voltage from their initial operational settings. In addition, fine tuning of output frequency by varying the cavity cooling water temperature was demonstrated. These operating conditions and ancillary enhancements are expected to contribute to further enhancement of SSNMR signal.

Ergonomic analysis of fastening vibration based on ISO Standard 5349 (2001).

PubMed

Joshi, Akul; Leu, Ming; Murray, Susan

2012-11-01

Hand-held power tools used for fastening operations exert high dynamic forces on the operator's hand-arm, potentially causing injuries to the operator in the long run. This paper presents a study that analyzed the vibrations exerted by two hand-held power tools used for fastening operations with the operating exhibiting different postures. The two pneumatic tools, a right-angled nut-runner and an offset pistol-grip, are used to install shearing-type fasteners. A tri-axial accelerometer is used to measure the tool's vibration. The position and orientation of the transducer mounted on the tool follows the ISO-5349 Standard. The measured vibration data is used to compare the two power tools at different operating postures. The data analysis determines the number of years required to reach a 10% probability of developing finger blanching. The results indicate that the pistol-grip tool induces more vibration in the hand-arm than the right-angled nut-runner and that the vibrations exerted on the hand-arm vary for different postures. Copyright © 2012 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Digital redesign of the control system for the Robotics Research Corporation model K-1607 robot

NASA Technical Reports Server (NTRS)

Carroll, Robert L.

1989-01-01

The analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.

Dynamic cervicomedullary cord compression and alterations in cerebrospinal fluid dynamics in children with achondroplasia: review of an 11-year surgical case series.

PubMed

Mukherjee, Debraj; Pressman, Barry D; Krakow, Deborah; Rimoin, David L; Danielpour, Moise

2014-09-01

Achondroplasia may be associated with compression at the cervicomedullary junction. Determining which patients are at greatest risk for neurological complications of cervicomedullary compression can be difficult. In the current study the authors reviewed their records to determine the incidence and clinical significance of dynamic cervicomedullary stenosis and obstruction of CSF flow along with surgical outcomes following posterior fossa decompression. The authors reviewed 34 consecutive cases involving symptomatic children with achondroplasia undergoing cervicomedullary decompression performed by a single surgeon over 11 years. Of these patients, 29 had undergone preoperative dynamic MRI of the cervicomedullary junction with cine (cinema) CSF flow studies; 13 of these patients underwent postoperative dynamic MRI studies. Clinical outcomes included changes in polysomnography, head circumference percentile, and fontanel characteristics. Radiographic outcomes included changes in dynamic spinal cord diameter, improvement in CSF flow at the foramen magnum, and change in the Evans ratio. Patients were predominantly female, with a mean age at presentation of 6.6 years and mean follow-up of 3.7 years (range 1-10 years). All patients had moderate to excellent improvement in postoperative polysomnography, slight decrease in average head circumference percentile (from 46.9th percentile to 45.7th percentile), and no subjective worsening of fontanel characteristics. The Evans ratio decreased by 2%, spinal cord diameter increased an average of 3.1 mm, 5.2 mm, and 0.2 mm in the neutral, flexed, and extended positions, respectively, and CSF flow improved qualitatively in all 3 positions. There were no postoperative infections, CSF leaks, or other major complications. None of the patients undergoing initial foramen magnum decompression performed at our medical center required reoperation. Patients with achondroplasia and symptomatic cervicomedullary compression have increased risk of dynamic stenosis at the foramen magnum evident upon dynamic cine MRI. Operative decompression may be offered with low risk of complications or need for reoperation.

Spatial operator algebra for flexible multibody dynamics

NASA Technical Reports Server (NTRS)

Jain, A.; Rodriguez, G.

1993-01-01

This paper presents an approach to modeling the dynamics of flexible multibody systems such as flexible spacecraft and limber space robotic systems. A large number of degrees of freedom and complex dynamic interactions are typical in these systems. This paper uses spatial operators to develop efficient recursive algorithms for the dynamics of these systems. This approach very efficiently manages complexity by means of a hierarchy of mathematical operations.

Spatial operator algebra framework for multibody system dynamics

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Jain, Abhinandan; Kreutz, K.

1989-01-01

The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. The use of a spatial operator-based methodology permits the formulation of the dynamical equations of motion of multibody systems in a concise and systematic way. The dynamical equations of progressively more complex grid multibody systems are developed in an evolutionary manner beginning with a serial chain system, followed by a tree topology system and finally, systems with arbitrary closed loops. Operator factorizations and identities are used to develop novel recursive algorithms for the forward dynamics of systems with closed loops. Extensions required to deal with flexible elements are also discussed.

Spatial Operator Algebra for multibody system dynamics

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Jain, A.; Kreutz-Delgado, K.

1992-01-01

The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. The use of a spatial operator-based methodology permits the formulation of the dynamical equations of motion of multibody systems in a concise and systematic way. The dynamical equations of progressively more complex grid multibody systems are developed in an evolutionary manner beginning with a serial chain system, followed by a tree topology system and finally, systems with arbitrary closed loops. Operator factorizations and identities are used to develop novel recursive algorithms for the forward dynamics of systems with closed loops. Extensions required to deal with flexible elements are also discussed.

Optimization design of submerged propeller in oxidation ditch by computational fluid dynamics and comparison with experiments.

PubMed

Zhang, Yuquan; Zheng, Yuan; Fernandez-Rodriguez, E; Yang, Chunxia; Zhu, Yantao; Liu, Huiwen; Jiang, Hao

The operating condition of a submerged propeller has a significant impact on flow field and energy consumption of the oxidation ditch. An experimentally validated numerical model, based on the computational fluid dynamics (CFD) tool, is presented to optimize the operating condition by considering two important factors: flow field and energy consumption. Performance demonstration and comparison of different operating conditions were carried out in a Carrousel oxidation ditch at the Yingtang wastewater treatment plants in Anhui Province, China. By adjusting the position and rotating speed together with the number of submerged propellers, problems of sludge deposit and the low velocity in the bend could be solved in a most cost-effective way. The simulated results were acceptable compared with the experimental data and the following results were obtained. The CFD model characterized flow pattern and energy consumption in the full-scale oxidation ditch. The predicted flow field values were within -1.28 ± 7.14% difference from the measured values. By determining three sets of propellers under the rotating speed of 6.50 rad/s with one located 5 m from the first curved wall, after numerical simulation and actual measurement, not only the least power density but also the requirement of the flow pattern could be realized.

Development of structural health monitoring techniques using dynamics testing

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

James, G.H. III

Today`s society depends upon many structures (such as aircraft, bridges, wind turbines, offshore platforms, buildings, and nuclear weapons) which are nearing the end of their design lifetime. Since these structures cannot be economically replaced, techniques for structural health monitoring must be developed and implemented. Modal and structural dynamics measurements hold promise for the global non-destructive inspection of a variety of structures since surface measurements of a vibrating structure can provide information about the health of the internal members without costly (or impossible) dismantling of the structure. In order to develop structural health monitoring for application to operational structures, developments inmore » four areas have been undertaken within this project: operational evaluation, diagnostic measurements, information condensation, and damage identification. The developments in each of these four aspects of structural health monitoring have been exercised on a broad range of experimental data. This experimental data has been extracted from structures from several application areas which include aging aircraft, wind energy, aging bridges, offshore structures, structural supports, and mechanical parts. As a result of these advances, Sandia National Laboratories is in a position to perform further advanced development, operational implementation, and technical consulting for a broad class of the nation`s aging infrastructure problems.« less

16 CFR 1203.15 - Positional stability test (roll-off resistance).

Code of Federal Regulations, 2010 CFR

2010-01-01

... any slack. (3) Suspend the dynamic impact system from the helmet by positioning the flexible strap... positions. (3) Dynamic impact apparatus. A dynamic impact apparatus shall be used to apply a shock load to a helmet secured to the test headform. The dynamic impact apparatus shall allow a 4-kg (8.8-lb) drop weight...

Neurovision processor for designing intelligent sensors

NASA Astrophysics Data System (ADS)

Gupta, Madan M.; Knopf, George K.

1992-03-01

A programmable multi-task neuro-vision processor, called the Positive-Negative (PN) neural processor, is proposed as a plausible hardware mechanism for constructing robust multi-task vision sensors. The computational operations performed by the PN neural processor are loosely based on the neural activity fields exhibited by certain nervous tissue layers situated in the brain. The neuro-vision processor can be programmed to generate diverse dynamic behavior that may be used for spatio-temporal stabilization (STS), short-term visual memory (STVM), spatio-temporal filtering (STF) and pulse frequency modulation (PFM). A multi- functional vision sensor that performs a variety of information processing operations on time- varying two-dimensional sensory images can be constructed from a parallel and hierarchical structure of numerous individually programmed PN neural processors.

Numerical simulation and analysis of impact of non-orographic gravity waves drag of middle atmosphere in framework of a general circulation model

NASA Astrophysics Data System (ADS)

Zhao, J.; Wang, S.

2017-12-01

Gravity wave drag (GWD) is among the drivers of meridional overturning in the middle atmosphere, also known as the Brewer-Dobson Circulation, and of the quasi-biennial oscillation (QBO). The small spatial scales and complications due to wave breaking require their effects to be parameterised. GWD parameterizations are usually divided into two parts, orographic and non-orographic. The basic dynamical and physical processes of the middle atmosphere and the mechanism of the interactions between the troposphere and the middle atmosphere were studied in the frame of a general circulation model. The model for the troposphere was expanded to a global model considering middle atmosphere with the capability of describing the basic processes in the middle atmosphere and the troposphere-middle atmosphere interactions. Currently, it is too costly to include full non-hydrostatic and rotational wave dynamics in an operational parameterization. The hydrostatic non-rotational wave dynamics which allow an efficient implementation that is suitably fast for operation. The simplified parameterization of non-orographic GWD follows from the WM96 scheme in which a framework is developed using conservative propagation of gravity waves, critical level filtering, and non-linear dissipation. In order to simulate and analysis the influence of non-orographic GWD on the stratospheric wind and temperature fields, experiments using Stratospheric Sudden Warming (SSW) event case occurred in January 2013 were carried out, and results of objective weather forecast verifications of the two months period were compared in detail. The verification of monthly mean of forecast anomaly correlation (ACC) and root mean square (RMS) errors shows consistently positive impact of non-orographic GWD on skill score of forecasting for the three to eight days, both in the stratosphere and troposphere, and visible positive impact on prediction of the stratospheric wind and temperature fields. Numerical simulation during SSW event demonstrates that the influence on the temperature of middle stratosphere is mainly positive and there were larger departure both for the wind and temperature fields considering the non-orographic GWD during the warming process.

Computational Workbench for Multibody Dynamics

NASA Technical Reports Server (NTRS)

Edmonds, Karina

2007-01-01

PyCraft is a computer program that provides an interactive, workbenchlike computing environment for developing and testing algorithms for multibody dynamics. Examples of multibody dynamic systems amenable to analysis with the help of PyCraft include land vehicles, spacecraft, robots, and molecular models. PyCraft is based on the Spatial-Operator- Algebra (SOA) formulation for multibody dynamics. The SOA operators enable construction of simple and compact representations of complex multibody dynamical equations. Within the Py-Craft computational workbench, users can, essentially, use the high-level SOA operator notation to represent the variety of dynamical quantities and algorithms and to perform computations interactively. PyCraft provides a Python-language interface to underlying C++ code. Working with SOA concepts, a user can create and manipulate Python-level operator classes in order to implement and evaluate new dynamical quantities and algorithms. During use of PyCraft, virtually all SOA-based algorithms are available for computational experiments.

Interfacial layering and capillary roughness in immiscible liquids.

PubMed

Geysermans, P; Pontikis, V

2010-08-21

The capillary roughness and the atomic density profiles of extended interfaces between immiscible liquids are determined as a function of the interface area by using molecular dynamics and Lennard-Jones (12-6) potentials. We found that with increasing area, the interface roughness diverges logarithmically, thus fitting the theoretical mean-field prediction. In systems small enough for the interfacial roughness not to blur the structural details, atomic density profiles across the fluid interface are layered with correlation length in the range of molecular correlations in liquids. On increasing the system size, the amplitude of the thermally excited position fluctuations of the interface increases, thus causing layering to rapidly vanish, if density profiles are computed without special care. In this work, we present and validate a simple method, operating in the direct space, for extracting from molecular dynamics trajectories the "intrinsic" structure of a fluid interface that is the local density profile of the interface cleaned from capillary wave effects. Estimated values of interfacial properties such as the tension, the intrinsic width, and the lower wavelength limit of position fluctuations are in agreement with results collected from the literature.

Dynamics of a Nonlocal Dispersal Model with a Nonlocal Reaction Term

NASA Astrophysics Data System (ADS)

Ma, Li; Guo, Shangjiang; Chen, Ting

In this paper, we study a class of nonlocal dispersal problem with a nonlocal term arising in population dynamics: ut = 𝒟u + u λ ‑ f(u) ‑∫ΩK(x,y)g(u(y))dy,in Ω × (0, +∞), u(x, 0) = u0(x) ≥ 0, in Ω,u = 0, in ℝN\\Ω × (0, +∞), where Ω ⊂ ℝN (N ≥ 1) is a bounded domain, λ ∈ ℝ, 𝒟u(x,t) =∫ΩJ(x ‑ y)[u(y,t) ‑ u(x,t)]dy represents the nonlocal dispersal operator with continuous and non-negative dispersal kernel. The kernel K ∈ C(Ω¯ ×Ω¯) is assumed to be non-negative and is allowed to have a degeneracy in a smooth subdomain Ω0 of Ω. When K is either positive or vanishes in a subdomain, we respectively investigate the existence, multiplicity and asymptotical stability of positive steady states under the local/global variation of parameter by means of sub-supersolution method, Lyapunov-Schmidt reduction, and bifurcation theory.

An application of high authority/low authority control and positivity

NASA Technical Reports Server (NTRS)

Seltzer, S. M.; Irwin, D.; Tollison, D.; Waites, H. B.

1988-01-01

Control Dynamics Company (CDy), in conjunction with NASA Marshall Space Flight Center (MSFC), has supported the U.S. Air Force Wright Aeronautical Laboratory (AFWAL) in conducting an investigation of the implementation of several DOD controls techniques. These techniques are to provide vibration suppression and precise attitude control for flexible space structures. AFWAL issued a contract to Control Dynamics to perform this work under the Active Control Technique Evaluation for Spacecraft (ACES) Program. The High Authority Control/Low Authority Control (HAC/LAC) and Positivity controls techniques, which were cultivated under the DARPA Active Control of Space Structures (ACOSS) Program, were applied to a structural model of the NASA/MSFC Ground Test Facility ACES configuration. The control systems design were accomplished and linear post-analyses of the closed-loop systems are provided. The control system designs take into account effects of sampling and delay in the control computer. Nonlinear simulation runs were used to verify the control system designs and implementations in the facility control computers. Finally, test results are given to verify operations of the control systems in the test facility.

The validation of a human force model to predict dynamic forces resulting from multi-joint motions

NASA Technical Reports Server (NTRS)

Pandya, Abhilash K.; Maida, James C.; Aldridge, Ann M.; Hasson, Scott M.; Woolford, Barbara J.

1992-01-01

The development and validation is examined of a dynamic strength model for humans. This model is based on empirical data. The shoulder, elbow, and wrist joints were characterized in terms of maximum isolated torque, or position and velocity, in all rotational planes. This data was reduced by a least squares regression technique into a table of single variable second degree polynomial equations determining torque as a function of position and velocity. The isolated joint torque equations were then used to compute forces resulting from a composite motion, in this case, a ratchet wrench push and pull operation. A comparison of the predicted results of the model with the actual measured values for the composite motion indicates that forces derived from a composite motion of joints (ratcheting) can be predicted from isolated joint measures. Calculated T values comparing model versus measured values for 14 subjects were well within the statistically acceptable limits and regression analysis revealed coefficient of variation between actual and measured to be within 0.72 and 0.80.

A Generalized Quantum Theory

NASA Astrophysics Data System (ADS)

Niestegge, Gerd

2014-09-01

In quantum mechanics, the selfadjoint Hilbert space operators play a triple role as observables, generators of the dynamical groups and statistical operators defining the mixed states. One might expect that this is typical of Hilbert space quantum mechanics, but it is not. The same triple role occurs for the elements of a certain ordered Banach space in a much more general theory based upon quantum logics and a conditional probability calculus (which is a quantum logical model of the Lueders-von Neumann measurement process). It is shown how positive groups, automorphism groups, Lie algebras and statistical operators emerge from one major postulate - the non-existence of third-order interference (third-order interference and its impossibility in quantum mechanics were discovered by R. Sorkin in 1994). This again underlines the power of the combination of the conditional probability calculus with the postulate that there is no third-order interference. In two earlier papers, its impact on contextuality and nonlocality had already been revealed.

Spatio-temporal environmental data tide corrections for reconnaissance operations

NASA Astrophysics Data System (ADS)

Barbu, Costin; Avera, Will; Harris, Mike; Malpass, Kevyn

2005-06-01

Dynamic, accurate near-real time environmental data is critical to the success of the mine countermeasures operations. Bathymetric data acquired from the AQS-20 mine hunting sensor should be adjusted for local tide variations related to the specific geographic area and time interval. This problem can be overcome by a spatio-temporal estimate of tide corrections provided for the area and time of interest by the Naval Research Laboratory tide prediction code PCTides. For each geographic position of the AQS-20 sonar, a tide height relative to mean sea level is computed by interpolating the tidal information from the K - nearest neighbored stations for the corresponding time. The value is used to correct the measured depth generated by the AQS-20 sonar in that location to mean sea level for fusion with other bathymetric data products. It is argued that this paper provides a useful tool to the MCM decision factors during Mine Warfare operations.

Assessment of navigation cues with proximal force sensing during endovascular catheterization.

PubMed

Rafii-Taril, Hedyeh; Payne, Christopher J; Riga, Celia; Bicknell, Colin; Lee, Su-Lin; Yang, Guang-Zhong

2012-01-01

Despite increased use of robotic catheter navigation systems for endovascular intervention procedures, current master-slave platforms have not yet taken into account dexterous manipulation skill used in traditional catheterization procedures. Information on tool forces applied by operators is often limited. A novel force/torque sensor is developed in this paper to obtain behavioural data across different experience levels and identify underlying factors that affect overall operator performance. The miniature device can be attached to any part of the proximal end of the catheter, together with a position sensor attached to the catheter tip, for relating tool forces to catheter dynamics and overall performance. The results show clear differences in manipulation skills between experience groups, thus providing insights into different patterns and range of forces applied during routine endovascular procedures. They also provide important design specifications for ergonomically optimized catheter manipulation platforms with added haptic feedback while maintaining natural skills of the operators.

Robust fault detection of wind energy conversion systems based on dynamic neural networks.

PubMed

Talebi, Nasser; Sadrnia, Mohammad Ali; Darabi, Ahmad

2014-01-01

Occurrence of faults in wind energy conversion systems (WECSs) is inevitable. In order to detect the occurred faults at the appropriate time, avoid heavy economic losses, ensure safe system operation, prevent damage to adjacent relevant systems, and facilitate timely repair of failed components; a fault detection system (FDS) is required. Recurrent neural networks (RNNs) have gained a noticeable position in FDSs and they have been widely used for modeling of complex dynamical systems. One method for designing an FDS is to prepare a dynamic neural model emulating the normal system behavior. By comparing the outputs of the real system and neural model, incidence of the faults can be identified. In this paper, by utilizing a comprehensive dynamic model which contains both mechanical and electrical components of the WECS, an FDS is suggested using dynamic RNNs. The presented FDS detects faults of the generator's angular velocity sensor, pitch angle sensors, and pitch actuators. Robustness of the FDS is achieved by employing an adaptive threshold. Simulation results show that the proposed scheme is capable to detect the faults shortly and it has very low false and missed alarms rate.

Robust Fault Detection of Wind Energy Conversion Systems Based on Dynamic Neural Networks

PubMed Central

Talebi, Nasser; Sadrnia, Mohammad Ali; Darabi, Ahmad

2014-01-01

Occurrence of faults in wind energy conversion systems (WECSs) is inevitable. In order to detect the occurred faults at the appropriate time, avoid heavy economic losses, ensure safe system operation, prevent damage to adjacent relevant systems, and facilitate timely repair of failed components; a fault detection system (FDS) is required. Recurrent neural networks (RNNs) have gained a noticeable position in FDSs and they have been widely used for modeling of complex dynamical systems. One method for designing an FDS is to prepare a dynamic neural model emulating the normal system behavior. By comparing the outputs of the real system and neural model, incidence of the faults can be identified. In this paper, by utilizing a comprehensive dynamic model which contains both mechanical and electrical components of the WECS, an FDS is suggested using dynamic RNNs. The presented FDS detects faults of the generator's angular velocity sensor, pitch angle sensors, and pitch actuators. Robustness of the FDS is achieved by employing an adaptive threshold. Simulation results show that the proposed scheme is capable to detect the faults shortly and it has very low false and missed alarms rate. PMID:24744774

Making Optic Flow Robust to Dynamic Lighting Conditions for Real-Time Operation

DTIC Science & Technology

2016-03-17

ARL-TR-7629 ● MAR 2016 US Army Research Laboratory Making Optic Flow Robust to Dynamic Lighting Conditions for Real-Time...ARL-TR-7629 ● MAR 2016 US Army Research Laboratory Making Optic Flow Robust to Dynamic Lighting Conditions for Real-Time Operation...SUBTITLE Making Optic Flow Robust to Dynamic Lighting Conditions for Real-Time Operation 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT

Complex amplitude reconstruction for dynamic beam quality M² factor measurement with self-referencing interferometer wavefront sensor.

PubMed

Du, Yongzhao; Fu, Yuqing; Zheng, Lixin

2016-12-20

A real-time complex amplitude reconstruction method for determining the dynamic beam quality M² factor based on a Mach-Zehnder self-referencing interferometer wavefront sensor is developed. By using the proposed complex amplitude reconstruction method, full characterization of the laser beam, including amplitude (intensity profile) and phase information, can be reconstructed from a single interference pattern with the Fourier fringe pattern analysis method in a one-shot measurement. With the reconstructed complex amplitude, the beam fields at any position z along its propagation direction can be obtained by first utilizing the diffraction integral theory. Then the beam quality M² factor of the dynamic beam is calculated according to the specified method of the Standard ISO11146. The feasibility of the proposed method is demonstrated with the theoretical analysis and experiment, including the static and dynamic beam process. The experimental method is simple, fast, and operates without movable parts and is allowed in order to investigate the laser beam in inaccessible conditions using existing methods.

Human-arm-and-hand-dynamic model with variability analyses for a stylus-based haptic interface.

PubMed

Fu, Michael J; Cavuşoğlu, M Cenk

2012-12-01

Haptic interface research benefits from accurate human arm models for control and system design. The literature contains many human arm dynamic models but lacks detailed variability analyses. Without accurate measurements, variability is modeled in a very conservative manner, leading to less than optimal controller and system designs. This paper not only presents models for human arm dynamics but also develops inter- and intrasubject variability models for a stylus-based haptic device. Data from 15 human subjects (nine male, six female, ages 20-32) were collected using a Phantom Premium 1.5a haptic device for system identification. In this paper, grip-force-dependent models were identified for 1-3-N grip forces in the three spatial axes. Also, variability due to human subjects and grip-force variation were modeled as both structured and unstructured uncertainties. For both forms of variability, the maximum variation, 95 %, and 67 % confidence interval limits were examined. All models were in the frequency domain with force as input and position as output. The identified models enable precise controllers targeted to a subset of possible human operator dynamics.

Statistical analysis of dynamic fibrils observed from NST/BBSO observations

NASA Astrophysics Data System (ADS)

Gopalan Priya, Thambaje; Su, Jiang-Tao; Chen, Jie; Deng, Yuan-Yong; Prasad Choudhury, Debi

2018-02-01

We present the results obtained from the analysis of dynamic fibrils in NOAA active region (AR) 12132, using high resolution Hα observations from the New Solar Telescope operating at Big Bear Solar Observatory. The dynamic fibrils are seen to be moving up and down, and most of these dynamic fibrils are periodic and have a jet-like appearance. We found from our observations that the fibrils follow almost perfect parabolic paths in many cases. A statistical analysis on the properties of the parabolic paths showing an analysis on deceleration, maximum velocity, duration and kinetic energy of these fibrils is presented here. We found the average maximum velocity to be around 15 kms‑1 and mean deceleration to be around 100 ms‑2. The observed deceleration appears to be a fraction of gravity of the Sun and is not compatible with the path of ballistic motion due to gravity of the Sun. We found a positive correlation between deceleration and maximum velocity. This correlation is consistent with simulations done earlier on magnetoacoustic shock waves propagating upward.

Benefit of Complete State Monitoring For GPS Realtime Applications With Geo++ Gnsmart

NASA Astrophysics Data System (ADS)

Wübbena, G.; Schmitz, M.; Bagge, A.

Today, the demand for precise positioning at the cm-level in realtime is worldwide growing. An indication for this is the number of operational RTK network installa- tions, which use permanent reference station networks to derive corrections for dis- tance dependent GPS errors and to supply corrections to RTK users in realtime. Gen- erally, the inter-station distances in RTK networks are selected at several tens of km in range and operational installations cover areas of up to 50000 km x km. However, the separation of the permanent reference stations can be increased to sev- eral hundred km, while a correct modeling of all error components is applied. Such networks can be termed as sparse RTK networks, which cover larger areas with a reduced number of stations. The undifferenced GPS observable is best suited for this task estimating the complete state of a permanent GPS network in a dynamic recursive Kalman filter. A rigorous adjustment of all simultaneous reference station data is re- quired. The sparse network design essentially supports the state estimation through its large spatial extension. The benefit of the approach and its state modeling of all GPS error components is a successful ambiguity resolution in realtime over long distances. The above concepts are implemented in the operational GNSMART (GNSS State Monitoring and Representation Technique) software of Geo++. It performs a state monitoring of all error components at the mm-level, because for RTK networks this accuracy is required to sufficiently represent the distance dependent errors for kine- matic applications. One key issue of the modeling is the estimation of clocks and hard- ware delays in the undifferenced approach. This pre-requisite subsequently allows for the precise separation and modeling of all other error components. Generally most of the estimated parameters are considered as nuisance parameters with respect to pure positioning tasks. As the complete state vector of GPS errors is available in a GPS realtime network, additional information besides position can be derived e.g. regional precise satellite clocks, orbits, total ionospheric electron content, tropospheric water vapor distribution, and also dynamic reference station movements. The models of GNSMART are designed to work with regional, continental or even global data. Results from GNSMART realtime networks with inter-station distances of several hundred km are presented to demonstrate the benefits of the operational implemented concepts.

Data-Driven Model Reduction and Transfer Operator Approximation

NASA Astrophysics Data System (ADS)

Klus, Stefan; Nüske, Feliks; Koltai, Péter; Wu, Hao; Kevrekidis, Ioannis; Schütte, Christof; Noé, Frank

2018-06-01

In this review paper, we will present different data-driven dimension reduction techniques for dynamical systems that are based on transfer operator theory as well as methods to approximate transfer operators and their eigenvalues, eigenfunctions, and eigenmodes. The goal is to point out similarities and differences between methods developed independently by the dynamical systems, fluid dynamics, and molecular dynamics communities such as time-lagged independent component analysis, dynamic mode decomposition, and their respective generalizations. As a result, extensions and best practices developed for one particular method can be carried over to other related methods.

A Cognitive System Model for Human/Automation Dynamics in Airspace Management

NASA Technical Reports Server (NTRS)

Corker, Kevin M.; Pisanich, Gregory; Lebacqz, J. Victor (Technical Monitor)

1997-01-01

NASA has initiated a significant thrust of research and development focused on providing the flight crew and air traffic managers automation aids to increase capacity in en route and terminal area operations through the use of flexible, more fuel-efficient routing, while improving the level of safety in commercial carrier operations. In that system development, definition of cognitive requirements for integrated multi-operator dynamic aiding systems is fundamental. In order to support that cognitive function definition, we have extended the Man Machine Integrated Design and Analysis System (MIDAS) to include representation of multiple cognitive agents (both human operators and intelligent aiding systems) operating aircraft, airline operations centers and air traffic control centers in the evolving airspace. The demands of this application require representation of many intelligent agents sharing world-models, and coordinating action/intention with cooperative scheduling of goals and actions in a potentially unpredictable world of operations. The MIDAS operator models have undergone significant development in order to understand the requirements for operator aiding and the impact of that aiding in the complex nondeterminate system of national airspace operations. The operator model's structure has been modified to include attention functions, action priority, and situation assessment. The cognitive function model has been expanded to include working memory operations including retrieval from long-term store, interference, visual-motor and verbal articulatory loop functions, and time-based losses. The operator's activity structures have been developed to include prioritization and interruption of multiple parallel activities among multiple operators, to provide for anticipation (knowledge of the intention and action of remote operators), and to respond to failures of the system and other operators in the system in situation-specific paradigms. The model's internal representation has been be modified so that multiple, autonomous sets of equipment will function in a scenario as the single equipment sets do now. In order to support the analysis requirements with multiple items of equipment, it is necessary for equipment to access the state of other equipment objects at initialization time (a radar object may need to access the position and speed of aircraft in its area, for example), and as a function of perception and sensor system interaction. The model has been improved to include multiple world-states as a function of equipment am operator interaction. The model has been used -1o predict the impact of warning and alert zones in aircraft operation, and, more critic-ally, the interaction of flight-deck based warning mechanisms and air traffic controller action in response to ground-based conflict prediction and alerting systems. In this operation, two operating systems provide alerting to two autonomous, but linked sets of operators, whose view of the system and whose dynamics in response are radically different. System stability and operator action was predicted using the MIDAS model.

Motion-seeded object-based attention for dynamic visual imagery

NASA Astrophysics Data System (ADS)

Huber, David J.; Khosla, Deepak; Kim, Kyungnam

2017-05-01

This paper† describes a novel system that finds and segments "objects of interest" from dynamic imagery (video) that (1) processes each frame using an advanced motion algorithm that pulls out regions that exhibit anomalous motion, and (2) extracts the boundary of each object of interest using a biologically-inspired segmentation algorithm based on feature contours. The system uses a series of modular, parallel algorithms, which allows many complicated operations to be carried out by the system in a very short time, and can be used as a front-end to a larger system that includes object recognition and scene understanding modules. Using this method, we show 90% accuracy with fewer than 0.1 false positives per frame of video, which represents a significant improvement over detection using a baseline attention algorithm.

Proton beam spatial distribution and Bragg peak imaging by photoluminescence of color centers in lithium fluoride crystals at the TOP-IMPLART linear accelerator

NASA Astrophysics Data System (ADS)

Piccinini, M.; Ronsivalle, C.; Ampollini, A.; Bazzano, G.; Picardi, L.; Nenzi, P.; Trinca, E.; Vadrucci, M.; Bonfigli, F.; Nichelatti, E.; Vincenti, M. A.; Montereali, R. M.

2017-11-01

Solid-state radiation detectors based on the photoluminescence of stable point defects in lithium fluoride crystals have been used for advanced diagnostics during the commissioning of the segment up to 27 MeV of the TOP-IMPLART proton linear accelerator for proton therapy applications, under development at ENEA C.R. Frascati, Italy. The LiF detectors high intrinsic spatial resolution and wide dynamic range allow obtaining two-dimensional images of the beam transverse intensity distribution and also identifying the Bragg peak position with micrometric precision by using a conventional optical fluorescence microscope. Results of the proton beam characterization, among which, the estimation of beam energy components and dynamics, are reported and discussed for different operating conditions of the accelerator.

Operational Dynamic Configuration Analysis

NASA Technical Reports Server (NTRS)

Lai, Chok Fung; Zelinski, Shannon

2010-01-01

Sectors may combine or split within areas of specialization in response to changing traffic patterns. This method of managing capacity and controller workload could be made more flexible by dynamically modifying sector boundaries. Much work has been done on methods for dynamically creating new sector boundaries [1-5]. Many assessments of dynamic configuration methods assume the current day baseline configuration remains fixed [6-7]. A challenging question is how to select a dynamic configuration baseline to assess potential benefits of proposed dynamic configuration concepts. Bloem used operational sector reconfigurations as a baseline [8]. The main difficulty is that operational reconfiguration data is noisy. Reconfigurations often occur frequently to accommodate staff training or breaks, or to complete a more complicated reconfiguration through a rapid sequence of simpler reconfigurations. Gupta quantified a few aspects of airspace boundary changes from this data [9]. Most of these metrics are unique to sector combining operations and not applicable to more flexible dynamic configuration concepts. To better understand what sort of reconfigurations are acceptable or beneficial, more configuration change metrics should be developed and their distribution in current practice should be computed. This paper proposes a method to select a simple sequence of configurations among operational configurations to serve as a dynamic configuration baseline for future dynamic configuration concept assessments. New configuration change metrics are applied to the operational data to establish current day thresholds for these metrics. These thresholds are then corroborated, refined, or dismissed based on airspace practitioner feedback. The dynamic configuration baseline selection method uses a k-means clustering algorithm to select the sequence of configurations and trigger times from a given day of operational sector combination data. The clustering algorithm selects a simplified schedule containing k configurations based on stability score of the sector combinations among the raw operational configurations. In addition, the number of the selected configurations is determined based on balance between accuracy and assessment complexity.

Uav Positioning and Collision Avoidance Based on RSS Measurements

NASA Astrophysics Data System (ADS)

Masiero, A.; Fissore, F.; Guarnieri, A.; Pirotti, F.; Vettore, A.

2015-08-01

In recent years, Unmanned Aerial Vehicles (UAVs) are attracting more and more attention in both the research and industrial communities: indeed, the possibility to use them in a wide range of remote sensing applications makes them a very flexible and attractive solution in both civil and commercial cases (e.g. precision agriculture, security and control, monitoring of sites, exploration of areas difficult to reach). Most of the existing UAV positioning systems rely on the use of the GPS signal. Despite this can be a satisfactory solution in open environments where the GPS signal is available, there are several operating conditions of interest where it is unavailable or unreliable (e.g. close to high buildings, or mountains, in indoor environments). Consequently, a different approach has to be adopted in these cases. This paper considers the use ofWiFi measurements in order to obtain position estimations of the device of interest. More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered. Thanks to the use of a Kalman filter, the proposed approach takes advantage of the temporal dynamic of the device of interest in order to improve the positioning results initially provided by means of maximum likelihood estimations. The considered UAVs are assumed to be provided with communication devices, which can allow them to communicate with each other in order to improve their cooperation abilities. In particular, the collision avoidance problem is examined in this work.

The Gravitational Origin of the Higgs Boson Mass

NASA Astrophysics Data System (ADS)

Winterberg, Friedwardt

2014-06-01

The Lorentzian interpretation of the special theory of relativity explains all the relativistic effects by true deformations of rods and clocks in absolute motion against a preferred reference system, and where Lorentz invariance is a dynamic symmetry with the Galilei group the more fundamental kinematic symmetry of nature. In an exactly nonrelativistic quantum field theory the particle number operator commutes with the Hamilton operator which permits to introduce negative besides positive masses as the fundamental constituents of matter. Assuming that space is densely filled with an equal number of positive and negative locally interacting Planck mass particles, with those of equal sign repelling and those of opposite sign attracting each other, all the particles except the Planck mass particles are quasiparticles of this positive-negative-mass Planck mass plasma. Very much as the Van der Waals forces is the residual short-range electromagnetic force holding condensed matter together, and the strong nuclear force the residual short range gluon force holding together nuclear matter, it is conjectured that the Higgs field is the residual short range gravitational force holding together pre-quark matter made up from large positive and negative masses of the order ±1013 GeV. This hypothesis supports a theory by Dehnen and Frommert who have shown that the Higgs field acts like a short range gravitational field, with a strength about 32 orders of magnitude larger than one would expect in the absence of the positive-negative pre-quark mass hypothesis.

Combining operational models and data into a dynamic vessel risk assessment tool for coastal regions

NASA Astrophysics Data System (ADS)

Fernandes, R.; Braunschweig, F.; Lourenço, F.; Neves, R.

2015-07-01

The technological evolution in terms of computational capacity, data acquisition systems, numerical modelling and operational oceanography is supplying opportunities for designing and building holistic approaches and complex tools for newer and more efficient management (planning, prevention and response) of coastal water pollution risk events. A combined methodology to dynamically estimate time and space variable shoreline risk levels from ships has been developed, integrating numerical metocean forecasts and oil spill simulations with vessel tracking automatic identification systems (AIS). The risk rating combines the likelihood of an oil spill occurring from a vessel navigating in a study area - Portuguese Continental shelf - with the assessed consequences to the shoreline. The spill likelihood is based on dynamic marine weather conditions and statistical information from previous accidents. The shoreline consequences reflect the virtual spilled oil amount reaching shoreline and its environmental and socio-economic vulnerabilities. The oil reaching shoreline is quantified with an oil spill fate and behaviour model running multiple virtual spills from vessels along time. Shoreline risks can be computed in real-time or from previously obtained data. Results show the ability of the proposed methodology to estimate the risk properly sensitive to dynamic metocean conditions and to oil transport behaviour. The integration of meteo-oceanic + oil spill models with coastal vulnerability and AIS data in the quantification of risk enhances the maritime situational awareness and the decision support model, providing a more realistic approach in the assessment of shoreline impacts. The risk assessment from historical data can help finding typical risk patterns, "hot spots" or developing sensitivity analysis to specific conditions, whereas real time risk levels can be used in the prioritization of individual ships, geographical areas, strategic tug positioning and implementation of dynamic risk-based vessel traffic monitoring.

Performance Evaluation and Analysis for Gravity Matching Aided Navigation.

PubMed

Wu, Lin; Wang, Hubiao; Chai, Hua; Zhang, Lu; Hsu, Houtse; Wang, Yong

2017-04-05

Simulation tests were accomplished in this paper to evaluate the performance of gravity matching aided navigation (GMAN). Four essential factors were focused in this study to quantitatively evaluate the performance: gravity database (DB) resolution, fitting degree of gravity measurements, number of samples in matching, and gravity changes in the matching area. Marine gravity anomaly DB derived from satellite altimetry was employed. Actual dynamic gravimetry accuracy and operating conditions were referenced to design the simulation parameters. The results verified that the improvement of DB resolution, gravimetry accuracy, number of measurement samples, or gravity changes in the matching area generally led to higher positioning accuracies, while the effects of them were different and interrelated. Moreover, three typical positioning accuracy targets of GMAN were proposed, and the conditions to achieve these targets were concluded based on the analysis of several different system requirements. Finally, various approaches were provided to improve the positioning accuracy of GMAN.

Performance Evaluation and Analysis for Gravity Matching Aided Navigation

PubMed Central

Wu, Lin; Wang, Hubiao; Chai, Hua; Zhang, Lu; Hsu, Houtse; Wang, Yong

2017-01-01

Simulation tests were accomplished in this paper to evaluate the performance of gravity matching aided navigation (GMAN). Four essential factors were focused in this study to quantitatively evaluate the performance: gravity database (DB) resolution, fitting degree of gravity measurements, number of samples in matching, and gravity changes in the matching area. Marine gravity anomaly DB derived from satellite altimetry was employed. Actual dynamic gravimetry accuracy and operating conditions were referenced to design the simulation parameters. The results verified that the improvement of DB resolution, gravimetry accuracy, number of measurement samples, or gravity changes in the matching area generally led to higher positioning accuracies, while the effects of them were different and interrelated. Moreover, three typical positioning accuracy targets of GMAN were proposed, and the conditions to achieve these targets were concluded based on the analysis of several different system requirements. Finally, various approaches were provided to improve the positioning accuracy of GMAN. PMID:28379178

Techniques for transparent lattice measurement and correction

NASA Astrophysics Data System (ADS)

Cheng, Weixing; Li, Yongjun; Ha, Kiman

2017-07-01

A novel method has been successfully demonstrated at NSLS-II to characterize the lattice parameters with gated BPM turn-by-turn (TbT) capability. This method can be used at high current operation. Conventional lattice characterization and tuning are carried out at low current in dedicated machine studies which include beam-based measurement/correction of orbit, tune, dispersion, beta-beat, phase advance, coupling etc. At the NSLS-II storage ring, we observed lattice drifting during beam accumulation in user operation. Coupling and lifetime change while insertion device (ID) gaps are moved. With the new method, dynamical lattice correction is possible to achieve reliable and productive operations. A bunch-by-bunch feedback system excites a small fraction (∼1%) of bunches and gated BPMs are aligned to see those bunch motions. The gated TbT position data are used to characterize the lattice hence correction can be applied. As there are ∼1% of total charges disturbed for a short period of time (several ms), this method is transparent to general user operation. We demonstrated the effectiveness of these tools during high current user operation.

Combined virtual and real robotic test-bed for single operator control of multiple robots

NASA Astrophysics Data System (ADS)

Lee, Sam Y.-S.; Hunt, Shawn; Cao, Alex; Pandya, Abhilash

2010-04-01

Teams of heterogeneous robots with different dynamics or capabilities could perform a variety of tasks such as multipoint surveillance, cooperative transport and explorations in hazardous environments. In this study, we work with heterogeneous robots of semi-autonomous ground and aerial robots for contaminant localization. We developed a human interface system which linked every real robot to its virtual counterpart. A novel virtual interface has been integrated with Augmented Reality that can monitor the position and sensory information from video feed of ground and aerial robots in the 3D virtual environment, and improve user situational awareness. An operator can efficiently control the real multi-robots using the Drag-to-Move method on the virtual multi-robots. This enables an operator to control groups of heterogeneous robots in a collaborative way for allowing more contaminant sources to be pursued simultaneously. The advanced feature of the virtual interface system is guarded teleoperation. This can be used to prevent operators from accidently driving multiple robots into walls and other objects. Moreover, the feature of the image guidance and tracking is able to reduce operator workload.

Eclipse SteerTech liquid lenslet beam steering technology

NASA Astrophysics Data System (ADS)

Westfall, Raymond T.; Rogers, Stanley; Shannon, Kenneth C., III

2007-09-01

Eclipse SteerTech TM transmissive fluid state electrowetting technology has successfully demonstrated the ability to control the shape and position of a fluid lenslet. In its final form, the technology will incorporate a dual fluid lenslet approach capable of operating in extremely high acceleration environments. The beam steering system works on the principle of electro-wetting. A substrate is covered with a closely spaced array of, independently addressable, transparent, electrically conductive pixels utilizing Eclipse's proprietary EclipseTEC TM technology. By activating and deactivating selected EclipseTEC TM pixels in the proper sequence, the shape and position of fluid lenslets or arrays of lenslets can be dynamically changed at will. The position and shape of individual fluid lenslets may be accurately controlled on any flat, simply curved, or complex curved, transparent or reflective surface. The smaller the pixels the better control of the position and shape of the fluid lenslets. Information on the successful testing of the Eclipse SteerTech TM lenslet and discussion of its use in a de-centered lenslet array will be presented.

Dyspnea in a nonagenarian: The usual suspects, an unexpected culprit.

PubMed

Madeira, Sérgio; Raposo, Luís; David, Raquel; Marques, Alexandre; Andrade Gomes, José; Cardim, Nuno; Anjos, Rui

2015-09-01

Platypnea-orthodeoxia syndrome (POS) is an uncommon syndrome characterized by dyspnea and hypoxemia triggered by orthostatism and relieved by recumbency. It is often associated with an interatrial shunt through a patent foramen ovale (PFO). We report the case of a 92-year-old woman initially admitted in the setting of a traumatic femoral neck fracture (successfully treated with hip replacement surgery) in whom a reversible decline in transcutaneous oxygen saturation from 98% (in the supine position) to 84% (in the upright position) was noted early post-operatively. Thoracic multislice computed tomography excluded pulmonary embolism and severe parenchymal lung disease. The diagnosis of POS was confirmed by tilt-table contrast transesophageal echocardiography, which demonstrated a dynamic and position-dependent right-to-left shunt (torrential when semi-upright and minimal in the supine position) through a PFO. The patient underwent percutaneous closure of the PFO with an Amplatzer device, which led to prompt symptom relief and full functional recovery. Copyright © 2014 Sociedade Portuguesa de Cardiologia. Published by Elsevier España. All rights reserved.

Koopman operator theory: Past, present, and future

NASA Astrophysics Data System (ADS)

Brunton, Steven; Kaiser, Eurika; Kutz, Nathan

2017-11-01

Koopman operator theory has emerged as a dominant method to represent nonlinear dynamics in terms of an infinite-dimensional linear operator. The Koopman operator acts on the space of all possible measurement functions of the system state, advancing these measurements with the flow of the dynamics. A linear representation of nonlinear dynamics has tremendous potential to enable the prediction, estimation, and control of nonlinear systems with standard textbook methods developed for linear systems. Dynamic mode decomposition has become the leading data-driven method to approximate the Koopman operator, although there are still open questions and challenges around how to obtain accurate approximations for strongly nonlinear systems. This talk will provide an introductory overview of modern Koopman operator theory, reviewing the basics and describing recent theoretical and algorithmic developments. Particular emphasis will be placed on the use of data-driven Koopman theory to characterize and control high-dimensional fluid dynamic systems. This talk will also address key advances in the rapidly growing fields of machine learning and data science that are likely to drive future developments.

SU-E-T-317: Dynamic Modulated Brachytherapy (DMBT): Robotic Applicator Design.

PubMed

Han, Dae Yup; Webster, Matthew J; Devic, Slobodan; Vuong, Te; Scanderbeg, Dan; Song, William Y

2012-06-01

To investigate the hardware necessary for implementing our Dynamic Modulated Brachytherapy (DMBT) treatment concept for rectal cancer. The DMBT robot has three major parts: 1) shield and shield delivery module, 2) controlling module, and 3) DMBT controlling and monitoring software. The shield is a tungsten alloy cylinder (r=0.95cm, l=4.5cm) with a 5.5mm rectangular-shaped opening. The shield is controlled by an aluminum pipe with gear set (1:3) and linear actuator (2mm/turn). An Ir-192 radiation source will be placed through the aluminum pipe. The power source is a Nema-17 stepping motor with EvoDrive ST-17 (EVA Robotics, Queensland, Australia) and USB-6009 DAQ (National Instrument, Austin, TX). With our in-house operating program through LabView (National Instrument, Austin, TX), we can make and load plans for treatment as well as testing. Checking the shield position is also possible through the operating program. For safety, a lexan sheath tube and emergency buttons are built-in. The DMBT robot has 2 degrees of freedom, which are linear translation and rotation. With our power delivery system, the spatial resolutions are 0.0125mm (linear stage) and 0.012Ëš (rotation). In 0.5s, motors achieve the desired position with the maximum speeds 450 step/s (1Ëš), 7,500 step/s (30Ëš), and 12,000 step/s (5mm). Four registers are triggered with USB-6009 DAQ signals. The operating program includes gages for checking shield position, loading treatment plans, and safety buttons. In all, we have designed the hardware components of the DMBT system for rectal cancer. For treatment, the system needs more elements to support the DMBT robot; lexan sheath tube holder, DMBT robot security joint, and a system for reducing friction between the tube and shield. We will also refine our system to be more compact by using DC servomotors instead of the larger Nema-17 stepping motors. © 2012 American Association of Physicists in Medicine.

Optical attenuation mechanism upgrades, MOBLAS, and TLRS systems

NASA Technical Reports Server (NTRS)

Eichinger, Richard; Johnson, Toni; Malitson, Paul; Oldham, Thomas; Stewart, Loyal

1993-01-01

This poster presentation describes the Optical Attenuation Mechanism (OAM) Upgrades to the MOBLAS and TLRS Crustal Dynamics Satellite Laser Ranging (CDSLR) systems. The upgrades were for the purposes of preparing these systems to laser range to the TOPEX/POSEIDON spacecraft when it will be launched in the summer of 1992. The OAM permits the laser receiver to operate over the expected large signal dynamic range from TOPEX/POSEIDON and it reduces the number of pre- and post-calibrations for each satellite during multi-satellite tracking operations. It further simplifies the calibration bias corrections that had been made due to the pass-to-pass variation of the photomultiplier supply voltage and the transmit filter glass thickness. The upgrade incorporated improvements to the optical alignment capability of each CDSLR system through the addition of a CCD camera into the MOBLAS receive telescope and an alignment telescope onto the TLRS optical table. The OAM is stepper motor and microprocessor based; and the system can be controlled either manually by a control switch panel or computer controlled via an EIA RS-232C serial interface. The OAM has a neutral density (ND) range of 0.0 to 4.0 and the positioning is absolute referenced in steps of 0.1 ND. Both the fixed transmit filter and the daylight filter are solenoid actuated with digital inputs and outputs to and from the OAM microprocessor. During automated operation, the operator has the option to overide the remote control and control the OAM system via a local control switch panel.

49 CFR 232.109 - Dynamic brake requirements.

Code of Federal Regulations, 2010 CFR

2010-10-01

... system that includes dynamic brakes shall adopt and comply with written operating rules governing safe... verifiable data and research. (k) A railroad operating a train with a brake system that includes dynamic... 49 Transportation 4 2010-10-01 2010-10-01 false Dynamic brake requirements. 232.109 Section 232...

Modeling Load Dynamics to Support Resiliency-based Operations in Low-Inertia Microgrids

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

Tuffner, Francis K.; Schneider, Kevin P.; Hansen, Jacob

Microgrids have repeatedly demonstrated the ability to provide uninterrupted service to critical end-use loads during normal outages, severe weather events, and natural disasters. While their ability to provide critical services is well documented, microgrids present a more dynamic operational environment than grid-connected distribution systems. The electrodynamics of a microgrid are commonly driven by the high inertia of rotating generators, which are common in many microgrids. In such high-inertia systems, the impact of end-use load electromechanical dynamics are often not examined. However, with the increased penetration of inverter-based generation with little or no inertia, it is necessary to consider the impactmore » that the dynamics of the end-use loads have on the operations of microgrids, particularly for a resiliency-based operation. These operations include, but are not limited to, switching operations, loss of generating units, and the starting of induction motors. This paper examines the importance of including multi-state electromechanical dynamic models of the end-use load when evaluating the operations of low inertia microgrids, and shows that by properly representing their behavior, it is possible to cost effectively size equipment while supporting resilient operations of critical end-use loads.« less

Modeling Load Dynamics to Support Resiliency-based Operations in Low-Inertia Microgrids

DOE PAGES

Tuffner, Francis K.; Schneider, Kevin P.; Hansen, Jacob; ...

2018-03-07

Microgrids have repeatedly demonstrated the ability to provide uninterrupted service to critical end-use loads during normal outages, severe weather events, and natural disasters. While their ability to provide critical services is well documented, microgrids present a more dynamic operational environment than grid-connected distribution systems. The electrodynamics of a microgrid are commonly driven by the high inertia of rotating generators, which are common in many microgrids. In such high-inertia systems, the impact of end-use load electromechanical dynamics are often not examined. However, with the increased penetration of inverter-based generation with little or no inertia, it is necessary to consider the impactmore » that the dynamics of the end-use loads have on the operations of microgrids, particularly for a resiliency-based operation. These operations include, but are not limited to, switching operations, loss of generating units, and the starting of induction motors. This paper examines the importance of including multi-state electromechanical dynamic models of the end-use load when evaluating the operations of low inertia microgrids, and shows that by properly representing their behavior, it is possible to cost effectively size equipment while supporting resilient operations of critical end-use loads.« less

Dynamic Blowout Risk Analysis Using Loss Functions.

PubMed

Abimbola, Majeed; Khan, Faisal

2018-02-01

Most risk analysis approaches are static; failing to capture evolving conditions. Blowout, the most feared accident during a drilling operation, is a complex and dynamic event. The traditional risk analysis methods are useful in the early design stage of drilling operation while falling short during evolving operational decision making. A new dynamic risk analysis approach is presented to capture evolving situations through dynamic probability and consequence models. The dynamic consequence models, the focus of this study, are developed in terms of loss functions. These models are subsequently integrated with the probability to estimate operational risk, providing a real-time risk analysis. The real-time evolving situation is considered dependent on the changing bottom-hole pressure as drilling progresses. The application of the methodology and models are demonstrated with a case study of an offshore drilling operation evolving to a blowout. © 2017 Society for Risk Analysis.

Validation of the train energy and dynamics simulator (TEDS).

DOT National Transportation Integrated Search

2015-01-01

FRA has developed Train Energy and Dynamics Simulator (TEDS) based upon a longitudinal train dynamics and operations : simulation model which allows users to conduct safety and risk evaluations, incident investigations, studies of train operations, :...

Dynamic behaviour of the soft palate during nasal positive pressure ventilation under anaesthesia and paralysis: comparison between patients with and without obstructive sleep-disordered breathing.

PubMed

Okuyama, M; Kato, S; Sato, S; Okazaki, J; Kitamura, Y; Ishikawa, T; Sato, Y; Isono, S

2018-01-01

Difficult mask ventilation is common and is known to be associated with sleep-disordered breathing (SDB). It is our hypothesis that the incidence of expiratory retropalatal (RP) airway closure (primary outcome) during nasal positive pressure ventilation (PPV) is more frequent in patients with SDB (apnea hypopnea index ≥5 h -1 ) than non-SDB subjects. The severity of SDB was assessed before surgery using a portable sleep monitor. In anaesthetized and paralysed patients with (n=11) and without SDB (n=9), we observed the behaviour of the RP airway endoscopically during nasal PPV with the mouth closed and determined the dynamic RP closing pressure, which was defined as the highest airway pressure above which the RP airway closure was reversed. The static RP closing pressure was obtained during cessation of mechanical ventilation in patients with dynamic RP closure during nasal PPV. The expiratory RP airway closure accompanied by expiratory flow limitation occurred more frequently in SDB patients (9/11, 82%) than in non-SDB subjects (2/9, 22%; exact logistic regression analysis: P=0.022, odds ratio 3.6, 95% confidence interval 1.1-15.4). Receiver operating characteristic curve analyses indicated AHI >10h -1 and presence of habitual snoring as clinically useful predictors for the occurrence of RP closure during PPV. Dynamic RP closing pressure was greater than the static RP closing pressure by approximately 4-5 cm H 2 O. Valve-like dynamic RP closure that limits expiratory flow during nasal PPV occurs more frequently in SDB patients. Copyright © 2017. Published by Elsevier Ltd.

Performance limitations of bilateral force reflection imposed by operator dynamic characteristics

NASA Technical Reports Server (NTRS)

Chapel, Jim D.

1989-01-01

A linearized, single-axis model is presented for bilateral force reflection which facilitates investigation into the effects of manipulator, operator, and task dynamics, as well as time delay and gain scaling. Structural similarities are noted between this model and impedance control. Stability results based upon this model impose requirements upon operator dynamic characteristics as functions of system time delay and environmental stiffness. An experimental characterization reveals the limited capabilities of the human operator to meet these requirements. A procedure is presented for determining the force reflection gain scaling required to provide stability and acceptable operator workload. This procedure is applied to a system with dynamics typical of a space manipulator, and the required gain scaling is presented as a function of environmental stiffness.

Dynamics and flight control of a flapping-wing robotic insect in the presence of wind gusts.

PubMed

Chirarattananon, Pakpong; Chen, Yufeng; Helbling, E Farrell; Ma, Kevin Y; Cheng, Richard; Wood, Robert J

2017-02-06

With the goal of operating a biologically inspired robot autonomously outside of laboratory conditions, in this paper, we simulated wind disturbances in a laboratory setting and investigated the effects of gusts on the flight dynamics of a millimetre-scale flapping-wing robot. Simplified models describing the disturbance effects on the robot's dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that these strategies reduced the root-mean-square position errors by more than 50% when the robot was subject to 80 cm s -1 horizontal wind. The analysis of flight data suggests that modulation of wing kinematics to stabilize the flight in the presence of wind gusts may indirectly contribute an additional stabilizing effect, reducing the time-averaged aerodynamic drag experienced by the robot. A benchtop experiment was performed to provide further support for this observed phenomenon.

Dynamics and flight control of a flapping-wing robotic insect in the presence of wind gusts

PubMed Central

Chen, Yufeng; Helbling, E. Farrell; Ma, Kevin Y.; Cheng, Richard; Wood, Robert J.

2017-01-01

With the goal of operating a biologically inspired robot autonomously outside of laboratory conditions, in this paper, we simulated wind disturbances in a laboratory setting and investigated the effects of gusts on the flight dynamics of a millimetre-scale flapping-wing robot. Simplified models describing the disturbance effects on the robot's dynamics are proposed, together with two disturbance rejection schemes capable of estimating and compensating for the disturbances. The proposed methods are experimentally verified. The results show that these strategies reduced the root-mean-square position errors by more than 50% when the robot was subject to 80 cm s−1 horizontal wind. The analysis of flight data suggests that modulation of wing kinematics to stabilize the flight in the presence of wind gusts may indirectly contribute an additional stabilizing effect, reducing the time-averaged aerodynamic drag experienced by the robot. A benchtop experiment was performed to provide further support for this observed phenomenon. PMID:28163872

ORATOS: ESA's future flight dynamics operations system

NASA Astrophysics Data System (ADS)

Dreger, Frank; Fertig, Juergen; Muench, Rolf

The Orbit and Attitude Operations System (ORATOS -- the European Space Agency's future orbit and attitude operations system -- will be in use from the mid-nineties until well beyond the year 2000. The ORATOS design is based on the experience from flight dynamics support to all past ESA missions. The ORATOS computer hardware consists of a network of powerful UNIX workstations. ORATOS resides on several hardware platforms, each comprising one or more fileservers, several client workstations and the associated communications interface hardware. The ORATOS software is structured into three layers. The flight dynamics applications layer, the support layer and the operating system layer. This architectural design separates the flight dynamics application software from the support tools and operating system facilities. It allows upgrading and replacement of operating system facilities with a minimum (or no) effect on the application layer.

Non-Markovian generalization of the Lindblad theory of open quantum systems

NASA Astrophysics Data System (ADS)

Breuer, Heinz-Peter

2007-02-01

A systematic approach to the non-Markovian quantum dynamics of open systems is given by the projection operator techniques of nonequilibrium statistical mechanics. Combining these methods with concepts from quantum information theory and from the theory of positive maps, we derive a class of correlated projection superoperators that take into account in an efficient way statistical correlations between the open system and its environment. The result is used to develop a generalization of the Lindblad theory to the regime of highly non-Markovian quantum processes in structured environments.

Broadband bowtie belt nanoantennas

NASA Astrophysics Data System (ADS)

Morshed, Monir; Hattori, Haroldo T.

2018-01-01

In this article, we study a linear array of bowtie nanoantennas placed between two metallic strips that can work from 800 to 1420 nm (600 nm linewidth), with an electric field enhancement factor close to 20. We study the dynamical change of the position of the electric field enhancement amongst different elements in the array and, at the same time, the effects of dispersion on the scalability of the array elements. A systematic analysis and methodology to produce an array that can operate over a large bandwidth whilst maintaining the electric field enhancement without significant variation is provided.

Multiscale Modeling of Virus Structure, Assembly, and Dynamics

NASA Astrophysics Data System (ADS)

May, Eric R.; Arora, Karunesh; Mannige, Ranjan V.; Nguyen, Hung D.; Brooks, Charles L.

Viruses are traditionally considered as infectious agents that attack cells and cause illnesses like AIDS, Influenza, Hepatitis, etc. However, recent advances have illustrated the potential for viruses to play positive roles for human health, instead of causing disease [1, 2]. For example, viruses can be employed for a variety of biomedical and biotechnological applications, including gene therapy[3], drug delivery[4], tumor targeting[5], and medical imaging[6]. Therefore, it is important to understand quantitatively how viruses operate such that they can be engineered in a predictive manner for beneficial roles.

A Comparison of Six Repair Scheduling Policies for the P3 Aircraft.

DTIC Science & Technology

1988-03-01

each type component i: RHO(i) = LAMBDA(i) / SRATE(i) LINEUPti) - RHO(i) x COUNT(i) Step 14c: Sort components by LINEUP (i), reorder position in line in...favor of the largest LINEUP (i). Return to step 7. Dynamic 3 Model Modifications: Step 14a: Count the number of operating parts of each component i...STOCK(i)). Step 14b: Assign a priority to each component type based on the count of current stock in step 14a: LINEUP (i) < LINEUP (J) iff STOCK(i

Method of improving a digital image

NASA Technical Reports Server (NTRS)

Jobson, Daniel J. (Inventor); Woodell, Glenn A. (Inventor); Rahman, Zia-ur (Inventor)

1999-01-01

A method of improving a digital image is provided. The image is initially represented by digital data indexed to represent positions on a display. The digital data is indicative of an intensity value I.sub.i (x,y) for each position (x,y) in each i-th spectral band. The intensity value for each position in each i-th spectral band is adjusted to generate an adjusted intensity value for each position in each i-th spectral band in accordance with ##EQU1## where S is the number of unique spectral bands included in said digital data, W.sub.n is a weighting factor and * denotes the convolution operator. Each surround function F.sub.n (x,y) is uniquely scaled to improve an aspect of the digital image, e.g., dynamic range compression, color constancy, and lightness rendition. The adjusted intensity value for each position in each i-th spectral band is filtered with a common function and then presented to a display device. For color images, a novel color restoration step is added to give the image true-to-life color that closely matches human observation.

Dual redundant arm system operational quality measures and their applications - Dynamic measures

NASA Technical Reports Server (NTRS)

Lee, Sukhan; Kim, Sungbok

1990-01-01

Dual-arm dynamic operation quality measures are presented which quantify the efficiency and capability of generating Cartesian accelerations by two cooperative arms based on the analysis of dual-arm dynamic interactions. Dual-arm dynamic manipulability is defined as the efficiency of generating Cartesian accelerations under the dynamic and kinematic interactions between individual arms and an object under manipulation. The analysis of dual-arm dynamic interactions is based on the so-called Cartesian space agent model of an arm, which represents an individual arm as a force source acting upon a point mass with the effective Cartesian space arm dynamics and an environment or an object under manipulation. The Cartesian space agent model of an arm makes it possible to derive the dynamic and kinematic constraints involved in the transport, assembly and grasping modes of dual-arm cooperation. A task-oriented operational quality measure, (TOQd) is defined by evaluating dual-arm dynamic manipulability in terms of given task requirements. TOQd is used in dual-arm joint configuration optimization. Simulation results are shown. A complete set of forward dynamic equations for a dual-arm system is derived, and dual-arm dynamic operational quality measures for various modes of dual-arm cooperation allowing sliding contacts are established.

Multistage estimation of received carrier signal parameters under very high dynamic conditions of the receiver

NASA Technical Reports Server (NTRS)

Kumar, Rajendra (Inventor)

1991-01-01

A multistage estimator is provided for the parameters of a received carrier signal possibly phase-modulated by unknown data and experiencing very high Doppler, Doppler rate, etc., as may arise, for example, in the case of Global Positioning Systems (GPS) where the signal parameters are directly related to the position, velocity and jerk of the GPS ground-based receiver. In a two-stage embodiment of the more general multistage scheme, the first stage, selected to be a modified least squares algorithm referred to as differential least squares (DLS), operates as a coarse estimator resulting in higher rms estimation errors but with a relatively small probability of the frequency estimation error exceeding one-half of the sampling frequency, provides relatively coarse estimates of the frequency and its derivatives. The second stage of the estimator, an extended Kalman filter (EKF), operates on the error signal available from the first stage refining the overall estimates of the phase along with a more refined estimate of frequency as well and in the process also reduces the number of cycle slips.

Multistage estimation of received carrier signal parameters under very high dynamic conditions of the receiver

NASA Technical Reports Server (NTRS)

Kumar, Rajendra (Inventor)

1990-01-01

A multistage estimator is provided for the parameters of a received carrier signal possibly phase-modulated by unknown data and experiencing very high Doppler, Doppler rate, etc., as may arise, for example, in the case of Global Positioning Systems (GPS) where the signal parameters are directly related to the position, velocity and jerk of the GPS ground-based receiver. In a two-stage embodiment of the more general multistage scheme, the first stage, selected to be a modified least squares algorithm referred to as differential least squares (DLS), operates as a coarse estimator resulting in higher rms estimation errors but with a relatively small probability of the frequency estimation error exceeding one-half of the sampling frequency, provides relatively coarse estimates of the frequency and its derivatives. The second stage of the estimator, an extended Kalman filter (EKF), operates on the error signal available from the first stage refining the overall estimates of the phase along with a more refined estimate of frequency as well and in the process also reduces the number of cycle slips.

Quark orbital dynamics in the proton from lattice QCD: From Ji to Jaffe-Manohar orbital angular momentum

NASA Astrophysics Data System (ADS)

Engelhardt, M.

2017-05-01

Given a Wigner distribution simultaneously characterizing quark transverse positions and momenta in a proton, one can directly evaluate their cross product, i.e., quark orbital angular momentum. The aforementioned distribution can be obtained by generalizing the proton matrix elements of quark bilocal operators which define transverse momentum-dependent parton distributions (TMDs); the transverse momentum information is supplemented with transverse position information by introducing an additional nonzero momentum transfer. A gauge connection between the quarks must be specified in the quark bilocal operators; the staple-shaped gauge link path used in TMD calculations yields the Jaffe-Manohar definition of orbital angular momentum, whereas a straight path yields the Ji definition. An exploratory lattice calculation, performed at the pion mass mπ=518 MeV , is presented which quasicontinuously interpolates between the two definitions and demonstrates that their difference can be clearly resolved. The resulting Ji orbital angular momentum is confronted with traditional evaluations based on Ji's sum rule. Jaffe-Manohar orbital angular momentum is enhanced in magnitude compared to its Ji counterpart.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

PubMed

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

Differential dynamics of spatial attention, position, and color coding within the parietofrontal network.

PubMed

Astrand, Elaine; Ibos, Guilhem; Duhamel, Jean-René; Ben Hamed, Suliann

2015-02-18

Despite an ever growing knowledge on how parietal and prefrontal neurons encode low-level spatial and color information or higher-level information, such as spatial attention, an understanding of how these cortical regions process neuronal information at the population level is still missing. A simple assumption would be that the function and temporal response profiles of these neuronal populations match that of its constituting individual cells. However, several recent studies suggest that this is not necessarily the case and that the single-cell approach overlooks dynamic changes in how information is distributed over the neuronal population. Here, we use a time-resolved population pattern analysis to explore how spatial position, spatial attention and color information are differentially encoded and maintained in the macaque monkey prefrontal (frontal eye fields) and parietal cortex (lateral intraparietal area). Overall, our work brings about three novel observations. First, we show that parietal and prefrontal populations operate in two distinct population regimens for the encoding of sensory and cognitive information: a stationary mode and a dynamic mode. Second, we show that the temporal dynamics of a heterogeneous neuronal population brings about complementary information to that of its functional subpopulations. Thus, both need to be investigated in parallel. Last, we show that identifying the neuronal configuration in which a neuronal population encodes given information can serve to reveal this same information in a different context. All together, this work challenges common views on neural coding in the parietofrontal network. Copyright © 2015 the authors 0270-6474/15/353174-16$15.00/0.

Evaluating the dynamical characteristics of particle matter emissions in an open ore yard with industrial operation activities.

PubMed

Cong, X C; Yang, G S; Qu, J H; Dai, M X

2016-11-01

A study to investigate the dynamical characteristics of particle matter emissions in a working open yard is conducted in Caofeidian Port of Hebei Province, China. The average diurnal concentrations of the total suspended particulate (TSP) matter and respirable particulate matter (PM 10 and PM 5 ) are monitored during the field measurement campaign. Sampling is performed at a regular interval at 8 monitoring stations in the yard with normal industrial activities. The average TSP, PM 10 and PM 5 concentrations range from 285 to 568, 198 to 423 and 189 to 330 μg.m-3 in the yard, respectively. The linear regression correlation coefficient of TSP/PM 10 and TSP/PM 5 is 0.95±0.01 and 0.88±0.02, respectively.By using the Spearman correlation method, the wind speed and relative humidity are both weakly correlated with the PM 10 and PM 5 concentrations according to the measurements. In addition, industrial operation activities, such as vehicular traffic in the yard and the loading time of stackers, are significantly positively correlated with the PM concentration. Using the multivariate regression method, the main parameters influencing the TSP concentration variations are integratedly analysed. The traffic volume is found to be a significant predictor of TSP concentration variation, with the smallest P value (P<0.05).To understand the dynamical characteristics of particle emissions in the yard, the emissions from the truck transports, that is, from unpaved haul roads and from the loading process, are established. Then, the dynamical emission factor (EF D ) based on the industrial activities in the yard is proposed. The dynamical emissions average 5.25x10 5 kg.year -1 and EF D is evaluated to be 0.29 kg.(ton.day) -1 during the measurement period. These outcomes have meaningful implications not only for understanding the dynamical characteristics of particle emissions in the working stockyard but also for implementing effective control measures at appropriate sites in the harbour area.

Development of elements of the condition monitoring system of turbo generators of thermal power stations and nuclear power plants

NASA Astrophysics Data System (ADS)

Kumenko, A. I.; Kostyukov, V. N.; Kuz'minykh, N. Yu.; Boichenko, S. N.; Timin, A. V.

2017-08-01

The rationale is given for the improvement of the regulatory framework for the use of shaft sensors for the in-service condition monitoring of turbo generators and the development of control systems of shaft surfacing and misalignments of supports. A modern concept and a set of methods are proposed for the condition monitoring of the "shaft line-thrust bearing oil film-turbo generator supports" system elements based on the domestic COMPACS® technology. The system raw data are design, technology, installation, and operating parameters of the turbo generator as well as measured parameters of the absolute vibration of supports and mechanical quantities, relative displacements and relative vibration of the rotor teeth in accordance with GOST R 55263-2012. The precalculated shaft line assembly line in the cold state, the nominal parameters of rotor teeth positions on the dynamic equilibrium curve, the static and dynamic characteristics of the oil film of thrust bearings, and the shaft line stiffness matrix of unit support displacements have been introduced into the system. Using the COMPACS-T system, it is planned to measure positions and oscillations of rotor teeth, to count corresponding static and dynamic characteristics of the oil film, and the static and dynamic loads in the supports in real time. Using the obtained data, the system must determine the misalignments of supports and corrective alignments of rotors of coupling halves, voltages in rotor teeth, welds, and bolts of the coupling halves, and provide automatic conclusion if condition monitoring parameters correspond to standard values. A part of the methodological support for the proposed system is presented, including methods for determining static reactions of supports under load, the method for determining shaft line stiffness matrices, and the method for solving the inverse problem, i.e., the determination of the misalignments of the supports by measurements of rotor teeth relative positions in bearing housings. The procedure for calculating misalignments of turbo generator shaft line supports is set out.

The dynamic origins of positive health and wellbeing

PubMed Central

Cloninger, C. Robert; Salloum, Ihsan M.; Mezzich, Juan E.

2015-01-01

The causes of wellbeing and illbeing interact with feedback dynamics resulting in the same set of traits giving rise to a variety of health outcomes (multi-finality) and different traits giving rise to the same health outcome (equi-finality). As a result, a full understanding of health and its disorders must be in terms of a complex adaptive system of causes, rather than in terms of categorical diagnoses or sets of symptoms. The three domains of person-centered integrative diagnosis (PID) are considered here as interacting components of a complex adaptive system comprised of health status (functioning/wellness versus disability/disorder), experience of health (self-awareness/fulfillment versus misunderstanding/suffering) and contributors to health (protective versus risk factors). The PID domains thereby allow healthcare and health promotion to be understood in terms of measurable components of a complex adaptive system. Three major concepts of health are examined in detail to identify their dynamic origins: Psychological Maturity, Flourishing and Resilience. In humanistic psychology, psychological maturity (i.e. healthy personality, mental wellbeing) involves the development of high self-directedness, high co-operativeness and high self-transcendence, but self-transcendence is nevertheless devalued in individualistic and materialistic cultures except when people must face adversity and ultimate situations like suffering or the threat of death. Psychological Maturity develops through two complementary processes often labeled as Flourishing and Resilience. Flourishing is the development of one’s potential to live optimally, especially as the result of favorable circumstances, whereas Resilience is positive adaptation to life despite adverse circumstances. As a result of the complex feedback dynamics between the processes of flourishing and resilience, each person is a unique individual who has a variety of paths for achieving positive health and wellbeing open to him or her. Person-centered health promotion and care can thereby be approached as a creative life project that can be conducted with the assistance of healthcare workers who are both therapeutic allies and well-informed experts. PMID:26140189

Developing a Telescope Simulator Towards a Global Autonomous Robotic Telescope Network

NASA Astrophysics Data System (ADS)

Giakoumidis, N.; Ioannou, Z.; Dong, H.; Mavridis, N.

2013-05-01

A robotic telescope network is a system that integrates a number of telescopes to observe a variety of astronomical targets without being operated by a human. This system autonomously selects and observes targets in accordance to an optimized target. It dynamically allocates telescope resources depending on the observation requests, specifications of the telescopes, target visibility, meteorological conditions, daylight, location restrictions and availability and many other factors. In this paper, we introduce a telescope simulator, which can control a telescope to a desired position in order to observe a specific object. The system includes a Client Module, a Server Module, and a Dynamic Scheduler module. We make use and integrate a number of open source software to simulate the movement of a robotic telescope, the telescope characteristics, the observational data and weather conditions in order to test and optimize our system.

Numerical simulation of electrons dynamics in a microtron on 6 - 10 MeV

NASA Astrophysics Data System (ADS)

Bashmakov, Y. A.; Dyubkov, V. S.; Lozeev, Y. Y.

2017-12-01

Electron dynamics in 6.5 MeV classic microtron of the Lebedev Physics Institute (LPI) is investigated by means of numerical methods. Particular emphasis is placed on the formation mechanism of electron bunches at the first circular orbits. An effect of microtron main parameters such as accelerating RF field amplitude, DC magnetic field, as well as a geometry and a position of a thermal emitter on characteristics of electron beam extracted from the microtron are studied. In the space of mentioned parameters a region corresponding an optimal microtron operation mode is found. It is noted that the unique geometric and energy characteristics of accelerated beam makes use of microtron attractive not only as injector into a synchrotron, but also as a driver in experiments on generation of coherent terahertz electromagnetic radiation.

Distinguishing Feedback Mechanisms in Clock Models

NASA Astrophysics Data System (ADS)

Golden, Alexander; Lubensky, David

Biological oscillators are very diverse but can be classified based on dynamical motifs such as type of feedback. The S. Elongatus circadian oscillator is a novel circadian oscillator that can operate at constant protein number by modifying covalent states. It can be reproduced in vitro with only 3 different purified proteins: KaiA, KaiB, and KaiC. We use computational and analytic techniques to compare models of the S. Elongatus post-translational oscillator that rely on positive feedback with models that rely on negative feedback. We show that introducing a protein that binds competitively with KaiA to the KaiB-KaiC complex can distinguish between positive and negative feedback as the primary driver of the rhythm, which has so far been difficult to address experimentally. NSF Grant DMR-1056456.

Position and force control of coordinated multiple arms

NASA Technical Reports Server (NTRS)

Hayati, Samad A.

1988-01-01

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object are reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented.

Entangling two transportable neutral atoms via local spin exchange.

PubMed

Kaufman, A M; Lester, B J; Foss-Feig, M; Wall, M L; Rey, A M; Regal, C A

2015-11-12

To advance quantum information science, physical systems are sought that meet the stringent requirements for creating and preserving quantum entanglement. In atomic physics, robust two-qubit entanglement is typically achieved by strong, long-range interactions in the form of either Coulomb interactions between ions or dipolar interactions between Rydberg atoms. Although such interactions allow fast quantum gates, the interacting atoms must overcome the associated coupling to the environment and cross-talk among qubits. Local interactions, such as those requiring substantial wavefunction overlap, can alleviate these detrimental effects; however, such interactions present a new challenge: to distribute entanglement, qubits must be transported, merged for interaction, and then isolated for storage and subsequent operations. Here we show how, using a mobile optical tweezer, it is possible to prepare and locally entangle two ultracold neutral atoms, and then separate them while preserving their entanglement. Ground-state neutral atom experiments have measured dynamics consistent with spin entanglement, and have detected entanglement with macroscopic observables; we are now able to demonstrate position-resolved two-particle coherence via application of a local gradient and parity measurements. This new entanglement-verification protocol could be applied to arbitrary spin-entangled states of spatially separated atoms. The local entangling operation is achieved via spin-exchange interactions, and quantum tunnelling is used to combine and separate atoms. These techniques provide a framework for dynamically entangling remote qubits via local operations within a large-scale quantum register.

Using arm and hand gestures to command robots during stealth operations

NASA Astrophysics Data System (ADS)

Stoica, Adrian; Assad, Chris; Wolf, Michael; You, Ki Sung; Pavone, Marco; Huntsberger, Terry; Iwashita, Yumi

2012-06-01

Command of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-offreedom (DOF) information while leaving the hands unencumbered. Stealth operations rule out voice commands and vision-based gesture interpretation techniques, as they often entail silent operations at night or in other low visibility conditions. Targeted at using bio-signal inputs to set navigation and manipulation goals for the robot (say, simply by pointing), we developed a system based on an electromyography (EMG) "BioSleeve", a high density sensor array for robust, practical signal collection from forearm muscles. The EMG sensor array data is fused with inertial measurement unit (IMU) data. This paper describes the BioSleeve system and presents initial results of decoding robot commands from the EMG and IMU data using a BioSleeve prototype with up to sixteen bipolar surface EMG sensors. The BioSleeve is demonstrated on the recognition of static hand positions (e.g. palm facing front, fingers upwards) and on dynamic gestures (e.g. hand wave). In preliminary experiments, over 90% correct recognition was achieved on five static and nine dynamic gestures. We use the BioSleeve to control a team of five LANdroid robots in individual and group/squad behaviors. We define a gesture composition mechanism that allows the specification of complex robot behaviors with only a small vocabulary of gestures/commands, and we illustrate it with a set of complex orders.

Using Arm and Hand Gestures to Command Robots during Stealth Operations

NASA Technical Reports Server (NTRS)

Stoica, Adrian; Assad, Chris; Wolf, Michael; You, Ki Sung; Pavone, Marco; Huntsberger, Terry; Iwashita, Yumi

2012-01-01

Command of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-of-freedom (DOF) information while leaving the hands unencumbered. Stealth operations rule out voice commands and vision-based gesture interpretation techniques, as they often entail silent operations at night or in other low visibility conditions. Targeted at using bio-signal inputs to set navigation and manipulation goals for the robot (say, simply by pointing), we developed a system based on an electromyography (EMG) "BioSleeve", a high density sensor array for robust, practical signal collection from forearm muscles. The EMG sensor array data is fused with inertial measurement unit (IMU) data. This paper describes the BioSleeve system and presents initial results of decoding robot commands from the EMG and IMU data using a BioSleeve prototype with up to sixteen bipolar surface EMG sensors. The BioSleeve is demonstrated on the recognition of static hand positions (e.g. palm facing front, fingers upwards) and on dynamic gestures (e.g. hand wave). In preliminary experiments, over 90% correct recognition was achieved on five static and nine dynamic gestures. We use the BioSleeve to control a team of five LANdroid robots in individual and group/squad behaviors. We define a gesture composition mechanism that allows the specification of complex robot behaviors with only a small vocabulary of gestures/commands, and we illustrate it with a set of complex orders.

Operational Evaluatioin of Dynamic Weather Routes at American Airlines

NASA Technical Reports Server (NTRS)

McNally, David; Sheth, Kapil; Gong, Chester; Borchers, Paul; Osborne, Jeff; Keany, Desmond; Scott, Brennan; Smith, Steve; Sahlman, Scott; Lee, Chuhan;

Flight Dynamics Performances of the MetOp A Satellite during the First Months of Operations

NASA Technical Reports Server (NTRS)

Righetti, Pier Luigi; Meixner, Hilda; Sancho, Francisco; Damiano, Antimo; Lazaro, David

2007-01-01

The 19th of October 2006 at 16:28 UTC the first MetOp satellite (MetOp A) was successfully launched from the Baykonur cosmodrome by a Soyuz/Fregat launcher. After only three days of LEOP operations, performed by ESOC, the satellite was handed over to EUMETSAT, who is since then taking care of all satellite operations. MetOp A is the first European operational satellite for meteorology flying in a Low Earth Orbit (LEO), all previous satellites operated by EUMETSAT, belonging to the METEOSAT family, being located in the Geo-stationary orbit. To ensure safe operations for a LEO satellite accurate and continuous commanding from ground of the on-board AOCS is required. That makes the operational transition at the end of the LEOP quite challenging, as the continuity of the Flight Dynamics operations is to be maintained. That means that the main functions of the Flight Dynamics have to be fully validated on-flight during the LEOP, before taking over the operational responsibility on the spacecraft, and continuously monitored during the entire mission. Due to the nature of a meteorological operational mission, very stringent requirements in terms of overall service availability (99 % of the collected data), timeliness of processing of the observation data (3 hours after sensing) and accuracy of the geo-location of the meteorological products (1 km) are to be fulfilled. That translates in tight requirements imposed to the Flight Dynamics facility (FDF) in terms of accuracy, timeliness and availability of the generated orbit and clock solutions; a detailed monitoring of the quality of these products is thus mandatory. Besides, being the accuracy of the image geo-location strongly related with the pointing performance of the platform and with the on-board timing stability, monitoring from ground of the behaviour of the on-board sensors and clock is needed. This paper presents an overview of the Flight Dynamics operations performed during the different phases of the MetOp A mission up to routine. The activities performed to validate all the Flight Dynamics functions, characterize the behaviour of the satellite and monitor the performances of the Flight Dynamics facility will be highlighted. The MetOp Flight Dynamics Operations team is led by Anders Meier Soerensen and composed by Pier Luigi Righetti, Francisco Sancho, Antimo Damiano and David Lazaro. The team is supported by Hilda Meixner, responsible for all Flight Dynamics validation activities.

Dynamic loop gain increases upon adopting the supine body position during sleep in patients with obstructive sleep apnoea.

PubMed

Joosten, Simon A; Landry, Shane A; Sands, Scott A; Terrill, Philip I; Mann, Dwayne; Andara, Christopher; Skuza, Elizabeth; Turton, Anthony; Berger, Philip; Hamilton, Garun S; Edwards, Bradley A

2017-11-01

Obstructive sleep apnoea (OSA) is typically worse in the supine versus lateral sleeping position. One potential factor driving this observation is a decrease in lung volume in the supine position which is expected by theory to increase a key OSA pathogenic factor: dynamic ventilatory control instability (i.e. loop gain). We aimed to quantify dynamic loop gain in OSA patients in the lateral and supine positions, and to explore the relationship between change in dynamic loop gain and change in lung volume with position. Data from 20 patients enrolled in previous studies on the effect of body position on OSA pathogenesis were retrospectively analysed. Dynamic loop gain was calculated from routinely collected polysomnographic signals using a previously validated mathematical model. Lung volumes were measured in the awake state with a nitrogen washout technique. Dynamic loop gain was significantly higher in the supine than in the lateral position (0.77 ± 0.15 vs 0.68 ± 0.14, P = 0.012). Supine functional residual capacity (FRC) was significantly lower than lateral FRC (81.0 ± 15.4% vs 87.3 ± 18.4% of the seated FRC, P = 0.021). The reduced FRC we observed on moving to the supine position was predicted by theory to increase loop gain by 10.2 (0.6, 17.1)%, a value similar to the observed increase of 8.4 (-1.5, 31.0)%. Dynamic loop gain increased by a small but statistically significant amount when moving from the lateral to supine position and this may, in part, contribute to the worsening of OSA in the supine sleeping position. © 2017 Asian Pacific Society of Respirology.

14 CFR 137.47 - Operation without position lights.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Operation without position lights. 137.47... AIRCRAFT OPERATIONS Operating Rules § 137.47 Operation without position lights. Notwithstanding part 91 of this chapter, an aircraft may be operated without position lights if prominent unlighted objects are...

14 CFR 137.47 - Operation without position lights.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Operation without position lights. 137.47... AIRCRAFT OPERATIONS Operating Rules § 137.47 Operation without position lights. Notwithstanding part 91 of this chapter, an aircraft may be operated without position lights if prominent unlighted objects are...

14 CFR 137.47 - Operation without position lights.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Operation without position lights. 137.47... AIRCRAFT OPERATIONS Operating Rules § 137.47 Operation without position lights. Notwithstanding part 91 of this chapter, an aircraft may be operated without position lights if prominent unlighted objects are...

14 CFR 137.47 - Operation without position lights.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Operation without position lights. 137.47... AIRCRAFT OPERATIONS Operating Rules § 137.47 Operation without position lights. Notwithstanding part 91 of this chapter, an aircraft may be operated without position lights if prominent unlighted objects are...

Robotic goalie with 3 ms reaction time at 4% CPU load using event-based dynamic vision sensor

PubMed Central

Delbruck, Tobi; Lang, Manuel

2013-01-01

Conventional vision-based robotic systems that must operate quickly require high video frame rates and consequently high computational costs. Visual response latencies are lower-bound by the frame period, e.g., 20 ms for 50 Hz frame rate. This paper shows how an asynchronous neuromorphic dynamic vision sensor (DVS) silicon retina is used to build a fast self-calibrating robotic goalie, which offers high update rates and low latency at low CPU load. Independent and asynchronous per pixel illumination change events from the DVS signify moving objects and are used in software to track multiple balls. Motor actions to block the most “threatening” ball are based on measured ball positions and velocities. The goalie also sees its single-axis goalie arm and calibrates the motor output map during idle periods so that it can plan open-loop arm movements to desired visual locations. Blocking capability is about 80% for balls shot from 1 m from the goal even with the fastest-shots, and approaches 100% accuracy when the ball does not beat the limits of the servo motor to move the arm to the necessary position in time. Running with standard USB buses under a standard preemptive multitasking operating system (Windows), the goalie robot achieves median update rates of 550 Hz, with latencies of 2.2 ± 2 ms from ball movement to motor command at a peak CPU load of less than 4%. Practical observations and measurements of USB device latency are provided1. PMID:24311999

Quantum Dynamical Applications of Salem's Theorem

NASA Astrophysics Data System (ADS)

Damanik, David; Del Rio, Rafael

2009-07-01

We consider the survival probability of a state that evolves according to the Schrödinger dynamics generated by a self-adjoint operator H. We deduce from a classical result of Salem that upper bounds for the Hausdorff dimension of a set supporting the spectral measure associated with the initial state imply lower bounds on a subsequence of time scales for the survival probability. This general phenomenon is illustrated with applications to the Fibonacci operator and the critical almost Mathieu operator. In particular, this gives the first quantitative dynamical bound for the critical almost Mathieu operator.

An efficient predictor-corrector-based dynamic mesh method for multi-block structured grid with extremely large deformation and its applications

NASA Astrophysics Data System (ADS)

Guo, Tongqing; Chen, Hao; Lu, Zhiliang

2018-05-01

Aiming at extremely large deformation, a novel predictor-corrector-based dynamic mesh method for multi-block structured grid is proposed. In this work, the dynamic mesh generation is completed in three steps. At first, some typical dynamic positions are selected and high-quality multi-block grids with the same topology are generated at those positions. Then, Lagrange interpolation method is adopted to predict the dynamic mesh at any dynamic position. Finally, a rapid elastic deforming technique is used to correct the small deviation between the interpolated geometric configuration and the actual instantaneous one. Compared with the traditional methods, the results demonstrate that the present method shows stronger deformation ability and higher dynamic mesh quality.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, K.; Milman, M.

1988-01-01

A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

Decadal changes of surface elevation over permafrost area estimated using reflected GPS signals

NASA Astrophysics Data System (ADS)

Liu, Lin; Larson, Kristine M.

2018-02-01

Conventional benchmark-based survey and Global Positioning System (GPS) have been used to measure surface elevation changes over permafrost areas, usually once or a few times a year. Here we use reflected GPS signals to measure temporal changes of ground surface elevation due to dynamics of the active layer and near-surface permafrost. Applying the GPS interferometric reflectometry technique to the multipath signal-to-noise ratio data collected by a continuously operating GPS receiver mounted deep in permafrost in Barrow, Alaska, we can retrieve the vertical distance between the antenna and reflecting surface. Using this unique kind of observables, we obtain daily changes of surface elevation during July and August from 2004 to 2015. Our results show distinct temporal variations at three timescales: regular thaw settlement within each summer, strong interannual variability that is characterized by a sub-decadal subsidence trend followed by a brief uplift trend, and a secular subsidence trend of 0.26 ± 0.02 cm year-1 during 2004 and 2015. This method provides a new way to fully utilize data from continuously operating GPS sites in cold regions for studying dynamics of the frozen ground consistently and sustainably over a long time.

Segmentation of a Vibro-Shock Cantilever-Type Piezoelectric Energy Harvester Operating in Higher Transverse Vibration Modes

PubMed Central

Zizys, Darius; Gaidys, Rimvydas; Dauksevicius, Rolanas; Ostasevicius, Vytautas; Daniulaitis, Vytautas

2015-01-01

The piezoelectric transduction mechanism is a common vibration-to-electric energy harvesting approach. Piezoelectric energy harvesters are typically mounted on a vibrating host structure, whereby alternating voltage output is generated by a dynamic strain field. A design target in this case is to match the natural frequency of the harvester to the ambient excitation frequency for the device to operate in resonance mode, thus significantly increasing vibration amplitudes and, as a result, energy output. Other fundamental vibration modes have strain nodes, where the dynamic strain field changes sign in the direction of the cantilever length. The paper reports on a dimensionless numerical transient analysis of a cantilever of a constant cross-section and an optimally-shaped cantilever with the objective to accurately predict the position of a strain node. Total effective strain produced by both cantilevers segmented at the strain node is calculated via transient analysis and compared to the strain output produced by the cantilevers segmented at strain nodes obtained from modal analysis, demonstrating a 7% increase in energy output. Theoretical results were experimentally verified by using open-circuit voltage values measured for the cantilevers segmented at optimal and suboptimal segmentation lines. PMID:26703623

Segmentation of a Vibro-Shock Cantilever-Type Piezoelectric Energy Harvester Operating in Higher Transverse Vibration Modes.

PubMed

Zizys, Darius; Gaidys, Rimvydas; Dauksevicius, Rolanas; Ostasevicius, Vytautas; Daniulaitis, Vytautas

2015-12-23

The piezoelectric transduction mechanism is a common vibration-to-electric energy harvesting approach. Piezoelectric energy harvesters are typically mounted on a vibrating host structure, whereby alternating voltage output is generated by a dynamic strain field. A design target in this case is to match the natural frequency of the harvester to the ambient excitation frequency for the device to operate in resonance mode, thus significantly increasing vibration amplitudes and, as a result, energy output. Other fundamental vibration modes have strain nodes, where the dynamic strain field changes sign in the direction of the cantilever length. The paper reports on a dimensionless numerical transient analysis of a cantilever of a constant cross-section and an optimally-shaped cantilever with the objective to accurately predict the position of a strain node. Total effective strain produced by both cantilevers segmented at the strain node is calculated via transient analysis and compared to the strain output produced by the cantilevers segmented at strain nodes obtained from modal analysis, demonstrating a 7% increase in energy output. Theoretical results were experimentally verified by using open-circuit voltage values measured for the cantilevers segmented at optimal and suboptimal segmentation lines.

Advanced Stirling Convertor Dynamic Test Approach and Results

NASA Technical Reports Server (NTRS)

Meer, David W.; Hill, Dennis; Ursic, Joseph

2009-01-01

The U.S. Department of Energy (DOE), Lockheed Martin (LM), and NASA Glenn Research Center (GRC) have been developing the Advanced Stirling Radioisotope Generator (ASRG) for use as a power system for space science missions. As part of the extended operation testing of this power system, the Advanced Stirling Converters (ASC) at NASA John H. Glenn Research Center undergo a vibration test sequence intended to simulate the vibration history of an ASC used in an ASRG for a space mission. This sequence includes testing at Workmanship and Flight Acceptance levels interspersed with periods of extended operation to simulate pre and post fueling. The final step in the test sequence utilizes additional testing at Flight Acceptance levels to simulate launch. To better replicate the acceleration profile seen by an ASC incorporated into an ASRG, the input spectra used in testing the convertors was modified based on dynamic testing of the ASRG Engineering Unit ( ASRG-EU) at Lockheed Martin. This paper presents the vibration test plan for current and future ASC units, including the modified input spectra, and the results of recent tests using these spectra. The test results include data from several accelerometers mounted on the convertors as well as the piston position and output power variables.

Advanced superposition methods for high speed turbopump vibration analysis

NASA Technical Reports Server (NTRS)

Nielson, C. E.; Campany, A. D.

1981-01-01

The small, high pressure Mark 48 liquid hydrogen turbopump was analyzed and dynamically tested to determine the cause of high speed vibration at an operating speed of 92,400 rpm. This approaches the design point operating speed of 95,000 rpm. The initial dynamic analysis in the design stage and subsequent further analysis of the rotor only dynamics failed to predict the vibration characteristics found during testing. An advanced procedure for dynamics analysis was used in this investigation. The procedure involves developing accurate dynamic models of the rotor assembly and casing assembly by finite element analysis. The dynamically instrumented assemblies are independently rap tested to verify the analytical models. The verified models are then combined by modal superposition techniques to develop a completed turbopump model where dynamic characteristics are determined. The results of the dynamic testing and analysis obtained are presented and methods of moving the high speed vibration characteristics to speeds above the operating range are recommended. Recommendations for use of these advanced dynamic analysis procedures during initial design phases are given.

Piezoelectric sensor pen for dynamic signature verification

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

EerNisse, E.P.; Land, C.E.; Snelling, J.B.

The concept of using handwriting dynamics for electronic identification is discussed. A piezoelectric sensor pen for obtaining the pen point dynamics during writing is described. Design equations are derived and details of an operating device are presented. Typical output waveforms are shown to demonstrate the operation of the pen and to show the dissimilarities between dynamics of a genuine signature and an attempted forgery.

The internal model: A study of the relative contribution of proprioception and visual information to failure detection in dynamic systems. [sensitivity of operators versus monitors to failures

NASA Technical Reports Server (NTRS)

Kessel, C.; Wickens, C. D.

1978-01-01

The development of the internal model as it pertains to the detection of step changes in the order of control dynamics is investigated for two modes of participation: whether the subjects are actively controlling those dynamics or are monitoring an autopilot controlling them. A transfer of training design was used to evaluate the relative contribution of proprioception and visual information to the overall accuracy of the internal model. Sixteen subjects either tracked or monitored the system dynamics as a 2-dimensional pursuit display under single task conditions and concurrently with a sub-critical tracking task at two difficulty levels. Detection performance was faster and more accurate in the manual as opposed to the autopilot mode. The concurrent tracking task produced a decrement in detection performance for all conditions though this was more marked for the manual mode. The development of an internal model in the manual mode transferred positively to the automatic mode producing enhanced detection performance. There was no transfer from the internal model developed in the automatic mode to the manual mode.

Evolution of Fitness in Experimental Populations of Vesicular Stomatitis Virus

PubMed Central

Elena, S. F.; Gonzalez-Candelas, F.; Novella, I. S.; Duarte, E. A.; Clarke, D. K.; Domingo, E.; Holland, J. J.; Moya, A.

1996-01-01

The evolution of fitness in experimental clonal populations of vesicular stomatitis virus (VSV) has been compared under different genetic (fitness of initial clone) and demographic (population dynamics) regimes. In spite of the high genetic heterogeneity among replicates within experiments, there is a clear effect of population dynamics on the evolution of fitness. Those populations that went through strong periodic bottlenecks showed a decreased fitness in competition experiments with wild type. Conversely, mutant populations that were transferred under the dynamics of continuous population expansions increased their fitness when compared with the same wild type. The magnitude of the observed effect depended on the fitness of the original viral clone. Thus, high fitness clones showed a larger reduction in fitness than low fitness clones under dynamics with included periodic bottleneck. In contrast, the gain in fitness was larger the lower the initial fitness of the viral clone. The quantitative genetic analysis of the trait ``fitness'' in the resulting populations shows that genetic variation for the trait is positively correlated with the magnitude of the change in the same trait. The results are interpreted in terms of the operation of MULLER's ratchet and genetic drift as opposed to the appearance of beneficial mutations. PMID:8849878

Advances in the Dynallax solid-state dynamic parallax barrier autostereoscopic visualization display system.

PubMed

Peterka, Tom; Kooima, Robert L; Sandin, Daniel J; Johnson, Andrew; Leigh, Jason; DeFanti, Thomas A

2008-01-01

A solid-state dynamic parallax barrier autostereoscopic display mitigates some of the restrictions present in static barrier systems, such as fixed view-distance range, slow response to head movements, and fixed stereo operating mode. By dynamically varying barrier parameters in real time, viewers may move closer to the display and move faster laterally than with a static barrier system, and the display can switch between 3D and 2D modes by disabling the barrier on a per-pixel basis. Moreover, Dynallax can output four independent eye channels when two viewers are present, and both head-tracked viewers receive an independent pair of left-eye and right-eye perspective views based on their position in 3D space. The display device is constructed by using a dual-stacked LCD monitor where a dynamic barrier is rendered on the front display and a modulated virtual environment composed of two or four channels is rendered on the rear display. Dynallax was recently demonstrated in a small-scale head-tracked prototype system. This paper summarizes the concepts presented earlier, extends the discussion of various topics, and presents recent improvements to the system.

Comparative study of cluster Ag17Cu2 by instantaneous normal mode analysis and by isothermal Brownian-type molecular dynamics simulation.

PubMed

Tang, Ping-Han; Wu, Ten-Ming; Yen, Tsung-Wen; Lai, S K; Hsu, P J

2011-09-07

We perform isothermal Brownian-type molecular dynamics simulations to obtain the velocity autocorrelation function and its time Fourier-transformed power spectral density for the metallic cluster Ag(17)Cu(2). The temperature dependences of these dynamical quantities from T = 0 to 1500 K were examined and across this temperature range the cluster melting temperature T(m), which we define to be the principal maximum position of the specific heat is determined. The instantaneous normal mode analysis is then used to dissect the cluster dynamics by calculating the vibrational instantaneous normal mode density of states and hence its frequency integrated value I(j) which is an ensemble average of all vibrational projection operators for the jth atom in the cluster. In addition to comparing the results with simulation data, we look more closely at the entities I(j) of all atoms using the point group symmetry and diagnose their temperature variations. We find that I(j) exhibit features that may be used to deduce T(m), which turns out to agree very well with those inferred from the power spectral density and specific heat. © 2011 American Institute of Physics

Electron-Optical System of the Gyrotron Designed for Operation in the DNP-NMR Spectrometer Cryomagnet ("Gyrotrino")

NASA Astrophysics Data System (ADS)

Bratman, V. L.; Fedotov, A. E.; Kalynov, Yu. K.; Manuilov, V. N.

2017-08-01

The formation and utilization of a helical electron beam are studied theoretically for a gyrotron with a very low operating voltage in a range 1.5-1.8 kV. Such a gyrotron ("gyrotrino") was earlier proposed for operation inside a magnetic system of an NMR spectrometer with a dynamic nuclear polarization upgrade. Despite the very low voltage, the optimization of the electrode shape can provide velocity and positional electron spreads not exceeding these values for conventional high-voltage gyrotrons. A very small cathode-anode separation makes the gyrotrino very sensitive to thermal expansion of the gun elements that should be compensated by movement of the cathode. Estimations for long-pulse and CW regimes of the gyrotrino operation show that the ion background significantly decreases the reduction of the beam potential and leads to an acceptable drift of the electron cyclotron frequency at the voltage front. A satisfactory thermal load on the waste-beam collector located in a strong uniform magnetic field can be achieved due to the omnidirectional heat flow regime occurring in the case of thin beam footprint.

Early Results from Solar Dynamic Space Power System Testing

NASA Technical Reports Server (NTRS)

Shaltens, Richard K.; Mason, Lee S.

1996-01-01

A government/industry team designed, built and tested a 2-kWe solar dynamic space power system in a large thermal vacuum facility with a simulated Sun at the NASA Lewis Research Center. The Lewis facility provides an accurate simulation of temperatures, high vacuum and solar flux as encountered in low-Earth orbit. The solar dynamic system includes a Brayton power conversion unit integrated with a solar receiver which is designed to store energy for continuous power operation during the eclipse phase of the orbit. This paper reviews the goals and status of the Solar Dynamic Ground Test Demonstration project and describes the initial testing, including both operational and performance data. System testing to date has accumulated over 365 hours of power operation (ranging from 400 watts to 2.0-W(sub e)), including 187 simulated orbits, 16 ambient starts and 2 hot restarts. Data are shown for an orbital startup, transient and steady-state orbital operation and shutdown. System testing with varying insolation levels and operating speeds is discussed. The solar dynamic ground test demonstration is providing the experience and confidence toward a successful flight demonstration of the solar dynamic technologies on the Space Station Mir in 1997.

Space Technology 7 Disturbance Reduction System - precision control flight Validation

NASA Technical Reports Server (NTRS)

Carmain, Andrew J.; Dunn, Charles; Folkner, William; Hruby, Vlad; Spence, Doug; O'Donnell, James; Markley, Landis; Maghami, Peiman; Hsu, Oscar; Demmons, N.;

Real-time and rapid GNSS solutions from the M8.2 September 2017 Tehuantepec Earthquake and implications for Earthquake and Tsunami Early Warning Systems

NASA Astrophysics Data System (ADS)

Mencin, D.; Hodgkinson, K. M.; Mattioli, G. S.

2017-12-01

In support of hazard research and Earthquake Early Warning (EEW) Systems UNAVCO operates approximately 800 RT-GNSS stations throughout western North America and Alaska (EarthScope Plate Boundary Observatory), Mexico (TLALOCNet), and the pan-Caribbean region (COCONet). Our system produces and distributes raw data (BINEX and RTCM3) and real-time Precise Point Positions via the Trimble PIVOT Platform (RTX). The 2017-09-08 earthquake M8.2 located 98 km SSW of Tres Picos, Mexico is the first great earthquake to occur within the UNAVCO RT-GNSS footprint, which allows for a rigorous analysis of our dynamic and static processing methods. The need for rapid geodetic solutions ranges from seconds (EEW systems) to several minutes (Tsunami Warning and NEIC moment tensor and finite fault models). Here, we compare and quantify the relative processing strategies for producing static offsets, moment tensors and geodetically determined finite fault models using data recorded during this event. We also compare the geodetic solutions with the USGS NEIC seismically derived moment tensors and finite fault models, including displacement waveforms generated from these models. We define kinematic post-processed solutions from GIPSY-OASISII (v6.4) with final orbits and clocks as a "best" case reference to evaluate the performance of our different processing strategies. We find that static displacements of a few centimeters or less are difficult to resolve in the real-time GNSS position estimates. The standard daily 24-hour solutions provide the highest-quality data-set to determine coseismic offsets, but these solutions are delayed by at least 48 hours after the event. Dynamic displacements, estimated in real-time, however, show reasonable agreement with final, post-processed position estimates, and while individual position estimates have large errors, the real-time solutions offer an excellent operational option for EEW systems, including the use of estimated peak-ground displacements or directly inverting for finite-fault solutions. In the near-field, we find that the geodetically-derived moment tensors and finite fault models differ significantly with seismically-derived models, highlighting the utility of using geodetic data in hazard applications.

Dynamic control of ocular disaccommodation: First and second-order dynamics

PubMed Central

Bharadwaj, Shrikant R.; Schor, Clifton M.

2006-01-01

Velocity and acceleration characteristics provide valuable information about dynamic control of accommodation. We investigated velocity and acceleration of disaccommodation (near-far focusing) from three starting positions. Peak velocity and peak acceleration of disaccommodation increased with the proximity of starting position however for a given starting position they were invariant of response magnitude. These results suggest that all disaccommodation responses are initiated towards a constant primary destination and are switched mid-flight to attain the desired final position. Large discrepancies between the primary destination and desired final position appear to produce overshoots and oscillations of small responses from proximal starting positions. PMID:16045960

On Nth roots of positive operators

NASA Technical Reports Server (NTRS)

Brown, D. R.; Omalley, M. J.

1978-01-01

A bounded operator A on a Hilbert space H was positive. These operators were symmetric, and as such constitute a natural generalization of nonnegative real diagonal matrices. The following result is thus both well known and not surprising: A positive operator has a unique positive square root (under operator composition).

Mapping quantum-classical Liouville equation: projectors and trajectories.

PubMed

Kelly, Aaron; van Zon, Ramses; Schofield, Jeremy; Kapral, Raymond

2012-02-28

The evolution of a mixed quantum-classical system is expressed in the mapping formalism where discrete quantum states are mapped onto oscillator states, resulting in a phase space description of the quantum degrees of freedom. By defining projection operators onto the mapping states corresponding to the physical quantum states, it is shown that the mapping quantum-classical Liouville operator commutes with the projection operator so that the dynamics is confined to the physical space. It is also shown that a trajectory-based solution of this equation can be constructed that requires the simulation of an ensemble of entangled trajectories. An approximation to this evolution equation which retains only the Poisson bracket contribution to the evolution operator does admit a solution in an ensemble of independent trajectories but it is shown that this operator does not commute with the projection operators and the dynamics may take the system outside the physical space. The dynamical instabilities, utility, and domain of validity of this approximate dynamics are discussed. The effects are illustrated by simulations on several quantum systems.

Smooth time-dependent receiver operating characteristic curve estimators.

PubMed

Martínez-Camblor, Pablo; Pardo-Fernández, Juan Carlos

2018-03-01

The receiver operating characteristic curve is a popular graphical method often used to study the diagnostic capacity of continuous (bio)markers. When the considered outcome is a time-dependent variable, two main extensions have been proposed: the cumulative/dynamic receiver operating characteristic curve and the incident/dynamic receiver operating characteristic curve. In both cases, the main problem for developing appropriate estimators is the estimation of the joint distribution of the variables time-to-event and marker. As usual, different approximations lead to different estimators. In this article, the authors explore the use of a bivariate kernel density estimator which accounts for censored observations in the sample and produces smooth estimators of the time-dependent receiver operating characteristic curves. The performance of the resulting cumulative/dynamic and incident/dynamic receiver operating characteristic curves is studied by means of Monte Carlo simulations. Additionally, the influence of the choice of the required smoothing parameters is explored. Finally, two real-applications are considered. An R package is also provided as a complement to this article.

Investigation of mechanical field weakening of axial flux permanent magnet motor

NASA Astrophysics Data System (ADS)

Syaifuddin Mohd, M.; Aziz, A. Rashid A.; Syafiq Mohd, M.

2015-12-01

An investigation of axial flux permanent magnet motor (AFPM) characteristics was conducted with a proposed mechanical field weakening control mechanisms (by means of stator-rotor force manipulation) on the motor through modeling and experimentation. By varying the air gap between at least two bistable positions, the peak torque and top speed of the motor can be extended. The motor high efficiency region can also be extended to cover greater part of the motor operating points. An analytical model of the motor had been developed to study the correlation between the total attraction force (between the rotor and the stator) and the operating parameters of the motor. The test results shows that the motor output complies with the prediction of the research hypothesis and it is likely that a spring locking mechanism can be built to dynamically adjust the air gap of the motor to increase the operating range and could be applied in electric drivetrain applications to improve overall efficiency of electric and hybrid electric vehicles.

Advantages and Disadvantages of 1-Incision, 2-Incision, 3-Incision, and 4-Incision Laparoscopic Cholecystectomy: A Workflow Comparison Study.

PubMed

Bartnicka, Joanna; Zietkiewicz, Agnieszka A; Kowalski, Grzegorz J

2016-08-01

A comparison of 1-port, 2-port, 3-port, and 4-port laparoscopic cholecystectomy techniques from the point of view of workflow criteria was made to both identify specific workflow components that can cause surgical disturbances and indicate good and bad practices. As a case study, laparoscopic cholecystectomies, including manual tasks and interactions within teamwork members, were video-recorded and analyzed on the basis of specially encoded workflow information. The parameters for comparison were defined as follows: surgery time, tool and hand activeness, operator's passive work, collisions, and operator interventions. It was found that 1-port cholecystectomy is the worst technique because of nonergonomic body position, technical complexity, organizational anomalies, and operational dynamism. The differences between laparoscopic techniques are closely linked to the costs of the medical procedures. Hence, knowledge about the surgical workflow can be used for both planning surgical procedures and balancing the expenses associated with surgery.

Filter parameter tuning analysis for operational orbit determination support

NASA Technical Reports Server (NTRS)

Dunham, J.; Cox, C.; Niklewski, D.; Mistretta, G.; Hart, R.

1994-01-01

The use of an extended Kalman filter (EKF) for operational orbit determination support is being considered by the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD). To support that investigation, analysis was performed to determine how an EKF can be tuned for operational support of a set of earth-orbiting spacecraft. The objectives of this analysis were to design and test a general purpose scheme for filter tuning, evaluate the solution accuracies, and develop practical methods to test the consistency of the EKF solutions in an operational environment. The filter was found to be easily tuned to produce estimates that were consistent, agreed with results from batch estimation, and compared well among the common parameters estimated for several spacecraft. The analysis indicates that there is not a sharply defined 'best' tunable parameter set, especially when considering only the position estimates over the data arc. The comparison of the EKF estimates for the user spacecraft showed that the filter is capable of high-accuracy results and can easily meet the current accuracy requirements for the spacecraft included in the investigation. The conclusion is that the EKF is a viable option for FDD operational support.

On the suitability of fibre optical parametric amplifiers for use in all-optical agile photonic networks

NASA Astrophysics Data System (ADS)

Gryspolakis, Nikolaos

The objective of this thesis is to investigate the suitability of fibre optical parametric amplifiers (FOPAs) for use in multi-channel, dynamic networks. First, we investigate their quasi-static behaviour in such an environment. We study the behaviour of a FOPA under realistic conditions and we examine the impact on the gain spectrum of channel addition for several different operating conditions and regimes. In particular, we examine the impact of surviving channel(s) position, input power and channel spacing. We see how these parameters affect the gain tilt as well as its dynamic characteristics, namely the generation of under or over-shoots at the transition point, possible dependence of rise and fall times on any of the aforementioned parameters and how the gain excursions depend on those parameters. For these studies we assume continuous wave operation for all signals. We observe that the gain spectrum changes are a function of the position and the spacing of the channels. We also find that the gain excursion can reach several dBs (up to 5 dB) in the case of channel add/drop and are heavily dependent on the position of the surviving channels. The channels located in the middle of the transmission band are more prone to channel add/drop-induced gain changes. Moreover, we investigate for the first time the FOPA dynamic behaviour in a packet switching scenario. This part of the study assumes that all but one channels normally vary in a packet-switched fashion. The remaining channel (probe channel) is expected to undergo gain variations due to the perturbation of the system experienced by the other channels. Furthermore, we consider several different scenarios for which the channels spacing, per channel input power (PCIP), variance of the power fluctuation and position of the probe channel will change. We find that when the FOPA operates near saturation the target gain is not achieved more than 50% of the time while the peak-to-peak gain excursions can exceed 1 dB. Next, we introduce modulated channels to the amplifier in order to compare their effect on the Bit Error Rate (BER) performance. We consider the impact on FOPAs when employing different modulation formats, such as RZ, NRZ and RZ-DPSK. Carefully selected modulation formats can improve BER performance and reduce the effects of cross-phase modulation, four wave mixing (FWM) products generation or dispersion (non-linear and linear inter-channel interference). Especially for the case of FOPAs, because of the ultra-fast interaction times of the FWM phenomenon, cross gain modulation can be a great deterrent for using FOPAs. We use RZ-DPSK in order to suppress the WDM signal crosstalk. Only by using RZ-DPSK, we obtain an improved receiver sensitivity of 5 dB when operating at 40 Gb/s. Finally, we investigate ways to mitigate such effects as the ones described above (gain excursions, gain tilt, etc.). We demonstrate that by using a ring configuration with optical feedback for the first time in FOPAs, we can achieve all-optical gain clamping (AOGC), mitigating gain excursions and attaining gain, independent of channel input power for a large range of PCIP. For example, with the use of AOGC, we reduce the add/drop-induced gain excursions from 4 dB to 0.6 dB. Also, by the combined use of AOGC and RZ-DPSK, we mitigate most of the aforementioned hindrances described above.

Examining the equivalence of Bakamjian-Thomas mass operators in different forms of dynamics

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

Polyzou, W. N.

We discus the proof of the equivalence of relativistic quantum mechanical models based on the generalized Bakamjian-Thomas construction in all of Dirac's forms of dynamics. Explicit representations of the equivalent mass operators are given in all three of Dirac's forms of dynamics.

Loading, electromyograph, and motion during exercise

NASA Technical Reports Server (NTRS)

Figueroa, Fernando

1993-01-01

A system is being developed to gather kineto-dynamic data for a study to determine the load vectors applied to bone during exercise on equipment similar to that used in space. This information will quantify bone loading for exercise countermeasures development. Decreased muscle loading and external loading of bone during weightlessness results in cancellous bone loss of 1 percent per month in the lower extremities and 2 percent per month in the calcaneous. It is hypothesized that loading bone appropriately during exercise may prevent the bone loss. The system consists of an ergometer instrumented to provide position of the pedal (foot), pedaling forces on the foot (on the sagittal plane), and force on the seat. Accelerometers attached to the limbs will provide acceleration. These data will be used as input to an analytical model of the limb to determine forces on the bones and on groups of muscles. EMG signals from activity in the muscles will also be used in conjunction with the equations of mechanics of motion to be able to discern forces exerted by specific muscles. The tasks to be carried out include: design of various mechanical components to mount transducers, specification of mechanical components, specification of position transducers, development of a scheme to control the data acquisition instruments (TEAC recorder and optical encoder board), development of a dynamic model of the limbs in motion, and development of an overall scheme for data collection analysis and presentation. At the present time, all the hardware components of the system are operational, except for a computer board to gather position data from the pedals and crank. This board, however, may be put to use by anyone with background in computer based instrumentation. The software components are not all done. Software to transfer data recorded from the EMG measurements is operational, software to drive the optical encoder card is mostly done. The equations to model the kinematics and dynamics of motion of the limbs have been developed, but they have not yet been implemented in software. Aside from the development of the hardware and software components of the system, the methodology to use accelerometers and encoders and the formulation of the appropriate equations are an important contribution to the area of biomechanics, particularly in space applications.

Heisenberg operator approach for spin squeezing dynamics

NASA Astrophysics Data System (ADS)

Bhattacherjee, Aranya Bhuti; Sharma, Deepti; Pelster, Axel

2017-12-01

We reconsider the one-axis twisting Hamiltonian, which is commonly used for generating spin squeezing, and treat its dynamics within the Heisenberg operator approach. To this end we solve the underlying Heisenberg equations of motion perturbatively and evaluate the expectation values of the resulting time-dependent Heisenberg operators in order to determine approximately the dynamics of spin squeezing. Comparing our results with those originating from exact numerics reveals that they are more accurate than the commonly used frozen spin approximation.

High Fidelity, “Faster than Real-Time” Simulator for Predicting Power System Dynamic Behavior - Final Technical Report

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

Flueck, Alex

The “High Fidelity, Faster than Real­Time Simulator for Predicting Power System Dynamic Behavior” was designed and developed by Illinois Institute of Technology with critical contributions from Electrocon International, Argonne National Laboratory, Alstom Grid and McCoy Energy. Also essential to the project were our two utility partners: Commonwealth Edison and AltaLink. The project was a success due to several major breakthroughs in the area of large­scale power system dynamics simulation, including (1) a validated faster than real­ time simulation of both stable and unstable transient dynamics in a large­scale positive sequence transmission grid model, (2) a three­phase unbalanced simulation platform formore » modeling new grid devices, such as independently controlled single­phase static var compensators (SVCs), (3) the world’s first high fidelity three­phase unbalanced dynamics and protection simulator based on Electrocon’s CAPE program, and (4) a first­of­its­ kind implementation of a single­phase induction motor model with stall capability. The simulator results will aid power grid operators in their true time of need, when there is a significant risk of cascading outages. The simulator will accelerate performance and enhance accuracy of dynamics simulations, enabling operators to maintain reliability and steer clear of blackouts. In the long­term, the simulator will form the backbone of the newly conceived hybrid real­time protection and control architecture that will coordinate local controls, wide­area measurements, wide­area controls and advanced real­time prediction capabilities. The nation’s citizens will benefit in several ways, including (1) less down time from power outages due to the faster­than­real­time simulator’s predictive capability, (2) higher levels of reliability due to the detailed dynamics plus protection simulation capability, and (3) more resiliency due to the three­ phase unbalanced simulator’s ability to model three­phase and single­ phase networks and devices.« less

Relaxation oscillations and hierarchy of feedbacks in MAPK signaling

NASA Astrophysics Data System (ADS)

Kochańczyk, Marek; Kocieniewski, Paweł; Kozłowska, Emilia; Jaruszewicz-Błońska, Joanna; Sparta, Breanne; Pargett, Michael; Albeck, John G.; Hlavacek, William S.; Lipniacki, Tomasz

2017-01-01

We formulated a computational model for a MAPK signaling cascade downstream of the EGF receptor to investigate how interlinked positive and negative feedback loops process EGF signals into ERK pulses of constant amplitude but dose-dependent duration and frequency. A positive feedback loop involving RAS and SOS, which leads to bistability and allows for switch-like responses to inputs, is nested within a negative feedback loop that encompasses RAS and RAF, MEK, and ERK that inhibits SOS via phosphorylation. This negative feedback, operating on a longer time scale, changes switch-like behavior into oscillations having a period of 1 hour or longer. Two auxiliary negative feedback loops, from ERK to MEK and RAF, placed downstream of the positive feedback, shape the temporal ERK activity profile but are dispensable for oscillations. Thus, the positive feedback introduces a hierarchy among negative feedback loops, such that the effect of a negative feedback depends on its position with respect to the positive feedback loop. Furthermore, a combination of the fast positive feedback involving slow-diffusing membrane components with slower negative feedbacks involving faster diffusing cytoplasmic components leads to local excitation/global inhibition dynamics, which allows the MAPK cascade to transmit paracrine EGF signals into spatially non-uniform ERK activity pulses.

Design of an intelligent flight instrumentation unit using embedded RTOS

NASA Astrophysics Data System (ADS)

Estrada-Marmolejo, R.; García-Torales, G.; Torres-Ortega, H. H.; Flores, J. L.

2011-09-01

Micro Unmanned Aerial Vehicles (MUAV) must calculate its spatial position to control the flight dynamics, which is done by Inertial Measurement Units (IMUs). MEMS Inertial sensors have made possible to reduce the size and power consumption of such units. Commonly the flight instrumentation operates independently of the main processor. This work presents an instrumentation block design, which reduces size and power consumption of the complete system of a MUAV. This is done by coupling the inertial sensors to the main processor without considering any intermediate level of processing aside. Using Real Time Operating Systems (RTOS) reduces the number of intermediate components, increasing MUAV reliability. One advantage is the possibility to control several different sensors with a single communication bus. This feature of the MEMS sensors makes a smaller and less complex MUAV design possible.

WEB-server for search of a periodicity in amino acid and nucleotide sequences

NASA Astrophysics Data System (ADS)

E Frenkel, F.; Skryabin, K. G.; Korotkov, E. V.

2017-12-01

A new web server (http://victoria.biengi.ac.ru/splinter/login.php) was designed and developed to search for periodicity in nucleotide and amino acid sequences. The web server operation is based upon a new mathematical method of searching for multiple alignments, which is founded on the position weight matrices optimization, as well as on implementation of the two-dimensional dynamic programming. This approach allows the construction of multiple alignments of the indistinctly similar amino acid and nucleotide sequences that accumulated more than 1.5 substitutions per a single amino acid or a nucleotide without performing the sequences paired comparisons. The article examines the principles of the web server operation and two examples of studying amino acid and nucleotide sequences, as well as information that could be obtained using the web server.

The Geometric Phase of Stock Trading.

PubMed

Altafini, Claudio

2016-01-01

Geometric phases describe how in a continuous-time dynamical system the displacement of a variable (called phase variable) can be related to other variables (shape variables) undergoing a cyclic motion, according to an area rule. The aim of this paper is to show that geometric phases can exist also for discrete-time systems, and even when the cycles in shape space have zero area. A context in which this principle can be applied is stock trading. A zero-area cycle in shape space represents the type of trading operations normally carried out by high-frequency traders (entering and exiting a position on a fast time-scale), while the phase variable represents the cash balance of a trader. Under the assumption that trading impacts stock prices, even zero-area cyclic trading operations can induce geometric phases, i.e., profits or losses, without affecting the stock quote.

Design and Effectiveness of Intelligent Tutors for Operators of Complex Dynamic Systems: A Tutor Implementation for Satellite System Operators.

ERIC Educational Resources Information Center

Mitchell, Christine M.; Govindaraj, T.

1990-01-01

Discusses the use of intelligent tutoring systems as opposed to traditional on-the-job training for training operators of complex dynamic systems and describes the computer architecture for a system for operators of a NASA (National Aeronautics and Space Administration) satellite control system. An experimental evaluation with college students is…

Mechanisms test bed math model modification and simulation support

NASA Technical Reports Server (NTRS)

Gilchrist, Andrea C.; Tobbe, Patrick A.

1995-01-01

This report summarizes the work performed under contract NAS8-38771 in support of the Marshall Space Flight Center Six Degree of Freedom Motion Facility and Flight Robotics Laboratory. The contract activities included the development of the two flexible body and Remote Manipulator System simulations, Dynamic Overhead Target Simulator control system and operating software, Global Positioning System simulation, and Manipulator Coupled Spacecraft Controls Testbed. Technical support was also provided for the Lightning Imaging Sensor and Solar X-Ray Imaging programs. The cover sheets and introductory sections for the documentation written under this contract are provided as an appendix.

Real time simulation using position sensing

NASA Technical Reports Server (NTRS)

Isbell, William B. (Inventor); Taylor, Jason A. (Inventor); Studor, George F. (Inventor); Womack, Robert W. (Inventor); Hilferty, Michael F. (Inventor); Bacon, Bruce R. (Inventor)

2000-01-01

An interactive exercise system including exercise equipment having a resistance system, a speed sensor, a controller that varies the resistance setting of the exercise equipment, and a playback device for playing pre-recorded video and audio. The controller, operating in conjunction with speed information from the speed sensor and terrain information from media table files, dynamically varies the resistance setting of the exercise equipment in order to simulate varying degrees of difficulty while the playback device concurrently plays back the video and audio to create the simulation that the user is exercising in a natural setting such as a real-world exercise course.

A class of multi-period semi-variance portfolio for petroleum exploration and development

NASA Astrophysics Data System (ADS)

Guo, Qiulin; Li, Jianzhong; Zou, Caineng; Guo, Yujuan; Yan, Wei

2012-10-01

Variance is substituted by semi-variance in Markowitz's portfolio selection model. For dynamic valuation on exploration and development projects, one period portfolio selection is extended to multi-period. In this article, a class of multi-period semi-variance exploration and development portfolio model is formulated originally. Besides, a hybrid genetic algorithm, which makes use of the position displacement strategy of the particle swarm optimiser as a mutation operation, is applied to solve the multi-period semi-variance model. For this class of portfolio model, numerical results show that the mode is effective and feasible.

KSC-2009-6831

NASA Image and Video Library

2009-12-15

CAPE CANAVERAL, Fla. – At the Astrotech Space Operations facility in Titusville, Fla., the Solar Dynamics Observatory, or SDO, secured to a Ransome table, has been bagged and is rotated into a vertical position. SDO is the first space weather research network mission in NASA's Living With a Star Program. The spacecraft's long-term measurements will give solar scientists in-depth information about changes in the sun's magnetic field and insight into how they affect Earth. Liftoff on an Atlas V rocket is scheduled for Feb. 3, 2010. For information on SDO, visit http://www.nasa.gov/sdo. Photo credit: NASA/Troy Cryder

KSC-2009-6829

NASA Image and Video Library

2009-12-15

CAPE CANAVERAL, Fla. – At the Astrotech Space Operations facility in Titusville, Fla., the Solar Dynamics Observatory, or SDO, secured to a Ransome table, has been bagged and is being rotated from a horizontal to a vertical position. SDO is the first space weather research network mission in NASA's Living With a Star Program. The spacecraft's long-term measurements will give solar scientists in-depth information about changes in the sun's magnetic field and insight into how they affect Earth. Liftoff on an Atlas V rocket is scheduled for Feb. 3, 2010. For information on SDO, visit http://www.nasa.gov/sdo. Photo credit: NASA/Troy Cryder

KSC-2009-6830

NASA Image and Video Library

2009-12-15

CAPE CANAVERAL, Fla. – At the Astrotech Space Operations facility in Titusville, Fla., technicians from NASA's Goddard Space Flight Center rotate the bagged Solar Dynamics Observatory, or SDO, secured to a Ransome table, into a vertical position. SDO is the first space weather research network mission in NASA's Living With a Star Program. The spacecraft's long-term measurements will give solar scientists in-depth information about changes in the sun's magnetic field and insight into how they affect Earth. Liftoff on an Atlas V rocket is scheduled for Feb. 3, 2010. For information on SDO, visit http://www.nasa.gov/sdo. Photo credit: NASA/Troy Cryder

A systems engineering management approach to resource management applications

NASA Technical Reports Server (NTRS)

Hornstein, Rhoda Shaller

1989-01-01

The author presents a program management response to the following question: How can the traditional practice of systems engineering management, including requirements specification, be adapted, enhanced, or modified to build future planning and scheduling systems for effective operations? The systems engineering management process, as traditionally practiced, is examined. Extensible resource management systems are discussed. It is concluded that extensible systems are a partial solution to problems presented by requirements that are incomplete, partially immeasurable, and often dynamic. There are positive indications that resource management systems have been characterized and modeled sufficiently to allow their implementation as extensible systems.

Generation of Simulated Tracking Data for LADEE Operational Readiness Testing

NASA Technical Reports Server (NTRS)

Woodburn, James; Policastri, Lisa; Owens, Brandon

2015-01-01

Operational Readiness Tests were an important part of the pre-launch preparation for the LADEE mission. The generation of simulated tracking data to stress the Flight Dynamics System and the Flight Dynamics Team was important for satisfying the testing goal of demonstrating that the software and the team were ready to fly the operational mission. The simulated tracking was generated in a manner to incorporate the effects of errors in the baseline dynamical model, errors in maneuver execution and phenomenology associated with various tracking system based components. The ability of the mission team to overcome these challenges in a realistic flight dynamics scenario indicated that the team and flight dynamics system were ready to fly the LADEE mission. Lunar Atmosphere and Dust Environment.

Dynamics of ions generated by 2.3 kJ UNU/ICTP plasma focus device

NASA Astrophysics Data System (ADS)

Tangitsomboon, P.; Ngamrungroj, D.; Chandrema, E.; Mongkolnavin, R.

2017-09-01

UNU/ICTP Plasma Focus Device has been used as an ions source in many applications. In this paper, the full dynamic range of argon ions produced by the Plasma Focus Device from its initial phase through to beyond the focussing phase of the plasma is shown experimentally. The average speed of the ions is determined by measuring time taken for ions to reach different positions using magnetic probes and ion probes. Also, by adapting a well-established computational model that represents the dynamics of plasma in such device, it is also possible to determine the speed of these ions up to the point where the movement of the plasma sheath under the Lorentz force is completed. However, it was found that the speed determined by the computational model is higher in comparison with the values obtained experimentally at all different operating pressures. The ions’ speed found for operating pressure of 0.5 mbar, 1.0 mbar, 1.5 mbar and 2.0 mbar were 5.16 ± 0.04 cm/μs, 4.24 ± 0.04 cm/μs, 3.81 ± 0.03cm/μs and 3.16 ± 0.04 cm/μs respectively. These correspond to the ion energy of 551.38 ± 8.55 eV, 372.29 ± 7.02 eV, 300.61 ± 4.73 eV and 206.79 ± 5.24 eV.

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.

Efficient, Decentralized Detection of Qualitative Spatial Events in a Dynamic Scalar Field

PubMed Central

Jeong, Myeong-Hun; Duckham, Matt

2015-01-01

This paper describes an efficient, decentralized algorithm to monitor qualitative spatial events in a dynamic scalar field. The events of interest involve changes to the critical points (i.e., peak, pits and passes) and edges of the surface network derived from the field. Four fundamental types of event (appearance, disappearance, movement and switch) are defined. Our algorithm is designed to rely purely on qualitative information about the neighborhoods of nodes in the sensor network and does not require information about nodes’ coordinate positions. Experimental investigations confirm that our algorithm is efficient, with O(n) overall communication complexity (where n is the number of nodes in the sensor network), an even load balance and low operational latency. The accuracy of event detection is comparable to established centralized algorithms for the identification of critical points of a surface network. Our algorithm is relevant to a broad range of environmental monitoring applications of sensor networks. PMID:26343672

Glacial dynamics (glaciology)

NASA Technical Reports Server (NTRS)

Whillans, Ian

1991-01-01

Recent results are reviewed from studies of ice dynamics that relate to the objectives of the West Antarctic Ice Sheet initiative. The large amount of knowledge gained is emphasized. The best evidence shows that the ice sheet in West Antarctic is the most rapidly changing ice sheet on earth today. Its rate of change is much faster than most glaciologists had expected and it is changing in a manner much more complex than foreseen. It appears that the changes have two broad causes: a delayed but ongoing response to the termination of the last glaciation about 10,000 years ago; and automatic, internally caused flow adjustments. It is not fully known why the response to the last global termination is so delayed, nor is the operation of internal instabilities understood, and certainly the position has not yet been attained to predict the future course of the evolution of the ice sheet.

Design of a Parachute Canopy Instrumentation Platform

NASA Technical Reports Server (NTRS)

Alshahin, Wahab M.; Daum, Jared S.; Holley, James J.; Litteken, Douglas A.; Vandewalle, Michael T.

2015-01-01

This paper discusses the current technology available to design and develop a reliable and compact instrumentation platform for parachute system data collection and command actuation. Wireless communication with a parachute canopy will be an advancement to the state of the art of parachute design, development, and testing. Embedded instrumentation of the parachute canopy will provide reefing line tension, skirt position data, parachute health monitoring, and other telemetry, further validating computer models and giving engineering insight into parachute dynamics for both Earth and Mars entry that is currently unavailable. This will allow for more robust designs which are more optimally designed in terms of structural loading, less susceptible to adverse dynamics, and may eventually pave the way to currently unattainable advanced concepts of operations. The development of this technology has dual use potential for a variety of other applications including inflatable habitats, aerodynamic decelerators, heat shields, and other high stress environments.

Understanding the Sun-Earth Libration Point Orbit Formation Flying Challenges For WFIRST and Starshade

NASA Technical Reports Server (NTRS)

Webster, Cassandra M.; Folta, David C.

2017-01-01

In order to fly an occulter in formation with a telescope at the Sun-Earth L2 (SEL2) Libration Point, one must have a detailed understanding of the dy-namics that govern the restricted three body system. For initial purposes, a linear approximation is satisfactory, but operations will require a high-fidelity modeling tool along with strategic targeting methods in order to be successful. This paper focuses on the challenging dynamics of the transfer trajectories to achieve the relative positioning of two spacecraft to fly in formation at SEL2, in our case, the Wide-Field Infrared Survey Telescope (WFIRST) and a proposed Starshade. By modeling the formation transfers using a high fidelity tool, an accurate V approximation can be made to as-sist with the development of the subsystem design required for a WFIRST and Starshade formation flight mission.

GPS as a tool used in tourism as illustrated by selected mobile applications

NASA Astrophysics Data System (ADS)

Szark-Eckardt, Mirosława

2017-11-01

Mobile technologies have permanently changed our way of life. Their availability, common use and introducing to virtually all areas of human activity means that we can call present times the age of mobility [1]. Mobile applications based on the GPS module belong to the most dynamically developing apps as particularly reflected in tourism. A multitude of applications dedicated to different participants of tourism, which can be operated by means of smartphones or simple GPS trackers, are encouraging more people to reach for this kind of technology perceiving it as a basic tool used in today's tourism. Due to an increasingly wider access to mobile applications, not only more dynamic development of tourism itself can be noticed, but also the growth of healthy behaviours that comprise a positive "side effect" of tourism based on mobile technology. This article demonstrates a correlation between health and physical condition of the population and the use of mobile applications.

Efficient, Decentralized Detection of Qualitative Spatial Events in a Dynamic Scalar Field.

PubMed

Jeong, Myeong-Hun; Duckham, Matt

2015-08-28

This paper describes an efficient, decentralized algorithm to monitor qualitative spatial events in a dynamic scalar field. The events of interest involve changes to the critical points (i.e., peak, pits and passes) and edges of the surface network derived from the field. Four fundamental types of event (appearance, disappearance, movement and switch) are defined. Our algorithm is designed to rely purely on qualitative information about the neighborhoods of nodes in the sensor network and does not require information about nodes' coordinate positions. Experimental investigations confirm that our algorithm is efficient, with O(n) overall communication complexity (where n is the number of nodes in the sensor network), an even load balance and low operational latency. The accuracy of event detection is comparable to established centralized algorithms for the identification of critical points of a surface network. Our algorithm is relevant to a broad range of environmental monitoring applications of sensor networks.

EDEN: evolutionary dynamics within environments

PubMed Central

Münch, Philipp C.; Stecher, Bärbel; McHardy, Alice C.

2017-01-01

Abstract Summary Metagenomics revolutionized the field of microbial ecology, giving access to Gb-sized datasets of microbial communities under natural conditions. This enables fine-grained analyses of the functions of community members, studies of their association with phenotypes and environments, as well as of their microevolution and adaptation to changing environmental conditions. However, phylogenetic methods for studying adaptation and evolutionary dynamics are not able to cope with big data. EDEN is the first software for the rapid detection of protein families and regions under positive selection, as well as their associated biological processes, from meta- and pangenome data. It provides an interactive result visualization for detailed comparative analyses. Availability and implementation EDEN is available as a Docker installation under the GPL 3.0 license, allowing its use on common operating systems, at http://www.github.com/hzi-bifo/eden. Contact alice.mchardy@helmholtz-hzi.de Supplementary information Supplementary data are available at Bioinformatics online. PMID:28637301

Global dynamics of selective attention and its lapses in primary auditory cortex.

PubMed

Lakatos, Peter; Barczak, Annamaria; Neymotin, Samuel A; McGinnis, Tammy; Ross, Deborah; Javitt, Daniel C; O'Connell, Monica Noelle

2016-12-01

Previous research demonstrated that while selectively attending to relevant aspects of the external world, the brain extracts pertinent information by aligning its neuronal oscillations to key time points of stimuli or their sampling by sensory organs. This alignment mechanism is termed oscillatory entrainment. We investigated the global, long-timescale dynamics of this mechanism in the primary auditory cortex of nonhuman primates, and hypothesized that lapses of entrainment would correspond to lapses of attention. By examining electrophysiological and behavioral measures, we observed that besides the lack of entrainment by external stimuli, attentional lapses were also characterized by high-amplitude alpha oscillations, with alpha frequency structuring of neuronal ensemble and single-unit operations. Entrainment and alpha-oscillation-dominated periods were strongly anticorrelated and fluctuated rhythmically at an ultra-slow rate. Our results indicate that these two distinct brain states represent externally versus internally oriented computational resources engaged by large-scale task-positive and task-negative functional networks.

Suicide to harass others: clues from mythology to understanding suicide bombing attacks.

PubMed

Preti, Antonio

2006-01-01

Suicide by revenge, the Samsonic suicide, and the suicide by devotio, all described in classical mythology and also reported in the ethnographic literature, belong to the same class of suicidal behaviors as kamikaze suicide and the suicide bombing attack: suicide to harass and burden others or suicide with a hostile intent. The lack of a social dimension to share in a positive manner may lead an individual to integrate him/herself in another social structure, e.g., a military organization, which allows the individual to express his/her desires and personal identity only by destroying others and themselves. The dynamics of these forms of suicide are also likely to work in other displays of life-threatening behavior, such as family annihilation, mass murder, and spree killing. A more thorough investigation of the dynamics operating in suicide bombing attacks could, therefore, contribute to preventative strategies against violence at large.

Gas Dynamics of a Recessed Nozzle in Its Displacement in the Radial Direction

NASA Astrophysics Data System (ADS)

Volkov, K. N.; Denisikhin, S. V.; Emel'yanov, V. N.

2017-07-01

Numerical simulation of gasdynamic processes accompanying the operation of the recessed nozzle of a solid-propellant rocket motor in its linear displacement is carried out. Reynolds-averaged Navier-Stokes equations closed using the equations of a k-ɛ turbulence model are used for calculations. The calculations are done for different rates of flow of the gas in the main channel and in the over-nozzle gap, and also for different displacements of the nozzle from an axisymmetric position. The asymmetry of geometry gives rise to a complicated spatial flow pattern characterized by the presence of singular points of spreading and by substantially inhomogeneous velocity and pressure distributions. The vortex flow pattern resulting from the linear displacement of the nozzle from an axisymmetric position is compared with the data of experimental visualization. The change in the vortex pattern of the flow and in the position of the singular points as a function of the flow coefficient and the displacement of the nozzle from the symmetry axis is discussed.

Real-time Kinematic Positioning of INS Tightly Aided Multi-GNSS Ionospheric Constrained PPP

PubMed Central

Gao, Zhouzheng; Shen, Wenbin; Zhang, Hongping; Niu, Xiaoji; Ge, Maorong

2016-01-01

Real-time Precise Point Positioning (PPP) technique is being widely applied for providing precise positioning services with the significant improvement on satellite precise products accuracy. With the rapid development of the multi-constellation Global Navigation Satellite Systems (multi-GNSS), currently, about 80 navigation satellites are operational in orbit. Obviously, PPP performance is dramatically improved with all satellites compared to that of GPS-only PPP. However, the performance of PPP could be evidently affected by unexpected and unavoidable severe observing environments, especially in the dynamic applications. Consequently, we apply Inertial Navigation System (INS) to the Ionospheric-Constrained (IC) PPP to overcome such drawbacks. The INS tightly aided multi-GNSS IC-PPP model can make full use of GNSS and INS observations to improve the PPP performance in terms of accuracy, availability, continuity, and convergence speed. Then, a set of airborne data is analyzed to evaluate and validate the improvement of multi-GNSS and INS on the performance of IC-PPP. PMID:27470270

Real-time Kinematic Positioning of INS Tightly Aided Multi-GNSS Ionospheric Constrained PPP.

PubMed

Gao, Zhouzheng; Shen, Wenbin; Zhang, Hongping; Niu, Xiaoji; Ge, Maorong

2016-07-29

Real-time Precise Point Positioning (PPP) technique is being widely applied for providing precise positioning services with the significant improvement on satellite precise products accuracy. With the rapid development of the multi-constellation Global Navigation Satellite Systems (multi-GNSS), currently, about 80 navigation satellites are operational in orbit. Obviously, PPP performance is dramatically improved with all satellites compared to that of GPS-only PPP. However, the performance of PPP could be evidently affected by unexpected and unavoidable severe observing environments, especially in the dynamic applications. Consequently, we apply Inertial Navigation System (INS) to the Ionospheric-Constrained (IC) PPP to overcome such drawbacks. The INS tightly aided multi-GNSS IC-PPP model can make full use of GNSS and INS observations to improve the PPP performance in terms of accuracy, availability, continuity, and convergence speed. Then, a set of airborne data is analyzed to evaluate and validate the improvement of multi-GNSS and INS on the performance of IC-PPP.

Differentially-driven MEMS spatial light modulator

DOEpatents

Stappaerts, Eddy A.

2004-09-14

A MEMS SLM and an electrostatic actuator associated with a pixel in an SLM. The actuator has three electrodes: a lower electrode; an upper electrode fixed with respect to the lower electrode; and a center electrode suspended and actuable between the upper and lower electrodes. The center electrode is capable of resiliently-biasing to restore the center electrode to a non-actuated first equilibrium position, and a mirror is operably connected to the center electrode. A first voltage source provides a first bias voltage across the lower and center electrodes and a second voltage source provides a second bias voltage across the upper and center electrodes, with the first and second bias voltages determining the non-actuated first equilibrium position of the center electrode. A third voltage source provides a variable driver voltage across one of the lower/center and upper/center electrode pairs in series with the corresponding first or second bias voltage, to actuate the center electrode to a dynamic second equilibrium position.

Flight Dynamics Operations: Methods and Lessons Learned from Space Shuttle Orbit Operations

NASA Technical Reports Server (NTRS)

Cutri-Kohart, Rebecca M.

2011-01-01

The Flight Dynamics Officer is responsible for trajectory maintenance of the Space Shuttle. This paper will cover high level operational considerations, methodology, procedures, and lessons learned involved in performing the functions of orbit and rendezvous Flight Dynamics Officer and leading the team of flight dynamics specialists during different phases of flight. The primary functions that will be address are: onboard state vector maintenance, ground ephemeris maintenance, calculation of ground and spacecraft acquisitions, collision avoidance, burn targeting for the primary mission, rendezvous, deorbit and contingencies, separation sequences, emergency deorbit preparation, mass properties coordination, payload deployment planning, coordination with the International Space Station, and coordination with worldwide trajectory customers. Each of these tasks require the Flight Dynamics Officer to have cognizance of the current trajectory state as well as the impact of future events on the trajectory plan in order to properly analyze and react to real-time changes. Additionally, considerations are made to prepare flexible alternative trajectory plans in the case timeline changes or a systems failure impact the primary plan. The evolution of the methodology, procedures, and techniques used by the Flight Dynamics Officer to perform these tasks will be discussed. Particular attention will be given to how specific Space Shuttle mission and training simulation experiences, particularly off-nominal or unexpected events such as shortened mission durations, tank failures, contingency deorbit, navigation errors, conjunctions, and unexpected payload deployments, have influenced the operational procedures and training for performing Space Shuttle flight dynamics operations over the history of the program. These lessons learned can then be extended to future vehicle trajectory operations.

A Few Integrable Dynamical Systems, Recurrence Operators, Expanding Integrable Models and Hamiltonian Structures by the r-Matrix Method

NASA Astrophysics Data System (ADS)

Zhang, Yu-Feng; Muhammad, Iqbal; Yue, Chao

2017-10-01

We extend two known dynamical systems obtained by Blaszak, et al. via choosing Casimir functions and utilizing Novikov-Lax equation so that a series of novel dynamical systems including generalized Burgers dynamical system, heat equation, and so on, are followed to be generated. Then we expand some differential operators presented in the paper to deduce two types of expanding dynamical models. By taking the generalized Burgers dynamical system as an example, we deform its expanding model to get a half-expanding system, whose recurrence operator is derived from Lax representation, and its Hamiltonian structure is also obtained by adopting a new way. Finally, we expand the generalized Burgers dynamical system to the (2+1)-dimensional case whose Hamiltonian structure is derived by Poisson tensor and gradient of the Casimir function. Besides, a kind of (2+1)-dimensional expanding dynamical model of the (2+1)-dimensional dynamical system is generated as well. Supported by the Fundamental Research Funds for the Central University under Grant No. 2017XKZD11

Nonlinear Dynamics of a Spring-Supported Piston in a Vibrated Liquid-Filled Housing: II. Experiments

NASA Astrophysics Data System (ADS)

O'Hern, T. J.; Torczynski, J. R.; Clausen, J. R.

2016-11-01

The nonlinear dynamics of a piston supported by a spring in a vibrated liquid-filled housing is investigated experimentally. The housing containing the piston and the liquid is subjected to vibrations along its axis. A post fixed to the housing penetrates a hole through the piston and produces a flow resistance that depends on piston position. Flexible bellows attached to the housing ends enable the piston, liquid, and bellows to execute a collective motion that forces little liquid through the flow resistance. The low damping of this motion leads to a resonance, at which the flow-resistance nonlinearity produces a net force on the piston that can cause it to compress its spring. Experiments are performed to investigate the nonlinear dynamics of this system, and these results are compared to theoretical and numerical results. Sandia National Laboratories is a multi-program laboratory managed and operated by Sandia Corporation, a wholly owned subsidiary of Lockheed Martin Corporation, for the U.S. Department of Energy's National Nuclear Security Administration under contract DE-AC04-94AL85000.

Space robot simulator vehicle

NASA Technical Reports Server (NTRS)

Cannon, R. H., Jr.; Alexander, H.

1985-01-01

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

Dynamic Forms. Part 2; Application to Aircraft Guidance

NASA Technical Reports Server (NTRS)

Meyer, George; Smith, G. Allan

1997-01-01

The paper describes a method for guiding a dynamic system through a given set of points. The paradigm is a fully automatic aircraft subject to air traffic control (ATC). The ATC provides a sequence of waypoints through which the aircraft trajectory must pass. The waypoints typically specify time, position, and velocity. The guidance problem is to synthesize a system state trajectory that satisfies both the ATC and aircraft constraints. Complications arise because the controlled process is multidimensional, multiaxis, nonlinear, highly coupled, and the state space is not flat. In addition, there is a multitude of operating modes, which may number in the hundreds. Each such mode defines a distinct state space model of the process by specifying the state space coordinatization, the partition of the controls into active controls and configuration controls, and the output map. Furthermore, mode transitions are required to be smooth. The proposed guidance algorithm is based on the inversion of the pure feedback approximation, followed by correction for the effects of zero dynamics. The paper describes the structure and major modules of the algorithm, and the performance is illustrated by several example aircraft maneuvers.

System dynamics model of taxi management in metropolises: Economic and environmental implications for Beijing.

PubMed

Wang, Hao; Zhang, Kai; Chen, Junhua; Wang, Zhifeng; Li, Guijun; Yang, Yuqi

2018-05-01

Taxis are an important component of urban passenger transport. Research on the daily dispatching of taxis and the utility of governmental management is important for the improvement of passenger travel, taxi driver income and environmental impacts. However, urban taxi management is a complex and dynamic system that is affected by many factors, and positive/negative feedback relationships and nonlinear interactions exist between each subsystem and variable. Therefore, conventional research methods can hardly depict its characteristics comprehensively. To bridge this gap, this paper develops a system dynamics model of urban taxi management, in which the empty-loaded rate and total demand are selected as key factors affecting taxi dispatching, and the impacts of taxi fares on driver income and travel demand are taken into account. After the validation of the model, taxi operations data derived from a prior analysis of origin-destination data of Beijing taxis are used as input for the model to simulate the taxi market in Beijing. Finally, economic and environmental implications are provided for the government to optimise policies on taxi management. Copyright © 2018 Elsevier Ltd. All rights reserved.

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2004-01-01

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2004-01-01

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

NASA Technical Reports Server (NTRS)

Talukder, Ashit; Matthies, Larry

2004-01-01

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

Radar-based dynamic testing of the cable-suspended bridge crossing the Ebro River at Amposta, Spain

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

Gentile, Carmelo; Luzi, Guido

2014-05-27

Microwave remote sensing is the most recent experimental methodology suitable to the non-contact measurement of deflections on large structures, in static or dynamic conditions. After a brief description of the radar measurement system, the paper addresses the application of microwave remote sensing to ambient vibration testing of a cable-suspended bridge. The investigated bridge crosses the Ebro River at Amposta, Spain and consists of two steel stiffening trusses and a series of equally spaced steel floor beams; the main span is supported by inclined stay cables and two series of 8 suspension cables. The dynamic tests were performed in operational conditions,more » with the sensor being placed in two different positions so that the response of both the steel deck and the arrays of suspension elements was measured. The experimental investigation confirms the simplicity of use of the radar and the accuracy of the results provided by the microwave remote sensing as well as the issues often met in the clear localization of measurement points.« less

Determination of crustal motions using satellite laser ranging

NASA Technical Reports Server (NTRS)

1991-01-01

Satellite laser ranging has matured over the last decade into one of the essential space geodesy techniques. It has demonstrated centimeter site positioning and millimeter per year velocity determinations in a frame tied dynamically to the mass center of the solid Earth hydrosphere atmosphere system. Such a coordinate system is a requirement for studying long term eustatic sea level rise and other global change phenomena. Earth orientation parameters determined with the coordinate system have been produced in near real time operationally since 1983, at a relatively modest cost. The SLR ranging to Lageos has also provided a rich spectrum of results based upon the analysis of Lageos orbital dynamics. These include significant improvements in the knowledge of the mean and variable components of the Earth's gravity field and the Earth's gravitational parameter. The ability to measure the time variations of the Earth's gravity field has opened as exciting area of study in relating global processes, including meteorologically derived mass transport through changes in the satellite dynamics. New confirmation of general relativity was obtained using the Lageos SLR data.

Applicability of dynamic membrane technology in anaerobic membrane bioreactors.

PubMed

Ersahin, Mustafa Evren; Ozgun, Hale; Tao, Yu; van Lier, Jules B

2014-01-01

This study investigated the applicability of dynamic membrane technology in anaerobic membrane bioreactors for the treatment of high strength wastewaters. A monofilament woven fabric was used as support material for dynamic membrane formation. An anaerobic dynamic membrane bioreactor (AnDMBR) was operated under a variety of operational conditions, including different sludge retention times (SRTs) of 20 and 40 days in order to determine the effect of SRT on both biological performance and dynamic membrane filtration characteristics. High COD removal efficiencies exceeding 99% were achieved during the operation at both SRTs. Higher filtration resistances were measured during the operation at SRT of 40 days in comparison to SRT of 20 days, applying a stable flux of 2.6 L/m(2) h. The higher filtration resistances coincided with lower extracellular polymeric substances concentration in the bulk sludge at SRT of 40 days, likely resulting in a decreased particle flocculation. Results showed that dynamic membrane technology achieved a stable and high quality permeate and AnDMBRs can be used as a reliable and satisfactory technology for treatment of high strength wastewaters. Copyright © 2013 Elsevier Ltd. All rights reserved.

Estimation method of finger tapping dynamics using simple magnetic detection system

NASA Astrophysics Data System (ADS)

Kandori, Akihiko; Sano, Yuko; Miyashita, Tsuyoshi; Okada, Yoshihisa; Irokawa, Masataka; Shima, Keisuke; Tsuji, Toshio; Yokoe, Masaru; Sakoda, Saburo

2010-05-01

We have developed the simple estimation method of a finger tapping dynamics model for investigating muscle resistance and stiffness during tapping movement in normal subjects. We measured finger tapping movements of 207 normal subjects using a magnetic finger tapping detection system. Each subject tapped two fingers in time with a metronome at 1, 2, 3, 4, and 5 Hz. The velocity and acceleration values for both the closing and opening tapping data were used to estimate a finger tapping dynamics model. Using the frequency response of the ratio of acceleration to velocity of the mechanical impedance parameters, we estimated the resistance (friction coefficient) and compliance (stiffness). We found two dynamics models for the maximum open position and tap position. In the maximum open position, the extensor muscle resistance was twice as high as the flexor muscle resistance and males had a higher spring constant. In the tap position, the flexor muscle resistance was much higher than the extensor muscle resistance. This indicates that the tapping dynamics in the maximum open position are controlled by the balance of extensor and flexor muscle friction resistances and the flexor stiffness, and the flexor friction resistance is the main component in the tap position. It can be concluded that our estimation method makes it possible to understand the tapping dynamics.

Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer.

PubMed

Du, Jialu; Hu, Xin; Liu, Hongbo; Chen, C L Philip

2015-11-01

This paper develops an adaptive robust output feedback control scheme for dynamically positioned ships with unavailable velocities and unknown dynamic parameters in an unknown time-variant disturbance environment. The controller is designed by incorporating the high-gain observer and radial basis function (RBF) neural networks in vectorial backstepping method. The high-gain observer provides the estimations of the ship position and heading as well as velocities. The RBF neural networks are employed to compensate for the uncertainties of ship dynamics. The adaptive laws incorporating a leakage term are designed to estimate the weights of RBF neural networks and the bounds of unknown time-variant environmental disturbances. In contrast to the existing results of dynamic positioning (DP) controllers, the proposed control scheme relies only on the ship position and heading measurements and does not require a priori knowledge of the ship dynamics and external disturbances. By means of Lyapunov functions, it is theoretically proved that our output feedback controller can control a ship's position and heading to the arbitrarily small neighborhood of the desired target values while guaranteeing that all signals in the closed-loop DP control system are uniformly ultimately bounded. Finally, simulations involving two ships are carried out, and simulation results demonstrate the effectiveness of the proposed control scheme.

Estimation method of finger tapping dynamics using simple magnetic detection system.

PubMed

Kandori, Akihiko; Sano, Yuko; Miyashita, Tsuyoshi; Okada, Yoshihisa; Irokawa, Masataka; Shima, Keisuke; Tsuji, Toshio; Yokoe, Masaru; Sakoda, Saburo

2010-05-01

We have developed the simple estimation method of a finger tapping dynamics model for investigating muscle resistance and stiffness during tapping movement in normal subjects. We measured finger tapping movements of 207 normal subjects using a magnetic finger tapping detection system. Each subject tapped two fingers in time with a metronome at 1, 2, 3, 4, and 5 Hz. The velocity and acceleration values for both the closing and opening tapping data were used to estimate a finger tapping dynamics model. Using the frequency response of the ratio of acceleration to velocity of the mechanical impedance parameters, we estimated the resistance (friction coefficient) and compliance (stiffness). We found two dynamics models for the maximum open position and tap position. In the maximum open position, the extensor muscle resistance was twice as high as the flexor muscle resistance and males had a higher spring constant. In the tap position, the flexor muscle resistance was much higher than the extensor muscle resistance. This indicates that the tapping dynamics in the maximum open position are controlled by the balance of extensor and flexor muscle friction resistances and the flexor stiffness, and the flexor friction resistance is the main component in the tap position. It can be concluded that our estimation method makes it possible to understand the tapping dynamics.

Structural dynamics verification facility study

NASA Technical Reports Server (NTRS)

Kiraly, L. J.; Hirchbein, M. S.; Mcaleese, J. M.; Fleming, D. P.

1981-01-01

The need for a structural dynamics verification facility to support structures programs was studied. Most of the industry operated facilities are used for highly focused research, component development, and problem solving, and are not used for the generic understanding of the coupled dynamic response of major engine subsystems. Capabilities for the proposed facility include: the ability to both excite and measure coupled structural dynamic response of elastic blades on elastic shafting, the mechanical simulation of various dynamical loadings representative of those seen in operating engines, and the measurement of engine dynamic deflections and interface forces caused by alternative engine mounting configurations and compliances.

Recursive dynamics for flexible multibody systems using spatial operators

NASA Technical Reports Server (NTRS)

Jain, A.; Rodriguez, G.

1990-01-01

Due to their structural flexibility, spacecraft and space manipulators are multibody systems with complex dynamics and possess a large number of degrees of freedom. Here the spatial operator algebra methodology is used to develop a new dynamics formulation and spatially recursive algorithms for such flexible multibody systems. A key feature of the formulation is that the operator description of the flexible system dynamics is identical in form to the corresponding operator description of the dynamics of rigid multibody systems. A significant advantage of this unifying approach is that it allows ideas and techniques for rigid multibody systems to be easily applied to flexible multibody systems. The algorithms use standard finite-element and assumed modes models for the individual body deformation. A Newton-Euler Operator Factorization of the mass matrix of the multibody system is first developed. It forms the basis for recursive algorithms such as for the inverse dynamics, the computation of the mass matrix, and the composite body forward dynamics for the system. Subsequently, an alternative Innovations Operator Factorization of the mass matrix, each of whose factors is invertible, is developed. It leads to an operator expression for the inverse of the mass matrix, and forms the basis for the recursive articulated body forward dynamics algorithm for the flexible multibody system. For simplicity, most of the development here focuses on serial chain multibody systems. However, extensions of the algorithms to general topology flexible multibody systems are described. While the computational cost of the algorithms depends on factors such as the topology and the amount of flexibility in the multibody system, in general, it appears that in contrast to the rigid multibody case, the articulated body forward dynamics algorithm is the more efficient algorithm for flexible multibody systems containing even a small number of flexible bodies. The variety of algorithms described here permits a user to choose the algorithm which is optimal for the multibody system at hand. The availability of a number of algorithms is even more important for real-time applications, where implementation on parallel processors or custom computing hardware is often necessary to maximize speed.

Design, assembly, and testing of a high-resolution relay lens used for holography with operation at both doubled and tripled Nd:YAG laser wavelengths

NASA Astrophysics Data System (ADS)

Malone, Robert M.; Capelle, Gene A.; Cox, Brian C.; Frogget, Brent C.; Grover, Mike; Kaufman, Morris I.; Pazuchanics, Peter; Sorenson, Danny S.; Stevens, Gerald D.; Tibbitts, Aric; Turley, William D.

2009-08-01

The design and assembly of a nine-element lens that achieves >2000 lp/mm resolution at a 355-nm wavelength (ultraviolet) has been completed. By adding a doublet to this lens system, operation at a 532-nm wavelength (green) with >1100 lp/mm resolution is achieved. This lens is used with high-power laser light to record holograms of fast-moving ejecta particles from a shocked metal surface located inside a test package. Part of the lens and the entire test package are under vacuum with a 1-cm air gap separation. Holograms have been recorded with both doubled and tripled Nd:YAG laser light. The UV operation is very sensitive to the package window's tilt. If this window is tilted by more than 0.1 degrees, the green operation performs with better resolution than that of the UV operation. The setup and alignment are performed with green light, but the dynamic recording can be done with either UV light or green light. A resolution plate can be temporarily placed inside the test package so that a television microscope located beyond the hologram position can archive images of resolution patterns that prove that the calibration wires, interference filter, holographic plate, and relay lenses are in their correct positions. Part of this lens is under vacuum, at the point where the laser illumination passes through a focus. Alignment and tolerancing of this high-resolution lens are presented. Resolution variation across the 12-mm field of view and throughout the 5-mm depth of field is discussed for both wavelengths.

Operator Variability in Scan Positioning is a Major Component of HR-pQCT Precision Error and is Reduced by Standardized Training

PubMed Central

Bonaretti, Serena; Vilayphiou, Nicolas; Chan, Caroline Mai; Yu, Andrew; Nishiyama, Kyle; Liu, Danmei; Boutroy, Stephanie; Ghasem-Zadeh, Ali; Boyd, Steven K.; Chapurlat, Roland; McKay, Heather; Shane, Elizabeth; Bouxsein, Mary L.; Black, Dennis M.; Majumdar, Sharmila; Orwoll, Eric S.; Lang, Thomas F.; Khosla, Sundeep; Burghardt, Andrew J.

2017-01-01

Introduction HR-pQCT is increasingly used to assess bone quality, fracture risk and anti-fracture interventions. The contribution of the operator has not been adequately accounted in measurement precision. Operators acquire a 2D projection (“scout view image”) and define the region to be scanned by positioning a “reference line” on a standard anatomical landmark. In this study, we (i) evaluated the contribution of positioning variability to in vivo measurement precision, (ii) measured intra- and inter-operator positioning variability, and (iii) tested if custom training software led to superior reproducibility in new operators compared to experienced operators. Methods To evaluate the operator in vivo measurement precision we compared precision errors calculated in 64 co-registered and non-co-registered scan-rescan images. To quantify operator variability, we developed software that simulates the positioning process of the scanner’s software. Eight experienced operators positioned reference lines on scout view images designed to test intra- and inter-operator reproducibility. Finally, we developed modules for training and evaluation of reference line positioning. We enrolled 6 new operators to participate in a common training, followed by the same reproducibility experiments performed by the experienced group. Results In vivo precision errors were up to three-fold greater (Tt.BMD and Ct.Th) when variability in scan positioning was included. Inter-operator precision errors were significantly greater than short-term intra-operator precision (p<0.001). New trained operators achieved comparable intra-operator reproducibility to experienced operators, and lower inter-operator reproducibility (p<0.001). Precision errors were significantly greater for the radius than for the tibia. Conclusion Operator reference line positioning contributes significantly to in vivo measurement precision and is significantly greater for multi-operator datasets. Inter-operator variability can be significantly reduced using a systematic training platform, now available online (http://webapps.radiology.ucsf.edu/refline/). PMID:27475931

Decrease of dynamic loads in mobile energy means

NASA Astrophysics Data System (ADS)

Polivaev, O. I.; Gorban, L. K.; Vorohobin, A. V.; Vedrinsky, O. S.

2018-03-01

The increase in the productivity of machine and tractor units is possible due to the increase in operating speeds, this leads to the emergence of increased dynamic loads in the system “engine-transmission-propulsion unit-soil”, which worsens the performance of machine-tractor aggregates. To reduce fluctuations in the “engine-transmission” system, special vibration dampers are used, which installed in close proximity to the engine and protect well the transmission from uneven engine operation; however, such dampers practically do not eliminate the oscillations of external loads. Reducing dynamic loads on the transmission and the mobile power engine (MPE) is an important issue directly related to improving the performance, reliability and durability of the tractor, as well as reducing the slippage of the drive wheels. In order to reduce effectively dynamic loads on the transmission and on the MPE, it is necessary to introduce resilient damping elements closer to the sources of oscillations, namely, to the driving wheels. At the same time, the elastic-damping element should provide accumulation of vibration energy caused by external influences and have a large energy capacity. The installation of an elastic-damping element in the final link of the tractor transmission ensures a reduction in the magnitude of external influences, thereby protecting the engine and transmission from large dynamic loads, and allows one to reduce the slippage of the propellers, which has a positive effect on the traction and energy characteristics of the tractor. Traction tests of the LTP-55 tractor on a concrete road showed that the use of an elasto-damping drive makes it possible to increase the maximum tractive power from 33.5 to 35.3 kW and to reduce the slipping of propellers by 12-30%, the specific fuel consumption by 6-10%. When driving on stubble, the use of an elastic-damping drive increases the maximum tractive power from 25 to 26 kW, reduces the skidding of propellers by 10-28%, and the specific fuel consumption by 10-12.5%.

Combining operational models and data into a dynamic vessel risk assessment tool for coastal regions

NASA Astrophysics Data System (ADS)

Fernandes, R.; Braunschweig, F.; Lourenço, F.; Neves, R.

2016-02-01

The technological evolution in terms of computational capacity, data acquisition systems, numerical modelling and operational oceanography is supplying opportunities for designing and building holistic approaches and complex tools for newer and more efficient management (planning, prevention and response) of coastal water pollution risk events. A combined methodology to dynamically estimate time and space variable individual vessel accident risk levels and shoreline contamination risk from ships has been developed, integrating numerical metocean forecasts and oil spill simulations with vessel tracking automatic identification systems (AIS). The risk rating combines the likelihood of an oil spill occurring from a vessel navigating in a study area - the Portuguese continental shelf - with the assessed consequences to the shoreline. The spill likelihood is based on dynamic marine weather conditions and statistical information from previous accidents. The shoreline consequences reflect the virtual spilled oil amount reaching shoreline and its environmental and socio-economic vulnerabilities. The oil reaching shoreline is quantified with an oil spill fate and behaviour model running multiple virtual spills from vessels along time, or as an alternative, a correction factor based on vessel distance from coast. Shoreline risks can be computed in real time or from previously obtained data. Results show the ability of the proposed methodology to estimate the risk properly sensitive to dynamic metocean conditions and to oil transport behaviour. The integration of meteo-oceanic + oil spill models with coastal vulnerability and AIS data in the quantification of risk enhances the maritime situational awareness and the decision support model, providing a more realistic approach in the assessment of shoreline impacts. The risk assessment from historical data can help finding typical risk patterns ("hot spots") or developing sensitivity analysis to specific conditions, whereas real-time risk levels can be used in the prioritization of individual ships, geographical areas, strategic tug positioning and implementation of dynamic risk-based vessel traffic monitoring.

A Scalable Distribution Network Risk Evaluation Framework via Symbolic Dynamics

PubMed Central

Yuan, Kai; Liu, Jian; Liu, Kaipei; Tan, Tianyuan

2015-01-01

Background Evaluations of electric power distribution network risks must address the problems of incomplete information and changing dynamics. A risk evaluation framework should be adaptable to a specific situation and an evolving understanding of risk. Methods This study investigates the use of symbolic dynamics to abstract raw data. After introducing symbolic dynamics operators, Kolmogorov-Sinai entropy and Kullback-Leibler relative entropy are used to quantitatively evaluate relationships between risk sub-factors and main factors. For layered risk indicators, where the factors are categorized into four main factors – device, structure, load and special operation – a merging algorithm using operators to calculate the risk factors is discussed. Finally, an example from the Sanya Power Company is given to demonstrate the feasibility of the proposed method. Conclusion Distribution networks are exposed and can be affected by many things. The topology and the operating mode of a distribution network are dynamic, so the faults and their consequences are probabilistic. PMID:25789859

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

Hayes, Birchard P; Michel, Kelly D; Few, Douglas A

From stereophonic, positional sound to high-definition imagery that is crisp and clean, high fidelity computer graphics enhance our view, insight, and intuition regarding our environments and conditions. Contemporary 3-D modeling tools offer an open architecture framework that enables integration with other technologically innovative arenas. One innovation of great interest is Augmented Reality, the merging of virtual, digital environments with physical, real-world environments creating a mixed reality where relevant data and information augments the real or actual experience in real-time by spatial or semantic context. Pairing 3-D virtual immersive models with a dynamic platform such as semi-autonomous robotics or personnel odometrymore » systems to create a mixed reality offers a new and innovative design information verification inspection capability, evaluation accuracy, and information gathering capability for nuclear facilities. Our paper discusses the integration of two innovative technologies, 3-D visualizations with inertial positioning systems, and the resulting augmented reality offered to the human inspector. The discussion in the paper includes an exploration of human and non-human (surrogate) inspections of a nuclear facility, integrated safeguards knowledge within a synchronized virtual model operated, or worn, by a human inspector, and the anticipated benefits to safeguards evaluations of facility operations.« less

Performance of a reentrant cavity beam position monitor

NASA Astrophysics Data System (ADS)

Simon, Claire; Luong, Michel; Chel, Stéphane; Napoly, Olivier; Novo, Jorge; Roudier, Dominique; Rouvière, Nelly; Baboi, Nicoleta; Mildner, Nils; Nölle, Dirk

2008-08-01

The beam-based alignment and feedback systems, essential operations for the future colliders, require high resolution beam position monitors (BPMs). In the framework of the European CARE/SRF program, a reentrant cavity BPM with its associated electronics was developed by the CEA/DSM/Irfu in collaboration with DESY. The design, the fabrication, and the beam test of this monitor are detailed within this paper. This BPM is designed to be inserted in a cryomodule, work at cryogenic temperature in a clean environment. It has achieved a resolution better than 10μm and has the possibility to perform bunch to bunch measurements for the x-ray free electron laser (X-FEL) and the International Linear Collider (ILC). Its other features are a small size of the rf cavity, a large aperture (78 mm), and an excellent linearity. A first prototype of a reentrant cavity BPM was installed in the free electron laser in Hamburg (FLASH), at Deutsches Elektronen-Synchrotron (DESY) and demonstrated its operation at cryogenic temperature inside a cryomodule. The second, installed, also, in the FLASH linac to be tested with beam, measured a resolution of approximately 4μm over a dynamic range ±5mm in single bunch.

Constructing Unfinalizability: A Subject Positioning Analysis of a Couple's Therapy Session Hosted by Tom Andersen.

PubMed

Guilfoyle, Michael

2018-03-08

The notion of subject positions is a useful tool in thinking through therapeutic interactions. In this article, I discuss positioning as an everyday phenomenon, and highlight the relational and social power dynamics that shape the subject positions persons may inhabit. Analysis is presented of the positional dynamics that play out in the couple's therapy session facilitated by Tom Andersen. Analysis suggests that Andersen adopts a not-knowing, uncertain, and curious position, while constructing the couple as competent, unfinalizable persons able to negotiate the choice-points that arise in front of them. However, if subject positions are grounded in social power dynamics, the session leaves a particular question unanswered: How will these emergent positions take hold outside of the consulting room? © 2018 American Association for Marriage and Family Therapy.

Numerical simulations on unsteady operation processes of N2O/HTPB hybrid rocket motor with/without diaphragm

NASA Astrophysics Data System (ADS)

Zhang, Shuai; Hu, Fan; Wang, Donghui; Okolo. N, Patrick; Zhang, Weihua

2017-07-01

Numerical simulations on processes within a hybrid rocket motor were conducted in the past, where most of these simulations carried out majorly focused on steady state analysis. Solid fuel regression rate strongly depends on complicated physicochemical processes and internal fluid dynamic behavior within the rocket motor, which changes with both space and time during its operation, and are therefore more unsteady in characteristics. Numerical simulations on the unsteady operational processes of N2O/HTPB hybrid rocket motor with and without diaphragm are conducted within this research paper. A numerical model is established based on two dimensional axisymmetric unsteady Navier-Stokes equations having turbulence, combustion and coupled gas/solid phase formulations. Discrete phase model is used to simulate injection and vaporization of the liquid oxidizer. A dynamic mesh technique is applied to the non-uniform regression of fuel grain, while results of unsteady flow field, variation of regression rate distribution with time, regression process of burning surface and internal ballistics are all obtained. Due to presence of eddy flow, the diaphragm increases regression rate further downstream. Peak regression rates are observed close to flow reattachment regions, while these peak values decrease gradually, and peak position shift further downstream with time advancement. Motor performance is analyzed accordingly, and it is noticed that the case with diaphragm included results in combustion efficiency and specific impulse efficiency increase of roughly 10%, and ground thrust increase of 17.8%.

A Low-Erosion Starting Technique for High-Performance Arcjets

NASA Technical Reports Server (NTRS)

Sankovic, John M.; Curran, Francis M.

1994-01-01

The NASA arcjet program is currently sponsoring development of high specific impulse thrusters for next generation geosynchronous communications satellites (2 kW-class) and low-power arcjets for power limited spacecraft (approx. 0.5 kW-class). Performance goals in both of these efforts will require up to 1000 starts at propellant mass flow rates significantly below those used in state-of-the-art arcjet thruster systems (i.e., high specific power levels). Reductions in mass flow rate can lead to damaging modes of operation, particularly at thruster ignition. During the starting sequence, the gas dynamic force due to low propellant flow is often insufficient to rapidly push the arc anode attachment to its steady-state position in the diverging section of the nozzle. This paper describes the development and demonstration of a technique which provides for non-damaging starts at low steady-state flow rates. The technique employs a brief propellant pressure pulse at ignition to increase gas dynamic forces during the critical ignition/transition phase of operation. Starting characteristics obtained using both pressure-pulsed and conventional starting techniques were compared across a wide range of propellant flow rates. The pressure-pulsed starting technique provided reliable starts at mass flow rates down to 21 mg/s, typically required for 700 s specific impulse level operation of 2 kW thrusters. Following the comparison, a 600 start test was performed across a wide flow rate range. Post-test inspection showed minimal erosion of critical arcjet anode/nozzle surfaces.

Integrated Dynamic Transit Operations (IDTO) concept of operations.

DOT National Transportation Integrated Search

2012-05-01

In support of USDOTs Intelligent Transportation Systems (ITS) Mobility Program, the Dynamic Mobility Applications (DMA) program seeks to create applications that fully leverage frequently collected and rapidly disseminated multi-source data gat...

Man/Machine Interaction Dynamics And Performance (MMIDAP) capability

NASA Technical Reports Server (NTRS)

Frisch, Harold P.

1991-01-01

The creation of an ability to study interaction dynamics between a machine and its human operator can be approached from a myriad of directions. The Man/Machine Interaction Dynamics and Performance (MMIDAP) project seeks to create an ability to study the consequences of machine design alternatives relative to the performance of both machine and operator. The class of machines to which this study is directed includes those that require the intelligent physical exertions of a human operator. While Goddard's Flight Telerobotic's program was expected to be a major user, basic engineering design and biomedical applications reach far beyond telerobotics. Ongoing efforts are outlined of the GSFC and its University and small business collaborators to integrate both human performance and musculoskeletal data bases with analysis capabilities necessary to enable the study of dynamic actions, reactions, and performance of coupled machine/operator systems.

Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

NASA Technical Reports Server (NTRS)

Jain, Abhinandan

2011-01-01

Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component bodies, the indexing schemes, etc. The relationship of the underlying structure is intimately connected with efficient, recursive computational algorithms. The results provide the foundational groundwork for a much broader look at the key problems in kinematics and dynamics. The properties of general graphs and trees of nodes and edge were examined, as well as the properties of adjacency matrices that are used to describe graph connectivity. The nilpotency property of such matrices for directed trees was reviewed, and the adjacency matrices were generalized to the notion of block weighted adjacency matrices that support block matrix elements. This leads us to the development of the notion of Spatial Kernel Operator SKO kernels. These kernels provide the basis for the development of SKO resolvent operators.

An experimental study of the nonlinear dynamic phenomenon known as wing rock

NASA Technical Reports Server (NTRS)

Arena, A. S., Jr.; Nelson, R. C.; Schiff, L. B.

1990-01-01

An experimental investigation into the physical phenomena associated with limit cycle wing rock on slender delta wings has been conducted. The model used was a slender flat plate delta wing with 80-deg leading edge sweep. The investigation concentrated on three main areas: motion characteristics obtained from time history plots, static and dynamic flow visualization of vortex position, and static and dynamic flow visualization of vortex breakdown. The flow visualization studies are correlated with model motion to determine the relationship between vortex position and vortex breakdown with the dynamic rolling moments. Dynamic roll moment coefficient curves reveal rate-dependent hysteresis, which drives the motion. Vortex position correlated with time and model motion show a time lag in the normal position of the upward moving wing vortex. This time lag may be the mechanism responsible for the hysteresis. Vortex breakdown is shown to have a damping effect on the motion.

The prognostic value of tip-to-apex distance (TAD index) in intertrochanteric fractures fixed by dynamic hip screw.

PubMed

Sedighi, Ali; Sales, Jafar Ganjpour; Alavi, Sahar

2012-11-02

Intertrochanteric fractures (ITFs) are the most common type of fractures requiring surgical intervention. They also have the highest surgical mortality among orthopedic operations. Among the many different techniques used for fixation of this type of fracture, use of the Dynamic Hip Screw (DHS) has gained wide acceptance. This current study was designed to assess positive predictive value of tip-to-apex distance (TAD) index in the prognosis of patients treated with DHS. The study was designed according to a descriptive-analytic protocol, made up of 100 cases of ITFs caused by falling, treated in the Shohada Orthopedic Center, Tabriz, Iran. All patients underwent lateral and antero-posterior hip X-ray to measure TAD index. The cohort was followed for three months after DHS placement. Of a total of 100 cases (53 male, 47 female) with a mean age of 76.7 years (range 29-100 years), 43% had grade 4, 29% grade 3, 21% grade 5, 5% grade 2 and 2% grade 6 osteoporosis. The screw position was postero-inferior in 57%, central in 40% and superior in 3% of patients. Minimum and maximum TAD index were 20 and 28 mm, respectively. Mean TAD was 23.5 mm. There were no post-operative complications in 84% of cases. Screw failure was the most common complication in the remaining 16% of patients. The study shows a statistically significant correlation between TAD index and cut-off rate in patients with intertrochanteric fractures of femoral bone treated by DHS. This validates the use of TAD index in determining the prognosis of patients treated by DHS.

Automatic and Reproducible Positioning of Phase-Contrast MRI for the Quantification of Global Cerebral Blood Flow

PubMed Central

Liu, Peiying; Lu, Hanzhang; Filbey, Francesca M.; Pinkham, Amy E.; McAdams, Carrie J.; Adinoff, Bryon; Daliparthi, Vamsi; Cao, Yan

2014-01-01

Phase-Contrast MRI (PC-MRI) is a noninvasive technique to measure blood flow. In particular, global but highly quantitative cerebral blood flow (CBF) measurement using PC-MRI complements several other CBF mapping methods such as arterial spin labeling and dynamic susceptibility contrast MRI by providing a calibration factor. The ability to estimate blood supply in physiological units also lays a foundation for assessment of brain metabolic rate. However, a major obstacle before wider applications of this method is that the slice positioning of the scan, ideally placed perpendicular to the feeding arteries, requires considerable expertise and can present a burden to the operator. In the present work, we proposed that the majority of PC-MRI scans can be positioned using an automatic algorithm, leaving only a small fraction of arteries requiring manual positioning. We implemented and evaluated an algorithm for this purpose based on feature extraction of a survey angiogram, which is of minimal operator dependence. In a comparative test-retest study with 7 subjects, the blood flow measurement using this algorithm showed an inter-session coefficient of variation (CoV) of . The Bland-Altman method showed that the automatic method differs from the manual method by between and , for of the CBF measurements. This is comparable to the variance in CBF measurement using manually-positioned PC MRI alone. In a further application of this algorithm to 157 consecutive subjects from typical clinical cohorts, the algorithm provided successful positioning in 89.7% of the arteries. In 79.6% of the subjects, all four arteries could be planned using the algorithm. Chi-square tests of independence showed that the success rate was not dependent on the age or gender, but the patients showed a trend of lower success rate (p = 0.14) compared to healthy controls. In conclusion, this automatic positioning algorithm could improve the application of PC-MRI in CBF quantification. PMID:24787742

A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments

NASA Astrophysics Data System (ADS)

Liu, Jiechao; Jayakumar, Paramsothy; Stein, Jeffrey L.; Ersal, Tulga

2018-06-01

This paper presents a nonlinear model predictive control (MPC) formulation for obstacle avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre of gravity (CoG) that operate in unstructured environments, such as military vehicles. The term 'unstructured' in this context denotes that there are no lanes or traffic rules to follow. Existing MPC formulations for passenger vehicles in structured environments do not readily apply to this context. Thus, a new nonlinear MPC formulation is developed to navigate an AGV from its initial position to a target position at high-speed safely. First, a new cost function formulation is used that aims to find the shortest path to the target position, since no reference trajectory exists in unstructured environments. Second, a region partitioning approach is used in conjunction with a multi-phase optimal control formulation to accommodate the complicated forms the obstacle-free region can assume due to the presence of multiple obstacles in the prediction horizon in an unstructured environment. Third, the no-wheel-lift-off condition, which is the major dynamical safety concern for high-speed, high-CoG AGVs, is ensured by limiting the steering angle within a range obtained offline using a 14 degrees-of-freedom vehicle dynamics model. Thus, a safe, high-speed navigation is enabled in an unstructured environment. Simulations of an AGV approaching multiple obstacles are provided to demonstrate the effectiveness of the algorithm.

Design and dynamic simulation of a fixed pitch 56 kW wind turbine drive train with a continuously variable transmission

NASA Technical Reports Server (NTRS)

Gallo, C.; Kasuba, R.; Pintz, A.; Spring, J.

1986-01-01

The dynamic analysis of a horizontal axis fixed pitch wind turbine generator (WTG) rated at 56 kW is discussed. A mechanical Continuously Variable Transmission (CVT) was incorporated in the drive train to provide variable speed operation capability. One goal of the dynamic analysis was to determine if variable speed operation, by means of a mechanical CVT, is capable of capturing the transient power in the WTG/wind environment. Another goal was to determine the extent of power regulation possible with CVT operation.

A Metric for Reducing False Positives in the Computer-Aided Detection of Breast Cancer from Dynamic Contrast-Enhanced Magnetic Resonance Imaging Based Screening Examinations of High-Risk Women.

PubMed

Levman, Jacob E D; Gallego-Ortiz, Cristina; Warner, Ellen; Causer, Petrina; Martel, Anne L

2016-02-01

Magnetic resonance imaging (MRI)-enabled cancer screening has been shown to be a highly sensitive method for the early detection of breast cancer. Computer-aided detection systems have the potential to improve the screening process by standardizing radiologists to a high level of diagnostic accuracy. This retrospective study was approved by the institutional review board of Sunnybrook Health Sciences Centre. This study compares the performance of a proposed method for computer-aided detection (based on the second-order spatial derivative of the relative signal intensity) with the signal enhancement ratio (SER) on MRI-based breast screening examinations. Comparison is performed using receiver operating characteristic (ROC) curve analysis as well as free-response receiver operating characteristic (FROC) curve analysis. A modified computer-aided detection system combining the proposed approach with the SER method is also presented. The proposed method provides improvements in the rates of false positive markings over the SER method in the detection of breast cancer (as assessed by FROC analysis). The modified computer-aided detection system that incorporates both the proposed method and the SER method yields ROC results equal to that produced by SER while simultaneously providing improvements over the SER method in terms of false positives per noncancerous exam. The proposed method for identifying malignancies outperforms the SER method in terms of false positives on a challenging dataset containing many small lesions and may play a useful role in breast cancer screening by MRI as part of a computer-aided detection system.

Dynamic Forest: An Efficient Index Structure for NAND Flash Memory

NASA Astrophysics Data System (ADS)

Yang, Chul-Woong; Yong Lee, Ki; Ho Kim, Myoung; Lee, Yoon-Joon

In this paper, we present an efficient index structure for NAND flash memory, called the Dynamic Forest (D-Forest). Since write operations incur high overhead on NAND flash memory, D-Forest is designed to minimize write operations for index updates. The experimental results show that D-Forest significantly reduces write operations compared to the conventional B+-tree.

Preliminary Exploration of Adaptive State Predictor Based Human Operator Modeling

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Gregory, Irene M.

2012-01-01

Control-theoretic modeling of the human operator dynamic behavior in manual control tasks has a long and rich history. In the last two decades, there has been a renewed interest in modeling the human operator. There has also been significant work on techniques used to identify the pilot model of a given structure. The purpose of this research is to attempt to go beyond pilot identification based on collected experimental data and to develop a predictor of pilot behavior. An experiment was conducted to quantify the effects of changing aircraft dynamics on an operator s ability to track a signal in order to eventually model a pilot adapting to changing aircraft dynamics. A gradient descent estimator and a least squares estimator with exponential forgetting used these data to predict pilot stick input. The results indicate that individual pilot characteristics and vehicle dynamics did not affect the accuracy of either estimator method to estimate pilot stick input. These methods also were able to predict pilot stick input during changing aircraft dynamics and they may have the capability to detect a change in a subject due to workload, engagement, etc., or the effects of changes in vehicle dynamics on the pilot.

Estimation of Time-Varying, Intrinsic and Reflex Dynamic Joint Stiffness during Movement. Application to the Ankle Joint

PubMed Central

Guarín, Diego L.; Kearney, Robert E.

2017-01-01

Dynamic joint stiffness determines the relation between joint position and torque, and plays a vital role in the control of posture and movement. Dynamic joint stiffness can be quantified during quasi-stationary conditions using disturbance experiments, where small position perturbations are applied to the joint and the torque response is recorded. Dynamic joint stiffness is composed of intrinsic and reflex mechanisms that act and change together, so that nonlinear, mathematical models and specialized system identification techniques are necessary to estimate their relative contributions to overall joint stiffness. Quasi-stationary experiments have demonstrated that dynamic joint stiffness is heavily modulated by joint position and voluntary torque. Consequently, during movement, when joint position and torque change rapidly, dynamic joint stiffness will be Time-Varying (TV). This paper introduces a new method to quantify the TV intrinsic and reflex components of dynamic joint stiffness during movement. The algorithm combines ensemble and deterministic approaches for estimation of TV systems; and uses a TV, parallel-cascade, nonlinear system identification technique to separate overall dynamic joint stiffness into intrinsic and reflex components from position and torque records. Simulation studies of a stiffness model, whose parameters varied with time as is expected during walking, demonstrated that the new algorithm accurately tracked the changes in dynamic joint stiffness using as little as 40 gait cycles. The method was also used to estimate the intrinsic and reflex dynamic ankle stiffness from an experiment with a healthy subject during which ankle movements were imposed while the subject maintained a constant muscle contraction. The method identified TV stiffness model parameters that predicted the measured torque very well, accounting for more than 95% of its variance. Moreover, both intrinsic and reflex dynamic stiffness were heavily modulated through the movement in a manner that could not be predicted from quasi-stationary experiments. The new method provides the tool needed to explore the role of dynamic stiffness in the control of movement. PMID:28649196

Toward experimental validation of a model for human sensorimotor learning and control in teleoperation

NASA Astrophysics Data System (ADS)

Roth, Eatai; Howell, Darrin; Beckwith, Cydney; Burden, Samuel A.

2017-05-01

Humans, interacting with cyber-physical systems (CPS), formulate beliefs about the system's dynamics. It is natural to expect that human operators, tasked with teleoperation, use these beliefs to control the remote robot. For tracking tasks in the resulting human-cyber-physical system (HCPS), theory suggests that human operators can achieve exponential tracking (in stable systems) without state estimation provided they possess an accurate model of the system's dynamics. This internalized inverse model, however, renders a portion of the system state unobservable to the human operator—the zero dynamics. Prior work shows humans can track through observable linear dynamics, thus we focus on nonlinear dynamics rendered unobservable through tracking control. We propose experiments to assess the human operator's ability to learn and invert such models, and distinguish this behavior from that achieved by pure feedback control.

Automation effects in a multiloop manual control system

NASA Technical Reports Server (NTRS)

Hess, R. A.; Mcnally, B. D.

1986-01-01

An experimental and analytical study was undertaken to investigate human interaction with a simple multiloop manual control system in which the human's activity was systematically varied by changing the level of automation. The system simulated was the longitudinal dynamics of a hovering helicopter. The automation-systems-stabilized vehicle responses from attitude to velocity to position and also provided for display automation in the form of a flight director. The control-loop structure resulting from the task definition can be considered a simple stereotype of a hierarchical control system. The experimental study was complemented by an analytical modeling effort which utilized simple crossover models of the human operator. It was shown that such models can be extended to the description of multiloop tasks involving preview and precognitive human operator behavior. The existence of time optimal manual control behavior was established for these tasks and the role which internal models may play in establishing human-machine performance was discussed.

The Geometric Phase of Stock Trading

PubMed Central

2016-01-01

Geometric phases describe how in a continuous-time dynamical system the displacement of a variable (called phase variable) can be related to other variables (shape variables) undergoing a cyclic motion, according to an area rule. The aim of this paper is to show that geometric phases can exist also for discrete-time systems, and even when the cycles in shape space have zero area. A context in which this principle can be applied is stock trading. A zero-area cycle in shape space represents the type of trading operations normally carried out by high-frequency traders (entering and exiting a position on a fast time-scale), while the phase variable represents the cash balance of a trader. Under the assumption that trading impacts stock prices, even zero-area cyclic trading operations can induce geometric phases, i.e., profits or losses, without affecting the stock quote. PMID:27556642

Memory operation mechanism of fullerene-containing polymer memory

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

Nakajima, Anri, E-mail: anakajima@hiroshima-u.ac.jp; Fujii, Daiki

2015-03-09

The memory operation mechanism in fullerene-containing nanocomposite gate insulators was investigated while varying the kind of fullerene in a polymer gate insulator. It was cleared what kind of traps and which positions in the nanocomposite the injected electrons or holes are stored in. The reason for the difference in the easiness of programming was clarified taking the role of the charging energy of an injected electron into account. The dependence of the carrier dynamics on the kind of fullerene molecule was investigated. A nonuniform distribution of injected carriers occurred after application of a large magnitude programming voltage due to themore » width distribution of the polystyrene barrier between adjacent fullerene molecules. Through the investigations, we demonstrated a nanocomposite gate with fullerene molecules having excellent retention characteristics and a programming capability. This will lead to the realization of practical organic memories with fullerene-containing polymer nanocomposites.« less

Effect of load transients on SOFC operation—current reversal on loss of load

NASA Astrophysics Data System (ADS)

Gemmen, Randall S.; Johnson, Christopher D.

The dynamics of solid oxide fuel cell (SOFC) operation have been considered previously, but mainly through the use of one-dimensional codes applied to co-flow fuel cell systems. In this paper several geometries are considered, including cross-flow, co-flow, and counter-flow. The details of the model are provided, and the model is compared with some initial experimental data. For parameters typical of SOFC operation, a variety of transient cases are investigated, including representative load increase and decrease and system shutdown. Of particular note for large load decrease conditions (e.g., shutdown) is the occurrence of reverse current over significant portions of the cell, starting from the moment of load loss up to the point where equilibrated conditions again provide positive current. Consideration is given as to when such reverse current conditions might most significantly impact the reliability of the cell.

[Detection of circulating tumor cells in patients with hepatocellular carcinoma].

PubMed

Mu, Hong; Lin, Kaixuan; Zhao, Hong; Li, Cong; Sun, Yulin; Cai, Jianqiang; Zhao, Xiaohang

2014-04-01

To explore the detection efficiency of circulating tumor cells (CTCs) in patients with hepatocellular carcinoma (HCC). Immunomagnetic negative enrichment by nanometer magnetic beads and label-free capture with Captor(TM) system were used to isolate and enrich CTCs from peripheral blood of HCC patients, and epithelial and HCC markers were applied to identify CTCs by immunofluorescence staining. CTCs were detected in 50 HCC patients before and after hepatectomy to test the method for isolation, enrichment and identification. The dynamic changes of pre- and post-operative CTCs' numbers were compared. The clinical data were analyzed using SPSS 19.0 software. Negative enrichment methods by nanometer magnetic beads and label-free capture using Captor(TM) system were both suitable for CTCs isolation and enrichment in HCC patients. The positive detection rate of CTCs in HCC patients via negative enrichment was 96.0% (48/50), the preoperative median number of CTCs was 16 per 7.5 ml blood, and the postoperative median number was 17 per 7.5 ml blood. Both negative enrichment and Captor(TM) system are suitable for isolation and enrichment of CTCs in HCC patients. There is a significant difference in the numbers of CTCs before and after operation, and dynamic detection of CTCs will provide helpful prognostic information for HCC patients in clinics.

Advanced Stirling Convertor Dynamic Test Approach and Results

NASA Technical Reports Server (NTRS)

Meer, David W.; Hill, Dennis; Ursic, Joseph J.

2010-01-01

The U.S. Department of Energy (DOE), Lockheed Martin Corporation (LM), and NASA Glenn Research Center (GRC) have been developing the Advanced Stirling Radioisotope Generator (ASRG) for use as a power system for space science missions. As part of the extended operation testing of this power system, the Advanced Stirling Convertors (ASC) at NASA GRC undergo a vibration test sequence intended to simulate the vibration history that an ASC would experience when used in an ASRG for a space mission. This sequence includes testing at workmanship and flight acceptance levels interspersed with periods of extended operation to simulate prefueling and post fueling. The final step in the test sequence utilizes additional testing at flight acceptance levels to simulate launch. To better replicate the acceleration profile seen by an ASC incorporated into an ASRG, the input spectra used in testing the convertors was modified based on dynamic testing of the ASRG Engineering Unit (ASRG EU) at LM. This paper outlines the overall test approach, summarizes the test results from the ASRG EU, describes the incorporation of those results into the test approach, and presents the results of applying the test approach to the ASC-1 #3 and #4 convertors. The test results include data from several accelerometers mounted on the convertors as well as the piston position and output power variables.

Stable Isotopes, Quantum Computing and Consciousness

NASA Astrophysics Data System (ADS)

Berezin, Alexander A.

2000-10-01

Recent proposals of quantum computing/computers (QC) based on nuclear spins suggest that consciousness (CON) activity may be related (assisted) to subset of C13 atoms incorporated randomly, or quasirandomly, in neural structures. Consider two DNA chains. Even if they are completely identical chemically (same sequence of codons), patterns of 12C and 13C isotopes in them are different (possible origin of personal individuality). Perhaps it is subsystem of nuclear spins of 13C "sublattice" which forms dynamical system capable of QC and on which CON is "spanned". Some issues related to this hypothesis are: (1) existence of CON-driven positional correlations among C13 atoms, (2) motion (hopping) of C13 via enhanced neutron tunneling, cf. quantum "anti Zeno-effect", (3) possible optimization of concentration of QC-active C13 atoms above their standard isotopic abundance, (4) characteristic time-scales for operation of C13-based QC (perrhaps, broad range of scales), (5) reflection of QC dynamics of C13 on CON, (6) possibility that C13-based QC operates "above" level of "regular" CON (perhaps, Jungian sub/super-CON), (7) isotopicity as connector to universal Library of Patterns ("Platonic World"), (8) self-stabilization of coherence in C13 (sub)system. Some of this questions are, in principle, experimentally addressable through shifting of isotopic abundances.

Welfare effects of reduced milk production associated with Johne's disease on Johne's-positive versus Johne's-negative dairy operations.

PubMed

Losinger, Willard C

2006-08-01

An examination of the economic impacts of reduced milk production associated with Johne's disease on Johne's-positive and Johne's-negative dairy operations indicated that, if Johne's disease had not existed in US dairy cows in 1996, then the economic surplus of Johne's-negative operations would have been $600 million+/-$530 million lower, while the economic surplus of Johne's-positive operations would have been higher by $28 million+/-$79 million, which was not significantly different from zero. The data available for projecting changes in surplus were not sufficiently precise to allow an exact statement on whether Johne's-positive operations would have been better or worse off economically, in terms of the value received for producing more milk if they had not been affected by Johne's disease. The changes in producer surplus, based upon eliminating specific epidemiological risk factors for Johne's disease, were disaggregated between Johne's-positive dairy operations exposed to the risk factor and all other US dairy operations. Eliminating the risk factor of having any cows not born on the operation would have had a significant positive effect on the economic surplus of Johne's-positive operations that had any cows not born on the operation.

Dynamic systems and the role of evaluation: The case of the Green Communities project.

PubMed

Anzoise, Valentina; Sardo, Stefania

2016-02-01

The crucial role evaluation can play in the co-development of project design and its implementation will be addressed through the analysis of a case study, the Green Communities (GC) project, funded by the Italian Ministry of Environment within the EU Interregional Operational Program (2007-2013) "Renewable Energy and Energy Efficiency". The project's broader goals included an attempt to trigger a change in Italian local development strategies, especially for mountain and inland areas, which would be tailored to the real needs of communities, and based on a sustainable exploitation and management of the territorial assets. The goal was not achieved, and this paper addresses the issues of how GC could have been more effective in fostering a vision of change, and which design adaptations and evaluation procedures would have allowed the project to better cope with the unexpected consequences and resistances it encountered. The conclusions drawn are that projects should be conceived, designed and carried out as dynamic systems, inclusive of a dynamic and engaged evaluation enabling the generation of feedbacks loops, iteratively interpreting the narratives and dynamics unfolding within the project, and actively monitoring the potential of various relationships among project participants for generating positive social change. Copyright © 2015 Elsevier Ltd. All rights reserved.

Dynamic interrogative data capture (DIDC) : concept of operations.

DOT National Transportation Integrated Search

2016-04-01

This Concept of Operations (ConOps) describes the characteristics of the Dynamic Interrogative Data Capture (DIDC) algorithms and associated software. The objective of the DIDC algorithms and software is to optimize the capture and transmission of ve...

Prototype development and demonstration for integrated dynamic transit operations.

DOT National Transportation Integrated Search

2016-01-01

This document serves as the Final Report specific to the Integrated Dynamic Transit Operations (IDTO) Prototype Development and Deployment Project, hereafter referred to as IDTO Prototype Deployment or IDTO PD project. This project was performed unde...

Dynamics of quiet human stance: computer simulations of a triple inverted pendulum model.

PubMed

Günther, Michael; Wagner, Heiko

2016-01-01

For decades, the biomechanical description of quiet human stance has been dominated by the single inverted pendulum (SIP) paradigm. However, in the past few years, the SIP model family has been falsified as an explanatory approach. Double inverted pendulum models have recently proven to be inappropriate. Human topology with three major leg joints suggests in a natural way to examine triple inverted pendulum (TIP) models as an appropriate approach. In this study, we focused on formulating a TIP model that can synthesise stable balancing attractors based on minimalistic sensor information and actuation complexity. The simulated TIP oscillation amplitudes are realistic in vertical direction. Along with the horizontal ankle, knee and hip positions, though, all simulated joint angle amplitudes still exceed the measured ones about threefold. It is likely that they could be eventually brought down to the physiological range by using more sensor information. The TIP systems' eigenfrequency spectra come out as another major result. The eigenfrequencies spread across about 0.1 Hz...20 Hz. Our main result is that joint stiffnesses can be reduced even below statically required values by using an active hip torque balancing strategy. When reducing mono- and bi-articular stiffnesses further down to levels threatening dynamic stability, the spectra indicate a change from torus-like (stable) to strange (chaotic) attractors. Spectra of measured ground reaction forces appear to be strange-attractor-like. We would conclude that TIP models are a suitable starting point to examine more deeply the dynamic character of and the essential structural properties behind quiet human stance. Abbreviations and technical terms Inverted pendulum body exposed to gravity and pivoting in a joint around position of unstable equilibrium (operating point) SIP single inverted pendulum: one rigid body pivoting around fixation to the ground (external joint) DIP double inverted pendulum: two bodies; external and internal joint operate around instability TIP triple inverted pendulum: three bodies; external and both internal joints operate around instability QIP quadruple inverted pendulum: four bodies, foot replaces external joint; all three internal joints operate around instability Eigenfrequency characteristic frequency that a physical system is oscillating at when externally excited at a limited energy level DOF degree of freedom; in mechanics: linear displacement or angle or combination thereof Mono-articular stiffness: coefficient of proportionality between mechanical displacement of a DOF and restoring force/torque component in the respective DOF Bi-articular stiffness coefficient of proportionality between mechanical displacement of a DOF and restoring force/torque component in another DOF GRF ground reaction force HAT segment including head, arms and trunk COM centre of mass COP centre of pressure in the plane of the force platform surface.

Moyal dynamics and trajectories

NASA Astrophysics Data System (ADS)

Braunss, G.

2010-01-01

We give first an approximation of the operator δh: f → δhf := h*planckf - f*planckh in terms of planck2n, n >= 0, where h\\equiv h(p,q), (p,q)\\in {\\mathbb R}^{2 n} , is a Hamilton function and *planck denotes the star product. The operator, which is the generator of time translations in a *planck-algebra, can be considered as a canonical extension of the Liouville operator Lh: f → Lhf := {h, f}Poisson. Using this operator we investigate the dynamics and trajectories of some examples with a scheme that extends the Hamilton-Jacobi method for classical dynamics to Moyal dynamics. The examples we have chosen are Hamiltonians with a one-dimensional quartic potential and two-dimensional radially symmetric nonrelativistic and relativistic Coulomb potentials, and the Hamiltonian for a Schwarzschild metric. We further state a conjecture concerning an extension of the Bohr-Sommerfeld formula for the calculation of the exact eigenvalues for systems with classically periodic trajectories.

Contact dynamics recording and analysis system using an optical fiber sensor approach

NASA Astrophysics Data System (ADS)

Anghel, F.; Pavelescu, D.; Grattan, K. T. V.; Palmer, A. W.

1997-09-01

A contact dynamics recording and analysis system configured using an optical fiber sensor has been developed having been designed with a particular application to the accurate and time-varying description of moving contact operating during electrical arc breaking, in an experimental platform simulating the operation of a vacuum circuit breaker. The system utilizes dynamic displacement measurement and data recording and a post-process data analysis to reveal the dynamic speed and acceleration data of the equipment.

Dynamic Detection of Spinal Cord Position During Postural Changes Using Near-Infrared Reflectometry.

PubMed

Wolf, Erich W

2015-08-01

Motion of the spinal cord relative to a spinal cord stimulator epidural electrode array can cause suboptimal stimulation: either noxious, inefficient, or insufficient. Adaptive stimulation attempts to mitigate these effects by modulating stimulation parameters in a position-dependent fashion. Near-infrared (NIR) reflectometry is demonstrated to provide real-time direct measurement of spinal cord position at the site of stimulation, which can facilitate closed-loop adaptive stimulation during static and dynamic motion states. A miniature sensor array consisting of an NIR light emitting diode flanked by phototransistors potted in epoxy was placed in the dorsal epidural space of a human cadaver at the T8 level via laminotomy. Turgor of the subarachnoid space was maintained by intrathecal infusion of saline. NIR reflectance was measured as the cadaver was rotated about its longitudinal axis on a gantry. NIR reflectance was correlated with gantry position and velocity. NIR reflectometry suggests gravitational force is the primary determinant of cord position in static, ordinal positions. Under dynamic motion conditions, there was statistically significant cross-correlation between reflectometry data and the tangential velocity squared, suggesting that centripetal force was the primary determinant of cord position as the gantry was rotated. Reflectometry data strongly correlated with a simple geometric model of anticipated spinal cord precession within the spinal canal. Spinal cord position during dynamic motion has been shown to differ from static predictions due to additional influences such as centripetal force. These findings underscore limitations in extrapolating spinal cord position from surrogates such as body position or body acceleration at sites remote from the stimulating electrodes. NIR reflectometry offers a real-time direct measure of spinal cord position in both static and dynamic motion states, which may facilitate closed-loop adaptive stimulation applications. © 2015 International Neuromodulation Society.

Modeling, control, and dynamic performance analysis of a reverse osmosis desalination plant integrated within hybrid energy systems

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

Kim, Jong Suk; Chen, Jun; Garcia, Humberto E.

An RO (reverse osmosis) desalination plant is proposed as an effective, FLR (flexible load resource) to be integrated into HES (hybrid energy systems) to support various types of ancillary services to the electric grid, under variable operating conditions. To study the dynamic (transient) analysis of such system, among the various unit operations within HES, special attention is given here to the detailed dynamic modeling and control design of RO desalination process with a spiral-wound membrane module. The model incorporates key physical phenomena that have been investigated individually into a dynamic integrated model framework. In particular, the solution-diffusion model modified withmore » the concentration polarization theory is applied to predict RO performance over a large range of operating conditions. Simulation results involving several case studies suggest that an RO desalination plant, acting as a FLR, can provide operational flexibility to participate in energy management at the utility scale by dynamically optimizing the use of excess electrical energy. Here, the incorporation of additional commodity (fresh water) produced from a FLR allows a broader range of HES operations for maximizing overall system performance and profitability. For the purpose of assessing the incorporation of health assessment into process operations, an online condition monitoring approach for RO membrane fouling supervision is addressed in the case study presented.« less

Modeling, control, and dynamic performance analysis of a reverse osmosis desalination plant integrated within hybrid energy systems

DOE PAGES

Kim, Jong Suk; Chen, Jun; Garcia, Humberto E.

2016-06-17

An RO (reverse osmosis) desalination plant is proposed as an effective, FLR (flexible load resource) to be integrated into HES (hybrid energy systems) to support various types of ancillary services to the electric grid, under variable operating conditions. To study the dynamic (transient) analysis of such system, among the various unit operations within HES, special attention is given here to the detailed dynamic modeling and control design of RO desalination process with a spiral-wound membrane module. The model incorporates key physical phenomena that have been investigated individually into a dynamic integrated model framework. In particular, the solution-diffusion model modified withmore » the concentration polarization theory is applied to predict RO performance over a large range of operating conditions. Simulation results involving several case studies suggest that an RO desalination plant, acting as a FLR, can provide operational flexibility to participate in energy management at the utility scale by dynamically optimizing the use of excess electrical energy. Here, the incorporation of additional commodity (fresh water) produced from a FLR allows a broader range of HES operations for maximizing overall system performance and profitability. For the purpose of assessing the incorporation of health assessment into process operations, an online condition monitoring approach for RO membrane fouling supervision is addressed in the case study presented.« less

Relative contribution of feedback processes to Arctic amplification of temperature change in MIROC GCM

NASA Astrophysics Data System (ADS)

Yoshimori, Masakazu; Watanabe, Masahiro; Abe-Ouchi, Ayako; Shiogama, Hideo; Ogura, Tomoo

2013-04-01

The finding that surface warming over the Arctic exceeds that over the rest of the world under global warming is a robust feature among general circulation models (GCMs). While various mechanisms have been proposed, quantifying their relative contributions is an important task in order to understand model behavior and operating mechanisms. Here we apply a recently proposed feedback analysis technique to a GCM under different external forcings including elevated and lowered CO2 concentrations, and increased solar irradiance. First, the contribution of feedbacks to Arctic temperature change is investigated. Surface air temperature response in the Arctic is amplified by albedo, water vapor, and large-scale condensation feedbacks from that without a feedback although a part of it is suppressed by evaporative cooling feedback. Second, the contribution of feedbacks to Arctic amplification (AA) relative to global average is investigated. Under the positive radiative forcings, the albedo feedback contributes to AA predominantly through warming the Arctic more than the low latitudes while the evaporative cooling feedback contributes to AA predominantly by cooling the low latitudes more than the Arctic. Their relative effects vary with the applied forcing, however, and the latter dominates over the former in the increased solar irradiance and lowered CO2 experiments. The large-scale condensation plus evaporative cooling feedback and the dynamical feedback contribute positively and negatively to AA, respectively. These results are consistent with an increase and a decrease of latent heat and dry-static energy transport, respectively, into the Arctic under the positive radiative forcings. An important contribution is thus made via changes in hydrological cycle and not via the 'dry' heat transport process. A larger response near the surface than aloft in the Arctic is maintained by the albedo, water vapor, and dynamical feedbacks, in which the albedo and water vapor feedbacks contribute through warming the surface more than aloft, and the dynamical feedback contributes by cooling aloft more than the surface. In our experiments, ocean and sea ice dynamics play a secondary role. It is shown that a different magnitude of CO2 increase introduces a latitudinal and seasonal difference into the feedbacks.

Design and implementation of self-balancing coaxial two wheel robot based on HSIC

NASA Astrophysics Data System (ADS)

Hu, Tianlian; Zhang, Hua; Dai, Xin; Xia, Xianfeng; Liu, Ran; Qiu, Bo

2007-12-01

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.

Using gas chromatography with ion mobility spectrometry to resolve explosive compounds in the presence of interferents.

PubMed

Cook, Greg W; LaPuma, Peter T; Hook, Gary L; Eckenrode, Brian A

2010-11-01

Ion mobility spectrometry (IMS) is a valued field detection technology because of its speed and high sensitivity, but IMS cannot easily resolve analytes of interest within mixtures. Coupling gas chromatography (GC) to IMS adds a separation capability to resolve complex matrices. A GC-IONSCAN® operated in IMS and GC⁄ IMS modes was evaluated with combinations of five explosives and four interferents. In 100 explosive/interferent combinations, IMS yielded 21 false positives while GC⁄ IMS substantially reduced the occurrence of false positives to one. In addition, the results indicate that through redesign or modification of the preconcentrator there would be significant advantages to using GC⁄ IMS, such as enhancement of the linear dynamic range (LDR) in some situations. By balancing sensitivity with LDR, GC⁄ IMS could prove to be a very advantageous tool when addressing real world complex mixture situations.

A wireless energy transfer platform, integrated at the bedside.

PubMed

De Clercq, Hans; Puers, Robert

2013-01-01

This paper presents the design of a wireless energy transfer platform, integrated at the bedside. The system contains a matrix of identical inductive power transmitters, which are optimised to provide power to a wearable sensor network, with the purpose of wirelessly recording vital signals over an extended period of time. The magnetic link, operates at a transfer frequency of 6.78MHz and is able to transfer a power of 3.3mW to the remote side at an inter-coil distance of 100mm. The total efficiency of the power link is 26%. Moreover, the platform is able to dynamically determine the position of freely moving sensor nodes and selectively induce a magnetic field in the area where the sensor nodes are positioned. As a result, the patient will not be subjected to unnecessary radiation and the specific absorption rate standards are met more easily.

Development of the segment alignment maintenance system (SAMS) for the Hobby-Eberly Telescope

NASA Astrophysics Data System (ADS)

Booth, John A.; Adams, Mark T.; Ames, Gregory H.; Fowler, James R.; Montgomery, Edward E.; Rakoczy, John M.

2000-07-01

A sensing and control system for maintaining optical alignment of ninety-one 1-meter mirror segments forming the Hobby-Eberly Telescope (HET) primary mirror array is now under development. The Segment Alignment Maintenance System (SAMS) is designed to sense relative shear motion between each segment edge pair and calculated individual segment tip, tilt, and piston position errors. Error information is sent to the HET primary mirror control system, which corrects the physical position of each segment as often as once per minute. Development of SAMS is required to meet optical images quality specifications for the telescope. Segment misalignment over time is though to be due to thermal inhomogeneity within the steel mirror support truss. Challenging problems of sensor resolution, dynamic range, mechanical mounting, calibration, stability, robust algorithm development, and system integration must be overcome to achieve a successful operational solution.

Cognitive appraisals of alcohol use in early adolescence: Psychosocial predictors and reciprocal associations with alcohol use

PubMed Central

Colder, Craig R.; Read, Jennifer P.; Wieczorek, William F.; Eiden, Rina D.; Lengua, Liliana J.; Hawk, Larry W.; Trucco, Elisa M.; Lopez-Vergara, Hector I.

2016-01-01

Early adolescence is a dynamic period for the development of alcohol appraisals (expected outcomes of drinking and subjective evaluations of expected outcomes), yet the literature provides a limited understanding of psychosocial factors that shape these appraisals during this period. This study took a comprehensive view of alcohol appraisals and considered positive and negative alcohol outcome expectancies, as well as subjective evaluations of expected outcomes. Developmental-ecological theory guided examination of individual, peer, family, and neighborhood predictors of cognitive appraisals of alcohol and use. A community sample of 378 adolescents (mean age 11.5 years at Wave 1, 52% female) was assessed annually for 4 years. Longitudinal path analysis suggested that the most robust predictors of alcohol appraisals were peer norms. Furthermore, perceived likelihood of positive and negative alcohol outcomes prospectively predicted increases in drinking. There was limited support for appraisals operating as mediators of psychosocial risk and protective factors. PMID:28479653

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion.

PubMed

Lee, Dong-Jin; Lee, Sun-Kyu

2015-01-01

This paper presents a design and control system for an XY stage driven by an ultrasonic linear motor. In this study, a hybrid bolt-clamped Langevin-type ultrasonic linear motor was manufactured and then operated at the resonance frequency of the third longitudinal and the sixth lateral modes. These two modes were matched through the preload adjustment and precisely tuned by the frequency matching method based on the impedance matching method with consideration of the different moving weights. The XY stage was evaluated in terms of position and circular motion. To achieve both fine and stable motion, the controller consisted of a nominal characteristics trajectory following (NCTF) control for continuous motion, dead zone compensation, and a switching controller based on the different NCTFs for the macro- and micro-dynamics regimes. The experimental results showed that the developed stage enables positioning and continuous motion with nanometer-level accuracy.

Dual-mode operation of 2D material-base hot electron transistors

PubMed Central

Lan, Yann-Wen; Torres, Jr., Carlos M.; Zhu, Xiaodan; Qasem, Hussam; Adleman, James R.; Lerner, Mitchell B.; Tsai, Shin-Hung; Shi, Yumeng; Li, Lain-Jong; Yeh, Wen-Kuan; Wang, Kang L.

2016-01-01

Vertical hot electron transistors incorporating atomically-thin 2D materials, such as graphene or MoS2, in the base region have been proposed and demonstrated in the development of electronic and optoelectronic applications. To the best of our knowledge, all previous 2D material-base hot electron transistors only considered applying a positive collector-base potential (VCB > 0) as is necessary for the typical unipolar hot-electron transistor behavior. Here we demonstrate a novel functionality, specifically a dual-mode operation, in our 2D material-base hot electron transistors (e.g. with either graphene or MoS2 in the base region) with the application of a negative collector-base potential (VCB < 0). That is, our 2D material-base hot electron transistors can operate in either a hot-electron or a reverse-current dominating mode depending upon the particular polarity of VCB. Furthermore, these devices operate at room temperature and their current gains can be dynamically tuned by varying VCB. We anticipate our multi-functional dual-mode transistors will pave the way towards the realization of novel flexible 2D material-based high-density and low-energy hot-carrier electronic applications. PMID:27581550

Dual-mode operation of 2D material-base hot electron transistors.

PubMed

Lan, Yann-Wen; Torres, Carlos M; Zhu, Xiaodan; Qasem, Hussam; Adleman, James R; Lerner, Mitchell B; Tsai, Shin-Hung; Shi, Yumeng; Li, Lain-Jong; Yeh, Wen-Kuan; Wang, Kang L

2016-09-01

Vertical hot electron transistors incorporating atomically-thin 2D materials, such as graphene or MoS2, in the base region have been proposed and demonstrated in the development of electronic and optoelectronic applications. To the best of our knowledge, all previous 2D material-base hot electron transistors only considered applying a positive collector-base potential (VCB > 0) as is necessary for the typical unipolar hot-electron transistor behavior. Here we demonstrate a novel functionality, specifically a dual-mode operation, in our 2D material-base hot electron transistors (e.g. with either graphene or MoS2 in the base region) with the application of a negative collector-base potential (VCB < 0). That is, our 2D material-base hot electron transistors can operate in either a hot-electron or a reverse-current dominating mode depending upon the particular polarity of VCB. Furthermore, these devices operate at room temperature and their current gains can be dynamically tuned by varying VCB. We anticipate our multi-functional dual-mode transistors will pave the way towards the realization of novel flexible 2D material-based high-density and low-energy hot-carrier electronic applications.

Closed-loop helium circulation system for actuation of a continuously operating heart catheter pump.

PubMed

Karabegovic, Alen; Hinteregger, Markus; Janeczek, Christoph; Mohl, Werner; Gföhler, Margit

2017-06-09

Currently available, pneumatic-based medical devices are operated using closed-loop pulsatile or open continuous systems. Medical devices utilizing gases with a low atomic number in a continuous closed loop stream have not been documented to date. This work presents the construction of a portable helium circulation addressing the need for actuating a novel, pneumatically operated catheter pump. The design of its control system puts emphasis on the performance, safety and low running cost of the catheter pump. Static and dynamic characteristics of individual elements in the circulation are analyzed to ensure a proper operation of the system. The pneumatic circulation maximizes the working range of the drive unit inside the catheter pump while reducing the total size and noise production.Separate flow and pressure controllers position the turbine's working point into the stable region of the pressure creation element. A subsystem for rapid gas evacuation significantly decreases the duration of helium removal after a leak, reaching subatmospheric pressure in the intracorporeal catheter within several milliseconds. The system presented in the study offers an easy control of helium mass flow while ensuring stable behavior of its internal components.

[Development of a Computer-aided Diagnosis System to Distinguish between Benign and Malignant Mammary Tumors in Dynamic Magnetic Resonance Images: Automatic Detection of the Position with the Strongest Washout Effect in the Tumor].

PubMed

Miyazaki, Yoshiaki; Tabata, Nobuyuki; Taroura, Tomomi; Shinozaki, Kenji; Kubo, Yuichiro; Tokunaga, Eriko; Taguchi, Kenichi

We propose a computer-aided diagnostic (CAD) system that uses time-intensity curves to distinguish between benign and malignant mammary tumors. Many malignant tumors show a washout pattern in time-intensity curves. Therefore, we designed a program that automatically detects the position with the strongest washout effect using the technique, such as the subtraction technique, which extracts only the washout area in the tumor, and by scanning data in 2×2 pixel region of interest (ROI). Operation of this independently developed program was verified using a phantom system that simulated tumors. In three cases of malignant tumors, the washout pattern detection rate in images with manually set ROI was ≤6%, whereas the detection rate with our novel method was 100%. In one case of a benign tumor, when the same method was used, we checked that there was no washout effect and detected the persistent pattern. Thus, the distinction between benign and malignant tumors using our method was completely consistent with the pathological diagnoses made. Our novel method is therefore effective for differentiating between benign and malignant mammary tumors in dynamic magnetic resonance images.

Advanced Video Guidance Sensor (AVGS) Development Testing

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Johnston, Albert S.; Bryan, Thomas C.; Book, Michael L.

2004-01-01

NASA's Marshall Space Flight Center was the driving force behind the development of the Advanced Video Guidance Sensor, an active sensor system that provides near-range sensor data as part of an automatic rendezvous and docking system. The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state camera to detect the return from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The AVGS will fly as part of the Demonstration of Autonomous Rendezvous Technologies (DART) in October, 2004. This development effort has required a great deal of testing of various sorts at every phase of development. Some of the test efforts included optical characterization of performance with the intended target, thermal vacuum testing, performance tests in long range vacuum facilities, EMI/EMC tests, and performance testing in dynamic situations. The sensor has been shown to track a target at ranges of up to 300 meters, both in vacuum and ambient conditions, to survive and operate during the thermal vacuum cycling specific to the DART mission, to handle EM1 well, and to perform well in dynamic situations.

Dynamic Feed Control For Injection Molding

DOEpatents

Kazmer, David O.

1996-09-17

The invention provides methods and apparatus in which mold material flows through a gate into a mold cavity that defines the shape of a desired part. An adjustable valve is provided that is operable to change dynamically the effective size of the gate to control the flow of mold material through the gate. The valve is adjustable while the mold material is flowing through the gate into the mold cavity. A sensor is provided for sensing a process condition while the part is being molded. During molding, the valve is adjusted based at least in part on information from the sensor. In the preferred embodiment, the adjustable valve is controlled by a digital computer, which includes circuitry for acquiring data from the sensor, processing circuitry for computing a desired position of the valve based on the data from the sensor and a control data file containing target process conditions, and control circuitry for generating signals to control a valve driver to adjust the position of the valve. More complex embodiments include a plurality of gates, sensors, and controllable valves. Each valve is individually controllable so that process conditions corresponding to each gate can be adjusted independently. This allows for great flexibility in the control of injection molding to produce complex, high-quality parts.

"Intact" Carrier Doping by Pump-Pump-Probe Spectroscopy in Combination with Interfacial Charge Transfer: A Case Study of CsPbBr3 Nanocrystals.

PubMed

Wang, Junhui; Ding, Tao; Leng, Jing; Jin, Shengye; Wu, Kaifeng

2018-06-21

Carrier doping is important for semiconductor nanocrystals (NCs) as it offers a new knob to tune NCs' functionalities, in addition to size and shape control. Also, extensive studies on NC devices have revealed that under operating conditions NCs are often unintentionally doped with electrons or holes. Thus, it is essential to be able to control the doping of NCs and study the carrier dynamics of doped NCs. The extension of previously reported redox-doping methods to chemically sensitive materials, such as recently introduced perovskite NCs, has remained challenging. We introduce an "intact" carrier-doping method by performing pump-pump-probe transient absorption spectroscopy on NC-acceptor complexes. The first pump pulse is used to trigger charge transfer from the NC to the acceptor, leading to NCs doped with a band edge carrier; the following pump-probe pulses measure the dynamics of carrier-doped NCs. We performed this measurement on CsPbBr 3 NCs and deduced positive and negative trion lifetimes of 220 ± 50 and 150 ± 40 ps, respectively, for 10 nm diameter NCs, both dominated by Auger recombination. It also allowed us to identify randomly photocharged excitons in CsPbBr 3 NCs as positive trions.

Use of artificial intelligence in supervisory control

NASA Technical Reports Server (NTRS)

Cohen, Aaron; Erickson, Jon D.

1989-01-01

Viewgraphs describing the design and testing of an intelligent decision support system called OFMspert are presented. In this expert system, knowledge about the human operator is represented through an operator/system model referred to as the OFM (Operator Function Model). OFMspert uses the blackboard model of problem solving to maintain a dynamic representation of operator goals, plans, tasks, and actions given previous operator actions and current system state. Results of an experiment to assess OFMspert's intent inferencing capability are outlined. Finally, the overall design philosophy for an intelligent tutoring system (OFMTutor) for operators of complex dynamic systems is summarized.

Impact assessment of integrated dynamic transit operations : final report.

DOT National Transportation Integrated Search

2016-03-02

This document details the impact assessment conducted by the Volpe Center for the Integrated Dynamic Transit Operations (IDTO) prototypedemonstrations in Columbus, Ohio and Central Florida. The prototype is one result of the U.S. Department of Transp...

Impacts Assessment of Integrated Dynamic Transit Operations : Final Report

DOT National Transportation Integrated Search

2016-03-02

This document details the impact assessment conducted by the Volpe Center for the Integrated Dynamic Transit Operations (IDTO) prototype demonstrations in Columbus, Ohio and Central Florida. The prototype is one result of the U.S. Department of Trans...

Fusion of Location Fingerprinting and Trilateration Based on the Example of Differential Wi-Fi Positioning

NASA Astrophysics Data System (ADS)

Retscher, G.

2017-09-01

Positioning of mobile users in indoor environments with Wireless Fidelity (Wi-Fi) has become very popular whereby location fingerprinting and trilateration are the most commonly employed methods. In both the received signal strength (RSS) of the surrounding access points (APs) are scanned and used to estimate the user's position. Within the scope of this study the advantageous qualities of both methods are identified and selected to benefit their combination. By a fusion of these technologies a higher performance for Wi-Fi positioning is achievable. For that purpose, a novel approach based on the well-known Differential GPS (DGPS) principle of operation is developed and applied. This approach for user localization and tracking is termed Differential Wi-Fi (DWi-Fi) by analogy with DGPS. From reference stations deployed in the area of interest differential measurement corrections are derived and applied at the mobile user side. Hence, range or coordinate corrections can be estimated from a network of reference station observations as it is done in common CORS GNSS networks. A low-cost realization with Raspberry Pi units is employed for these reference stations. These units serve at the same time as APs broadcasting Wi-Fi signals as well as reference stations scanning the receivable Wi-Fi signals of the surrounding APs. As the RSS measurements are carried out continuously at the reference stations dynamically changing maps of RSS distributions, so-called radio maps, are derived. Similar as in location fingerprinting this radio maps represent the RSS fingerprints at certain locations. From the areal modelling of the correction parameters in combination with the dynamically updated radio maps the location of the user can be estimated in real-time. The novel approach is presented and its performance demonstrated in this paper.

Evaluation of new alternatives in wastewater treatment plants based on dynamic modelling and life cycle assessment (DM-LCA).

PubMed

Bisinella de Faria, A B; Spérandio, M; Ahmadi, A; Tiruta-Barna, L

2015-11-01

With a view to quantifying the energy and environmental advantages of Urine Source-Separation (USS) combined with different treatment processes, five wastewater treatment plant (WWTP) scenarios were compared to a reference scenario using Dynamic Modelling (DM) and Life Cycle Assessment (LCA), and an integrated DM-LCA framework was thus developed. Dynamic simulations were carried out in BioWin(®) in order to obtain a realistic evaluation of the dynamic behaviour and performance of plants under perturbation. LCA calculations were performed within Umberto(®) using the Ecoinvent database. A Python™ interface was used to integrate and convert simulation data and to introduce them into Umberto(®) to achieve a complete LCA evaluation comprising foreground and background processes. Comparisons between steady-state and dynamic simulations revealed the importance of considering dynamic aspects such as nutrient and flow peaks. The results of the evaluation highlighted the potential of the USS scenario for nutrient recovery whereas the Enhanced Primary Clarification (EPC) scenario gave increased biogas production and also notably decreased aeration consumption, leading to a positive energy balance. Both USS and EPC scenarios also showed increased stability of plant operation, with smaller daily averages of total nitrogen and phosphorus. In this context, USS and EPC results demonstrated that the coupled USS + EPC scenario and its combinations with agricultural spreading of N-rich effluent and nitritation/anaerobic deammonification could present an energy-positive balance with respectively 27% and 33% lower energy requirements and an increase in biogas production of 23%, compared to the reference scenario. The coupled scenarios also presented lesser environmental impacts (reduction of 31% and 39% in total endpoint impacts) along with effluent quality well within the specified limits. The marked environmental performance (reduction of global warming) when nitrogen is used in agriculture shows the importance of future research on sustainable solutions for nitrogen recovery. The contribution analysis of midpoint impacts also showed hotspots that it will be important to optimize further, such as plant infrastructure and direct N2O emissions. Copyright © 2015 Elsevier Ltd. All rights reserved.

Polymer electrolyte membrane water electrolysis: Restraining degradation in the presence of fluctuating power

NASA Astrophysics Data System (ADS)

Rakousky, Christoph; Reimer, Uwe; Wippermann, Klaus; Kuhri, Susanne; Carmo, Marcelo; Lueke, Wiebke; Stolten, Detlef

2017-02-01

Polymer electrolyte membrane (PEM) water electrolysis generates 'green' hydrogen when conducted with electricity from renewable - but fluctuating - sources like wind or solar photovoltaic. Unfortunately, the long-term stability of the electrolyzer performance is still not fully understood under these input power profiles. In this study, we contrast the degradation behavior of our PEM water electrolysis single cells that occurs under operation with constant and intermittent power and derive preferable operating states. For this purpose, five different current density profiles are used, of which two were constant and three dynamic. Cells operated at 1 A cm-2 show no degradation. However, degradation was observed for the remaining four profiles, all of which underwent periods of high current density (2 A cm-2). Hereby, constant operation at 2 A cm-2 led to the highest degradation rate (194 μV h-1). Degradation can be greatly reduced when the cells are operated with an intermittent profile. Current density switching has a positive effect on durability, as it causes reversible parts of degradation to recover and results in a substantially reduced degradation per mole of hydrogen produced. Two general degradation phenomena were identified, a decreased anode exchange current density and an increased contact resistance at the titanium porous transport layer (Ti-PTL).

Operational Performance Risk Assessment in Support of A Supervisory Control System

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

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

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

Numerical methods for systems of conservation laws of mixed type using flux splitting

NASA Technical Reports Server (NTRS)

Shu, Chi-Wang

1990-01-01

The essentially non-oscillatory (ENO) finite difference scheme is applied to systems of conservation laws of mixed hyperbolic-elliptic type. A flux splitting, with the corresponding Jacobi matrices having real and positive/negative eigenvalues, is used. The hyperbolic ENO operator is applied separately. The scheme is numerically tested on the van der Waals equation in fluid dynamics. Convergence was observed with good resolution to weak solutions for various Riemann problems, which are then numerically checked to be admissible as the viscosity-capillarity limits. The interesting phenomena of the shrinking of elliptic regions if they are present in the initial conditions were also observed.

Learning the organization: a model for health system analysis for new nurse administrators.

PubMed

Clark, Mary Jo

2004-01-01

Health systems are large and complex organizations in which multiple components and processes influence system outcomes. In order to effectively position themselves in such organizations, nurse administrators new to a system must gain a rapid understanding of overall system operation. Such understanding is facilitated by use of a model for system analysis. The model presented here examines the dynamic interrelationships between and among internal and external elements as they affect system performance. External elements to be analyzed include environmental factors and characteristics of system clientele. Internal elements flow from the mission and goals of the system and include system culture, services, resources, and outcomes.

Bio-inspired sensing and control for disturbance rejection and stabilization

NASA Astrophysics Data System (ADS)

Gremillion, Gregory; Humbert, James S.

2015-05-01

The successful operation of small unmanned aircraft systems (sUAS) in dynamic environments demands robust stability in the presence of exogenous disturbances. Flying insects are sensor-rich platforms, with highly redundant arrays of sensors distributed across the insect body that are integrated to extract rich information with diminished noise. This work presents a novel sensing framework in which measurements from an array of accelerometers distributed across a simulated flight vehicle are linearly combined to directly estimate the applied forces and torques with improvements in SNR. In simulation, the estimation performance is quantified as a function of sensor noise level, position estimate error, and sensor quantity.

Active Vibration Control of a Large Flexible Manipulator by Inertial Force and Joint Torque. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Soo Han

1988-01-01

The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: (1) Dynamic modeling of a combined system, a large flexible manipulator and a small arm, (2) Determination of optimal sensor location and controller algorithm, and (3) Verification of the fitness of model and the performance of controller.

Ultrasonic scanning system for imaging flaw growth in composites

NASA Technical Reports Server (NTRS)

Kiraly, L. J.; Meyn, E. H.

1982-01-01

A system for measuring and visually representing damage in composite specimens while they are being loaded was demonstrated. It uses a hobbiest grade microcomputer system to control data taking and image processing. The system scans operator selected regions of the specimen while it is under load in a tensile test machine and measures internal damage by the attenuation of a 2.5 MHz ultrasonic beam passed through the specimen. The microcomputer dynamically controls the position of ultrasonic transducers mounted on a two axis motor driven carriage. As many as 65,536 samples can be taken and filed on a floppy disk system in less than four minutes.

Adaptive relative pose control of spacecraft with model couplings and uncertainties

NASA Astrophysics Data System (ADS)

Sun, Liang; Zheng, Zewei

2018-02-01

The spacecraft pose tracking control problem for an uncertain pursuer approaching to a space target is researched in this paper. After modeling the nonlinearly coupled dynamics for relative translational and rotational motions between two spacecraft, position tracking and attitude synchronization controllers are developed independently by using a robust adaptive control approach. The unknown kinematic couplings, parametric uncertainties, and bounded external disturbances are handled with adaptive updating laws. It is proved via Lyapunov method that the pose tracking errors converge to zero asymptotically. Spacecraft close-range rendezvous and proximity operations are introduced as an example to validate the effectiveness of the proposed control approach.

Manipulator control by exact linearization

NASA Technical Reports Server (NTRS)

Kruetz, K.

1987-01-01

Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

Specialized data analysis of SSME and advanced propulsion system vibration measurements

NASA Technical Reports Server (NTRS)

Coffin, Thomas; Swanson, Wayne L.; Jong, Yen-Yi

1993-01-01

The basic objectives of this contract were to perform detailed analysis and evaluation of dynamic data obtained during Space Shuttle Main Engine (SSME) test and flight operations, including analytical/statistical assessment of component dynamic performance, and to continue the development and implementation of analytical/statistical models to effectively define nominal component dynamic characteristics, detect anomalous behavior, and assess machinery operational conditions. This study was to provide timely assessment of engine component operational status, identify probable causes of malfunction, and define feasible engineering solutions. The work was performed under three broad tasks: (1) Analysis, Evaluation, and Documentation of SSME Dynamic Test Results; (2) Data Base and Analytical Model Development and Application; and (3) Development and Application of Vibration Signature Analysis Techniques.

Measurement and inference of profile soil-water dynamics at different hillslope positions in a semiarid agricultural watershed

NASA Astrophysics Data System (ADS)

Green, Timothy R.; Erskine, Robert H.

2011-12-01

Dynamics of profile soil water vary with terrain, soil, and plant characteristics. The objectives addressed here are to quantify dynamic soil water content over a range of slope positions, infer soil profile water fluxes, and identify locations most likely influenced by multidimensional flow. The instrumented 56 ha watershed lies mostly within a dryland (rainfed) wheat field in semiarid eastern Colorado. Dielectric capacitance sensors were used to infer hourly soil water content for approximately 8 years (minus missing data) at 18 hillslope positions and four or more depths. Based on previous research and a new algorithm, sensor measurements (resonant frequency) were rescaled to estimate soil permittivity, then corrected for temperature effects on bulk electrical conductivity before inferring soil water content. Using a mass-conservation method, we analyzed multitemporal changes in soil water content at each sensor to infer the dynamics of water flux at different depths and landscape positions. At summit positions vertical processes appear to control profile soil water dynamics. At downslope positions infrequent overland flow and unsaturated subsurface lateral flow appear to influence soil water dynamics. Crop water use accounts for much of the variability in soil water between transects that are either cropped or fallow in alternating years, while soil hydraulic properties and near-surface hydrology affect soil water variability across landscape positions within each management zone. The observed spatiotemporal patterns exhibit the joint effects of short-term hydrology and long-term soil development. Quantitative methods of analyzing soil water patterns in space and time improve our understanding of dominant soil hydrological processes and provide alternative measures of model performance.

Improved laser-based triangulation sensor with enhanced range and resolution through adaptive optics-based active beam control.

PubMed

Reza, Syed Azer; Khwaja, Tariq Shamim; Mazhar, Mohsin Ali; Niazi, Haris Khan; Nawab, Rahma

2017-07-20

Various existing target ranging techniques are limited in terms of the dynamic range of operation and measurement resolution. These limitations arise as a result of a particular measurement methodology, the finite processing capability of the hardware components deployed within the sensor module, and the medium through which the target is viewed. Generally, improving the sensor range adversely affects its resolution and vice versa. Often, a distance sensor is designed for an optimal range/resolution setting depending on its intended application. Optical triangulation is broadly classified as a spatial-signal-processing-based ranging technique and measures target distance from the location of the reflected spot on a position sensitive detector (PSD). In most triangulation sensors that use lasers as a light source, beam divergence-which severely affects sensor measurement range-is often ignored in calculations. In this paper, we first discuss in detail the limitations to ranging imposed by beam divergence, which, in effect, sets the sensor dynamic range. Next, we show how the resolution of laser-based triangulation sensors is limited by the interpixel pitch of a finite-sized PSD. In this paper, through the use of tunable focus lenses (TFLs), we propose a novel design of a triangulation-based optical rangefinder that improves both the sensor resolution and its dynamic range through adaptive electronic control of beam propagation parameters. We present the theory and operation of the proposed sensor and clearly demonstrate a range and resolution improvement with the use of TFLs. Experimental results in support of our claims are shown to be in strong agreement with theory.

Tether dynamics and control results for tethered satellite system's initial flight

NASA Astrophysics Data System (ADS)

Chapel, Jim D.; Flanders, Howard

The recent Tethered Satellite System-1 (TSS-1) mission has provided a wealth of data concerning the dynamics of tethered systems in space and has demonstrated the effectiveness of operational techniques designed to control these dynamics. In this paper, we review control techniques developed for managing tether dynamics, and discuss the results of using these techniques for the Tethered Satellite System's maiden flight on STS-46. In particular, the flight results of controlling libration dynamics, string dynamics, and slack tether are presented. These results show that tether dynamics can be safely managed. The overall stability of the system was found to be surprisingly good even at relatively short tether lengths. In fact, the system operated in passive mode at a tether length of 256 meters for over 9 hours. Only monitoring of the system was required during this time. Although flight anomalies prevented the planned deployment to 20 km, the extended operations at shorter tether lengths have proven the viability of using tethers in space. These results should prove invaluable in preparing for future missions with tethered objects in space.

Tether dynamics and control results for tethered satellite system's initial flight

NASA Technical Reports Server (NTRS)

Chapel, Jim D.; Flanders, Howard

1993-01-01

The recent Tethered Satellite System-1 (TSS-1) mission has provided a wealth of data concerning the dynamics of tethered systems in space and has demonstrated the effectiveness of operational techniques designed to control these dynamics. In this paper, we review control techniques developed for managing tether dynamics, and discuss the results of using these techniques for the Tethered Satellite System's maiden flight on STS-46. In particular, the flight results of controlling libration dynamics, string dynamics, and slack tether are presented. These results show that tether dynamics can be safely managed. The overall stability of the system was found to be surprisingly good even at relatively short tether lengths. In fact, the system operated in passive mode at a tether length of 256 meters for over 9 hours. Only monitoring of the system was required during this time. Although flight anomalies prevented the planned deployment to 20 km, the extended operations at shorter tether lengths have proven the viability of using tethers in space. These results should prove invaluable in preparing for future missions with tethered objects in space.

The human operator transfer function: Identification of the limb mechanics subsystem

NASA Technical Reports Server (NTRS)

Jones, Lynette A.; Hunter, Ian W.

1991-01-01

The objective of our research is to decompose the performance of the human operator in terms of the subsystems that determine the operator's responses in order to establish how the dynamics of these component subsystems influence the operator's performance. In the present experiment, the dynamic stiffness of the human elbow joint was measured at rest and under different levels of biceps muscle activation; this work forms part of the analysis of the limb mechanics subsystem.

Implementation issues for a compact 6 degree of freedom force reflecting handcontroller with cueing of modes

NASA Technical Reports Server (NTRS)

Jacobus, Heidi; Riggs, Alan J.; Jacobus, Charles; Weinstein, Yechiel

1991-01-01

Teleoperated control requires a master human interface device that can provide haptic input and output which reflect the responses of a slave robotic system. The effort reported in this paper addresses the design and prototyping of a six degree-of-freedom (DOF) Cartesian coordinate hand controller for this purpose. The device design recommended is an XYZ stage attached to a three-roll wrist which positions a flight-type handgrip. Six degrees of freedom are transduced and control brushless DC motor servo electronics similar in design to those used in computer controlled robotic manipulators. This general approach supports scaled force, velocity, and position feedback to aid an operator in achieving telepresence. The generality of the device and control system characteristics allow the use of inverse dynamics robotic control methodology to project slave robot system forces and inertias to the operator (in scaled form) and at the same time to reduce the apparent inertia of the robotic handcontroller itself. The current control design, which is not multiple fault tolerant, can be extended to make flight control or space use possible. The proposed handcontroller will have advantages in space-based applications where an operator must control several robot arms in a simultaneous and coordinated fashion. It will also have applications in intravehicular activities (within the Space Station) such as microgravity experiments in metallurgy and biological experiments that require isolation from the astronauts' environment. For ground applications, the handcontroller will be useful in underwater activities where the generality of the proposed handcontroller becomes an asset for operation of many different manipulator types. Also applications will emerge in the Military, Construction, and Maintenance/Manufacturing areas including ordnance handling, mine removal, NBC (Nuclear, Chemical, Biological) operations, control of vehicles, and operating strength and agility enhanced machines. Future avionics applications including advanced helicopter and aircraft control may also become important.

Effect of structural mount dynamics on a pair of operating Stirling Convertors

NASA Astrophysics Data System (ADS)

Goodnight, Thomas W.; Suárez, Vicente J.; Hughes, William O.; Samorezov, Sergey

2002-01-01

The U.S. Department of Energy (DOE), in conjunction with NASA John H. Glenn Research Center and Stirling Technology Company, are currently developing a Stirling convertor for a Stirling Radioisotope Generator (SRG). NASA Headquarters and DOE have identified the SRG for potential use as an advanced spacecraft power system for future NASA deep-space and Mars surface missions. Low-level dynamic base-shake tests were conducted on a dynamic simulation of the structural mount for a pair of Operating Stirling Convertors. These tests were conducted at NASA Glenn Research Center's Structural Dynamics Laboratory as part of the development of this technology. The purpose of these tests was to identify the changes in transmissibility and the effect on structural dynamic response on a pair of operating Stirling Technology Demonstration Convertors (TDCs). This paper addresses the base-shake test, setup, procedure and results conducted on the Stirling TDC mount simulator in April 2001. .

Session 6: Dynamic Modeling and Systems Analysis

NASA Technical Reports Server (NTRS)

Csank, Jeffrey; Chapman, Jeffryes; May, Ryan

2013-01-01

These presentations cover some of the ongoing work in dynamic modeling and dynamic systems analysis. The first presentation discusses dynamic systems analysis and how to integrate dynamic performance information into the systems analysis. The ability to evaluate the dynamic performance of an engine design may allow tradeoffs between the dynamic performance and operability of a design resulting in a more efficient engine design. The second presentation discusses the Toolbox for Modeling and Analysis of Thermodynamic Systems (T-MATS). T-MATS is a Simulation system with a library containing the basic building blocks that can be used to create dynamic Thermodynamic Systems. Some of the key features include Turbo machinery components, such as turbines, compressors, etc., and basic control system blocks. T-MAT is written in the Matlab-Simulink environment and is open source software. The third presentation focuses on getting additional performance from the engine by allowing the limit regulators only to be active when a limit is danger of being violated. Typical aircraft engine control architecture is based on MINMAX scheme, which is designed to keep engine operating within prescribed mechanical/operational safety limits. Using a conditionally active min-max limit regulator scheme, additional performance can be gained by disabling non-relevant limit regulators

Impacts Assessment of Integrated Dynamic Transit Operations: Evaluation Plan and Addendum

DOT National Transportation Integrated Search

2016-04-01

This document details the process that the Volpe Center intended to follow in evaluating the impacts of the Integrated Dynamic Transit Operations (IDTO) prototype demonstration in Columbus, Ohio and Central Florida. The document also includes the add...

Impact Assessment of Integrated Dynamic Transit Operations Evaluation Plan and Addendum.

DOT National Transportation Integrated Search

2016-01-04

This document details the process that the Volpe Center intended to follow in evaluating the impacts of the Integrated Dynamic Transit Operations (IDTO) prototype demonstration in Columbus, Ohio and Central Florida. The document also includes the add...

Protected quantum computing: interleaving gate operations with dynamical decoupling sequences.

PubMed

Zhang, Jingfu; Souza, Alexandre M; Brandao, Frederico Dias; Suter, Dieter

2014-02-07

Implementing precise operations on quantum systems is one of the biggest challenges for building quantum devices in a noisy environment. Dynamical decoupling attenuates the destructive effect of the environmental noise, but so far, it has been used primarily in the context of quantum memories. Here, we experimentally demonstrate a general scheme for combining dynamical decoupling with quantum logical gate operations using the example of an electron-spin qubit of a single nitrogen-vacancy center in diamond. We achieve process fidelities >98% for gate times that are 2 orders of magnitude longer than the unprotected dephasing time T2.

Analysis and Modeling of Ground Operations at Hub Airports

NASA Technical Reports Server (NTRS)

Atkins, Stephen (Technical Monitor); Andersson, Kari; Carr, Francis; Feron, Eric; Hall, William D.

2000-01-01

Building simple and accurate models of hub airports can considerably help one understand airport dynamics, and may provide quantitative estimates of operational airport improvements. In this paper, three models are proposed to capture the dynamics of busy hub airport operations. Two simple queuing models are introduced to capture the taxi-out and taxi-in processes. An integer programming model aimed at representing airline decision-making attempts to capture the dynamics of the aircraft turnaround process. These models can be applied for predictive purposes. They may also be used to evaluate control strategies for improving overall airport efficiency.

Adaptive Indoor Positioning Model Based on WLAN-Fingerprinting for Dynamic and Multi-Floor Environments

PubMed Central

Alshami, Iyad Husni; Sahibuddin, Shamsul; Firdaus, Firdaus

2017-01-01

The Global Positioning System demonstrates the significance of Location Based Services but it cannot be used indoors due to the lack of line of sight between satellites and receivers. Indoor Positioning Systems are needed to provide indoor Location Based Services. Wireless LAN fingerprints are one of the best choices for Indoor Positioning Systems because of their low cost, and high accuracy, however they have many drawbacks: creating radio maps is time consuming, the radio maps will become outdated with any environmental change, different mobile devices read the received signal strength (RSS) differently, and peoples’ presence in LOS between access points and mobile device affects the RSS. This research proposes a new Adaptive Indoor Positioning System model (called DIPS) based on: a dynamic radio map generator, RSS certainty technique and peoples’ presence effect integration for dynamic and multi-floor environments. Dynamic in our context refers to the effects of people and device heterogeneity. DIPS can achieve 98% and 92% positioning accuracy for floor and room positioning, and it achieves 1.2 m for point positioning error. RSS certainty enhanced the positioning accuracy for floor and room for different mobile devices by 11% and 9%. Then by considering the peoples’ presence effect, the error is reduced by 0.2 m. In comparison with other works, DIPS achieves better positioning without extra devices. PMID:28783047

Military personnel with self-reported ankle injuries do not demonstrate deficits in dynamic postural stability or landing kinematics.

PubMed

Bansbach, Heather M; Lovalekar, Mita T; Abt, John P; Rafferty, Deirdre; Yount, Darcie; Sell, Timothy C

2017-08-01

The odds of sustaining non-contact musculoskeletal injuries are higher in Special Operations Forces operators than in infantry soldiers. The ankle is one of the most commonly injured joints, and once injured can put individuals at risk for reinjury. The purpose of this study was to determine if any differences in postural stability and landing kinematics exist between operators with a self-reported ankle injury in the past one year and uninjured controls. A total of 55 Special Operations Forces operators were included in this analysis. Comparisons were made between operators with a self-reported ankle injury within one-year of their test date (n=11) and healthy matched controls (n=44). Comparisons were also made between injured and uninjured limbs within the injured group. Dynamic postural stability and landing kinematics at the ankle, knee, and hip were assessed during a single-leg jump-landing task. Comparisons were made between groups with independent t-tests and within the injured group between limbs using paired t-tests. There were no significant differences in dynamic postural stability index or landing kinematics between the injured and uninjured groups. Anterior-posterior stability index was significantly higher on the uninjured limb compared to the injured limb within the injured group (P=0.02). Single ankle injuries sustained by operators may not lead to deficits in dynamic postural stability. Dynamic postural stability index and landing kinematics within one year after injury were either not affected by the injuries reported, or injured operators were trained back to baseline measures through rehabilitation and daily activity. Copyright © 2017 Elsevier Ltd. All rights reserved.

Breaking through the false coincidence barrier in electron–ion coincidence experiments

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

Osborn, David L.; Hayden, Carl C.; Hemberger, Patrick

Photoelectron Photoion Coincidence (PEPICO) spectroscopy holds the promise of a universal, isomer-selective, and sensitive analytical technique for time-resolved quantitative analysis of bimolecular chemical reactions. Unfortunately, its low dynamic range of ~10 3 has largely precluded its use for this purpose, where a dynamic range of at least 10 5 is generally required. This limitation is due to the false coincidence background common to all coincidence experiments, especially at high count rates. Electron/ion pairs emanating from separate ionization events but arriving within the ion time of flight (TOF) range of interest constitute the false coincidence background. Although this background has uniformmore » intensity at every m/z value, the Poisson scatter in the false coincidence background obscures small signals. In this paper, temporal ion deflection coupled with a position-sensitive ion detector enables suppression of the false coincidence background, increasing the dynamic range in the PEPICO TOF mass spectrum by 2–3 orders of magnitude. The ions experience a time-dependent electric deflection field at a well-defined fraction of their time of flight. This deflection defines an m/z- and ionization-time dependent ion impact position for true coincidences, whereas false coincidences appear randomly outside this region and can be efficiently suppressed. When cold argon clusters are ionized, false coincidence suppression allows us to observe species up to Ar 9 +, whereas Ar 4 + is the largest observable cluster under traditional operation. As a result, this advance provides mass-selected photoelectron spectra for fast, high sensitivity quantitative analysis of reacting systems.« less

Breaking through the false coincidence barrier in electron–ion coincidence experiments

DOE PAGES

Osborn, David L.; Hayden, Carl C.; Hemberger, Patrick; ...

2016-10-31

Photoelectron Photoion Coincidence (PEPICO) spectroscopy holds the promise of a universal, isomer-selective, and sensitive analytical technique for time-resolved quantitative analysis of bimolecular chemical reactions. Unfortunately, its low dynamic range of ~10 3 has largely precluded its use for this purpose, where a dynamic range of at least 10 5 is generally required. This limitation is due to the false coincidence background common to all coincidence experiments, especially at high count rates. Electron/ion pairs emanating from separate ionization events but arriving within the ion time of flight (TOF) range of interest constitute the false coincidence background. Although this background has uniformmore » intensity at every m/z value, the Poisson scatter in the false coincidence background obscures small signals. In this paper, temporal ion deflection coupled with a position-sensitive ion detector enables suppression of the false coincidence background, increasing the dynamic range in the PEPICO TOF mass spectrum by 2–3 orders of magnitude. The ions experience a time-dependent electric deflection field at a well-defined fraction of their time of flight. This deflection defines an m/z- and ionization-time dependent ion impact position for true coincidences, whereas false coincidences appear randomly outside this region and can be efficiently suppressed. When cold argon clusters are ionized, false coincidence suppression allows us to observe species up to Ar 9 +, whereas Ar 4 + is the largest observable cluster under traditional operation. As a result, this advance provides mass-selected photoelectron spectra for fast, high sensitivity quantitative analysis of reacting systems.« less

Positive Affect and the Complex Dynamics of Human Flourishing

ERIC Educational Resources Information Center

Fredrickson, Barbara L.; Losada, Marcial F.

2005-01-01

Extending B. L. Fredrickson's (1998) broaden-and-build theory of positive emotions and M. Losada's (1999) nonlinear dynamics model of team performance, the authors predict that a ratio of positive to negative affect at or above 2.9 will characterize individuals in flourishing mental health. Participants (N=188) completed an initial survey to…

Upper Limb Asymmetries in the Perception of Proprioceptively Determined Dynamic Position Sense

ERIC Educational Resources Information Center

Goble, Daniel J.; Brown, Susan H.

2010-01-01

Recent studies of position-related proprioceptive sense have provided evidence of a nonpreferred left arm advantage in right-handed individuals. The present study sought to determine whether similar asymmetries might exist in "dynamic position" sense. Thirteen healthy, right-handed adults were blindfolded and seated with arms placed on…

Impact characteristics for high-pressure large-flow water-based emulsion pilot operated check valve reverse opening

NASA Astrophysics Data System (ADS)

Liu, Lei; Huang, Chuanhui; Yu, Ping; Zhang, Lei

2017-10-01

To improve the dynamic characteristics and cavitation characteristics of large-flow pilot operated check valve, consider the pilot poppet as the research object, analyses working principle and design three different kinds of pilot poppets. The vibration characteristics and impact characteristics are analyzed. The simulation model is established through flow field simulation software. The cavitation characteristics of large-flow pilot operated check valve are studied and discussed. On this basis, high-pressure large-flow impact experimental system is used for impact experiment, and the cavitation index is discussed. Then optimal structure is obtained. Simulation results indicate that the increase of pilot poppet half cone angle can effectively reduce the cavitation area, reducing the generation of cavitation. Experimental results show that the pressure impact is not decreasing with increasing of pilot poppet half cone angle in process of unloading, but the unloading capacity, response speed and pilot poppet half cone angle are positively correlated. The impact characteristics of 60° pilot poppet, and its cavitation index is lesser, which indicates 60° pilot poppet is the optimal structure, with the theory results are basically identical.

CoNNeCT Antenna Positioning System Dynamic Simulator Modal Model Correlation

NASA Technical Reports Server (NTRS)

Jones, Tevor M.; McNelis, Mark E.; Staab, Lucas D.; Akers, James C.; Suarez, Vicente

2012-01-01

The National Aeronautics and Space Administration (NASA) developed an on-orbit, adaptable, Software Defined Radios (SDR)/Space Telecommunications Radio System (STRS)-based testbed facility to conduct a suite of experiments to advance technologies, reduce risk, and enable future mission capabilities on the International Space Station (ISS). The Communications, Navigation, and Networking reConfigurable Testbed (CoNNeCT) Project will provide NASA, industry, other Government agencies, and academic partners the opportunity to develop and field communications, navigation, and networking technologies in both the laboratory and space environment based on reconfigurable, software-defined radio platforms and the STRS Architecture. The CoNNeCT Payload Operations Nomenclature is "SCAN Testbed," and this nomenclature will be used in all ISS integration, safety, verification, and operations documentation. The SCAN Testbed (payload) is a Flight Releasable Attachment Mechanism (FRAM) based payload that will launch aboard the Japanese H-II Transfer Vehicle (HTV) Multipurpose Exposed Pallet (EP-MP) to the International Space Station (ISS), and will be transferred to the Express Logistics Carrier 3 (ELC3) via Extravehicular Robotics (EVR). The SCAN Testbed will operate on-orbit for a minimum of two years.

[Research on fuzzy proportional-integral-derivative control of master-slave minimally invasive operation robot driver].

PubMed

Zhao, Ximei; Ren, Chengyi; Liu, Hao; Li, Haogyi

2014-12-01

Robotic catheter minimally invasive operation requires that the driver control system has the advantages of quick response, strong anti-jamming and real-time tracking of target trajectory. Since the catheter parameters of itself and movement environment and other factors continuously change, when the driver is controlled using traditional proportional-integral-derivative (PID), the controller gain becomes fixed once the PID parameters are set. It can not change with the change of the parameters of the object and environmental disturbance so that its change affects the position tracking accuracy, and may bring a large overshoot endangering patients' vessel. Therefore, this paper adopts fuzzy PID control method to adjust PID gain parameters in the tracking process in order to improve the system anti-interference ability, dynamic performance and tracking accuracy. The simulation results showed that the fuzzy PID control method had a fast tracking performance and a strong robustness. Compared with those of traditional PID control, the feasibility and practicability of fuzzy PID control are verified in a robotic catheter minimally invasive operation.

CoNNeCT Antenna Positioning System Dynamic Simulator Modal Model Correlation

NASA Technical Reports Server (NTRS)

Jones, Trevor M.; McNelis, Mark E.; Staab, Lucas D.; Akers, James C.; Suarez, Vicente J.

2012-01-01

The National Aeronautics and Space Administration (NASA) developed an on-orbit, adaptable, Software Defined Radios (SDR)/Space Telecommunications Radio System (STRS)-based testbed facility to conduct a suite of experiments to advance technologies, reduce risk, and enable future mission capabilities on the International Space Station (ISS). The Communications, Navigation, and Networking reConfigurable Testbed (CoNNeCT) Project will provide NASA, industry, other Government agencies, and academic partners the opportunity to develop and field communications, navigation, and networking technologies in both the laboratory and space environment based on reconfigurable, software-defined radio platforms and the STRS Architecture. The CoNNeCT Payload Operations Nomenclature is SCAN Testbed, and this nomenclature will be used in all ISS integration, safety, verification, and operations documentation. The SCAN Testbed (payload) is a Flight Releasable Attachment Mechanism (FRAM) based payload that will launch aboard the Japanese H-II Transfer Vehicle (HTV) Multipurpose Exposed Pallet (EP-MP) to the International Space Station (ISS), and will be transferred to the Express Logistics Carrier 3 (ELC3) via Extravehicular Robotics (EVR). The SCAN Testbed will operate on-orbit for a minimum of two years.

The von Neumann model of measurement in quantum mechanics

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

Mello, Pier A.

2014-01-08

We describe how to obtain information on a quantum-mechanical system by coupling it to a probe and detecting some property of the latter, using a model introduced by von Neumann, which describes the interaction of the system proper with the probe in a dynamical way. We first discuss single measurements, where the system proper is coupled to one probe with arbitrary coupling strength. The goal is to obtain information on the system detecting the probe position. We find the reduced density operator of the system, and show how Lüders rule emerges as the limiting case of strong coupling. The vonmore » Neumann model is then generalized to two probes that interact successively with the system proper. Now we find information on the system by detecting the position-position and momentum-position correlations of the two probes. The so-called 'Wigner's formula' emerges in the strong-coupling limit, while 'Kirkwood's quasi-probability distribution' is found as the weak-coupling limit of the above formalism. We show that successive measurements can be used to develop a state-reconstruction scheme. Finally, we find a generalized transform of the state and the observables based on the notion of successive measurements.« less

Towards high-throughput automated targeted femtosecond laser-based transfection of adherent cells

NASA Astrophysics Data System (ADS)

Antkowiak, Maciej; Torres-Mapa, Maria Leilani; Gunn-Moore, Frank; Dholakia, Kishan

2011-03-01

Femtosecond laser induced cell membrane poration has proven to be an attractive alternative to the classical methods of drug and gene delivery. It is a selective, sterile, non-contact technique that offers a highly localized operation, low toxicity and consistent performance. However, its broader application still requires the development of robust, high-throughput and user-friendly systems. We present a system capable of unassisted enhanced targeted optoinjection and phototransfection of adherent mammalian cells with a femtosecond laser. We demonstrate the advantages of a dynamic diffractive optical element, namely a spatial light modulator (SLM) for precise three dimensional positioning of the beam. It enables the implementation of a "point-and-shoot" system in which using the software interface a user simply points at the cell and a predefined sequence of precisely positioned doses can be applied. We show that irradiation in three axial positions alleviates the problem of exact beam positioning on the cell membrane and doubles the number of viably optoinjected cells when compared with a single dose. The presented system enables untargeted raster scan irradiation which provides transfection of adherent cells at the throughput of 1 cell per second.

Specialized data analysis for the Space Shuttle Main Engine and diagnostic evaluation of advanced propulsion system components

NASA Technical Reports Server (NTRS)

1993-01-01

The Marshall Space Flight Center is responsible for the development and management of advanced launch vehicle propulsion systems, including the Space Shuttle Main Engine (SSME), which is presently operational, and the Space Transportation Main Engine (STME) under development. The SSME's provide high performance within stringent constraints on size, weight, and reliability. Based on operational experience, continuous design improvement is in progress to enhance system durability and reliability. Specialized data analysis and interpretation is required in support of SSME and advanced propulsion system diagnostic evaluations. Comprehensive evaluation of the dynamic measurements obtained from test and flight operations is necessary to provide timely assessment of the vibrational characteristics indicating the operational status of turbomachinery and other critical engine components. Efficient performance of this effort is critical due to the significant impact of dynamic evaluation results on ground test and launch schedules, and requires direct familiarity with SSME and derivative systems, test data acquisition, and diagnostic software. Detailed analysis and evaluation of dynamic measurements obtained during SSME and advanced system ground test and flight operations was performed including analytical/statistical assessment of component dynamic behavior, and the development and implementation of analytical/statistical models to efficiently define nominal component dynamic characteristics, detect anomalous behavior, and assess machinery operational condition. In addition, the SSME and J-2 data will be applied to develop vibroacoustic environments for advanced propulsion system components, as required. This study will provide timely assessment of engine component operational status, identify probable causes of malfunction, and indicate feasible engineering solutions. This contract will be performed through accomplishment of negotiated task orders.

Dynamic data filtering system and method

DOEpatents

Bickford, Randall L; Palnitkar, Rahul M

2014-04-29

A computer-implemented dynamic data filtering system and method for selectively choosing operating data of a monitored asset that modifies or expands a learned scope of an empirical model of normal operation of the monitored asset while simultaneously rejecting operating data of the monitored asset that is indicative of excessive degradation or impending failure of the monitored asset, and utilizing the selectively chosen data for adaptively recalibrating the empirical model to more accurately monitor asset aging changes or operating condition changes of the monitored asset.

Non-invasive timing of gas gun projectiles with light detection and ranging

NASA Astrophysics Data System (ADS)

Goodwin, P. M.; Bartram, B. D.; Gibson, L. L.; Wu, M.; Dattelbaum, D. M.

2014-05-01

We have developed a Light Detection and Ranging (LIDAR) diagnostic to track the position of a projectile inside of a gas gun launch tube in real-time. This capability permits the generation of precisely timed trigger pulses useful for triggering high-latency diagnostics such as a flash lamp-pumped laser. An initial feasibility test was performed using a 72 mm bore diameter single-stage gas gun routinely used for dynamic research at Los Alamos. A 655 nm pulsed diode laser operating at a pulse repetition rate of 100 kHz was used to interrogate the position of the moving projectile in real-time. The position of the projectile in the gun barrel was tracked over a distance of ~ 3 meters prior to impact. The position record showed that the projectile moved at a velocity of 489 m/s prior to impacting the target. This velocity was in good agreement with independent measurements of the projectile velocity by photon Doppler velocimetry and timing of the passage of the projectile through optical marker beams positioned at the muzzle of the gun. The time-to-amplitude conversion electronics used enable the LIDAR data to be processed in real-time to generate trigger pulses at preset separations between the projectile and target.

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

PubMed Central

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-01-01

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies—INS and LiDAR SLAM—into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform—NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment. PMID:26184206

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

PubMed

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-07-10

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

Dynamic isoperimetry and the geometry of Lagrangian coherent structures

NASA Astrophysics Data System (ADS)

Froyland, Gary

2015-10-01

The study of transport and mixing processes in dynamical systems is particularly important for the analysis of mathematical models of physical systems. We propose a novel, direct geometric method to identify subsets of phase space that remain strongly coherent over a finite time duration. This new method is based on a dynamic extension of classical (static) isoperimetric problems; the latter are concerned with identifying submanifolds with the smallest boundary size relative to their volume. The present work introduces dynamic isoperimetric problems; the study of sets with small boundary size relative to volume as they are evolved by a general dynamical system. We formulate and prove dynamic versions of the fundamental (static) isoperimetric (in)equalities; a dynamic Federer-Fleming theorem and a dynamic Cheeger inequality. We introduce a new dynamic Laplace operator and describe a computational method to identify coherent sets based on eigenfunctions of the dynamic Laplacian. Our results include formal mathematical statements concerning geometric properties of finite-time coherent sets, whose boundaries can be regarded as Lagrangian coherent structures. The computational advantages of our new approach are a well-separated spectrum for the dynamic Laplacian, and flexibility in appropriate numerical approximation methods. Finally, we demonstrate that the dynamic Laplace operator can be realised as a zero-diffusion limit of a newly advanced probabilistic transfer operator method [9] for finding coherent sets, which is based on small diffusion. Thus, the present approach sits naturally alongside the probabilistic approach [9], and adds a formal geometric interpretation.

FINITE-STATE APPROXIMATIONS TO DENUMERABLE-STATE DYNAMIC PROGRAMS,

DTIC Science & Technology

AIR FORCE OPERATIONS, LOGISTICS), (*INVENTORY CONTROL, DYNAMIC PROGRAMMING), (*DYNAMIC PROGRAMMING, APPROXIMATION(MATHEMATICS)), INVENTORY CONTROL, DECISION MAKING, STOCHASTIC PROCESSES, GAME THEORY, ALGORITHMS, CONVERGENCE

Vertical-plane pendulum absorbers for minimizing helicopter vibratory loads

NASA Technical Reports Server (NTRS)

Amer, K. B.; Neff, J. R.

1974-01-01

The use of pendulum dynamic absorbers mounted on the blade root and operating in the vertical plane to minimize helicopter vibratory loads was discussed. A qualitative description was given of the concept of the dynamic absorbers and some results of analytical studies showing the degree of reduction in vibratory loads attainable are presented. Operational experience of vertical plane dynamic absorbers on the OH-6A helicopter is also discussed.

Flight Dynamics Mission Support and Quality Assurance Process

NASA Technical Reports Server (NTRS)

Oh, InHwan

1996-01-01

This paper summarizes the method of the Computer Sciences Corporation Flight Dynamics Operation (FDO) quality assurance approach to support the National Aeronautics and Space Administration Goddard Space Flight Center Flight Dynamics Support Branch. Historically, a strong need has existed for developing systematic quality assurance using methods that account for the unique nature and environment of satellite Flight Dynamics mission support. Over the past few years FDO has developed and implemented proactive quality assurance processes applied to each of the six phases of the Flight Dynamics mission support life cycle: systems and operations concept, system requirements and specifications, software development support, operations planing and training, launch support, and on-orbit mission operations. Rather than performing quality assurance as a final step after work is completed, quality assurance has been built in as work progresses in the form of process assurance. Process assurance activities occur throughout the Flight Dynamics mission support life cycle. The FDO Product Assurance Office developed process checklists for prephase process reviews, mission team orientations, in-progress reviews, and end-of-phase audits. This paper will outline the evolving history of FDO quality assurance approaches, discuss the tailoring of Computer Science Corporations's process assurance cycle procedures, describe some of the quality assurance approaches that have been or are being developed, and present some of the successful results.

Structural dynamic analysis of the Space Shuttle Main Engine

NASA Technical Reports Server (NTRS)

Scott, L. P.; Jamison, G. T.; Mccutcheon, W. A.; Price, J. M.

1981-01-01

This structural dynamic analysis supports development of the SSME by evaluating components subjected to critical dynamic loads, identifying significant parameters, and evaluating solution methods. Engine operating parameters at both rated and full power levels are considered. Detailed structural dynamic analyses of operationally critical and life limited components support the assessment of engine design modifications and environmental changes. Engine system test results are utilized to verify analytic model simulations. The SSME main chamber injector assembly is an assembly of 600 injector elements which are called LOX posts. The overall LOX post analysis procedure is shown.

Simulations of Operation Dynamics of Different Type GaN Particle Sensors

PubMed Central

Gaubas, Eugenijus; Ceponis, Tomas; Kalesinskas, Vidas; Pavlov, Jevgenij; Vysniauskas, Juozas

2015-01-01

The operation dynamics of the capacitor-type and PIN diode type detectors based on GaN have been simulated using the dynamic and drift-diffusion models. The drift-diffusion current simulations have been implemented by employing the software package Synopsys TCAD Sentaurus. The monopolar and bipolar drift regimes have been analyzed by using dynamic models based on the Shockley-Ramo theorem. The carrier multiplication processes determined by impact ionization have been considered in order to compensate carrier lifetime reduction due to introduction of radiation defects into GaN detector material. PMID:25751080

Self-organization and positioning of bacterial protein clusters

NASA Astrophysics Data System (ADS)

Murray, Seán M.; Sourjik, Victor

2017-10-01

Many cellular processes require proteins to be precisely positioned within the cell. In some cases this can be attributed to passive mechanisms such as recruitment by other proteins in the cell or by exploiting the curvature of the membrane. However, in bacteria, active self-positioning is likely to play a role in multiple processes, including the positioning of the future site of cell division and cytoplasmic protein clusters. How can such dynamic clusters be formed and positioned? Here, we present a model for the self-organization and positioning of dynamic protein clusters into regularly repeating patterns based on a phase-locked Turing pattern. A single peak in the concentration is always positioned at the midpoint of the model cell, and two peaks are positioned at the midpoint of each half. Furthermore, domain growth results in peak splitting and pattern doubling. We argue that the model may explain the regular positioning of the highly conserved structural maintenance of chromosomes complexes on the bacterial nucleoid and that it provides an attractive mechanism for the self-positioning of dynamic protein clusters in other systems.

An Integrated Tone Mapping for High Dynamic Range Image Visualization

NASA Astrophysics Data System (ADS)

Liang, Lei; Pan, Jeng-Shyang; Zhuang, Yongjun

2018-01-01

There are two type tone mapping operators for high dynamic range (HDR) image visualization. HDR image mapped by perceptual operators have strong sense of reality, but will lose local details. Empirical operators can maximize local detail information of HDR image, but realism is not strong. A common tone mapping operator suitable for all applications is not available. This paper proposes a novel integrated tone mapping framework which can achieve conversion between empirical operators and perceptual operators. In this framework, the empirical operator is rendered based on improved saliency map, which simulates the visual attention mechanism of the human eye to the natural scene. The results of objective evaluation prove the effectiveness of the proposed solution.

Stroboscopic versus nonstroboscopic dynamics in the Floquet realization of the Harper-Hofstadter Hamiltonian

NASA Astrophysics Data System (ADS)

Bukov, Marin; Polkovnikov, Anatoli

2014-10-01

We study the stroboscopic and nonstroboscopic dynamics in the Floquet realization of the Harper-Hofstadter Hamiltonian. We show that the former produces the evolution expected in the high-frequency limit only for observables, which commute with the operator to which the driving protocol couples. On the contrary, nonstroboscopic dynamics is capable of capturing the evolution governed by the Floquet Hamiltonian of any observable associated with the effective high-frequency model. We provide exact numerical simulations for the dynamics of the number operator following a quantum cyclotron orbit on a 2×2 plaquette, as well as the chiral current operator flowing along the legs of a 2×20 ladder. The exact evolution is compared with its stroboscopic and nonstroboscopic counterparts, including finite-frequency corrections.

Optical pumping of deep traps in AlGaN/GaN-on-Si HEMTs using an on-chip Schottky-on-heterojunction light-emitting diode

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

Li, Baikui; Tang, Xi; Chen, Kevin J., E-mail: eekjchen@ust.hk

2015-03-02

In this work, by using an on-chip integrated Schottky-on-heterojunction light-emitting diode (SoH-LED) which is seamlessly integrated with the AlGaN/GaN high electron mobility transistor (HEMT), we studied the effect of on-chip light illumination on the de-trapping processes of electrons from both surface and bulk traps. Surface trapping was generated by applying OFF-state drain bias stress, while bulk trapping was generated by applying positive substrate bias stress. The de-trapping processes of surface and/or bulk traps were monitored by measuring the recovery of dynamic on-resistance R{sub on} and/or threshold voltage V{sub th} of the HEMT. The results show that the recovery processes ofmore » both dynamic R{sub on} and threshold voltage V{sub th} of the HEMT can be accelerated by the on-chip SoH-LED light illumination, demonstrating the potentiality of on-chip hybrid opto-HEMTs to minimize the influences of traps during dynamic operation of AlGaN/GaN power HEMTs.« less

The role of ecological dynamics in analysing performance in team sports.

PubMed

Vilar, Luís; Araújo, Duarte; Davids, Keith; Button, Chris

2012-01-01

Performance analysis is a subdiscipline of sports sciences and one-approach, notational analysis, has been used to objectively audit and describe behaviours of performers during different subphases of play, providing additional information for practitioners to improve future sports performance. Recent criticisms of these methods have suggested the need for a sound theoretical rationale to explain performance behaviours, not just describe them. The aim of this article was to show how ecological dynamics provides a valid theoretical explanation of performance in team sports by explaining the formation of successful and unsuccessful patterns of play, based on symmetry-breaking processes emerging from functional interactions between players and the performance environment. We offer the view that ecological dynamics is an upgrade to more operational methods of performance analysis that merely document statistics of competitive performance. In support of our arguments, we refer to exemplar data on competitive performance in team sports that have revealed functional interpersonal interactions between attackers and defenders, based on variations in the spatial positioning of performers relative to each other in critical performance areas, such as the scoring zones. Implications of this perspective are also considered for practice task design and sport development programmes.

Capturing inertial particle transport in turbulent flows

NASA Astrophysics Data System (ADS)

Stott, Harry; Lawrie, Andrew; Szalai, Robert

2017-11-01

The natural world is replete with examples of particle advection; mankind is both a beneficiary from and sufferer of the consequences. As such, the study of inertial particle dynamics, both aerosol and bubble, is vitally important. In many interesting examples such as cloud microphysics, sedimentation, or sewage transport, many millions of particles are advected in a relatively small volume of fluid. It is impossible to model these processes computationally and simulate every particle. Instead, we advect the probability density field of particle positions allowing unbiased sampling of particle behaviour across the domain. Given a 3-dimensional space discretised into cubes, we construct a transport operator that encodes the flow of particles through the faces of the cubes. By assuming that the dynamics of the particles lie close to an inertial manifold, it is possible to preserve the majority of the inertial properties of the particles between the time steps. We demonstrate the practical use of this method in a pair of instances: the first is an analogue to cloud microphysics- the turbulent breakdown of Taylor Green vortices; the second example is the case of a turbulent jet which has application both in sewage pipe outflow and pesticide spray dynamics. EPSRC.

Simulation and analysis of differential global positioning system for civil helicopter operations

NASA Technical Reports Server (NTRS)

Denaro, R. P.; Cabak, A. R.

1983-01-01

A Differential Global Positioning System (DGPS) computer simulation was developed, to provide a versatile tool for assessing DGPS referenced civil helicopter navigation. The civil helicopter community will probably be an early user of the GPS capability because of the unique mission requirements which include offshore exploration and low altitude transport into remote areas not currently served by ground based Navaids. The Monte Carlo simulation provided a sufficiently high fidelity dynamic motion and propagation environment to enable accurate comparisons of alternative differential GPS implementations and navigation filter tradeoffs. The analyst has provided the capability to adjust most aspects of the system, the helicopter flight profile, the receiver Kalman filter, and the signal propagation environment to assess differential GPS performance and parameter sensitivities. Preliminary analysis was conducted to evaluate alternative implementations of the differential navigation algorithm in both the position and measurement domain. Results are presented to show that significant performance gains are achieved when compared with conventional GPS but that differences due to DGPS implementation techniques were small. System performance was relatively insensitive to the update rates of the error correction information.

Tilt angle measurement with a Gaussian-shaped laser beam tracking

NASA Astrophysics Data System (ADS)

Šarbort, Martin; Řeřucha, Šimon; Jedlička, Petr; Lazar, Josef; Číp, Ondrej

2014-05-01

We have addressed the challenge to carry out the angular tilt stabilization of a laser guiding mirror which is intended to route a laser beam with a high energy density. Such an application requires good angular accuracy as well as large operating range, long term stability and absolute positioning. We have designed an instrument for such a high precision angular tilt measurement based on a triangulation method where a laser beam with Gaussian profile is reflected off the stabilized mirror and detected by an image sensor. As the angular deflection of the mirror causes a change of the beam spot position, the principal task is to measure the position on the image chip surface. We have employed a numerical analysis of the Gaussian intensity pattern which uses the nonlinear regression algorithm. The feasibility and performance of the method were tested by numeric modeling as well as experimentally. The experimental results indicate that the assembled instrument achieves a measurement error of 0.13 microradian in the range +/-0.65 degrees over the period of one hour. This corresponds to the dynamic range of 1:170 000.

Operational characterisation of requirements and early validation environment for high demanding space systems

NASA Technical Reports Server (NTRS)

Barro, E.; Delbufalo, A.; Rossi, F.

1993-01-01

The definition of some modern high demanding space systems requires a different approach to system definition and design from that adopted for traditional missions. System functionality is strongly coupled to the operational analysis, aimed at characterizing the dynamic interactions of the flight element with its surrounding environment and its ground control segment. Unambiguous functional, operational and performance requirements are to be defined for the system, thus improving also the successive development stages. This paper proposes a Petri Nets based methodology and two related prototype applications (to ARISTOTELES orbit control and to Hermes telemetry generation) for the operational analysis of space systems through the dynamic modeling of their functions and a related computer aided environment (ISIDE) able to make the dynamic model work, thus enabling an early validation of the system functional representation, and to provide a structured system requirements data base, which is the shared knowledge base interconnecting static and dynamic applications, fully traceable with the models and interfaceable with the external world.

Balancing Dynamic Strength of Spur Gears Operated at Extended Center Distance

NASA Technical Reports Server (NTRS)

Lin, Hsiang Hsi; Liou, Chuen-Huei; Oswald, Fred B.; Townsend, Dennis P.

1996-01-01

This paper presents an analytical study on using hob offset to balance the dynamic tooth strength of spur gears operated at a center distance greater than the standard value. This study is an extension of a static study by Mabie and others. The study was limited to the offset values that assure the pinion and gear teeth will neither be undercut nor become pointed. The analysis presented in this paper was performed using DANST-PC, a new version of the NASA gear dynamics code. The operating speed of the transmission influences the amount of hob offset required to equalize the dynamic stresses in the pinion and gear. The optimum hob offset for the pinion was found to vary within a small range as the speed changes. The optimum value is generally greater than the optimum value found by static procedures. For gears that must operate over a wide range of speeds, an average offset value may be used.

Dynamics of subway networks based on vehicles operation timetable

NASA Astrophysics Data System (ADS)

Xiao, Xue-mei; Jia, Li-min; Wang, Yan-hui

2017-05-01

In this paper, a subway network is represented as a dynamic, directed and weighted graph, in which vertices represent subway stations and weights of edges represent the number of vehicles passing through the edges by considering vehicles operation timetable. Meanwhile the definitions of static and dynamic metrics which can represent vertices' and edges' local and global attributes are proposed. Based on the model and metrics, standard deviation is further introduced to study the dynamic properties (heterogeneity and vulnerability) of subway networks. Through a detailed analysis of the Beijing subway network, we conclude that with the existing network structure, the heterogeneity and vulnerability of the Beijing subway network varies over time when the vehicle operation timetable is taken into consideration, and the distribution of edge weights affects the performance of the network. In other words, although the vehicles operation timetable is restrained by the physical structure of the network, it determines the performances and properties of the Beijing subway network.

Technical Suitability and Static Stability of Sungkur Fishing Boats for Fish and Shrimp Catching

NASA Astrophysics Data System (ADS)

Rusmilyansari; Rosadi, E.; Iriansyah

2017-10-01

Sungkur fishing gear is operated actively on one the side of fishing boat, which requires technical suitability and fishing gear stability to ensure success in fish catching. This is a case study which aimed to analyze some technical issues related to the boat, boat’s hydrostatic parameters, and the boat’s stability. The data were collected though observation, measuring the boat to obtain the offset table. The data were analyzed numerically and descriptively. The data were processed with technical formula, Microsoft Office’s Excel software, graphic display, minitab, statistical data processing, and maxsurf program. The research results showed that: (1) the sungkur fishing boat dimensional ratio L/B (6.47 - 7.00); L/D (10.90 - 11.20) and B/D (1.60 - 1.668) is within the range value of Indonesian fishing boats suitable to operate the fishing gear by towing or dragging. However, during fish catching operation, there have been problems in a hydrodynamic force due to the fishing gear movement, which affect the fish catching efficiency. (2) The boat’s coefficient of fineness is in the fine type shape; the displacement on each waterline has increased; the loads of the boat are getting larger following the increase of waterline from one to five; this is also shown from the increasing midship area value. Ton per centimeter immersion to change wl 1 by 1 cm needs 0.04 tons of weight. (3) Sungkur fishing boat have a good static stability, which is proven by the positive value of angle of maximum GZ by 79.1 - 83.6. In other words, the boat has the ability to return to its original position after tilting; however, stability dynamics happens because fishing gear operation are located on just one side of boat.

Dynamical Localization for Unitary Anderson Models

NASA Astrophysics Data System (ADS)

Hamza, Eman; Joye, Alain; Stolz, Günter

2009-11-01

This paper establishes dynamical localization properties of certain families of unitary random operators on the d-dimensional lattice in various regimes. These operators are generalizations of one-dimensional physical models of quantum transport and draw their name from the analogy with the discrete Anderson model of solid state physics. They consist in a product of a deterministic unitary operator and a random unitary operator. The deterministic operator has a band structure, is absolutely continuous and plays the role of the discrete Laplacian. The random operator is diagonal with elements given by i.i.d. random phases distributed according to some absolutely continuous measure and plays the role of the random potential. In dimension one, these operators belong to the family of CMV-matrices in the theory of orthogonal polynomials on the unit circle. We implement the method of Aizenman-Molchanov to prove exponential decay of the fractional moments of the Green function for the unitary Anderson model in the following three regimes: In any dimension, throughout the spectrum at large disorder and near the band edges at arbitrary disorder and, in dimension one, throughout the spectrum at arbitrary disorder. We also prove that exponential decay of fractional moments of the Green function implies dynamical localization, which in turn implies spectral localization. These results complete the analogy with the self-adjoint case where dynamical localization is known to be true in the same three regimes.

Multiagent Systems Based Modeling and Implementation of Dynamic Energy Management of Smart Microgrid Using MACSimJX.

PubMed

Raju, Leo; Milton, R S; Mahadevan, Senthilkumaran

The objective of this paper is implementation of multiagent system (MAS) for the advanced distributed energy management and demand side management of a solar microgrid. Initially, Java agent development environment (JADE) frame work is used to implement MAS based dynamic energy management of solar microgrid. Due to unstable nature of MATLAB, when dealing with multithreading environment, MAS operating in JADE is linked with the MATLAB using a middle ware called Multiagent Control Using Simulink with Jade Extension (MACSimJX). MACSimJX allows the solar microgrid components designed with MATLAB to be controlled by the corresponding agents of MAS. The microgrid environment variables are captured through sensors and given to agents through MATLAB/Simulink and after the agent operations in JADE, the results are given to the actuators through MATLAB for the implementation of dynamic operation in solar microgrid. MAS operating in JADE maximizes operational efficiency of solar microgrid by decentralized approach and increase in runtime efficiency due to JADE. Autonomous demand side management is implemented for optimizing the power exchange between main grid and microgrid with intermittent nature of solar power, randomness of load, and variation of noncritical load and grid price. These dynamics are considered for every time step and complex environment simulation is designed to emulate the distributed microgrid operations and evaluate the impact of agent operations.

Multiagent Systems Based Modeling and Implementation of Dynamic Energy Management of Smart Microgrid Using MACSimJX

PubMed Central

Raju, Leo; Milton, R. S.; Mahadevan, Senthilkumaran

2016-01-01

The objective of this paper is implementation of multiagent system (MAS) for the advanced distributed energy management and demand side management of a solar microgrid. Initially, Java agent development environment (JADE) frame work is used to implement MAS based dynamic energy management of solar microgrid. Due to unstable nature of MATLAB, when dealing with multithreading environment, MAS operating in JADE is linked with the MATLAB using a middle ware called Multiagent Control Using Simulink with Jade Extension (MACSimJX). MACSimJX allows the solar microgrid components designed with MATLAB to be controlled by the corresponding agents of MAS. The microgrid environment variables are captured through sensors and given to agents through MATLAB/Simulink and after the agent operations in JADE, the results are given to the actuators through MATLAB for the implementation of dynamic operation in solar microgrid. MAS operating in JADE maximizes operational efficiency of solar microgrid by decentralized approach and increase in runtime efficiency due to JADE. Autonomous demand side management is implemented for optimizing the power exchange between main grid and microgrid with intermittent nature of solar power, randomness of load, and variation of noncritical load and grid price. These dynamics are considered for every time step and complex environment simulation is designed to emulate the distributed microgrid operations and evaluate the impact of agent operations. PMID:27127802

Electronic Position Sensor for Power Operated Accessory

DOEpatents

Haag, Ronald H.; Chia, Michael I.

2005-05-31

An electronic position sensor for use with a power operated vehicle accessory, such as a power liftgate. The position sensor includes an elongated resistive circuit that is mounted such that it is stationary and extends along the path of a track portion of the power operated accessory. The position sensor further includes a contact nub mounted to a link member that moves within the track portion such that the contact nub is slidingly biased against the elongated circuit. As the link member moves under the force of a motor-driven output gear, the contact nub slides along the surface of the resistive circuit, thereby affecting the overall resistance of the circuit. The position sensor uses the overall resistance to provide an electronic position signal to an ECU, wherein the signal is indicative of the absolute position of the power operated accessory. Accordingly, the electronic position sensor is capable of providing an electronic signal that enables the ECU to track the absolute position of the power operated accessory.

[Achilles tendon rupture].

PubMed

Thermann, H; Hüfner, T; Tscherne, H

2000-03-01

The treatment of acute of Achilles tendon rupture experienced a dynamic development in the last ten years. Decisive for this development was the application of MRI and above all the ultrasonography in the diagnostics of the pathological changes and injuries of tendons. The question of rupture morphology as well as different courses of healing could be now evaluated objectively. These advances led consequently to new modalities in treatment concepts and rehabilitation protocols. The decisive input for improvements of the outcome results and particularly the shortening of the rehabilitation period came with introduction of the early functional treatment in contrast to immobilizing plaster treatment. In a prospective randomized study (1987-1989) at the Trauma Dept. of the Hannover Medical School could show no statistical differences comparing functional non-operative with functional operative therapy with a special therapy boot (Variostabil/Adidas). The crucial criteria for therapy selection results from the sonographically measured position of the tendon stumps in plantar flexion (20 degrees). With complete adaptation of the tendons' ends surgical treatment does not achieve better results than non-operative functional treatment in term of tendon healing and functional outcome. Regarding the current therapeutic standards each method has is advantages and disadvantages. Both, the operative and non-operative functional treatment enable a stable tendon healing with a low risk of re-rupture (1-2%). Meanwhile there is consensus for early functional after-treatment of the operated Achilles' tendons. There seems to be a trend towards non-operative functional treatment in cases of adequate sonographical findings, or to minimal invasive surgical techniques.

New method to improve dynamic stiffness of electro-hydraulic servo systems

NASA Astrophysics Data System (ADS)

Bai, Yanhong; Quan, Long

2013-09-01

Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

Locomotive dynamic performance under traction/braking conditions considering effect of gear transmissions

NASA Astrophysics Data System (ADS)

Chen, Zaigang; Zhai, Wanming; Wang, Kaiyun

2018-07-01

Traction or braking operations are usually applied to trains or locomotives for acceleration, speed adjustment, and stopping. During these operations, gear transmission equipment plays a very significant role in the delivery of traction or electrical braking power. Failures of the gear transmissions are likely to cause power loses and even threaten the operation safety of the train. Its dynamic performance is closely related to the normal operation and service safety of the entire train, especially under some emergency braking conditions. In this paper, a locomotive-track coupled vertical-longitudinal dynamics model is employed with considering the dynamic action from the gear transmissions. This dynamics model enables the detailed analysis and more practical simulation on the characteristics of power transmission path, namely motor-gear transmission-wheelset-longitudinal motion of locomotive, especially for traction or braking conditions. Multi-excitation sources, such as time-varying mesh stiffness and nonlinear wheel-rail contact excitations, are considered in this study. This dynamics model is then validated by comparing the simulated results with the experimental test results under braking conditions. The calculated results indicate that involvement of gear transmission could reveal the load reduction of the wheelset due to transmitted forces. Vibrations of the wheelset and the motor are dominated by variation of the gear dynamic mesh forces in the low speed range and by rail geometric irregularity in the higher speed range. Rail vertical geometric irregularity could also cause wheelset longitudinal vibrations, and do modulations to the gear dynamic mesh forces. Besides, the hauling weight has little effect on the locomotive vibrations and the dynamic mesh forces of the gear transmissions for both traction and braking conditions under the same running speed.

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.

Monitoring water phase dynamics in winter clouds

NASA Astrophysics Data System (ADS)

Campos, Edwin F.; Ware, Randolph; Joe, Paul; Hudak, David

2014-10-01

This work presents observations of water phase dynamics that demonstrate the theoretical Wegener-Bergeron-Findeisen concepts in mixed-phase winter storms. The work analyzes vertical profiles of air vapor pressure, and equilibrium vapor pressure over liquid water and ice. Based only on the magnitude ranking of these vapor pressures, we identified conditions where liquid droplets and ice particles grow or deplete simultaneously, as well as the conditions where droplets evaporate and ice particles grow by vapor diffusion. The method is applied to ground-based remote-sensing observations during two snowstorms, using two distinct microwave profiling radiometers operating in different climatic regions (North American Central High Plains and Great Lakes). The results are compared with independent microwave radiometer retrievals of vertically integrated liquid water, cloud-base estimates from a co-located ceilometer, reflectivity factor and Doppler velocity observations by nearby vertically pointing radars, and radiometer estimates of liquid water layers aloft. This work thus makes a positive contribution toward monitoring and nowcasting the evolution of supercooled droplets in winter clouds.

Thermal and fluid-dynamics behavior of circulating systems in the case of pressure relief

NASA Astrophysics Data System (ADS)

Moeller, L.

Aspects of safety in the case of large-scale installations with operational high-pressure conditions must be an important consideration already during the design of such installations, taking into account all conceivable disturbances. Within an analysis of such disturbances, studies related to pressure relief processes will have to occupy a central position. For such studies, it is convenient to combine experiments involving small-scale models of the actual installation with suitable computational programs. The experiments can be carried out at lower pressures and temperatures if the actual fluid is replaced by another medium, such as, for instance, a refrigerant. This approach has been used in the present investigation. The obtained experimental data are employed as a basis for a verification of the results provided by the computational model 'Frelap-UK' which has been expressly developed for the analysis of system behavior in the case of pressure relief. It is found that the computer fluid-dynamics characteristics agree with the experimental results.

Online Structural-Health Monitoring of Glass Fiber-Reinforced Thermoplastics Using Different Carbon Allotropes in the Interphase.

PubMed

Müller, Michael Thomas; Pötzsch, Hendrik Florian; Gohs, Uwe; Heinrich, Gert

2018-06-25

An electromechanical response behavior is realized by nanostructuring the glass fiber interphase with different highly electrically conductive carbon allotropes like carbon nanotubes (CNT), graphene nanoplatelets (GNP), or conductive carbon black (CB). The operational capability of these multifunctional glass fibers for an online structural-health monitoring is demonstrated in endless glass fiber-reinforced polypropylene. The electromechanical response behavior, during a static or dynamic three-point bending test of various carbon modifications, shows qualitative differences in the signal quality and sensitivity due to the different aspect ratios of the nanoparticles and the associated electrically conductive network densities in the interphase. Depending on the embedding position within the glass fiber-reinforced composite compression, shear and tension loadings of the fibers can be distinguished by different characteristics of the corresponding electrical signal. The occurrence of irreversible signal changes during the dynamic loading can be attributed to filler reorientation processes caused by polymer creeping or by destruction of electrically conductive paths by cracks in the glass fiber interphase.

Adaptive beam shaping by controlled thermal lensing in optical elements

NASA Astrophysics Data System (ADS)

Arain, Muzammil A.; Quetschke, Volker; Gleason, Joseph; Williams, Luke F.; Rakhmanov, Malik; Lee, Jinho; Cruz, Rachel J.; Mueller, Guido; Tanner, D. B.; Reitze, David. H.

2007-04-01

We describe an adaptive optical system for use as a tunable focusing element. The system provides adaptive beam shaping via controlled thermal lensing in the optical elements. The system is agile, remotely controllable, touch free, and vacuum compatible; it offers a wide dynamic range, aberration-free focal length tuning, and can provide both positive and negative lensing effects. Focusing is obtained through dynamic heating of an optical element by an external pump beam. The system is especially suitable for use in interferometric gravitational wave interferometers employing high laser power, allowing for in situ control of the laser modal properties and compensation for thermal lensing of the primary laser. Using CO2 laser heating of fused-silica substrates, we demonstrate a focal length variable from infinity to 4.0 m, with a slope of 0.082 diopter/W of absorbed heat. For on-axis operation, no higher-order modes are introduced by the adaptive optical element. Theoretical modeling of the induced optical path change and predicted thermal lens agrees well with measurement.

Alternative descriptions of wave and particle aspects of the harmonic oscillator

NASA Technical Reports Server (NTRS)

Schuch, Dieter

1993-01-01

The dynamical properties of the wave and particle aspects of the harmonic oscillator can be studied with the help of the time-dependent Schroedinger equation (SE). Especially the time-dependence of maximum and width of Gaussian wave packet solutions allow to show the evolution and connections of those two complementary aspects. The investigation of the relations between the equations describing wave and particle aspects leads to an alternative description of the considered systems. This can be achieved by means of a Newtonian equation for a complex variable in connection with a conservation law for a nonclassical angular momentum-type quantity. With the help of this complex variable, it is also possible to develop a Hamiltonian formalism for the wave aspect contained in the SE, which allows to describe the dynamics of the position and momentum uncertainties. In this case the Hamiltonian function is equivalent to the difference between the mean value of the Hamiltonian operator and the classical Hamiltonian function.

Incorporating Vibration Test Results for the Advanced Stirling Convertor into the System Dynamic Model

NASA Technical Reports Server (NTRS)

Meer, David W.; Lewandowski, Edward J.

2010-01-01

The U.S. Department of Energy (DOE), Lockheed Martin Corporation (LM), and NASA Glenn Research Center (GRC) have been developing the Advanced Stirling Radioisotope Generator (ASRG) for use as a power system for space science missions. As part of the extended operation testing of this power system, the Advanced Stirling Convertors (ASC) at NASA GRC undergo a vibration test sequence intended to simulate the vibration history that an ASC would experience when used in an ASRG for a space mission. During these tests, a data system collects several performance-related parameters from the convertor under test for health monitoring and analysis. Recently, an additional sensor recorded the slip table position during vibration testing to qualification level. The System Dynamic Model (SDM) integrates Stirling cycle thermodynamics, heat flow, mechanical mass, spring, damper systems, and electrical characteristics of the linear alternator and controller. This Paper presents a comparison of the performance of the ASC when exposed to vibration to that predicted by the SDM when exposed to the same vibration.

Monitoring water phase dynamics in winter clouds

DOE PAGES

Campos, Edwin F.; Ware, Randolph; Joe, Paul; ...

2014-10-01

This work presents observations of water phase dynamics that demonstrate the theoretical Wegener–Bergeron–Findeisen concepts in mixed-phase winter storms. The work analyzes vertical profiles of air vapor pressure, and equilibrium vapor pressure over liquid water and ice. Based only on the magnitude ranking of these vapor pressures, we identified conditions where liquid droplets and ice particles grow or deplete simultaneously, as well as the conditions where droplets evaporate and ice particles grow by vapor diffusion. The method is applied to ground-based remote-sensing observations during two snowstorms, using two distinct microwave profiling radiometers operating in different climatic regions (North American Central Highmore » Plains and Great Lakes). The results are compared with independent microwave radiometer retrievals of vertically integrated liquid water, cloud-base estimates from a co-located ceilometer, reflectivity factor and Doppler velocity observations by nearby vertically pointing radars, and radiometer estimates of liquid water layers aloft. This work thus makes a positive contribution toward monitoring and now casting the evolution of supercooled droplets in winter clouds.« less

Social setting, intuition and experience in laboratory experiments interact to shape cooperative decision-making

PubMed Central

Capraro, Valerio; Cococcioni, Giorgia

2015-01-01

Recent studies suggest that cooperative decision-making in one-shot interactions is a history-dependent dynamic process: promoting intuition versus deliberation typically has a positive effect on cooperation (dynamism) among people living in a cooperative setting and with no previous experience in economic games on cooperation (history dependence). Here, we report on a laboratory experiment exploring how these findings transfer to a non-cooperative setting. We find two major results: (i) promoting intuition versus deliberation has no effect on cooperative behaviour among inexperienced subjects living in a non-cooperative setting; (ii) experienced subjects cooperate more than inexperienced subjects, but only under time pressure. These results suggest that cooperation is a learning process, rather than an instinctive impulse or a self-controlled choice, and that experience operates primarily via the channel of intuition. Our findings shed further light on the cognitive basis of human cooperative decision-making and provide further support for the recently proposed social heuristics hypothesis. PMID:26156762

Three examples of quantum dynamics on the half-line with smooth bouncing

NASA Astrophysics Data System (ADS)

Almeida, C. R.; Bergeron, H.; Gazeau, J.-P.; Scardua, A. C.

2018-05-01

This article is an introductory presentation of the quantization of the half-plane based on affine coherent states (ACS). The half-plane carries a natural affine symmetry, i.e. it is a homogeneous space for the 1d-affine group, and it is viewed as the phase space for the dynamics of a positive physical quantity evolving with time. Its affine symmetry is preserved due to the covariance of this type of quantization. We promote the interest of such a procedure for transforming a classical model into a quantum one, since the singularity at the origin is systematically removed, and the arbitrariness of boundary conditions for the Schrödinger operator can be easily overcome. We explain some important mathematical aspects of the method. Three elementary examples of applications are presented, the quantum breathing of a massive sphere, the quantum smooth bouncing of a charged sphere, and a smooth bouncing of "dust" sphere as a simple model of quantum Newtonian cosmology.

Adaptive beam shaping by controlled thermal lensing in optical elements.

PubMed

Arain, Muzammil A; Quetschke, Volker; Gleason, Joseph; Williams, Luke F; Rakhmanov, Malik; Lee, Jinho; Cruz, Rachel J; Mueller, Guido; Tanner, D B; Reitze, David H

2007-04-20

We describe an adaptive optical system for use as a tunable focusing element. The system provides adaptive beam shaping via controlled thermal lensing in the optical elements. The system is agile, remotely controllable, touch free, and vacuum compatible; it offers a wide dynamic range, aberration-free focal length tuning, and can provide both positive and negative lensing effects. Focusing is obtained through dynamic heating of an optical element by an external pump beam. The system is especially suitable for use in interferometric gravitational wave interferometers employing high laser power, allowing for in situ control of the laser modal properties and compensation for thermal lensing of the primary laser. Using CO(2) laser heating of fused-silica substrates, we demonstrate a focal length variable from infinity to 4.0 m, with a slope of 0.082 diopter/W of absorbed heat. For on-axis operation, no higher-order modes are introduced by the adaptive optical element. Theoretical modeling of the induced optical path change and predicted thermal lens agrees well with measurement.

Excimer Laser Surgery: Biometrical Iris Eye Recognition with Cyclorotational Control Eye Tracker System.

PubMed

Pajic, Bojan; Cvejic, Zeljka; Mijatovic, Zoran; Indjin, Dragan; Mueller, Joerg

2017-05-25

A prospective comparative study assessing the importance of the intra-operative dynamic rotational tracking-especially in the treatment of astigmatisms in corneal refractive Excimer laser correction-concerning clinical outcomes is presented. The cyclotorsion from upright to supine position was measured using iris image comparison. The Group 1 of patients was additionally treated with cyclorotational control and Group 2 only with X-Y control. Significant differences were observed between the groups regarding the mean postoperative cylinder refraction ( p < 0.05). The mean cyclotorsion can be calculated to 3.75° with a standard deviation of 3.1°. The total range of torsion was from -14.9° to +12.6°. Re-treatment rate was 2.2% in Group 1 and 8.2% in Group 2, which is highly significant ( p < 0.01). The investigation confirms that the dynamic rotational tracking system used for LASIK results in highly predictable refraction quality with significantly less postoperative re-treatments.

[Dynamic forces of Mitkovic self-dinamysible trochanteric Internal fixators (SIF)].

PubMed

Mitković, Milan M; Manić, Miodrag T; Petković, Dusan Lj; Milenković, Sasa S; Mitković, Milorad B

2013-01-01

Dynamic trochanteric fractures implants allow fracture fragments to be compressed. Dynamisation can be realized if the axial pin force overcome friction force between pin and body of the implant. Examination of sliding iniciation forces in Mitkovic Selfdinamysible Trochanteric Internal Fixator (SIF). SIF was attached for angle block in the position with vertical orientation of pins. The transversal load of 5 kg was connected to pins by a rope. A dynamometer was used to measure force during the movement of angle block in up direction. Regression coefficients were a1 = 4,052 i b1 = 0,623 for SIF with 2 sliding screws with diameter of 7mm and a2 = 4,534 i b2 = 0,422 for SIF with 1 screw with diameter of 10 mm. Coefficients of determination were: r12 = 0,470 and r22 = 0,123. Sliding of SIF pins can be achieved for each analysed body weight of patient (50-130 kg). Early bearing of operated leg is significant for sliding initiation of SIF sliding screws.

Excimer Laser Surgery: Biometrical Iris Eye Recognition with Cyclorotational Control Eye Tracker System

PubMed Central

Pajic, Bojan; Cvejic, Zeljka; Mijatovic, Zoran; Indjin, Dragan; Mueller, Joerg

2017-01-01

A prospective comparative study assessing the importance of the intra-operative dynamic rotational tracking—especially in the treatment of astigmatisms in corneal refractive Excimer laser correction—concerning clinical outcomes is presented. The cyclotorsion from upright to supine position was measured using iris image comparison. The Group 1 of patients was additionally treated with cyclorotational control and Group 2 only with X-Y control. Significant differences were observed between the groups regarding the mean postoperative cylinder refraction (p < 0.05). The mean cyclotorsion can be calculated to 3.75° with a standard deviation of 3.1°. The total range of torsion was from −14.9° to +12.6°. Re-treatment rate was 2.2% in Group 1 and 8.2% in Group 2, which is highly significant (p < 0.01). The investigation confirms that the dynamic rotational tracking system used for LASIK results in highly predictable refraction quality with significantly less postoperative re-treatments. PMID:28587100