Claims, errors, and compensation payments in medical malpractice litigation.

PubMed

Studdert, David M; Mello, Michelle M; Gawande, Atul A; Gandhi, Tejal K; Kachalia, Allen; Yoon, Catherine; Puopolo, Ann Louise; Brennan, Troyen A

2006-05-11

In the current debate over tort reform, critics of the medical malpractice system charge that frivolous litigation--claims that lack evidence of injury, substandard care, or both--is common and costly. Trained physicians reviewed a random sample of 1452 closed malpractice claims from five liability insurers to determine whether a medical injury had occurred and, if so, whether it was due to medical error. We analyzed the prevalence, characteristics, litigation outcomes, and costs of claims that lacked evidence of error. For 3 percent of the claims, there were no verifiable medical injuries, and 37 percent did not involve errors. Most of the claims that were not associated with errors (370 of 515 [72 percent]) or injuries (31 of 37 [84 percent]) did not result in compensation; most that involved injuries due to error did (653 of 889 [73 percent]). Payment of claims not involving errors occurred less frequently than did the converse form of inaccuracy--nonpayment of claims associated with errors. When claims not involving errors were compensated, payments were significantly lower on average than were payments for claims involving errors (313,205 dollars vs. 521,560 dollars, P=0.004). Overall, claims not involving errors accounted for 13 to 16 percent of the system's total monetary costs. For every dollar spent on compensation, 54 cents went to administrative expenses (including those involving lawyers, experts, and courts). Claims involving errors accounted for 78 percent of total administrative costs. Claims that lack evidence of error are not uncommon, but most are denied compensation. The vast majority of expenditures go toward litigation over errors and payment of them. The overhead costs of malpractice litigation are exorbitant. Copyright 2006 Massachusetts Medical Society.

A prototype automatic phase compensation module

NASA Technical Reports Server (NTRS)

Terry, John D.

1992-01-01

The growing demands for high gain and accurate satellite communication systems will necessitate the utilization of large reflector systems. One area of concern of reflector based satellite communication is large scale surface deformations due to thermal effects. These distortions, when present, can degrade the performance of the reflector system appreciable. This performance degradation is manifested by a decrease in peak gain, and increase in sidelobe level, and pointing errors. It is essential to compensate for these distortion effects and to maintain the required system performance in the operating space environment. For this reason the development of a technique to offset the degradation effects is highly desirable. Currently, most research is direct at developing better material for the reflector. These materials have a lower coefficient of linear expansion thereby reducing the surface errors. Alternatively, one can minimize the distortion effects of these large scale errors by adaptive phased array compensation. Adaptive phased array techniques have been studied extensively at NASA and elsewhere. Presented in this paper is a prototype automatic phase compensation module designed and built at NASA Lewis Research Center which is the first stage of development for an adaptive array compensation module.

Dissociating error-based and reinforcement-based loss functions during sensorimotor learning

PubMed Central

McGregor, Heather R.; Mohatarem, Ayman

2017-01-01

It has been proposed that the sensorimotor system uses a loss (cost) function to evaluate potential movements in the presence of random noise. Here we test this idea in the context of both error-based and reinforcement-based learning. In a reaching task, we laterally shifted a cursor relative to true hand position using a skewed probability distribution. This skewed probability distribution had its mean and mode separated, allowing us to dissociate the optimal predictions of an error-based loss function (corresponding to the mean of the lateral shifts) and a reinforcement-based loss function (corresponding to the mode). We then examined how the sensorimotor system uses error feedback and reinforcement feedback, in isolation and combination, when deciding where to aim the hand during a reach. We found that participants compensated differently to the same skewed lateral shift distribution depending on the form of feedback they received. When provided with error feedback, participants compensated based on the mean of the skewed noise. When provided with reinforcement feedback, participants compensated based on the mode. Participants receiving both error and reinforcement feedback continued to compensate based on the mean while repeatedly missing the target, despite receiving auditory, visual and monetary reinforcement feedback that rewarded hitting the target. Our work shows that reinforcement-based and error-based learning are separable and can occur independently. Further, when error and reinforcement feedback are in conflict, the sensorimotor system heavily weights error feedback over reinforcement feedback. PMID:28753634

Dissociating error-based and reinforcement-based loss functions during sensorimotor learning.

PubMed

Cashaback, Joshua G A; McGregor, Heather R; Mohatarem, Ayman; Gribble, Paul L

2017-07-01

It has been proposed that the sensorimotor system uses a loss (cost) function to evaluate potential movements in the presence of random noise. Here we test this idea in the context of both error-based and reinforcement-based learning. In a reaching task, we laterally shifted a cursor relative to true hand position using a skewed probability distribution. This skewed probability distribution had its mean and mode separated, allowing us to dissociate the optimal predictions of an error-based loss function (corresponding to the mean of the lateral shifts) and a reinforcement-based loss function (corresponding to the mode). We then examined how the sensorimotor system uses error feedback and reinforcement feedback, in isolation and combination, when deciding where to aim the hand during a reach. We found that participants compensated differently to the same skewed lateral shift distribution depending on the form of feedback they received. When provided with error feedback, participants compensated based on the mean of the skewed noise. When provided with reinforcement feedback, participants compensated based on the mode. Participants receiving both error and reinforcement feedback continued to compensate based on the mean while repeatedly missing the target, despite receiving auditory, visual and monetary reinforcement feedback that rewarded hitting the target. Our work shows that reinforcement-based and error-based learning are separable and can occur independently. Further, when error and reinforcement feedback are in conflict, the sensorimotor system heavily weights error feedback over reinforcement feedback.

Compensation of kinematic geometric parameters error and comparative study of accuracy testing for robot

NASA Astrophysics Data System (ADS)

Du, Liang; Shi, Guangming; Guan, Weibin; Zhong, Yuansheng; Li, Jin

2014-12-01

Geometric error is the main error of the industrial robot, and it plays a more significantly important fact than other error facts for robot. The compensation model of kinematic error is proposed in this article. Many methods can be used to test the robot accuracy, therefore, how to compare which method is better one. In this article, a method is used to compare two methods for robot accuracy testing. It used Laser Tracker System (LTS) and Three Coordinate Measuring instrument (TCM) to test the robot accuracy according to standard. According to the compensation result, it gets the better method which can improve the robot accuracy apparently.

Eccentricity error identification and compensation for high-accuracy 3D optical measurement

PubMed Central

He, Dong; Liu, Xiaoli; Peng, Xiang; Ding, Yabin; Gao, Bruce Z

2016-01-01

The circular target has been widely used in various three-dimensional optical measurements, such as camera calibration, photogrammetry and structured light projection measurement system. The identification and compensation of the circular target systematic eccentricity error caused by perspective projection is an important issue for ensuring accurate measurement. This paper introduces a novel approach for identifying and correcting the eccentricity error with the help of a concentric circles target. Compared with previous eccentricity error correction methods, our approach does not require taking care of the geometric parameters of the measurement system regarding target and camera. Therefore, the proposed approach is very flexible in practical applications, and in particular, it is also applicable in the case of only one image with a single target available. The experimental results are presented to prove the efficiency and stability of the proposed approach for eccentricity error compensation. PMID:26900265

Eccentricity error identification and compensation for high-accuracy 3D optical measurement.

PubMed

He, Dong; Liu, Xiaoli; Peng, Xiang; Ding, Yabin; Gao, Bruce Z

2013-07-01

The circular target has been widely used in various three-dimensional optical measurements, such as camera calibration, photogrammetry and structured light projection measurement system. The identification and compensation of the circular target systematic eccentricity error caused by perspective projection is an important issue for ensuring accurate measurement. This paper introduces a novel approach for identifying and correcting the eccentricity error with the help of a concentric circles target. Compared with previous eccentricity error correction methods, our approach does not require taking care of the geometric parameters of the measurement system regarding target and camera. Therefore, the proposed approach is very flexible in practical applications, and in particular, it is also applicable in the case of only one image with a single target available. The experimental results are presented to prove the efficiency and stability of the proposed approach for eccentricity error compensation.

A new method for distortion magnetic field compensation of a geomagnetic vector measurement system

NASA Astrophysics Data System (ADS)

Liu, Zhongyan; Pan, Mengchun; Tang, Ying; Zhang, Qi; Geng, Yunling; Wan, Chengbiao; Chen, Dixiang; Tian, Wugang

2016-12-01

The geomagnetic vector measurement system mainly consists of three-axis magnetometer and an INS (inertial navigation system), which have many ferromagnetic parts on them. The magnetometer is always distorted by ferromagnetic parts and other electric equipments such as INS and power circuit module within the system, which can lead to geomagnetic vector measurement error of thousands of nT. Thus, the geomagnetic vector measurement system has to be compensated in order to guarantee the measurement accuracy. In this paper, a new distortion magnetic field compensation method is proposed, in which a permanent magnet with different relative positions is used to change the ambient magnetic field to construct equations of the error model parameters, and the parameters can be accurately estimated by solving linear equations. In order to verify effectiveness of the proposed method, the experiment is conducted, and the results demonstrate that, after compensation, the components errors of measured geomagnetic field are reduced significantly. It demonstrates that the proposed method can effectively improve the accuracy of the geomagnetic vector measurement system.

Piecewise compensation for the nonlinear error of fiber-optic gyroscope scale factor

NASA Astrophysics Data System (ADS)

Zhang, Yonggang; Wu, Xunfeng; Yuan, Shun; Wu, Lei

2013-08-01

Fiber-Optic Gyroscope (FOG) scale factor nonlinear error will result in errors in Strapdown Inertial Navigation System (SINS). In order to reduce nonlinear error of FOG scale factor in SINS, a compensation method is proposed in this paper based on curve piecewise fitting of FOG output. Firstly, reasons which can result in FOG scale factor error are introduced and the definition of nonlinear degree is provided. Then we introduce the method to divide the output range of FOG into several small pieces, and curve fitting is performed in each output range of FOG to obtain scale factor parameter. Different scale factor parameters of FOG are used in different pieces to improve FOG output precision. These parameters are identified by using three-axis turntable, and nonlinear error of FOG scale factor can be reduced. Finally, three-axis swing experiment of SINS verifies that the proposed method can reduce attitude output errors of SINS by compensating the nonlinear error of FOG scale factor and improve the precision of navigation. The results of experiments also demonstrate that the compensation scheme is easy to implement. It can effectively compensate the nonlinear error of FOG scale factor with slightly increased computation complexity. This method can be used in inertial technology based on FOG to improve precision.

Dynamic gas temperature measurement system

NASA Technical Reports Server (NTRS)

Elmore, D. L.; Robinson, W. W.; Watkins, W. B.

1983-01-01

A gas temperature measurement system with compensated frequency response of 1 KHz and capability to operate in the exhaust of a gas turbine combustor was developed. Environmental guidelines for this measurement are presented, followed by a preliminary design of the selected measurement method. Transient thermal conduction effects were identified as important; a preliminary finite-element conduction model quantified the errors expected by neglecting conduction. A compensation method was developed to account for effects of conduction and convection. This method was verified in analog electrical simulations, and used to compensate dynamic temperature data from a laboratory combustor and a gas turbine engine. Detailed data compensations are presented. Analysis of error sources in the method were done to derive confidence levels for the compensated data.

Dependence of the compensation error on the error of a sensor and corrector in an adaptive optics phase-conjugating system

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

Kiyko, V V; Kislov, V I; Ofitserov, E N

2015-08-31

In the framework of a statistical model of an adaptive optics system (AOS) of phase conjugation, three algorithms based on an integrated mathematical approach are considered, each of them intended for minimisation of one of the following characteristics: the sensor error (in the case of an ideal corrector), the corrector error (in the case of ideal measurements) and the compensation error (with regard to discreteness and measurement noises and to incompleteness of a system of response functions of the corrector actuators). Functional and statistical relationships between the algorithms are studied and a relation is derived to ensure calculation of themore » mean-square compensation error as a function of the errors of the sensor and corrector with an accuracy better than 10%. Because in adjusting the AOS parameters, it is reasonable to proceed from the equality of the sensor and corrector errors, in the case the Hartmann sensor is used as a wavefront sensor, the required number of actuators in the absence of the noise component in the sensor error turns out 1.5 – 2.5 times less than the number of counts, and that difference grows with increasing measurement noise. (adaptive optics)« less

Pathology-related cases in the Norwegian System of Patient Injury Compensation in the period 2010-2015.

PubMed

Alfsen, G Cecilie; Chen, Ying; Kähler, Hanne; Bukholm, Ida Rashida Khan

2016-12-01

The Norwegian System of Patient Injury Compensation (NPE) processes compensation claims from patients who complain about malpractice in the health services. A wrong diagnosis in pathology may cause serious injury to the patient, but the incidence of compensation claims is unknown, because pathology is not specified as a separate category in NPE’s statistics. Knowledge about errors is required to assess quality-enhancing measures. We have therefore searched through the NPE records to identify cases whose background stems from errors committed in pathology departments and laboratories. We have searched through the NPE records for cases related to pathology for the years 2010 – 2015. During this period the NPE processed a total of 26 600 cases, of which 93 were related to pathology. The compensation claim was upheld in 66 cases, resulting in total compensation payments amounting to NOK 63 million. False-negative results in the form of undetected diagnoses were the most frequent grounds for compensation claims (63 cases), with an undetected malignant melanoma (n = 23) or atypia in cell samples from the cervix uteri (n = 16) as the major groups. Sixteen cases involved non-diagnostic issues such as mix-up of samples (n = 8), contamination of samples (n = 4) or delayed responses (n = 4). The number of compensation claims caused by errors in pathology diagnostics is low in relative terms. The errors may, however, be of a serious nature, especially if malignant conditions are overlooked or samples mixed up.

SAR System for UAV Operation with Motion Error Compensation beyond the Resolution Cell

PubMed Central

González-Partida, José-Tomás; Almorox-González, Pablo; Burgos-García, Mateo; Dorta-Naranjo, Blas-Pablo

2008-01-01

This paper presents an experimental Synthetic Aperture Radar (SAR) system that is under development in the Universidad Politécnica de Madrid. The system uses Linear Frequency Modulated Continuous Wave (LFM-CW) radar with a two antenna configuration for transmission and reception. The radar operates in the millimeter-wave band with a maximum transmitted bandwidth of 2 GHz. The proposed system is being developed for Unmanned Aerial Vehicle (UAV) operation. Motion errors in UAV operation can be critical. Therefore, this paper proposes a method for focusing SAR images with movement errors larger than the resolution cell. Typically, this problem is solved using two processing steps: first, coarse motion compensation based on the information provided by an Inertial Measuring Unit (IMU); and second, fine motion compensation for the residual errors within the resolution cell based on the received raw data. The proposed technique tries to focus the image without using data of an IMU. The method is based on a combination of the well known Phase Gradient Autofocus (PGA) for SAR imagery and typical algorithms for translational motion compensation on Inverse SAR (ISAR). This paper shows the first real experiments for obtaining high resolution SAR images using a car as a mobile platform for our radar. PMID:27879884

SAR System for UAV Operation with Motion Error Compensation beyond the Resolution Cell.

PubMed

González-Partida, José-Tomás; Almorox-González, Pablo; Burgos-Garcia, Mateo; Dorta-Naranjo, Blas-Pablo

2008-05-23

This paper presents an experimental Synthetic Aperture Radar (SAR) system that is under development in the Universidad Politécnica de Madrid. The system uses Linear Frequency Modulated Continuous Wave (LFM-CW) radar with a two antenna configuration for transmission and reception. The radar operates in the millimeter-wave band with a maximum transmitted bandwidth of 2 GHz. The proposed system is being developed for Unmanned Aerial Vehicle (UAV) operation. Motion errors in UAV operation can be critical. Therefore, this paper proposes a method for focusing SAR images with movement errors larger than the resolution cell. Typically, this problem is solved using two processing steps: first, coarse motion compensation based on the information provided by an Inertial Measuring Unit (IMU); and second, fine motion compensation for the residual errors within the resolution cell based on the received raw data. The proposed technique tries to focus the image without using data of an IMU. The method is based on a combination of the well known Phase Gradient Autofocus (PGA) for SAR imagery and typical algorithms for translational motion compensation on Inverse SAR (ISAR). This paper shows the first real experiments for obtaining high resolution SAR images using a car as a mobile platform for our radar.

Processing and error compensation of diffractive optical element

NASA Astrophysics Data System (ADS)

Zhang, Yunlong; Wang, Zhibin; Zhang, Feng; Qin, Hui; Li, Junqi; Mai, Yuying

2014-09-01

Diffractive optical element (DOE) shows high diffraction efficiency and good dispersion performance, which makes the optical system becoming light-weight and more miniature. In this paper, the design, processing, testing, compensation of DOE are discussed, especially the analyzing of compensation technology which based on the analyzing the DOE measurement date from Taylor Hobson PGI 1250. In this method, the relationship between shadowing effect with diamond tool and processing accuracy are analyzed. According to verification processing on the Taylor Hobson NANOFORM 250 lathe, the results indicate that the PV reaches 0.539 micron, the surface roughness reaches 4nm, the step position error is smaller than λ /10 and the step height error is less than 0.23 micron after compensation processing one time.

System and method for correcting attitude estimation

NASA Technical Reports Server (NTRS)

Josselson, Robert H. (Inventor)

2010-01-01

A system includes an angular rate sensor disposed in a vehicle for providing angular rates of the vehicle, and an instrument disposed in the vehicle for providing line-of-sight control with respect to a line-of-sight reference. The instrument includes an integrator which is configured to integrate the angular rates of the vehicle to form non-compensated attitudes. Also included is a compensator coupled across the integrator, in a feed-forward loop, for receiving the angular rates of the vehicle and outputting compensated angular rates of the vehicle. A summer combines the non-compensated attitudes and the compensated angular rates of the to vehicle to form estimated vehicle attitudes for controlling the instrument with respect to the line-of-sight reference. The compensator is configured to provide error compensation to the instrument free-of any feedback loop that uses an error signal. The compensator may include a transfer function providing a fixed gain to the received angular rates of the vehicle. The compensator may, alternatively, include a is transfer function providing a variable gain as a function of frequency to operate on the received angular rates of the vehicle.

Design considerations for a suboptimal Kalman filter

NASA Astrophysics Data System (ADS)

Difilippo, D. J.

1995-06-01

In designing a suboptimal Kalman filter, the designer must decide how to simplify the system error model without causing the filter estimation errors to increase to unacceptable levels. Deletion of certain error states and decoupling of error state dynamics are the two principal model simplifications that are commonly used in suboptimal filter design. For the most part, the decisions as to which error states can be deleted or decoupled are based on the designer's understanding of the physics of the particular system. Consequently, the details of a suboptimal design are usually unique to the specific application. In this paper, the process of designing a suboptimal Kalman filter is illustrated for the case of an airborne transfer-of-alignment (TOA) system used for synthetic aperture radar (SAR) motion compensation. In this application, the filter must continuously transfer the alignment of an onboard Doppler-damped master inertial navigation system (INS) to a strapdown navigator that processes information from a less accurate inertial measurement unit (IMU) mounted on the radar antenna. The IMU is used to measure spurious antenna motion during the SAR imaging interval, so that compensating phase corrections can be computed and applied to the radar returns, thereby presenting image degradation that would otherwise result from such motions. The principles of SAR are described in many references, for instance. The primary function of the TOA Kalman filter in a SAR motion compensation system is to control strapdown navigator attitude errors, and to a less degree, velocity and heading errors. Unlike a classical navigation application, absolute positional accuracy is not important. The motion compensation requirements for SAR imaging are discussed in some detail. This TOA application is particularly appropriate as a vehicle for discussing suboptimal filter design, because the system contains features that can be exploited to allow both deletion and decoupling of error states. In Section 2, a high-level background description of a SAR motion compensation system that incorporates a TOA Kalman filter is given. The optimal TOA filter design is presented in Section 3 with some simulation results to indicate potential filter performance. In Section 4, the suboptimal Kalman filter configuration is derived. Simulation results are also shown in this section to allow comparision between suboptimal and optimal filter performances. Conclusions are contained in Section 5.

Claims for compensation after alleged birth asphyxia: a nationwide study covering 15 years.

PubMed

Andreasen, Stine; Backe, Bjørn; Øian, Pål

2014-02-01

To analyze compensation claims with neurological sequela or death following alleged birth asphyxia. A cohort study. A nationwide study in Norway. All claims made to The Norwegian System of Compensation to Patients (NPE) concerning sequela related to alleged birth asphyxia, between 1994 and 2008. A total of 315 claims of which 161 were awarded compensation. Examination of hospital records, experts' assessments and the decisions made by the NPE, the appeal body and courts of law. Characteristics of deliveries resulting in intrapartum asphyxia and causes of substandard care categorized in eight groups. In the 161 compensated cases, 107 children survived (96 with neurological sequela), and 54 children died. Human error was a frequent reason of substandard care, seen as inadequate fetal monitoring (50%), lack of clinical knowledge and skills (14%), noncompliance with clinical guidelines (11%), failure in referral for senior medical help (10%) and error in drug administration (4%). System errors were registered in only 3%, seen as poor organization of the department, lack of guidelines and time conflicts. The health personnel held responsible for substandard care was an obstetrician in 49% and a midwife in 46%. Substandard care is common in birth asphyxia, and human error is the cause in most cases. Inadequate fetal monitoring and lack of clinical knowledge and skills are the most frequent reasons for compensation after birth asphyxia. © 2013 Nordic Federation of Societies of Obstetrics and Gynecology.

Investigation of influence of errors of cutting machines with CNC on displacement trajectory accuracy of their actuating devices

NASA Astrophysics Data System (ADS)

Fedonin, O. N.; Petreshin, D. I.; Ageenko, A. V.

2018-03-01

In the article, the issue of increasing a CNC lathe accuracy by compensating for the static and dynamic errors of the machine is investigated. An algorithm and a diagnostic system for a CNC machine tool are considered, which allows determining the errors of the machine for their compensation. The results of experimental studies on diagnosing and improving the accuracy of a CNC lathe are presented.

A novel validation and calibration method for motion capture systems based on micro-triangulation.

PubMed

Nagymáté, Gergely; Tuchband, Tamás; Kiss, Rita M

2018-06-06

Motion capture systems are widely used to measure human kinematics. Nevertheless, users must consider system errors when evaluating their results. Most validation techniques for these systems are based on relative distance and displacement measurements. In contrast, our study aimed to analyse the absolute volume accuracy of optical motion capture systems by means of engineering surveying reference measurement of the marker coordinates (uncertainty: 0.75 mm). The method is exemplified on an 18 camera OptiTrack Flex13 motion capture system. The absolute accuracy was defined by the root mean square error (RMSE) between the coordinates measured by the camera system and by engineering surveying (micro-triangulation). The original RMSE of 1.82 mm due to scaling error was managed to be reduced to 0.77 mm while the correlation of errors to their distance from the origin reduced from 0.855 to 0.209. A simply feasible but less accurate absolute accuracy compensation method using tape measure on large distances was also tested, which resulted in similar scaling compensation compared to the surveying method or direct wand size compensation by a high precision 3D scanner. The presented validation methods can be less precise in some respects as compared to previous techniques, but they address an error type, which has not been and cannot be studied with the previous validation methods. Copyright © 2018 Elsevier Ltd. All rights reserved.

Adaptive feedforward control of non-minimum phase structural systems

NASA Astrophysics Data System (ADS)

Vipperman, J. S.; Burdisso, R. A.

1995-06-01

Adaptive feedforward control algorithms have been effectively applied to stationary disturbance rejection. For structural systems, the ideal feedforward compensator is a recursive filter which is a function of the transfer functions between the disturbance and control inputs and the error sensor output. Unfortunately, most control configurations result in a non-minimum phase control path; even a collocated control actuator and error sensor will not necessarily produce a minimum phase control path in the discrete domain. Therefore, the common practice is to choose a suitable approximation of the ideal compensator. In particular, all-zero finite impulse response (FIR) filters are desirable because of their inherent stability for adaptive control approaches. However, for highly resonant systems, large order filters are required for broadband applications. In this work, a control configuration is investigated for controlling non-minimum phase lightly damped structural systems. The control approach uses low order FIR filters as feedforward compensators in a configuration that has one more control actuator than error sensors. The performance of the controller was experimentally evaluated on a simply supported plate under white noise excitation for a two-input, one-output (2I1O) system. The results show excellent error signal reduction, attesting to the effectiveness of the method.

Design of automatic leveling and centering system of theodolite

NASA Astrophysics Data System (ADS)

Liu, Chun-tong; He, Zhen-Xin; Huang, Xian-xiang; Zhan, Ying

2012-09-01

To realize the theodolite automation and improve the azimuth Angle measurement instrument, the theodolite automatic leveling and centering system with the function of leveling error compensation is designed, which includes the system solution, key components selection, the mechanical structure of leveling and centering, and system software solution. The redesigned leveling feet are driven by the DC servo motor; and the electronic control center device is installed. Using high precision of tilt sensors as horizontal skew detection sensors ensures the effectiveness of the leveling error compensation. Aiming round mark center is located using digital image processing through surface array CCD; and leveling measurement precision can reach the pixel level, which makes the theodolite accurate centering possible. Finally, experiments are conducted using the automatic leveling and centering system of the theodolite. The results show the leveling and centering system can realize automatic operation with high centering accuracy of 0.04mm.The measurement precision of the orientation angle after leveling error compensation is improved, compared with that of in the traditional method. Automatic leveling and centering system of theodolite can satisfy the requirements of the measuring precision and its automation.

A wavefront compensation approach to segmented mirror figure control

NASA Technical Reports Server (NTRS)

Redding, David; Breckenridge, Bill; Sevaston, George; Lau, Ken

1991-01-01

We consider the 'figure-control' problem for a spaceborn sub-millimeter wave telescope, the Precision Segmented Reflector Project Focus Mission Telescope. We show that performance of any figure control system is subject to limits on the controllability and observability of the quality of the wavefront. We present a wavefront-compensation method for the Focus Mission Telescope which uses mirror-figure sensors and three-axis segment actuator to directly minimize wavefront errors due to segment position errors. This approach shows significantly better performance when compared with a panel-state-compensation approach.

Transfer Alignment Error Compensator Design Based on Robust State Estimation

NASA Astrophysics Data System (ADS)

Lyou, Joon; Lim, You-Chol

This paper examines the transfer alignment problem of the StrapDown Inertial Navigation System (SDINS), which is subject to the ship’s roll and pitch. Major error sources for velocity and attitude matching are lever arm effect, measurement time delay and ship-body flexure. To reduce these alignment errors, an error compensation method based on state augmentation and robust state estimation is devised. A linearized error model for the velocity and attitude matching transfer alignment system is derived first by linearizing the nonlinear measurement equation with respect to its time delay and dominant Y-axis flexure, and by augmenting the delay state and flexure state into conventional linear state equations. Then an H∞ filter is introduced to account for modeling uncertainties of time delay and the ship-body flexure. The simulation results show that this method considerably decreases azimuth alignment errors considerably.

Observability Analysis of a MEMS INS/GPS Integration System with Gyroscope G-Sensitivity Errors

PubMed Central

Fan, Chen; Hu, Xiaoping; He, Xiaofeng; Tang, Kanghua; Luo, Bing

2014-01-01

Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously. PMID:25171122

Observability analysis of a MEMS INS/GPS integration system with gyroscope G-sensitivity errors.

PubMed

Fan, Chen; Hu, Xiaoping; He, Xiaofeng; Tang, Kanghua; Luo, Bing

2014-08-28

Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously.

Gravity compensation in a Strapdown Inertial Navigation System to improve the attitude accuracy

NASA Astrophysics Data System (ADS)

Zhu, Jing; Wang, Jun; Wang, Xingshu; Yang, Shuai

2017-10-01

Attitude errors in a strapdown inertial navigation system due to gravity disturbances and system noises can be relatively large, although they are bound within the Schuler and the Earth rotation period. The principal objective of the investigation is to determine to what extent accurate gravity data can improve the attitude accuracy. The way the gravity disturbances affect the attitude were analyzed and compared with system noises by the analytic solution and simulation. The gravity disturbances affect the attitude accuracy by introducing the initial attitude error and the equivalent accelerometer bias. With the development of the high precision inertial devices and the application of the rotation modulation technology, the gravity disturbance cannot be neglected anymore. The gravity compensation was performed using the EGM2008 and simulations with and without accurate gravity compensation under varying navigation conditions were carried out. The results show that the gravity compensation improves the horizontal components of attitude accuracy evidently while the yaw angle is badly affected by the uncompensated gyro bias in vertical channel.

Analysis and compensation of synchronous measurement error for multi-channel laser interferometer

NASA Astrophysics Data System (ADS)

Du, Shengwu; Hu, Jinchun; Zhu, Yu; Hu, Chuxiong

2017-05-01

Dual-frequency laser interferometer has been widely used in precision motion system as a displacement sensor, to achieve nanoscale positioning or synchronization accuracy. In a multi-channel laser interferometer synchronous measurement system, signal delays are different in the different channels, which will cause asynchronous measurement, and then lead to measurement error, synchronous measurement error (SME). Based on signal delay analysis of the measurement system, this paper presents a multi-channel SME framework for synchronous measurement, and establishes the model between SME and motion velocity. Further, a real-time compensation method for SME is proposed. This method has been verified in a self-developed laser interferometer signal processing board (SPB). The experiment result showed that, using this compensation method, at a motion velocity 0.89 m s-1, the max SME between two measuring channels in the SPB is 1.1 nm. This method is more easily implemented and applied to engineering than the method of directly testing smaller signal delay.

Cognitive error as the most frequent contributory factor in cases of medical injury: a study on verdict's judgment among closed claims in Japan.

PubMed

Tokuda, Yasuharu; Kishida, Naoki; Konishi, Ryota; Koizumi, Shunzo

2011-03-01

Cognitive errors in the course of clinical decision-making are prevalent in many cases of medical injury. We used information on verdict's judgment from closed claims files to determine the important cognitive factors associated with cases of medical injury. Data were collected from claims closed between 2001 to 2005 at district courts in Tokyo and Osaka, Japan. In each case, we recorded all the contributory cognitive, systemic, and patient-related factors judged in the verdicts to be causally related to the medical injury. We also analyzed the association between cognitive factors and cases involving paid compensation using a multivariable logistic regression model. Among 274 cases (mean age 49 years old; 45% women), there were 122 (45%) deaths and 67 (24%) major injuries (incomplete recovery within a year). In 103 cases (38%), the verdicts ordered hospitals to pay compensation (median; 8,000,000 Japanese Yen). An error in judgment (199/274, 73%) and failure of vigilance (177/274, 65%) were the most prevalent causative cognitive factors, and error in judgment was also significantly associated with paid compensation (odds ratio, 1.9; 95% confidence interval [CI], 1.0-3.4). Systemic causative factors including poor teamwork (11/274, 4%) and technology failure (5/274, 2%) were less common. The closed claims analysis based on verdict's judgment showed that cognitive errors were common in cases of medical injury, with an error in judgment being most prevalent and closely associated with compensation payment. Reduction of this type of error is required to produce safer healthcare. 2010 Society of Hospital Medicine.

Partial compensation interferometry for measurement of surface parameter error of high-order aspheric surfaces

NASA Astrophysics Data System (ADS)

Hao, Qun; Li, Tengfei; Hu, Yao

2018-01-01

Surface parameters are the properties to describe the shape characters of aspheric surface, which mainly include vertex radius of curvature (VROC) and conic constant (CC). The VROC affects the basic properties, such as focal length of an aspheric surface, while the CC is the basis of classification for aspheric surface. The deviations of the two parameters are defined as surface parameter error (SPE). Precisely measuring SPE is critical for manufacturing and aligning aspheric surface. Generally, SPE of aspheric surface is measured directly by curvature fitting on the absolute profile measurement data from contact or non-contact testing. And most interferometry-based methods adopt null compensators or null computer-generated holograms to measure SPE. To our knowledge, there is no effective way to measure SPE of highorder aspheric surface with non-null interferometry. In this paper, based on the theory of slope asphericity and the best compensation distance (BCD) established in our previous work, we propose a SPE measurement method for high-order aspheric surface in partial compensation interferometry (PCI) system. In the procedure, firstly, we establish the system of two element equations by utilizing the SPE-caused BCD change and surface shape change. Then, we can simultaneously obtain the VROC error and CC error in PCI system by solving the equations. Simulations are made to verify the method, and the results show a high relative accuracy.

The Neural-fuzzy Thermal Error Compensation Controller on CNC Machining Center

NASA Astrophysics Data System (ADS)

Tseng, Pai-Chung; Chen, Shen-Len

The geometric errors and structural thermal deformation are factors that influence the machining accuracy of Computer Numerical Control (CNC) machining center. Therefore, researchers pay attention to thermal error compensation technologies on CNC machine tools. Some real-time error compensation techniques have been successfully demonstrated in both laboratories and industrial sites. The compensation results still need to be enhanced. In this research, the neural-fuzzy theory has been conducted to derive a thermal prediction model. An IC-type thermometer has been used to detect the heat sources temperature variation. The thermal drifts are online measured by a touch-triggered probe with a standard bar. A thermal prediction model is then derived by neural-fuzzy theory based on the temperature variation and the thermal drifts. A Graphic User Interface (GUI) system is also built to conduct the user friendly operation interface with Insprise C++ Builder. The experimental results show that the thermal prediction model developed by neural-fuzzy theory methodology can improve machining accuracy from 80µm to 3µm. Comparison with the multi-variable linear regression analysis the compensation accuracy is increased from ±10µm to ±3µm.

Global optimization method based on ray tracing to achieve optimum figure error compensation

NASA Astrophysics Data System (ADS)

Liu, Xiaolin; Guo, Xuejia; Tang, Tianjin

2017-02-01

Figure error would degrade the performance of optical system. When predicting the performance and performing system assembly, compensation by clocking of optical components around the optical axis is a conventional but user-dependent method. Commercial optical software cannot optimize this clocking. Meanwhile existing automatic figure-error balancing methods can introduce approximate calculation error and the build process of optimization model is complex and time-consuming. To overcome these limitations, an accurate and automatic global optimization method of figure error balancing is proposed. This method is based on precise ray tracing to calculate the wavefront error, not approximate calculation, under a given elements' rotation angles combination. The composite wavefront error root-mean-square (RMS) acts as the cost function. Simulated annealing algorithm is used to seek the optimal combination of rotation angles of each optical element. This method can be applied to all rotational symmetric optics. Optimization results show that this method is 49% better than previous approximate analytical method.

Real-time auto-adaptive margin generation for MLC-tracked radiotherapy

NASA Astrophysics Data System (ADS)

Glitzner, M.; Fast, M. F.; de Senneville, B. Denis; Nill, S.; Oelfke, U.; Lagendijk, J. J. W.; Raaymakers, B. W.; Crijns, S. P. M.

2017-01-01

In radiotherapy, abdominal and thoracic sites are candidates for performing motion tracking. With real-time control it is possible to adjust the multileaf collimator (MLC) position to the target position. However, positions are not perfectly matched and position errors arise from system delays and complicated response of the electromechanic MLC system. Although, it is possible to compensate parts of these errors by using predictors, residual errors remain and need to be compensated to retain target coverage. This work presents a method to statistically describe tracking errors and to automatically derive a patient-specific, per-segment margin to compensate the arising underdosage on-line, i.e. during plan delivery. The statistics of the geometric error between intended and actual machine position are derived using kernel density estimators. Subsequently a margin is calculated on-line according to a selected coverage parameter, which determines the amount of accepted underdosage. The margin is then applied onto the actual segment to accommodate the positioning errors in the enlarged segment. The proof-of-concept was tested in an on-line tracking experiment and showed the ability to recover underdosages for two test cases, increasing {{V}90 %} in the underdosed area about 47 % and 41 % , respectively. The used dose model was able to predict the loss of dose due to tracking errors and could be used to infer the necessary margins. The implementation had a running time of 23 ms which is compatible with real-time requirements of MLC tracking systems. The auto-adaptivity to machine and patient characteristics makes the technique a generic yet intuitive candidate to avoid underdosages due to MLC tracking errors.

A compensation method of lever arm effect for tri-axis hybrid inertial navigation system based on fiber optic gyro

NASA Astrophysics Data System (ADS)

Liu, Zengjun; Wang, Lei; Li, Kui; Gao, Jiaxin

2017-05-01

Hybrid inertial navigation system (HINS) is a new kind of inertial navigation system (INS), which combines advantages of platform INS, strap-down INS and rotational INS. HINS has a physical platform to isolate the angular motion as platform INS does, HINS also uses strap-down attitude algorithms and applies rotation modulation technique. Tri-axis HINS has three gimbals to isolate the angular motion in the dynamic base, in which way the system can reduce the effects of angular motion and improve the positioning precision. However, the angular motion will affect the compensation of some error parameters, especially for the lever arm effect. The lever arm effect caused by position errors between the accelerometers and rotation center cannot be ignored due to the rapid rotation of inertial measurement unit (IMU) and it will cause fluctuation and stage in velocity in HINS. The influences of angular motion on the lever arm effect compensation are analyzed firstly in this paper, and then the compensation method of lever arm effect based on the photoelectric encoders in dynamic base is proposed. Results of experiments on turntable show that after compensation, the fluctuations and stages in velocity curve disappear.

Error Model and Compensation of Bell-Shaped Vibratory Gyro

PubMed Central

Su, Zhong; Liu, Ning; Li, Qing

2015-01-01

A bell-shaped vibratory angular velocity gyro (BVG), inspired by the Chinese traditional bell, is a type of axisymmetric shell resonator gyroscope. This paper focuses on development of an error model and compensation of the BVG. A dynamic equation is firstly established, based on a study of the BVG working mechanism. This equation is then used to evaluate the relationship between the angular rate output signal and bell-shaped resonator character, analyze the influence of the main error sources and set up an error model for the BVG. The error sources are classified from the error propagation characteristics, and the compensation method is presented based on the error model. Finally, using the error model and compensation method, the BVG is calibrated experimentally including rough compensation, temperature and bias compensation, scale factor compensation and noise filter. The experimentally obtained bias instability is from 20.5°/h to 4.7°/h, the random walk is from 2.8°/h1/2 to 0.7°/h1/2 and the nonlinearity is from 0.2% to 0.03%. Based on the error compensation, it is shown that there is a good linear relationship between the sensing signal and the angular velocity, suggesting that the BVG is a good candidate for the field of low and medium rotational speed measurement. PMID:26393593

Two States Mapping Based Time Series Neural Network Model for Compensation Prediction Residual Error

NASA Astrophysics Data System (ADS)

Jung, Insung; Koo, Lockjo; Wang, Gi-Nam

2008-11-01

The objective of this paper was to design a model of human bio signal data prediction system for decreasing of prediction error using two states mapping based time series neural network BP (back-propagation) model. Normally, a lot of the industry has been applied neural network model by training them in a supervised manner with the error back-propagation algorithm for time series prediction systems. However, it still has got a residual error between real value and prediction result. Therefore, we designed two states of neural network model for compensation residual error which is possible to use in the prevention of sudden death and metabolic syndrome disease such as hypertension disease and obesity. We determined that most of the simulation cases were satisfied by the two states mapping based time series prediction model. In particular, small sample size of times series were more accurate than the standard MLP model.

Sensitivity of geographic information system outputs to errors in remotely sensed data

NASA Technical Reports Server (NTRS)

Ramapriyan, H. K.; Boyd, R. K.; Gunther, F. J.; Lu, Y. C.

1981-01-01

The sensitivity of the outputs of a geographic information system (GIS) to errors in inputs derived from remotely sensed data (RSD) is investigated using a suitability model with per-cell decisions and a gridded geographic data base whose cells are larger than the RSD pixels. The process of preparing RSD as input to a GIS is analyzed, and the errors associated with classification and registration are examined. In the case of the model considered, it is found that the errors caused during classification and registration are partially compensated by the aggregation of pixels. The compensation is quantified by means of an analytical model, a Monte Carlo simulation, and experiments with Landsat data. The results show that error reductions of the order of 50% occur because of aggregation when 25 pixels of RSD are used per cell in the geographic data base.

Adaptive data rate control TDMA systems as a rain attenuation compensation technique

NASA Technical Reports Server (NTRS)

Sato, Masaki; Wakana, Hiromitsu; Takahashi, Takashi; Takeuchi, Makoto; Yamamoto, Minoru

1993-01-01

Rainfall attenuation has a severe effect on signal strength and impairs communication links for future mobile and personal satellite communications using Ka-band and millimeter wave frequencies. As rain attenuation compensation techniques, several methods such as uplink power control, site diversity, and adaptive control of data rate or forward error correction have been proposed. In this paper, we propose a TDMA system that can compensate rain attenuation by adaptive control of transmission rates. To evaluate the performance of this TDMA terminal, we carried out three types of experiments: experiments using a Japanese CS-3 satellite with Ka-band transponders, in house IF loop-back experiments, and computer simulations. Experimental results show that this TDMA system has advantages over the conventional constant-rate TDMA systems, as resource sharing technique, in both bit error rate and total TDMA burst lengths required for transmitting given information.

Systems and methods for compensating for electrical converter nonlinearities

DOEpatents

Perisic, Milun; Ransom, Ray M.; Kajouke, Lateef A.

2013-06-18

Systems and methods are provided for delivering energy from an input interface to an output interface. An electrical system includes an input interface, an output interface, an energy conversion module coupled between the input interface and the output interface, and a control module. The control module determines a duty cycle control value for operating the energy conversion module to produce a desired voltage at the output interface. The control module determines an input power error at the input interface and adjusts the duty cycle control value in a manner that is influenced by the input power error, resulting in a compensated duty cycle control value. The control module operates switching elements of the energy conversion module to deliver energy to the output interface with a duty cycle that is influenced by the compensated duty cycle control value.

Effects of stinger axial dynamics and mass compensation methods on experimental modal analysis

NASA Astrophysics Data System (ADS)

Hu, Ximing

1992-06-01

A longitudinal bar model that includes both stinger elastic and inertia properties is used to analyze the stinger's axial dynamics as well as the mass compensation that is required to obtain accurate input forces when a stinger is installed between the excitation source, force transducer, and the structure under test. Stinger motion transmissibility and force transmissibility, axial resonance and excitation energy transfer problems are discussed in detail. Stinger mass compensation problems occur when the force transducer is mounted on the exciter end of the stinger. These problems are studied theoretically, numerically, and experimentally. It is found that the measured Frequency Response Function (FRF) can be underestimated if mass compensation is based on the stinger exciter-end acceleration and can be overestimated if the mass compensation is based on the structure-end acceleration due to the stinger's compliance. A new mass compensation method that is based on two accelerations is introduced and is seen to improve the accuracy considerably. The effects of the force transducer's compliance on the mass compensation are also discussed. A theoretical model is developed that describes the measurement system's FRD around a test structure's resonance. The model shows that very large measurement errors occur when there is a small relative phase shift between the force and acceleration measurements. These errors can be in hundreds of percent corresponding to a phase error on the order of one or two degrees. The physical reasons for this unexpected error pattern are explained. This error is currently unknown to the experimental modal analysis community. Two sample structures consisting of a rigid mass and a double cantilever beam are used in the numerical calculations and experiments.

Restoring a fair workers' compensation system for employer and employee.

PubMed

Wolfe, K

1997-04-01

The costs of workers' compensation have curtailed in recent years, perhaps in part as a result of MCO's efforts in this area. Managed care organizations that consider jumping into the workers' compensation arena often make basic errors in developing their programs and networks. The author reminds MCOs of the practical points they need to consider.

Performance prediction of a synchronization link for distributed aerospace wireless systems.

PubMed

Wang, Wen-Qin; Shao, Huaizong

2013-01-01

For reasons of stealth and other operational advantages, distributed aerospace wireless systems have received much attention in recent years. In a distributed aerospace wireless system, since the transmitter and receiver placed on separated platforms which use independent master oscillators, there is no cancellation of low-frequency phase noise as in the monostatic cases. Thus, high accurate time and frequency synchronization techniques are required for distributed wireless systems. The use of a dedicated synchronization link to quantify and compensate oscillator frequency instability is investigated in this paper. With the mathematical statistical models of phase noise, closed-form analytic expressions for the synchronization link performance are derived. The possible error contributions including oscillator, phase-locked loop, and receiver noise are quantified. The link synchronization performance is predicted by utilizing the knowledge of the statistical models, system error contributions, and sampling considerations. Simulation results show that effective synchronization error compensation can be achieved by using this dedicated synchronization link.

Friction Compensation for Enhancing Transparency of a Teleoperator with Compliant Transmission

PubMed Central

Mahvash, Mohsen; Okamura, Allison

2009-01-01

This article presents a model-based compensator for canceling friction in the tendon-driven joints of a haptic-feedback teleoperator. Unlike position-tracking systems, a teleoperator involves an unknown environment force that prevents the use of tracking position error as a feedback to the compensator. Thus, we use a model-based feedforward friction compensator to cancel the friction forces. We provide conditions for selecting compensator parameters to ensure passivity of the teleoperator and demonstrate performance experimentally. PMID:20514151

Compensation for first-order polarization-mode dispersion by using a novel tunable compensator

NASA Astrophysics Data System (ADS)

Qiu, Feng; Ning, Tigang; Pei, Shanshan; Xing, Yujun; Jian, Shuisheng

2005-01-01

Polarization-related impairments have become a critical issue for high-data-rate optical systems, particularly when considering polarization-mode dispersion (PMD). Consequently, compensation of PMD, especially for the first-order PMD is necessary to maintain adequate performance in long-haul systems at a high bit rate of 10 Gb/s or beyond. In this paper, we successfully demonstrated automatic and tunable compensation for first-order polarization-mode dispersion. Furthermore, we reported the statistical assessment of this tunable compensator at 10 Gbit/s. Experimental results, including bit error rate measurements, are successfully compared with theory, therefore demonstrating the compensator efficiency at 10 Gbit/s. The first-order PMD was max 274 ps before PMD compensation, and it was lower than 7ps after PMD compensation.

Improving demodulation accuracy of low-coherence interferometer against spatial-frequency nonlinearity

NASA Astrophysics Data System (ADS)

Wang, Shuang; Liu, Tiegen; Jiang, Junfeng; Liu, Kun; Yin, Jinde; Wu, Fan; Zhao, Bofu; Xue, Lei; Mei, Yunqiao; Wu, Zhenhai

2013-12-01

We present an effective method to compensate the spatial-frequency nonlinearity for polarized low-coherence interferometer with location-dependent dispersion element. Through the use of location-dependent dispersive characteristics, the method establishes the exact relationship between wave number and discrete Fourier transform (DFT) serial number. The jump errors in traditional absolute phase algorithm are also avoided with nonlinearity compensation. We carried out experiments with an optical fiber Fabry-Perot (F-P) pressure sensing system to verify the effectiveness. The demodulated error is less than 0.139kPa in the range of 170kPa when using our nonlinearity compensation process in the demodulation.

Compensating Unknown Time-Varying Delay in Opto-Electronic Platform Tracking Servo System.

PubMed

Xie, Ruihong; Zhang, Tao; Li, Jiaquan; Dai, Ming

2017-05-09

This paper investigates the problem of compensating miss-distance delay in opto-electronic platform tracking servo system. According to the characteristic of LOS (light-of-sight) motion, we setup the Markovian process model and compensate this unknown time-varying delay by feed-forward forecasting controller based on robust H∞ control. Finally, simulation based on double closed-loop PI (Proportion Integration) control system indicates that the proposed method is effective for compensating unknown time-varying delay. Tracking experiments on the opto-electronic platform indicate that RMS (root-mean-square) error is 1.253 mrad when tracking 10° 0.2 Hz signal.

Adaptive back-stepping control of the harmonic drive system with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Liu, Sen; Gang, Tieqiang

2018-03-01

Harmonic drives are widely used in aerospace and industrial robots. Flexibility, friction and parameter uncertainty will result in transmission performance degradation. In this paper, an adaptive back-stepping method with friction compensation is proposed to improve the tracking performance of the harmonic drive system. The nonlinear friction is described by LuGre model and compensated with a friction observer, and the uncertainty of model parameters is resolved by adaptive parameter estimation method. By using Lyapunov stability theory, it is proved that all the errors of the closed-loop system are uniformly ultimately bounded. Simulations illustrate the effectiveness of our friction compensation method.

Experimental results of 5-Gbps free-space coherent optical communications with adaptive optics

NASA Astrophysics Data System (ADS)

Chen, Mo; Liu, Chao; Rui, Daoman; Xian, Hao

2018-07-01

In a free-space optical communication system with fiber optical components, the received signal beam must be coupled into a single-mode fiber (SMF) before being amplified and detected. The impacts analysis of tracking errors and wavefront distortion on SMF coupling show that under the condition of relatively strong turbulence, only the tracking errors compensation is not enough, and turbulence wavefront aberration is required to be corrected. Based on our previous study and design of SMF coupling system with a 137-element continuous surface deformable mirror AO unit, we perform an experiment of a 5-Gbps Free-space Coherent Optical Communication (FSCOC) system, in which the eye pattern and Bit-error Rate (BER) are displayed. The comparative results are shown that the influence of the atmospheric is fatal in FSCOC systems. The BER of coherent communication is under 10-6 with AO compensation, which drops significantly compared with the BER without AO correction.

An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning

PubMed Central

Deng, Zhongliang

2018-01-01

Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS). Wireless positioning signals have a considerable attenuation in received signal strength (RSS) when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided) body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC) is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC) is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization. PMID:29361718

An IMU-Aided Body-Shadowing Error Compensation Method for Indoor Bluetooth Positioning.

PubMed

Deng, Zhongliang; Fu, Xiao; Wang, Hanhua

2018-01-20

Research on indoor positioning technologies has recently become a hotspot because of the huge social and economic potential of indoor location-based services (ILBS). Wireless positioning signals have a considerable attenuation in received signal strength (RSS) when transmitting through human bodies, which would cause significant ranging and positioning errors in RSS-based systems. This paper mainly focuses on the body-shadowing impairment of RSS-based ranging and positioning, and derives a mathematical expression of the relation between the body-shadowing effect and the positioning error. In addition, an inertial measurement unit-aided (IMU-aided) body-shadowing detection strategy is designed, and an error compensation model is established to mitigate the effect of body-shadowing. A Bluetooth positioning algorithm with body-shadowing error compensation (BP-BEC) is then proposed to improve both the positioning accuracy and the robustness in indoor body-shadowing environments. Experiments are conducted in two indoor test beds, and the performance of both the BP-BEC algorithm and the algorithms without body-shadowing error compensation (named no-BEC) is evaluated. The results show that the BP-BEC outperforms the no-BEC by about 60.1% and 73.6% in terms of positioning accuracy and robustness, respectively. Moreover, the execution time of the BP-BEC algorithm is also evaluated, and results show that the convergence speed of the proposed algorithm has an insignificant effect on real-time localization.

Accuracy improvement of the H-drive air-levitating wafer inspection stage based on error analysis and compensation

NASA Astrophysics Data System (ADS)

Zhang, Fan; Liu, Pinkuan

2018-04-01

In order to improve the inspection precision of the H-drive air-bearing stage for wafer inspection, in this paper the geometric error of the stage is analyzed and compensated. The relationship between the positioning errors and error sources are initially modeled, and seven error components are identified that are closely related to the inspection accuracy. The most effective factor that affects the geometric error is identified by error sensitivity analysis. Then, the Spearman rank correlation method is applied to find the correlation between different error components, aiming at guiding the accuracy design and error compensation of the stage. Finally, different compensation methods, including the three-error curve interpolation method, the polynomial interpolation method, the Chebyshev polynomial interpolation method, and the B-spline interpolation method, are employed within the full range of the stage, and their results are compared. Simulation and experiment show that the B-spline interpolation method based on the error model has better compensation results. In addition, the research result is valuable for promoting wafer inspection accuracy and will greatly benefit the semiconductor industry.

Actuator stiction compensation via variable amplitude pulses.

PubMed

Arifin, B M S; Munaro, C J; Angarita, O F B; Cypriano, M V G; Shah, S L

2018-02-01

A novel model free stiction compensation scheme is developed which eliminates the oscillations and also reduces valve movement, allowing good setpoint tracking and disturbance rejection. Pulses with varying amplitude are added to the controller output to overcome stiction and when the error becomes smaller than a specified limit, the compensation ceases and remains in a standby mode. The compensation re-starts as soon as the error exceeds the user specified threshold. The ability to cope with uncertainty in friction is a feature achieved by the use of pulses of varying amplitude. The algorithm has been evaluated via simulation and by application on an industrial DCS system interfaced to a pilot scale process with features identical to those found in industry including a valve positioner. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Liability claims and costs before and after implementation of a medical error disclosure program.

PubMed

Kachalia, Allen; Kaufman, Samuel R; Boothman, Richard; Anderson, Susan; Welch, Kathleen; Saint, Sanjay; Rogers, Mary A M

2010-08-17

Since 2001, the University of Michigan Health System (UMHS) has fully disclosed and offered compensation to patients for medical errors. To compare liability claims and costs before and after implementation of the UMHS disclosure-with-offer program. Retrospective before-after analysis from 1995 to 2007. Public academic medical center and health system. Inpatients and outpatients involved in claims made to UMHS. Number of new claims for compensation, number of claims compensated, time to claim resolution, and claims-related costs. After full implementation of a disclosure-with-offer program, the average monthly rate of new claims decreased from 7.03 to 4.52 per 100,000 patient encounters (rate ratio [RR], 0.64 [95% CI, 0.44 to 0.95]). The average monthly rate of lawsuits decreased from 2.13 to 0.75 per 100,000 patient encounters (RR, 0.35 [CI, 0.22 to 0.58]). Median time from claim reporting to resolution decreased from 1.36 to 0.95 years. Average monthly cost rates decreased for total liability (RR, 0.41 [CI, 0.26 to 0.66]), patient compensation (RR, 0.41 [CI, 0.26 to 0.67]), and non-compensation-related legal costs (RR, 0.39 [CI, 0.22 to 0.67]). The study design cannot establish causality. Malpractice claims generally declined in Michigan during the latter part of the study period. The findings might not apply to other health systems, given that UMHS has a closed staff model covered by a captive insurance company and often assumes legal responsibility. The UMHS implemented a program of full disclosure of medical errors with offers of compensation without increasing its total claims and liability costs. Blue Cross Blue Shield of Michigan Foundation.

Hybrid Correlation Algorithms. A Bridge Between Feature Matching and Image Correlation,

DTIC Science & Technology

1979-11-01

spa- tially into groups of pixels. The intensity level preprocessing is designed to compensate for any biases or gain changes in the system ; whereas...number of error sources that affect the performance of the system . It would be desirable to lump these errors into ge- neric categories in discussing... system performance rather than treat- ing each error source separately. Such a generic categorization should possess the following properties: 1. The

Patient motion tracking in the presence of measurement errors.

PubMed

Haidegger, Tamás; Benyó, Zoltán; Kazanzides, Peter

2009-01-01

The primary aim of computer-integrated surgical systems is to provide physicians with superior surgical tools for better patient outcome. Robotic technology is capable of both minimally invasive surgery and microsurgery, offering remarkable advantages for the surgeon and the patient. Current systems allow for sub-millimeter intraoperative spatial positioning, however certain limitations still remain. Measurement noise and unintended changes in the operating room environment can result in major errors. Positioning errors are a significant danger to patients in procedures involving robots and other automated devices. We have developed a new robotic system at the Johns Hopkins University to support cranial drilling in neurosurgery procedures. The robot provides advanced visualization and safety features. The generic algorithm described in this paper allows for automated compensation of patient motion through optical tracking and Kalman filtering. When applied to the neurosurgery setup, preliminary results show that it is possible to identify patient motion within 700 ms, and apply the appropriate compensation with an average of 1.24 mm positioning error after 2 s of setup time.

Quasi-eccentricity error modeling and compensation in vision metrology

NASA Astrophysics Data System (ADS)

Shen, Yijun; Zhang, Xu; Cheng, Wei; Zhu, Limin

2018-04-01

Circular targets are commonly used in vision applications for its detection accuracy and robustness. The eccentricity error of the circular target caused by perspective projection is one of the main factors of measurement error which needs to be compensated in high-accuracy measurement. In this study, the impact of the lens distortion on the eccentricity error is comprehensively investigated. The traditional eccentricity error turns to a quasi-eccentricity error in the non-linear camera model. The quasi-eccentricity error model is established by comparing the quasi-center of the distorted ellipse with the true projection of the object circle center. Then, an eccentricity error compensation framework is proposed which compensates the error by iteratively refining the image point to the true projection of the circle center. Both simulation and real experiment confirm the effectiveness of the proposed method in several vision applications.

Error compensation of single-antenna attitude determination using GNSS for Low-dynamic applications

NASA Astrophysics Data System (ADS)

Chen, Wen; Yu, Chao; Cai, Miaomiao

2017-04-01

GNSS-based single-antenna pseudo-attitude determination method has attracted more and more attention from the field of high-dynamic navigation due to its low cost, low system complexity, and no temporal accumulated errors. Related researches indicate that this method can be an important complement or even an alternative to the traditional sensors for general accuracy requirement (such as small UAV navigation). The application of single-antenna attitude determining method to low-dynamic carrier has just started. Different from the traditional multi-antenna attitude measurement technique, the pseudo-attitude attitude determination method calculates the rotation angle of the carrier trajectory relative to the earth. Thus it inevitably contains some deviations comparing with the real attitude angle. In low-dynamic application, these deviations are particularly noticeable, which may not be ignored. The causes of the deviations can be roughly classified into three categories, including the measurement error, the offset error, and the lateral error. Empirical correction strategies for the formal two errors have been promoted in previous study, but lack of theoretical support. In this paper, we will provide quantitative description of the three type of errors and discuss the related error compensation methods. Vehicle and shipborne experiments were carried out to verify the feasibility of the proposed correction methods. Keywords: Error compensation; Single-antenna; GNSS; Attitude determination; Low-dynamic

Thermal error analysis and compensation for digital image/volume correlation

NASA Astrophysics Data System (ADS)

Pan, Bing

2018-02-01

Digital image/volume correlation (DIC/DVC) rely on the digital images acquired by digital cameras and x-ray CT scanners to extract the motion and deformation of test samples. Regrettably, these imaging devices are unstable optical systems, whose imaging geometry may undergo unavoidable slight and continual changes due to self-heating effect or ambient temperature variations. Changes in imaging geometry lead to both shift and expansion in the recorded 2D or 3D images, and finally manifest as systematic displacement and strain errors in DIC/DVC measurements. Since measurement accuracy is always the most important requirement in various experimental mechanics applications, these thermal-induced errors (referred to as thermal errors) should be given serious consideration in order to achieve high accuracy, reproducible DIC/DVC measurements. In this work, theoretical analyses are first given to understand the origin of thermal errors. Then real experiments are conducted to quantify thermal errors. Three solutions are suggested to mitigate or correct thermal errors. Among these solutions, a reference sample compensation approach is highly recommended because of its easy implementation, high accuracy and in-situ error correction capability. Most of the work has appeared in our previously published papers, thus its originality is not claimed. Instead, this paper aims to give a comprehensive overview and more insights of our work on thermal error analysis and compensation for DIC/DVC measurements.

Feedback controlled optics with wavefront compensation

NASA Technical Reports Server (NTRS)

Breckenridge, William G. (Inventor); Redding, David C. (Inventor)

1993-01-01

The sensitivity model of a complex optical system obtained by linear ray tracing is used to compute a control gain matrix by imposing the mathematical condition for minimizing the total wavefront error at the optical system's exit pupil. The most recent deformations or error states of the controlled segments or optical surfaces of the system are then assembled as an error vector, and the error vector is transformed by the control gain matrix to produce the exact control variables which will minimize the total wavefront error at the exit pupil of the optical system. These exact control variables are then applied to the actuators controlling the various optical surfaces in the system causing the immediate reduction in total wavefront error observed at the exit pupil of the optical system.

Performance Prediction of a Synchronization Link for Distributed Aerospace Wireless Systems

PubMed Central

Shao, Huaizong

2013-01-01

For reasons of stealth and other operational advantages, distributed aerospace wireless systems have received much attention in recent years. In a distributed aerospace wireless system, since the transmitter and receiver placed on separated platforms which use independent master oscillators, there is no cancellation of low-frequency phase noise as in the monostatic cases. Thus, high accurate time and frequency synchronization techniques are required for distributed wireless systems. The use of a dedicated synchronization link to quantify and compensate oscillator frequency instability is investigated in this paper. With the mathematical statistical models of phase noise, closed-form analytic expressions for the synchronization link performance are derived. The possible error contributions including oscillator, phase-locked loop, and receiver noise are quantified. The link synchronization performance is predicted by utilizing the knowledge of the statistical models, system error contributions, and sampling considerations. Simulation results show that effective synchronization error compensation can be achieved by using this dedicated synchronization link. PMID:23970828

System design of the annular suspension and pointing system /ASPS/

NASA Technical Reports Server (NTRS)

Cunningham, D. C.; Gismondi, T. P.; Wilson, G. W.

1978-01-01

This paper presents the control system design for the Annular Suspension and Pointing System. Actuator sizing and configuration of the system are explained, and the control laws developed for linearizing and compensating the magnetic bearings, roll induction motor and gimbal torquers are given. Decoupling, feedforward and error compensation for the vernier and gimbal controllers is developed. The algorithm for computing the strapdown attitude reference is derived, and the allowable sampling rates, time delays and quantization of control signals are specified.

Compensator development and examination of performance and robustness

NASA Technical Reports Server (NTRS)

1985-01-01

This research focuses on the development of compensators to control the mean square surface error of a wraprib antenna. The methodology is as follows: A model of appropriate size and structure is developed by looking at the convergence of functional gains for control and estimation. Then an LQG compensator is designed using this model. Finally, the compensator is simplified using balanced realization theory. In the conventional approach for compensator design, there is no mechanism for ensuring that the model is adequate for designing a compensator which will achieve the desired level of performance. It is shown here that both the model order and compensator order are directly related to the closed loop performance requirements for the system.

A holistic calibration method with iterative distortion compensation for stereo deflectometry

NASA Astrophysics Data System (ADS)

Xu, Yongjia; Gao, Feng; Zhang, Zonghua; Jiang, Xiangqian

2018-07-01

This paper presents a novel holistic calibration method for stereo deflectometry system to improve the system measurement accuracy. The reconstruction result of stereo deflectometry is integrated with the calculated normal data of the measured surface. The calculation accuracy of the normal data is seriously influenced by the calibration accuracy of the geometrical relationship of the stereo deflectometry system. Conventional calibration approaches introduce form error to the system due to inaccurate imaging model and distortion elimination. The proposed calibration method compensates system distortion based on an iterative algorithm instead of the conventional distortion mathematical model. The initial value of the system parameters are calculated from the fringe patterns displayed on the systemic LCD screen through a reflection of a markless flat mirror. An iterative algorithm is proposed to compensate system distortion and optimize camera imaging parameters and system geometrical relation parameters based on a cost function. Both simulation work and experimental results show the proposed calibration method can significantly improve the calibration and measurement accuracy of a stereo deflectometry. The PV (peak value) of measurement error of a flat mirror can be reduced to 69.7 nm by applying the proposed method from 282 nm obtained with the conventional calibration approach.

A Novel Gravity Compensation Method for High Precision Free-INS Based on “Extreme Learning Machine”

PubMed Central

Zhou, Xiao; Yang, Gongliu; Cai, Qingzhong; Wang, Jing

2016-01-01

In recent years, with the emergency of high precision inertial sensors (accelerometers and gyros), gravity compensation has become a major source influencing the navigation accuracy in inertial navigation systems (INS), especially for high-precision INS. This paper presents preliminary results concerning the effect of gravity disturbance on INS. Meanwhile, this paper proposes a novel gravity compensation method for high-precision INS, which estimates the gravity disturbance on the track using the extreme learning machine (ELM) method based on measured gravity data on the geoid and processes the gravity disturbance to the height where INS has an upward continuation, then compensates the obtained gravity disturbance into the error equations of INS to restrain the INS error propagation. The estimation accuracy of the gravity disturbance data is verified by numerical tests. The root mean square error (RMSE) of the ELM estimation method can be improved by 23% and 44% compared with the bilinear interpolation method in plain and mountain areas, respectively. To further validate the proposed gravity compensation method, field experiments with an experimental vehicle were carried out in two regions. Test 1 was carried out in a plain area and Test 2 in a mountain area. The field experiment results also prove that the proposed gravity compensation method can significantly improve the positioning accuracy. During the 2-h field experiments, the positioning accuracy can be improved by 13% and 29% respectively, in Tests 1 and 2, when the navigation scheme is compensated by the proposed gravity compensation method. PMID:27916856

A Combined Gravity Compensation Method for INS Using the Simplified Gravity Model and Gravity Database.

PubMed

Zhou, Xiao; Yang, Gongliu; Wang, Jing; Wen, Zeyang

2018-05-14

In recent decades, gravity compensation has become an important way to reduce the position error of an inertial navigation system (INS), especially for a high-precision INS, because of the extensive application of high precision inertial sensors (accelerometers and gyros). This paper first deducts the INS's solution error considering gravity disturbance and simulates the results. Meanwhile, this paper proposes a combined gravity compensation method using a simplified gravity model and gravity database. This new combined method consists of two steps all together. Step 1 subtracts the normal gravity using a simplified gravity model. Step 2 first obtains the gravity disturbance on the trajectory of the carrier with the help of ELM training based on the measured gravity data (provided by Institute of Geodesy and Geophysics; Chinese Academy of sciences), and then compensates it into the error equations of the INS, considering the gravity disturbance, to further improve the navigation accuracy. The effectiveness and feasibility of this new gravity compensation method for the INS are verified through vehicle tests in two different regions; one is in flat terrain with mild gravity variation and the other is in complex terrain with fierce gravity variation. During 2 h vehicle tests, the positioning accuracy of two tests can improve by 20% and 38% respectively, after the gravity is compensated by the proposed method.

A Combined Gravity Compensation Method for INS Using the Simplified Gravity Model and Gravity Database

PubMed Central

Zhou, Xiao; Yang, Gongliu; Wang, Jing; Wen, Zeyang

2018-01-01

In recent decades, gravity compensation has become an important way to reduce the position error of an inertial navigation system (INS), especially for a high-precision INS, because of the extensive application of high precision inertial sensors (accelerometers and gyros). This paper first deducts the INS’s solution error considering gravity disturbance and simulates the results. Meanwhile, this paper proposes a combined gravity compensation method using a simplified gravity model and gravity database. This new combined method consists of two steps all together. Step 1 subtracts the normal gravity using a simplified gravity model. Step 2 first obtains the gravity disturbance on the trajectory of the carrier with the help of ELM training based on the measured gravity data (provided by Institute of Geodesy and Geophysics; Chinese Academy of sciences), and then compensates it into the error equations of the INS, considering the gravity disturbance, to further improve the navigation accuracy. The effectiveness and feasibility of this new gravity compensation method for the INS are verified through vehicle tests in two different regions; one is in flat terrain with mild gravity variation and the other is in complex terrain with fierce gravity variation. During 2 h vehicle tests, the positioning accuracy of two tests can improve by 20% and 38% respectively, after the gravity is compensated by the proposed method. PMID:29757983

Numerical tilting compensation in microscopy based on wavefront sensing using transport of intensity equation method

NASA Astrophysics Data System (ADS)

Hu, Junbao; Meng, Xin; Wei, Qi; Kong, Yan; Jiang, Zhilong; Xue, Liang; Liu, Fei; Liu, Cheng; Wang, Shouyu

2018-03-01

Wide-field microscopy is commonly used for sample observations in biological research and medical diagnosis. However, the tilting error induced by the oblique location of the image recorder or the sample, as well as the inclination of the optical path often deteriorates the imaging quality. In order to eliminate the tilting in microscopy, a numerical tilting compensation technique based on wavefront sensing using transport of intensity equation method is proposed in this paper. Both the provided numerical simulations and practical experiments prove that the proposed technique not only accurately determines the tilting angle with simple setup and procedures, but also compensates the tilting error for imaging quality improvement even in the large tilting cases. Considering its simple systems and operations, as well as image quality improvement capability, it is believed the proposed method can be applied for tilting compensation in the optical microscopy.

Research on the compensation of laser launch optics to improve the performance of the LGS spot.

PubMed

Liu, Jie; Wang, Jianli; Wang, Yuning; Tian, Donghe; Zheng, Quan; Lin, Xudong; Wang, Liang; Yang, Qingyun

2018-02-01

To improve the beam quality of the uplink laser, a 37 channel piezo-ceramic deformable mirror was inserted into the laser launch optics to compensate the static aberrations. An interferometer was used as the calibration light source as well as the wavefront sensor to perform closed-loop correction for the moment. About 0.38λ root mean square (rms) aberrations, including the deformable mirror's initial figure error, were compensated, and the residual error was less than 0.07λ rms. Field observations with a 2 m optical telescope demonstrated that the peak intensity value of the laser guide star (LGS) spot increased from 5650 to 7658, and the full width at half-maximum (FWHM) size reduced from 4.07 arcseconds to 3.52 arcseconds. With the compensation, an improved guide star spot can be obtained, which is crucial for the adaptive optics systems of ground-based large telescopes.

Clinical measuring system for the form and position errors of circular workpieces using optical fiber sensors

NASA Astrophysics Data System (ADS)

Tan, Jiubin; Qiang, Xifu; Ding, Xuemei

1991-08-01

Optical sensors have two notable advantages in modern precision measurement. One is that they can be used in nondestructive measurement because the sensors need not touch the surfaces of workpieces in measuring. The other one is that they can strongly resist electromagnetic interferences, vibrations, and noises, so they are suitable to be used in machining sites. But the drift of light intensity and the changing of the reflection coefficient at different measuring positions of a workpiece may have great influence on measured results. To solve the problem, a spectroscopic differential characteristic compensating method is put forward. The method can be used effectively not only in compensating the measuring errors resulted from the drift of light intensity but also in eliminating the influence to measured results caused by the changing of the reflection coefficient. Also, the article analyzes the possibility of and the means of separating data errors of a clinical measuring system for form and position errors of circular workpieces.

Attitude-error compensation for airborne down-looking synthetic-aperture imaging lidar

NASA Astrophysics Data System (ADS)

Li, Guang-yuan; Sun, Jian-feng; Zhou, Yu; Lu, Zhi-yong; Zhang, Guo; Cai, Guang-yu; Liu, Li-ren

2017-11-01

Target-coordinate transformation in the lidar spot of the down-looking synthetic-aperture imaging lidar (SAIL) was performed, and the attitude errors were deduced in the process of imaging, according to the principle of the airborne down-looking SAIL. The influence of the attitude errors on the imaging quality was analyzed theoretically. A compensation method for the attitude errors was proposed and theoretically verified. An airborne down-looking SAIL experiment was performed and yielded the same results. A point-by-point error-compensation method for solving the azimuthal-direction space-dependent attitude errors was also proposed.

Advanced Control Algorithms for Compensating the Phase Distortion Due to Transport Delay in Human-Machine Systems

NASA Technical Reports Server (NTRS)

Guo, Liwen; Cardullo, Frank M.; Kelly, Lon C.

2007-01-01

The desire to create more complex visual scenes in modern flight simulators outpaces recent increases in processor speed. As a result, simulation transport delay remains a problem. New approaches for compensating the transport delay in a flight simulator have been developed and are presented in this report. The lead/lag filter, the McFarland compensator and the Sobiski/Cardullo state space filter are three prominent compensators. The lead/lag filter provides some phase lead, while introducing significant gain distortion in the same frequency interval. The McFarland predictor can compensate for much longer delay and cause smaller gain error in low frequencies than the lead/lag filter, but the gain distortion beyond the design frequency interval is still significant, and it also causes large spikes in prediction. Though, theoretically, the Sobiski/Cardullo predictor, a state space filter, can compensate the longest delay with the least gain distortion among the three, it has remained in laboratory use due to several limitations. The first novel compensator is an adaptive predictor that makes use of the Kalman filter algorithm in a unique manner. In this manner the predictor can accurately provide the desired amount of prediction, while significantly reducing the large spikes caused by the McFarland predictor. Among several simplified online adaptive predictors, this report illustrates mathematically why the stochastic approximation algorithm achieves the best compensation results. A second novel approach employed a reference aircraft dynamics model to implement a state space predictor on a flight simulator. The practical implementation formed the filter state vector from the operator s control input and the aircraft states. The relationship between the reference model and the compensator performance was investigated in great detail, and the best performing reference model was selected for implementation in the final tests. Theoretical analyses of data from offline simulations with time delay compensation show that both novel predictors effectively suppress the large spikes caused by the McFarland compensator. The phase errors of the three predictors are not significant. The adaptive predictor yields greater gain errors than the McFarland predictor for short delays (96 and 138 ms), but shows smaller errors for long delays (186 and 282 ms). The advantage of the adaptive predictor becomes more obvious for a longer time delay. Conversely, the state space predictor results in substantially smaller gain error than the other two predictors for all four delay cases.

The discrete-time compensated Kalman filter

NASA Technical Reports Server (NTRS)

Lee, W. H.; Athans, M.

1978-01-01

A suboptimal dynamic compensator to be used in conjunction with the ordinary discrete time Kalman filter was derived. The resultant compensated Kalman Filter has the property that steady state bias estimation errors, resulting from modelling errors, were eliminated.

Error-compensation model for simultaneous measurement of five degrees of freedom motion errors of a rotary axis

NASA Astrophysics Data System (ADS)

Bao, Chuanchen; Li, Jiakun; Feng, Qibo; Zhang, Bin

2018-07-01

This paper introduces an error-compensation model for our measurement method to measure five motion errors of a rotary axis based on fibre laser collimation. The error-compensation model is established in a matrix form using the homogeneous coordinate transformation theory. The influences of the installation errors, error crosstalk, and manufacturing errors are analysed. The model is verified by both ZEMAX simulation and measurement experiments. The repeatability values of the radial and axial motion errors are significantly suppressed by more than 50% after compensation. The repeatability experiments of five degrees of freedom motion errors and the comparison experiments of two degrees of freedom motion errors of an indexing table were performed by our measuring device and a standard instrument. The results show that the repeatability values of the angular positioning error ε z and tilt motion error around the Y axis ε y are 1.2″ and 4.4″, and the comparison deviations of the two motion errors are 4.0″ and 4.4″, respectively. The repeatability values of the radial and axial motion errors, δ y and δ z , are 1.3 and 0.6 µm, respectively. The repeatability value of the tilt motion error around the X axis ε x is 3.8″.

Estimation of Separation Buffers for Wind-Prediction Error in an Airborne Separation Assistance System

NASA Technical Reports Server (NTRS)

Consiglio, Maria C.; Hoadley, Sherwood T.; Allen, B. Danette

2009-01-01

Wind prediction errors are known to affect the performance of automated air traffic management tools that rely on aircraft trajectory predictions. In particular, automated separation assurance tools, planned as part of the NextGen concept of operations, must be designed to account and compensate for the impact of wind prediction errors and other system uncertainties. In this paper we describe a high fidelity batch simulation study designed to estimate the separation distance required to compensate for the effects of wind-prediction errors throughout increasing traffic density on an airborne separation assistance system. These experimental runs are part of the Safety Performance of Airborne Separation experiment suite that examines the safety implications of prediction errors and system uncertainties on airborne separation assurance systems. In this experiment, wind-prediction errors were varied between zero and forty knots while traffic density was increased several times current traffic levels. In order to accurately measure the full unmitigated impact of wind-prediction errors, no uncertainty buffers were added to the separation minima. The goal of the study was to measure the impact of wind-prediction errors in order to estimate the additional separation buffers necessary to preserve separation and to provide a baseline for future analyses. Buffer estimations from this study will be used and verified in upcoming safety evaluation experiments under similar simulation conditions. Results suggest that the strategic airborne separation functions exercised in this experiment can sustain wind prediction errors up to 40kts at current day air traffic density with no additional separation distance buffer and at eight times the current day with no more than a 60% increase in separation distance buffer.

Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems

PubMed Central

Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

2016-01-01

The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs. PMID:27999351

Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems.

PubMed

Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

2016-12-18

The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs.

Laser beam projection with adaptive array of fiber collimators. II. Analysis of atmospheric compensation efficiency.

PubMed

Lachinova, Svetlana L; Vorontsov, Mikhail A

2008-08-01

We analyze the potential efficiency of laser beam projection onto a remote object in atmosphere with incoherent and coherent phase-locked conformal-beam director systems composed of an adaptive array of fiber collimators. Adaptive optics compensation of turbulence-induced phase aberrations in these systems is performed at each fiber collimator. Our analysis is based on a derived expression for the atmospheric-averaged value of the mean square residual phase error as well as direct numerical simulations. Operation of both conformal-beam projection systems is compared for various adaptive system configurations characterized by the number of fiber collimators, the adaptive compensation resolution, and atmospheric turbulence conditions.

Method, apparatus and system to compensate for drift by physically unclonable function circuitry

DOEpatents

Hamlet, Jason

2016-11-22

Techniques and mechanisms to detect and compensate for drift by a physically uncloneable function (PUF) circuit. In an embodiment, first state information is registered as reference information to be made available for subsequent evaluation of whether drift by PUF circuitry has occurred. The first state information is associated with a first error correction strength. The first state information is generated based on a first PUF value output by the PUF circuitry. In another embodiment, second state information is determined based on a second PUF value that is output by the PUF circuitry. An evaluation of whether drift has occurred is performed based on the first state information and the second state information, the evaluation including determining whether a threshold error correction strength is exceeded concurrent with a magnitude of error being less than the first error correction strength.

Multi-rate cubature Kalman filter based data fusion method with residual compensation to adapt to sampling rate discrepancy in attitude measurement system.

PubMed

Guo, Xiaoting; Sun, Changku; Wang, Peng

2017-08-01

This paper investigates the multi-rate inertial and vision data fusion problem in nonlinear attitude measurement systems, where the sampling rate of the inertial sensor is much faster than that of the vision sensor. To fully exploit the high frequency inertial data and obtain favorable fusion results, a multi-rate CKF (Cubature Kalman Filter) algorithm with estimated residual compensation is proposed in order to adapt to the problem of sampling rate discrepancy. During inter-sampling of slow observation data, observation noise can be regarded as infinite. The Kalman gain is unknown and approaches zero. The residual is also unknown. Therefore, the filter estimated state cannot be compensated. To obtain compensation at these moments, state error and residual formulas are modified when compared with the observation data available moments. Self-propagation equation of the state error is established to propagate the quantity from the moments with observation to the moments without observation. Besides, a multiplicative adjustment factor is introduced as Kalman gain, which acts on the residual. Then the filter estimated state can be compensated even when there are no visual observation data. The proposed method is tested and verified in a practical setup. Compared with multi-rate CKF without residual compensation and single-rate CKF, a significant improvement is obtained on attitude measurement by using the proposed multi-rate CKF with inter-sampling residual compensation. The experiment results with superior precision and reliability show the effectiveness of the proposed method.

Analysis of 23 364 patient-generated, physician-reviewed malpractice claims from a non-tort, blame-free, national patient insurance system: lessons learned from Sweden.

PubMed

Pukk-Härenstam, K; Ask, J; Brommels, M; Thor, J; Penaloza, R V; Gaffney, F A

2009-02-01

In Sweden, patient malpractice claims are handled administratively and compensated if an independent physician review confirms patient injury resulting from medical error. Full access to all malpractice claims and hospital discharge data for the country provided a unique opportunity to assess the validity of patient claims as indicators of medical error and patient injury. To determine: (1) the percentage of patient malpractice claims validated by independent physician review, (2) actual malpractice claims rates (claims frequency / clinical volume) and (3) differences between Swedish and other national malpractice claims rates. DESIGN, SETTING AND MATERIAL: Swedish national malpractice claims and hospital discharge data were combined, and malpractice claims rates were determined by county, hospital, hospital department, surgical procedure, patient age and sex and compared with published studies on medical error and malpractice. From 1997 to 2004, there were 23 364 inpatient malpractice claims filed by Swedish patients treated at hospitals reporting 11 514 798 discharges. The overall claims rate, 0.20%, was stable over the period of study and was similar to that found in other tort and administrative compensation systems. Over this 8-year period, 49.5% (range 47.0-52.6%) of filed claims were judged valid and eligible for compensation. Claims rates varied significantly across hospitals; surgical specialties accounted for 46% of discharges, but 88% of claims. There were also large differences in claims rates for procedures. Patient-generated malpractice claims, as collected in the Swedish malpractice insurance system and adjusted for clinical volumes, have a high validity, as assessed by standardised physician review, and provide unique new information on malpractice risks, preventable medical errors and patient injuries. Systematic collection and analysis of patient-generated quality of care complaints should be encouraged, regardless of the malpractice compensation system in use.

Attitude Heading Reference System Using MEMS Inertial Sensors with Dual-Axis Rotation

PubMed Central

Kang, Li; Ye, Lingyun; Song, Kaichen; Zhou, Yang

2014-01-01

This paper proposes a low cost and small size attitude and heading reference system based on MEMS inertial sensors. A dual-axis rotation structure with a proper rotary scheme according to the design principles is applied in the system to compensate for the attitude and heading drift caused by the large gyroscope biases. An optimization algorithm is applied to compensate for the installation angle error between the body frame and the rotation table's frame. Simulations and experiments are carried out to evaluate the performance of the AHRS. The results show that the proper rotation could significantly reduce the attitude and heading drifts. Moreover, the new AHRS is not affected by magnetic interference. After the rotation, the attitude and heading are almost just oscillating in a range. The attitude error is about 3° and the heading error is less than 3° which are at least 5 times better than the non-rotation condition. PMID:25268911

Sculling Compensation Algorithm for SINS Based on Two-Time Scale Perturbation Model of Inertial Measurements

PubMed Central

Wang, Lingling; Fu, Li

2018-01-01

In order to decrease the velocity sculling error under vibration environments, a new sculling error compensation algorithm for strapdown inertial navigation system (SINS) using angular rate and specific force measurements as inputs is proposed in this paper. First, the sculling error formula in incremental velocity update is analytically derived in terms of the angular rate and specific force. Next, two-time scale perturbation models of the angular rate and specific force are constructed. The new sculling correction term is derived and a gravitational search optimization method is used to determine the parameters in the two-time scale perturbation models. Finally, the performance of the proposed algorithm is evaluated in a stochastic real sculling environment, which is different from the conventional algorithms simulated in a pure sculling circumstance. A series of test results demonstrate that the new sculling compensation algorithm can achieve balanced real/pseudo sculling correction performance during velocity update with the advantage of less computation load compared with conventional algorithms. PMID:29346323

A CT-based software tool for evaluating compensator quality in passively scattered proton therapy

NASA Astrophysics Data System (ADS)

Li, Heng; Zhang, Lifei; Dong, Lei; Sahoo, Narayan; Gillin, Michael T.; Zhu, X. Ronald

2010-11-01

We have developed a quantitative computed tomography (CT)-based quality assurance (QA) tool for evaluating the accuracy of manufactured compensators used in passively scattered proton therapy. The thickness of a manufactured compensator was measured from its CT images and compared with the planned thickness defined by the treatment planning system. The difference between the measured and planned thicknesses was calculated with use of the Euclidean distance transformation and the kd-tree search method. Compensator accuracy was evaluated by examining several parameters including mean distance, maximum distance, global thickness error and central axis shifts. Two rectangular phantoms were used to validate the performance of the QA tool. Nine patients and 20 compensators were included in this study. We found that mean distances, global thickness errors and central axis shifts were all within 1 mm for all compensators studied, with maximum distances ranging from 1.1 to 3.8 mm. Although all compensators passed manual verification at selected points, about 5% of the pixels still had maximum distances of >2 mm, most of which correlated with large depth gradients. The correlation between the mean depth gradient of the compensator and the percentage of pixels with mean distance <1 mm is -0.93 with p < 0.001, which suggests that the mean depth gradient is a good indicator of compensator complexity. These results demonstrate that the CT-based compensator QA tool can be used to quantitatively evaluate manufactured compensators.

Research on effects of phase error in phase-shifting interferometer

NASA Astrophysics Data System (ADS)

Wang, Hongjun; Wang, Zhao; Zhao, Hong; Tian, Ailing; Liu, Bingcai

2007-12-01

Referring to phase-shifting interferometry technology, the phase shifting error from the phase shifter is the main factor that directly affects the measurement accuracy of the phase shifting interferometer. In this paper, the resources and sorts of phase shifting error were introduction, and some methods to eliminate errors were mentioned. Based on the theory of phase shifting interferometry, the effects of phase shifting error were analyzed in detail. The Liquid Crystal Display (LCD) as a new shifter has advantage as that the phase shifting can be controlled digitally without any mechanical moving and rotating element. By changing coded image displayed on LCD, the phase shifting in measuring system was induced. LCD's phase modulation characteristic was analyzed in theory and tested. Based on Fourier transform, the effect model of phase error coming from LCD was established in four-step phase shifting interferometry. And the error range was obtained. In order to reduce error, a new error compensation algorithm was put forward. With this method, the error can be obtained by process interferogram. The interferogram can be compensated, and the measurement results can be obtained by four-step phase shifting interferogram. Theoretical analysis and simulation results demonstrate the feasibility of this approach to improve measurement accuracy.

GOES I/M image navigation and registration

NASA Technical Reports Server (NTRS)

Fiorello, J. L., Jr.; Oh, I. H.; Kelly, K. A.; Ranne, L.

1989-01-01

Image Navigation and Registration (INR) is the system that will be used on future Geostationary Operational Environmental Satellite (GOES) missions to locate and register radiometric imagery data. It consists of a semiclosed loop system with a ground-based segment that generates coefficients to perform image motion compensation (IMC). The IMC coefficients are uplinked to the satellite-based segment, where they are used to adjust the displacement of the imagery data due to movement of the imaging instrument line-of-sight. The flight dynamics aspects of the INR system is discussed in terms of the attitude and orbit determination, attitude pointing, and attitude and orbit control needed to perform INR. The modeling used in the determination of orbit and attitude is discussed, along with the method of on-orbit control used in the INR system, and various factors that affect stability. Also discussed are potential error sources inherent in the INR system and the operational methods of compensating for these errors.

TH-EF-BRB-08: Robotic Motion Compensation for Radiation Therapy: A 6DOF Phantom Study

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

Belcher, AH; Liu, X; Wiersma, R

Purpose: The high accuracy of frame-based stereotactic radiosurgery (SRS), which uses a rigid frame fixed to the patient’s skull, is offset by potential drawbacks of poor patient compliance and clinical workflow restrictions. Recent research into frameless SRS has so far resulted in reduced accuracy. In this study, we investigate the use of a novel 6 degree-of-freedom (6DOF) robotic head motion cancellation system that continuously detects and compensates for patient head motions during a SRS delivery. This approach has the potential to reduce invasiveness while still achieving accuracies better or equal to traditional frame-based SRS. Methods: A 6DOF parallel kinematics roboticsmore » stage was constructed, and controlled using an inverse kinematics-based motion compensation algorithm. A 6DOF stereoscopic infrared (IR) marker tracking system was used to monitor real-time motions at sub-millimeter and sub-degree levels. A novel 6DOF calibration technique was first applied to properly orient the camera coordinate frame to match that of the LINAC and robotic control frames. Simulated head motions were measured by the system, and the robotic stage responded to these 6DOF motions automatically, returning the reflective marker coordinate frame to its original position. Results: After the motions were introduced to the system in the phantom-based study, the robotic stage automatically and rapidly returned the phantom to LINAC isocenter. When errors exceeded the compensation lower threshold of 0.25 mm or 0.25 degrees, the system registered the 6DOF error and generated a cancellation trajectory. The system responded in less than 0.5 seconds and returned all axes to less than 0.1 mm and 0.1 degree after the 6DOF compensation was performed. Conclusion: The 6DOF real-time motion cancellation system was found to be effective at compensating for translational and rotational motions to current SRS requirements. This system can improve frameless SRS by automatically returning patients to isocenter with high 6DOF accuracy.« less

Modeling and analysis of pinhole occulter experiment

NASA Technical Reports Server (NTRS)

Ring, J. R.

1986-01-01

The objectives were to improve pointing control system implementation by converting the dynamic compensator from a continuous domain representation to a discrete one; to determine pointing stability sensitivites to sensor and actuator errors by adding sensor and actuator error models to treetops and by developing an error budget for meeting pointing stability requirements; and to determine pointing performance for alternate mounting bases (space station for example).

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

NASA Astrophysics Data System (ADS)

Bowen, S. R.; Nyflot, M. J.; Herrmann, C.; Groh, C. M.; Meyer, J.; Wollenweber, S. D.; Stearns, C. W.; Kinahan, P. E.; Sandison, G. A.

2015-05-01

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study.

PubMed

Bowen, S R; Nyflot, M J; Herrmann, C; Groh, C M; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-05-07

Effective positron emission tomography / computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [(18)F]FDG. The lung lesion insert was driven by six different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses, and 2%-2 mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10-20%, treatment planning errors were 5-10%, and treatment delivery errors were 5-30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5-10% in PET/CT imaging, <5% in treatment planning, and <2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery.

Imaging and dosimetric errors in 4D PET/CT-guided radiotherapy from patient-specific respiratory patterns: a dynamic motion phantom end-to-end study

PubMed Central

Bowen, S R; Nyflot, M J; Hermann, C; Groh, C; Meyer, J; Wollenweber, S D; Stearns, C W; Kinahan, P E; Sandison, G A

2015-01-01

Effective positron emission tomography/computed tomography (PET/CT) guidance in radiotherapy of lung cancer requires estimation and mitigation of errors due to respiratory motion. An end-to-end workflow was developed to measure patient-specific motion-induced uncertainties in imaging, treatment planning, and radiation delivery with respiratory motion phantoms and dosimeters. A custom torso phantom with inserts mimicking normal lung tissue and lung lesion was filled with [18F]FDG. The lung lesion insert was driven by 6 different patient-specific respiratory patterns or kept stationary. PET/CT images were acquired under motionless ground truth, tidal breathing motion-averaged (3D), and respiratory phase-correlated (4D) conditions. Target volumes were estimated by standardized uptake value (SUV) thresholds that accurately defined the ground-truth lesion volume. Non-uniform dose-painting plans using volumetrically modulated arc therapy (VMAT) were optimized for fixed normal lung and spinal cord objectives and variable PET-based target objectives. Resulting plans were delivered to a cylindrical diode array at rest, in motion on a platform driven by the same respiratory patterns (3D), or motion-compensated by a robotic couch with an infrared camera tracking system (4D). Errors were estimated relative to the static ground truth condition for mean target-to-background (T/Bmean) ratios, target volumes, planned equivalent uniform target doses (EUD), and 2%-2mm gamma delivery passing rates. Relative to motionless ground truth conditions, PET/CT imaging errors were on the order of 10–20%, treatment planning errors were 5–10%, and treatment delivery errors were 5–30% without motion compensation. Errors from residual motion following compensation methods were reduced to 5–10% in PET/CT imaging, < 5% in treatment planning, and < 2% in treatment delivery. We have demonstrated that estimation of respiratory motion uncertainty and its propagation from PET/CT imaging to RT planning, and RT delivery under a dose painting paradigm is feasible within an integrated respiratory motion phantom workflow. For a limited set of cases, the magnitude of errors was comparable during PET/CT imaging and treatment delivery without motion compensation. Errors were moderately mitigated during PET/CT imaging and significantly mitigated during RT delivery with motion compensation. This dynamic motion phantom end-to-end workflow provides a method for quality assurance of 4D PET/CT-guided radiotherapy, including evaluation of respiratory motion compensation methods during imaging and treatment delivery. PMID:25884892

“Health Courts” and Accountability for Patient Safety

PubMed Central

Mello, Michelle M; Studdert, David M; Kachalia, Allen B; Brennan, Troyen A

2006-01-01

Proposals that medical malpractice claims be removed from the tort system and processed in an alternative system, known as administrative compensation or ‘health courts,’ attract considerable policy interest during malpractice ‘crises,’ including the current one. This article describes current proposals for the design of a health court system and the system's advantages for improving patient safety. Among these advantages are the cultivation of a culture of transparency regarding medical errors and the creation of mechanisms to gather and analyze data on medical injuries. The article discusses the experiences of foreign countries with administrative compensation systems for medical injury, including their use of claims data for research on patient safety; choices regarding the compensation system's relationship to physician disciplinary processes; and the proposed system's possible limitations. PMID:16953807

Error, blame, and the law in health care--an antipodean perspective.

PubMed

Runciman, William B; Merry, Alan F; Tito, Fiona

2003-06-17

Patients are frequently harmed by problems arising from the health care process itself. Addressing these problems requires understanding the role of errors, violations, and system failures in their genesis. Problem-solving is inhibited by a tendency to blame those involved, often inappropriately. This has been aggravated by the need to attribute blame before compensation can be obtained through tort and the human failing of attributing blame simply because there has been a serious outcome. Blaming and punishing for errors that are made by well-intentioned people working in the health care system drives the problem of iatrogenic harm underground and alienates people who are best placed to prevent such problems from recurring. On the other hand, failure to assign blame when it is due is also undesirable and erodes trust in the medical profession. Understanding the distinction between blameworthy behavior and inevitable human errors and appreciating the systemic factors that underlie most failures in complex systems are essential for the response to a harmed patient to be informed, fair, and effective in improving safety. It is important to meet society's needs to blame and exact retribution when appropriate. However, this should not be a prerequisite for compensation, which should be appropriately structured, fair, timely, and, ideally, properly funded as an intrinsic part of health care and social security systems.

Complete PMD compensation in 40-Gbit/s optical transmission system

NASA Astrophysics Data System (ADS)

Luo, Rui; Li, Tangjun; Wang, Muguang; Cui, Jie; Jian, Shuisheng

2004-04-01

In this paper, we successfully demonstrated automatic PMD compensation in 40Gbit/s NRZ transmission for the first time. Using a PMD monitor of 20GHz intensity extracted from the receive 40Gbit/s NRZ base band signal, we accomplished the feedback control of an optical PMD compensator consisting of a polarization controller and a polarization-maintaining fiber. And we report the statistical assessment of an adaptive optical PMD compensator at 40Gbit/s. The mitigator, described in, is experimentally tested in many PMD conditions (not limited to first order) covering Maxwellian-like PMD statistics. Experimental results, including bit error rate measurements, are successfully compared with theory, hereby demonstrating the compensator efficiency at 40Gbit/s. Furthermore, this letter introduces a two-stage PMD compensator. Our experimental results shows that, the compensators based on the two-stages of compensator can be used to PMD compensation in a 40Gbit/s OTDM system with 60 km high PMD fiber. The first-order PMD was max.274ps before PMD compensation. It was smaller than 7ps after PMD compensation. At the same time, the tunable FBG have a function of dispersion compensation.

Feasibility study of a synthesis procedure for array feeds to improve radiation performance of large distorted reflector antennas

NASA Technical Reports Server (NTRS)

Stutzman, W. L.; Smith, W. T.

1990-01-01

Surface errors on parabolic reflector antennas degrade the overall performance of the antenna. Space antenna structures are difficult to build, deploy and control. They must maintain a nearly perfect parabolic shape in a harsh environment and must be lightweight. Electromagnetic compensation for surface errors in large space reflector antennas can be used to supplement mechanical compensation. Electromagnetic compensation for surface errors in large space reflector antennas has been the topic of several research studies. Most of these studies try to correct the focal plane fields of the reflector near the focal point and, hence, compensate for the distortions over the whole radiation pattern. An alternative approach to electromagnetic compensation is presented. The proposed technique uses pattern synthesis to compensate for the surface errors. The pattern synthesis approach uses a localized algorithm in which pattern corrections are directed specifically towards portions of the pattern requiring improvement. The pattern synthesis technique does not require knowledge of the reflector surface. It uses radiation pattern data to perform the compensation.

Palladium-chromium static strain gage for high temperature propulsion systems

NASA Technical Reports Server (NTRS)

Lei, Jih-Fen

1991-01-01

The present electrical strain gage for high temperature static strain measurements is in its fine-wire and thin-film forms designed to be temperature-compensated on any substrate material. The gage element is of Pd-Cr alloy, while the compensator is of Pt. Because the thermally-induced apparent strain of this compensated wire strain gage is sufficiently small, with good reproducibility between thermal cycles to 800 C, output figures can be corrected within a reasonable margin of error.

Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

NASA Astrophysics Data System (ADS)

Yang, Juqing; Wang, Dayong; Fan, Baixing; Dong, Dengfeng; Zhou, Weihu

2017-03-01

In-situ intelligent manufacturing for large-volume equipment requires industrial robots with absolute high-accuracy positioning and orientation steering control. Conventional robots mainly employ an offline calibration technology to identify and compensate key robotic parameters. However, the dynamic and static parameters of a robot change nonlinearly. It is not possible to acquire a robot's actual parameters and control the absolute pose of the robot with a high accuracy within a large workspace by offline calibration in real-time. This study proposes a real-time online absolute pose steering control method for an industrial robot based on six degrees of freedom laser tracking measurement, which adopts comprehensive compensation and correction of differential movement variables. First, the pose steering control system and robot kinematics error model are constructed, and then the pose error compensation mechanism and algorithm are introduced in detail. By accurately achieving the position and orientation of the robot end-tool, mapping the computed Jacobian matrix of the joint variable and correcting the joint variable, the real-time online absolute pose compensation for an industrial robot is accurately implemented in simulations and experimental tests. The average positioning error is 0.048 mm and orientation accuracy is better than 0.01 deg. The results demonstrate that the proposed method is feasible, and the online absolute accuracy of a robot is sufficiently enhanced.

A new open-loop fiber optic gyro error compensation method based on angular velocity error modeling.

PubMed

Zhang, Yanshun; Guo, Yajing; Li, Chunyu; Wang, Yixin; Wang, Zhanqing

2015-02-27

With the open-loop fiber optic gyro (OFOG) model, output voltage and angular velocity can effectively compensate OFOG errors. However, the model cannot reflect the characteristics of OFOG errors well when it comes to pretty large dynamic angular velocities. This paper puts forward a modeling scheme with OFOG output voltage u and temperature T as the input variables and angular velocity error Δω as the output variable. Firstly, the angular velocity error Δω is extracted from OFOG output signals, and then the output voltage u, temperature T and angular velocity error Δω are used as the learning samples to train a Radial-Basis-Function (RBF) neural network model. Then the nonlinear mapping model over T, u and Δω is established and thus Δω can be calculated automatically to compensate OFOG errors according to T and u. The results of the experiments show that the established model can be used to compensate the nonlinear OFOG errors. The maximum, the minimum and the mean square error of OFOG angular velocity are decreased by 97.0%, 97.1% and 96.5% relative to their initial values, respectively. Compared with the direct modeling of gyro angular velocity, which we researched before, the experimental results of the compensating method proposed in this paper are further reduced by 1.6%, 1.4% and 1.42%, respectively, so the performance of this method is better than that of the direct modeling for gyro angular velocity.

A New Open-Loop Fiber Optic Gyro Error Compensation Method Based on Angular Velocity Error Modeling

PubMed Central

Zhang, Yanshun; Guo, Yajing; Li, Chunyu; Wang, Yixin; Wang, Zhanqing

2015-01-01

With the open-loop fiber optic gyro (OFOG) model, output voltage and angular velocity can effectively compensate OFOG errors. However, the model cannot reflect the characteristics of OFOG errors well when it comes to pretty large dynamic angular velocities. This paper puts forward a modeling scheme with OFOG output voltage u and temperature T as the input variables and angular velocity error Δω as the output variable. Firstly, the angular velocity error Δω is extracted from OFOG output signals, and then the output voltage u, temperature T and angular velocity error Δω are used as the learning samples to train a Radial-Basis-Function (RBF) neural network model. Then the nonlinear mapping model over T, u and Δω is established and thus Δω can be calculated automatically to compensate OFOG errors according to T and u. The results of the experiments show that the established model can be used to compensate the nonlinear OFOG errors. The maximum, the minimum and the mean square error of OFOG angular velocity are decreased by 97.0%, 97.1% and 96.5% relative to their initial values, respectively. Compared with the direct modeling of gyro angular velocity, which we researched before, the experimental results of the compensating method proposed in this paper are further reduced by 1.6%, 1.4% and 1.2%, respectively, so the performance of this method is better than that of the direct modeling for gyro angular velocity. PMID:25734642

Image motion compensation on the Spacelab 2 Solar Optical Universal Polarimeter /SL2 SOUP/

NASA Technical Reports Server (NTRS)

Tarbell, T. D.; Duncan, D. W.; Finch, M. L.; Spence, G.

1981-01-01

The SOUP experiment on Spacelab 2 includes a 30 cm visible light telescope and focal plane package mounted on the Instrument Pointing System (IPS). Scientific goals of the experiment dictate pointing stability requirements of less than 0.05 arcsecond jitter over periods of 5-20 seconds. Quantitative derivations of these requirements from two different aspects are presented: (1) avoidance of motion blurring of diffraction-limited images; (2) precise coalignment of consecutive frames to allow measurement of small image differences. To achieve this stability, a fine guider system capable of removing residual jitter of the IPS and image motions generated on the IPS cruciform instrument support structure has been constructed. This system uses solar limb detectors in the prime focal plane to derive an error signal. Image motion due to pointing errors is compensated by the agile secondary mirror mounted on piezoelectric transducers, controlled by a closed-loop servo system.

Measurement system and model for simultaneously measuring 6DOF geometric errors.

PubMed

Zhao, Yuqiong; Zhang, Bin; Feng, Qibo

2017-09-04

A measurement system to simultaneously measure six degree-of-freedom (6DOF) geometric errors is proposed. The measurement method is based on a combination of mono-frequency laser interferometry and laser fiber collimation. A simpler and more integrated optical configuration is designed. To compensate for the measurement errors introduced by error crosstalk, element fabrication error, laser beam drift, and nonparallelism of two measurement beam, a unified measurement model, which can improve the measurement accuracy, is deduced and established using the ray-tracing method. A numerical simulation using the optical design software Zemax is conducted, and the results verify the correctness of the model. Several experiments are performed to demonstrate the feasibility and effectiveness of the proposed system and measurement model.

Verification and compensation of respiratory motion using an ultrasound imaging system.

PubMed

Chuang, Ho-Chiao; Hsu, Hsiao-Yu; Chiu, Wei-Hung; Tien, Der-Chi; Wu, Ren-Hong; Hsu, Chung-Hsien

2015-03-01

The purpose of this study was to determine if it is feasible to use ultrasound imaging as an aid for moving the treatment couch during diagnosis and treatment procedures associated with radiation therapy, in order to offset organ displacement caused by respiratory motion. A noninvasive ultrasound system was used to replace the C-arm device during diagnosis and treatment with the aims of reducing the x-ray radiation dose on the human body while simultaneously being able to monitor organ displacements. This study used a proposed respiratory compensating system combined with an ultrasound imaging system to monitor the compensation effect of respiratory motion. The accuracy of the compensation effect was verified by fluoroscopy, which means that fluoroscopy could be replaced so as to reduce unnecessary radiation dose on patients. A respiratory simulation system was used to simulate the respiratory motion of the human abdomen and a strain gauge (respiratory signal acquisition device) was used to capture the simulated respiratory signals. The target displacements could be detected by an ultrasound probe and used as a reference for adjusting the gain value of the respiratory signal used by the respiratory compensating system. This ensured that the amplitude of the respiratory compensation signal was a faithful representation of the target displacement. The results show that performing respiratory compensation with the assistance of the ultrasound images reduced the compensation error of the respiratory compensating system to 0.81-2.92 mm, both for sine-wave input signals with amplitudes of 5, 10, and 15 mm, and human respiratory signals; this represented compensation of the respiratory motion by up to 92.48%. In addition, the respiratory signals of 10 patients were captured in clinical trials, while their diaphragm displacements were observed simultaneously using ultrasound. Using the respiratory compensating system to offset, the diaphragm displacement resulted in compensation rates of 60%-84.4%. This study has shown that a respiratory compensating system combined with noninvasive ultrasound can provide real-time compensation of the respiratory motion of patients.

A new rate-dependent model for high-frequency tracking performance enhancement of piezoactuator system

NASA Astrophysics Data System (ADS)

Tian, Lizhi; Xiong, Zhenhua; Wu, Jianhua; Ding, Han

2017-05-01

Feedforward-feedback control is widely used in motion control of piezoactuator systems. Due to the phase lag caused by incomplete dynamics compensation, the performance of the composite controller is greatly limited at high frequency. This paper proposes a new rate-dependent model to improve the high-frequency tracking performance by reducing dynamics compensation error. The rate-dependent model is designed as a function of the input and input variation rate to describe the input-output relationship of the residual system dynamics which mainly performs as phase lag in a wide frequency band. Then the direct inversion of the proposed rate-dependent model is used to compensate the residual system dynamics. Using the proposed rate-dependent model as feedforward term, the open loop performance can be improved significantly at medium-high frequency. Then, combining the with feedback controller, the composite controller can provide enhanced close loop performance from low frequency to high frequency. At the frequency of 1 Hz, the proposed controller presents the same performance as previous methods. However, at the frequency of 900 Hz, the tracking error is reduced to be 30.7% of the decoupled approach.

AXAF Alignment Test System Autocollimating Flat Error Correction

NASA Technical Reports Server (NTRS)

Lewis, Timothy S.

1995-01-01

The alignment test system for the advanced x ray astrophysics facility (AXAF) high-resolution mirror assembly (HRMA) determines the misalignment of the HRMA by measuring the displacement of a beam of light reflected by the HRMA mirrors and an autocollimating flat (ACF). This report shows how to calibrate the system to compensate for errors introduced by the ACF, using measurements taken with the ACF in different positions. It also shows what information can be obtained from alignment test data regarding errors in the shapes of the HRMA mirrors. Simulated results based on measured ACF surface data are presented.

Methods and Apparatus for Reducing Multipath Signal Error Using Deconvolution

NASA Technical Reports Server (NTRS)

Kumar, Rajendra (Inventor); Lau, Kenneth H. (Inventor)

1999-01-01

A deconvolution approach to adaptive signal processing has been applied to the elimination of signal multipath errors as embodied in one preferred embodiment in a global positioning system receiver. The method and receiver of the present invention estimates then compensates for multipath effects in a comprehensive manner. Application of deconvolution, along with other adaptive identification and estimation techniques, results in completely novel GPS (Global Positioning System) receiver architecture.

Integration of Error Compensation of Coordinate Measuring Machines into Feature Measurement: Part I—Model Development

PubMed Central

Calvo, Roque; D’Amato, Roberto; Gómez, Emilio; Domingo, Rosario

2016-01-01

The development of an error compensation model for coordinate measuring machines (CMMs) and its integration into feature measurement is presented. CMMs are widespread and dependable instruments in industry and laboratories for dimensional measurement. From the tip probe sensor to the machine display, there is a complex transformation of probed point coordinates through the geometrical feature model that makes the assessment of accuracy and uncertainty measurement results difficult. Therefore, error compensation is not standardized, conversely to other simpler instruments. Detailed coordinate error compensation models are generally based on CMM as a rigid-body and it requires a detailed mapping of the CMM’s behavior. In this paper a new model type of error compensation is proposed. It evaluates the error from the vectorial composition of length error by axis and its integration into the geometrical measurement model. The non-explained variability by the model is incorporated into the uncertainty budget. Model parameters are analyzed and linked to the geometrical errors and uncertainty of CMM response. Next, the outstanding measurement models of flatness, angle, and roundness are developed. The proposed models are useful for measurement improvement with easy integration into CMM signal processing, in particular in industrial environments where built-in solutions are sought. A battery of implementation tests are presented in Part II, where the experimental endorsement of the model is included. PMID:27690052

The high accuracy data processing system of laser interferometry signals based on MSP430

NASA Astrophysics Data System (ADS)

Qi, Yong-yue; Lin, Yu-chi; Zhao, Mei-rong

2009-07-01

Generally speaking there are two orthogonal signals used in single-frequency laser interferometer for differentiating direction and electronic subdivision. However there usually exist three errors with the interferential signals: zero offsets error, unequal amplitude error and quadrature phase shift error. These three errors have a serious impact on subdivision precision. Based on Heydemann error compensation algorithm, it is proposed to achieve compensation of the three errors. Due to complicated operation of the Heydemann mode, a improved arithmetic is advanced to decrease the calculating time effectively in accordance with the special characteristic that only one item of data will be changed in each fitting algorithm operation. Then a real-time and dynamic compensatory circuit is designed. Taking microchip MSP430 as the core of hardware system, two input signals with the three errors are turned into digital quantity by the AD7862. After data processing in line with improved arithmetic, two ideal signals without errors are output by the AD7225. At the same time two original signals are turned into relevant square wave and imported to the differentiating direction circuit. The impulse exported from the distinguishing direction circuit is counted by the timer of the microchip. According to the number of the pulse and the soft subdivision the final result is showed by LED. The arithmetic and the circuit are adopted to test the capability of a laser interferometer with 8 times optical path difference and the measuring accuracy of 12-14nm is achieved.

Gaze Compensation as a Technique for Improving Hand–Eye Coordination in Prosthetic Vision

PubMed Central

Titchener, Samuel A.; Shivdasani, Mohit N.; Fallon, James B.; Petoe, Matthew A.

2018-01-01

Purpose Shifting the region-of-interest within the input image to compensate for gaze shifts (“gaze compensation”) may improve hand–eye coordination in visual prostheses that incorporate an external camera. The present study investigated the effects of eye movement on hand-eye coordination under simulated prosthetic vision (SPV), and measured the coordination benefits of gaze compensation. Methods Seven healthy-sighted subjects performed a target localization-pointing task under SPV. Three conditions were tested, modeling: retinally stabilized phosphenes (uncompensated); gaze compensation; and no phosphene movement (center-fixed). The error in pointing was quantified for each condition. Results Gaze compensation yielded a significantly smaller pointing error than the uncompensated condition for six of seven subjects, and a similar or smaller pointing error than the center-fixed condition for all subjects (two-way ANOVA, P < 0.05). Pointing error eccentricity and gaze eccentricity were moderately correlated in the uncompensated condition (azimuth: R2 = 0.47; elevation: R2 = 0.51) but not in the gaze-compensated condition (azimuth: R2 = 0.01; elevation: R2 = 0.00). Increased variability in gaze at the time of pointing was correlated with greater reduction in pointing error in the center-fixed condition compared with the uncompensated condition (R2 = 0.64). Conclusions Eccentric eye position impedes hand–eye coordination in SPV. While limiting eye eccentricity in uncompensated viewing can reduce errors, gaze compensation is effective in improving coordination for subjects unable to maintain fixation. Translational Relevance The results highlight the present necessity for suppressing eye movement and support the use of gaze compensation to improve hand–eye coordination and localization performance in prosthetic vision. PMID:29321945

Experimental test of dense wavelength-division multiplexing using novel, periodic-group-delay-complemented dispersion compensation and dispersion-managed solitons

NASA Astrophysics Data System (ADS)

Mollenauer, Linn F.; Grant, Andrew; Liu, Xiang; Wei, Xing; Xie, Chongjin; Kang, Inuk

2003-11-01

In an all-Raman amplified, recirculating loop containing 100-km spans, we have tested dense wavelength-division multiplexing at 10 Gbits/s per channel, using dispersion-managed solitons and a novel, periodic-group-delay-complemented dispersion-compensation scheme that greatly reduces the timing jitter from interchannel collisions. The achieved working distances are ~9000 and ~20,000 km for uncorrected bit error rates of <10-8 and <10-3, respectively, the latter corresponding to the use of ``enhanced'' forward error correction; significantly, these distances are very close to those achievable in single-channel transmission in the same system.

Advanced Transport Delay Compensation Algorithms: Results of Delay Measurement and Piloted Performance Tests

NASA Technical Reports Server (NTRS)

Guo, Liwen; Cardullo, Frank M.; Kelly, Lon C.

2007-01-01

This report summarizes the results of delay measurement and piloted performance tests that were conducted to assess the effectiveness of the adaptive compensator and the state space compensator for alleviating the phase distortion of transport delay in the visual system in the VMS at the NASA Langley Research Center. Piloted simulation tests were conducted to assess the effectiveness of two novel compensators in comparison to the McFarland predictor and the baseline system with no compensation. Thirteen pilots with heterogeneous flight experience executed straight-in and offset approaches, at various delay configurations, on a flight simulator where different predictors were applied to compensate for transport delay. The glideslope and touchdown errors, power spectral density of the pilot control inputs, NASA Task Load Index, and Cooper-Harper rating of the handling qualities were employed for the analyses. The overall analyses show that the adaptive predictor results in slightly poorer compensation for short added delay (up to 48 ms) and better compensation for long added delay (up to 192 ms) than the McFarland compensator. The analyses also show that the state space predictor is fairly superior for short delay and significantly superior for long delay than the McFarland compensator.

Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

2014-07-01

Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.

Spindle Thermal Error Optimization Modeling of a Five-axis Machine Tool

NASA Astrophysics Data System (ADS)

Guo, Qianjian; Fan, Shuo; Xu, Rufeng; Cheng, Xiang; Zhao, Guoyong; Yang, Jianguo

2017-05-01

Aiming at the problem of low machining accuracy and uncontrollable thermal errors of NC machine tools, spindle thermal error measurement, modeling and compensation of a two turntable five-axis machine tool are researched. Measurement experiment of heat sources and thermal errors are carried out, and GRA(grey relational analysis) method is introduced into the selection of temperature variables used for thermal error modeling. In order to analyze the influence of different heat sources on spindle thermal errors, an ANN (artificial neural network) model is presented, and ABC(artificial bee colony) algorithm is introduced to train the link weights of ANN, a new ABC-NN(Artificial bee colony-based neural network) modeling method is proposed and used in the prediction of spindle thermal errors. In order to test the prediction performance of ABC-NN model, an experiment system is developed, the prediction results of LSR (least squares regression), ANN and ABC-NN are compared with the measurement results of spindle thermal errors. Experiment results show that the prediction accuracy of ABC-NN model is higher than LSR and ANN, and the residual error is smaller than 3 μm, the new modeling method is feasible. The proposed research provides instruction to compensate thermal errors and improve machining accuracy of NC machine tools.

Compensating the aberrations of actual optical systems by means of a nonaxisymmetric retouching of the surface.

NASA Astrophysics Data System (ADS)

Gan, M. A.; Ustinov, S. I.; Starkov, A. A.

1993-08-01

A theory, methods, and software are developed for the automated calculation of the retouching profile in order to compensate axisymmetric and nonaxisymmetric aberrations that are caused by errors in the fabrication of high-resolution optical systems. The retouching profile is calculated on the basis of interferograms recorded within the field of view of the objective. The software makes it possible to estimate the effectiveness of the retouching on the basis of optophysical image-quality criteria.

Predictive Compensator Optimization for Head Tracking Lag in Virtual Environments

NASA Technical Reports Server (NTRS)

Adelstein, Barnard D.; Jung, Jae Y.; Ellis, Stephen R.

2001-01-01

We examined the perceptual impact of plant noise parameterization for Kalman Filter predictive compensation of time delays intrinsic to head tracked virtual environments (VEs). Subjects were tested in their ability to discriminate between the VE system's minimum latency and conditions in which artificially added latency was then predictively compensated back to the system minimum. Two head tracking predictors were parameterized off-line according to cost functions that minimized prediction errors in (1) rotation, and (2) rotation projected into translational displacement with emphasis on higher frequency human operator noise. These predictors were compared with a parameterization obtained from the VE literature for cost function (1). Results from 12 subjects showed that both parameterization type and amount of compensated latency affected discrimination. Analysis of the head motion used in the parameterizations and the subsequent discriminability results suggest that higher frequency predictor artifacts are contributory cues for discriminating the presence of predictive compensation.

Social aspects of clinical errors.

PubMed

Richman, Joel; Mason, Tom; Mason-Whitehead, Elizabeth; McIntosh, Annette; Mercer, Dave

2009-08-01

Clinical errors, whether committed by doctors, nurses or other professions allied to healthcare, remain a sensitive issue requiring open debate and policy formulation in order to reduce them. The literature suggests that the issues underpinning errors made by healthcare professionals involve concerns about patient safety, professional disclosure, apology, litigation, compensation, processes of recording and policy development to enhance quality service. Anecdotally, we are aware of narratives of minor errors, which may well have been covered up and remain officially undisclosed whilst the major errors resulting in damage and death to patients alarm both professionals and public with resultant litigation and compensation. This paper attempts to unravel some of these issues by highlighting the historical nature of clinical errors and drawing parallels to contemporary times by outlining the 'compensation culture'. We then provide an overview of what constitutes a clinical error and review the healthcare professional strategies for managing such errors.

A respiratory compensating system: design and performance evaluation.

PubMed

Chuang, Ho-Chiao; Huang, Ding-Yang; Tien, Der-Chi; Wu, Ren-Hong; Hsu, Chung-Hsien

2014-05-08

This study proposes a respiratory compensating system which is mounted on the top of the treatment couch for reverse motion, opposite from the direction of the targets (diaphragm and hemostatic clip), in order to offset organ displacement generated by respiratory motion. Traditionally, in the treatment of cancer patients, doctors must increase the field size for radiation therapy of tumors because organs move with respiratory motion, which causes radiation-induced inflammation on the normal tissues (organ at risk (OAR)) while killing cancer cells, and thereby reducing the patient's quality of life. This study uses a strain gauge as a respiratory signal capture device to obtain abdomen respiratory signals, a proposed respiratory simulation system (RSS) and respiratory compensating system to experiment how to offset the organ displacement caused by respiratory movement and compensation effect. This study verifies the effect of the respiratory compensating system in offsetting the target displacement using two methods. The first method uses linac (medical linear accelerator) to irradiate a 300 cGy dose on the EBT film (GAFCHROMIC EBT film). The second method uses a strain gauge to capture the patients' respiratory signals, while using fluoroscopy to observe in vivo targets, such as a diaphragm, to enable the respiratory compensating system to offset the displacements of targets in superior-inferior (SI) direction. Testing results show that the RSS position error is approximately 0.45 ~ 1.42 mm, while the respiratory compensating system position error is approximately 0.48 ~ 1.42 mm. From the EBT film profiles based on different input to the RSS, the results suggest that when the input respiratory signals of RSS are sine wave signals, the average dose (%) in the target area is improved by 1.4% ~ 24.4%, and improved in the 95% isodose area by 15.3% ~ 76.9% after compensation. If the respiratory signals input into the RSS respiratory signals are actual human respiratory signals, the average dose (%) in the target area is improved by 31.8% ~ 67.7%, and improved in the 95% isodose area by 15.3% ~ 86.4% (the above rates of improvements will increase with increasing respiratory motion displacement) after compensation. The experimental results from the second method suggested that about 67.3% ~ 82.5% displacement can be offset. In addition, gamma passing rate after compensation can be improved to 100% only when the displacement of the respiratory motion is within 10 ~ 30 mm. This study proves that the proposed system can contribute to the compensation of organ displacement caused by respiratory motion, enabling physicians to use lower doses and smaller field sizes in the treatment of tumors of cancer patients.

A respiratory compensating system: design and performance evaluation

PubMed Central

Huang, Ding‐Yang; Tien, Der‐Chi; Wu, Ren‐Hong; Hsu, Chung‐Hsien

2014-01-01

This study proposes a respiratory compensating system which is mounted on the top of the treatment couch for reverse motion, opposite from the direction of the targets (diaphragm and hemostatic clip), in order to offset organ displacement generated by respiratory motion. Traditionally, in the treatment of cancer patients, doctors must increase the field size for radiation therapy of tumors because organs move with respiratory motion, which causes radiation‐induced inflammation on the normal tissues (organ at risk (OAR)) while killing cancer cells, and thereby reducing the patient's quality of life. This study uses a strain gauge as a respiratory signal capture device to obtain abdomen respiratory signals, a proposed respiratory simulation system (RSS) and respiratory compensating system to experiment how to offset the organ displacement caused by respiratory movement and compensation effect. This study verifies the effect of the respiratory compensating system in offsetting the target displacement using two methods. The first method uses linac (medical linear accelerator) to irradiate a 300 cGy dose on the EBT film (GAFCHROMIC EBT film). The second method uses a strain gauge to capture the patients' respiratory signals, while using fluoroscopy to observe in vivo targets, such as a diaphragm, to enable the respiratory compensating system to offset the displacements of targets in superior‐inferior (SI) direction. Testing results show that the RSS position error is approximately 0.45 ~ 1.42 mm, while the respiratory compensating system position error is approximately 0.48 ~ 1.42 mm. From the EBT film profiles based on different input to the RSS, the results suggest that when the input respiratory signals of RSS are sine wave signals, the average dose (%) in the target area is improved by 1.4% ~ 24.4%, and improved in the 95% isodose area by 15.3% ~ 76.9% after compensation. If the respiratory signals input into the RSS respiratory signals are actual human respiratory signals, the average dose (%) in the target area is improved by 31.8% ~ 67.7%, and improved in the 95% isodose area by 15.3% ~ 86.4% (the above rates of improvements will increase with increasing respiratory motion displacement) after compensation. The experimental results from the second method suggested that about 67.3% ~ 82.5% displacement can be offset. In addition, gamma passing rate after compensation can be improved to 100% only when the displacement of the respiratory motion is within 10 ~ 30 mm. This study proves that the proposed system can contribute to the compensation of organ displacement caused by respiratory motion, enabling physicians to use lower doses and smaller field sizes in the treatment of tumors of cancer patients. PACS number: 87.19. Wx; 87.55. Km PMID:24892345

Phase correction system for automatic focusing of synthetic aperture radar

DOEpatents

Eichel, Paul H.; Ghiglia, Dennis C.; Jakowatz, Jr., Charles V.

1990-01-01

A phase gradient autofocus system for use in synthetic aperture imaging accurately compensates for arbitrary phase errors in each imaged frame by locating highlighted areas and determining the phase disturbance or image spread associated with each of these highlight areas. An estimate of the image spread for each highlighted area in a line in the case of one dimensional processing or in a sector, in the case of two-dimensional processing, is determined. The phase error is determined using phase gradient processing. The phase error is then removed from the uncorrected image and the process is iteratively performed to substantially eliminate phase errors which can degrade the image.

An error-based micro-sensor capture system for real-time motion estimation

NASA Astrophysics Data System (ADS)

Yang, Lin; Ye, Shiwei; Wang, Zhibo; Huang, Zhipei; Wu, Jiankang; Kong, Yongmei; Zhang, Li

2017-10-01

A wearable micro-sensor motion capture system with 16 IMUs and an error-compensatory complementary filter algorithm for real-time motion estimation has been developed to acquire accurate 3D orientation and displacement in real life activities. In the proposed filter algorithm, the gyroscope bias error, orientation error and magnetic disturbance error are estimated and compensated, significantly reducing the orientation estimation error due to sensor noise and drift. Displacement estimation, especially for activities such as jumping, has been the challenge in micro-sensor motion capture. An adaptive gait phase detection algorithm has been developed to accommodate accurate displacement estimation in different types of activities. The performance of this system is benchmarked with respect to the results of VICON optical capture system. The experimental results have demonstrated effectiveness of the system in daily activities tracking, with estimation error 0.16 ± 0.06 m for normal walking and 0.13 ± 0.11 m for jumping motions. Research supported by the National Natural Science Foundation of China (Nos. 61431017, 81272166).

A precision analogue integrator system for heavy current measurement in MFDC resistance spot welding

NASA Astrophysics Data System (ADS)

Xia, Yu-Jun; Zhang, Zhong-Dian; Xia, Zhen-Xin; Zhu, Shi-Liang; Zhang, Rui

2016-02-01

In order to control and monitor the quality of middle frequency direct current (MFDC) resistance spot welding (RSW), precision measurement of the welding current up to 100 kA is required, for which Rogowski coils are the only viable current transducers at present. Thus, a highly accurate analogue integrator is the key to restoring the converted signals collected from the Rogowski coils. Previous studies emphasised that the integration drift is a major factor that influences the performance of analogue integrators, but capacitive leakage error also has a significant impact on the result, especially in long-time pulse integration. In this article, new methods of measuring and compensating capacitive leakage error are proposed to fabricate a precision analogue integrator system for MFDC RSW. A voltage holding test is carried out to measure the integration error caused by capacitive leakage, and an original integrator with a feedback adder is designed to compensate capacitive leakage error in real time. The experimental results and statistical analysis show that the new analogue integrator system could constrain both drift and capacitive leakage error, of which the effect is robust to different voltage levels of output signals. The total integration error is limited within  ±0.09 mV s-1 0.005% s-1 or full scale at a 95% confidence level, which makes it possible to achieve the precision measurement of the welding current of MFDC RSW with Rogowski coils of 0.1% accuracy class.

Cogging effect minimization in PMSM position servo system using dual high-order periodic adaptive learning compensation.

PubMed

Luo, Ying; Chen, Yangquan; Pi, Youguo

2010-10-01

Cogging effect which can be treated as a type of position-dependent periodic disturbance, is a serious disadvantage of the permanent magnetic synchronous motor (PMSM). In this paper, based on a simulation system model of PMSM position servo control, the cogging force, viscous friction, and applied load in the real PMSM control system are considered and presented. A dual high-order periodic adaptive learning compensation (DHO-PALC) method is proposed to minimize the cogging effect on the PMSM position and velocity servo system. In this DHO-PALC scheme, more than one previous periods stored information of both the composite tracking error and the estimate of the cogging force is used for the control law updating. Asymptotical stability proof with the proposed DHO-PALC scheme is presented. Simulation is implemented on the PMSM servo system model to illustrate the proposed method. When the constant speed reference is applied, the DHO-PALC can achieve a faster learning convergence speed than the first-order periodic adaptive learning compensation (FO-PALC). Moreover, when the designed reference signal changes periodically, the proposed DHO-PALC can obtain not only faster convergence speed, but also much smaller final error bound than the FO-PALC. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Topography-Dependent Motion Compensation: Application to UAVSAR Data

NASA Technical Reports Server (NTRS)

Jones, Cathleen E.; Hensley, Scott; Michel, Thierry

2009-01-01

The UAVSAR L-band synthetic aperture radar system has been designed for repeat track interferometry in support of Earth science applications that require high-precision measurements of small surface deformations over timescales from hours to years. Conventional motion compensation algorithms, which are based upon assumptions of a narrow beam and flat terrain, yield unacceptably large errors in areas with even moderate topographic relief, i.e., in most areas of interest. This often limits the ability to achieve sub-centimeter surface change detection over significant portions of an acquired scene. To reduce this source of error in the interferometric phase, we have implemented an advanced motion compensation algorithm that corrects for the scene topography and radar beam width. Here we discuss the algorithm used, its implementation in the UAVSAR data processor, and the improvement in interferometric phase and correlation achieved in areas with significant topographic relief.

Strapdown system performance optimization test evaluations (SPOT), volume 1

NASA Technical Reports Server (NTRS)

Blaha, R. J.; Gilmore, J. P.

1973-01-01

A three axis inertial system was packaged in an Apollo gimbal fixture for fine grain evaluation of strapdown system performance in dynamic environments. These evaluations have provided information to assess the effectiveness of real-time compensation techniques and to study system performance tradeoffs to factors such as quantization and iteration rate. The strapdown performance and tradeoff studies conducted include: (1) Compensation models and techniques for the inertial instrument first-order error terms were developed and compensation effectivity was demonstrated in four basic environments; single and multi-axis slew, and single and multi-axis oscillatory. (2) The theoretical coning bandwidth for the first-order quaternion algorithm expansion was verified. (3) Gyro loop quantization was identified to affect proportionally the system attitude uncertainty. (4) Land navigation evaluations identified the requirement for accurate initialization alignment in order to pursue fine grain navigation evaluations.

Neonatal infrared thermography imaging: Analysis of heat flux during different clinical scenarios

NASA Astrophysics Data System (ADS)

Abbas, Abbas K.; Heimann, Konrad; Blazek, Vladimir; Orlikowsky, Thorsten; Leonhardt, Steffen

2012-11-01

IntroductionAn accurate skin temperature measurement of Neonatal Infrared Thermography (NIRT) imaging requires an appropriate calibration process for compensation of external effects (e.g. variation of environmental temperature, variable air velocity or humidity). Although modern infrared cameras can perform such calibration, an additional compensation is required for highly accurate thermography. This compensation which corrects any temperature drift should occur during the NIRT imaging process. We introduce a compensation technique which is based on modeling the physical interactions within the measurement scene and derived the detected temperature signal of the object. Materials and methodsIn this work such compensation was performed for different NIRT imaging application in neonatology (e.g. convective incubators, kangaroo mother care (KMC), and an open radiant warmer). The spatially distributed temperatures of 12 preterm infants (average gestation age 31 weeks) were measured under these different infant care arrangements (i.e. closed care system like a convective incubator, and open care system like kangaroo mother care, and open radiant warmer). ResultsAs errors in measurement of temperature were anticipated, a novel compensation method derived from infrared thermography of the neonate's skin was developed. Moreover, the differences in temperature recording for the 12 preterm infants varied from subject to subject. This variation could be arising from individual experimental setting applied to the same region of interest over the neonate's body. The experimental results for the model-based corrections is verified over the selected patient group. ConclusionThe proposed technique relies on applying model-based correction to the measured temperature and reducing extraneous errors during NIRT. This application specific method is based on different heat flux compartments present in neonatal thermography scene. Furthermore, these results are considered to be groundwork for further investigation, especially when using NIRT imaging arrangement with additional compensation settings together with reference temperature measurements.

Suitability of Smartphone Inertial Sensors for Real-Time Biofeedback Applications.

PubMed

Kos, Anton; Tomažič, Sašo; Umek, Anton

2016-02-27

This article studies the suitability of smartphones with built-in inertial sensors for biofeedback applications. Biofeedback systems use various sensors to measure body functions and parameters. These sensor data are analyzed, and the results are communicated back to the user, who then tries to act on the feedback signals. Smartphone inertial sensors can be used to capture body movements in biomechanical biofeedback systems. These sensors exhibit various inaccuracies that induce significant angular and positional errors. We studied deterministic and random errors of smartphone accelerometers and gyroscopes, primarily focusing on their biases. Based on extensive measurements, we determined accelerometer and gyroscope noise models and bias variation ranges. Then, we compiled a table of predicted positional and angular errors under various biofeedback system operation conditions. We suggest several bias compensation options that are suitable for various examples of use in real-time biofeedback applications. Measurements within the developed experimental biofeedback application show that under certain conditions, even uncompensated sensors can be used for real-time biofeedback. For general use, especially for more demanding biofeedback applications, sensor biases should be compensated. We are convinced that real-time biofeedback systems based on smartphone inertial sensors are applicable to many similar examples in sports, healthcare, and other areas.

Suitability of Smartphone Inertial Sensors for Real-Time Biofeedback Applications

PubMed Central

Kos, Anton; Tomažič, Sašo; Umek, Anton

2016-01-01

This article studies the suitability of smartphones with built-in inertial sensors for biofeedback applications. Biofeedback systems use various sensors to measure body functions and parameters. These sensor data are analyzed, and the results are communicated back to the user, who then tries to act on the feedback signals. Smartphone inertial sensors can be used to capture body movements in biomechanical biofeedback systems. These sensors exhibit various inaccuracies that induce significant angular and positional errors. We studied deterministic and random errors of smartphone accelerometers and gyroscopes, primarily focusing on their biases. Based on extensive measurements, we determined accelerometer and gyroscope noise models and bias variation ranges. Then, we compiled a table of predicted positional and angular errors under various biofeedback system operation conditions. We suggest several bias compensation options that are suitable for various examples of use in real-time biofeedback applications. Measurements within the developed experimental biofeedback application show that under certain conditions, even uncompensated sensors can be used for real-time biofeedback. For general use, especially for more demanding biofeedback applications, sensor biases should be compensated. We are convinced that real-time biofeedback systems based on smartphone inertial sensors are applicable to many similar examples in sports, healthcare, and other areas. PMID:26927125

Further evaluation of the constrained least squares electromagnetic compensation method

NASA Technical Reports Server (NTRS)

Smith, William T.

1991-01-01

Technologies exist for construction of antennas with adaptive surfaces that can compensate for many of the larger distortions caused by thermal and gravitational forces. However, as the frequency and size of reflectors increase, the subtle surface errors become significant and degrade the overall electromagnetic performance. Electromagnetic (EM) compensation through an adaptive feed array offers means for mitigation of surface distortion effects. Implementation of EM compensation is investigated with the measured surface errors of the NASA 15 meter hoop/column reflector antenna. Computer simulations are presented for: (1) a hybrid EM compensation technique, and (2) evaluating the performance of a given EM compensation method when implemented with discretized weights.

Negligence, genuine error, and litigation

PubMed Central

Sohn, David H

2013-01-01

Not all medical injuries are the result of negligence. In fact, most medical injuries are the result either of the inherent risk in the practice of medicine, or due to system errors, which cannot be prevented simply through fear of disciplinary action. This paper will discuss the differences between adverse events, negligence, and system errors; the current medical malpractice tort system in the United States; and review current and future solutions, including medical malpractice reform, alternative dispute resolution, health courts, and no-fault compensation systems. The current political environment favors investigation of non-cap tort reform remedies; investment into more rational oversight systems, such as health courts or no-fault systems may reap both quantitative and qualitative benefits for a less costly and safer health system. PMID:23426783

Physician-patient relationship and medical accident victim compensation: some insights into the French regulatory system.

PubMed

Ancelot, Lydie; Oros, Cornel

2015-06-01

Given the growing amount of medical litigation heard by courts, the 2002 Kouchner law in France has created the Office National d'Indemnisation des Accidents Médicaux (ONIAM), whose main aim is to encourage out-of-court settlements when a conflict between a physician and the victim of a medical accident occurs. More than 10 years after the implementation of this law, the statistics analysing its effectiveness are contradictory, which raises the question of the potential negative effects of the ONIAM on the compensation system. In order to address this question, the article analyses the impact of the ONIAM on the nature of settlement negotiations between the physician and the victim. Using a dynamic game within incomplete information, we develop a comparative analysis of two types of compensation systems in case of medical accidents: socialised financing granted by the ONIAM and private financing provided by the physician. We show that the ONIAM could encourage out-of-court settlements provided that the hypothesis of judicial error is relevant. On the contrary, in the case of a low probability of judicial errors, the ONIAM could be effective only for severe medical accidents.

Analysis of Fade Detection and Compensation Experimental Results in a Ka-Band Satellite System. Degree awarded by Akron Univ., May 2000

NASA Technical Reports Server (NTRS)

Johnson, Sandra

2001-01-01

The frequency bands being used for new satellite communication systems are constantly increasing to accommodate the requirements for additional capacity. At these higher frequencies, propagation impairments that did not significantly affect the signal at lower frequencies begin to have considerable impact. In Ka-band, the next logical commercial frequency band to be used for satellite communication, attenuation of the signal due to rain is a primary concern. An experimental satellite built by NASA, the Advanced Communication Technology Satellite (ACTS), launched in September 1993, is the first US communication satellite operating in the Ka-band. In addition to higher carrier frequencies, a number of other new technologies, including onboard baseband processing, multiple beam antennas, and rain fade detection and compensation techniques, were designed into the ACTS. Verification experiments have been conducted since the launch to characterize the new technologies. The focus of this thesis is to describe and validate the method used by the ACTS Very Small Aperture Terminal (VSAT) ground stations in detecting the presence of fade in the communication signal and to adaptively compensate for it by the addition of burst rate reduction and forward error correction. Measured data obtained from the ACTS program is used to validate the compensation technique. In this thesis, models in MATLAB are developed to statistically characterize the increased availability achieved by the compensation techniques in terms of the bit error rate time enhancement factor. Several improvements to the ACTS technique are discussed and possible implementations for future Ka-band systems are also presented.

Controlling qubit drift by recycling error correction syndromes

NASA Astrophysics Data System (ADS)

Blume-Kohout, Robin

2015-03-01

Physical qubits are susceptible to systematic drift, above and beyond the stochastic Markovian noise that motivates quantum error correction. This parameter drift must be compensated - if it is ignored, error rates will rise to intolerable levels - but compensation requires knowing the parameters' current value, which appears to require halting experimental work to recalibrate (e.g. via quantum tomography). Fortunately, this is untrue. I show how to perform on-the-fly recalibration on the physical qubits in an error correcting code, using only information from the error correction syndromes. The algorithm for detecting and compensating drift is very simple - yet, remarkably, when used to compensate Brownian drift in the qubit Hamiltonian, it achieves a stabilized error rate very close to the theoretical lower bound. Against 1/f noise, it is less effective only because 1/f noise is (like white noise) dominated by high-frequency fluctuations that are uncompensatable. 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

Using sediment 'fingerprints' to assess sediment-budget errors, north Halawa Valley, Oahu, Hawaii, 1991-92

USGS Publications Warehouse

Hill, B.R.; DeCarlo, E.H.; Fuller, C.C.; Wong, M.F.

1998-01-01

Reliable estimates of sediment-budget errors are important for interpreting sediment-budget results. Sediment-budget errors are commonly considered equal to sediment-budget imbalances, which may underestimate actual sediment-budget errors if they include compensating positive and negative errors. We modified the sediment 'fingerprinting' approach to qualitatively evaluate compensating errors in an annual (1991) fine (<63 ??m) sediment budget for the North Halawa Valley, a mountainous, forested drainage basin on the island of Oahu, Hawaii, during construction of a major highway. We measured concentrations of aeolian quartz and 137Cs in sediment sources and fluvial sediments, and combined concentrations of these aerosols with the sediment budget to construct aerosol budgets. Aerosol concentrations were independent of the sediment budget, hence aerosol budgets were less likely than sediment budgets to include compensating errors. Differences between sediment-budget and aerosol-budget imbalances therefore provide a measure of compensating errors in the sediment budget. The sediment-budget imbalance equalled 25% of the fluvial fine-sediment load. Aerosol-budget imbalances were equal to 19% of the fluvial 137Cs load and 34% of the fluval quartz load. The reasonably close agreement between sediment- and aerosol-budget imbalances indicates that compensating errors in the sediment budget were not large and that the sediment-budget imbalance as a reliable measure of sediment-budget error. We attribute at least one-third of the 1991 fluvial fine-sediment load to highway construction. Continued monitoring indicated that highway construction produced 90% of the fluvial fine-sediment load during 1992. Erosion of channel margins and attrition of coarse particles provided most of the fine sediment produced by natural processes. Hillslope processes contributed relatively minor amounts of sediment.

A Novel Position Compensation Scheme for Cable-Pulley Mechanisms Used in Laparoscopic Surgical Robots

PubMed Central

Liang, Yunlei; Du, Zhijiang; Sun, Lining

2017-01-01

The tendon driven mechanism using a cable and pulley to transmit power is adopted by many surgical robots. However, backlash hysteresis objectively exists in cable-pulley mechanisms, and this nonlinear problem is a great challenge in precise position control during the surgical procedure. Previous studies mainly focused on the transmission characteristics of the cable-driven system and constructed transmission models under particular assumptions to solve nonlinear problems. However, these approaches are limited because the modeling process is complex and the transmission models lack general applicability. This paper presents a novel position compensation control scheme to reduce the impact of backlash hysteresis on the positioning accuracy of surgical robots’ end-effectors. In this paper, a position compensation scheme using a support vector machine based on feedforward control is presented to reduce the position tracking error. To validate the proposed approach, experimental validations are conducted on our cable-pulley system and comparative experiments are carried out. The results show remarkable improvements in the performance of reducing the positioning error for the use of the proposed scheme. PMID:28974011

Refraction-compensated motion tracking of unrestrained small animals in positron emission tomography.

PubMed

Kyme, Andre; Meikle, Steven; Baldock, Clive; Fulton, Roger

2012-08-01

Motion-compensated radiotracer imaging of fully conscious rodents represents an important paradigm shift for preclinical investigations. In such studies, if motion tracking is performed through a transparent enclosure containing the awake animal, light refraction at the interface will introduce errors in stereo pose estimation. We have performed a thorough investigation of how this impacts the accuracy of pose estimates and the resulting motion correction, and developed an efficient method to predict and correct for refraction-based error. The refraction model underlying this study was validated using a state-of-the-art motion tracking system. Refraction-based error was shown to be dependent on tracking marker size, working distance, and interface thickness and tilt. Correcting for refraction error improved the spatial resolution and quantitative accuracy of motion-corrected positron emission tomography images. Since the methods are general, they may also be useful in other contexts where data are corrupted by refraction effects. Crown Copyright © 2012. Published by Elsevier B.V. All rights reserved.

Verification and compensation of respiratory motion using an ultrasound imaging system

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

Chuang, Ho-Chiao, E-mail: hchuang@mail.ntut.edu.tw; Hsu, Hsiao-Yu; Chiu, Wei-Hung

Purpose: The purpose of this study was to determine if it is feasible to use ultrasound imaging as an aid for moving the treatment couch during diagnosis and treatment procedures associated with radiation therapy, in order to offset organ displacement caused by respiratory motion. A noninvasive ultrasound system was used to replace the C-arm device during diagnosis and treatment with the aims of reducing the x-ray radiation dose on the human body while simultaneously being able to monitor organ displacements. Methods: This study used a proposed respiratory compensating system combined with an ultrasound imaging system to monitor the compensation effectmore » of respiratory motion. The accuracy of the compensation effect was verified by fluoroscopy, which means that fluoroscopy could be replaced so as to reduce unnecessary radiation dose on patients. A respiratory simulation system was used to simulate the respiratory motion of the human abdomen and a strain gauge (respiratory signal acquisition device) was used to capture the simulated respiratory signals. The target displacements could be detected by an ultrasound probe and used as a reference for adjusting the gain value of the respiratory signal used by the respiratory compensating system. This ensured that the amplitude of the respiratory compensation signal was a faithful representation of the target displacement. Results: The results show that performing respiratory compensation with the assistance of the ultrasound images reduced the compensation error of the respiratory compensating system to 0.81–2.92 mm, both for sine-wave input signals with amplitudes of 5, 10, and 15 mm, and human respiratory signals; this represented compensation of the respiratory motion by up to 92.48%. In addition, the respiratory signals of 10 patients were captured in clinical trials, while their diaphragm displacements were observed simultaneously using ultrasound. Using the respiratory compensating system to offset, the diaphragm displacement resulted in compensation rates of 60%–84.4%. Conclusions: This study has shown that a respiratory compensating system combined with noninvasive ultrasound can provide real-time compensation of the respiratory motion of patients.« less

Real-time registration of 3D to 2D ultrasound images for image-guided prostate biopsy.

PubMed

Gillies, Derek J; Gardi, Lori; De Silva, Tharindu; Zhao, Shuang-Ren; Fenster, Aaron

2017-09-01

During image-guided prostate biopsy, needles are targeted at tissues that are suspicious of cancer to obtain specimen for histological examination. Unfortunately, patient motion causes targeting errors when using an MR-transrectal ultrasound (TRUS) fusion approach to augment the conventional biopsy procedure. This study aims to develop an automatic motion correction algorithm approaching the frame rate of an ultrasound system to be used in fusion-based prostate biopsy systems. Two modes of operation have been investigated for the clinical implementation of the algorithm: motion compensation using a single user initiated correction performed prior to biopsy, and real-time continuous motion compensation performed automatically as a background process. Retrospective 2D and 3D TRUS patient images acquired prior to biopsy gun firing were registered using an intensity-based algorithm utilizing normalized cross-correlation and Powell's method for optimization. 2D and 3D images were downsampled and cropped to estimate the optimal amount of image information that would perform registrations quickly and accurately. The optimal search order during optimization was also analyzed to avoid local optima in the search space. Error in the algorithm was computed using target registration errors (TREs) from manually identified homologous fiducials in a clinical patient dataset. The algorithm was evaluated for real-time performance using the two different modes of clinical implementations by way of user initiated and continuous motion compensation methods on a tissue mimicking prostate phantom. After implementation in a TRUS-guided system with an image downsampling factor of 4, the proposed approach resulted in a mean ± std TRE and computation time of 1.6 ± 0.6 mm and 57 ± 20 ms respectively. The user initiated mode performed registrations with in-plane, out-of-plane, and roll motions computation times of 108 ± 38 ms, 60 ± 23 ms, and 89 ± 27 ms, respectively, and corresponding registration errors of 0.4 ± 0.3 mm, 0.2 ± 0.4 mm, and 0.8 ± 0.5°. The continuous method performed registration significantly faster (P < 0.05) than the user initiated method, with observed computation times of 35 ± 8 ms, 43 ± 16 ms, and 27 ± 5 ms for in-plane, out-of-plane, and roll motions, respectively, and corresponding registration errors of 0.2 ± 0.3 mm, 0.7 ± 0.4 mm, and 0.8 ± 1.0°. The presented method encourages real-time implementation of motion compensation algorithms in prostate biopsy with clinically acceptable registration errors. Continuous motion compensation demonstrated registration accuracy with submillimeter and subdegree error, while performing < 50 ms computation times. Image registration technique approaching the frame rate of an ultrasound system offers a key advantage to be smoothly integrated to the clinical workflow. In addition, this technique could be used further for a variety of image-guided interventional procedures to treat and diagnose patients by improving targeting accuracy. © 2017 American Association of Physicists in Medicine.

Density implications of shift compensation postprocessing in holographic storage systems

NASA Astrophysics Data System (ADS)

Menetrier, Laure; Burr, Geoffrey W.

2003-02-01

We investigate the effect of data page misregistration, and its subsequent correction in postprocessing, on the storage density of holographic data storage systems. A numerical simulation is used to obtain the bit-error rate as a function of hologram aperture, page misregistration, pixel fill factors, and Gaussian additive intensity noise. Postprocessing of simulated data pages is performed by a nonlinear pixel shift compensation algorithm [Opt. Lett. 26, 542 (2001)]. The performance of this algorithm is analyzed in the presence of noise by determining the achievable areal density. The impact of inaccurate measurements of page misregistration is also investigated. Results show that the shift-compensation algorithm can provide almost complete immunity to page misregistration, although at some penalty to the baseline areal density offered by a system with zero tolerance to misalignment.

Development of a patient positioning error compensation tool for Korea Heavy-Ion Medical Accelerator Treatment Center

NASA Astrophysics Data System (ADS)

Kim, Min-Joo; Suh, Tae-Suk; Cho, Woong; Jung, Won-Gyun

2015-07-01

In this study, a potential validation tool for compensating for the patient positioning error was developed by using 2D/3D and 3D/3D image registration. For 2D/3D registration, digitallyreconstructed radiography (DRR) and three-dimensional computed tomography (3D-CT) images were applied. The ray-casting algorithm is the most straightforward method for generating DRR, so we adopted the traditional ray-casting method, which finds the intersections of a ray with all objects, voxels of the 3D-CT volume in the scene. The similarity between the extracted DRR and the orthogonal image was measured by using a normalized mutual information method. Two orthogonal images were acquired from a Cyber-knife system from the anterior-posterior (AP) and right lateral (RL) views. The 3D-CT and the two orthogonal images of an anthropomorphic phantom and of the head and neck of a cancer patient were used in this study. For 3D/3D registration, planning CT and in-room CT images were applied. After registration, the translation and the rotation factors were calculated to position a couch to be movable in six dimensions. Registration accuracies and average errors of 2.12 mm ± 0.50 mm for transformations and 1.23 ° ± 0.40 ° for rotations were acquired by using 2D/3D registration with the anthropomorphic Alderson-Rando phantom. In addition, registration accuracies and average errors of 0.90 mm ± 0.30 mm for transformations and 1.00 ° ± 0.2 ° for rotations were acquired by using CT image sets. We demonstrated that this validation tool could compensate for patient positioning errors. In addition, this research could be a fundamental step in compensating for patient positioning errors at the Korea Heavy-ion Medical Accelerator Treatment Center.

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

NASA Astrophysics Data System (ADS)

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

2015-02-01

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

Bit-error rate for free-space adaptive optics laser communications.

PubMed

Tyson, Robert K

2002-04-01

An analysis of adaptive optics compensation for atmospheric-turbulence-induced scintillation is presented with the figure of merit being the laser communications bit-error rate. The formulation covers weak, moderate, and strong turbulence; on-off keying; and amplitude-shift keying, over horizontal propagation paths or on a ground-to-space uplink or downlink. The theory shows that under some circumstances the bit-error rate can be improved by a few orders of magnitude with the addition of adaptive optics to compensate for the scintillation. Low-order compensation (less than 40 Zernike modes) appears to be feasible as well as beneficial for reducing the bit-error rate and increasing the throughput of the communication link.

Development of a simple system for simultaneously measuring 6DOF geometric motion errors of a linear guide.

PubMed

Qibo, Feng; Bin, Zhang; Cunxing, Cui; Cuifang, Kuang; Yusheng, Zhai; Fenglin, You

2013-11-04

A simple method for simultaneously measuring the 6DOF geometric motion errors of the linear guide was proposed. The mechanisms for measuring straightness and angular errors and for enhancing their resolution are described in detail. A common-path method for measuring the laser beam drift was proposed and it was used to compensate the errors produced by the laser beam drift in the 6DOF geometric error measurements. A compact 6DOF system was built. Calibration experiments with certain standard measurement meters showed that our system has a standard deviation of 0.5 µm in a range of ± 100 µm for the straightness measurements, and standard deviations of 0.5", 0.5", and 1.0" in the range of ± 100" for pitch, yaw, and roll measurements, respectively.

Nonlinear analysis and dynamic compensation of stylus scanning measurement with wide range

NASA Astrophysics Data System (ADS)

Hui, Heiyang; Liu, Xiaojun; Lu, Wenlong

2011-12-01

Surface topography is an important geometrical feature of a workpiece that influences its quality and functions such as friction, wearing, lubrication and sealing. Precision measurement of surface topography is fundamental for product quality characterizing and assurance. Stylus scanning technique is a widely used method for surface topography measurement, and it is also regarded as the international standard method for 2-D surface characterizing. Usually surface topography, including primary profile, waviness and roughness, can be measured precisely and efficiently by this method. However, by stylus scanning method to measure curved surface topography, the nonlinear error is unavoidable because of the difference of horizontal position of the actual measured point from given sampling point and the nonlinear transformation process from vertical displacement of the stylus tip to angle displacement of the stylus arm, and the error increases with the increasing of measuring range. In this paper, a wide range stylus scanning measurement system based on cylindrical grating interference principle is constructed, the originations of the nonlinear error are analyzed, the error model is established and a solution to decrease the nonlinear error is proposed, through which the error of the collected data is dynamically compensated.

Study of fault tolerant software technology for dynamic systems

NASA Technical Reports Server (NTRS)

Caglayan, A. K.; Zacharias, G. L.

1985-01-01

The major aim of this study is to investigate the feasibility of using systems-based failure detection isolation and compensation (FDIC) techniques in building fault-tolerant software and extending them, whenever possible, to the domain of software fault tolerance. First, it is shown that systems-based FDIC methods can be extended to develop software error detection techniques by using system models for software modules. In particular, it is demonstrated that systems-based FDIC techniques can yield consistency checks that are easier to implement than acceptance tests based on software specifications. Next, it is shown that systems-based failure compensation techniques can be generalized to the domain of software fault tolerance in developing software error recovery procedures. Finally, the feasibility of using fault-tolerant software in flight software is investigated. In particular, possible system and version instabilities, and functional performance degradation that may occur in N-Version programming applications to flight software are illustrated. Finally, a comparative analysis of N-Version and recovery block techniques in the context of generic blocks in flight software is presented.

Technique for temperature compensation of eddy-current proximity probes

NASA Technical Reports Server (NTRS)

Masters, Robert M.

1989-01-01

Eddy-current proximity probes are used in turbomachinery evaluation testing and operation to measure distances, primarily vibration, deflection, or displacment of shafts, bearings and seals. Measurements of steady-state conditions made with standard eddy-current proximity probes are susceptible to error caused by temperature variations during normal operation of the component under investigation. Errors resulting from temperature effects for the specific probes used in this study were approximately 1.016 x 10 to the -3 mm/deg C over the temperature range of -252 to 100 C. This report examines temperature caused changes on the eddy-current proximity probe measurement system, establishes their origin, and discusses what may be done to minimize their effect on the output signal. In addition, recommendations are made for the installation and operation of the electronic components associated with an eddy-current proximity probe. Several techniques are described that provide active on-line error compensation for over 95 percent of the temperature effects.

A retrospective review of medical errors adjudicated in court between 2002 and 2012 in Spain.

PubMed

Giraldo, Priscila; Sato, Luke; Sala, María; Comas, Merce; Dywer, Kathy; Castells, Xavier

2016-02-01

This paper describes verdicts in court involving injury-producing medical errors in Spain. A descriptive analysis of 1041 closed court verdicts from Spain between January 2002 and December 2012. It was determined whether a medical error had occurred, and among those with medical error (n = 270), characteristics and results of litigation were analyzed. Data on litigation were obtained from the Thomson Reuters Aranzadi Westlaw databases. All verdicts involving health system were reviewed and classified according to the presence of medical error. Among those, contributory factors, medical specialty involved, health impact (death, disability and severity) and results of litigation (resolution, time to verdict and economic compensations) were described. Medical errors were involved in 25.9% of court verdicts. The cause of medical error was a diagnosis-related problem in 25.1% and surgical treatment in 22.2%, and Obstetrics-Gynecology was the most frequent involved specialty (21%). Most of them were of high severity (59.4%), one-third (32%) caused death. The average time interval between the occurrence of the error and the verdict was 7.8 years. The average indemnity payment was €239 505.24; the highest was psychiatry (€7 585 075.86) and the lowest was Emergency Medicine (€69 871.19). This study indicates that in Spain medical errors are common among verdicts involving the health system, most of them causing high-severity adverse outcomes. The interval between the medical error and the verdict is excessive, and there is a wide range of economic compensation. © The Author 2015. Published by Oxford University Press in association with the International Society for Quality in Health Care; all rights reserved.

A heterodyne straightness and displacement measuring interferometer with laser beam drift compensation for long-travel linear stage metrology.

PubMed

Chen, Benyong; Cheng, Liang; Yan, Liping; Zhang, Enzheng; Lou, Yingtian

2017-03-01

The laser beam drift seriously influences the accuracy of straightness or displacement measurement in laser interferometers, especially for the long travel measurement. To solve this problem, a heterodyne straightness and displacement measuring interferometer with laser beam drift compensation is proposed. In this interferometer, the simultaneous measurement of straightness error and displacement is realized by using heterodyne interferometry, and the laser beam drift is determined to compensate the measurement results of straightness error and displacement in real time. The optical configuration of the interferometer is designed. The principle of the simultaneous measurement of straightness, displacement, and laser beam drift is depicted and analyzed in detail. And the compensation of the laser beam drift for the straightness error and displacement is presented. Several experiments were performed to verify the feasibility of the interferometer and the effectiveness of the laser beam drift compensation. The experiments of laser beam stability show that the position stability of the laser beam spot can be improved by more than 50% after compensation. The measurement and compensation experiments of straightness error and displacement by testing a linear stage at different distances show that the straightness and displacement obtained from the interferometer are in agreement with those obtained from a compared interferometer and the measured stage. These demonstrate that the merits of this interferometer are not only eliminating the influence of laser beam drift on the measurement accuracy but also having the abilities of simultaneous measurement of straightness error and displacement as well as being suitable for long-travel linear stage metrology.

Compensating additional optical power in the central zone of a multifocal contact lens forminimization of the shrinkage error of the shell mold in the injection molding process.

PubMed

Vu, Lien T; Chen, Chao-Chang A; Lee, Chia-Cheng; Yu, Chia-Wei

2018-04-20

This study aims to develop a compensating method to minimize the shrinkage error of the shell mold (SM) in the injection molding (IM) process to obtain uniform optical power in the central optical zone of soft axial symmetric multifocal contact lenses (CL). The Z-shrinkage error along the Z axis or axial axis of the anterior SM corresponding to the anterior surface of a dry contact lens in the IM process can be minimized by optimizing IM process parameters and then by compensating for additional (Add) powers in the central zone of the original lens design. First, the shrinkage error is minimized by optimizing three levels of four IM parameters, including mold temperature, injection velocity, packing pressure, and cooling time in 18 IM simulations based on an orthogonal array L 18 (2 1 ×3 4 ). Then, based on the Z-shrinkage error from IM simulation, three new contact lens designs are obtained by increasing the Add power in the central zone of the original multifocal CL design to compensate for the optical power errors. Results obtained from IM process simulations and the optical simulations show that the new CL design with 0.1 D increasing in Add power has the closest shrinkage profile to the original anterior SM profile with percentage of reduction in absolute Z-shrinkage error of 55% and more uniform power in the central zone than in the other two cases. Moreover, actual experiments of IM of SM for casting soft multifocal CLs have been performed. The final product of wet CLs has been completed for the original design and the new design. Results of the optical performance have verified the improvement of the compensated design of CLs. The feasibility of this compensating method has been proven based on the measurement results of the produced soft multifocal CLs of the new design. Results of this study can be further applied to predict or compensate for the total optical power errors of the soft multifocal CLs.

Discriminability of Prediction Artifacts in a Time Delayed Virtual Environment

NASA Technical Reports Server (NTRS)

Adelstein, Bernard D.; Jung, Jae Y.; Ellis, Stephen R.

2001-01-01

Overall latency remains an impediment to perceived image stability and consequently to human performance in virtual environment (VE) systems. Predictive compensators have been proposed as a means to mitigate these shortcomings, but they introduce rendering errors because of induced motion overshoot and heightened noise. Discriminability of these compensator artifacts was investigated by a protocol in which head tracked image stability for 35 ms baseline VE system latency was compared against artificially added (16.7 to 100 ms) latency compensated by a previously studied Kalman Filter (K-F) predictor. A control study in which uncompensated 16.7 to 100 ms latencies were compared against the baseline was also performed. Results from 10 subjects in the main study and 8 in the control group indicate that predictive compensation artifacts are less discernible than the disruptions of uncompensated time delay for the shorter but not the longer added latencies. We propose that noise magnification and overshoot are contributory cues to the presence of predictive compensation.

Machine tools error characterization and compensation by on-line measurement of artifact

NASA Astrophysics Data System (ADS)

Wahid Khan, Abdul; Chen, Wuyi; Wu, Lili

2009-11-01

Most manufacturing machine tools are utilized for mass production or batch production with high accuracy at a deterministic manufacturing principle. Volumetric accuracy of machine tools depends on the positional accuracy of the cutting tool, probe or end effector related to the workpiece in the workspace volume. In this research paper, a methodology is presented for volumetric calibration of machine tools by on-line measurement of an artifact or an object of a similar type. The machine tool geometric error characterization was carried out through a standard or an artifact, having similar geometry to the mass production or batch production product. The artifact was measured at an arbitrary position in the volumetric workspace with a calibrated Renishaw touch trigger probe system. Positional errors were stored into a computer for compensation purpose, to further run the manufacturing batch through compensated codes. This methodology was found quite effective to manufacture high precision components with more dimensional accuracy and reliability. Calibration by on-line measurement gives the advantage to improve the manufacturing process by use of deterministic manufacturing principle and found efficient and economical but limited to the workspace or envelop surface of the measured artifact's geometry or the profile.

Fast, exact k-space sample density compensation for trajectories composed of rotationally symmetric segments, and the SNR-optimized image reconstruction from non-Cartesian samples.

PubMed

Mitsouras, Dimitris; Mulkern, Robert V; Rybicki, Frank J

2008-08-01

A recently developed method for exact density compensation of non uniformly arranged samples relies on the analytically known cross-correlations of Fourier basis functions corresponding to the traced k-space trajectory. This method produces a linear system whose solution represents compensated samples that normalize the contribution of each independent element of information that can be expressed by the underlying trajectory. Unfortunately, linear system-based density compensation approaches quickly become computationally demanding with increasing number of samples (i.e., image resolution). Here, it is shown that when a trajectory is composed of rotationally symmetric interleaves, such as spiral and PROPELLER trajectories, this cross-correlations method leads to a highly simplified system of equations. Specifically, it is shown that the system matrix is circulant block-Toeplitz so that the linear system is easily block-diagonalized. The method is described and demonstrated for 32-way interleaved spiral trajectories designed for 256 image matrices; samples are compensated non iteratively in a few seconds by solving the small independent block-diagonalized linear systems in parallel. Because the method is exact and considers all the interactions between all acquired samples, up to a 10% reduction in reconstruction error concurrently with an up to 30% increase in signal to noise ratio are achieved compared to standard density compensation methods. (c) 2008 Wiley-Liss, Inc.

Hardware Development and Error Characterization for the AFIT RAIL SAR System

DTIC Science & Technology

This research is focused on updating the Air Force Institute of Technology (AFIT) Radar Instrumentation Lab (RAIL)Synthetic Aperture Radar ( SAR ...collections from a receiver in motion. Secondly, orthogonal frequency-division multiplexing (OFDM) signals are used to form ( SAR ) images in multiple...experimental and simulation configurations. This research analyses, characterizes and attempts compensation of relevant SAR image error sources, such as Doppler

On the Probability of Error and Stochastic Resonance in Discrete Memoryless Channels

DTIC Science & Technology

2013-12-01

Information - Driven Doppler Shift Estimation and Compensation Methods for Underwater Wireless Sensor Networks ”, which is to analyze and develop... underwater wireless sensor networks . We formulated an analytic relationship that relates the average probability of error to the systems parameters, the...thesis, we studied the performance of Discrete Memoryless Channels (DMC), arising in the context of cooperative underwater wireless sensor networks

Star centroiding error compensation for intensified star sensors.

PubMed

Jiang, Jie; Xiong, Kun; Yu, Wenbo; Yan, Jinyun; Zhang, Guangjun

2016-12-26

A star sensor provides high-precision attitude information by capturing a stellar image; however, the traditional star sensor has poor dynamic performance, which is attributed to its low sensitivity. Regarding the intensified star sensor, the image intensifier is utilized to improve the sensitivity, thereby further improving the dynamic performance of the star sensor. However, the introduction of image intensifier results in star centroiding accuracy decrease, further influencing the attitude measurement precision of the star sensor. A star centroiding error compensation method for intensified star sensors is proposed in this paper to reduce the influences. First, the imaging model of the intensified detector, which includes the deformation parameter of the optical fiber panel, is established based on the orthographic projection through the analysis of errors introduced by the image intensifier. Thereafter, the position errors at the target points based on the model are obtained by using the Levenberg-Marquardt (LM) optimization method. Last, the nearest trigonometric interpolation method is presented to compensate for the arbitrary centroiding error of the image plane. Laboratory calibration result and night sky experiment result show that the compensation method effectively eliminates the error introduced by the image intensifier, thus remarkably improving the precision of the intensified star sensors.

A simultaneously calibration approach for installation and attitude errors of an INS/GPS/LDS target tracker.

PubMed

Cheng, Jianhua; Chen, Daidai; Sun, Xiangyu; Wang, Tongda

2015-02-04

To obtain the absolute position of a target is one of the basic topics for non-cooperated target tracking problems. In this paper, we present a simultaneously calibration method for an Inertial navigation system (INS)/Global position system (GPS)/Laser distance scanner (LDS) integrated system based target positioning approach. The INS/GPS integrated system provides the attitude and position of observer, and LDS offers the distance between the observer and the target. The two most significant errors are taken into jointly consideration and analyzed: (1) the attitude measure error of INS/GPS; (2) the installation error between INS/GPS and LDS subsystems. Consequently, a INS/GPS/LDS based target positioning approach considering these two errors is proposed. In order to improve the performance of this approach, a novel calibration method is designed to simultaneously estimate and compensate these two main errors. Finally, simulations are conducted to access the performance of the proposed target positioning approach and the designed simultaneously calibration method.

Decomposition and correction overlapping peaks of LIBS using an error compensation method combined with curve fitting.

PubMed

Tan, Bing; Huang, Min; Zhu, Qibing; Guo, Ya; Qin, Jianwei

2017-09-01

The laser induced breakdown spectroscopy (LIBS) technique is an effective method to detect material composition by obtaining the plasma emission spectrum. The overlapping peaks in the spectrum are a fundamental problem in the qualitative and quantitative analysis of LIBS. Based on a curve fitting method, this paper studies an error compensation method to achieve the decomposition and correction of overlapping peaks. The vital step is that the fitting residual is fed back to the overlapping peaks and performs multiple curve fitting processes to obtain a lower residual result. For the quantitative experiments of Cu, the Cu-Fe overlapping peaks in the range of 321-327 nm obtained from the LIBS spectrum of five different concentrations of CuSO 4 ·5H 2 O solution were decomposed and corrected using curve fitting and error compensation methods. Compared with the curve fitting method, the error compensation reduced the fitting residual about 18.12-32.64% and improved the correlation about 0.86-1.82%. Then, the calibration curve between the intensity and concentration of the Cu was established. It can be seen that the error compensation method exhibits a higher linear correlation between the intensity and concentration of Cu, which can be applied to the decomposition and correction of overlapping peaks in the LIBS spectrum.

A component compensation method for magnetic interferential field

NASA Astrophysics Data System (ADS)

Zhang, Qi; Wan, Chengbiao; Pan, Mengchun; Liu, Zhongyan; Sun, Xiaoyong

2017-04-01

A new component searching with scalar restriction method (CSSRM) is proposed for magnetometer to compensate magnetic interferential field caused by ferromagnetic material of platform and improve measurement performance. In CSSRM, the objection function for parameter estimation is to minimize magnetic field (components and magnitude) difference between its measurement value and reference value. Two scalar compensation method is compared with CSSRM and the simulation results indicate that CSSRM can estimate all interferential parameters and external magnetic field vector with high accuracy. The magnetic field magnitude and components, compensated with CSSRM, coincide with true value very well. Experiment is carried out for a tri-axial fluxgate magnetometer, mounted in a measurement system with inertial sensors together. After compensation, error standard deviation of both magnetic field components and magnitude are reduced from more than thousands nT to less than 20 nT. It suggests that CSSRM provides an effective way to improve performance of magnetic interferential field compensation.

A comprehensive inversion approach for feedforward compensation of piezoactuator system at high frequency

NASA Astrophysics Data System (ADS)

Tian, Lizhi; Xiong, Zhenhua; Wu, Jianhua; Ding, Han

2016-09-01

Motion control of the piezoactuator system over broadband frequencies is limited due to its inherent hysteresis and system dynamics. One of the suggested ways is to use feedforward controller to linearize the input-output relationship of the piezoactuator system. Although there have been many feedforward approaches, it is still a challenge to develop feedforward controller for the piezoactuator system at high frequency. Hence, this paper presents a comprehensive inversion approach in consideration of the coupling of hysteresis and dynamics. In this work, the influence of dynamics compensation on the input-output relationship of the piezoactuator system is investigated first. With system dynamics compensation, the input-output relationship of the piezoactuator system will be further represented as rate-dependent nonlinearity due to the inevitable dynamics compensation error, especially at high frequency. Base on this result, the feedforward controller composed by a cascade of linear dynamics inversion and rate-dependent nonlinearity inversion is developed. Then, the system identification of the comprehensive inversion approach is proposed. Finally, experimental results show that the proposed approach can improve the performance on tracking of both periodic and non-periodic trajectories at medium and high frequency compared with the conventional feedforward approaches.

Motion compensated shape error concealment.

PubMed

Schuster, Guido M; Katsaggelos, Aggelos K

2006-02-01

The introduction of Video Objects (VOs) is one of the innovations of MPEG-4. The alpha-plane of a VO defines its shape at a given instance in time and hence determines the boundary of its texture. In packet-based networks, shape, motion, and texture are subject to loss. While there has been considerable attention paid to the concealment of texture and motion errors, little has been done in the field of shape error concealment. In this paper we propose a post-processing shape error concealment technique that uses the motion compensated boundary information of the previously received alpha-plane. The proposed approach is based on matching received boundary segments in the current frame to the boundary in the previous frame. This matching is achieved by finding a maximally smooth motion vector field. After the current boundary segments are matched to the previous boundary, the missing boundary pieces are reconstructed by motion compensation. Experimental results demonstrating the performance of the proposed motion compensated shape error concealment method, and comparing it with the previously proposed weighted side matching method are presented.

Addressing Medical Errors in Hand Surgery

PubMed Central

Johnson, Shepard P.; Adkinson, Joshua M.; Chung, Kevin C.

2014-01-01

Influential think-tank such as the Institute of Medicine has raised awareness about the implications of medical errors. In response, organizations, medical societies, and institutions have initiated programs to decrease the incidence and effects of these errors. Surgeons deal with the direct implications of adverse events involving patients. In addition to managing the physical consequences, they are confronted with ethical and social issues when caring for a harmed patient. Although there is considerable effort to implement system-wide changes, there is little guidance for hand surgeons on how to address medical errors. Admitting an error is difficult, but a transparent environment where patients are notified of errors and offered consolation and compensation is essential to maintain trust. Further, equipping hand surgeons with a guide for addressing medical errors will promote compassionate patient interaction, help identify system failures, provide learning points for safety improvement, and demonstrate a commitment to ethically responsible medical care. PMID:25154576

Optoelectronic scanning system upgrade by energy center localization methods

NASA Astrophysics Data System (ADS)

Flores-Fuentes, W.; Sergiyenko, O.; Rodriguez-Quiñonez, J. C.; Rivas-López, M.; Hernández-Balbuena, D.; Básaca-Preciado, L. C.; Lindner, L.; González-Navarro, F. F.

2016-11-01

A problem of upgrading an optoelectronic scanning system with digital post-processing of the signal based on adequate methods of energy center localization is considered. An improved dynamic triangulation analysis technique is proposed by an example of industrial infrastructure damage detection. A modification of our previously published method aimed at searching for the energy center of an optoelectronic signal is described. Application of the artificial intelligence algorithm of compensation for the error of determining the angular coordinate in calculating the spatial coordinate through dynamic triangulation is demonstrated. Five energy center localization methods are developed and tested to select the best method. After implementation of these methods, digital compensation for the measurement error, and statistical data analysis, a non-parametric behavior of the data is identified. The Wilcoxon signed rank test is applied to improve the result further. For optical scanning systems, it is necessary to detect a light emitter mounted on the infrastructure being investigated to calculate its spatial coordinate by the energy center localization method.

Geostationary Operational Environmental Satellite (GOES-N report). Volume 2: Technical appendix

NASA Technical Reports Server (NTRS)

1992-01-01

The contents include: operation with inclinations up to 3.5 deg to extend life; earth sensor improvements to reduce noise; sensor configurations studied; momentum management system design; reaction wheel induced dynamic interaction; controller design; spacecraft motion compensation; analog filtering; GFRP servo design - modern control approach; feedforward compensation as applied to GOES-1 sounder; discussion of allocation of navigation, inframe registration and image-to-image error budget overview; and spatial response and cloud smearing study.

Impact of miscommunication in medical dispute cases in Japan.

PubMed

Aoki, Noriaki; Uda, Kenji; Ohta, Sachiko; Kiuchi, Takahiro; Fukui, Tsuguya

2008-10-01

Medical disputes between physicians and patients can occur in non-negligent circumstances and may even result in compensation. We reviewed medical dispute cases to investigate the impact of miscommunication, especially in non-negligent situations. Systematic review of medical dispute records was done to identify the presence of the adverse events, the type of medical error, preventability, the perception of miscommunication by patients and the amount of compensation. The study was performed in Kyoto, Japan. We analyzed 155 medical dispute cases. We compared (i) frequency of miscommunication cases between negligent and non-negligent cases, and (ii) proportions of positive compensation between non-miscommunication and miscommunication cases stratified according to the existence of negligence. Multivariate logistic analysis was conducted to assess the independent factors related to positive compensation. Approximately 40% of the medical disputes (59/155) did not involve medical error (i.e. non-negligent). In the non-negligent cases, 64.4% (38/59) involved miscommunication, whereas in dispute cases with errors, 21.9% (21/96) involved miscommunications. (P

Error compensation for thermally induced errors on a machine tool

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

Krulewich, D.A.

1996-11-08

Heat flow from internal and external sources and the environment create machine deformations, resulting in positioning errors between the tool and workpiece. There is no industrially accepted method for thermal error compensation. A simple model has been selected that linearly relates discrete temperature measurements to the deflection. The biggest problem is how to locate the temperature sensors and to determine the number of required temperature sensors. This research develops a method to determine the number and location of temperature measurements.

Error model of geomagnetic-field measurement and extended Kalman-filter based compensation method

PubMed Central

Ge, Zhilei; Liu, Suyun; Li, Guopeng; Huang, Yan; Wang, Yanni

2017-01-01

The real-time accurate measurement of the geomagnetic-field is the foundation to achieving high-precision geomagnetic navigation. The existing geomagnetic-field measurement models are essentially simplified models that cannot accurately describe the sources of measurement error. This paper, on the basis of systematically analyzing the source of geomagnetic-field measurement error, built a complete measurement model, into which the previously unconsidered geomagnetic daily variation field was introduced. This paper proposed an extended Kalman-filter based compensation method, which allows a large amount of measurement data to be used in estimating parameters to obtain the optimal solution in the sense of statistics. The experiment results showed that the compensated strength of the geomagnetic field remained close to the real value and the measurement error was basically controlled within 5nT. In addition, this compensation method has strong applicability due to its easy data collection and ability to remove the dependence on a high-precision measurement instrument. PMID:28445508

Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization.

PubMed

Hao, Li-Ying; Yang, Guang-Hong

2013-09-01

This paper is concerned with the problem of robust fault-tolerant compensation control problem for uncertain linear systems subject to both state and input signal quantization. By incorporating novel matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under a special actuator redundancy assumption. In order to compensate for quantization errors, an adjustment range of quantization sensitivity for a dynamic uniform quantizer is given through the flexible choices of design parameters. Comparing with the existing results, the derived inequality condition leads to the fault tolerance ability stronger and much wider scope of applicability. With a static adjustment policy of quantization sensitivity, an adaptive sliding mode controller is then designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate for the effects of actuator faults, quantization errors, exogenous disturbances and parameter uncertainties without the need for a fault detection and isolation (FDI) mechanism. Finally, the effectiveness of the proposed design method is illustrated via a model of a rocket fairing structural-acoustic. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Local blur analysis and phase error correction method for fringe projection profilometry systems.

PubMed

Rao, Li; Da, Feipeng

2018-05-20

We introduce a flexible error correction method for fringe projection profilometry (FPP) systems in the presence of local blur phenomenon. Local blur caused by global light transport such as camera defocus, projector defocus, and subsurface scattering will cause significant systematic errors in FPP systems. Previous methods, which adopt high-frequency patterns to separate the direct and global components, fail when the global light phenomenon occurs locally. In this paper, the influence of local blur on phase quality is thoroughly analyzed, and a concise error correction method is proposed to compensate the phase errors. For defocus phenomenon, this method can be directly applied. With the aid of spatially varying point spread functions and local frontal plane assumption, experiments show that the proposed method can effectively alleviate the system errors and improve the final reconstruction accuracy in various scenes. For a subsurface scattering scenario, if the translucent object is dominated by multiple scattering, the proposed method can also be applied to correct systematic errors once the bidirectional scattering-surface reflectance distribution function of the object material is measured.

Experimental verification of a two-dimensional respiratory motion compensation system with ultrasound tracking technique in radiation therapy.

PubMed

Ting, Lai-Lei; Chuang, Ho-Chiao; Liao, Ai-Ho; Kuo, Chia-Chun; Yu, Hsiao-Wei; Zhou, Yi-Liang; Tien, Der-Chi; Jeng, Shiu-Chen; Chiou, Jeng-Fong

2018-05-01

This study proposed respiratory motion compensation system (RMCS) combined with an ultrasound image tracking algorithm (UITA) to compensate for respiration-induced tumor motion during radiotherapy, and to address the problem of inaccurate radiation dose delivery caused by respiratory movement. This study used an ultrasound imaging system to monitor respiratory movements combined with the proposed UITA and RMCS for tracking and compensation of the respiratory motion. Respiratory motion compensation was performed using prerecorded human respiratory motion signals and also sinusoidal signals. A linear accelerator was used to deliver radiation doses to GAFchromic EBT3 dosimetry film, and the conformity index (CI), root-mean-square error, compensation rate (CR), and planning target volume (PTV) were used to evaluate the tracking and compensation performance of the proposed system. Human respiratory pattern signals were captured using the UITA and compensated by the RMCS, which yielded CR values of 34-78%. In addition, the maximum coronal area of the PTV ranged from 85.53 mm 2 to 351.11 mm 2 (uncompensated), which reduced to from 17.72 mm 2 to 66.17 mm 2 after compensation, with an area reduction ratio of up to 90%. In real-time monitoring of the respiration compensation state, the CI values for 85% and 90% isodose areas increased to 0.7 and 0.68, respectively. The proposed UITA and RMCS can reduce the movement of the tracked target relative to the LINAC in radiation therapy, thereby reducing the required size of the PTV margin and increasing the effect of the radiation dose received by the treatment target. Copyright © 2018 Associazione Italiana di Fisica Medica. Published by Elsevier Ltd. All rights reserved.

Depth-of-Interaction Compensation Using a Focused-Cut Scintillator for a Pinhole Gamma Camera.

PubMed

Alhassen, Fares; Kudrolli, Haris; Singh, Bipin; Kim, Sangtaek; Seo, Youngho; Gould, Robert G; Nagarkar, Vivek V

2011-06-01

Preclinical SPECT offers a powerful means to understand the molecular pathways of drug interactions in animal models by discovering and testing new pharmaceuticals and therapies for potential clinical applications. A combination of high spatial resolution and sensitivity are required in order to map radiotracer uptake within small animals. Pinhole collimators have been investigated, as they offer high resolution by means of image magnification. One of the limitations of pinhole geometries is that increased magnification causes some rays to travel through the detection scintillator at steep angles, introducing parallax errors due to variable depth-of-interaction in scintillator material, especially towards the edges of the detector field of view. These parallax errors ultimately limit the resolution of pinhole preclinical SPECT systems, especially for higher energy isotopes that can easily penetrate through millimeters of scintillator material. A pixellated, focused-cut (FC) scintillator, with its pixels laser-cut so that they are collinear with incoming rays, can potentially compensate for these parallax errors and thus improve the system resolution. We performed the first experimental evaluation of a newly developed focused-cut scintillator. We scanned a Tc-99m source across the field of view of pinhole gamma camera with a continuous scintillator, a conventional "straight-cut" (SC) pixellated scintillator, and a focused-cut scintillator, each coupled to an electron-multiplying charge coupled device (EMCCD) detector by a fiber-optic taper, and compared the measured full-width half-maximum (FWHM) values. We show that the FWHMs of the focused-cut scintillator projections are comparable to the FWHMs of the thinner SC scintillator, indicating the effectiveness of the focused-cut scintillator in compensating parallax errors.

Depth-of-Interaction Compensation Using a Focused-Cut Scintillator for a Pinhole Gamma Camera

PubMed Central

Alhassen, Fares; Kudrolli, Haris; Singh, Bipin; Kim, Sangtaek; Seo, Youngho; Gould, Robert G.; Nagarkar, Vivek V.

2011-01-01

Preclinical SPECT offers a powerful means to understand the molecular pathways of drug interactions in animal models by discovering and testing new pharmaceuticals and therapies for potential clinical applications. A combination of high spatial resolution and sensitivity are required in order to map radiotracer uptake within small animals. Pinhole collimators have been investigated, as they offer high resolution by means of image magnification. One of the limitations of pinhole geometries is that increased magnification causes some rays to travel through the detection scintillator at steep angles, introducing parallax errors due to variable depth-of-interaction in scintillator material, especially towards the edges of the detector field of view. These parallax errors ultimately limit the resolution of pinhole preclinical SPECT systems, especially for higher energy isotopes that can easily penetrate through millimeters of scintillator material. A pixellated, focused-cut (FC) scintillator, with its pixels laser-cut so that they are collinear with incoming rays, can potentially compensate for these parallax errors and thus improve the system resolution. We performed the first experimental evaluation of a newly developed focused-cut scintillator. We scanned a Tc-99m source across the field of view of pinhole gamma camera with a continuous scintillator, a conventional “straight-cut” (SC) pixellated scintillator, and a focused-cut scintillator, each coupled to an electron-multiplying charge coupled device (EMCCD) detector by a fiber-optic taper, and compared the measured full-width half-maximum (FWHM) values. We show that the FWHMs of the focused-cut scintillator projections are comparable to the FWHMs of the thinner SC scintillator, indicating the effectiveness of the focused-cut scintillator in compensating parallax errors. PMID:21731108

Depth-of-Interaction Compensation Using a Focused-Cut Scintillator for a Pinhole Gamma Camera

NASA Astrophysics Data System (ADS)

Alhassen, Fares; Kudrolli, Haris; Singh, Bipin; Kim, Sangtaek; Seo, Youngho; Gould, Robert G.; Nagarkar, Vivek V.

2011-06-01

Preclinical SPECT offers a powerful means to understand the molecular pathways of drug interactions in animal models by discovering and testing new pharmaceuticals and therapies for potential clinical applications. A combination of high spatial resolution and sensitivity are required in order to map radiotracer uptake within small animals. Pinhole collimators have been investigated, as they offer high resolution by means of image magnification. One of the limitations of pinhole geometries is that increased magnification causes some rays to travel through the detection scintillator at steep angles, introducing parallax errors due to variable depth-of-interaction in scintillator material, especially towards the edges of the detector field of view. These parallax errors ultimately limit the resolution of pinhole preclinical SPECT systems, especially for higher energy isotopes that can easily penetrate through millimeters of scintillator material. A pixellated, focused-cut (FC) scintillator, with its pixels laser-cut so that they are collinear with incoming rays, can potentially compensate for these parallax errors and thus improve the system resolution. We performed the first experimental evaluation of a newly developed focused-cut scintillator. We scanned a Tc-99 m source across the field of view of pinhole gamma camera with a continuous scintillator, a conventional “straight-cut” (SC) pixellated scintillator, and a focused-cut scintillator, each coupled to an electron-multiplying charge coupled device (EMCCD) detector by a fiber-optic taper, and compared the measured full-width half-maximum (FWHM) values. We show that the FWHMs of the focused-cut scintillator projections are comparable to the FWHMs of the thinner SC scintillator, indicating the effectiveness of the focused-cut scintillator in compensating parallax errors.

Quality prediction modeling for sintered ores based on mechanism models of sintering and extreme learning machine based error compensation

NASA Astrophysics Data System (ADS)

Tiebin, Wu; Yunlian, Liu; Xinjun, Li; Yi, Yu; Bin, Zhang

2018-06-01

Aiming at the difficulty in quality prediction of sintered ores, a hybrid prediction model is established based on mechanism models of sintering and time-weighted error compensation on the basis of the extreme learning machine (ELM). At first, mechanism models of drum index, total iron, and alkalinity are constructed according to the chemical reaction mechanism and conservation of matter in the sintering process. As the process is simplified in the mechanism models, these models are not able to describe high nonlinearity. Therefore, errors are inevitable. For this reason, the time-weighted ELM based error compensation model is established. Simulation results verify that the hybrid model has a high accuracy and can meet the requirement for industrial applications.

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

PubMed Central

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-01-01

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible. PMID:29695041

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition.

PubMed

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-04-24

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.

A self-calibration method in single-axis rotational inertial navigation system with rotating mechanism

NASA Astrophysics Data System (ADS)

Chen, Yuanpei; Wang, Lingcao; Li, Kui

2017-10-01

Rotary inertial navigation modulation mechanism can greatly improve the inertial navigation system (INS) accuracy through the rotation. Based on the single-axis rotational inertial navigation system (RINS), a self-calibration method is put forward. The whole system is applied with the rotation modulation technique so that whole inertial measurement unit (IMU) of system can rotate around the motor shaft without any external input. In the process of modulation, some important errors can be decoupled. Coupled with the initial position information and attitude information of the system as the reference, the velocity errors and attitude errors in the rotation are used as measurement to perform Kalman filtering to estimate part of important errors of the system after which the errors can be compensated into the system. The simulation results show that the method can complete the self-calibration of the single-axis RINS in 15 minutes and estimate gyro drifts of three-axis, the installation error angle of the IMU and the scale factor error of the gyro on z-axis. The calibration accuracy of optic gyro drifts could be about 0.003°/h (1σ) as well as the scale factor error could be about 1 parts per million (1σ). The errors estimate reaches the system requirements which can effectively improve the longtime navigation accuracy of the vehicle or the boat.

Thermal Error Test and Intelligent Modeling Research on the Spindle of High Speed CNC Machine Tools

NASA Astrophysics Data System (ADS)

Luo, Zhonghui; Peng, Bin; Xiao, Qijun; Bai, Lu

2018-03-01

Thermal error is the main factor affecting the accuracy of precision machining. Through experiments, this paper studies the thermal error test and intelligent modeling for the spindle of vertical high speed CNC machine tools in respect of current research focuses on thermal error of machine tool. Several testing devices for thermal error are designed, of which 7 temperature sensors are used to measure the temperature of machine tool spindle system and 2 displacement sensors are used to detect the thermal error displacement. A thermal error compensation model, which has a good ability in inversion prediction, is established by applying the principal component analysis technology, optimizing the temperature measuring points, extracting the characteristic values closely associated with the thermal error displacement, and using the artificial neural network technology.

Neural network-based model reference adaptive control system.

PubMed

Patino, H D; Liu, D

2000-01-01

In this paper, an approach to model reference adaptive control based on neural networks is proposed and analyzed for a class of first-order continuous-time nonlinear dynamical systems. The controller structure can employ either a radial basis function network or a feedforward neural network to compensate adaptively the nonlinearities in the plant. A stable controller-parameter adjustment mechanism, which is determined using the Lyapunov theory, is constructed using a sigma-modification-type updating law. The evaluation of control error in terms of the neural network learning error is performed. That is, the control error converges asymptotically to a neighborhood of zero, whose size is evaluated and depends on the approximation error of the neural network. In the design and analysis of neural network-based control systems, it is important to take into account the neural network learning error and its influence on the control error of the plant. Simulation results showing the feasibility and performance of the proposed approach are given.

Biomechanical Reconstruction Using the Tacit Learning System: Intuitive Control of Prosthetic Hand Rotation.

PubMed

Oyama, Shintaro; Shimoda, Shingo; Alnajjar, Fady S K; Iwatsuki, Katsuyuki; Hoshiyama, Minoru; Tanaka, Hirotaka; Hirata, Hitoshi

2016-01-01

Background: For mechanically reconstructing human biomechanical function, intuitive proportional control, and robustness to unexpected situations are required. Particularly, creating a functional hand prosthesis is a typical challenge in the reconstruction of lost biomechanical function. Nevertheless, currently available control algorithms are in the development phase. The most advanced algorithms for controlling multifunctional prosthesis are machine learning and pattern recognition of myoelectric signals. Despite the increase in computational speed, these methods cannot avoid the requirement of user consciousness and classified separation errors. "Tacit Learning System" is a simple but novel adaptive control strategy that can self-adapt its posture to environment changes. We introduced the strategy in the prosthesis rotation control to achieve compensatory reduction, as well as evaluated the system and its effects on the user. Methods: We conducted a non-randomized study involving eight prosthesis users to perform a bar relocation task with/without Tacit Learning System support. Hand piece and body motions were recorded continuously with goniometers, videos, and a motion-capture system. Findings: Reduction in the participants' upper extremity rotatory compensation motion was monitored during the relocation task in all participants. The estimated profile of total body energy consumption improved in five out of six participants. Interpretation: Our system rapidly accomplished nearly natural motion without unexpected errors. The Tacit Learning System not only adapts human motions but also enhances the human ability to adapt to the system quickly, while the system amplifies compensation generated by the residual limb. The concept can be extended to various situations for reconstructing lost functions that can be compensated.

Serial robot for the trajectory optimization and error compensation of TMT mask exchange system

NASA Astrophysics Data System (ADS)

Wang, Jianping; Zhang, Feifan; Zhou, Zengxiang; Zhai, Chao

2015-10-01

Mask exchange system is the main part of Multi-Object Broadband Imaging Echellette (MOBIE) on the Thirty Meter Telescope (TMT). According to the conception of the TMT mask exchange system, the pre-design was introduced in the paper which was based on IRB 140 robot. The stiffness model of IRB 140 in SolidWorks was analyzed under different gravity vectors for further error compensation. In order to find the right location and path planning, the robot and the mask cassette model was imported into MOBIE model to perform different schemes simulation. And obtained the initial installation position and routing. Based on these initial parameters, IRB 140 robot was operated to simulate the path and estimate the mask exchange time. Meanwhile, MATLAB and ADAMS software were used to perform simulation analysis and optimize the route to acquire the kinematics parameters and compare with the experiment results. After simulation and experimental research mentioned in the paper, the theoretical reference was acquired which could high efficient improve the structure of the mask exchange system parameters optimization of the path and precision of the robot position.

Examination of the relationship between theory-driven policies and allowed lost-time back claims in workers' compensation: a system dynamics model.

PubMed

Wong, Jessica J; McGregor, Marion; Mior, Silvano A; Loisel, Patrick

2014-01-01

The purpose of this study was to develop a model that evaluates the impact of policy changes on the number of workers' compensation lost-time back claims in Ontario, Canada, over a 30-year timeframe. The model was used to test the hypothesis that a theory- and policy-driven model would be sufficient in reproducing historical claims data in a robust manner and that policy changes would have a major impact on modeled data. The model was developed using system dynamics methods in the Vensim simulation program. The theoretical effects of policies for compensation benefit levels and experience rating fees were modeled. The model was built and validated using historical claims data from 1980 to 2009. Sensitivity analysis was used to evaluate the modeled data at extreme end points of variable input and timeframes. The degree of predictive value of the modeled data was measured by the coefficient of determination, root mean square error, and Theil's inequality coefficients. Correlation between modeled data and actual data was found to be meaningful (R(2) = 0.934), and the modeled data were stable at extreme end points. Among the effects explored, policy changes were found to be relatively minor drivers of back claims data, accounting for a 13% improvement in error. Simulation results suggested that unemployment, number of no-lost-time claims, number of injuries per worker, and recovery rate from back injuries outside of claims management to be sensitive drivers of back claims data. A robust systems-based model was developed and tested for use in future policy research in Ontario's workers' compensation. The study findings suggest that certain areas within and outside the workers' compensation system need to be considered when evaluating and changing policies around back claims. © 2014. Published by National University of Health Sciences All rights reserved.

Design of an optimal preview controller for linear discrete-time descriptor systems with state delay

NASA Astrophysics Data System (ADS)

Cao, Mengjuan; Liao, Fucheng

2015-04-01

In this paper, the linear discrete-time descriptor system with state delay is studied, and a design method for an optimal preview controller is proposed. First, by using the discrete lifting technique, the original system is transformed into a general descriptor system without state delay in form. Then, taking advantage of the first-order forward difference operator, we construct a descriptor augmented error system, including the state vectors of the lifted system, error vectors, and desired target signals. Rigorous mathematical proofs are given for the regularity, stabilisability, causal controllability, and causal observability of the descriptor augmented error system. Based on these, the optimal preview controller with preview feedforward compensation for the original system is obtained by using the standard optimal regulator theory of the descriptor system. The effectiveness of the proposed method is shown by numerical simulation.

Control torque generation of a CMG-based small satellite with MTGAC system: a trade-off study

NASA Astrophysics Data System (ADS)

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

2018-05-01

In this paper, the gimbal angle compensation method using magnetic control law has been adopted for a small satellite operating in low earth orbit under disturbance toques influence. Three light weight magnetic torquers have been used to generate the magnetic compensation torque to bring diverge gimbals at preferable angle. The magnetic control torque required to compensate the gimbal angle is based on the gimbal error rate which depends on the gimbal angle converging time. A simulation study has been performed without and with the MTGAC system to investigate the amount of generated control torque as a trade-off between the power consumption, attitude control performance and CMG dynamic performance. Numerical simulations show that the satellite with the MTGAC system generates more control torques which leads to the additional power requirement but in return results in a favorable attitude control performance and gimbal angle management.

A Dynamic Attitude Measurement System Based on LINS

PubMed Central

Li, Hanzhou; Pan, Quan; Wang, Xiaoxu; Zhang, Juanni; Li, Jiang; Jiang, Xiangjun

2014-01-01

A dynamic attitude measurement system (DAMS) is developed based on a laser inertial navigation system (LINS). Three factors of the dynamic attitude measurement error using LINS are analyzed: dynamic error, time synchronization and phase lag. An optimal coning errors compensation algorithm is used to reduce coning errors, and two-axis wobbling verification experiments are presented in the paper. The tests indicate that the attitude accuracy is improved 2-fold by the algorithm. In order to decrease coning errors further, the attitude updating frequency is improved from 200 Hz to 2000 Hz. At the same time, a novel finite impulse response (FIR) filter with three notches is designed to filter the dither frequency of the ring laser gyro (RLG). The comparison tests suggest that the new filter is five times more effective than the old one. The paper indicates that phase-frequency characteristics of FIR filter and first-order holder of navigation computer constitute the main sources of phase lag in LINS. A formula to calculate the LINS attitude phase lag is introduced in the paper. The expressions of dynamic attitude errors induced by phase lag are derived. The paper proposes a novel synchronization mechanism that is able to simultaneously solve the problems of dynamic test synchronization and phase compensation. A single-axis turntable and a laser interferometer are applied to verify the synchronization mechanism. The experiments results show that the theoretically calculated values of phase lag and attitude error induced by phase lag can both match perfectly with testing data. The block diagram of DAMS and physical photos are presented in the paper. The final experiments demonstrate that the real-time attitude measurement accuracy of DAMS can reach up to 20″ (1σ) and the synchronization error is less than 0.2 ms on the condition of three axes wobbling for 10 min. PMID:25177802

A new systematic calibration method of ring laser gyroscope inertial navigation system

NASA Astrophysics Data System (ADS)

Wei, Guo; Gao, Chunfeng; Wang, Qi; Wang, Qun; Xiong, Zhenyu; Long, Xingwu

2016-10-01

Inertial navigation system has been the core component of both military and civil navigation systems. Before the INS is put into application, it is supposed to be calibrated in the laboratory in order to compensate repeatability error caused by manufacturing. Discrete calibration method cannot fulfill requirements of high-accurate calibration of the mechanically dithered ring laser gyroscope navigation system with shock absorbers. This paper has analyzed theories of error inspiration and separation in detail and presented a new systematic calibration method for ring laser gyroscope inertial navigation system. Error models and equations of calibrated Inertial Measurement Unit are given. Then proper rotation arrangement orders are depicted in order to establish the linear relationships between the change of velocity errors and calibrated parameter errors. Experiments have been set up to compare the systematic errors calculated by filtering calibration result with those obtained by discrete calibration result. The largest position error and velocity error of filtering calibration result are only 0.18 miles and 0.26m/s compared with 2 miles and 1.46m/s of discrete calibration result. These results have validated the new systematic calibration method and proved its importance for optimal design and accuracy improvement of calibration of mechanically dithered ring laser gyroscope inertial navigation system.

Electro optical system to measure strains at high temperature

NASA Astrophysics Data System (ADS)

Sciammarella, Cesar A.

1991-01-01

The goals of this proposal were to develop a prototype of an electro-optics system for the measurement of strains in structures at high temperatures and to perform a test under field conditions. In the research task section, the topics addressed include: (1) correction of the effect of vibrations and thermal currents by means of an active compensation system; (2) reduction of the speckle noise by means of electronic filter and TV signal reconstruction circuit; (4) compensation of the rigid body motions by mounting the camera in a universal motion system; and (5) removal of phase errors left by the active compensation system by dynamic reading. In the design and construction section, the topics addressed include: (1) preliminary design; (2) final design; (3) software development; (4) signal conditioning; (5) data processing; (6) recorrelation of two holograms in the presence of rigid body motions; and (7) phase extraction using a computer generated image. Testing in the high temperature oven is also addressed.

Research on error control and compensation in magnetorheological finishing.

PubMed

Dai, Yifan; Hu, Hao; Peng, Xiaoqiang; Wang, Jianmin; Shi, Feng

2011-07-01

Although magnetorheological finishing (MRF) is a deterministic finishing technology, the machining results always fall short of simulation precision in the actual process, and it cannot meet the precision requirements just through a single treatment but after several iterations. We investigate the reasons for this problem through simulations and experiments. Through controlling and compensating the chief errors in the manufacturing procedure, such as removal function calculation error, positioning error of the removal function, and dynamic performance limitation of the CNC machine, the residual error convergence ratio (ratio of figure error before and after processing) in a single process is obviously increased, and higher figure precision is achieved. Finally, an improved technical process is presented based on these researches, and the verification experiment is accomplished on the experimental device we developed. The part is a circular plane mirror of fused silica material, and the surface figure error is improved from the initial λ/5 [peak-to-valley (PV) λ=632.8 nm], λ/30 [root-mean-square (rms)] to the final λ/40 (PV), λ/330 (rms) just through one iteration in 4.4 min. Results show that a higher convergence ratio and processing precision can be obtained by adopting error control and compensation techniques in MRF.

A Novel Adaptive H∞ Filtering Method with Delay Compensation for the Transfer Alignment of Strapdown Inertial Navigation Systems.

PubMed

Lyu, Weiwei; Cheng, Xianghong

2017-11-28

Transfer alignment is always a key technology in a strapdown inertial navigation system (SINS) because of its rapidity and accuracy. In this paper a transfer alignment model is established, which contains the SINS error model and the measurement model. The time delay in the process of transfer alignment is analyzed, and an H∞ filtering method with delay compensation is presented. Then the H∞ filtering theory and the robust mechanism of H∞ filter are deduced and analyzed in detail. In order to improve the transfer alignment accuracy in SINS with time delay, an adaptive H∞ filtering method with delay compensation is proposed. Since the robustness factor plays an important role in the filtering process and has effect on the filtering accuracy, the adaptive H∞ filter with delay compensation can adjust the value of robustness factor adaptively according to the dynamic external environment. The vehicle transfer alignment experiment indicates that by using the adaptive H∞ filtering method with delay compensation, the transfer alignment accuracy and the pure inertial navigation accuracy can be dramatically improved, which demonstrates the superiority of the proposed filtering method.

[Drug-related claims in the Norwegian system of compensation to patients].

PubMed

Baardseth, Mari; Lynghei, Ellen; Flåte, Sølvi; Spigset, Olav; Slørdal, Lars

2013-01-22

Patients subjected to drug-related injuries can, in accordance with Norwegian legislation, seek compensation from the Norwegian System of Patient Injury Compensation (NPE). The aim of this study was to examine what drugs and injuries instigate claims against NPE, and how these cases are resolved. We have assessed anonymised summaries of 992 consecutive indemnity applications received and evaluated by NPE over the period 2003-2009. We recorded the age and gender of applicants, treatment diagnosis, drugs implicated, outcome, and NPE's decision in each case. A total of 964 claims were included. The most commonly implicated drugs were those affecting the nervous system (34.6%) and the musculoskeletal system (26.1%). Rofecoxib at 18.9% was the predominant single drug implicated. In two-thirds of the cases, adverse effects were given as the reason for the claim, whereas the last one-third consisted of claims for medication errors. The most common injuries were related to cardiovascular diseases (28.7%) or non-specific conditions (17.5%). 8.4% of the cases related to fatalities. In all, 26.3% of the claims resulted in compensations. Few patients made use of the NPE. Most of the compensation claims in the years 2003-2009 involved rofecoxib and psychoactive drugs, and the majority of claims were rejected.

Compensated Box-Jenkins transfer function for short term load forecast

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

Breipohl, A.; Yu, Z.; Lee, F.N.

In the past years, the Box-Jenkins ARIMA method and the Box-Jenkins transfer function method (BJTF) have been among the most commonly used methods for short term electrical load forecasting. But when there exists a sudden change in the temperature, both methods tend to exhibit larger errors in the forecast. This paper demonstrates that the load forecasting errors resulting from either the BJ ARIMA model or the BJTF model are not simply white noise, but rather well-patterned noise, and the patterns in the noise can be used to improve the forecasts. Thus a compensated Box-Jenkins transfer method (CBJTF) is proposed tomore » improve the accuracy of the load prediction. Some case studies have been made which result in about a 14-33% reduction of the root mean square (RMS) errors of the forecasts, depending on the compensation time period as well as the compensation method used.« less

Effects of Optical Combiner and IPD Change for Convergence on Near-Field Depth Perception in an Optical See-Through HMD.

PubMed

Lee, Sangyoon; Hu, Xinda; Hua, Hong

2016-05-01

Many error sources have been explored in regards to the depth perception problem in augmented reality environments using optical see-through head-mounted displays (OST-HMDs). Nonetheless, two error sources are commonly neglected: the ray-shift phenomenon and the change in interpupillary distance (IPD). The first source of error arises from the difference in refraction for virtual and see-through optical paths caused by an optical combiner, which is required of OST-HMDs. The second occurs from the change in the viewer's IPD due to eye convergence. In this paper, we analyze the effects of these two error sources on near-field depth perception and propose methods to compensate for these two types of errors. Furthermore, we investigate their effectiveness through an experiment comparing the conditions with and without our error compensation methods applied. In our experiment, participants estimated the egocentric depth of a virtual and a physical object located at seven different near-field distances (40∼200 cm) using a perceptual matching task. Although the experimental results showed different patterns depending on the target distance, the results demonstrated that the near-field depth perception error can be effectively reduced to a very small level (at most 1 percent error) by compensating for the two mentioned error sources.

Divergence compensation for hardware-in-the-loop simulation of stiffness-varying discrete contact in space

NASA Astrophysics Data System (ADS)

Qi, Chenkun; Zhao, Xianchao; Gao, Feng; Ren, Anye; Hu, Yan

2016-11-01

The hardware-in-the-loop (HIL) contact simulation for flying objects in space is challenging due to the divergence caused by the time delay. In this study, a divergence compensation approach is proposed for the stiffness-varying discrete contact. The dynamic response delay of the motion simulator and the force measurement delay are considered. For the force measurement delay, a phase lead based force compensation approach is used. For the dynamic response delay of the motion simulator, a response error based force compensation approach is used, where the compensation force is obtained from the real-time identified contact stiffness and real-time measured position response error. The dynamic response model of the motion simulator is not required. The simulations and experiments show that the simulation divergence can be compensated effectively and satisfactorily by using the proposed approach.

Low speed phaselock speed control system. [for brushless dc motor

NASA Technical Reports Server (NTRS)

Fulcher, R. W.; Sudey, J. (Inventor)

1975-01-01

A motor speed control system for an electronically commutated brushless dc motor is provided which includes a phaselock loop with bidirectional torque control for locking the frequency output of a high density encoder, responsive to actual speed conditions, to a reference frequency signal, corresponding to the desired speed. The system includes a phase comparator, which produces an output in accordance with the difference in phase between the reference and encoder frequency signals, and an integrator-digital-to-analog converter unit, which converts the comparator output into an analog error signal voltage. Compensation circuitry, including a biasing means, is provided to convert the analog error signal voltage to a bidirectional error signal voltage which is utilized by an absolute value amplifier, rotational decoder, power amplifier-commutators, and an arrangement of commutation circuitry.

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

Kim, M; Suh, T; Cho, W

Purpose: A potential validation tool for compensating patient positioning error was developed using 2D/3D and 3D/3D image registration. Methods: For 2D/3D registration, digitally reconstructed radiography (DRR) and three-dimensional computed tomography (3D-CT) images were applied. The ray-casting algorithm is the most straightforward method for generating DRR. We adopted the traditional ray-casting method, which finds the intersections of a ray with all objects, voxels of the 3D-CT volume in the scene. The similarity between the extracted DRR and orthogonal image was measured by using a normalized mutual information method. Two orthogonal images were acquired from a Cyber-Knife system from the anterior-posterior (AP)more » and right lateral (RL) views. The 3D-CT and two orthogonal images of an anthropomorphic phantom and head and neck cancer patient were used in this study. For 3D/3D registration, planning CT and in-room CT image were applied. After registration, the translation and rotation factors were calculated to position a couch to be movable in six dimensions. Results: Registration accuracies and average errors of 2.12 mm ± 0.50 mm for transformations and 1.23° ± 0.40° for rotations were acquired by 2D/3D registration using an anthropomorphic Alderson-Rando phantom. In addition, registration accuracies and average errors of 0.90 mm ± 0.30 mm for transformations and 1.00° ± 0.2° for rotations were acquired using CT image sets. Conclusion: We demonstrated that this validation tool could compensate for patient positioning error. In addition, this research could be the fundamental step for compensating patient positioning error at the first Korea heavy-ion medical accelerator treatment center.« less

The analysis and compensation of errors of precise simple harmonic motion control under high speed and large load conditions based on servo electric cylinder

NASA Astrophysics Data System (ADS)

Ma, Chen-xi; Ding, Guo-qing

2017-10-01

Simple harmonic waves and synthesized simple harmonic waves are widely used in the test of instruments. However, because of the errors caused by clearance of gear and time-delay error of FPGA, it is difficult to control servo electric cylinder in precise simple harmonic motion under high speed, high frequency and large load conditions. To solve the problem, a method of error compensation is proposed in this paper. In the method, a displacement sensor is fitted on the piston rod of the electric cylinder. By using the displacement sensor, the real-time displacement of the piston rod is obtained and fed back to the input of servo motor, then a closed loop control is realized. There is compensation of pulses in the next period of the synthetic waves. This paper uses FPGA as the processing core. The software mainly comprises a waveform generator, an Ethernet module, a memory module, a pulse generator, a pulse selector, a protection module, an error compensation module. A durability of shock absorbers is used as the testing platform. The durability mainly comprises a single electric cylinder, a servo motor for driving the electric cylinder, and the servo motor driver.

Robust dynamic 3-D measurements with motion-compensated phase-shifting profilometry

NASA Astrophysics Data System (ADS)

Feng, Shijie; Zuo, Chao; Tao, Tianyang; Hu, Yan; Zhang, Minliang; Chen, Qian; Gu, Guohua

2018-04-01

Phase-shifting profilometry (PSP) is a widely used approach to high-accuracy three-dimensional shape measurements. However, when it comes to moving objects, phase errors induced by the movement often result in severe artifacts even though a high-speed camera is in use. From our observations, there are three kinds of motion artifacts: motion ripples, motion-induced phase unwrapping errors, and motion outliers. We present a novel motion-compensated PSP to remove the artifacts for dynamic measurements of rigid objects. The phase error of motion ripples is analyzed for the N-step phase-shifting algorithm and is compensated using the statistical nature of the fringes. The phase unwrapping errors are corrected exploiting adjacent reliable pixels, and the outliers are removed by comparing the original phase map with a smoothed phase map. Compared with the three-step PSP, our method can improve the accuracy by more than 95% for objects in motion.

ERROR COMPENSATOR FOR A POSITION TRANSDUCER

DOEpatents

Fowler, A.H.

1962-06-12

A device is designed for eliminating the effect of leadscrew errors in positioning machines in which linear motion of a slide is effected from rotary motion of a leadscrew. This is accomplished by providing a corrector cam mounted on the slide, a cam follower, and a transducer housing rotatable by the follower to compensate for all the reproducible errors in the transducer signal which can be related to the slide position. The transducer has an inner part which is movable with respect to the transducer housing. The transducer inner part is coupled to the means for rotating the leadscrew such that relative movement between this part and its housing will provide an output signal proportional to the position of the slide. The corrector cam and its follower perform the compensation by changing the angular position of the transducer housing by an amount that is a function of the slide position and the error at that position. (AEC)

Investigation and Development of Control Laws for the NASA Langley Research Center Cockpit Motion Facility

NASA Technical Reports Server (NTRS)

Coon, Craig R.; Cardullo, Frank M.; Zaychik, Kirill B.

2014-01-01

The ability to develop highly advanced simulators is a critical need that has the ability to significantly impact the aerospace industry. The aerospace industry is advancing at an ever increasing pace and flight simulators must match this development with ever increasing urgency. In order to address both current problems and potential advancements with flight simulator techniques, several aspects of current control law technology of the National Aeronautics and Space Administration (NASA) Langley Research Center's Cockpit Motion Facility (CMF) motion base simulator were examined. Preliminary investigation of linear models based upon hardware data were examined to ensure that the most accurate models are used. This research identified both system improvements in the bandwidth and more reliable linear models. Advancements in the compensator design were developed and verified through multiple techniques. The position error rate feedback, the acceleration feedback and the force feedback were all analyzed in the heave direction using the nonlinear model of the hardware. Improvements were made using the position error rate feedback technique. The acceleration feedback compensator also provided noteworthy improvement, while attempts at implementing a force feedback compensator proved unsuccessful.

Employer reasons for failing to report eligible workers’ compensation claims in the BLS survey of occupational injuries and illnesses

PubMed Central

Wuellner, Sara E.; Bonauto, David K.

2016-01-01

Background Little research has been done to identify reasons employers fail to report some injuries and illnesses in the Bureau of Labor Statistics Survey of Occupational Injuries and Illnesses (SOII). Methods We interviewed the 2012 Washington SOII respondents from establishments that had failed to report one or more eligible workers’ compensation claims in the SOII about their reasons for not reporting specific claims. Qualitative content analysis methods were used to identify themes and patterns in the responses. Results Non‐compliance with OSHA recordkeeping or SOII reporting instructions and data entry errors led to unreported claims. Some employers refused to include claims because they did not consider the injury to be work‐related, despite workers’ compensation eligibility. Participant responses brought the SOII eligibility of some claims into question. Conclusion Systematic and non‐systematic errors lead to SOII underreporting. Insufficient recordkeeping systems and limited knowledge of reporting requirements are barriers to accurate workplace injury records. Am. J. Ind. Med. 59:343–356, 2016. © 2016 The Authors. American Journal of Industrial Medicine Published by Wiley Periodicals, Inc. PMID:26970051

Multipath calibration in GPS pseudorange measurements

NASA Technical Reports Server (NTRS)

Kee, Changdon (Inventor); Parkinson, Bradford W. (Inventor)

1998-01-01

Novel techniques are disclosed for eliminating multipath errors, including mean bias errors, in pseudorange measurements made by conventional global positioning system receivers. By correlating the multipath signals of different satellites at their cross-over points in the sky, multipath mean bias errors are effectively eliminated. By then taking advantage of the geometrical dependence of multipath, a linear combination of spherical harmonics are fit to the satellite multipath data to create a hemispherical model of the multipath. This calibration model can then be used to compensate for multipath in subsequent measurements and thereby obtain GPS positioning to centimeter accuracy.

An Experimental Study of Medical Error Explanations: Do Apology, Empathy, Corrective Action, and Compensation Alter Intentions and Attitudes?

PubMed

Nazione, Samantha; Pace, Kristin

2015-01-01

Medical malpractice lawsuits are a growing problem in the United States, and there is much controversy regarding how to best address this problem. The medical error disclosure framework suggests that apologizing, expressing empathy, engaging in corrective action, and offering compensation after a medical error may improve the provider-patient relationship and ultimately help reduce the number of medical malpractice lawsuits patients bring to medical providers. This study provides an experimental examination of the medical error disclosure framework and its effect on amount of money requested in a lawsuit, negative intentions, attitudes, and anger toward the provider after a medical error. Results suggest empathy may play a large role in providing positive outcomes after a medical error.

Probing-error compensation using 5 degree of freedom force/moment sensor for coordinate measuring machine

NASA Astrophysics Data System (ADS)

Lee, Minho; Cho, Nahm-Gyoo

2013-09-01

A new probing and compensation method is proposed to improve the three-dimensional (3D) measuring accuracy of 3D shapes, including irregular surfaces. A new tactile coordinate measuring machine (CMM) probe with a five-degree of freedom (5-DOF) force/moment sensor using carbon fiber plates was developed. The proposed method efficiently removes the anisotropic sensitivity error and decreases the stylus deformation and the actual contact point estimation errors that are major error components of shape measurement using touch probes. The relationship between the measuring force and estimation accuracy of the actual contact point error and stylus deformation error are examined for practical use of the proposed method. The appropriate measuring force condition is presented for the precision measurement.

The compensation of quadrupole errors and space charge effects by using trim quadrupoles

NASA Astrophysics Data System (ADS)

An, YuWen; Wang, Sheng

2011-12-01

The China Spallation Neutron Source (CSNS) accelerators consist of an H-linac and a proton Rapid Cycling Synchrotron (RCS). RCS is designed to accumulate and accelerate proton beam from 80 MeV to 1.6 GeV with a repetition rate of 25 Hz. The main dipole and quadruple magnet will operate in AC mode. Due to the adoption of the resonant power supplies, saturation errors of magnetic field cannot be compensated by power supplies. These saturation errors will disturb the linear optics parameters, such as tunes, beta function and dispersion function. The strong space charge effects will cause emittance growth. The compensation of these effects by using trim quadruples is studied, and the corresponding results are presented.

The mathematical origins of the kinetic compensation effect: 2. The effect of systematic errors.

PubMed

Barrie, Patrick J

2012-01-07

The kinetic compensation effect states that there is a linear relationship between Arrhenius parameters ln A and E for a family of related processes. It is a widely observed phenomenon in many areas of science, notably heterogeneous catalysis. This paper explores mathematical, rather than physicochemical, explanations for the compensation effect in certain situations. Three different topics are covered theoretically and illustrated by examples. Firstly, the effect of systematic errors in experimental kinetic data is explored, and it is shown that these create apparent compensation effects. Secondly, analysis of kinetic data when the Arrhenius parameters depend on another parameter is examined. In the case of temperature programmed desorption (TPD) experiments when the activation energy depends on surface coverage, it is shown that a common analysis method induces a systematic error, causing an apparent compensation effect. Thirdly, the effect of analysing the temperature dependence of an overall rate of reaction, rather than a rate constant, is investigated. It is shown that this can create an apparent compensation effect, but only under some conditions. This result is illustrated by a case study for a unimolecular reaction on a catalyst surface. Overall, the work highlights the fact that, whenever a kinetic compensation effect is observed experimentally, the possibility of it having a mathematical origin should be carefully considered before any physicochemical conclusions are drawn.

Location precision analysis of stereo thermal anti-sniper detection system

NASA Astrophysics Data System (ADS)

He, Yuqing; Lu, Ya; Zhang, Xiaoyan; Jin, Weiqi

2012-06-01

Anti-sniper detection devices are the urgent requirement in modern warfare. The precision of the anti-sniper detection system is especially important. This paper discusses the location precision analysis of the anti-sniper detection system based on the dual-thermal imaging system. It mainly discusses the following two aspects which produce the error: the digital quantitative effects of the camera; effect of estimating the coordinate of bullet trajectory according to the infrared images in the process of image matching. The formula of the error analysis is deduced according to the method of stereovision model and digital quantitative effects of the camera. From this, we can get the relationship of the detecting accuracy corresponding to the system's parameters. The analysis in this paper provides the theory basis for the error compensation algorithms which are put forward to improve the accuracy of 3D reconstruction of the bullet trajectory in the anti-sniper detection devices.

Development of a Dynamic Biomechanical Model for Load Carriage: Phase 4, Part C2: Assessment of Pressure Measurement Systems on Curved Surfaces for the Dynamic Biomechanical Model of Human Load Carriage

DTIC Science & Technology

2005-08-01

excellente justesse comparativement au F-Scan® pendant les essais sur le modèle de hanche. Les deux systèmes présentaient un certain degré de variation...in appendix C. The experimental design consisted of three steps (See Figure 1). Two were undertaken using a physical model for the shoulder in order...increase in accuracy error compared to Table 1 suggests that the current software for the XSENSOR® system is not designed to compensate for errors

Visual servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking: a phantom study.

PubMed

Seo, Joonho; Koizumi, Norihiro; Funamoto, Takakazu; Sugita, Naohiko; Yoshinaka, Kiyoshi; Nomiya, Akira; Homma, Yukio; Matsumoto, Yoichiro; Mitsuishi, Mamoru

2011-06-01

Applying ultrasound (US)-guided high-intensity focused ultrasound (HIFU) therapy for kidney tumours is currently very difficult, due to the unclearly observed tumour area and renal motion induced by human respiration. In this research, we propose new methods by which to track the indistinct tumour area and to compensate the respiratory tumour motion for US-guided HIFU treatment. For tracking indistinct tumour areas, we detect the US speckle change created by HIFU irradiation. In other words, HIFU thermal ablation can coagulate tissue in the tumour area and an intraoperatively created coagulated lesion (CL) is used as a spatial landmark for US visual tracking. Specifically, the condensation algorithm was applied to robust and real-time CL speckle pattern tracking in the sequence of US images. Moreover, biplanar US imaging was used to locate the three-dimensional position of the CL, and a three-actuator system drives the end-effector to compensate for the motion. Finally, we tested the proposed method by using a newly devised phantom model that enables both visual tracking and a thermal response by HIFU irradiation. In the experiment, after generation of the CL in the phantom kidney, the end-effector successfully synchronized with the phantom motion, which was modelled by the captured motion data for the human kidney. The accuracy of the motion compensation was evaluated by the error between the end-effector and the respiratory motion, the RMS error of which was approximately 2 mm. This research shows that a HIFU-induced CL provides a very good landmark for target motion tracking. By using the CL tracking method, target motion compensation can be realized in the US-guided robotic HIFU system. Copyright © 2011 John Wiley & Sons, Ltd.

Optical System Error Analysis and Calibration Method of High-Accuracy Star Trackers

PubMed Central

Sun, Ting; Xing, Fei; You, Zheng

2013-01-01

The star tracker is a high-accuracy attitude measurement device widely used in spacecraft. Its performance depends largely on the precision of the optical system parameters. Therefore, the analysis of the optical system parameter errors and a precise calibration model are crucial to the accuracy of the star tracker. Research in this field is relatively lacking a systematic and universal analysis up to now. This paper proposes in detail an approach for the synthetic error analysis of the star tracker, without the complicated theoretical derivation. This approach can determine the error propagation relationship of the star tracker, and can build intuitively and systematically an error model. The analysis results can be used as a foundation and a guide for the optical design, calibration, and compensation of the star tracker. A calibration experiment is designed and conducted. Excellent calibration results are achieved based on the calibration model. To summarize, the error analysis approach and the calibration method are proved to be adequate and precise, and could provide an important guarantee for the design, manufacture, and measurement of high-accuracy star trackers. PMID:23567527

Bathymetric surveying with GPS and heave, pitch, and roll compensation

USGS Publications Warehouse

Work, P.A.; Hansen, M.; Rogers, W.E.

1998-01-01

Field and laboratory tests of a shipborne hydrographic survey system were conducted. The system consists of two 12-channel GPS receivers (one on-board, one fixed on shore), a digital acoustic fathometer, and a digital heave-pitch-roll (HPR) recorder. Laboratory tests of the HPR recorder and fathometer are documented. Results of field tests of the isolated GPS system and then of the entire suite of instruments are presented. A method for data reduction is developed to account for vertical errors introduced by roll and pitch of the survey vessel, which can be substantial (decimeters). The GPS vertical position data are found to be reliable to 2-3 cm and the fathometer to 5 cm in the laboratory. The field test of the complete system in shallow water (<2 m) indicates absolute vertical accuracy of 10-20 cm. Much of this error is attributed to the fathometer. Careful surveying and equipment setup can minimize systematic error and yield much smaller average errors.

Study on elevated-temperature flow behavior of Ni-Cr-Mo-B ultra-heavy-plate steel via experiment and modelling

NASA Astrophysics Data System (ADS)

Gao, Zhi-yu; Kang, Yu; Li, Yan-shuai; Meng, Chao; Pan, Tao

2018-04-01

Elevated-temperature flow behavior of a novel Ni-Cr-Mo-B ultra-heavy-plate steel was investigated by conducting hot compressive deformation tests on a Gleeble-3800 thermo-mechanical simulator at a temperature range of 1123 K–1423 K with a strain rate range from 0.01 s‑1 to10 s‑1 and a height reduction of 70%. Based on the experimental results, classic strain-compensated Arrhenius-type, a new revised strain-compensated Arrhenius-type and classic modified Johnson-Cook constitutive models were developed for predicting the high-temperature deformation behavior of the steel. The predictability of these models were comparatively evaluated in terms of statistical parameters including correlation coefficient (R), average absolute relative error (AARE), average root mean square error (RMSE), normalized mean bias error (NMBE) and relative error. The statistical results indicate that the new revised strain-compensated Arrhenius-type model could give prediction of elevated-temperature flow stress for the steel accurately under the entire process conditions. However, the predicted values by the classic modified Johnson-Cook model could not agree well with the experimental values, and the classic strain-compensated Arrhenius-type model could track the deformation behavior more accurately compared with the modified Johnson-Cook model, but less accurately with the new revised strain-compensated Arrhenius-type model. In addition, reasons of differences in predictability of these models were discussed in detail.

Adaptive control of servo system based on LuGre model

NASA Astrophysics Data System (ADS)

Jin, Wang; Niancong, Liu; Jianlong, Chen; Weitao, Geng

2018-03-01

This paper established a mechanical model of feed system based on LuGre model. In order to solve the influence of nonlinear factors on the system running stability, a nonlinear single observer is designed to estimate the parameter z in the LuGre model and an adaptive friction compensation controller is designed. Simulink simulation results show that the control method can effectively suppress the adverse effects of friction and external disturbances. The simulation show that the adaptive parameter kz is between 0.11-0.13, and the value of gamma1 is between 1.9-2.1. Position tracking error reaches level 10-3 and is stabilized near 0 values within 0.3 seconds, the compensation method has better tracking accuracy and robustness.

Indoor positioning algorithm combined with angular vibration compensation and the trust region technique based on received signal strength-visible light communication

NASA Astrophysics Data System (ADS)

Wang, Jin; Li, Haoxu; Zhang, Xiaofeng; Wu, Rangzhong

2017-05-01

Indoor positioning using visible light communication has become a topic of intensive research in recent years. Because the normal of the receiver always deviates from that of the transmitter in application, the positioning systems which require that the normal of the receiver be aligned with that of the transmitter have large positioning errors. Some algorithms take the angular vibrations into account; nevertheless, these positioning algorithms cannot meet the requirement of high accuracy or low complexity. A visible light positioning algorithm combined with angular vibration compensation is proposed. The angle information from the accelerometer or other angle acquisition devices is used to calculate the angle of incidence even when the receiver is not horizontal. Meanwhile, a received signal strength technique with high accuracy is employed to determine the location. Moreover, an eight-light-emitting-diode (LED) system model is provided to improve the accuracy. The simulation results show that the proposed system can achieve a low positioning error with low complexity, and the eight-LED system exhibits improved performance. Furthermore, trust region-based positioning is proposed to determine three-dimensional locations and achieves high accuracy in both the horizontal and the vertical components.

A focused ultrasound treatment system for moving targets (part I): generic system design and in-silico first-stage evaluation.

PubMed

Schwenke, Michael; Strehlow, Jan; Demedts, Daniel; Haase, Sabrina; Barrios Romero, Diego; Rothlübbers, Sven; von Dresky, Caroline; Zidowitz, Stephan; Georgii, Joachim; Mihcin, Senay; Bezzi, Mario; Tanner, Christine; Sat, Giora; Levy, Yoav; Jenne, Jürgen; Günther, Matthias; Melzer, Andreas; Preusser, Tobias

2017-01-01

Focused ultrasound (FUS) is entering clinical routine as a treatment option. Currently, no clinically available FUS treatment system features automated respiratory motion compensation. The required quality standards make developing such a system challenging. A novel FUS treatment system with motion compensation is described, developed with the goal of clinical use. The system comprises a clinically available MR device and FUS transducer system. The controller is very generic and could use any suitable MR or FUS device. MR image sequences (echo planar imaging) are acquired for both motion observation and thermometry. Based on anatomical feature tracking, motion predictions are estimated to compensate for processing delays. FUS control parameters are computed repeatedly and sent to the hardware to steer the focus to the (estimated) target position. All involved calculations produce individually known errors, yet their impact on therapy outcome is unclear. This is solved by defining an intuitive quality measure that compares the achieved temperature to the static scenario, resulting in an overall efficiency with respect to temperature rise. To allow for extensive testing of the system over wide ranges of parameters and algorithmic choices, we replace the actual MR and FUS devices by a virtual system. It emulates the hardware and, using numerical simulations of FUS during motion, predicts the local temperature rise in the tissue resulting from the controls it receives. With a clinically available monitoring image rate of 6.67 Hz and 20 FUS control updates per second, normal respiratory motion is estimated to be compensable with an estimated efficiency of 80%. This reduces to about 70% for motion scaled by 1.5. Extensive testing (6347 simulated sonications) over wide ranges of parameters shows that the main source of error is the temporal motion prediction. A history-based motion prediction method performs better than a simple linear extrapolator. The estimated efficiency of the new treatment system is already suited for clinical applications. The simulation-based in-silico testing as a first-stage validation reduces the efforts of real-world testing. Due to the extensible modular design, the described approach might lead to faster translations from research to clinical practice.

Stitching of near-nulled subaperture measurements

NASA Technical Reports Server (NTRS)

Devries, Gary (Inventor); Brophy, Christopher (Inventor); Forbes, Greg (Inventor); Murphy, Paul (Inventor)

2012-01-01

A metrology system for measuring aspheric test objects by subaperture stitching. A wavefront-measuring gauge having a limited capture range of wavefront shapes collects partially overlapping subaperture measurements over the test object. A variable optical aberrator reshapes the measurement wavefront with between a limited number of the measurements to maintain the measurement wavefront within the capture range of the wavefront-measuring gauge. Various error compensators are incorporated into a stitching operation to manage residual errors associated with the use of the variable optical aberrator.

Interaction of finger enslaving and error compensation in multiple finger force production.

PubMed

Martin, Joel R; Latash, Mark L; Zatsiorsky, Vladimir M

2009-01-01

Previous studies have documented two patterns of finger interaction during multi-finger pressing tasks, enslaving and error compensation, which do not agree with each other. Enslaving is characterized by positive correlation between instructed (master) and non-instructed (slave) finger(s) while error compensation can be described as a pattern of negative correlation between master and slave fingers. We hypothesize that pattern of finger interaction, enslaving or compensation depends on the initial force level and the magnitude of the targeted force change. Subjects were instructed to press with four fingers (I index, M middle, R ring, and L little) from a specified initial force to target forces following a ramp target line. Force-force relations between master and each of three slave fingers were analyzed during the ramp phase of trials by calculating correlation coefficients within each master-slave pair and then two-factor ANOVA was performed to determine effect of initial force and force increase on the correlation coefficients. It was found that, as initial force increased, the value of the correlation coefficient decreased and in some cases became negative, i.e. the enslaving transformed into error compensation. Force increase magnitude had a smaller effect on the correlation coefficients. The observations support the hypothesis that the pattern of inter-finger interaction--enslaving or compensation--depends on the initial force level and, to a smaller degree, on the targeted magnitude of the force increase. They suggest that the controller views tasks with higher steady-state forces and smaller force changes as implying a requirement to avoid large changes in the total force.

A Novel Adaptive H∞ Filtering Method with Delay Compensation for the Transfer Alignment of Strapdown Inertial Navigation Systems

PubMed Central

Lyu, Weiwei

2017-01-01

Transfer alignment is always a key technology in a strapdown inertial navigation system (SINS) because of its rapidity and accuracy. In this paper a transfer alignment model is established, which contains the SINS error model and the measurement model. The time delay in the process of transfer alignment is analyzed, and an H∞ filtering method with delay compensation is presented. Then the H∞ filtering theory and the robust mechanism of H∞ filter are deduced and analyzed in detail. In order to improve the transfer alignment accuracy in SINS with time delay, an adaptive H∞ filtering method with delay compensation is proposed. Since the robustness factor plays an important role in the filtering process and has effect on the filtering accuracy, the adaptive H∞ filter with delay compensation can adjust the value of robustness factor adaptively according to the dynamic external environment. The vehicle transfer alignment experiment indicates that by using the adaptive H∞ filtering method with delay compensation, the transfer alignment accuracy and the pure inertial navigation accuracy can be dramatically improved, which demonstrates the superiority of the proposed filtering method. PMID:29182592

Theory and compensation method of axial magnetic error induced by axial magnetic field in a polarization-maintaining fiber optic gyro

NASA Astrophysics Data System (ADS)

Zhou, Yanru; Zhao, Yuxiang; Tian, Hui; Zhang, Dengwei; Huang, Tengchao; Miao, Lijun; Shu, Xiaowu; Che, Shuangliang; Liu, Cheng

2016-12-01

In an axial magnetic field (AMF), which is vertical to the plane of the fiber coil, a polarization-maintaining fiber optic gyro (PM-FOG) appears as an axial magnetic error. This error is linearly related to the intensity of an AMF, the radius of the fiber coil, and the light wavelength, and also influenced by the distribution of fiber twist. When a PM-FOG is manufactured completely, this error only appears a linear correlation with the AMF. A real-time compensation model is established to eliminate the error, and the experimental results show that the axial magnetic error of the PM-FOG is decreased from 5.83 to 0.09 deg/h in 12G AMF with 18-dB suppression.

Single neural adaptive controller and neural network identifier based on PSO algorithm for spherical actuators with 3D magnet array

NASA Astrophysics Data System (ADS)

Yan, Liang; Zhang, Lu; Zhu, Bo; Zhang, Jingying; Jiao, Zongxia

2017-10-01

Permanent magnet spherical actuator (PMSA) is a multi-variable featured and inter-axis coupled nonlinear system, which unavoidably compromises its motion control implementation. Uncertainties such as external load and friction torque of ball bearing and manufacturing errors also influence motion performance significantly. Therefore, the objective of this paper is to propose a controller based on a single neural adaptive (SNA) algorithm and a neural network (NN) identifier optimized with a particle swarm optimization (PSO) algorithm to improve the motion stability of PMSA with three-dimensional magnet arrays. The dynamic model and computed torque model are formulated for the spherical actuator, and a dynamic decoupling control algorithm is developed. By utilizing the global-optimization property of the PSO algorithm, the NN identifier is trained to avoid locally optimal solution and achieve high-precision compensations to uncertainties. The employment of the SNA controller helps to reduce the effect of compensation errors and convert the system to a stable one, even if there is difference between the compensations and uncertainties due to external disturbances. A simulation model is established, and experiments are conducted on the research prototype to validate the proposed control algorithm. The amplitude of the parameter perturbation is set to 5%, 10%, and 15%, respectively. The strong robustness of the proposed hybrid algorithm is validated by the abundant simulation data. It shows that the proposed algorithm can effectively compensate the influence of uncertainties and eliminate the effect of inter-axis couplings of the spherical actuator.

Remembering forward: Neural correlates of memory and prediction in human motor adaptation

PubMed Central

Scheidt, Robert A; Zimbelman, Janice L; Salowitz, Nicole M G; Suminski, Aaron J; Mosier, Kristine M; Houk, James; Simo, Lucia

2011-01-01

We used functional MR imaging (FMRI), a robotic manipulandum and systems identification techniques to examine neural correlates of predictive compensation for spring-like loads during goal-directed wrist movements in neurologically-intact humans. Although load changed unpredictably from one trial to the next, subjects nevertheless used sensorimotor memories from recent movements to predict and compensate upcoming loads. Prediction enabled subjects to adapt performance so that the task was accomplished with minimum effort. Population analyses of functional images revealed a distributed, bilateral network of cortical and subcortical activity supporting predictive load compensation during visual target capture. Cortical regions - including prefrontal, parietal and hippocampal cortices - exhibited trial-by-trial fluctuations in BOLD signal consistent with the storage and recall of sensorimotor memories or “states” important for spatial working memory. Bilateral activations in associative regions of the striatum demonstrated temporal correlation with the magnitude of kinematic performance error (a signal that could drive reward-optimizing reinforcement learning and the prospective scaling of previously learned motor programs). BOLD signal correlations with load prediction were observed in the cerebellar cortex and red nuclei (consistent with the idea that these structures generate adaptive fusimotor signals facilitating cancellation of expected proprioceptive feedback, as required for conditional feedback adjustments to ongoing motor commands and feedback error learning). Analysis of single subject images revealed that predictive activity was at least as likely to be observed in more than one of these neural systems as in just one. We conclude therefore that motor adaptation is mediated by predictive compensations supported by multiple, distributed, cortical and subcortical structures. PMID:21840405

Wavefront error budget development for the Thirty Meter Telescope laser guide star adaptive optics system

NASA Astrophysics Data System (ADS)

Gilles, Luc; Wang, Lianqi; Ellerbroek, Brent

2008-07-01

This paper describes the modeling effort undertaken to derive the wavefront error (WFE) budget for the Narrow Field Infrared Adaptive Optics System (NFIRAOS), which is the facility, laser guide star (LGS), dual-conjugate adaptive optics (AO) system for the Thirty Meter Telescope (TMT). The budget describes the expected performance of NFIRAOS at zenith, and has been decomposed into (i) first-order turbulence compensation terms (120 nm on-axis), (ii) opto-mechanical implementation errors (84 nm), (iii) AO component errors and higher-order effects (74 nm) and (iv) tip/tilt (TT) wavefront errors at 50% sky coverage at the galactic pole (61 nm) with natural guide star (NGS) tip/tilt/focus/astigmatism (TTFA) sensing in J band. A contingency of about 66 nm now exists to meet the observatory requirement document (ORD) total on-axis wavefront error of 187 nm, mainly on account of reduced TT errors due to updated windshake modeling and a low read-noise NGS wavefront sensor (WFS) detector. A detailed breakdown of each of these top-level terms is presented, together with a discussion on its evaluation using a mix of high-order zonal and low-order modal Monte Carlo simulations.

Improvement of Hand Movement on Visual Target Tracking by Assistant Force of Model-Based Compensator

NASA Astrophysics Data System (ADS)

Ide, Junko; Sugi, Takenao; Nakamura, Masatoshi; Shibasaki, Hiroshi

Human motor control is achieved by the appropriate motor commands generating from the central nerve system. A test of visual target tracking is one of the effective methods for analyzing the human motor functions. We have previously examined a possibility for improving the hand movement on visual target tracking by additional assistant force through a simulation study. In this study, a method for compensating the human hand movement on visual target tracking by adding an assistant force was proposed. Effectiveness of the compensation method was investigated through the experiment for four healthy adults. The proposed compensator precisely improved the reaction time, the position error and the variability of the velocity of the human hand. The model-based compensator proposed in this study is constructed by using the measurement data on visual target tracking for each subject. The properties of the hand movement for different subjects can be reflected in the structure of the compensator. Therefore, the proposed method has possibility to adjust the individual properties of patients with various movement disorders caused from brain dysfunctions.

Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

NASA Astrophysics Data System (ADS)

Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

2018-05-01

Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

A Bayesian Account of Vocal Adaptation to Pitch-Shifted Auditory Feedback

PubMed Central

Hahnloser, Richard H. R.

2017-01-01

Motor systems are highly adaptive. Both birds and humans compensate for synthetically induced shifts in the pitch (fundamental frequency) of auditory feedback stemming from their vocalizations. Pitch-shift compensation is partial in the sense that large shifts lead to smaller relative compensatory adjustments of vocal pitch than small shifts. Also, compensation is larger in subjects with high motor variability. To formulate a mechanistic description of these findings, we adapt a Bayesian model of error relevance. We assume that vocal-auditory feedback loops in the brain cope optimally with known sensory and motor variability. Based on measurements of motor variability, optimal compensatory responses in our model provide accurate fits to published experimental data. Optimal compensation correctly predicts sensory acuity, which has been estimated in psychophysical experiments as just-noticeable pitch differences. Our model extends the utility of Bayesian approaches to adaptive vocal behaviors. PMID:28135267

Rate dependent direct inverse hysteresis compensation of piezoelectric micro-actuator used in dual-stage hard disk drive head positioning system.

PubMed

Rahman, Md Arifur; Al Mamun, Abdullah; Yao, Kui

2015-08-01

The head positioning servo system in hard disk drive is implemented nowadays using a dual-stage actuator—the primary stage consisting of a voice coil motor actuator providing long range motion and the secondary stage controlling the position of the read/write head with fine resolution. Piezoelectric micro-actuator made of lead zirconate titanate (PZT) has been a popular choice for the secondary stage. However, PZT micro-actuator exhibits hysteresis—an inherent nonlinear characteristic of piezoelectric material. The advantage expected from using the secondary micro-actuator is somewhat lost by the hysteresis of the micro-actuator that contributes to tracking error. Hysteresis nonlinearity adversely affects the performance and, if not compensated, may cause inaccuracy and oscillation in the response. Compensation of hysteresis is therefore an important aspect for designing head-positioning servo system. This paper presents a new rate dependent model of hysteresis along with rigorous analysis and identification of the model. Parameters of the model are found using particle swarm optimization. Direct inverse of the proposed rate-dependent generalized Prandtl-Ishlinskii model is used as the hysteresis compensator. Effectiveness of the overall solution is underscored through experimental results.

Choroidal and scleral mechanisms of compensation for spectacle lenses in chicks.

PubMed

Wildsoet, C; Wallman, J

1995-05-01

It is known that when hyperopic or myopic defocus is imposed on chick eyes by spectacle lenses, they rapidly compensate, becoming myopic or hyperopic respectively, by altering the depth of their vitreous chamber. Changes in two components--ocular length and choroidal thickness--underlie this rapid compensation. With monocular lens treatment, hyperopic defocus imposed by negative lenses resulted in substantially increased ocular elongation and a slight thinning of the choroid, both changes resulting in myopia; myopic defocus imposed by positive lenses resulted a dramatic increase in choroidal thickness, which pushed the retina forward toward the image plane, and a slight decrease in ocular elongation, both changes resulting in hyperopia. The refractive error after 5 days of lens wear correlated well with vitreous chamber depth, which reflected the changes in both choroidal thickness and ocular length. The degree of compensation for lenses was not affected by whether the fellow eye was covered or open. Both form-deprivation myopia and lens-induced myopia declined with age in parallel, but wearing a -15 D lens produced more myopia than did form deprivation. The spectacle lenses affected the refractive error not only of the lens-wearing eye, but also, to a much lesser degree, of the untreated fellow eye. At lens removal refractive errors were opposite in sign to the lense worn, and the subsequent changes in choroidal thickness and ocular length were also opposite to those that occurred when the lenses were in place. In this situation as well, effects of the spectacle lenses on the fellow eyes were observed. Eyes with no functional afferent connection to the brain because of either prior optic nerve section or intraocular tetrodotoxin injections showed compensatory changes to imposed defocus, but these were limited to compensation for imposed myopic defocus, at least for the eyes with optic nerve section. In addition, optic nerve section, but not tetrodotoxin treatment, moved the set-point of the visual compensatory mechanism toward hyperopia. Optic nerve section prevents myopia in response to negative lenses but not to diffusers, suggesting that compensation for hyperopia requires the central nervous system.

Saturation of the anisoplanatic error in horizontal imaging scenarios

NASA Astrophysics Data System (ADS)

Beck, Jeffrey; Bos, Jeremy P.

2017-09-01

We evaluate the piston-removed anisoplanatic error for smaller apertures imaging over long horizontal paths. Previous works have shown that the piston and tilt compensated anisoplanatic error saturates to values less than one squared radian. Under these conditions the definition of the isoplanatic angle is unclear. These works focused on nadir pointing telescope systems with aperture sizes between five meters and one half meter. We directly extend this work to horizontal imaging scenarios with aperture sizes smaller than one half meter. We assume turbulence is constant along the imaging path and that the ratio of the aperture size to the atmospheric coherence length is on the order of unity.

A Fast and On-Machine Measuring System Using the Laser Displacement Sensor for the Contour Parameters of the Drill Pipe Thread.

PubMed

Dong, Zhixu; Sun, Xingwei; Chen, Changzheng; Sun, Mengnan

2018-04-13

The inconvenient loading and unloading of a long and heavy drill pipe gives rise to the difficulty in measuring the contour parameters of its threads at both ends. To solve this problem, in this paper we take the SCK230 drill pipe thread-repairing machine tool as a carrier to design and achieve a fast and on-machine measuring system based on a laser probe. This system drives a laser displacement sensor to acquire the contour data of a certain axial section of the thread by using the servo function of a CNC machine tool. To correct the sensor's measurement errors caused by the measuring point inclination angle, an inclination error model is built to compensate data in real time. To better suppress random error interference and ensure real contour information, a new wavelet threshold function is proposed to process data through the wavelet threshold denoising. Discrete data after denoising is segmented according to the geometrical characteristics of the drill pipe thread, and the regression model of the contour data in each section is fitted by using the method of weighted total least squares (WTLS). Then, the thread parameters are calculated in real time to judge the processing quality. Inclination error experiments show that the proposed compensation model is accurate and effective, and it can improve the data acquisition accuracy of a sensor. Simulation results indicate that the improved threshold function is of better continuity and self-adaptability, which makes sure that denoising effects are guaranteed, and, meanwhile, the complete elimination of real data distorted in random errors is avoided. Additionally, NC50 thread-testing experiments show that the proposed on-machine measuring system can complete the measurement of a 25 mm thread in 7.8 s, with a measurement accuracy of ±8 μm and repeatability limit ≤ 4 μm (high repeatability), and hence the accuracy and efficiency of measurement are both improved.

A Fast and On-Machine Measuring System Using the Laser Displacement Sensor for the Contour Parameters of the Drill Pipe Thread

PubMed Central

Sun, Xingwei; Chen, Changzheng; Sun, Mengnan

2018-01-01

The inconvenient loading and unloading of a long and heavy drill pipe gives rise to the difficulty in measuring the contour parameters of its threads at both ends. To solve this problem, in this paper we take the SCK230 drill pipe thread-repairing machine tool as a carrier to design and achieve a fast and on-machine measuring system based on a laser probe. This system drives a laser displacement sensor to acquire the contour data of a certain axial section of the thread by using the servo function of a CNC machine tool. To correct the sensor’s measurement errors caused by the measuring point inclination angle, an inclination error model is built to compensate data in real time. To better suppress random error interference and ensure real contour information, a new wavelet threshold function is proposed to process data through the wavelet threshold denoising. Discrete data after denoising is segmented according to the geometrical characteristics of the drill pipe thread, and the regression model of the contour data in each section is fitted by using the method of weighted total least squares (WTLS). Then, the thread parameters are calculated in real time to judge the processing quality. Inclination error experiments show that the proposed compensation model is accurate and effective, and it can improve the data acquisition accuracy of a sensor. Simulation results indicate that the improved threshold function is of better continuity and self-adaptability, which makes sure that denoising effects are guaranteed, and, meanwhile, the complete elimination of real data distorted in random errors is avoided. Additionally, NC50 thread-testing experiments show that the proposed on-machine measuring system can complete the measurement of a 25 mm thread in 7.8 s, with a measurement accuracy of ±8 μm and repeatability limit ≤ 4 μm (high repeatability), and hence the accuracy and efficiency of measurement are both improved. PMID:29652836

Soft tissue artifact compensation in knee kinematics by multi-body optimization: Performance of subject-specific knee joint models.

PubMed

Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

2015-11-05

Soft tissue artifact (STA) distort marker-based knee kinematics measures and make them difficult to use in clinical practice. None of the current methods designed to compensate for STA is suitable, but multi-body optimization (MBO) has demonstrated encouraging results and can be improved. The goal of this study was to develop and validate the performance of knee joint models, with anatomical and subject-specific kinematic constraints, used in MBO to reduce STA errors. Twenty subjects were recruited: 10 healthy and 10 osteoarthritis (OA) subjects. Subject-specific knee joint models were evaluated by comparing dynamic knee kinematics recorded by a motion capture system (KneeKG™) and optimized with MBO to quasi-static knee kinematics measured by a low-dose, upright, biplanar radiographic imaging system (EOS(®)). Errors due to STA ranged from 1.6° to 22.4° for knee rotations and from 0.8 mm to 14.9 mm for knee displacements in healthy and OA subjects. Subject-specific knee joint models were most effective in compensating for STA in terms of abduction-adduction, inter-external rotation and antero-posterior displacement. Root mean square errors with subject-specific knee joint models ranged from 2.2±1.2° to 6.0±3.9° for knee rotations and from 2.4±1.1 mm to 4.3±2.4 mm for knee displacements in healthy and OA subjects, respectively. Our study shows that MBO can be improved with subject-specific knee joint models, and that the quality of the motion capture calibration is critical. Future investigations should focus on more refined knee joint models to reproduce specific OA knee geometry and physiology. Copyright © 2015 Elsevier Ltd. All rights reserved.

Flight calibration of compensated and uncompensated pitot-static airspeed probes and application of the probes to supersonic cruise vehicles

NASA Technical Reports Server (NTRS)

Webb, L. D.; Washington, H. P.

1972-01-01

Static pressure position error calibrations for a compensated and an uncompensated XB-70 nose boom pitot static probe were obtained in flight. The methods (Pacer, acceleration-deceleration, and total temperature) used to obtain the position errors over a Mach number range from 0.5 to 3.0 and an altitude range from 25,000 feet to 70,000 feet are discussed. The error calibrations are compared with the position error determined from wind tunnel tests, theoretical analysis, and a standard NACA pitot static probe. Factors which influence position errors, such as angle of attack, Reynolds number, probe tip geometry, static orifice location, and probe shape, are discussed. Also included are examples showing how the uncertainties caused by position errors can affect the inlet controls and vertical altitude separation of a supersonic transport.

Short-Term Load Forecasting Error Distributions and Implications for Renewable Integration Studies: Preprint

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

Hodge, B. M.; Lew, D.; Milligan, M.

2013-01-01

Load forecasting in the day-ahead timescale is a critical aspect of power system operations that is used in the unit commitment process. It is also an important factor in renewable energy integration studies, where the combination of load and wind or solar forecasting techniques create the net load uncertainty that must be managed by the economic dispatch process or with suitable reserves. An understanding of that load forecasting errors that may be expected in this process can lead to better decisions about the amount of reserves necessary to compensate errors. In this work, we performed a statistical analysis of themore » day-ahead (and two-day-ahead) load forecasting errors observed in two independent system operators for a one-year period. Comparisons were made with the normal distribution commonly assumed in power system operation simulations used for renewable power integration studies. Further analysis identified time periods when the load is more likely to be under- or overforecast.« less

Evaluation of photomask flatness compensation for extreme ultraviolet lithography

NASA Astrophysics Data System (ADS)

Ballman, Katherine; Lee, Christopher; Zimmerman, John; Dunn, Thomas; Bean, Alexander

2016-10-01

As the semiconductor industry continues to strive towards high volume manufacturing for EUV, flatness specifications for photomasks have decreased to below 10nm for 2018 production, however the current champion masks being produced report P-V flatness values of roughly 50nm. Write compensation presents the promising opportunity to mitigate pattern placement errors through the use of geometrically adjusted target patterns which counteract the reticle's flatness induced distortions and address the differences in chucking mechanisms between e-beam write and electrostatic clamping during scan. Compensation relies on high accuracy flatness data which provides the critical topographical components of the reticle to the write tool. Any errors included in the flatness data file are translated to the pattern during the write process, which has now driven flatness measurement tools to target a 6σ reproducibility <1nm. Using data collected from a 2011 Sematech study on the Alpha Demo Tool, the proposed methodology for write compensation is validated against printed wafer results. Topographic features which lack compensation capability must then be held to stringent specifications in order to limit their contributions to the final image placement error (IPE) at wafer. By understanding the capabilities and limitations of write compensation, it is then possible to shift flatness requirements towards the "non-correctable" portion of the reticle's profile, potentially relieving polishers from having to adhere to the current single digit flatness specifications.

Variations on a theme: novel immersed grating based spectrometer designs for space

NASA Astrophysics Data System (ADS)

Agócs, T.; Navarro, R.; Venema, L.

2017-11-01

We present novel immersed grating (IG) based spectrometer designs that can be used in space instrumentation. They are based on the design approach that aims to optimize the optical design using the expanded parameter space that the IG technology offers. In principle the wavefront error (WFE) of any optical system the most conveniently can be corrected in the pupil, where in the case of the IG based spectrometer, the IG itself is positioned. By modifying existing three-mirror based optical systems, which can form the main part of double pass spectrometer designs, a large portion of the WFE of the optical system can be transferred to the pupil and to the IG. In these cases the IG can compensate simple low order aberrations of the system and consequently the main benefit is that the mirrors that tend to be off-axis conical sections can be substituted by spherical mirrors. The WFE budget of such designs has only a minor contribution from the very high quality spherical mirrors and the majority of the WFE can be then allocated to the most complex part of the system, the IG. The latter can be designed so that the errors are compensated by a special grating pattern that in turn can be manufactured using the expertise and experience of the semiconductor industry.

Understanding product cost vs. performance through an in-depth system Monte Carlo analysis

NASA Astrophysics Data System (ADS)

Sanson, Mark C.

2017-08-01

The manner in which an optical system is toleranced and compensated greatly affects the cost to build it. By having a detailed understanding of different tolerance and compensation methods, the end user can decide on the balance of cost and performance. A detailed phased approach Monte Carlo analysis can be used to demonstrate the tradeoffs between cost and performance. In complex high performance optical systems, performance is fine-tuned by making adjustments to the optical systems after they are initially built. This process enables the overall best system performance, without the need for fabricating components to stringent tolerance levels that often can be outside of a fabricator's manufacturing capabilities. A good performance simulation of as built performance can interrogate different steps of the fabrication and build process. Such a simulation may aid the evaluation of whether the measured parameters are within the acceptable range of system performance at that stage of the build process. Finding errors before an optical system progresses further into the build process saves both time and money. Having the appropriate tolerances and compensation strategy tied to a specific performance level will optimize the overall product cost.

Introduction to the Application of Web-Based Surveys.

ERIC Educational Resources Information Center

Timmerman, Annemarie

This paper discusses some basic assumptions and issues concerning web-based surveys. Discussion includes: assumptions regarding cost and ease of use; disadvantages of web-based surveys, concerning the inability to compensate for four common errors of survey research: coverage error, sampling error, measurement error and nonresponse error; and…

The Characteristics and Causes of Push-off During Screw Rotor Manufacture, and its Compensation by Multi-axis Machine Path Calculations

NASA Astrophysics Data System (ADS)

Wang, X.; Holmes, C. S.

2015-08-01

When grinding helical components, errors occur at the beginning and end of the contact path between the component and grinding wheel. This is due to the forces on the component changing as the grinding wheel comes into and out-of full contact with the component. In addition, shaft bending may add depth changes which vary along the length. This may result in an interrupted contact line and increased noise from the rotors. Using on-board scanning, software has been developed to calculate a compensated grinding path, which includes the adjustments of head angle, work rotation and infeed. This grinding path compensates not only lead errors, but also reduces the profile errors as well. The program has been tested in rotor production and the results are shown.

Small Atomic Orbital Basis Set First‐Principles Quantum Chemical Methods for Large Molecular and Periodic Systems: A Critical Analysis of Error Sources

PubMed Central

Sure, Rebecca; Brandenburg, Jan Gerit

2015-01-01

Abstract In quantum chemical computations the combination of Hartree–Fock or a density functional theory (DFT) approximation with relatively small atomic orbital basis sets of double‐zeta quality is still widely used, for example, in the popular B3LYP/6‐31G* approach. In this Review, we critically analyze the two main sources of error in such computations, that is, the basis set superposition error on the one hand and the missing London dispersion interactions on the other. We review various strategies to correct those errors and present exemplary calculations on mainly noncovalently bound systems of widely varying size. Energies and geometries of small dimers, large supramolecular complexes, and molecular crystals are covered. We conclude that it is not justified to rely on fortunate error compensation, as the main inconsistencies can be cured by modern correction schemes which clearly outperform the plain mean‐field methods. PMID:27308221

Velocity servo for continuous scan Fourier interference spectrometer

NASA Technical Reports Server (NTRS)

Schindler, R. A. (Inventor)

1980-01-01

A velocity servo for continuous scan Fourier interference spectrometer of the double pass retroreflector type having two cat's eye retroreflectors is described. The servo uses an open loop, lead screw drive system for one retroreflector with compensation for any variations in speed of drive of the lead screw provided by sensing any variation in the rate of reference laser fringes, and producing an error signal from such variation used to compensate by energizing a moving coil actuator for the other retroreflector optical path, and energizing (through a highpass filter) piezoelectric actuators for the secondary mirrors of the retroreflectors.

Integrated manufacture of a freeform off-axis multi-reflective imaging system without optical alignment.

PubMed

Li, Zexiao; Liu, Xianlei; Fang, Fengzhou; Zhang, Xiaodong; Zeng, Zhen; Zhu, Linlin; Yan, Ning

2018-03-19

Multi-reflective imaging systems find wide applications in optical imaging and space detection. However, it is faced with difficulties in adjusting the freeform mirrors with high accuracy to guarantee the optical function. Motivated by this, an alignment-free manufacture approach is proposed to machine the optical system. The direct optical performance-guided manufacture route is established without measuring the form error of freeform optics. An analytical model is established to investigate the effects of machine errors to serve the error identification and compensation in machining. Based on the integrated manufactured system, an ingenious self-designed testing configuration is constructed to evaluate the optical performance by directly measuring the wavefront aberration. Experiments are carried out to manufacture a three-mirror anastigmat, surface topographical details and optical performance shows agreement to the designed expectation. The final system works as an off-axis infrared imaging system. Results validate the feasibility of the proposed method to achieve excellent optical application.

Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay.

PubMed

Khazaee, Mostafa; Markazi, Amir H D; Omidi, Ehsan

2015-11-01

In this paper, a new Adaptive Fuzzy Predictive Sliding Mode Control (AFP-SMC) is presented for nonlinear systems with uncertain dynamics and unknown input delay. The control unit consists of a fuzzy inference system to approximate the ideal linearization control, together with a switching strategy to compensate for the estimation errors. Also, an adaptive fuzzy predictor is used to estimate the future values of the system states to compensate for the time delay. The adaptation laws are used to tune the controller and predictor parameters, which guarantee the stability based on a Lyapunov-Krasovskii functional. To evaluate the method effectiveness, the simulation and experiment on an overhead crane system are presented. According to the obtained results, AFP-SMC can effectively control the uncertain nonlinear systems, subject to input delays of known bound. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Compact Color Schlieren Optical System

NASA Technical Reports Server (NTRS)

Buchele, Donald R.; Griffin, Devon W.

1996-01-01

Compact, rugged optical system developed for use in rainbow schlieren deflectometry. Features unobscured telescope with focal-length/aperture-width ratio of 30. Made of carefully selected but relatively inexpensive parts. All of lenses stock items. By-product of design is optical system with loose tolerances on interlens spacing. One of resulting advantages, insensitivity to errors in fabrication of optomechanical mounts. Another advantage is ability to compensate for some of unit-to-unit variations inherent in stock lenses.

Evaluation of FNS control systems: software development and sensor characterization.

PubMed

Riess, J; Abbas, J J

1997-01-01

Functional Neuromuscular Stimulation (FNS) systems activate paralyzed limbs by electrically stimulating motor neurons. These systems have been used to restore functions such as standing and stepping in people with thoracic level spinal cord injury. Research in our laboratory is directed at the design and evaluation of the control algorithms for generating posture and movement. This paper describes software developed for implementing FNS control systems and the characterization of a sensor system used to implement and evaluate controllers in the laboratory. In order to assess FNS control algorithms, we have developed a versatile software package using Lab VIEW (National Instruments, Corp). This package provides the ability to interface with sensor systems via serial port or A/D board, implement data processing and real-time control algorithms, and interface with neuromuscular stimulation devices. In our laboratory, we use the Flock of Birds (Ascension Technology Corp.) motion tracking sensor system to monitor limb segment position and orientation (6 degrees of freedom). Errors in the sensor system have been characterized and nonlinear polynomial models have been developed to account for these errors. With this compensation, the error in the distance measurement is reduced by 90 % so that the maximum error is less than 1 cm.

Identification and compensation of the temperature influences in a miniature three-axial accelerometer based on the least squares method

NASA Astrophysics Data System (ADS)

Grigorie, Teodor Lucian; Corcau, Ileana Jenica; Tudosie, Alexandru Nicolae

2017-06-01

The paper presents a way to obtain an intelligent miniaturized three-axial accelerometric sensor, based on the on-line estimation and compensation of the sensor errors generated by the environmental temperature variation. Taking into account that this error's value is a strongly nonlinear complex function of the values of environmental temperature and of the acceleration exciting the sensor, its correction may not be done off-line and it requires the presence of an additional temperature sensor. The proposed identification methodology for the error model is based on the least square method which process off-line the numerical values obtained from the accelerometer experimental testing for different values of acceleration applied to its axes of sensitivity and for different values of operating temperature. A final analysis of the error level after the compensation highlights the best variant for the matrix in the error model. In the sections of the paper are shown the results of the experimental testing of the accelerometer on all the three sensitivity axes, the identification of the error models on each axis by using the least square method, and the validation of the obtained models with experimental values. For all of the three detection channels was obtained a reduction by almost two orders of magnitude of the acceleration absolute maximum error due to environmental temperature variation.

Neural Network Compensation for Frequency Cross-Talk in Laser Interferometry

NASA Astrophysics Data System (ADS)

Lee, Wooram; Heo, Gunhaeng; You, Kwanho

The heterodyne laser interferometer acts as an ultra-precise measurement apparatus in semiconductor manufacture. However the periodical nonlinearity property caused from frequency cross-talk is an obstacle to improve the high measurement accuracy in nanometer scale. In order to minimize the nonlinearity error of the heterodyne interferometer, we propose a frequency cross-talk compensation algorithm using an artificial intelligence method. The feedforward neural network trained by back-propagation compensates the nonlinearity error and regulates to minimize the difference with the reference signal. With some experimental results, the improved accuracy is proved through comparison with the position value from a capacitive displacement sensor.

Development of a compact, fiber-coupled, six degree-of-freedom measurement system for precision linear stage metrology

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

Yu, Xiangzhi, E-mail: xiangzhi.yu@rochester.edu; Gillmer, Steven R.; Woody, Shane C.

2016-06-15

A compact, fiber-coupled, six degree-of-freedom measurement system which enables fast, accurate calibration, and error mapping of precision linear stages is presented. The novel design has the advantages of simplicity, compactness, and relatively low cost. This proposed sensor can simultaneously measure displacement, two straightness errors, and changes in pitch, yaw, and roll using a single optical beam traveling between the measurement system and a small target. The optical configuration of the system and the working principle for all degrees-of-freedom are presented along with the influence and compensation of crosstalk motions in roll and straightness measurements. Several comparison experiments are conducted tomore » investigate the feasibility and performance of the proposed system in each degree-of-freedom independently. Comparison experiments to a commercial interferometer demonstrate error standard deviations of 0.33 μm in straightness, 0.14 μrad in pitch, 0.44 μradin yaw, and 45.8 μrad in roll.« less

Positional reference system for ultraprecision machining

DOEpatents

Arnold, Jones B.; Burleson, Robert R.; Pardue, Robert M.

1982-01-01

A stable positional reference system for use in improving the cutting tool-to-part contour position in numerical controlled-multiaxis metal turning machines is provided. The reference system employs a plurality of interferometers referenced to orthogonally disposed metering bars which are substantially isolated from machine strain induced position errors for monitoring the part and tool positions relative to the metering bars. A microprocessor-based control system is employed in conjunction with the plurality of position interferometers and part contour description data inputs to calculate error components for each axis of movement and output them to corresponding axis drives with appropriate scaling and error compensation. Real-time position control, operating in combination with the reference system, makes possible the positioning of the cutting points of a tool along a part locus with a substantially greater degree of accuracy than has been attained previously in the art by referencing and then monitoring only the tool motion relative to a reference position located on the machine base.

Positional reference system for ultraprecision machining

DOEpatents

Arnold, J.B.; Burleson, R.R.; Pardue, R.M.

1980-09-12

A stable positional reference system for use in improving the cutting tool-to-part contour position in numerical controlled-multiaxis metal turning machines is provided. The reference system employs a plurality of interferometers referenced to orthogonally disposed metering bars which are substantially isolated from machine strain induced position errors for monitoring the part and tool positions relative to the metering bars. A microprocessor-based control system is employed in conjunction with the plurality of positions interferometers and part contour description data input to calculate error components for each axis of movement and output them to corresponding axis driven with appropriate scaling and error compensation. Real-time position control, operating in combination with the reference system, makes possible the positioning of the cutting points of a tool along a part locus with a substantially greater degree of accuracy than has been attained previously in the art by referencing and then monitoring only the tool motion relative to a reference position located on the machine base.

Spotlight-Mode Synthetic Aperture Radar Processing for High-Resolution Lunar Mapping

NASA Technical Reports Server (NTRS)

Harcke, Leif; Weintraub, Lawrence; Yun, Sang-Ho; Dickinson, Richard; Gurrola, Eric; Hensley, Scott; Marechal, Nicholas

2010-01-01

During the 2008-2009 year, the Goldstone Solar System Radar was upgraded to support radar mapping of the lunar poles at 4 m resolution. The finer resolution of the new system and the accompanying migration through resolution cells called for spotlight, rather than delay-Doppler, imaging techniques. A new pre-processing system supports fast-time Doppler removal and motion compensation to a point. Two spotlight imaging techniques which compensate for phase errors due to i) out of focus-plane motion of the radar and ii) local topography, have been implemented and tested. One is based on the polar format algorithm followed by a unique autofocus technique, the other is a full bistatic time-domain backprojection technique. The processing system yields imagery of the specified resolution. Products enabled by this new system include topographic mapping through radar interferometry, and change detection techniques (amplitude and coherent change) for geolocation of the NASA LCROSS mission impact site.

Direct Adaptive Control of Systems with Actuator Failures: State of the Art and Continuing Challenges

NASA Technical Reports Server (NTRS)

Tao, Gang; Joshi, Suresh M.

2008-01-01

In this paper, the problem of controlling systems with failures and faults is introduced, and an overview of recent work on direct adaptive control for compensation of uncertain actuator failures is presented. Actuator failures may be characterized by some unknown system inputs being stuck at some unknown (fixed or varying) values at unknown time instants, that cannot be influenced by the control signals. The key task of adaptive compensation is to design the control signals in such a manner that the remaining actuators can automatically and seamlessly take over for the failed ones, and achieve desired stability and asymptotic tracking. A certain degree of redundancy is necessary to accomplish failure compensation. The objective of adaptive control design is to effectively use the available actuation redundancy to handle failures without the knowledge of the failure patterns, parameters, and time of occurrence. This is a challenging problem because failures introduce large uncertainties in the dynamic structure of the system, in addition to parametric uncertainties and unknown disturbances. The paper addresses some theoretical issues in adaptive actuator failure compensation: actuator failure modeling, redundant actuation requirements, plant-model matching, error system dynamics, adaptation laws, and stability, tracking, and performance analysis. Adaptive control designs can be shown to effectively handle uncertain actuator failures without explicit failure detection. Some open technical challenges and research problems in this important research area are discussed.

TH-AB-202-04: Auto-Adaptive Margin Generation for MLC-Tracked Radiotherapy

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

Glitzner, M; Lagendijk, J; Raaymakers, B

Purpose: To develop an auto-adaptive margin generator for MLC tracking. The generator is able to estimate errors arising in image guided radiotherapy, particularly on an MR-Linac, which depend on the latencies of machine and image processing, as well as on patient motion characteristics. From the estimated error distribution, a segment margin is generated, able to compensate errors up to a user-defined confidence. Method: In every tracking control cycle (TCC, 40ms), the desired aperture D(t) is compared to the actual aperture A(t), a delayed and imperfect representation of D(t). Thus an error e(t)=A(T)-D(T) is measured every TCC. Applying kernel-density-estimation (KDE), themore » cumulative distribution (CDF) of e(t) is estimated. With CDF-confidence limits, upper and lower error limits are extracted for motion axes along and perpendicular leaf-travel direction and applied as margins. To test the dosimetric impact, two representative motion traces were extracted from fast liver-MRI (10Hz). The traces were applied onto a 4D-motion platform and continuously tracked by an Elekta Agility 160 MLC using an artificially imposed tracking delay. Gafchromic film was used to detect dose exposition for static, tracked, and error-compensated tracking cases. The margin generator was parameterized to cover 90% of all tracking errors. Dosimetric impact was rated by calculating the ratio between underexposed points (>5% underdosage) to the total number of points inside FWHM of static exposure. Results: Without imposing adaptive margins, tracking experiments showed a ratio of underexposed points of 17.5% and 14.3% for two motion cases with imaging delays of 200ms and 300ms, respectively. Activating the margin generated yielded total suppression (<1%) of underdosed points. Conclusion: We showed that auto-adaptive error compensation using machine error statistics is possible for MLC tracking. The error compensation margins are calculated on-line, without the need of assuming motion or machine models. Further strategies to reduce consequential overdosages are currently under investigation. This work was funded by the SoRTS consortium, which includes the industry partners Elekta, Philips and Technolution.« less

Motion-based nonuniformity correction in DoFP polarimeters

NASA Astrophysics Data System (ADS)

Kumar, Rakesh; Tyo, J. Scott; Ratliff, Bradley M.

2007-09-01

Division of Focal Plane polarimeters (DoFP) operate by integrating an array of micropolarizer elements with a focal plane array. These devices have been investigated for over a decade, and example systems have been built in all regions of the optical spectrum. DoFP devices have the distinct advantage that they are mechanically rugged, inherently temporally synchronized, and optically aligned. They have the concomitant disadvantage that each pixel in the FPA has a different instantaneous field of view (IFOV), meaning that the polarization component measurements that go into estimating the Stokes vector across the image come from four different points in the field. In addition to IFOV errors, microgrid camera systems operating in the LWIR have the additional problem that FPA nonuniformity (NU) noise can be quite severe. The spatial differencing nature of a DoFP system exacerbates the residual NU noise that is remaining after calibration, and is often the largest source of false polarization signatures away from regions where IFOV error dominates. We have recently presented a scene based algorithm that uses frame-to-frame motion to compensate for NU noise in unpolarized IR imagers. In this paper, we have extended that algorithm so that it can be used to compensate for NU noise on a DoFP polarimeter. Furthermore, the additional information provided by the scene motion can be used to significantly reduce the IFOV error. We have found a reduction of IFOV error by a factor of 10 if the scene motion is known exactly. Performance is reduced when the motion must be estimated from the scene, but still shows a marked improvement over static DoFP images.

Calibration and compensation method of three-axis geomagnetic sensor based on pre-processing total least square iteration

NASA Astrophysics Data System (ADS)

Zhou, Y.; Zhang, X.; Xiao, W.

2018-04-01

As the geomagnetic sensor is susceptible to interference, a pre-processing total least square iteration method is proposed for calibration compensation. Firstly, the error model of the geomagnetic sensor is analyzed and the correction model is proposed, then the characteristics of the model are analyzed and converted into nine parameters. The geomagnetic data is processed by Hilbert transform (HHT) to improve the signal-to-noise ratio, and the nine parameters are calculated by using the combination of Newton iteration method and the least squares estimation method. The sifter algorithm is used to filter the initial value of the iteration to ensure that the initial error is as small as possible. The experimental results show that this method does not need additional equipment and devices, can continuously update the calibration parameters, and better than the two-step estimation method, it can compensate geomagnetic sensor error well.

Delay compensation - Its effect in reducing sampling errors in Fourier spectroscopy

NASA Technical Reports Server (NTRS)

Zachor, A. S.; Aaronson, S. M.

1979-01-01

An approximate formula is derived for the spectrum ghosts caused by periodic drive speed variations in a Michelson interferometer. The solution represents the case of fringe-controlled sampling and is applicable when the reference fringes are delayed to compensate for the delay introduced by the electrical filter in the signal channel. Numerical results are worked out for several common low-pass filters. It is shown that the maximum relative ghost amplitude over the range of frequencies corresponding to the lower half of the filter band is typically 20 times smaller than the relative zero-to-peak velocity error, when delayed sampling is used. In the lowest quarter of the filter band it is more than 100 times smaller than the relative velocity error. These values are ten and forty times smaller, respectively, than they would be without delay compensation if the filter is a 6-pole Butterworth.

Threshold raw retrieved contrast in coronagraphs is limited by internal polarization

NASA Astrophysics Data System (ADS)

Breckinridge, James

The objective of this work is to provide the exoplanet program with an accurate model of the coronagraph complex point spread function, methods to correct chromatic aberration in the presence of polarization aberrations, device requirements to minimize and compensate for these aberrations at levels needed for exoplanet coronagraphy, and exoplanet retrieval algorithms in the presence of polarizaiton aberrations. Currently, space based coronagraphs are designed and performance analyzed using scalar wave aberration theory. Breckinridge, Lam & Chipman (2015) PASP 127: 445-468 and Breckinridge & Oppenheimer (2004) ApJ 600: 1091-1098 showed that astronomical telescopes designed for exoplanet and precision astrometric science require polarization or vector-wave analysis. Internal instrument polarization limits both threshold raw contrast and measurements of the vector wave properties of the electromagnetic radiation from stars, exoplanets, gas and dust. The threshold raw contrast obtained using only scalar wave theory is much more optimistic than that obtained using the more hardware-realistic vector wave theory. Internal polarization reduces system contrast, increases scattered light, alters radiometric measurements, distorts diffraction-limited star images and reduces signal-to-noise ratio. For example, a vector-wave analysis shows that the WFIRST-CGI instrument will have a threshold raw contrast of 10-7 not the 10-8 forecasted using the scalar wave analysis given in the WFIRST-CGI 2015 report. The physical nature of the complex point spread function determines the exoplanet scientific yield of coronagraphs. We propose to use the Polaris-M polarization aberration ray-tracing software developed at the College of Optical Science of the University of Arizona to ray trace both a "typical" exoplanet coronagraph system as well as the WFIRST-CGI system. Threshold raw contrast and the field across the complex PSF will be calculated as a function of optical device vector E&M requirements on: 1. Lyot coronagraph mask and stop size, configuration, location and composition, 2. Uniformity of the complex reflectance of the highly reflecting metal mirrors with their dielectric overcoats, and 3. Opto-mechanical layout. Once these requirements are developed polarization aberration mitigation studies can begin to identify a practical solution to compensate polarization errors, not unlike the more developed technology of A/O compensates for pointing and manufacturing errors. Several methods to compensate for chromatic aberration in coronagraphs further compounds the complex PSF errors that require compensation to maximize the best retrieved raw contrast in the presence of exoplanets in the vicinity of stars. Internal instrument polarization introduces partial coherence into the wavefront to distort the speckle-pattern complex-field in the dark hole. An additional factor that determines retrieved raw contrast is our ability to effectively process the polarizationdistorted field within the dark hole. This study is essential to the correct calculation of exoplanet coronagraph science yield, development of requirements on subsystem devices (mirrors, stops, masks, spectrometers, wavefront error mitigation optics and opto-mechanical layout) and the development of exoplanet retrieval algorithms.

Automatic EMC test system

NASA Astrophysics Data System (ADS)

Kasai, R.; Abe, T.; Sano, T.

Automated electromagnetic compatibility (EMC) tests for spacecraft hardware are described. EMC tests are divided into three categories: compensating measurement and calibration errors, comparison of test results with specification, and fine-frequency searching using predictive interference analysis. The automated system features an RF receiver and transmitter, a control system, and antennas. Trials are run with conducted and radiated emissions and conducted and radiated susceptibility over a frequency range of 0.1-40 GHz with narrow, broad and random broad band noise. The system meets military specifications 1541, 461, and 462.

Compensated gain control circuit for buck regulator command charge circuit

DOEpatents

Barrett, David M.

1996-01-01

A buck regulator command charge circuit includes a compensated-gain control signal for compensating for changes in the component values in order to achieve optimal voltage regulation. The compensated-gain control circuit includes an automatic-gain control circuit for generating a variable-gain control signal. The automatic-gain control circuit is formed of a precision rectifier circuit, a filter network, an error amplifier, and an integrator circuit.

Compensated gain control circuit for buck regulator command charge circuit

DOEpatents

Barrett, D.M.

1996-11-05

A buck regulator command charge circuit includes a compensated-gain control signal for compensating for changes in the component values in order to achieve optimal voltage regulation. The compensated-gain control circuit includes an automatic-gain control circuit for generating a variable-gain control signal. The automatic-gain control circuit is formed of a precision rectifier circuit, a filter network, an error amplifier, and an integrator circuit. 5 figs.

Feedforward compensation for novel dynamics depends on force field orientation but is similar for the left and right arms.

PubMed

Reuter, Eva-Maria; Cunnington, Ross; Mattingley, Jason B; Riek, Stephan; Carroll, Timothy J

2016-11-01

There are well-documented differences in the way that people typically perform identical motor tasks with their dominant and the nondominant arms. According to Yadav and Sainburg's (Neuroscience 196: 153-167, 2011) hybrid-control model, this is because the two arms rely to different degrees on impedance control versus predictive control processes. Here, we assessed whether differences in limb control mechanisms influence the rate of feedforward compensation to a novel dynamic environment. Seventy-five healthy, right-handed participants, divided into four subsamples depending on the arm (left, right) and direction of the force field (ipsilateral, contralateral), reached to central targets in velocity-dependent curl force fields. We assessed the rate at which participants developed predictive compensation for the force field using intermittent error-clamp trials and assessed both kinematic errors and initial aiming angles in the field trials. Participants who were exposed to fields that pushed the limb toward ipsilateral space reduced kinematic errors more slowly, built up less predictive field compensation, and relied more on strategic reaiming than those exposed to contralateral fields. However, there were no significant differences in predictive field compensation or kinematic errors between limbs, suggesting that participants using either the left or the right arm could adapt equally well to novel dynamics. It therefore appears that the distinct preferences in control mechanisms typically observed for the dominant and nondominant arms reflect a default mode that is based on habitual functional requirements rather than an absolute limit in capacity to access the controller specialized for the opposite limb. Copyright © 2016 the American Physiological Society.

Feedforward compensation for novel dynamics depends on force field orientation but is similar for the left and right arms

PubMed Central

Cunnington, Ross; Mattingley, Jason B.; Riek, Stephan; Carroll, Timothy J.

2016-01-01

There are well-documented differences in the way that people typically perform identical motor tasks with their dominant and the nondominant arms. According to Yadav and Sainburg's (Neuroscience 196: 153–167, 2011) hybrid-control model, this is because the two arms rely to different degrees on impedance control versus predictive control processes. Here, we assessed whether differences in limb control mechanisms influence the rate of feedforward compensation to a novel dynamic environment. Seventy-five healthy, right-handed participants, divided into four subsamples depending on the arm (left, right) and direction of the force field (ipsilateral, contralateral), reached to central targets in velocity-dependent curl force fields. We assessed the rate at which participants developed predictive compensation for the force field using intermittent error-clamp trials and assessed both kinematic errors and initial aiming angles in the field trials. Participants who were exposed to fields that pushed the limb toward ipsilateral space reduced kinematic errors more slowly, built up less predictive field compensation, and relied more on strategic reaiming than those exposed to contralateral fields. However, there were no significant differences in predictive field compensation or kinematic errors between limbs, suggesting that participants using either the left or the right arm could adapt equally well to novel dynamics. It therefore appears that the distinct preferences in control mechanisms typically observed for the dominant and nondominant arms reflect a default mode that is based on habitual functional requirements rather than an absolute limit in capacity to access the controller specialized for the opposite limb. PMID:27582293

Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

PubMed

Li, Zhaoying; Zhou, Wenjie; Liu, Hao

2016-09-01

This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Design and analysis of multihypothesis motion-compensated prediction (MHMCP) codec for error-resilient visual communications

NASA Astrophysics Data System (ADS)

Kung, Wei-Ying; Kim, Chang-Su; Kuo, C.-C. Jay

2004-10-01

A multi-hypothesis motion compensated prediction (MHMCP) scheme, which predicts a block from a weighted superposition of more than one reference blocks in the frame buffer, is proposed and analyzed for error resilient visual communication in this research. By combining these reference blocks effectively, MHMCP can enhance the error resilient capability of compressed video as well as achieve a coding gain. In particular, we investigate the error propagation effect in the MHMCP coder and analyze the rate-distortion performance in terms of the hypothesis number and hypothesis coefficients. It is shown that MHMCP suppresses the short-term effect of error propagation more effectively than the intra refreshing scheme. Simulation results are given to confirm the analysis. Finally, several design principles for the MHMCP coder are derived based on the analytical and experimental results.

Comparison of in-situ delay monitors for use in Adaptive Voltage Scaling

NASA Astrophysics Data System (ADS)

Pour Aryan, N.; Heiß, L.; Schmitt-Landsiedel, D.; Georgakos, G.; Wirnshofer, M.

2012-09-01

In Adaptive Voltage Scaling (AVS) the supply voltage of digital circuits is tuned according to the circuit's actual operating condition, which enables dynamic compensation to PVTA variations. By exploiting the excessive safety margins added in state-of-the-art worst-case designs considerable power saving is achieved. In our approach, the operating condition of the circuit is monitored by in-situ delay monitors. This paper presents different designs to implement the in-situ delay monitors capable of detecting late but still non-erroneous transitions, called Pre-Errors. The developed Pre-Error monitors are integrated in a 16 bit multiplier test circuit and the resulting Pre-Error AVS system is modeled by a Markov chain in order to determine the power saving potential of each Pre-Error detection approach.

Experimental demonstration of non-iterative interpolation-based partial ICI compensation in100G RGI-DP-CO-OFDM transport systems.

PubMed

Mousa-Pasandi, Mohammad E; Zhuge, Qunbi; Xu, Xian; Osman, Mohamed M; El-Sahn, Ziad A; Chagnon, Mathieu; Plant, David V

2012-07-02

We experimentally investigate the performance of a low-complexity non-iterative phase noise induced inter-carrier interference (ICI) compensation algorithm in reduced-guard-interval dual-polarization coherent-optical orthogonal-frequency-division-multiplexing (RGI-DP-CO-OFDM) transport systems. This interpolation-based ICI compensator estimates the time-domain phase noise samples by a linear interpolation between the CPE estimates of the consecutive OFDM symbols. We experimentally study the performance of this scheme for a 28 Gbaud QPSK RGI-DP-CO-OFDM employing a low cost distributed feedback (DFB) laser. Experimental results using a DFB laser with the linewidth of 2.6 MHz demonstrate 24% and 13% improvement in transmission reach with respect to the conventional equalizer (CE) in presence of weak and strong dispersion-enhanced-phase-noise (DEPN), respectively. A brief analysis of the computational complexity of this scheme in terms of the number of required complex multiplications is provided. This practical approach does not suffer from error propagation while enjoying low computational complexity.

An attack aimed at active phase compensation in one-way phase-encoded QKD systems

NASA Astrophysics Data System (ADS)

Dong, Zhao-Yue; Yu, Ning-Na; Wei, Zheng-Jun; Wang, Jin-Dong; Zhang, Zhi-Ming

2014-08-01

Phase drift is an inherent problem in one-way phase-encoded quantum key distribution (QKD) systems. Although combining passive with active phase compensation (APC) processes can effectively compensate for the phase drift, the security problems brought about by these processes are rarely considered. In this paper, we point out a security hole in the APC process and put forward a corresponding attack scheme. Under our proposed attack, the quantum bit error rate (QBER) of the QKD can be close to zero for some conditions. However, under the same conditions the ratio r of the key "0" and the key "1" which Bob (the legal communicators Alice and Bob) gets is no longer 1:1 but 2:1, which may expose Eve (the eavesdropper). In order to solve this problem, we modify the resend strategy of the attack scheme, which can force r to reach 1 and the QBER to be lower than the tolerable QBER.

A novel PON based UMTS broadband wireless access network architecture with an algorithm to guarantee end to end QoS

NASA Astrophysics Data System (ADS)

Sana, Ajaz; Hussain, Shahab; Ali, Mohammed A.; Ahmed, Samir

2007-09-01

In this paper we proposes a novel Passive Optical Network (PON) based broadband wireless access network architecture to provide multimedia services (video telephony, video streaming, mobile TV, mobile emails etc) to mobile users. In the conventional wireless access networks, the base stations (Node B) and Radio Network Controllers (RNC) are connected by point to point T1/E1 lines (Iub interface). The T1/E1 lines are expensive and add up to operating costs. Also the resources (transceivers and T1/E1) are designed for peak hours traffic, so most of the time the dedicated resources are idle and wasted. Further more the T1/E1 lines are not capable of supporting bandwidth (BW) required by next generation wireless multimedia services proposed by High Speed Packet Access (HSPA, Rel.5) for Universal Mobile Telecommunications System (UMTS) and Evolution Data only (EV-DO) for Code Division Multiple Access 2000 (CDMA2000). The proposed PON based back haul can provide Giga bit data rates and Iub interface can be dynamically shared by Node Bs. The BW is dynamically allocated and the unused BW from lightly loaded Node Bs is assigned to heavily loaded Node Bs. We also propose a novel algorithm to provide end to end Quality of Service (QoS) (between RNC and user equipment).The algorithm provides QoS bounds in the wired domain as well as in wireless domain with compensation for wireless link errors. Because of the air interface there can be certain times when the user equipment (UE) is unable to communicate with Node B (usually referred to as link error). Since the link errors are bursty and location dependent. For a proposed approach, the scheduler at the Node B maps priorities and weights for QoS into wireless MAC. The compensations for errored links is provided by the swapping of services between the active users and the user data is divided into flows, with flows allowed to lag or lead. The algorithm guarantees (1)delay and throughput for error-free flows,(2)short term fairness among error-free flows,(3)long term fairness among errored and error-free flows,(4)graceful degradation for leading flows and graceful compensation for lagging flows.

A Recovery-Oriented Approach to Dependable Services: Repairing Past Errors with System-Wide Undo

DTIC Science & Technology

2003-12-01

54 4.5.3 Handling propagating paradoxes: the squash interface . . . . . . . . . . . . . . . . . . . 54 4.6 Discussion...84 6.3.3 Compensating for paradoxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 6.3.4 Squashing propagating...the service and comparing the behavior of the replicas to detect and squash misbehaving replicas. While on paper Byzantine fault tolerance may seem to

Phonology, Decoding, and Lexical Compensation in Vowel Spelling Errors Made by Children with Dyslexia

ERIC Educational Resources Information Center

Bernstein, Stuart E.

2009-01-01

A descriptive study of vowel spelling errors made by children first diagnosed with dyslexia (n = 79) revealed that phonological errors, such as "bet" for "bat", outnumbered orthographic errors, such as "bate" for "bait". These errors were more frequent in nonwords than words, suggesting that lexical context helps with vowel spelling. In a second…

System overview on electromagnetic compensation for reflector antenna surface distortion

NASA Technical Reports Server (NTRS)

Acosta, R. J.; Zaman, A. J.; Terry, J. D.

1993-01-01

The system requirements and hardware implementation for electromagnetic compensation of antenna performance degradations due to thermal effects was investigated. Future commercial space communication antenna systems will utilize the 20/30 GHz frequency spectrum and support very narrow multiple beams (0.3 deg) over wide angle field of view (15-20 beamwidth). On the ground, portable and inexpensive very small aperture terminals (VSAT) for transmitting and receiving video, facsimile and data will be employed. These types of communication system puts a very stringent requirement on spacecraft antenna beam pointing stability (less than .01 deg), high gain (greater than 50 dB) and very lowside lobes (less than -25 dB). Thermal analysis performed on the advanced communication technology satellite (ACTS) has shown that the reflector surfaces, the mechanical supporting structures and metallic surfaces on the spacecraft body will distort due thermal effects from a varying solar flux. The antenna performance characteristics (e.g., pointing stability, gain, side lobe, etc.) will degrade due to thermal distortion in the reflector surface and supporting structures. Specifically, antenna RF radiation analysis has shown that pointing error is the most sensitive antenna performance parameter to thermal distortions. Other antenna parameters like peak gain, cross polarization level (beam isolation), and side lobe level will also degrade with thermal distortions. In order to restore pointing stability and in general antenna performance several compensation methods were proposed. In general these compensation methods can be classified as being either of mechanical or electromagnetic type. This paper will address only the later one. In this approach an adaptive phased array antenna feed is used to compensate for the antenna performance degradation. Extensive work has been devoted to demonstrate the feasibility of adaptive feed compensation on space communication antenna systems. This paper addresses the system requirements for such a system and identify candidate technologies (analog and digital) for possible hardware implementation.

Error analysis of mechanical system and wavelength calibration of monochromator

NASA Astrophysics Data System (ADS)

Zhang, Fudong; Chen, Chen; Liu, Jie; Wang, Zhihong

2018-02-01

This study focuses on improving the accuracy of a grating monochromator on the basis of the grating diffraction equation in combination with an analysis of the mechanical transmission relationship between the grating, the sine bar, and the screw of the scanning mechanism. First, the relationship between the mechanical error in the monochromator with the sine drive and the wavelength error is analyzed. Second, a mathematical model of the wavelength error and mechanical error is developed, and an accurate wavelength calibration method based on the sine bar's length adjustment and error compensation is proposed. Based on the mathematical model and calibration method, experiments using a standard light source with known spectral lines and a pre-adjusted sine bar length are conducted. The model parameter equations are solved, and subsequent parameter optimization simulations are performed to determine the optimal length ratio. Lastly, the length of the sine bar is adjusted. The experimental results indicate that the wavelength accuracy is ±0.3 nm, which is better than the original accuracy of ±2.6 nm. The results confirm the validity of the error analysis of the mechanical system of the monochromator as well as the validity of the calibration method.

New Gear Transmission Error Measurement System Designed

NASA Technical Reports Server (NTRS)

Oswald, Fred B.

2001-01-01

The prime source of vibration and noise in a gear system is the transmission error between the meshing gears. Transmission error is caused by manufacturing inaccuracy, mounting errors, and elastic deflections under load. Gear designers often attempt to compensate for transmission error by modifying gear teeth. This is done traditionally by a rough "rule of thumb" or more recently under the guidance of an analytical code. In order for a designer to have confidence in a code, the code must be validated through experiment. NASA Glenn Research Center contracted with the Design Unit of the University of Newcastle in England for a system to measure the transmission error of spur and helical test gears in the NASA Gear Noise Rig. The new system measures transmission error optically by means of light beams directed by lenses and prisms through gratings mounted on the gear shafts. The amount of light that passes through both gratings is directly proportional to the transmission error of the gears. A photodetector circuit converts the light to an analog electrical signal. To increase accuracy and reduce "noise" due to transverse vibration, there are parallel light paths at the top and bottom of the gears. The two signals are subtracted via differential amplifiers in the electronics package. The output of the system is 40 mV/mm, giving a resolution in the time domain of better than 0.1 mm, and discrimination in the frequency domain of better than 0.01 mm. The new system will be used to validate gear analytical codes and to investigate mechanisms that produce vibration and noise in parallel axis gears.

Apology for errors: whose responsibility?

PubMed

Leape, Lucian L

2012-01-01

When things go wrong during a medical procedure, patients' expectations are fairly straightforward: They expect an explanation of what happened, an apology if an error was made, and assurance that something will be done to prevent it from happening to another patient. Patients have a right to full disclosure; it is also therapeutic in relieving their anxiety. But if they have been harmed by our mistake, they also need an apology to maintain trust. Apology conveys respect, mutual suffering, and responsibility. Meaningful apology requires that the patient's physician and the institution both take responsibility, show remorse, and make amends. As the patient's advocate, the physician must play the lead role. However, as custodian of the systems, the hospital has primary responsibility for the mishap, for preventing that error in the future, and for compensation. The responsibility for making all this happen rests with the CEO. The hospital must have policies and practices that ensure that every injured patient is treated the way we would want to be treated ourselves--openly, honestly, with compassion, and, when indicated, with an apology and compensation. To make that happen, hospitals need to greatly expand training of physicians and others, and develop support programs for patients and caregivers.

Research on precision grinding technology of large scale and ultra thin optics

NASA Astrophysics Data System (ADS)

Zhou, Lian; Wei, Qiancai; Li, Jie; Chen, Xianhua; Zhang, Qinghua

2018-03-01

The flatness and parallelism error of large scale and ultra thin optics have an important influence on the subsequent polishing efficiency and accuracy. In order to realize the high precision grinding of those ductile elements, the low deformation vacuum chuck was designed first, which was used for clamping the optics with high supporting rigidity in the full aperture. Then the optics was planar grinded under vacuum adsorption. After machining, the vacuum system was turned off. The form error of optics was on-machine measured using displacement sensor after elastic restitution. The flatness would be convergenced with high accuracy by compensation machining, whose trajectories were integrated with the measurement result. For purpose of getting high parallelism, the optics was turned over and compensation grinded using the form error of vacuum chuck. Finally, the grinding experiment of large scale and ultra thin fused silica optics with aperture of 430mm×430mm×10mm was performed. The best P-V flatness of optics was below 3 μm, and parallelism was below 3 ″. This machining technique has applied in batch grinding of large scale and ultra thin optics.

Partial null astigmatism-compensated interferometry for a concave freeform Zernike mirror

NASA Astrophysics Data System (ADS)

Dou, Yimeng; Yuan, Qun; Gao, Zhishan; Yin, Huimin; Chen, Lu; Yao, Yanxia; Cheng, Jinlong

2018-06-01

Partial null interferometry without using any null optics is proposed to measure a concave freeform Zernike mirror. Oblique incidence on the freeform mirror is used to compensate for astigmatism as the main component in its figure, and to constrain the divergence of the test beam as well. The phase demodulated from the partial nulled interferograms is divided into low-frequency phase and high-frequency phase by Zernike polynomial fitting. The low-frequency surface figure error of the freeform mirror represented by the coefficients of Zernike polynomials is reconstructed from the low-frequency phase, applying the reverse optimization reconstruction technology in the accurate model of the interferometric system. The high-frequency surface figure error of the freeform mirror is retrieved from the high-frequency phase adopting back propagating technology, according to the updated model in which the low-frequency surface figure error has been superimposed on the sag of the freeform mirror. Simulations verified that this method is capable of testing a wide variety of astigmatism-dominated freeform mirrors due to the high dynamic range. The experimental result using our proposed method for a concave freeform Zernike mirror is consistent with the null test result employing the computer-generated hologram.

A novel disturbance-observer based friction compensation scheme for ball and plate system.

PubMed

Wang, Yongkun; Sun, Mingwei; Wang, Zenghui; Liu, Zhongxin; Chen, Zengqiang

2014-03-01

Friction is often ignored when designing a controller for the ball and plate system, which can lead to steady-error and stick-slip phenomena, especially for the small amplitude command. It is difficult to achieve high-precision control performance for the ball and plate system because of its friction. A novel reference compensation strategy is presented to attenuate the aftereffects caused by the friction. To realize this strategy, a linear control law is proposed based on a reduced-order observer. Neither the accurate friction model nor the estimation of specific characteristic parameters is needed in this design. Moreover, the describing function method illustrates that the limit cycle can be avoided. Finally, the comparative mathematical simulations and the practical experiments are used to validate the effectiveness of the proposed method. © 2013 ISA Published by ISA All rights reserved.

DC-Compensated Current Transformer.

PubMed

Ripka, Pavel; Draxler, Karel; Styblíková, Renata

2016-01-20

Instrument current transformers (CTs) measure AC currents. The DC component in the measured current can saturate the transformer and cause gross error. We use fluxgate detection and digital feedback compensation of the DC flux to suppress the overall error to 0.15%. This concept can be used not only for high-end CTs with a nanocrystalline core, but it also works for low-cost CTs with FeSi cores. The method described here allows simultaneous measurements of the DC current component.

Compact MEMS-based adaptive optics: optical coherence tomography for clinical use

NASA Astrophysics Data System (ADS)

Chen, Diana C.; Olivier, Scot S.; Jones, Steven M.; Zawadzki, Robert J.; Evans, Julia W.; Choi, Stacey S.; Werner, John S.

2008-02-01

We describe a compact MEMS-based adaptive optics (AO) optical coherence tomography (OCT) system with improved AO performance and ease of clinical use. A typical AO system consists of a Shack-Hartmann wavefront sensor and a deformable mirror that measures and corrects the ocular and system aberrations. Because of limitations on current deformable mirror technologies, the amount of real-time ocular-aberration compensation is restricted and small in previous AO-OCT instruments. In this instrument, we incorporate an optical apparatus to correct the spectacle aberrations of the patients such as myopia, hyperopia and astigmatism. This eliminates the tedious process of using trial lenses in clinical imaging. Different amount of spectacle aberration compensation was achieved by motorized stages and automated with the AO computer for ease of clinical use. In addition, the compact AO-OCT was optimized to have minimum system aberrations to reduce AO registration errors and improve AO performance.

Fuzzy Adaptive Compensation Control of Uncertain Stochastic Nonlinear Systems With Actuator Failures and Input Hysteresis.

PubMed

Wang, Jianhui; Liu, Zhi; Chen, C L Philip; Zhang, Yun

2017-10-12

Hysteresis exists ubiquitously in physical actuators. Besides, actuator failures/faults may also occur in practice. Both effects would deteriorate the transient tracking performance, and even trigger instability. In this paper, we consider the problem of compensating for actuator failures and input hysteresis by proposing a fuzzy control scheme for stochastic nonlinear systems. Compared with the existing research on stochastic nonlinear uncertain systems, it is found that how to guarantee a prescribed transient tracking performance when taking into account actuator failures and hysteresis simultaneously also remains to be answered. Our proposed control scheme is designed on the basis of the fuzzy logic system and backstepping techniques for this purpose. It is proven that all the signals remain bounded and the tracking error is ensured to be within a preestablished bound with the failures of hysteretic actuator. Finally, simulations are provided to illustrate the effectiveness of the obtained theoretical results.

Pointing and control system design study for the space infrared telescope facility (SIRTF)

NASA Technical Reports Server (NTRS)

Lorell, K. R.; Aubrun, J. N.; Sridhar, B.; Cochran, R. W.

1984-01-01

The design and performance of pointing and control systems for two space infrared telescope facility vehicles were examined. The need for active compensation of image jitter using the secondary mirror or other optical elements was determined. In addition, a control system to allow the telescope to perform small angle slews, and to accomplish large angle slews at the rate of 15 deg per minute was designed. Both the 98 deg and the 28 deg inclination orbits were examined, and spacecraft designs were developed for each. The results indicate that active optical compensation of line-of-sight errors is not necessary if the system is allowed to settle for roughly ten seconds after a slew maneuver. The results are contingent on the assumption of rigid body dynamics, and a single structural mode between spacecraft and telescope. Helium slosh for a half full 4000 liter tank was analyzed, and did not represent a major control problem.

Emergency Control Aircraft System Using Thrust Modulation

NASA Technical Reports Server (NTRS)

Burken, John J. (Inventor); Burcham, Frank W., Jr. (Inventor)

2000-01-01

A digital longitudinal Aircraft Propulsion Control (APC system of a multiengine aircraft is provided by engine thrust modulation in response to comparing an input flightpath angle signal (gamma)c from a pilot thumbwheel. or an ILS system with a sensed flightpath angle y to produce an error signal (gamma)e that is then integrated (with reasonable limits) to generate a drift correction signal to be added to the error signal (gamma)e after first subtracting a lowpass filtered velocity signal Vel(sub f) for phugoid damping. The output error signal is multiplied by a constant to produce an aircraft thrust control signal ATC of suitable amplitude to drive a throttle servo for all engines. each of which includes its own full-authority digital engine control (FADEC) computer. An alternative APC system omits sensed flightpath angle feedback and instead controls the flightpath angle by feedback of the lowpass filtered velocity signal Vel(sub f) which also inherently provides phugoid damping. The feature of drift compensation is retained.

Motion compensation and noise tolerance in phase-shifting digital in-line holography.

PubMed

Stenner, Michael D; Neifeld, Mark A

2006-05-15

We present a technique for phase-shifting digital in-line holography which compensates for lateral object motion. By collecting two frames of interference between object and reference fields with identical reference phase, one can estimate the lateral motion that occurred between frames using the cross-correlation. We also describe a very general linear framework for phase-shifting holographic reconstruction which minimizes additive white Gaussian noise (AWGN) for an arbitrary set of reference field amplitudes and phases. We analyze the technique's sensitivity to noise (AWGN, quantization, and shot), errors in the reference fields, errors in motion estimation, resolution, and depth of field. We also present experimental motion-compensated images achieving the expected resolution.

A memory efficient implementation scheme of Gauss error function in a Laguerre-Volterra network for neuroprosthetic devices

NASA Astrophysics Data System (ADS)

Li, Will X. Y.; Cui, Ke; Zhang, Wei

2017-04-01

Cognitive neural prosthesis is a manmade device which can be used to restore or compensate for lost human cognitive modalities. The generalized Laguerre-Volterra (GLV) network serves as a robust mathematical underpinning for the development of such prosthetic instrument. In this paper, a hardware implementation scheme of Gauss error function for the GLV network targeting reconfigurable platforms is reported. Numerical approximations are formulated which transform the computation of nonelementary function into combinational operations of elementary functions, and memory-intensive look-up table (LUT) based approaches can therefore be circumvented. The computational precision can be made adjustable with the utilization of an error compensation scheme, which is proposed based on the experimental observation of the mathematical characteristics of the error trajectory. The precision can be further customizable by exploiting the run-time characteristics of the reconfigurable system. Compared to the polynomial expansion based implementation scheme, the utilization of slice LUTs, occupied slices, and DSP48E1s on a Xilinx XC6VLX240T field-programmable gate array has decreased by 94.2%, 94.1%, and 90.0%, respectively. While compared to the look-up table based scheme, 1.0 ×1017 bits of storage can be spared under the maximum allowable error of 1.0 ×10-3 . The proposed implementation scheme can be employed in the study of large-scale neural ensemble activity and in the design and development of neural prosthetic device.

Mitigating Communication Delays in Remotely Connected Hardware-in-the-loop Experiments

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

Cale, James; Johnson, Brian; Dall'Anese, Emiliano

Here, this paper introduces a potential approach for mitigating the effects of communication delays between multiple, closed-loop hardware-in-the-loop experiments which are virtually connected, yet physically separated. The method consists of an analytical method for the compensation of communication delays, along with the supporting computational and communication infrastructure. The control design leverages tools for the design of observers for the compensation of measurement errors in systems with time-varying delays. The proposed methodology is validated through computer simulation and hardware experimentation connecting hardware-in-the-loop experiments conducted between laboratories separated by a distance of over 100 km.

Mitigating Communication Delays in Remotely Connected Hardware-in-the-loop Experiments

DOE PAGES

Cale, James; Johnson, Brian; Dall'Anese, Emiliano; ...

2018-03-30

Here, this paper introduces a potential approach for mitigating the effects of communication delays between multiple, closed-loop hardware-in-the-loop experiments which are virtually connected, yet physically separated. The method consists of an analytical method for the compensation of communication delays, along with the supporting computational and communication infrastructure. The control design leverages tools for the design of observers for the compensation of measurement errors in systems with time-varying delays. The proposed methodology is validated through computer simulation and hardware experimentation connecting hardware-in-the-loop experiments conducted between laboratories separated by a distance of over 100 km.

Parameter prediction based on Improved Process neural network and ARMA error compensation in Evaporation Process

NASA Astrophysics Data System (ADS)

Qian, Xiaoshan

2018-01-01

The traditional model of evaporation process parameters have continuity and cumulative characteristics of the prediction error larger issues, based on the basis of the process proposed an adaptive particle swarm neural network forecasting method parameters established on the autoregressive moving average (ARMA) error correction procedure compensated prediction model to predict the results of the neural network to improve prediction accuracy. Taking a alumina plant evaporation process to analyze production data validation, and compared with the traditional model, the new model prediction accuracy greatly improved, can be used to predict the dynamic process of evaporation of sodium aluminate solution components.

A compensation scheme for tape-speed variation in cassette recorders.

PubMed

Wodicka, G R; Aguirre, A; Burns, S K; Shannon, D C

1988-06-01

A scheme to reduce the data corruption caused by tape-speed variation in cassette recorders used for monitoring infant apnea was developed. Low-frequency timing information is recorded on the tape, under the constraints of the frequency response of the recorder, simultaneously with the other signals. This information is extracted during playback and multiplied to a frequency suitable for data sampling, using an electronic, phase-locked loop. Analog-to-digital conversion of the data is performed at a rate proportional to the tape speed, resulting in compensation for speed variation. No direct modification of the speed-control mechanism of the recorder is required. The scheme was evaluated by comparing interval measurements of recorded timing information with and without compensation. Compensation reduced the error of the measurement by nearly an order of magnitude, which was consistent with theoretical predictions. This allows analysis of clinical value to be performed on signals recorded by systems that lack sophisticated speed-control mechanisms.

An adaptive angle-doppler compensation method for airborne bistatic radar based on PAST

NASA Astrophysics Data System (ADS)

Hang, Xu; Jun, Zhao

2018-05-01

Adaptive angle-Doppler compensation method extract the requisite information based on the data itself adaptively, thus avoiding the problem of performance degradation caused by inertia system error. However, this method requires estimation and egiendecomposition of sample covariance matrix, which has a high computational complexity and limits its real-time application. In this paper, an adaptive angle Doppler compensation method based on projection approximation subspace tracking (PAST) is studied. The method uses cyclic iterative processing to quickly estimate the positions of the spectral center of the maximum eigenvector of each range cell, and the computational burden of matrix estimation and eigen-decompositon is avoided, and then the spectral centers of all range cells is overlapped by two dimensional compensation. Simulation results show the proposed method can effectively reduce the no homogeneity of airborne bistatic radar, and its performance is similar to that of egien-decomposition algorithms, but the computation load is obviously reduced and easy to be realized.

Overlay leaves litho: impact of non-litho processes on overlay and compensation

NASA Astrophysics Data System (ADS)

Ruhm, Matthias; Schulz, Bernd; Cotte, Eric; Seltmann, Rolf; Hertzsch, Tino

2014-10-01

According to the ITRS roadmap [1], the overlay requirement for the 28nm node is 8nm. If we compare this number with the performance given by tool vendors for their most advanced immersion systems (which is < 3nm), there seems to remain a large margin. Does that mean that today's leading edge Fab has an easy life? Unfortunately not, as other contributors affecting overlay are emerging. Mask contributions and so-called non-linear wafer distortions are known effects that can impact overlay quite significantly. Furthermore, it is often forgotten that downstream (post-litho) processes can impact the overlay as well. Thus, it can be required to compensate for the effects of subsequent processes already at the lithography operation. Within our paper, we will briefly touch on the wafer distortion topic and discuss the limitations of lithography compensation techniques such as higher order corrections versus solving the root cause of the distortions. The primary focus will be on the impact of the etch processes on the pattern placement error. We will show how individual layers can get affected differently by showing typical wafer signatures. However, in contrast to the above-mentioned wafer distortion topic, lithographic compensation techniques can be highly effective to reduce the placement error significantly towards acceptable levels (see Figure 1). Finally we will discuss the overall overlay budget for a 28nm contact to gate case by taking the impact of the individual process contributors into account.

Moving beyond the total sea ice extent in gauging model biases

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

Ivanova, Detelina P.; Gleckler, Peter J.; Taylor, Karl E.

Here, reproducing characteristics of observed sea ice extent remains an important climate modeling challenge. This study describes several approaches to improve how model biases in total sea ice distribution are quantified, and applies them to historically forced simulations contributed to phase 5 of the Coupled Model Intercomparison Project (CMIP5). The quantity of hemispheric total sea ice area, or some measure of its equatorward extent, is often used to evaluate model performance. A new approach is introduced that investigates additional details about the structure of model errors, with an aim to reduce the potential impact of compensating errors when gauging differencesmore » between simulated and observed sea ice. Using multiple observational datasets, several new methods are applied to evaluate the climatological spatial distribution and the annual cycle of sea ice cover in 41 CMIP5 models. It is shown that in some models, error compensation can be substantial, for example resulting from too much sea ice in one region and too little in another. Error compensation tends to be larger in models that agree more closely with the observed total sea ice area, which may result from model tuning. The results herein suggest that consideration of only the total hemispheric sea ice area or extent can be misleading when quantitatively comparing how well models agree with observations. Further work is needed to fully develop robust methods to holistically evaluate the ability of models to capture the finescale structure of sea ice characteristics; however, the “sector scale” metric used here aids in reducing the impact of compensating errors in hemispheric integrals.« less

Moving beyond the total sea ice extent in gauging model biases

DOE PAGES

Ivanova, Detelina P.; Gleckler, Peter J.; Taylor, Karl E.; ...

2016-11-29

Here, reproducing characteristics of observed sea ice extent remains an important climate modeling challenge. This study describes several approaches to improve how model biases in total sea ice distribution are quantified, and applies them to historically forced simulations contributed to phase 5 of the Coupled Model Intercomparison Project (CMIP5). The quantity of hemispheric total sea ice area, or some measure of its equatorward extent, is often used to evaluate model performance. A new approach is introduced that investigates additional details about the structure of model errors, with an aim to reduce the potential impact of compensating errors when gauging differencesmore » between simulated and observed sea ice. Using multiple observational datasets, several new methods are applied to evaluate the climatological spatial distribution and the annual cycle of sea ice cover in 41 CMIP5 models. It is shown that in some models, error compensation can be substantial, for example resulting from too much sea ice in one region and too little in another. Error compensation tends to be larger in models that agree more closely with the observed total sea ice area, which may result from model tuning. The results herein suggest that consideration of only the total hemispheric sea ice area or extent can be misleading when quantitatively comparing how well models agree with observations. Further work is needed to fully develop robust methods to holistically evaluate the ability of models to capture the finescale structure of sea ice characteristics; however, the “sector scale” metric used here aids in reducing the impact of compensating errors in hemispheric integrals.« less

Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design.

PubMed

Cheng, Long; Hou, Zeng-Guang; Tan, Min; Zhang, W J

2012-10-01

The trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy.

Temporally-stable active precision mount for large optics.

PubMed

Reinlein, Claudia; Damm, Christoph; Lange, Nicolas; Kamm, Andreas; Mohaupt, Matthias; Brady, Aoife; Goy, Matthias; Leonhard, Nina; Eberhardt, Ramona; Zeitner, Uwe; Tünnermann, Andreas

2016-06-13

We present a temporally-stable active mount to compensate for manufacturing-induced deformations of reflective optical components. In this paper, we introduce the design of the active mount, and its evaluation results for two sample mirrors: a quarter mirror of 115 × 105 × 9 mm³, and a full mirror of 228 × 210 × 9 mm³. The quarter mirror with 20 actuators shows a best wavefront error rms of 10 nm. Its installation position depending deformations are addressed by long-time measurements over 14 weeks indicating no significance of the orientation. Size-induced differences of the mount are studied by a full mirror with 80 manual actuators arranged in the same actuator pattern as the quarter mirror. This sample shows a wavefront error rms of (27±2) nm over a measurement period of 46 days. We conclude that the developed mount is suitable to compensate for manufacturing-induced deformations of large reflective optics, and likely to be included in the overall systems alignment procedure.

Error analysis and experiments of attitude measurement using laser gyroscope

NASA Astrophysics Data System (ADS)

Ren, Xin-ran; Ma, Wen-li; Jiang, Ping; Huang, Jin-long; Pan, Nian; Guo, Shuai; Luo, Jun; Li, Xiao

2018-03-01

The precision of photoelectric tracking and measuring equipment on the vehicle and vessel is deteriorated by the platform's movement. Specifically, the platform's movement leads to the deviation or loss of the target, it also causes the jitter of visual axis and then produces image blur. In order to improve the precision of photoelectric equipment, the attitude of photoelectric equipment fixed with the platform must be measured. Currently, laser gyroscope is widely used to measure the attitude of the platform. However, the measurement accuracy of laser gyro is affected by its zero bias, scale factor, installation error and random error. In this paper, these errors were analyzed and compensated based on the laser gyro's error model. The static and dynamic experiments were carried out on a single axis turntable, and the error model was verified by comparing the gyro's output with an encoder with an accuracy of 0.1 arc sec. The accuracy of the gyroscope has increased from 7000 arc sec to 5 arc sec for an hour after error compensation. The method used in this paper is suitable for decreasing the laser gyro errors in inertial measurement applications.

Backlash compensator mechanism

DOEpatents

Chrislock, Jerry L.

1979-01-01

Mechanism which compensates for backlash error in a lead screw position indicator by decoupling the indicator shaft from the lead screw when reversing rotation. The position indicator then displays correct information regardless of the direction of rotation of the lead screw.

A flexible and cost-effective compensation method for leveling using large-scale coordinate measuring machines and its application in aircraft digital assembly

NASA Astrophysics Data System (ADS)

Deng, Zhengping; Li, Shuanggao; Huang, Xiang

2018-06-01

In the assembly process of large-size aerospace products, the leveling and horizontal alignment of large components are essential prior to the installation of an inertial navigation system (INS) and the final quality inspection. In general, the inherent coordinate systems of large-scale coordinate measuring devices are not coincident with the geodetic horizontal system, and a dual-axis compensation system is commonly required for the measurement of difference in heights. These compensation systems are expensive and dedicated designs for different devices at present. Considering that a large-size assembly site usually needs more than one measuring device, a compensation approach which is versatile for different devices would be a more convenient and economic choice for manufacturers. In this paper, a flexible and cost-effective compensation method is proposed. Firstly, an auxiliary measuring device called a versatile compensation fixture (VCF) is designed, which mainly comprises reference points for coordinate transformation and a dual-axis inclinometer, and a kind of network tighten points (NTPs) are introduced and temporarily deployed in the large measuring space to further reduce transformation error. Secondly, the measuring principle of height difference is studied, based on coordinate transformation theory and trigonometry while considering the effects of earth curvature, and the coordinate transformation parameters are derived by least squares adjustment. Thirdly, the analytical solution of leveling uncertainty is analyzed, based on which the key parameters of the VCF and the proper deployment of NTPs are determined according to the leveling accuracy requirement. Furthermore, the proposed method is practically applied to the assembly of a large helicopter by developing an automatic leveling and alignment system. By measuring four NTPs, the leveling uncertainty (2σ) is reduced by 29.4% to about 0.12 mm, compared with that without NTPs.

Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

NASA Astrophysics Data System (ADS)

Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

2017-12-01

In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

Study on verifying the angle measurement performance of the rotary-laser system

NASA Astrophysics Data System (ADS)

Zhao, Jin; Ren, Yongjie; Lin, Jiarui; Yin, Shibin; Zhu, Jigui

2018-04-01

An angle verification method to verify the angle measurement performance of the rotary-laser system was developed. Angle measurement performance has a great impact on measuring accuracy. Although there is some previous research on the verification of angle measuring uncertainty for the rotary-laser system, there are still some limitations. High-precision reference angles are used in the study of the method, and an integrated verification platform is set up to evaluate the performance of the system. This paper also probes the error that has biggest influence on the verification system. Some errors of the verification system are avoided via the experimental method, and some are compensated through the computational formula and curve fitting. Experimental results show that the angle measurement performance meets the requirement for coordinate measurement. The verification platform can evaluate the uncertainty of angle measurement for the rotary-laser system efficiently.

An innovative method for coordinate measuring machine one-dimensional self-calibration with simplified experimental process.

PubMed

Fang, Cheng; Butler, David Lee

2013-05-01

In this paper, an innovative method for CMM (Coordinate Measuring Machine) self-calibration is proposed. In contrast to conventional CMM calibration that relies heavily on a high precision reference standard such as a laser interferometer, the proposed calibration method is based on a low-cost artefact which is fabricated with commercially available precision ball bearings. By optimizing the mathematical model and rearranging the data sampling positions, the experimental process and data analysis can be simplified. In mathematical expression, the samples can be minimized by eliminating the redundant equations among those configured by the experimental data array. The section lengths of the artefact are measured at arranged positions, with which an equation set can be configured to determine the measurement errors at the corresponding positions. With the proposed method, the equation set is short of one equation, which can be supplemented by either measuring the total length of the artefact with a higher-precision CMM or calibrating the single point error at the extreme position with a laser interferometer. In this paper, the latter is selected. With spline interpolation, the error compensation curve can be determined. To verify the proposed method, a simple calibration system was set up on a commercial CMM. Experimental results showed that with the error compensation curve uncertainty of the measurement can be reduced to 50%.

Numerical Predictions of Static-Pressure-Error Corrections for a Modified T-38C Aircraft

DTIC Science & Technology

2014-12-15

but the more modern work of Latif et al . [11] demonstrated that compensated Pitot-static probes can be simulated accurately for subsonic and...what was originally estimated from CFD simulations in Bhamidipati et al . [3] by extracting the static-pressure error in front of the production probe...Aerodynamically Compensating Pitot Tube,” Journal of Aircraft, Vol. 25, No. 6, 1988, pp. 544–547. doi:10.2514/3.45620 [11] Latif , A., Masud, J., Sheikh, S. R., and

DC-Compensated Current Transformer †

PubMed Central

Ripka, Pavel; Draxler, Karel; Styblíková, Renata

2016-01-01

Instrument current transformers (CTs) measure AC currents. The DC component in the measured current can saturate the transformer and cause gross error. We use fluxgate detection and digital feedback compensation of the DC flux to suppress the overall error to 0.15%. This concept can be used not only for high-end CTs with a nanocrystalline core, but it also works for low-cost CTs with FeSi cores. The method described here allows simultaneous measurements of the DC current component. PMID:26805830

Compensation, benefits, and satisfaction: the Longitudinal Emergency Medical Technician Demographic Study (LEADS) Project.

PubMed

Brown, William E; Dawson, Drew; Levine, Roger

2003-01-01

To determine the compensation, benefit package, and level of satisfaction with the benefits of nationally registered emergency medical technicians (NREMTs) in 2001. The Longitudinal EMT Attribute Demographic Study (LEADS) Project included an 18-question snapshot survey on compensation with the 2001 core survey. This survey was sent to 4,835 randomly selected NREMTs. A total of 1,718 NREMT-Basics and NREMT-Paramedics, from 1,317 different postal zip codes, responded to the survey. Most NREMTs in the survey (86% of the compensated NREMT-Basics and 85% of the compensated NREMT-Paramedics) were employed primarily as patient care providers. For their emergency medical services (EMS) work in the previous 12 months, compensated NREMT-Basics had mean earnings of 18,324 US dollars (standard error, 978 US dollars) and compensated NREMT-Paramedics had mean earnings of 34,654 US dollars (standard error, 646 US dollars). At least 26% of compensated NREMT-Basics and 9% of compensated NREMT-Paramedics had no health insurance. The majority of compensated NREMTs (62% of the Basics and 57% of the Paramedics) reported their retirement plans were not adequate to meet their financial needs. EMTs are not satisfied with the appreciation and recognition they receive from EMS employers. About one-third (35% of the compensated NREMT-Basics and 30% of the compensated NREMT-Paramedics) were not satisfied with all of the benefits they receive from their EMS employer. Nearly all (94% of both compensated NREMT-Basics and NREMT-Paramedics) believed that EMTs should be paid more for the job that they do. The adequacy of EMT compensation and benefit packages is an area of concern. It is not unreasonable to believe that these factors are associated with EMT retention and attrition. Additional longitudinal EMT information on compensation and benefits are anticipated to determine the extent to which compensation and benefits are factors in EMT retention.

Performance Sensitivity Studies on the PIAA Implementation of the High-Contrast Imaging Testbed

NASA Technical Reports Server (NTRS)

Sidick, Erkin; Lou, John; Shaklan, Stuart; Levine, Marie

2010-01-01

This slide presentation reviews the sensitivity studies on the Phase-Induced Amplitude Apodization (PIAA), or pupil mapping using the High-Contrast Imaging Testbed (HCIT). PIAA is a promising technique in high-dynamic range stellar coronagraph. This presentation reports on the investigation of the effects of the phase and rigid-body errors of various optics on the narrowband contrast performance of the PIAA/HCIT hybrid system. The results have shown that the 2-step wavefront control method utilizing 2-DMs is quite effective in compensating the effects of realistic phase and rigid-body errors of various optics

BRDF-dependent accuracy of array-projection-based 3D sensors.

PubMed

Heist, Stefan; Kühmstedt, Peter; Tünnermann, Andreas; Notni, Gunther

2017-03-10

In order to perform high-speed three-dimensional (3D) shape measurements with structured light systems, high-speed projectors are required. One possibility is an array projector, which allows pattern projection at several tens of kilohertz by switching on and off the LEDs of various slide projectors. The different projection centers require a separate analysis, as the intensity received by the cameras depends on the projection direction and the object's bidirectional reflectance distribution function (BRDF). In this contribution, we investigate the BRDF-dependent errors of array-projection-based 3D sensors and propose an error compensation process.

A hybrid method for synthetic aperture ladar phase-error compensation

NASA Astrophysics Data System (ADS)

Hua, Zhili; Li, Hongping; Gu, Yongjian

2009-07-01

As a high resolution imaging sensor, synthetic aperture ladar data contain phase-error whose source include uncompensated platform motion and atmospheric turbulence distortion errors. Two previously devised methods, rank one phase-error estimation algorithm and iterative blind deconvolution are reexamined, of which a hybrid method that can recover both the images and PSF's without any a priori information on the PSF is built to speed up the convergence rate by the consideration in the choice of initialization. To be integrated into spotlight mode SAL imaging model respectively, three methods all can effectively reduce the phase-error distortion. For each approach, signal to noise ratio, root mean square error and CPU time are computed, from which we can see the convergence rate of the hybrid method can be improved because a more efficient initialization set of blind deconvolution. Moreover, by making a further discussion of the hybrid method, the weight distribution of ROPE and IBD is found to be an important factor that affects the final result of the whole compensation process.

Precise method of compensating radiation-induced errors in a hot-cathode-ionization gauge with correcting electrode

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

Saeki, Hiroshi, E-mail: saeki@spring8.or.jp; Magome, Tamotsu, E-mail: saeki@spring8.or.jp

2014-10-06

To compensate pressure-measurement errors caused by a synchrotron radiation environment, a precise method using a hot-cathode-ionization-gauge head with correcting electrode, was developed and tested in a simulation experiment with excess electrons in the SPring-8 storage ring. This precise method to improve the measurement accuracy, can correctly reduce the pressure-measurement errors caused by electrons originating from the external environment, and originating from the primary gauge filament influenced by spatial conditions of the installed vacuum-gauge head. As the result of the simulation experiment to confirm the performance reducing the errors caused by the external environment, the pressure-measurement error using this method wasmore » approximately less than several percent in the pressure range from 10{sup −5} Pa to 10{sup −8} Pa. After the experiment, to confirm the performance reducing the error caused by spatial conditions, an additional experiment was carried out using a sleeve and showed that the improved function was available.« less

Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

NASA Astrophysics Data System (ADS)

Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

2017-11-01

The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

Fine Output Voltage Control Method considering Time-Delay of Digital Inverter System for X-ray Computed Tomography

NASA Astrophysics Data System (ADS)

Shibata, Junji; Kaneko, Kazuhide; Ohishi, Kiyoshi; Ando, Itaru; Ogawa, Mina; Takano, Hiroshi

This paper proposes a new output voltage control for an inverter system, which has time-delay and nonlinear load. In the next generation X-ray computed tomography of a medical device (X-ray CT) that uses the contactless power transfer method, the feedback signal often contains time-delay due to AD/DA conversion and error detection/correction time. When the PID controller of the inverter system is received the adverse effects of the time-delay, the controller often has an overshoot and a oscillated response. In order to overcome this problem, this paper proposes a compensation method based on the Smith predictor for an inverter system having a time-delay and the nonlinear loads which are the diode bridge rectifier and X-ray tube. The proposed compensation method consists of the hybrid Smith predictor system based on an equivalent analog circuit and DSP. The experimental results confirm the validity of the proposed system.

A survey of camera error sources in machine vision systems

NASA Astrophysics Data System (ADS)

Jatko, W. B.

In machine vision applications, such as an automated inspection line, television cameras are commonly used to record scene intensity in a computer memory or frame buffer. Scene data from the image sensor can then be analyzed with a wide variety of feature-detection techniques. Many algorithms found in textbooks on image processing make the implicit simplifying assumption of an ideal input image with clearly defined edges and uniform illumination. The ideal image model is helpful to aid the student in understanding the principles of operation, but when these algorithms are blindly applied to real-world images the results can be unsatisfactory. This paper examines some common measurement errors found in camera sensors and their underlying causes, and possible methods of error compensation. The role of the camera in a typical image-processing system is discussed, with emphasis on the origination of signal distortions. The effects of such things as lighting, optics, and sensor characteristics are considered.

A Novel Extreme Learning Control Framework of Unmanned Surface Vehicles.

PubMed

Wang, Ning; Sun, Jing-Chao; Er, Meng Joo; Liu, Yan-Cheng

2016-05-01

In this paper, an extreme learning control (ELC) framework using the single-hidden-layer feedforward network (SLFN) with random hidden nodes for tracking an unmanned surface vehicle suffering from unknown dynamics and external disturbances is proposed. By combining tracking errors with derivatives, an error surface and transformed states are defined to encapsulate unknown dynamics and disturbances into a lumped vector field of transformed states. The lumped nonlinearity is further identified accurately by an extreme-learning-machine-based SLFN approximator which does not require a priori system knowledge nor tuning input weights. Only output weights of the SLFN need to be updated by adaptive projection-based laws derived from the Lyapunov approach. Moreover, an error compensator is incorporated to suppress approximation residuals, and thereby contributing to the robustness and global asymptotic stability of the closed-loop ELC system. Simulation studies and comprehensive comparisons demonstrate that the ELC framework achieves high accuracy in both tracking and approximation.

Comparison between laser interferometric and calibrated artifacts for the geometric test of machine tools

NASA Astrophysics Data System (ADS)

Sousa, Andre R.; Schneider, Carlos A.

2001-09-01

A touch probe is used on a 3-axis vertical machine center to check against a hole plate, calibrated on a coordinate measuring machine (CMM). By comparing the results obtained from the machine tool and CMM, the main machine tool error components are measured, attesting the machine accuracy. The error values can b used also t update the error compensation table at the CNC, enhancing the machine accuracy. The method is easy to us, has a lower cost than classical test techniques, and preliminary results have shown that its uncertainty is comparable to well established techniques. In this paper the method is compared with the laser interferometric system, regarding reliability, cost and time efficiency.

Error vector magnitude based parameter estimation for digital filter back-propagation mitigating SOA distortions in 16-QAM.

PubMed

Amiralizadeh, Siamak; Nguyen, An T; Rusch, Leslie A

2013-08-26

We investigate the performance of digital filter back-propagation (DFBP) using coarse parameter estimation for mitigating SOA nonlinearity in coherent communication systems. We introduce a simple, low overhead method for parameter estimation for DFBP based on error vector magnitude (EVM) as a figure of merit. The bit error rate (BER) penalty achieved with this method has negligible penalty as compared to DFBP with fine parameter estimation. We examine different bias currents for two commercial SOAs used as booster amplifiers in our experiments to find optimum operating points and experimentally validate our method. The coarse parameter DFBP efficiently compensates SOA-induced nonlinearity for both SOA types in 80 km propagation of 16-QAM signal at 22 Gbaud.

Influence of OPD in wavelength-shifting interferometry

NASA Astrophysics Data System (ADS)

Wang, Hongjun; Tian, Ailing; Liu, Bingcai; Dang, Juanjuan

2009-12-01

Phase-shifting interferometry is a powerful tool for high accuracy optical measurement. It operates by change the optical path length in the reference arm or test arm. This method practices by move optical device. So it has much problem when the optical device is very large and heavy. For solve this problem, the wavelength-shifting interferometry was put forwarded. In wavelength-shifting interferometry, the phase shifting angle was achieved by change the wavelength of optical source. The phase shifting angle was decided by wavelength and OPD (Optical Path Difference) between test and reference wavefront. So the OPD is an important factor to measure results. But in measurement, because the positional error and profile error of under testing optical element is exist, the phase shifting angle is different in different test point when wavelength scanning, it will introduce phase shifting angle error, so it will introduce optical surface measure error. For analysis influence of OPD on optical surface error, the relation between surface error and OPD was researched. By simulation, the relation between phase shifting error and OPD was established. By analysis, the error compensation method was put forward. After error compensation, the measure results can be improved to great extend.

Influence of OPD in wavelength-shifting interferometry

NASA Astrophysics Data System (ADS)

Wang, Hongjun; Tian, Ailing; Liu, Bingcai; Dang, Juanjuan

2010-03-01

Phase-shifting interferometry is a powerful tool for high accuracy optical measurement. It operates by change the optical path length in the reference arm or test arm. This method practices by move optical device. So it has much problem when the optical device is very large and heavy. For solve this problem, the wavelength-shifting interferometry was put forwarded. In wavelength-shifting interferometry, the phase shifting angle was achieved by change the wavelength of optical source. The phase shifting angle was decided by wavelength and OPD (Optical Path Difference) between test and reference wavefront. So the OPD is an important factor to measure results. But in measurement, because the positional error and profile error of under testing optical element is exist, the phase shifting angle is different in different test point when wavelength scanning, it will introduce phase shifting angle error, so it will introduce optical surface measure error. For analysis influence of OPD on optical surface error, the relation between surface error and OPD was researched. By simulation, the relation between phase shifting error and OPD was established. By analysis, the error compensation method was put forward. After error compensation, the measure results can be improved to great extend.

An Application of Semi-parametric Estimator with Weighted Matrix of Data Depth in Variance Component Estimation

NASA Astrophysics Data System (ADS)

Pan, X. G.; Wang, J. Q.; Zhou, H. Y.

2013-05-01

The variance component estimation (VCE) based on semi-parametric estimator with weighted matrix of data depth has been proposed, because the coupling system model error and gross error exist in the multi-source heterogeneous measurement data of space and ground combined TT&C (Telemetry, Tracking and Command) technology. The uncertain model error has been estimated with the semi-parametric estimator model, and the outlier has been restrained with the weighted matrix of data depth. On the basis of the restriction of the model error and outlier, the VCE can be improved and used to estimate weighted matrix for the observation data with uncertain model error or outlier. Simulation experiment has been carried out under the circumstance of space and ground combined TT&C. The results show that the new VCE based on the model error compensation can determine the rational weight of the multi-source heterogeneous data, and restrain the outlier data.

Differential Laser Doppler based Non-Contact Sensor for Dimensional Inspection with Error Propagation Evaluation

PubMed Central

Mekid, Samir; Vacharanukul, Ketsaya

2006-01-01

To achieve dynamic error compensation in CNC machine tools, a non-contact laser probe capable of dimensional measurement of a workpiece while it is being machined has been developed and presented in this paper. The measurements are automatically fed back to the machine controller for intelligent error compensations. Based on a well resolved laser Doppler technique and real time data acquisition, the probe delivers a very promising dimensional accuracy at few microns over a range of 100 mm. The developed optical measuring apparatus employs a differential laser Doppler arrangement allowing acquisition of information from the workpiece surface. In addition, the measurements are traceable to standards of frequency allowing higher precision.

A map overlay error model based on boundary geometry

USGS Publications Warehouse

Gaeuman, D.; Symanzik, J.; Schmidt, J.C.

2005-01-01

An error model for quantifying the magnitudes and variability of errors generated in the areas of polygons during spatial overlay of vector geographic information system layers is presented. Numerical simulation of polygon boundary displacements was used to propagate coordinate errors to spatial overlays. The model departs from most previous error models in that it incorporates spatial dependence of coordinate errors at the scale of the boundary segment. It can be readily adapted to match the scale of error-boundary interactions responsible for error generation on a given overlay. The area of error generated by overlay depends on the sinuosity of polygon boundaries, as well as the magnitude of the coordinate errors on the input layers. Asymmetry in boundary shape has relatively little effect on error generation. Overlay errors are affected by real differences in boundary positions on the input layers, as well as errors in the boundary positions. Real differences between input layers tend to compensate for much of the error generated by coordinate errors. Thus, the area of change measured on an overlay layer produced by the XOR overlay operation will be more accurate if the area of real change depicted on the overlay is large. The model presented here considers these interactions, making it especially useful for estimating errors studies of landscape change over time. ?? 2005 The Ohio State University.

An on-line equivalent system identification scheme for adaptive control. Ph.D. Thesis - Stanford Univ.

NASA Technical Reports Server (NTRS)

Sliwa, S. M.

1984-01-01

A prime obstacle to the widespread use of adaptive control is the degradation of performance and possible instability resulting from the presence of unmodeled dynamics. The approach taken is to explicitly include the unstructured model uncertainty in the output error identification algorithm. The order of the compensator is successively increased by including identified modes. During this model building stage, heuristic rules are used to test for convergence prior to designing compensators. Additionally, the recursive identification algorithm as extended to multi-input, multi-output systems. Enhancements were also made to reduce the computational burden of an algorithm for obtaining minimal state space realizations from the inexact, multivariate transfer functions which result from the identification process. A number of potential adaptive control applications for this approach are illustrated using computer simulations. Results indicated that when speed of adaptation and plant stability are not critical, the proposed schemes converge to enhance system performance.

Optical system components for navigation grade fiber optic gyroscopes

NASA Astrophysics Data System (ADS)

Heimann, Marcus; Liesegang, Maximilian; Arndt-Staufenbiel, Norbert; Schröder, Henning; Lang, Klaus-Dieter

2013-10-01

Interferometric fiber optic gyroscopes belong to the class of inertial sensors. Due to their high accuracy they are used for absolute position and rotation measurement in manned/unmanned vehicles, e.g. submarines, ground vehicles, aircraft or satellites. The important system components are the light source, the electro optical phase modulator, the optical fiber coil and the photodetector. This paper is focused on approaches to realize a stable light source and fiber coil. Superluminescent diode and erbium doped fiber laser were studied to realize an accurate and stable light source. Therefor the influence of the polarization grade of the source and the effects due to back reflections to the source were studied. During operation thermal working conditions severely affect accuracy and stability of the optical fiber coil, which is the sensor element. Thermal gradients that are applied to the fiber coil have large negative effects on the achievable system accuracy of the optic gyroscope. Therefore a way of calculating and compensating the rotation rate error of a fiber coil due to thermal change is introduced. A simplified 3 dimensional FEM of a quadrupole wound fiber coil is used to determine the build-up of thermal fields in the polarization maintaining fiber due to outside heating sources. The rotation rate error due to these sources is then calculated and compared to measurement data. A simple regression model is used to compensate the rotation rate error with temperature measurement at the outside of the fiber coil. To realize a compact and robust optical package for some of the relevant optical system components an approach based on ion exchanged waveguides in thin glass was developed. This waveguides are used to realize 1x2 and 1x4 splitter with fiber coupling interface or direct photodiode coupling.

Error Recovery in the Time-Triggered Paradigm with FTT-CAN.

PubMed

Marques, Luis; Vasconcelos, Verónica; Pedreiras, Paulo; Almeida, Luís

2018-01-11

Data networks are naturally prone to interferences that can corrupt messages, leading to performance degradation or even to critical failure of the corresponding distributed system. To improve resilience of critical systems, time-triggered networks are frequently used, based on communication schedules defined at design-time. These networks offer prompt error detection, but slow error recovery that can only be compensated with bandwidth overprovisioning. On the contrary, the Flexible Time-Triggered (FTT) paradigm uses online traffic scheduling, which enables a compromise between error detection and recovery that can achieve timely recovery with a fraction of the needed bandwidth. This article presents a new method to recover transmission errors in a time-triggered Controller Area Network (CAN) network, based on the Flexible Time-Triggered paradigm, namely FTT-CAN. The method is based on using a server (traffic shaper) to regulate the retransmission of corrupted or omitted messages. We show how to design the server to simultaneously: (1) meet a predefined reliability goal, when considering worst case error recovery scenarios bounded probabilistically by a Poisson process that models the fault arrival rate; and, (2) limit the direct and indirect interference in the message set, preserving overall system schedulability. Extensive simulations with multiple scenarios, based on practical and randomly generated systems, show a reduction of two orders of magnitude in the average bandwidth taken by the proposed error recovery mechanism, when compared with traditional approaches available in the literature based on adding extra pre-defined transmission slots.

Error Recovery in the Time-Triggered Paradigm with FTT-CAN

PubMed Central

Pedreiras, Paulo; Almeida, Luís

2018-01-01

Data networks are naturally prone to interferences that can corrupt messages, leading to performance degradation or even to critical failure of the corresponding distributed system. To improve resilience of critical systems, time-triggered networks are frequently used, based on communication schedules defined at design-time. These networks offer prompt error detection, but slow error recovery that can only be compensated with bandwidth overprovisioning. On the contrary, the Flexible Time-Triggered (FTT) paradigm uses online traffic scheduling, which enables a compromise between error detection and recovery that can achieve timely recovery with a fraction of the needed bandwidth. This article presents a new method to recover transmission errors in a time-triggered Controller Area Network (CAN) network, based on the Flexible Time-Triggered paradigm, namely FTT-CAN. The method is based on using a server (traffic shaper) to regulate the retransmission of corrupted or omitted messages. We show how to design the server to simultaneously: (1) meet a predefined reliability goal, when considering worst case error recovery scenarios bounded probabilistically by a Poisson process that models the fault arrival rate; and, (2) limit the direct and indirect interference in the message set, preserving overall system schedulability. Extensive simulations with multiple scenarios, based on practical and randomly generated systems, show a reduction of two orders of magnitude in the average bandwidth taken by the proposed error recovery mechanism, when compared with traditional approaches available in the literature based on adding extra pre-defined transmission slots. PMID:29324723

Solar adaptive optics with the DKIST: status report

NASA Astrophysics Data System (ADS)

Johnson, Luke C.; Cummings, Keith; Drobilek, Mark; Gregory, Scott; Hegwer, Steve; Johansson, Erik; Marino, Jose; Richards, Kit; Rimmele, Thomas; Sekulic, Predrag; Wöger, Friedrich

2014-08-01

The DKIST wavefront correction system will be an integral part of the telescope, providing active alignment control, wavefront correction, and jitter compensation to all DKIST instruments. The wavefront correction system will operate in four observing modes, diffraction-limited, seeing-limited on-disk, seeing-limited coronal, and limb occulting with image stabilization. Wavefront correction for DKIST includes two major components: active optics to correct low-order wavefront and alignment errors, and adaptive optics to correct wavefront errors and high-frequency jitter caused by atmospheric turbulence. The adaptive optics system is built around a fast tip-tilt mirror and a 1600 actuator deformable mirror, both of which are controlled by an FPGA-based real-time system running at 2 kHz. It is designed to achieve on-axis Strehl of 0.3 at 500 nm in median seeing (r0 = 7 cm) and Strehl of 0.6 at 630 nm in excellent seeing (r0 = 20 cm). We present the current status of the DKIST high-order adaptive optics, focusing on system design, hardware procurements, and error budget management.

An Adaptive Supervisory Sliding Fuzzy Cerebellar Model Articulation Controller for Sensorless Vector-Controlled Induction Motor Drive Systems

PubMed Central

Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang

2015-01-01

This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes. PMID:25815450

An adaptive supervisory sliding fuzzy cerebellar model articulation controller for sensorless vector-controlled induction motor drive systems.

PubMed

Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang

2015-03-25

This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes--the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC--were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes.

Precise Aperture-Dependent Motion Compensation with Frequency Domain Fast Back-Projection Algorithm.

PubMed

Zhang, Man; Wang, Guanyong; Zhang, Lei

2017-10-26

Precise azimuth-variant motion compensation (MOCO) is an essential and difficult task for high-resolution synthetic aperture radar (SAR) imagery. In conventional post-filtering approaches, residual azimuth-variant motion errors are generally compensated through a set of spatial post-filters, where the coarse-focused image is segmented into overlapped blocks concerning the azimuth-dependent residual errors. However, image domain post-filtering approaches, such as precise topography- and aperture-dependent motion compensation algorithm (PTA), have difficulty of robustness in declining, when strong motion errors are involved in the coarse-focused image. In this case, in order to capture the complete motion blurring function within each image block, both the block size and the overlapped part need necessary extension leading to degeneration of efficiency and robustness inevitably. Herein, a frequency domain fast back-projection algorithm (FDFBPA) is introduced to deal with strong azimuth-variant motion errors. FDFBPA disposes of the azimuth-variant motion errors based on a precise azimuth spectrum expression in the azimuth wavenumber domain. First, a wavenumber domain sub-aperture processing strategy is introduced to accelerate computation. After that, the azimuth wavenumber spectrum is partitioned into a set of wavenumber blocks, and each block is formed into a sub-aperture coarse resolution image via the back-projection integral. Then, the sub-aperture images are straightforwardly fused together in azimuth wavenumber domain to obtain a full resolution image. Moreover, chirp-Z transform (CZT) is also introduced to implement the sub-aperture back-projection integral, increasing the efficiency of the algorithm. By disusing the image domain post-filtering strategy, robustness of the proposed algorithm is improved. Both simulation and real-measured data experiments demonstrate the effectiveness and superiority of the proposal.

Tracking control of WMRs on loose soil based on mixed H2/H∞ control with longitudinal slip ratio estimation

NASA Astrophysics Data System (ADS)

Gao, Haibo; Chen, Chao; Ding, Liang; Li, Weihua; Yu, Haitao; Xia, Kerui; Liu, Zhen

2017-11-01

Wheeled mobile robots (WMRs) often suffer from the longitudinal slipping when moving on the loose soil of the surface of the moon during exploration. Longitudinal slip is the main cause of WMRs' delay in trajectory tracking. In this paper, a nonlinear extended state observer (NESO) is introduced to estimate the longitudinal velocity in order to estimate the slip ratio and the derivative of the loss of velocity which are used in modelled disturbance compensation. Owing to the uncertainty and disturbance caused by estimation errors, a multi-objective controller using the mixed H2/H∞ method is employed to ensure the robust stability and performance of the WMR system. The final inputs of the trajectory tracking consist of the feedforward compensation, compensation for the modelled disturbances and designed multi-objective control inputs. Finally, the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

Calibration of the motor-assisted robotic stereotaxy system: MARS.

PubMed

Heinig, Maximilian; Hofmann, Ulrich G; Schlaefer, Alexander

2012-11-01

The motor-assisted robotic stereotaxy system presents a compact and light-weight robotic system for stereotactic neurosurgery. Our system is designed to position probes in the human brain for various applications, for example, deep brain stimulation. It features five fully automated axes. High positioning accuracy is of utmost importance in robotic neurosurgery. First, the key parameters of the robot's kinematics are determined using an optical tracking system. Next, the positioning errors at the center of the arc--which is equivalent to the target position in stereotactic interventions--are investigated using a set of perpendicular cameras. A modeless robot calibration method is introduced and evaluated. To conclude, the application accuracy of the robot is studied in a phantom trial. We identified the bending of the arc under load as the robot's main error source. A calibration algorithm was implemented to compensate for the deflection of the robot's arc. The mean error after the calibration was 0.26 mm, the 68.27th percentile was 0.32 mm, and the 95.45th was 0.50 mm. The kinematic properties of the robot were measured, and based on the results an appropriate calibration method was derived. With mean errors smaller than currently used mechanical systems, our results show that the robot's accuracy is appropriate for stereotactic interventions.

Stabilized high-accuracy correction of ocular aberrations with liquid crystal on silicon spatial light modulator in adaptive optics retinal imaging system.

PubMed

Huang, Hongxin; Inoue, Takashi; Tanaka, Hiroshi

2011-08-01

We studied the long-term optical performance of an adaptive optics scanning laser ophthalmoscope that uses a liquid crystal on silicon spatial light modulator to correct ocular aberrations. The system achieved good compensation of aberrations while acquiring images of fine retinal structures, excepting during sudden eye movements. The residual wavefront aberrations collected over several minutes in several situations were statistically analyzed. The mean values of the root-mean-square residual wavefront errors were 23-30 nm, and for around 91-94% of the effective time the errors were below the Marechal criterion for diffraction limited imaging. The ability to axially shift the imaging plane to different retinal depths was also demonstrated.

Nonlinear bias compensation of ZiYuan-3 satellite imagery with cubic splines

NASA Astrophysics Data System (ADS)

Cao, Jinshan; Fu, Jianhong; Yuan, Xiuxiao; Gong, Jianya

2017-11-01

Like many high-resolution satellites such as the ALOS, MOMS-2P, QuickBird, and ZiYuan1-02C satellites, the ZiYuan-3 satellite suffers from different levels of attitude oscillations. As a result of such oscillations, the rational polynomial coefficients (RPCs) obtained using a terrain-independent scenario often have nonlinear biases. In the sensor orientation of ZiYuan-3 imagery based on a rational function model (RFM), these nonlinear biases cannot be effectively compensated by an affine transformation. The sensor orientation accuracy is thereby worse than expected. In order to eliminate the influence of attitude oscillations on the RFM-based sensor orientation, a feasible nonlinear bias compensation approach for ZiYuan-3 imagery with cubic splines is proposed. In this approach, no actual ground control points (GCPs) are required to determine the cubic splines. First, the RPCs are calculated using a three-dimensional virtual control grid generated based on a physical sensor model. Second, one cubic spline is used to model the residual errors of the virtual control points in the row direction and another cubic spline is used to model the residual errors in the column direction. Then, the estimated cubic splines are used to compensate the nonlinear biases in the RPCs. Finally, the affine transformation parameters are used to compensate the residual biases in the RPCs. Three ZiYuan-3 images were tested. The experimental results showed that before the nonlinear bias compensation, the residual errors of the independent check points were nonlinearly biased. Even if the number of GCPs used to determine the affine transformation parameters was increased from 4 to 16, these nonlinear biases could not be effectively compensated. After the nonlinear bias compensation with the estimated cubic splines, the influence of the attitude oscillations could be eliminated. The RFM-based sensor orientation accuracies of the three ZiYuan-3 images reached 0.981 pixels, 0.890 pixels, and 1.093 pixels, which were respectively 42.1%, 48.3%, and 54.8% better than those achieved before the nonlinear bias compensation.

Study of SPM tolerances of electronically compensated DML based systems.

PubMed

Papagiannakis, I; Klonidis, D; Birbas, Alexios N; Kikidis, J; Tomkos, I

2009-05-25

This paper experimentally investigates the effectiveness of electronic dispersion compensation (EDC) for signals limited by self phase modulation (SPM) and various dispersion levels. The sources considered are low-cost conventional directly modulated lasers (DMLs), fabricated for operation at 2.5 Gb/s but modulated at 10 Gb/s. Performance improvement is achieved by means of electronic feed-forward and decision-feedback equalization (FFE/DFE) at the receiver end. Experimental studies consider both transient and adiabatic chirp dominated DMLs sources. The improvement is evaluated in terms of required optical signal-to-noise ratio (ROSNR) for bit-error-rate (BER) values of 10(-3) versus launch power over uncompensated links of standard single mode fiber (SSMF).

An optimized strain demodulation method for PZT driven fiber Fabry-Perot tunable filter

NASA Astrophysics Data System (ADS)

Sheng, Wenjuan; Peng, G. D.; Liu, Yang; Yang, Ning

2015-08-01

An optimized strain-demodulation-method based on piezo-electrical transducer (PZT) driven fiber Fabry-Perot (FFP) filter is proposed and experimentally demonstrated. Using a parallel processing mode to drive the PZT continuously, the hysteresis effect is eliminated, and the system demodulation rate is increased. Furthermore, an AC-DC compensation method is developed to address the intrinsic nonlinear relationship between the displacement and voltage of PZT. The experimental results show that the actual demodulation rate is improved from 15 Hz to 30 Hz, the random error of the strain measurement is decreased by 95%, and the deviation between the test values after compensation and the theoretical values is less than 1 pm/με.

Kinematic markers dissociate error correction from sensorimotor realignment during prism adaptation.

PubMed

O'Shea, Jacinta; Gaveau, Valérie; Kandel, Matthieu; Koga, Kazuo; Susami, Kenji; Prablanc, Claude; Rossetti, Yves

2014-03-01

This study investigated the motor control mechanisms that enable healthy individuals to adapt their pointing movements during prism exposure to a rightward optical shift. In the prism adaptation literature, two processes are typically distinguished. Strategic motor adjustments are thought to drive the pattern of rapid endpoint error correction typically observed during the early stage of prism exposure. This is distinguished from so-called 'true sensorimotor realignment', normally measured with a different pointing task, at the end of prism exposure, which reveals a compensatory leftward 'prism after-effect'. Here, we tested whether each mode of motor compensation - strategic adjustments versus 'true sensorimotor realignment' - could be distinguished, by analyzing patterns of kinematic change during prism exposure. We hypothesized that fast feedforward versus slower feedback error corrective processes would map onto two distinct phases of the reach trajectory. Specifically, we predicted that feedforward adjustments would drive rapid compensation of the initial (acceleration) phase of the reach, resulting in the rapid reduction of endpoint errors typically observed early during prism exposure. By contrast, we expected visual-proprioceptive realignment to unfold more slowly and to reflect feedback influences during the terminal (deceleration) phase of the reach. The results confirmed these hypotheses. Rapid error reduction during the early stage of prism exposure was achieved by trial-by-trial adjustments of the motor plan, which were proportional to the endpoint error feedback from the previous trial. By contrast, compensation of the terminal reach phase unfolded slowly across the duration of prism exposure. Even after 100 trials of pointing through prisms, adaptation was incomplete, with participants continuing to exhibit a small rightward shift in both the reach endpoints and in the terminal phase of reach trajectories. Individual differences in the degree of adaptation of the terminal reach phase predicted the magnitude of prism after-effects. In summary, this study identifies distinct kinematic signatures of fast strategic versus slow sensorimotor realignment processes, which combine to adjust motor performance to compensate for a prismatic shift. © 2013 Elsevier Ltd. All rights reserved.

Optimization of real-time rigid registration motion compensation for prostate biopsies using 2D/3D ultrasound

NASA Astrophysics Data System (ADS)

Gillies, Derek J.; Gardi, Lori; Zhao, Ren; Fenster, Aaron

2017-03-01

During image-guided prostate biopsy, needles are targeted at suspicious tissues to obtain specimens that are later examined histologically for cancer. Patient motion causes inaccuracies when using MR-transrectal ultrasound (TRUS) image fusion approaches used to augment the conventional biopsy procedure. Motion compensation using a single, user initiated correction can be performed to temporarily compensate for prostate motion, but a real-time continuous registration offers an improvement to clinical workflow by reducing user interaction and procedure time. An automatic motion compensation method, approaching the frame rate of a TRUS-guided system, has been developed for use during fusion-based prostate biopsy to improve image guidance. 2D and 3D TRUS images of a prostate phantom were registered using an intensity based algorithm utilizing normalized cross-correlation and Powell's method for optimization with user initiated and continuous registration techniques. The user initiated correction performed with observed computation times of 78 ± 35 ms, 74 ± 28 ms, and 113 ± 49 ms for in-plane, out-of-plane, and roll motions, respectively, corresponding to errors of 0.5 ± 0.5 mm, 1.5 ± 1.4 mm, and 1.5 ± 1.6°. The continuous correction performed significantly faster (p < 0.05) than the user initiated method, with observed computation times of 31 ± 4 ms, 32 ± 4 ms, and 31 ± 6 ms for in-plane, out-of-plane, and roll motions, respectively, corresponding to errors of 0.2 ± 0.2 mm, 0.6 ± 0.5 mm, and 0.8 ± 0.4°.

SU-E-T-357: Electronic Compensation Technique to Deliver Total Body Dose

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

Lakeman, T; Wang, I; Podgorsak, M

Purpose: Total body irradiation (TBI) uses large parallel-opposed radiation fields to suppress the patient’s immune system and eradicate the residual cancer cells in preparation of recipient for bone marrow transplant. The manual placement of lead compensators has conventionally been used to compensate for the varying thickness through the entire body in large-field TBI. The goal of this study is to pursue utilizing the modern electronic compensation technique to more accurately and efficiently deliver dose to patients in need of TBI. Methods: Treatment plans utilizing electronic compensation to deliver a total body dose were created retrospectively for patients for whom CTmore » data had been previously acquired. Each treatment plan includes two, specifically weighted, pair of opposed fields. One pair of open, large fields (collimator=45°), to encompass the patient’s entire anatomy, and one pair of smaller fields (collimator=0°) focused only on the thicker midsection of the patient. The optimal fluence for each one of the smaller fields was calculated at a patient specific penetration depth. Irregular surface compensators provide a more uniform dose distribution within the smaller opposed fields. Results: Dose-volume histograms (DVH) were calculated for the evaluating the electronic compensation technique. In one case, the maximum body doses calculated from the DVH were reduced from the non-compensated 195.8% to 165.3% in the electronically compensated plans, indicating a more uniform dose with the region of electronic compensation. The mean body doses calculated from the DVH were also reduced from the non-compensated 120.6% to 112.7% in the electronically compensated plans, indicating a more accurate delivery of the prescription dose. All calculated monitor units were well within clinically acceptable limits. Conclusion: Electronic compensation technique for TBI will not substantially increase the beam on time while it can significantly reduce the compensator setup time and the potential risk of errors in manually placing lead compensators.« less

Study of optical design of Blu-ray pickup head system with a liquid crystal element.

PubMed

Fang, Yi-Chin; Yen, Chih-Ta; Hsu, Jui-Hsin

2014-10-10

This paper proposes a newly developed optical design and an active compensation method for a Blu-ray pickup head system with a liquid crystal (LC) element. Different from traditional pickup lens design, this new optical design delivers performance as good as the conventional one but has more room for tolerance control, which plays a role in antishaking devices, such as portable Blu-ray players. A hole-pattern electrode and LC optics with external voltage input were employed to generate a symmetric nonuniform electrical field in the LC layer that directs LC molecules into the appropriate gradient refractive index distribution, resulting in the convergence or divergence of specific light beams. LC optics deliver fast and, most importantly, active compensation through optical design when errors occur. Simulations and tolerance analysis were conducted using Code V software, including various tolerance analyses, such as defocus, tilt, and decenter, and their related compensations. Two distinct Blu-ray pickup head system designs were examined in this study. In traditional Blu-ray pickup head system designs, the aperture stop is always set on objective lenses. In the study, the aperture stop is on the LC lens as a newly developed lens. The results revealed that an optical design with aperture stop set on the LC lens as an active compensation device successfully eliminated up to 57% of coma aberration compared with traditional optical designs so that this pickup head lens design will have more space for tolerance control.

An adaptive compensation algorithm for temperature drift of micro-electro-mechanical systems gyroscopes using a strong tracking Kalman filter.

PubMed

Feng, Yibo; Li, Xisheng; Zhang, Xiaojuan

2015-05-13

We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS) gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of the MEMS gyroscope. We use a simplified drift model and changing but appropriate model parameters to implement this algorithm. The model of MEMS gyroscope temperature drift is constructed mostly on the basis of the temperature sensitivity of the gyroscope. As the state variables of a strong tracking Kalman filter (STKF), the parameters of the temperature drift model can be calculated to adapt to the environment under the support of the compass. These parameters change intelligently with the environment to maintain the precision of the MEMS gyroscope in the changing temperature. The heading error is less than 0.6° in the static temperature experiment, and also is kept in the range from 5° to -2° in the dynamic outdoor experiment. This demonstrates that the proposed algorithm exhibits strong adaptability to a changing temperature, and performs significantly better than KF and MLR to compensate the temperature drift of a gyroscope and eliminate the influence of temperature variation.

Intelligent measurement and compensation of linear motor force ripple: a projection-based learning approach in the presence of noise

NASA Astrophysics Data System (ADS)

Liu, Yang; Song, Fazhi; Yang, Xiaofeng; Dong, Yue; Tan, Jiubin

2018-06-01

Due to their structural simplicity, linear motors are increasingly receiving attention for use in high velocity and high precision applications. The force ripple, as a space-periodic disturbance, however, would deteriorate the achievable dynamic performance. Conventional force ripple measurement approaches are time-consuming and have high requirements on the experimental conditions. In this paper, a novel learning identification algorithm is proposed for force ripple intelligent measurement and compensation. Existing identification schemes always use all the error signals to update the parameters in the force ripple. However, the error induced by noise is non-effective for force ripple identification, and even deteriorates the identification process. In this paper only the most pertinent information in the error signal is utilized for force ripple identification. Firstly, the effective error signals caused by the reference trajectory and the force ripple are extracted by projecting the overall error signals onto a subspace spanned by the physical model of the linear motor as well as the sinusoidal model of the force ripple. The time delay in the linear motor is compensated in the basis functions. Then, a data-driven approach is proposed to design the learning gain. It balances the trade-off between convergence speed and robustness against noise. Simulation and experimental results validate the proposed method and confirm its effectiveness and superiority.

Low-Frequency Error Extraction and Compensation for Attitude Measurements from STECE Star Tracker

PubMed Central

Lai, Yuwang; Gu, Defeng; Liu, Junhong; Li, Wenping; Yi, Dongyun

2016-01-01

The low frequency errors (LFE) of star trackers are the most penalizing errors for high-accuracy satellite attitude determination. Two test star trackers- have been mounted on the Space Technology Experiment and Climate Exploration (STECE) satellite, a small satellite mission developed by China. To extract and compensate the LFE of the attitude measurements for the two test star trackers, a new approach, called Fourier analysis, combined with the Vondrak filter method (FAVF) is proposed in this paper. Firstly, the LFE of the two test star trackers’ attitude measurements are analyzed and extracted by the FAVF method. The remarkable orbital reproducibility features are found in both of the two test star trackers’ attitude measurements. Then, by using the reproducibility feature of the LFE, the two star trackers’ LFE patterns are estimated effectively. Finally, based on the actual LFE pattern results, this paper presents a new LFE compensation strategy. The validity and effectiveness of the proposed LFE compensation algorithm is demonstrated by the significant improvement in the consistency between the two test star trackers. The root mean square (RMS) of the relative Euler angle residuals are reduced from [27.95′′, 25.14′′, 82.43′′], 3σ to [16.12′′, 15.89′′, 53.27′′], 3σ. PMID:27754320

Low-Frequency Error Extraction and Compensation for Attitude Measurements from STECE Star Tracker.

PubMed

Lai, Yuwang; Gu, Defeng; Liu, Junhong; Li, Wenping; Yi, Dongyun

2016-10-12

The low frequency errors (LFE) of star trackers are the most penalizing errors for high-accuracy satellite attitude determination. Two test star trackers- have been mounted on the Space Technology Experiment and Climate Exploration (STECE) satellite, a small satellite mission developed by China. To extract and compensate the LFE of the attitude measurements for the two test star trackers, a new approach, called Fourier analysis, combined with the Vondrak filter method (FAVF) is proposed in this paper. Firstly, the LFE of the two test star trackers' attitude measurements are analyzed and extracted by the FAVF method. The remarkable orbital reproducibility features are found in both of the two test star trackers' attitude measurements. Then, by using the reproducibility feature of the LFE, the two star trackers' LFE patterns are estimated effectively. Finally, based on the actual LFE pattern results, this paper presents a new LFE compensation strategy. The validity and effectiveness of the proposed LFE compensation algorithm is demonstrated by the significant improvement in the consistency between the two test star trackers. The root mean square (RMS) of the relative Euler angle residuals are reduced from [27.95'', 25.14'', 82.43''], 3σ to [16.12'', 15.89'', 53.27''], 3σ.

Coherent receiver design based on digital signal processing in optical high-speed intersatellite links with M-phase-shift keying

NASA Astrophysics Data System (ADS)

Schaefer, Semjon; Gregory, Mark; Rosenkranz, Werner

2016-11-01

We present simulative and experimental investigations of different coherent receiver designs for high-speed optical intersatellite links. We focus on frequency offset (FO) compensation in homodyne and intradyne detection systems. The considered laser communication terminal uses an optical phase-locked loop (OPLL), which ensures stable homodyne detection. However, the hardware complexity increases with the modulation order. Therefore, we show that software-based intradyne detection is an attractive alternative for OPLL-based homodyne systems. Our approach is based on digital FO and phase noise compensation, in order to achieve a more flexible coherent detection scheme. Analytic results will further show the theoretical impact of the different detection schemes on the receiver sensitivity. Finally, we compare the schemes in terms of bit error ratio measurements and optimal receiver design.

Control-structure interaction/mirror motion compensation

NASA Technical Reports Server (NTRS)

Mclaren, Mark; Chu, Peter; Price, Xen

1992-01-01

Space Systems/Loral (formerly Ford Aerospace, Space Systems Division) has implemented a rigid-body Mirror Motion Compensation (MMC) scheme for the GOES-I/M spacecraft currently being built for NASA and NOAA. This has resulted in a factor of 15 reduction in pointing error due to rigid-body spacecraft motion induced by the periodic black-body calibration maneuvers required for the instruments. For GOES the spacecraft and the payload mirrors are considered as rigid bodies. The structural flexibility effects are small and are included in the total pointing budget as a separate item. This paper extends the MMC technique to include structural flexibility. For large multi-payload platforms, the structural flexibility effects can be more important in sensor pointing jitter as the result of payload motion. Sensitivity results are included to show the importance of the dynamic model fidelity.

Roll and pitch set-up errors during volumetric modulated arc delivery: can adapting gantry and collimator angles compensate?

PubMed

Hoffmans-Holtzer, Nienke A; Hoffmans, Daan; Dahele, Max; Slotman, Ben J; Verbakel, Wilko F A R

2015-03-01

The purpose of this work was to investigate whether adapting gantry and collimator angles can compensate for roll and pitch setup errors during volumetric modulated arc therapy (VMAT) delivery. Previously delivered clinical plans for locally advanced head-and-neck (H&N) cancer (n = 5), localized prostate cancer (n = 2), and whole brain with simultaneous integrated boost to 5 metastases (WB + 5M, n = 1) were used for this study. Known rigid rotations were introduced in the planning CT scans. To compensate for these, in-house software was used to adapt gantry and collimator angles in the plan. Doses to planning target volumes (PTV) and critical organs at risk (OAR) were calculated with and without compensation and compared with the original clinical plan. Measurements in the sagittal plane in a polystyrene phantom using radiochromic film were compared by gamma (γ) evaluation for 2 H&N cancer patients. For H&N plans, the introduction of 2°-roll and 3°-pitch rotations reduced mean PTV coverage from 98.7 to 96.3%. This improved to 98.1% with gantry and collimator compensation. For prostate plans respective figures were 98.4, 97.5, and 98.4%. For WB + 5M, compensation worked less well, especially for smaller volumes and volumes farther from the isocenter. Mean comparative γ evaluation (3%, 1 mm) between original and pitched plans resulted in 86% γ < 1. The corrected plan restored the mean comparison to 96% γ < 1. Preliminary data suggest that adapting gantry and collimator angles is a promising way to correct roll and pitch set-up errors of < 3° during VMAT for H&N and prostate cancer.

SU-C-213-04: Application of Depth Sensing and 3D-Printing Technique for Total Body Irradiation (TBI) Patient Measurement and Treatment Planning

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

Lee, M; Suh, T; Research Institute of Biomedical Engineering, College of Medicine, The Catholic University of Korea, Seoul

2015-06-15

Purpose: To develop and validate an innovative method of using depth sensing cameras and 3D printing techniques for Total Body Irradiation (TBI) treatment planning and compensator fabrication. Methods: A tablet with motion tracking cameras and integrated depth sensing was used to scan a RANDOTM phantom arranged in a TBI treatment booth to detect and store the 3D surface in a point cloud (PC) format. The accuracy of the detected surface was evaluated by comparison to extracted measurements from CT scan images. The thickness, source to surface distance and off-axis distance of the phantom at different body section was measured formore » TBI treatment planning. A 2D map containing a detailed compensator design was calculated to achieve uniform dose distribution throughout the phantom. The compensator was fabricated using a 3D printer, silicone molding and tungsten powder. In vivo dosimetry measurements were performed using optically stimulated luminescent detectors (OSLDs). Results: The whole scan of the anthropomorphic phantom took approximately 30 seconds. The mean error for thickness measurements at each section of phantom compare to CT was 0.44 ± 0.268 cm. These errors resulted in approximately 2% dose error calculation and 0.4 mm tungsten thickness deviation for the compensator design. The accuracy of 3D compensator printing was within 0.2 mm. In vivo measurements for an end-to-end test showed the overall dose difference was within 3%. Conclusion: Motion cameras and depth sensing techniques proved to be an accurate and efficient tool for TBI patient measurement and treatment planning. 3D printing technique improved the efficiency and accuracy of the compensator production and ensured a more accurate treatment delivery.« less

Errors in radiation oncology: A study in pathways and dosimetric impact

PubMed Central

Drzymala, Robert E.; Purdy, James A.; Michalski, Jeff

2005-01-01

As complexity for treating patients increases, so does the risk of error. Some publications have suggested that record and verify (R&V) systems may contribute in propagating errors. Direct data transfer has the potential to eliminate most, but not all, errors. And although the dosimetric consequences may be obvious in some cases, a detailed study does not exist. In this effort, we examined potential errors in terms of scenarios, pathways of occurrence, and dosimetry. Our goal was to prioritize error prevention according to likelihood of event and dosimetric impact. For conventional photon treatments, we investigated errors of incorrect source‐to‐surface distance (SSD), energy, omitted wedge (physical, dynamic, or universal) or compensating filter, incorrect wedge or compensating filter orientation, improper rotational rate for arc therapy, and geometrical misses due to incorrect gantry, collimator or table angle, reversed field settings, and setup errors. For electron beam therapy, errors investigated included incorrect energy, incorrect SSD, along with geometric misses. For special procedures we examined errors for total body irradiation (TBI, incorrect field size, dose rate, treatment distance) and LINAC radiosurgery (incorrect collimation setting, incorrect rotational parameters). Likelihood of error was determined and subsequently rated according to our history of detecting such errors. Dosimetric evaluation was conducted by using dosimetric data, treatment plans, or measurements. We found geometric misses to have the highest error probability. They most often occurred due to improper setup via coordinate shift errors or incorrect field shaping. The dosimetric impact is unique for each case and depends on the proportion of fields in error and volume mistreated. These errors were short‐lived due to rapid detection via port films. The most significant dosimetric error was related to a reversed wedge direction. This may occur due to incorrect collimator angle or wedge orientation. For parallel‐opposed 60° wedge fields, this error could be as high as 80% to a point off‐axis. Other examples of dosimetric impact included the following: SSD, ~2%/cm for photons or electrons; photon energy (6 MV vs. 18 MV), on average 16% depending on depth, electron energy, ~0.5cm of depth coverage per MeV (mega‐electron volt). Of these examples, incorrect distances were most likely but rapidly detected by in vivo dosimetry. Errors were categorized by occurrence rate, methods and timing of detection, longevity, and dosimetric impact. Solutions were devised according to these criteria. To date, no one has studied the dosimetric impact of global errors in radiation oncology. Although there is heightened awareness that with increased use of ancillary devices and automation, there must be a parallel increase in quality check systems and processes, errors do and will continue to occur. This study has helped us identify and prioritize potential errors in our clinic according to frequency and dosimetric impact. For example, to reduce the use of an incorrect wedge direction, our clinic employs off‐axis in vivo dosimetry. To avoid a treatment distance setup error, we use both vertical table settings and optical distance indicator (ODI) values to properly set up fields. As R&V systems become more automated, more accurate and efficient data transfer will occur. This will require further analysis. Finally, we have begun examining potential intensity‐modulated radiation therapy (IMRT) errors according to the same criteria. PACS numbers: 87.53.Xd, 87.53.St PMID:16143793

Artificial neural network implementation of a near-ideal error prediction controller

NASA Technical Reports Server (NTRS)

Mcvey, Eugene S.; Taylor, Lynore Denise

1992-01-01

A theory has been developed at the University of Virginia which explains the effects of including an ideal predictor in the forward loop of a linear error-sampled system. It has been shown that the presence of this ideal predictor tends to stabilize the class of systems considered. A prediction controller is merely a system which anticipates a signal or part of a signal before it actually occurs. It is understood that an exact prediction controller is physically unrealizable. However, in systems where the input tends to be repetitive or limited, (i.e., not random) near ideal prediction is possible. In order for the controller to act as a stability compensator, the predictor must be designed in a way that allows it to learn the expected error response of the system. In this way, an unstable system will become stable by including the predicted error in the system transfer function. Previous and current prediction controller include pattern recognition developments and fast-time simulation which are applicable to the analysis of linear sampled data type systems. The use of pattern recognition techniques, along with a template matching scheme, has been proposed as one realizable type of near-ideal prediction. Since many, if not most, systems are repeatedly subjected to similar inputs, it was proposed that an adaptive mechanism be used to 'learn' the correct predicted error response. Once the system has learned the response of all the expected inputs, it is necessary only to recognize the type of input with a template matching mechanism and then to use the correct predicted error to drive the system. Suggested here is an alternate approach to the realization of a near-ideal error prediction controller, one designed using Neural Networks. Neural Networks are good at recognizing patterns such as system responses, and the back-propagation architecture makes use of a template matching scheme. In using this type of error prediction, it is assumed that the system error responses be known for a particular input and modeled plant. These responses are used in the error prediction controller. An analysis was done on the general dynamic behavior that results from including a digital error predictor in a control loop and these were compared to those including the near-ideal Neural Network error predictor. This analysis was done for a second and third order system.

Adaptive NN tracking control of uncertain nonlinear discrete-time systems with nonaffine dead-zone input.

PubMed

Liu, Yan-Jun; Tong, Shaocheng

2015-03-01

In the paper, an adaptive tracking control design is studied for a class of nonlinear discrete-time systems with dead-zone input. The considered systems are of the nonaffine pure-feedback form and the dead-zone input appears nonlinearly in the systems. The contributions of the paper are that: 1) it is for the first time to investigate the control problem for this class of discrete-time systems with dead-zone; 2) there are major difficulties for stabilizing such systems and in order to overcome the difficulties, the systems are transformed into an n-step-ahead predictor but nonaffine function is still existent; and 3) an adaptive compensative term is constructed to compensate for the parameters of the dead-zone. The neural networks are used to approximate the unknown functions in the transformed systems. Based on the Lyapunov theory, it is proven that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to a small neighborhood of zero. Two simulation examples are provided to verify the effectiveness of the control approach in the paper.

Self-calibration method without joint iteration for distributed small satellite SAR systems

NASA Astrophysics Data System (ADS)

Xu, Qing; Liao, Guisheng; Liu, Aifei; Zhang, Juan

2013-12-01

The performance of distributed small satellite synthetic aperture radar systems degrades significantly due to the unavoidable array errors, including gain, phase, and position errors, in real operating scenarios. In the conventional method proposed in (IEEE T Aero. Elec. Sys. 42:436-451, 2006), the spectrum components within one Doppler bin are considered as calibration sources. However, it is found in this article that the gain error estimation and the position error estimation in the conventional method can interact with each other. The conventional method may converge to suboptimal solutions in large position errors since it requires the joint iteration between gain-phase error estimation and position error estimation. In addition, it is also found that phase errors can be estimated well regardless of position errors when the zero Doppler bin is chosen. In this article, we propose a method obtained by modifying the conventional one, based on these two observations. In this modified method, gain errors are firstly estimated and compensated, which eliminates the interaction between gain error estimation and position error estimation. Then, by using the zero Doppler bin data, the phase error estimation can be performed well independent of position errors. Finally, position errors are estimated based on the Taylor-series expansion. Meanwhile, the joint iteration between gain-phase error estimation and position error estimation is not required. Therefore, the problem of suboptimal convergence, which occurs in the conventional method, can be avoided with low computational method. The modified method has merits of faster convergence and lower estimation error compared to the conventional one. Theoretical analysis and computer simulation results verified the effectiveness of the modified method.

A robust hybrid fuzzy-simulated annealing-intelligent water drops approach for tuning a distribution static compensator nonlinear controller in a distribution system

NASA Astrophysics Data System (ADS)

Bagheri Tolabi, Hajar; Hosseini, Rahil; Shakarami, Mahmoud Reza

2016-06-01

This article presents a novel hybrid optimization approach for a nonlinear controller of a distribution static compensator (DSTATCOM). The DSTATCOM is connected to a distribution system with the distributed generation units. The nonlinear control is based on partial feedback linearization. Two proportional-integral-derivative (PID) controllers regulate the voltage and track the output in this control system. In the conventional scheme, the trial-and-error method is used to determine the PID controller coefficients. This article uses a combination of a fuzzy system, simulated annealing (SA) and intelligent water drops (IWD) algorithms to optimize the parameters of the controllers. The obtained results reveal that the response of the optimized controlled system is effectively improved by finding a high-quality solution. The results confirm that using the tuning method based on the fuzzy-SA-IWD can significantly decrease the settling and rising times, the maximum overshoot and the steady-state error of the voltage step response of the DSTATCOM. The proposed hybrid tuning method for the partial feedback linearizing (PFL) controller achieved better regulation of the direct current voltage for the capacitor within the DSTATCOM. Furthermore, in the event of a fault the proposed controller tuned by the fuzzy-SA-IWD method showed better performance than the conventional controller or the PFL controller without optimization by the fuzzy-SA-IWD method with regard to both fault duration and clearing times.

Recurrent cerebellar architecture solves the motor-error problem.

PubMed Central

Porrill, John; Dean, Paul; Stone, James V.

2004-01-01

Current views of cerebellar function have been heavily influenced by the models of Marr and Albus, who suggested that the climbing fibre input to the cerebellum acts as a teaching signal for motor learning. It is commonly assumed that this teaching signal must be motor error (the difference between actual and correct motor command), but this approach requires complex neural structures to estimate unobservable motor error from its observed sensory consequences. We have proposed elsewhere a recurrent decorrelation control architecture in which Marr-Albus models learn without requiring motor error. Here, we prove convergence for this architecture and demonstrate important advantages for the modular control of systems with multiple degrees of freedom. These results are illustrated by modelling adaptive plant compensation for the three-dimensional vestibular ocular reflex. This provides a functional role for recurrent cerebellar connectivity, which may be a generic anatomical feature of projections between regions of cerebral and cerebellar cortex. PMID:15255096

Random Weighting, Strong Tracking, and Unscented Kalman Filter for Soft Tissue Characterization.

PubMed

Shin, Jaehyun; Zhong, Yongmin; Oetomo, Denny; Gu, Chengfan

2018-05-21

This paper presents a new nonlinear filtering method based on the Hunt-Crossley model for online nonlinear soft tissue characterization. This method overcomes the problem of performance degradation in the unscented Kalman filter due to contact model error. It adopts the concept of Mahalanobis distance to identify contact model error, and further incorporates a scaling factor in predicted state covariance to compensate identified model error. This scaling factor is determined according to the principle of innovation orthogonality to avoid the cumbersome computation of Jacobian matrix, where the random weighting concept is adopted to improve the estimation accuracy of innovation covariance. A master-slave robotic indentation system is developed to validate the performance of the proposed method. Simulation and experimental results as well as comparison analyses demonstrate that the efficacy of the proposed method for online characterization of soft tissue parameters in the presence of contact model error.

Evaluation of the navigation performance of shipboard-VTOL-landing guidance systems

NASA Technical Reports Server (NTRS)

Mcgee, L. A.; Paulk, C. H., Jr.; Steck, S. A.; Schmidt, S. F.; Merz, A. W.

1979-01-01

The objective of this study was to explore the performance of a VTOL aircraft landing approach navigation system that receives data (1) from either a microwave scanning beam (MSB) or a radar-transponder (R-T) landing guidance system, and (2) information data-linked from an aviation facility ship. State-of-the-art low-cost-aided inertial techniques and variable gain filters were used in the assumed navigation system. Compensation for ship motion was accomplished by a landing pad deviation vector concept that is a measure of the landing pad's deviation from its calm sea location. The results show that the landing guidance concepts were successful in meeting all of the current Navy navigation error specifications, provided that vector magnitude of the allowable error, rather than the error in each axis, is a permissible interpretation of acceptable performance. The success of these concepts, however, is strongly dependent on the distance measuring equipment bias. In addition, the 'best possible' closed-loop tracking performance achievable with the assumed point-mass VTOL aircraft guidance concept is demonstrated.

Study on compensation algorithm of head skew in hard disk drives

NASA Astrophysics Data System (ADS)

Xiao, Yong; Ge, Xiaoyu; Sun, Jingna; Wang, Xiaoyan

2011-10-01

In hard disk drives (HDDs), head skew among multiple heads is pre-calibrated during manufacturing process. In real applications with high capacity of storage, the head stack may be tilted due to environmental change, resulting in additional head skew errors from outer diameter (OD) to inner diameter (ID). In case these errors are below the preset threshold for power on recalibration, the current strategy may not be aware, and drive performance under severe environment will be degraded. In this paper, in-the-field compensation of small DC head skew variation across stroke is proposed, where a zone table has been equipped. Test results demonstrating its effectiveness to reduce observer error and to enhance drive performance via accurate prediction of DC head skew are provided.

Compensation strategy for machining optical freeform surfaces by the combined on- and off-machine measurement.

PubMed

Zhang, Xiaodong; Zeng, Zhen; Liu, Xianlei; Fang, Fengzhou

2015-09-21

Freeform surface is promising to be the next generation optics, however it needs high form accuracy for excellent performance. The closed-loop of fabrication-measurement-compensation is necessary for the improvement of the form accuracy. It is difficult to do an off-machine measurement during the freeform machining because the remounting inaccuracy can result in significant form deviations. On the other side, on-machine measurement may hides the systematic errors of the machine because the measuring device is placed in situ on the machine. This study proposes a new compensation strategy based on the combination of on-machine and off-machine measurement. The freeform surface is measured in off-machine mode with nanometric accuracy, and the on-machine probe achieves accurate relative position between the workpiece and machine after remounting. The compensation cutting path is generated according to the calculated relative position and shape errors to avoid employing extra manual adjustment or highly accurate reference-feature fixture. Experimental results verified the effectiveness of the proposed method.

Command Filtering-Based Fuzzy Control for Nonlinear Systems With Saturation Input.

PubMed

Yu, Jinpeng; Shi, Peng; Dong, Wenjie; Lin, Chong

2017-09-01

In this paper, command filtering-based fuzzy control is designed for uncertain multi-input multioutput (MIMO) nonlinear systems with saturation nonlinearity input. First, the command filtering method is employed to deal with the explosion of complexity caused by the derivative of virtual controllers. Then, fuzzy logic systems are utilized to approximate the nonlinear functions of MIMO systems. Furthermore, error compensation mechanism is introduced to overcome the drawback of the dynamics surface approach. The developed method will guarantee all signals of the systems are bounded. The effectiveness and advantages of the theoretic result are obtained by a simulation example.

Electronic compensation technique to deliver a total body dose

NASA Astrophysics Data System (ADS)

Lakeman, Tara E.

Purpose: Total body irradiation (TBI) uses large parallel-opposed radiation fields to suppress the patient's immune system and eradicate the residual cancer cells in preparation of recipient for bone marrow transplant. The manual placement of lead compensators has been conventionally used to compensate for the varying thickness throughout the body in large-field TBI. The goal of this study is to pursue utilizing the modern electronic compensation technique to more accurately and efficiently deliver dose to patients in need of TBI. Method: Treatment plans utilizing the electronic compensation to deliver a total body dose were created retrospectively for patients for whom CT data had been previously acquired. Each treatment plan includes two pair of parallel opposed fields. One pair of large fields is used to encompass the majority of the patient's anatomy. The other pair are very small open fields focused only on the thin bottom portion of the patient's anatomy, which requires much less radiation than the rest of the body to reach 100% of the prescribed dose. A desirable fluence pattern was manually painted within each of the larger fields for each patient to provide a more uniform distribution. Results: Dose-volume histograms (DVH) were calculated for evaluating the electronic compensation technique. In the electronically compensated plans, the maximum body doses calculated from the DVH were reduced from the conventionally-compensated plans by an average of 15%, indicating a more uniform dose. The mean body doses calculated from the electronically compensated DVH remained comparable to that of the conventionally-compensated plans, indicating an accurate delivery of the prescription dose using electronic compensation. All calculated monitor units were within clinically acceptable limits. Conclusion: Electronic compensation technique for TBI will not increase the beam on time beyond clinically acceptable limits while it can substantially reduce the compensator setup time and the potential risk of errors in manually placing lead compensators.

Attitude control system conceptual design for the GOES-N spacecraft series

NASA Technical Reports Server (NTRS)

Markley, F. L.; Bauer, F. H.; Deily, J. J.; Femiano, M. D.

1991-01-01

The attitude determination sensing and processing of the system are considered, and inertial reference units, star trackers, and beacons and landmarks are discussed as well as an extended Kalman filter and expected attitude-determination performance. The baseline controller is overviewed, and a spacecraft motion compensation (SMC) algorithm, disturbance environment, and SMC performance expectations are covered. Detailed simulation results are presented, and emphasis is placed on dynamic models, attitude estimation and control, and SMC disturbance accommmodation. It is shown that the attitude control system employing gyro/star tracker sensing and active three-axis control with reaction wheels is capable of maintaining attitude errors of 1.7 microrad or less on all axes in the absence of attitude disturbances, and that the sensor line-of-sight pointing errors can be reduced to 0.1 microrad by SMC.

Adaptive robust fault tolerant control design for a class of nonlinear uncertain MIMO systems with quantization.

PubMed

Ao, Wei; Song, Yongdong; Wen, Changyun

2017-05-01

In this paper, we investigate the adaptive control problem for a class of nonlinear uncertain MIMO systems with actuator faults and quantization effects. Under some mild conditions, an adaptive robust fault-tolerant control is developed to compensate the affects of uncertainties, actuator failures and errors caused by quantization, and a range of the parameters for these quantizers is established. Furthermore, a Lyapunov-like approach is adopted to demonstrate that the ultimately uniformly bounded output tracking error is guaranteed by the controller, and the signals of the closed-loop system are ensured to be bounded, even in the presence of at most m-q actuators stuck or outage. Finally, numerical simulations are provided to verify and illustrate the effectiveness of the proposed adaptive schemes. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A comparison between different error modeling of MEMS applied to GPS/INS integrated systems.

PubMed

Quinchia, Alex G; Falco, Gianluca; Falletti, Emanuela; Dovis, Fabio; Ferrer, Carles

2013-07-24

Advances in the development of micro-electromechanical systems (MEMS) have made possible the fabrication of cheap and small dimension accelerometers and gyroscopes, which are being used in many applications where the global positioning system (GPS) and the inertial navigation system (INS) integration is carried out, i.e., identifying track defects, terrestrial and pedestrian navigation, unmanned aerial vehicles (UAVs), stabilization of many platforms, etc. Although these MEMS sensors are low-cost, they present different errors, which degrade the accuracy of the navigation systems in a short period of time. Therefore, a suitable modeling of these errors is necessary in order to minimize them and, consequently, improve the system performance. In this work, the most used techniques currently to analyze the stochastic errors that affect these sensors are shown and compared: we examine in detail the autocorrelation, the Allan variance (AV) and the power spectral density (PSD) techniques. Subsequently, an analysis and modeling of the inertial sensors, which combines autoregressive (AR) filters and wavelet de-noising, is also achieved. Since a low-cost INS (MEMS grade) presents error sources with short-term (high-frequency) and long-term (low-frequency) components, we introduce a method that compensates for these error terms by doing a complete analysis of Allan variance, wavelet de-nosing and the selection of the level of decomposition for a suitable combination between these techniques. Eventually, in order to assess the stochastic models obtained with these techniques, the Extended Kalman Filter (EKF) of a loosely-coupled GPS/INS integration strategy is augmented with different states. Results show a comparison between the proposed method and the traditional sensor error models under GPS signal blockages using real data collected in urban roadways.

A Comparison between Different Error Modeling of MEMS Applied to GPS/INS Integrated Systems

PubMed Central

Quinchia, Alex G.; Falco, Gianluca; Falletti, Emanuela; Dovis, Fabio; Ferrer, Carles

2013-01-01

Advances in the development of micro-electromechanical systems (MEMS) have made possible the fabrication of cheap and small dimension accelerometers and gyroscopes, which are being used in many applications where the global positioning system (GPS) and the inertial navigation system (INS) integration is carried out, i.e., identifying track defects, terrestrial and pedestrian navigation, unmanned aerial vehicles (UAVs), stabilization of many platforms, etc. Although these MEMS sensors are low-cost, they present different errors, which degrade the accuracy of the navigation systems in a short period of time. Therefore, a suitable modeling of these errors is necessary in order to minimize them and, consequently, improve the system performance. In this work, the most used techniques currently to analyze the stochastic errors that affect these sensors are shown and compared: we examine in detail the autocorrelation, the Allan variance (AV) and the power spectral density (PSD) techniques. Subsequently, an analysis and modeling of the inertial sensors, which combines autoregressive (AR) filters and wavelet de-noising, is also achieved. Since a low-cost INS (MEMS grade) presents error sources with short-term (high-frequency) and long-term (low-frequency) components, we introduce a method that compensates for these error terms by doing a complete analysis of Allan variance, wavelet de-nosing and the selection of the level of decomposition for a suitable combination between these techniques. Eventually, in order to assess the stochastic models obtained with these techniques, the Extended Kalman Filter (EKF) of a loosely-coupled GPS/INS integration strategy is augmented with different states. Results show a comparison between the proposed method and the traditional sensor error models under GPS signal blockages using real data collected in urban roadways. PMID:23887084

A Fast Surrogate-facilitated Data-driven Bayesian Approach to Uncertainty Quantification of a Regional Groundwater Flow Model with Structural Error

NASA Astrophysics Data System (ADS)

Xu, T.; Valocchi, A. J.; Ye, M.; Liang, F.

2016-12-01

Due to simplification and/or misrepresentation of the real aquifer system, numerical groundwater flow and solute transport models are usually subject to model structural error. During model calibration, the hydrogeological parameters may be overly adjusted to compensate for unknown structural error. This may result in biased predictions when models are used to forecast aquifer response to new forcing. In this study, we extend a fully Bayesian method [Xu and Valocchi, 2015] to calibrate a real-world, regional groundwater flow model. The method uses a data-driven error model to describe model structural error and jointly infers model parameters and structural error. In this study, Bayesian inference is facilitated using high performance computing and fast surrogate models. The surrogate models are constructed using machine learning techniques to emulate the response simulated by the computationally expensive groundwater model. We demonstrate in the real-world case study that explicitly accounting for model structural error yields parameter posterior distributions that are substantially different from those derived by the classical Bayesian calibration that does not account for model structural error. In addition, the Bayesian with error model method gives significantly more accurate prediction along with reasonable credible intervals.

Feedback Error Learning Controller for Functional Electrical Stimulation Assistance in a Hybrid Robotic System for Reaching Rehabilitation

PubMed Central

Resquín, Francisco; Gonzalez-Vargas, Jose; Ibáñez, Jaime; Brunetti, Fernando; Pons, José Luis

2016-01-01

Hybrid robotic systems represent a novel research field, where functional electrical stimulation (FES) is combined with a robotic device for rehabilitation of motor impairment. Under this approach, the design of robust FES controllers still remains an open challenge. In this work, we aimed at developing a learning FES controller to assist in the performance of reaching movements in a simple hybrid robotic system setting. We implemented a Feedback Error Learning (FEL) control strategy consisting of a feedback PID controller and a feedforward controller based on a neural network. A passive exoskeleton complemented the FES controller by compensating the effects of gravity. We carried out experiments with healthy subjects to validate the performance of the system. Results show that the FEL control strategy is able to adjust the FES intensity to track the desired trajectory accurately without the need of a previous mathematical model. PMID:27990245

Compact MEMS-based Adaptive Optics Optical Coherence Tomography for Clinical Use

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

Chen, D; Olivier, S; Jones, S

2008-02-04

We describe a compact MEMS-based adaptive optics (AO) optical coherence tomography system with improved AO performance and ease of clinical use. A typical AO system consists of a Shack-Hartmann wavefront sensor and a deformable mirror that measures and corrects the ocular and system aberrations. Because of the limitation on the current deformable mirror technologies, the amount of real-time ocular-aberration compensation is restricted and small in the previous AO-OCT instruments. In this instrument, we proposed to add an optical apparatus to correct the spectacle aberrations of the patients such as myopia, hyperopia and astigmatism. This eliminated the tedious process of themore » trial lenses in clinical imaging. Different amount of spectacle aberration compensation was achieved by motorized stages and automated with the AO computer for ease of clinical use. In addition, the compact AO-OCT was optimized to have minimum system aberrations to reduce AO registration errors and improve AO performance.« less

Two-Dimensional Micro-/Nanoradian Angle Generator with High Resolution and Repeatability Based on Piezo-Driven Double-Axis Flexure Hinge and Three Capacitive Sensors.

PubMed

Tan, Xinran; Zhu, Fan; Wang, Chao; Yu, Yang; Shi, Jian; Qi, Xue; Yuan, Feng; Tan, Jiubin

2017-11-19

This study presents a two-dimensional micro-/nanoradian angle generator (2D-MNAG) that achieves high angular displacement resolution and repeatability using a piezo-driven flexure hinge for two-dimensional deflections and three capacitive sensors for output angle monitoring and feedback control. The principal error of the capacitive sensor for precision microangle measurement is analyzed and compensated for; so as to achieve a high angle output resolution of 10 nrad (0.002 arcsec) and positioning repeatability of 120 nrad (0.024 arcsec) over a large angular range of ±4363 μrad (±900 arcsec) for the 2D-MNAG. The impact of each error component, together with the synthetic error of the 2D-MNAG after principal error compensation are determined using Monte Carlo simulation for further improvement of the 2D-MNAG.

Two-Dimensional Micro-/Nanoradian Angle Generator with High Resolution and Repeatability Based on Piezo-Driven Double-Axis Flexure Hinge and Three Capacitive Sensors

PubMed Central

Tan, Xinran; Zhu, Fan; Wang, Chao; Yu, Yang; Shi, Jian; Qi, Xue; Yuan, Feng; Tan, Jiubin

2017-01-01

This study presents a two-dimensional micro-/nanoradian angle generator (2D-MNAG) that achieves high angular displacement resolution and repeatability using a piezo-driven flexure hinge for two-dimensional deflections and three capacitive sensors for output angle monitoring and feedback control. The principal error of the capacitive sensor for precision microangle measurement is analyzed and compensated for; so as to achieve a high angle output resolution of 10 nrad (0.002 arcsec) and positioning repeatability of 120 nrad (0.024 arcsec) over a large angular range of ±4363 μrad (±900 arcsec) for the 2D-MNAG. The impact of each error component, together with the synthetic error of the 2D-MNAG after principal error compensation are determined using Monte Carlo simulation for further improvement of the 2D-MNAG. PMID:29156595

A novel optical fiber displacement sensor of wider measurement range based on neural network

NASA Astrophysics Data System (ADS)

Guo, Yuan; Dai, Xue Feng; Wang, Yu Tian

2006-02-01

By studying on the output characteristics of random type optical fiber sensor and semicircular type optical fiber sensor, the ratio of the two output signals was used as the output signal of the whole system. Then the measurement range was enlarged, the linearity was improved, and the errors of reflective and absorbent changing of target surface are automatically compensated. Meantime, an optical fiber sensor model of correcting static error based on BP artificial neural network(ANN) is set up. So the intrinsic errors such as effects of fluctuations in the light, circuit excursion, the intensity losses in the fiber lines and the additional losses in the receiving fiber caused by bends are eliminated. By discussing in theory and experiment, the error of nonlinear is 2.9%, the measuring range reaches to 5-6mm and the relative accuracy is 2%.And this sensor has such characteristics as no electromagnetic interference, simple construction, high sensitivity, good accuracy and stability. Also the multi-point sensor system can be used to on-line and non-touch monitor in working locales.

Simultaneous localization and calibration for electromagnetic tracking systems.

PubMed

Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor

2016-06-01

In clinical environments, field distortion can cause significant electromagnetic tracking errors. Therefore, dynamic calibration of electromagnetic tracking systems is essential to compensate for measurement errors. It is proposed to integrate the motion model of the tracked instrument with redundant EM sensor observations and to apply a simultaneous localization and mapping algorithm in order to accurately estimate the pose of the instrument and create a map of the field distortion in real-time. Experiments were conducted in the presence of ferromagnetic and electrically-conductive field distorting objects and results compared with those of a conventional sensor fusion approach. The proposed method reduced the tracking error from 3.94±1.61 mm to 1.82±0.62 mm in the presence of steel, and from 0.31±0.22 mm to 0.11±0.14 mm in the presence of aluminum. With reduced tracking error and independence from external tracking devices or pre-operative calibrations, the approach is promising for reliable EM navigation in various clinical procedures. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

FOCAL PLANE WAVEFRONT SENSING USING RESIDUAL ADAPTIVE OPTICS SPECKLES

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

Codona, Johanan L.; Kenworthy, Matthew, E-mail: jlcodona@gmail.com

2013-04-20

Optical imperfections, misalignments, aberrations, and even dust can significantly limit sensitivity in high-contrast imaging systems such as coronagraphs. An upstream deformable mirror (DM) in the pupil can be used to correct or compensate for these flaws, either to enhance the Strehl ratio or suppress the residual coronagraphic halo. Measurement of the phase and amplitude of the starlight halo at the science camera is essential for determining the DM shape that compensates for any non-common-path (NCP) wavefront errors. Using DM displacement ripples to create a series of probe and anti-halo speckles in the focal plane has been proposed for space-based coronagraphsmore » and successfully demonstrated in the lab. We present the theory and first on-sky demonstration of a technique to measure the complex halo using the rapidly changing residual atmospheric speckles at the 6.5 m MMT telescope using the Clio mid-IR camera. The AO system's wavefront sensor measurements are used to estimate the residual wavefront, allowing us to approximately compute the rapidly evolving phase and amplitude of speckle halo. When combined with relatively short, synchronized science camera images, the complex speckle estimates can be used to interferometrically analyze the images, leading to an estimate of the static diffraction halo with NCP effects included. In an operational system, this information could be collected continuously and used to iteratively correct quasi-static NCP errors or suppress imperfect coronagraphic halos.« less

Landmark-Based Drift Compensation Algorithm for Inertial Pedestrian Navigation

PubMed Central

Munoz Diaz, Estefania; Caamano, Maria; Fuentes Sánchez, Francisco Javier

2017-01-01

The navigation of pedestrians based on inertial sensors, i.e., accelerometers and gyroscopes, has experienced a great growth over the last years. However, the noise of medium- and low-cost sensors causes a high error in the orientation estimation, particularly in the yaw angle. This error, called drift, is due to the bias of the z-axis gyroscope and other slow changing errors, such as temperature variations. We propose a seamless landmark-based drift compensation algorithm that only uses inertial measurements. The proposed algorithm adds a great value to the state of the art, because the vast majority of the drift elimination algorithms apply corrections to the estimated position, but not to the yaw angle estimation. Instead, the presented algorithm computes the drift value and uses it to prevent yaw errors and therefore position errors. In order to achieve this goal, a detector of landmarks, i.e., corners and stairs, and an association algorithm have been developed. The results of the experiments show that it is possible to reliably detect corners and stairs using only inertial measurements eliminating the need that the user takes any action, e.g., pressing a button. Associations between re-visited landmarks are successfully made taking into account the uncertainty of the position. After that, the drift is computed out of all associations and used during a post-processing stage to obtain a low-drifted yaw angle estimation, that leads to successfully drift compensated trajectories. The proposed algorithm has been tested with quasi-error-free turn rate measurements introducing known biases and with medium-cost gyroscopes in 3D indoor and outdoor scenarios. PMID:28671622

Enzymatic creatinine assays allow estimation of glomerular filtration rate in stages 1 and 2 chronic kidney disease using CKD-EPI equation.

PubMed

Kuster, Nils; Cristol, Jean-Paul; Cavalier, Etienne; Bargnoux, Anne-Sophie; Halimi, Jean-Michel; Froissart, Marc; Piéroni, Laurence; Delanaye, Pierre

2014-01-20

The National Kidney Disease Education Program group demonstrated that MDRD equation is sensitive to creatinine measurement error, particularly at higher glomerular filtration rates. Thus, MDRD-based eGFR above 60 mL/min/1.73 m² should not be reported numerically. However, little is known about the impact of analytical error on CKD-EPI-based estimates. This study aimed at assessing the impact of analytical characteristics (bias and imprecision) of 12 enzymatic and 4 compensated Jaffe previously characterized creatinine assays on MDRD and CKD-EPI eGFR. In a simulation study, the impact of analytical error was assessed on a hospital population of 24084 patients. Ability using each assay to correctly classify patients according to chronic kidney disease (CKD) stages was evaluated. For eGFR between 60 and 90 mL/min/1.73 m², both equations were sensitive to analytical error. Compensated Jaffe assays displayed high bias in this range and led to poorer sensitivity/specificity for classification according to CKD stages than enzymatic assays. As compared to MDRD equation, CKD-EPI equation decreases impact of analytical error in creatinine measurement above 90 mL/min/1.73 m². Compensated Jaffe creatinine assays lead to important errors in eGFR and should be avoided. Accurate enzymatic assays allow estimation of eGFR until 90 mL/min/1.73 m² with MDRD and 120 mL/min/1.73 m² with CKD-EPI equation. Copyright © 2013 Elsevier B.V. All rights reserved.

Long, elliptically bent, active X-ray mirrors with slope errors <200 nrad.

PubMed

Nistea, Ioana T; Alcock, Simon G; Kristiansen, Paw; Young, Adam

2017-05-01

Actively bent X-ray mirrors are important components of many synchrotron and X-ray free-electron laser beamlines. A high-quality optical surface and good bending performance are essential to ensure that the X-ray beam is accurately focused. Two elliptically bent X-ray mirror systems from FMB Oxford were characterized in the optical metrology laboratory at Diamond Light Source. A comparison of Diamond-NOM slope profilometry and finite-element analysis is presented to investigate how the 900 mm-long mirrors sag under gravity, and how this deformation can be adequately compensated using a single, spring-loaded compensator. It is shown that two independent mechanical actuators can accurately bend the trapezoidal substrates to a range of elliptical profiles. State-of-the-art residual slope errors of <200 nrad r.m.s. are achieved over the entire elliptical bending range. High levels of bending repeatability (ΔR/R = 0.085% and 0.156% r.m.s. for the two bending directions) and stability over 24 h (ΔR/R = 0.07% r.m.s.) provide reliable beamline performance.

Improved Spatial Registration and Target Tracking Method for Sensors on Multiple Missiles.

PubMed

Lu, Xiaodong; Xie, Yuting; Zhou, Jun

2018-05-27

Inspired by the problem that the current spatial registration methods are unsuitable for three-dimensional (3-D) sensor on high-dynamic platform, this paper focuses on the estimation for the registration errors of cooperative missiles and motion states of maneuvering target. There are two types of errors being discussed: sensor measurement biases and attitude biases. Firstly, an improved Kalman Filter on Earth-Centered Earth-Fixed (ECEF-KF) coordinate algorithm is proposed to estimate the deviations mentioned above, from which the outcomes are furtherly compensated to the error terms. Secondly, the Pseudo Linear Kalman Filter (PLKF) and the nonlinear scheme the Unscented Kalman Filter (UKF) with modified inputs are employed for target tracking. The convergence of filtering results are monitored by a position-judgement logic, and a low-pass first order filter is selectively introduced before compensation to inhibit the jitter of estimations. In the simulation, the ECEF-KF enhancement is proven to improve the accuracy and robustness of the space alignment, while the conditional-compensation-based PLKF method is demonstrated to be the optimal performance in target tracking.

Optimizing symmetry-based recoupling sequences in solid-state NMR by pulse-transient compensation and asynchronous implementation

NASA Astrophysics Data System (ADS)

Hellwagner, Johannes; Sharma, Kshama; Tan, Kong Ooi; Wittmann, Johannes J.; Meier, Beat H.; Madhu, P. K.; Ernst, Matthias

2017-06-01

Pulse imperfections like pulse transients and radio-frequency field maladjustment or inhomogeneity are the main sources of performance degradation and limited reproducibility in solid-state nuclear magnetic resonance experiments. We quantitatively analyze the influence of such imperfections on the performance of symmetry-based pulse sequences and describe how they can be compensated. Based on a triple-mode Floquet analysis, we develop a theoretical description of symmetry-based dipolar recoupling sequences, in particular, R2 6411, calculating first- and second-order effective Hamiltonians using real pulse shapes. We discuss the various origins of effective fields, namely, pulse transients, deviation from the ideal flip angle, and fictitious fields, and develop strategies to counteract them for the restoration of full transfer efficiency. We compare experimental applications of transient-compensated pulses and an asynchronous implementation of the sequence to a supercycle, SR26, which is known to be efficient in compensating higher-order error terms. We are able to show the superiority of R26 compared to the supercycle, SR26, given the ability to reduce experimental error on the pulse sequence by pulse-transient compensation and a complete theoretical understanding of the sequence.

Performance Improvement of Receivers Based on Ultra-Tight Integration in GNSS-Challenged Environments

PubMed Central

Qin, Feng; Zhan, Xingqun; Du, Gang

2013-01-01

Ultra-tight integration was first proposed by Abbott in 2003 with the purpose of integrating a global navigation satellite system (GNSS) and an inertial navigation system (INS). This technology can improve the tracking performances of a receiver by reconfiguring the tracking loops in GNSS-challenged environments. In this paper, the models of all error sources known to date in the phase lock loops (PLLs) of a standard receiver and an ultra-tightly integrated GNSS/INS receiver are built, respectively. Based on these models, the tracking performances of the two receivers are compared to verify the improvement due to the ultra-tight integration. Meanwhile, the PLL error distributions of the two receivers are also depicted to analyze the error changes of the tracking loops. These results show that the tracking error is significantly reduced in the ultra-tightly integrated GNSS/INS receiver since the receiver's dynamics are estimated and compensated by an INS. Moreover, the mathematical relationship between the tracking performances of the ultra-tightly integrated GNSS/INS receiver and the quality of the selected inertial measurement unit (IMU) is derived from the error models and proved by the error comparisons of four ultra-tightly integrated GNSS/INS receivers aided by different grade IMUs.

Design ATE systems for complex assemblies

NASA Astrophysics Data System (ADS)

Napier, R. S.; Flammer, G. H.; Moser, S. A.

1983-06-01

The use of ATE systems in radio specification testing can reduce the test time by approximately 90 to 95 percent. What is more, the test station does not require a highly trained operator. Since the system controller has full power over all the measurements, human errors are not introduced into the readings. The controller is immune to any need to increase output by allowing marginal units to pass through the system. In addition, the software compensates for predictable, repeatable system errors, for example, cabling losses, which are an inherent part of the test setup. With no variation in test procedures from unit to unit, there is a constant repeatability factor. Preparing the software, however, usually entails considerable expense. It is pointed out that many of the problems associated with ATE system software can be avoided with the use of a software-intensive, or computer-intensive, system organization. Its goal is to minimize the user's need for software development, thereby saving time and money.

Anticipatory Neurofuzzy Control

NASA Technical Reports Server (NTRS)

Mccullough, Claire L.

1994-01-01

Technique of feedback control, called "anticipatory neurofuzzy control," developed for use in controlling flexible structures and other dynamic systems for which mathematical models of dynamics poorly known or unknown. Superior ability to act during operation to compensate for, and adapt to, errors in mathematical model of dynamics, changes in dynamics, and noise. Also offers advantage of reduced computing time. Hybrid of two older fuzzy-logic control techniques: standard fuzzy control and predictive fuzzy control.

Phase locked loop synchronization for direct detection optical PPM communication systems

NASA Technical Reports Server (NTRS)

Chen, C. C.; Gardner, C. S.

1985-01-01

Receiver timing synchronization of an optical pulse position modulation (PPM) communication system can be achieved using a phase locked loop (PLL) if the photodetector output is properly processed. The synchronization performance is shown to improve with increasing signal power and decreasing loop bandwidth. Bit error rate (BER) of the PLL synchronized PPM system is analyzed and compared to that for the perfectly synchronized system. It is shown that the increase in signal power needed to compensate for the imperfect synchronization is small (less than 0.1 dB) for loop bandwidths less than 0.1% of the slot frequency.

Design of a Base Station for MEMS CCR Localization in an Optical Sensor Network

PubMed Central

Park, Chan Gook; Jeon, Hyun Cheol; Kim, Hyoun Jin; Kim, Jae Yoon

2014-01-01

This paper introduces a design and implementation of a base station, capable of positioning sensor nodes using an optical scheme. The base station consists of a pulse laser module, optical detectors and beam splitter, which are mounted on a rotation-stage, and a Time to Digital Converter (TDC). The optical pulse signal transmitted to the sensor node with a Corner Cube Retro-reflector (CCR) is reflected to the base station, and the Time of Flight (ToF) data can be obtained from the two detectors. With the angle and flight time data, the position of the sensor node can be calculated. The performance of the system is evaluated by using a commercial CCR. The sensor nodes are placed at different angles from the base station and scanned using the laser. We analyze the node position error caused by the rotation and propose error compensation methods, namely the outlier sample exception and decreasing the confidence factor steadily using the recursive least square (RLS) methods. Based on the commercial CCR results, the MEMS CCR is also tested to demonstrate the compatibility between the base station and the proposed methods. The result shows that the localization performance of the system can be enhanced with the proposed compensation method using the MEMS CCR. PMID:24815681

Design of a base station for MEMS CCR localization in an optical sensor network.

PubMed

Park, Chan Gook; Jeon, Hyun Cheol; Kim, Hyoun Jin; Kim, Jae Yoon

2014-05-08

This paper introduces a design and implementation of a base station, capable of positioning sensor nodes using an optical scheme. The base station consists of a pulse laser module, optical detectors and beam splitter, which are mounted on a rotation-stage, and a Time to Digital Converter (TDC). The optical pulse signal transmitted to the sensor node with a Corner Cube Retro-reflector (CCR) is reflected to the base station, and the Time of Flight (ToF) data can be obtained from the two detectors. With the angle and flight time data, the position of the sensor node can be calculated. The performance of the system is evaluated by using a commercial CCR. The sensor nodes are placed at different angles from the base station and scanned using the laser. We analyze the node position error caused by the rotation and propose error compensation methods, namely the outlier sample exception and decreasing the confidence factor steadily using the recursive least square (RLS) methods. Based on the commercial CCR results, the MEMS CCR is also tested to demonstrate the compatibility between the base station and the proposed methods. The result shows that the localization performance of the system can be enhanced with the proposed compensation method using the MEMS CCR.

Robust gaze-steering of an active vision system against errors in the estimated parameters

NASA Astrophysics Data System (ADS)

Han, Youngmo

2015-01-01

Gaze-steering is often used to broaden the viewing range of an active vision system. Gaze-steering procedures are usually based on estimated parameters such as image position, image velocity, depth and camera calibration parameters. However, there may be uncertainties in these estimated parameters because of measurement noise and estimation errors. In this case, robust gaze-steering cannot be guaranteed. To compensate for such problems, this paper proposes a gaze-steering method based on a linear matrix inequality (LMI). In this method, we first propose a proportional derivative (PD) control scheme on the unit sphere that does not use depth parameters. This proposed PD control scheme can avoid uncertainties in the estimated depth and camera calibration parameters, as well as inconveniences in their estimation process, including the use of auxiliary feature points and highly non-linear computation. Furthermore, the control gain of the proposed PD control scheme on the unit sphere is designed using LMI such that the designed control is robust in the presence of uncertainties in the other estimated parameters, such as image position and velocity. Simulation results demonstrate that the proposed method provides a better compensation for uncertainties in the estimated parameters than the contemporary linear method and steers the gaze of the camera more steadily over time than the contemporary non-linear method.

Mutual coupling, channel model, and BER for curvilinear antenna arrays

NASA Astrophysics Data System (ADS)

Huang, Zhiyong

This dissertation introduces a wireless communications system with an adaptive beam-former and investigates its performance with different antenna arrays. Mutual coupling, real antenna elements and channel models are included to examine the system performance. In a beamforming system, mutual coupling (MC) among the elements can significantly degrade the system performance. However, MC effects can be compensated if an accurate model of mutual coupling is available. A mutual coupling matrix model is utilized to compensate mutual coupling in the beamforming of a uniform circular array (UCA). Its performance is compared with other models in uplink and downlink beamforming scenarios. In addition, the predictions are compared with measurements and verified with results from full-wave simulations. In order to accurately investigate the minimum mean-square-error (MSE) of an adaptive array in MC, two different noise models, the environmental and the receiver noise, are modeled. The minimum MSEs with and without data domain MC compensation are analytically compared. The influence of mutual coupling on the convergence is also examined. In addition, the weight compensation method is proposed to attain the desired array pattern. Adaptive arrays with different geometries are implemented with the minimum MSE algorithm in the wireless communications system to combat interference at the same frequency. The bit-error-rate (BER) of systems with UCA, uniform rectangular array (URA) and UCA with center element are investigated in additive white Gaussian noise plus well-separated signals or random direction signals scenarios. The output SINR of an adaptive array with multiple interferers is analytically examined. The influence of the adaptive algorithm convergence on the BER is investigated. The UCA is then investigated in a narrowband Rician fading channel. The channel model is built and the space correlations are examined. The influence of the number of signal paths, number of the interferers, Doppler spread and convergence are investigated. The tracking mode is introduced to the adaptive array system, and it further improves the BER. The benefit of using faster data rate (wider bandwidth) is discussed. In order to have better performance in a 3D space, the geometries of uniform spherical array (USAs) are presented and different configurations of USAs are discussed. The LMS algorithm based on temporal a priori information is applied to UCAs and USAs to beamform the patterns. Their performances are compared based on simulation results. Based on the analytical and simulation results, it can be concluded that mutual coupling slightly influences the performance of the adaptive array in communication systems. In addition, arrays with curvilinear geometries perform well in AWGN and fading channels.

Attenuation Compensation of Ultrasonic Wave in Soft Tissue for Acoustic Impedance Measurement of In vivo Bone by Transducer Vibration Method

NASA Astrophysics Data System (ADS)

Yoshizawa, Masasumi; Nakamura, Yuuta; Ishiguro, Masataka; Moriya, Tadashi

2007-07-01

In this paper, we describe a method of compensating the attenuation of the ultrasound caused by soft tissue in the transducer vibration method for the measurement of the acoustic impedance of in vivo bone. In the in vivo measurement, the acoustic impedance of bone is measured through soft tissue; therefore, the amplitude of the ultrasound reflected from the bone is attenuated. This attenuation causes an error of the order of -20 to -30% when the acoustic impedance is determined from the measured signals. To compensate the attenuation, the attenuation coefficient and length of the soft tissue are measured by the transducer vibration method. In the experiment using a phantom, this method allows the measurement of the acoustic impedance typically with an error as small as -8 to 10%.

Design of static synchronous series compensator based damping controller employing invasive weed optimization algorithm.

PubMed

Ahmed, Ashik; Al-Amin, Rasheduzzaman; Amin, Ruhul

2014-01-01

This paper proposes designing of Static Synchronous Series Compensator (SSSC) based damping controller to enhance the stability of a Single Machine Infinite Bus (SMIB) system by means of Invasive Weed Optimization (IWO) technique. Conventional PI controller is used as the SSSC damping controller which takes rotor speed deviation as the input. The damping controller parameters are tuned based on time integral of absolute error based cost function using IWO. Performance of IWO based controller is compared to that of Particle Swarm Optimization (PSO) based controller. Time domain based simulation results are presented and performance of the controllers under different loading conditions and fault scenarios is studied in order to illustrate the effectiveness of the IWO based design approach.

Noncontact on-machine measurement system based on capacitive displacement sensors for single-point diamond turning

NASA Astrophysics Data System (ADS)

Li, Xingchang; Zhang, Zhiyu; Hu, Haifei; Li, Yingjie; Xiong, Ling; Zhang, Xuejun; Yan, Jiwang

2018-04-01

On-machine measurements can improve the form accuracy of optical surfaces in single-point diamond turning applications; however, commercially available linear variable differential transformer sensors are inaccurate and can potentially scratch the surface. We present an on-machine measurement system based on capacitive displacement sensors for high-precision optical surfaces. In the proposed system, a position-trigger method of measurement was developed to ensure strict correspondence between the measurement points and the measurement data with no intervening time-delay. In addition, a double-sensor measurement was proposed to reduce the electric signal noise during spindle rotation. Using the proposed system, the repeatability of 80-nm peak-to-valley (PV) and 8-nm root-mean-square (RMS) was achieved through analyzing four successive measurement results. The accuracy of 109-nm PV and 14-nm RMS was obtained by comparing with the interferometer measurement result. An aluminum spherical mirror with a diameter of 300 mm was fabricated, and the resulting measured form error after one compensation cut was decreased to 254 nm in PV and 52 nm in RMS. These results confirm that the measurements of the surface form errors were successfully used to modify the cutting tool path during the compensation cut, thereby ensuring that the diamond turning process was more deterministic. In addition, the results show that the noise level was significantly reduced with the reference sensor even under a high rotational speed.

Detection of stably bright squeezed light with the quantum noise reduction of 12.6  dB by mutually compensating the phase fluctuations.

PubMed

Yang, Wenhai; Shi, Shaoping; Wang, Yajun; Ma, Weiguang; Zheng, Yaohui; Peng, Kunchi

2017-11-01

We present a mutual compensation scheme of three phase fluctuations, originating from the residual amplitude modulation (RAM) in the phase modulation process, in the bright squeezed light generation system. The influence of the RAM on each locking loop is harmonized by using one electro-optic modulator (EOM), and the direction of the phase fluctuation is manipulated by positioning the photodetector (PD) that extracts the error signal before or after the optical parametric amplifier (OPA). Therefore a bright squeezed light with non-classical noise reduction of π is obtained. By fitting the squeezing and antisqueezing measurement results, we confirm that the total phase fluctuation of the system is around 3.1 mrad. The fluctuation of the noise suppression is 0.2 dB for 3 h.

Neural-Based Compensation of Nonlinearities in an Airplane Longitudinal Model with Dynamic-Inversion Control

PubMed Central

Li, YuHui; Jin, FeiTeng

2017-01-01

The inversion design approach is a very useful tool for the complex multiple-input-multiple-output nonlinear systems to implement the decoupling control goal, such as the airplane model and spacecraft model. In this work, the flight control law is proposed using the neural-based inversion design method associated with the nonlinear compensation for a general longitudinal model of the airplane. First, the nonlinear mathematic model is converted to the equivalent linear model based on the feedback linearization theory. Then, the flight control law integrated with this inversion model is developed to stabilize the nonlinear system and relieve the coupling effect. Afterwards, the inversion control combined with the neural network and nonlinear portion is presented to improve the transient performance and attenuate the uncertain effects on both external disturbances and model errors. Finally, the simulation results demonstrate the effectiveness of this controller. PMID:29410680

High-speed tracking control of piezoelectric actuators using an ellipse-based hysteresis model.

PubMed

Gu, Guoying; Zhu, Limin

2010-08-01

In this paper, an ellipse-based mathematic model is developed to characterize the rate-dependent hysteresis in piezoelectric actuators. Based on the proposed model, an expanded input space is constructed to describe the multivalued hysteresis function H[u](t) by a multiple input single output (MISO) mapping Gamma:R(2)-->R. Subsequently, the inverse MISO mapping Gamma(-1)(H[u](t),H[u](t);u(t)) is proposed for real-time hysteresis compensation. In controller design, a hybrid control strategy combining a model-based feedforward controller and a proportional integral differential (PID) feedback loop is used for high-accuracy and high-speed tracking control of piezoelectric actuators. The real-time feedforward controller is developed to cancel the rate-dependent hysteresis based on the inverse hysteresis model, while the PID controller is used to compensate for the creep, modeling errors, and parameter uncertainties. Finally, experiments with and without hysteresis compensation are conducted and the experimental results are compared. The experimental results show that the hysteresis compensation in the feedforward path can reduce the hysteresis-caused error by up to 88% and the tracking performance of the hybrid controller is greatly improved in high-speed tracking control applications, e.g., the root-mean-square tracking error is reduced to only 0.34% of the displacement range under the input frequency of 100 Hz.

Precision rectifier detectors for ac resistance bridge measurements with application to temperature control systems for irradiation creep experiments

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

Duncan, M. G.

The suitability of several temperature measurement schemes for an irradiation creep experiment is examined. It is found that the specimen resistance can be used to measure and control the sample temperature if compensated for resistance drift due to radiation and annealing effects. A modified Kelvin bridge is presented that allows compensation for resistance drift by periodically checking the sample resistance at a controlled ambient temperature. A new phase-insensitive method for detecting the bridge error signals is presented. The phase-insensitive detector is formed by averaging the magnitude of two bridge voltages. Although this method is substantially less sensitive to stray reactancesmore » in the bridge than conventional phase-sensitive detectors, it is sensitive to gain stability and linearity of the rectifier circuits. Accuracy limitations of rectifier circuits are examined both theoretically and experimentally in great detail. Both hand analyses and computer simulations of rectifier errors are presented. Finally, the design of a temperature control system based on sample resistance measurement is presented. The prototype is shown to control a 316 stainless steel sample to within a 0.15/sup 0/C short term (10 sec) and a 0.03/sup 0/C long term (10 min) standard deviation at temperatures between 150 and 700/sup 0/C. The phase-insensitive detector typically contributes less than 10 ppM peak resistance measurement error (0.04/sup 0/C at 700/sup 0/C for 316 stainless steel or 0.005/sup 0/C at 150/sup 0/C for zirconium).« less

Experimental characterization of a 400 Gbit/s orbital angular momentum multiplexed free-space optical link over 120 m.

PubMed

Ren, Yongxiong; Wang, Zhe; Liao, Peicheng; Li, Long; Xie, Guodong; Huang, Hao; Zhao, Zhe; Yan, Yan; Ahmed, Nisar; Willner, Asher; Lavery, Martin P J; Ashrafi, Nima; Ashrafi, Solyman; Bock, Robert; Tur, Moshe; Djordjevic, Ivan B; Neifeld, Mark A; Willner, Alan E

2016-02-01

We experimentally demonstrate and characterize the performance of a 400-Gbit/s orbital angular momentum (OAM) multiplexed free-space optical link over 120 m on the roof of a building. Four OAM beams, each carrying a 100-Gbit/s quadrature-phase-shift-keyed channel are multiplexed and transmitted. We investigate the influence of channel impairments on the received power, intermodal crosstalk among channels, and system power penalties. Without laser tracking and compensation systems, the measured received power and crosstalk among OAM channels fluctuate by 4.5 dB and 5 dB, respectively, over 180 s. For a beam displacement of 2 mm that corresponds to a pointing error less than 16.7 μrad, the link bit error rates are below the forward error correction threshold of 3.8×10(-3) for all channels. Both experimental and simulation results show that power penalties increase rapidly when the displacement increases.

Distributed adaptive asymptotically consensus tracking control of uncertain Euler-Lagrange systems under directed graph condition.

PubMed

Wang, Wei; Wen, Changyun; Huang, Jiangshuai; Fan, Huijin

2017-11-01

In this paper, a backstepping based distributed adaptive control scheme is proposed for multiple uncertain Euler-Lagrange systems under directed graph condition. The common desired trajectory is allowed totally unknown by part of the subsystems and the linearly parameterized trajectory model assumed in currently available results is no longer needed. To compensate the effects due to unknown trajectory information, a smooth function of consensus errors and certain positive integrable functions are introduced in designing virtual control inputs. Besides, to overcome the difficulty of completely counteracting the coupling terms of distributed consensus errors and parameter estimation errors in the presence of asymmetric Laplacian matrix, extra information transmission of local parameter estimates are introduced among linked subsystem and adaptive gain technique is adopted to generate distributed torque inputs. It is shown that with the proposed distributed adaptive control scheme, global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

MO-FG-CAMPUS-JeP3-01: A Statistical Model for Analyzing the Rotational Error of Single Iso-Center Technique

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

Chang, J; Dept of Radiation Oncology, New York Weill Cornell Medical Ctr, New York, NY

Purpose: To develop a generalized statistical model that incorporates the treatment uncertainty from the rotational error of single iso-center technique, and calculate the additional PTV (planning target volume) margin required to compensate for this error. Methods: The random vectors for setup and additional rotation errors in the three-dimensional (3D) patient coordinate system were assumed to follow the 3D independent normal distribution with zero mean, and standard deviations σx, σy, σz, for setup error and a uniform σR for rotational error. Both random vectors were summed, normalized and transformed to the spherical coordinates to derive the chi distribution with 3 degreesmore » of freedom for the radical distance ρ. PTV margin was determined using the critical value of this distribution for 0.05 significant level so that 95% of the time the treatment target would be covered by ρ. The additional PTV margin required to compensate for the rotational error was calculated as a function of σx, σy, σz and σR. Results: The effect of the rotational error is more pronounced for treatments that requires high accuracy/precision like stereotactic radiosurgery (SRS) or stereotactic body radiotherapy (SBRT). With a uniform 2mm PTV margin (or σx =σy=σz=0.7mm), a σR=0.32mm will decrease the PTV coverage from 95% to 90% of the time, or an additional 0.2mm PTV margin is needed to prevent this loss of coverage. If we choose 0.2 mm as the threshold, any σR>0.3mm will lead to an additional PTV margin that cannot be ignored, and the maximal σR that can be ignored is 0.0064 rad (or 0.37°) for iso-to-target distance=5cm, or 0.0032 rad (or 0.18°) for iso-to-target distance=10cm. Conclusions: The rotational error cannot be ignored for high-accuracy/-precision treatments like SRS/SBRT, particularly when the distance between the iso-center and target is large.« less

Motion compensation for MRI-compatible patient-mounted needle guide device: estimation of targeting accuracy in MRI-guided kidney cryoablations

NASA Astrophysics Data System (ADS)

Tokuda, Junichi; Chauvin, Laurent; Ninni, Brian; Kato, Takahisa; King, Franklin; Tuncali, Kemal; Hata, Nobuhiko

2018-04-01

Patient-mounted needle guide devices for percutaneous ablation are vulnerable to patient motion. The objective of this study is to develop and evaluate a software system for an MRI-compatible patient-mounted needle guide device that can adaptively compensate for displacement of the device due to patient motion using a novel image-based automatic device-to-image registration technique. We have developed a software system for an MRI-compatible patient-mounted needle guide device for percutaneous ablation. It features fully-automated image-based device-to-image registration to track the device position, and a device controller to adjust the needle trajectory to compensate for the displacement of the device. We performed: (a) a phantom study using a clinical MR scanner to evaluate registration performance; (b) simulations using intraoperative time-series MR data acquired in 20 clinical cases of MRI-guided renal cryoablations to assess its impact on motion compensation; and (c) a pilot clinical study in three patients to test its feasibility during the clinical procedure. FRE, TRE, and success rate of device-to-image registration were mm, mm, and 98.3% for the phantom images. The simulation study showed that the motion compensation reduced the targeting error for needle placement from 8.2 mm to 5.4 mm (p  <  0.0005) in patients under general anesthesia (GA), and from 14.4 mm to 10.0 mm () in patients under monitored anesthesia care (MAC). The pilot study showed that the software registered the device successfully in a clinical setting. Our simulation study demonstrated that the software system could significantly improve targeting accuracy in patients treated under both MAC and GA. Intraprocedural image-based device-to-image registration was feasible.

Bimorph deformable mirror: an appropriate wavefront corrector for retinal imaging?

NASA Astrophysics Data System (ADS)

Laut, Sophie; Jones, Steve; Park, Hyunkyu; Horsley, David A.; Olivier, Scot; Werner, John S.

2005-11-01

The purpose of this study was to evaluate the performance of a bimorph deformable mirror from AOptix, inserted into an adaptive optics system designed for in-vivo retinal imaging at high resolution. We wanted to determine its suitability as a wavefront corrector for vision science and ophthalmological instrumentation. We presented results obtained in a closed-loop system, and compared them with previous open-loop performance measurements. Our goal was to obtain precise wavefront reconstruction with rapid convergence of the control algorithm. The quality of the reconstruction was expressed in terms of root-mean-squared wavefront residual error (RMS), and number of frames required to perform compensation. Our instrument used a Hartmann-Shack sensor for the wavefront measurements. We also determined the precision and ability of the deformable mirror to compensate the most common types of aberrations present in the human eye (defocus, cylinder, astigmatism and coma), and the quality of its correction, in terms of maximum amplitude of the corrected wavefront. In addition to wavefront correction, we had also used the closed-loop system to generate an arbitrary aberration pattern by entering the desired Hartmann-Shack centroid locations as input to the AO controller. These centroid locations were computed in Matlab for a user-defined aberration pattern, allowing us to test the ability of the DM to generate and compensate for various aberrations. We conclude that this device, in combination with another DM based on Micro-Electro Mechanical Systems (MEMS) technology, may provide better compensation of the higher-order ocular wavefront aberrations of the human eye

Adaptive control of nonlinear uncertain active suspension systems with prescribed performance.

PubMed

Huang, Yingbo; Na, Jing; Wu, Xing; Liu, Xiaoqin; Guo, Yu

2015-01-01

This paper proposes adaptive control designs for vehicle active suspension systems with unknown nonlinear dynamics (e.g., nonlinear spring and piece-wise linear damper dynamics). An adaptive control is first proposed to stabilize the vertical vehicle displacement and thus to improve the ride comfort and to guarantee other suspension requirements (e.g., road holding and suspension space limitation) concerning the vehicle safety and mechanical constraints. An augmented neural network is developed to online compensate for the unknown nonlinearities, and a novel adaptive law is developed to estimate both NN weights and uncertain model parameters (e.g., sprung mass), where the parameter estimation error is used as a leakage term superimposed on the classical adaptations. To further improve the control performance and simplify the parameter tuning, a prescribed performance function (PPF) characterizing the error convergence rate, maximum overshoot and steady-state error is used to propose another adaptive control. The stability for the closed-loop system is proved and particular performance requirements are analyzed. Simulations are included to illustrate the effectiveness of the proposed control schemes. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Dosimetric consequences of translational and rotational errors in frame-less image-guided radiosurgery

PubMed Central

2012-01-01

Background To investigate geometric and dosimetric accuracy of frame-less image-guided radiosurgery (IG-RS) for brain metastases. Methods and materials Single fraction IG-RS was practiced in 72 patients with 98 brain metastases. Patient positioning and immobilization used either double- (n = 71) or single-layer (n = 27) thermoplastic masks. Pre-treatment set-up errors (n = 98) were evaluated with cone-beam CT (CBCT) based image-guidance (IG) and were corrected in six degrees of freedom without an action level. CBCT imaging after treatment measured intra-fractional errors (n = 64). Pre- and post-treatment errors were simulated in the treatment planning system and target coverage and dose conformity were evaluated. Three scenarios of 0 mm, 1 mm and 2 mm GTV-to-PTV (gross tumor volume, planning target volume) safety margins (SM) were simulated. Results Errors prior to IG were 3.9 mm ± 1.7 mm (3D vector) and the maximum rotational error was 1.7° ± 0.8° on average. The post-treatment 3D error was 0.9 mm ± 0.6 mm. No differences between double- and single-layer masks were observed. Intra-fractional errors were significantly correlated with the total treatment time with 0.7mm±0.5mm and 1.2mm±0.7mm for treatment times ≤23 minutes and >23 minutes (p<0.01), respectively. Simulation of RS without image-guidance reduced target coverage and conformity to 75% ± 19% and 60% ± 25% of planned values. Each 3D set-up error of 1 mm decreased target coverage and dose conformity by 6% and 10% on average, respectively, with a large inter-patient variability. Pre-treatment correction of translations only but not rotations did not affect target coverage and conformity. Post-treatment errors reduced target coverage by >5% in 14% of the patients. A 1 mm safety margin fully compensated intra-fractional patient motion. Conclusions IG-RS with online correction of translational errors achieves high geometric and dosimetric accuracy. Intra-fractional errors decrease target coverage and conformity unless compensated with appropriate safety margins. PMID:22531060

Mechanical design of deformation compensated flexural pivots structured for linear nanopositioning stages

DOEpatents

Shu, Deming; Kearney, Steven P.; Preissner, Curt A.

2015-02-17

A method and deformation compensated flexural pivots structured for precision linear nanopositioning stages are provided. A deformation-compensated flexural linear guiding mechanism includes a basic parallel mechanism including a U-shaped member and a pair of parallel bars linked to respective pairs of I-link bars and each of the I-bars coupled by a respective pair of flexural pivots. The basic parallel mechanism includes substantially evenly distributed flexural pivots minimizing center shift dynamic errors.

Attitude determination for high-accuracy submicroradian jitter pointing on space-based platforms

NASA Astrophysics Data System (ADS)

Gupta, Avanindra A.; van Houten, Charles N.; Germann, Lawrence M.

1990-10-01

A description of the requirement definition process is given for a new wideband attitude determination subsystem (ADS) for image motion compensation (IMC) systems. The subsystem consists of either lateral accelerometers functioning in differential pairs or gas-bearing gyros for high-frequency sensors using CCD-based star trackers for low-frequency sensors. To minimize error the sensor signals are combined so that the mixing filter does not allow phase distortion. The two ADS models are introduced in an IMC simulation to predict measurement error, correction capability, and residual image jitter for a variety of system parameters. The IMC three-axis testbed is utilized to simulate an incoming beam in inertial space. Results demonstrate that both mechanical and electronic IMC meet the requirements of image stabilization for space-based observation at submicroradian-jitter levels. Currently available technology may be employed to implement IMC systems.

Hysteresis compensation for piezoelectric actuators in single-point diamond turning

NASA Astrophysics Data System (ADS)

Wang, Haifeng; Hu, Dejin; Wan, Daping; Liu, Hongbin

2006-02-01

In recent years, interests have been growing for fast tool servo (FTS) systems to increase the capability of existing single-point diamond turning machines. Although piezoelectric actuator is the most universal base of FTS system due to its high stiffness, accuracy and bandwidth, nonlinearity in piezoceramics limits both the static and dynamic performance of piezoelectric-actuated control systems evidently. To compensate the nonlinear hysteresis behavior of piezoelectric actuators, a hybrid model coupled with Preisach model and feedforward neural network (FNN) has been described. Since the training of FNN does not require a special calibration sequence, it is possible for on-line identification and real-time implementation with general operating data of a specific piezoelectric actuator. To describe the rate dependent behavior of piezoelectric actuators, a hybrid dynamic model was developed to predict the response of piezoelectric actuators in a wider range of input frequency. Experimental results show that a maximal error of less than 3% was accomplished by this dynamic model.

Optimal feed-forward compensation for PWM dc/dc converters with 'linear' and 'quadratic' conversion ratio

NASA Astrophysics Data System (ADS)

Calderone, Luigi; Pinola, Licia; Varoli, Vincenzo

1992-04-01

The paper describes an analytical procedure to optimize the feed-forward compensation for any PWM dc/dc converters. The aims of achieving zero dc audiosusceptibility was found to be possible for the buck, buck-boost, Cuk, and SEPIC cells; for the boost converter, however, only nonoptimal compensation is feasible. Rules for the design of PWM controllers and procedures for the evaluation of the hardware-introduced errors are discussed. A PWM controller implementing the optimal feed-forward compensation for buck-boost, Cuk, and SEPIC cells is described and fully experimentally characterized.

Study of wave form compensation at CSNS/RCS magnets

NASA Astrophysics Data System (ADS)

Xu, S. Y.; Fu, S. N.; Wang, S.; Kang, W.; Qi, X.; Li, L.; Deng, C. D.; Zhou, J. X.

2018-07-01

A method of wave form compensation for magnets of the Rapid Cycling Synchrotron (RCS), which is based on transfer function between magnetic field and exciting current, was investigated on the magnets of RCS of Chinese Spallation Neutron Source (CSNS). By performing wave form compensation, the magnetic field ramping function for RCS magnets can be accurately controlled to the given wave form, which is not limited to sine function. The method of wave form compensation introduced in this paper can be used to reduce the magnetic field tracking errors, and can also be used to accurately control the betatron tune for RCS.

Neural network based short-term load forecasting using weather compensation

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

Chow, T.W.S.; Leung, C.T.

This paper presents a novel technique for electric load forecasting based on neural weather compensation. The proposed method is a nonlinear generalization of Box and Jenkins approach for nonstationary time-series prediction. A weather compensation neural network is implemented for one-day ahead electric load forecasting. The weather compensation neural network can accurately predict the change of actual electric load consumption from the previous day. The results, based on Hong Kong Island historical load demand, indicate that this methodology is capable of providing a more accurate load forecast with a 0.9% reduction in forecast error.

A prospective functional MRI study for executive function in patients with systemic lupus erythematosus without neuropsychiatric symptoms.

PubMed

Mak, Anselm; Ren, Tao; Fu, Erin Hui-yun; Cheak, Alicia Ai-cia; Ho, Roger Chun-man

2012-06-01

To study the functional brain activation signals before and after sufficient disease control in patients with systemic lupus erythematosus (SLE) without clinical neuropsychiatric symptoms. Blood-oxygen-level-dependent signals during event-related functional magnetic resonance imaging brain were recorded, while 14 new-onset SLE patients and 14 demographically and intelligence quotient matched healthy controls performed the computer-based Wisconsin card sorting test for assessing executive function, which probes strategic planning and goal-directed task performance during feedback evaluation (FE) and response selection (RS), respectively. Composite beta maps were constructed by a general linear model to identify regions of cortical activation. Blood-oxygen-level-dependent functional magnetic resonance imaging signals were compared between (1) new-onset SLE patients and healthy controls and (2) SLE patients before and after sufficient control of their disease activity. During RS, SLE patients demonstrated significantly higher activation than healthy controls in both caudate bodies and Brodmann area (BA) 9 to enhance event anticipation, attention, and working memory, respectively, to compensate for the reduced activation during FE in BA6, 13, 24, and 32, which serve complex motor planning and decision-making, sensory integration, error detection, and conflict processing, respectively. Despite significant reduction of SLE activity, BA32 was activated during RS to compensate for reduced activation during FE in BA6, 9, 37, and 23/32, which serve motor planning, response inhibition and attention, color processing and word recognition, error detection, and conflict evaluation, respectively. Even without clinically overt neuropsychiatric symptoms, SLE patients recruited additional pathways to execute goal-directed tasks to compensate for their reduced strategic planning skill despite clinically sufficient disease control. Copyright © 2012 Elsevier Inc. All rights reserved.

Consideration of plant behaviour in optimal servo-compensator design

NASA Astrophysics Data System (ADS)

Moase, W. H.; Manzie, C.

2016-07-01

Where the most prevalent optimal servo-compensator formulations penalise the behaviour of an error system, this paper considers the problem of additionally penalising the actual states and inputs of the plant. Doing so has the advantage of enabling the penalty function to better resemble an economic cost. This is especially true of problems where control effort needs to be sensibly allocated across weakly redundant inputs or where one wishes to use penalties to soft-constrain certain states or inputs. It is shown that, although the resulting cost function grows unbounded as its horizon approaches infinity, it is possible to formulate an equivalent optimisation problem with a bounded cost. The resulting optimisation problem is similar to those in earlier studies but has an additional 'correction term' in the cost function, and a set of equality constraints that arise when there are redundant inputs. A numerical approach to solve the resulting optimisation problem is presented, followed by simulations on a micro-macro positioner that illustrate the benefits of the proposed servo-compensator design approach.

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

PubMed Central

Tang, Tao; Chen, Sisi; Huang, Xuanlin; Yang, Tao; Qi, Bo

2018-01-01

High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm. PMID:29498643

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal.

PubMed

Tang, Tao; Chen, Sisi; Huang, Xuanlin; Yang, Tao; Qi, Bo

2018-03-02

High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.

Amplitude and phase controlled adaptive optics system

NASA Astrophysics Data System (ADS)

Pham, Ich; Ma, Sam

2006-06-01

An adaptive optics (AO) system is used to control the deformable mirror (DM) actuators for compensating the optical effects introduced by the turbulence in the Earth's atmosphere and distortions produced by the optical elements between the distant object and its local sensor. The typical AO system commands the DM actuators while minimizing the measured wave front (WF) phase error. This is known as the phase conjugator system, which does not work well in the strong scintillation condition because both amplitude and phase are corrupted along the propagation path. In order to compensate for the wave front amplitude, a dual DM field conjugator system may be used. The first and second DM compensate for the amplitude and the phase respectively. The amplitude controller requires the mapping from DM1 actuator command to DM2 intensity. This can be obtained from either a calibration routine or an intensity transport equation, which relates the phase to the intensity. Instead of a dual-DM, a single Spatial Light Modulator (SLM) may control the amplitude and phase independently. The technique uses the spatial carrier frequency and the resulting intensity is related to the carrier modulation, while the phase is the average carrier phase. The dynamical AO performance using the carrier modulation is limited by the actuator frequency response and not by the computational load of the controller algorithm. Simulation of the proposed field conjugator systems show significant improvement for the on-axis performance compared to the phase conjugator system.

Power amplifier linearization technique with IQ imbalance and crosstalk compensation for broadband MIMO-OFDM transmitters

NASA Astrophysics Data System (ADS)

Gregorio, Fernando; Cousseau, Juan; Werner, Stefan; Riihonen, Taneli; Wichman, Risto

2011-12-01

The design of predistortion techniques for broadband multiple input multiple output-OFDM (MIMO-OFDM) systems raises several implementation challenges. First, the large bandwidth of the OFDM signal requires the introduction of memory effects in the PD model. In addition, it is usual to consider an imbalanced in-phase and quadrature (IQ) modulator to translate the predistorted baseband signal to RF. Furthermore, the coupling effects, which occur when the MIMO paths are implemented in the same reduced size chipset, cannot be avoided in MIMO transceivers structures. This study proposes a MIMO-PD system that linearizes the power amplifier response and compensates nonlinear crosstalk and IQ imbalance effects for each branch of the multiantenna system. Efficient recursive algorithms are presented to estimate the complete MIMO-PD coefficients. The algorithms avoid the high computational complexity in previous solutions based on least squares estimation. The performance of the proposed MIMO-PD structure is validated by simulations using a two-transmitter antenna MIMO system. Error vector magnitude and adjacent channel power ratio are evaluated showing significant improvement compared with conventional MIMO-PD systems.

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

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Spacecraft camera image registration

NASA Technical Reports Server (NTRS)

Kamel, Ahmed A. (Inventor); Graul, Donald W. (Inventor); Chan, Fred N. T. (Inventor); Gamble, Donald W. (Inventor)

1987-01-01

A system for achieving spacecraft camera (1, 2) image registration comprises a portion external to the spacecraft and an image motion compensation system (IMCS) portion onboard the spacecraft. Within the IMCS, a computer (38) calculates an image registration compensation signal (60) which is sent to the scan control loops (84, 88, 94, 98) of the onboard cameras (1, 2). At the location external to the spacecraft, the long-term orbital and attitude perturbations on the spacecraft are modeled. Coefficients (K, A) from this model are periodically sent to the onboard computer (38) by means of a command unit (39). The coefficients (K, A) take into account observations of stars and landmarks made by the spacecraft cameras (1, 2) themselves. The computer (38) takes as inputs the updated coefficients (K, A) plus synchronization information indicating the mirror position (AZ, EL) of each of the spacecraft cameras (1, 2), operating mode, and starting and stopping status of the scan lines generated by these cameras (1, 2), and generates in response thereto the image registration compensation signal (60). The sources of periodic thermal errors on the spacecraft are discussed. The system is checked by calculating measurement residuals, the difference between the landmark and star locations predicted at the external location and the landmark and star locations as measured by the spacecraft cameras (1, 2).

Optical compensation device for chest film radiography

NASA Astrophysics Data System (ADS)

Gould, Robert G.; Hasegawa, Bruce H.; DeForest, Sherman E.; Schmidt, Gregory W.; Hier, Richard G.

1990-07-01

Although chest radiography is the most commonly performed radiographic examination and one of the most valuable and cost-effective studies in medicine it suffers from relatively high error rates in both missing pathology and false positive interpretations. Detectability of lung nodules and other structures in underpenetrated regions of the chest film can be improved by both exposure and optical compensation but current compensation systems require major capital cost or a significant change in normal clinical practice. A new optical compensation system called the " Intelligent X-Ray Illuminator" (IXI) automatically and virtually instantaneously generates a patient-specific optical unsharp mask that is projected directly on a radiograph. When a radiograph is placed on the IXI which looks much like a conventional viewbox it acquires a low-resolution electronic image of this film from which the film transmission is derived. The transmission information is inverted and blurred in an image processor to form an unsharp mask which is fed into a spatial light modulator (SLM) placed between a light source and the radiograph. The SLM tailors the viewbox luminance by decreasing illumination to underexposed (i. e. transmissive) areas of the radiograph presenting the observer with an optically unsharp-masked image. The IXI uses the original radiograph and will allow it to be viewed on demand with conventional (uniform illumination. Potentially the IXI could introduce the known beneficial aspects of optical unsharp masking into radiology at low capital

Research and development of the laser tracker measurement system

NASA Astrophysics Data System (ADS)

Zhang, Z. L.; Zhou, W. H.; Lao, D. B.; Yuan, J.; Dong, D. F. F.; Ji, R. Y. Y.

2013-01-01

The working principle and system design of the laser tracker measurement system are introduced, as well as the key technologies and solutions in the implementation of the system. The design and implementation of the hardware and configuration of the software are mainly researched. The components of the hardware include distance measuring unit, angle measuring unit, tracking and servo control unit and electronic control unit. The distance measuring devices include the relative distance measuring device (IFM) and the absolute distance measuring device (ADM). The main component of the angle measuring device, the precision rotating stage, is mainly comprised of the precision axis and the encoders which are both set in the tracking head. The data processing unit, tracking and control unit and power supply unit are all set in the control box. The software module is comprised of the communication module, calibration and error compensation module, data analysis module, database management module, 3D display module and the man-machine interface module. The prototype of the laser tracker system has been accomplished and experiments have been carried out to verify the proposed strategies of the hardware and software modules. The experiments showed that the IFM distance measuring error is within 0.15mm, the ADM distance measuring error is within 3.5mm and the angle measuring error is within 3" which demonstrates that the preliminary prototype can realize fundamental measurement tasks.

Stable long-time semiclassical description of zero-point energy in high-dimensional molecular systems.

PubMed

Garashchuk, Sophya; Rassolov, Vitaly A

2008-07-14

Semiclassical implementation of the quantum trajectory formalism [J. Chem. Phys. 120, 1181 (2004)] is further developed to give a stable long-time description of zero-point energy in anharmonic systems of high dimensionality. The method is based on a numerically cheap linearized quantum force approach; stabilizing terms compensating for the linearization errors are added into the time-evolution equations for the classical and nonclassical components of the momentum operator. The wave function normalization and energy are rigorously conserved. Numerical tests are performed for model systems of up to 40 degrees of freedom.

An effective temperature compensation approach for ultrasonic hydrogen sensors

NASA Astrophysics Data System (ADS)

Tan, Xiaolong; Li, Min; Arsad, Norhana; Wen, Xiaoyan; Lu, Haifei

2018-03-01

Hydrogen is a kind of promising clean energy resource with a wide application prospect, which will, however, cause a serious security issue upon the leakage of hydrogen gas. The measurement of its concentration is of great significance. In a traditional approach of ultrasonic hydrogen sensing, a temperature drift of 0.1 °C results in a concentration error of about 250 ppm, which is intolerable for trace amount of gas sensing. In order to eliminate the influence brought by temperature drift, we propose a feasible approach named as linear compensation algorithm, which utilizes the linear relationship between the pulse count and temperature to compensate for the pulse count error (ΔN) caused by temperature drift. Experimental results demonstrate that our proposed approach is capable of improving the measurement accuracy and can easily detect sub-100 ppm of hydrogen concentration under variable temperature conditions.

Performance of Older Persons in a Simulated Shopping Task Is Influenced by Priming with Age Stereotypes

PubMed Central

Akpinar, Selçuk

2016-01-01

Previous research suggests that older persons show cognitive deficits in standardized laboratory tests, but not in more natural tests such as the Multiple Errands Task (MET). The absence of deficits in the latter tests has been attributed to the compensation of deficits by strategies based on life-long experience. To scrutinize this view, we primed older participants with positive or negative stereotypes about old age before administering MET. We found that compared to unprimed controls, priming with positive age stereotypes reduced the number of errors without changing response times, while priming with negative stereotypes changed neither errors not response times. We interpret our findings as evidence that positive age priming improved participants’ cognitive functions while leaving intact their experience-based compensation, and that negative age priming degraded participants’ cognitive functions which, however, was balanced by an even stronger experience-based compensation. PMID:27649296

Performance of Older Persons in a Simulated Shopping Task Is Influenced by Priming with Age Stereotypes.

PubMed

Bock, Otmar; Akpinar, Selçuk

2016-01-01

Previous research suggests that older persons show cognitive deficits in standardized laboratory tests, but not in more natural tests such as the Multiple Errands Task (MET). The absence of deficits in the latter tests has been attributed to the compensation of deficits by strategies based on life-long experience. To scrutinize this view, we primed older participants with positive or negative stereotypes about old age before administering MET. We found that compared to unprimed controls, priming with positive age stereotypes reduced the number of errors without changing response times, while priming with negative stereotypes changed neither errors not response times. We interpret our findings as evidence that positive age priming improved participants' cognitive functions while leaving intact their experience-based compensation, and that negative age priming degraded participants' cognitive functions which, however, was balanced by an even stronger experience-based compensation.

Fuzzy Finite-Time Command Filtered Control of Nonlinear Systems With Input Saturation.

PubMed

Yu, Jinpeng; Zhao, Lin; Yu, Haisheng; Lin, Chong; Dong, Wenjie

2017-08-22

This paper considers the fuzzy finite-time tracking control problem for a class of nonlinear systems with input saturation. A novel fuzzy finite-time command filtered backstepping approach is proposed by introducing the fuzzy finite-time command filter, designing the new virtual control signals and the modified error compensation signals. The proposed approach not only holds the advantages of the conventional command-filtered backstepping control, but also guarantees the finite-time convergence. A practical example is included to show the effectiveness of the proposed method.

Analysis of phase error effects in multishot diffusion-prepared turbo spin echo imaging

PubMed Central

Cervantes, Barbara; Kooijman, Hendrik; Karampinos, Dimitrios C.

2017-01-01

Background To characterize the effect of phase errors on the magnitude and the phase of the diffusion-weighted (DW) signal acquired with diffusion-prepared turbo spin echo (dprep-TSE) sequences. Methods Motion and eddy currents were identified as the main sources of phase errors. An analytical expression for the effect of phase errors on the acquired signal was derived and verified using Bloch simulations, phantom, and in vivo experiments. Results Simulations and experiments showed that phase errors during the diffusion preparation cause both magnitude and phase modulation on the acquired data. When motion-induced phase error (MiPe) is accounted for (e.g., with motion-compensated diffusion encoding), the signal magnitude modulation due to the leftover eddy-current-induced phase error cannot be eliminated by the conventional phase cycling and sum-of-squares (SOS) method. By employing magnitude stabilizers, the phase-error-induced magnitude modulation, regardless of its cause, was removed but the phase modulation remained. The in vivo comparison between pulsed gradient and flow-compensated diffusion preparations showed that MiPe needed to be addressed in multi-shot dprep-TSE acquisitions employing magnitude stabilizers. Conclusions A comprehensive analysis of phase errors in dprep-TSE sequences showed that magnitude stabilizers are mandatory in removing the phase error induced magnitude modulation. Additionally, when multi-shot dprep-TSE is employed the inconsistent signal phase modulation across shots has to be resolved before shot-combination is performed. PMID:28516049

A simple method for evaluating the wavefront compensation error of diffractive liquid-crystal wavefront correctors.

PubMed

Cao, Zhaoliang; Mu, Quanquan; Hu, Lifa; Lu, Xinghai; Xuan, Li

2009-09-28

A simple method for evaluating the wavefront compensation error of diffractive liquid-crystal wavefront correctors (DLCWFCs) for atmospheric turbulence correction is reported. A simple formula which describes the relationship between pixel number, DLCWFC aperture, quantization level, and atmospheric coherence length was derived based on the calculated atmospheric turbulence wavefronts using Kolmogorov atmospheric turbulence theory. It was found that the pixel number across the DLCWFC aperture is a linear function of the telescope aperture and the quantization level, and it is an exponential function of the atmosphere coherence length. These results are useful for people using DLCWFCs in atmospheric turbulence correction for large-aperture telescopes.

Research on Airborne SAR Imaging Based on Esc Algorithm

NASA Astrophysics Data System (ADS)

Dong, X. T.; Yue, X. J.; Zhao, Y. H.; Han, C. M.

2017-09-01

Due to the ability of flexible, accurate, and fast obtaining abundant information, airborne SAR is significant in the field of Earth Observation and many other applications. Optimally the flight paths are straight lines, but in reality it is not the case since some portion of deviation from the ideal path is impossible to avoid. A small disturbance from the ideal line will have a major effect on the signal phase, dramatically deteriorating the quality of SAR images and data. Therefore, to get accurate echo information and radar images, it is essential to measure and compensate for nonlinear motion of antenna trajectories. By means of compensating each flying trajectory to its reference track, MOCO method corrects linear phase error and quadratic phase error caused by nonlinear antenna trajectories. Position and Orientation System (POS) data is applied to acquiring accuracy motion attitudes and spatial positions of antenna phase centre (APC). In this paper, extend chirp scaling algorithm (ECS) is used to deal with echo data of airborne SAR. An experiment is done using VV-Polarization raw data of C-band airborne SAR. The quality evaluations of compensated SAR images and uncompensated SAR images are done in the experiment. The former always performs better than the latter. After MOCO processing, azimuth ambiguity is declined, peak side lobe ratio (PSLR) effectively improves and the resolution of images is improved obviously. The result shows the validity and operability of the imaging process for airborne SAR.

SU-E-T-268: Proton Radiosurgery End-To-End Testing Using Lucy 3D QA Phantom

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

Choi, D; Gordon, I; Ghebremedhin, A

2014-06-01

Purpose: To check the overall accuracy of proton radiosurgery treatment delivery using ready-made circular collimator inserts and fixed thickness compensating boluses. Methods: Lucy 3D QA phantom (Standard Imaging Inc. WI, USA) inserted with GaFchromicTM film was irradiated with laterally scattered and longitudinally spread-out 126.8 MeV proton beams. The tests followed every step in the proton radiosurgery treatment delivery process: CT scan (GE Lightspeed VCT), target contouring, treatment planning (Odyssey 5.0, Optivus, CA), portal calibration, target localization using robotic couch with image guidance and dose delivery at planned gantry angles. A 2 cm diameter collimator insert in a 4 cm diametermore » radiosurgery cone and a 1.2 cm thick compensating flat bolus were used for all beams. Film dosimetry (RIT114 v5.0, Radiological Imaging Technology, CO, USA) was used to evaluate the accuracy of target localization and relative dose distributions compared to those calculated by the treatment planning system. Results: The localization accuracy was estimated by analyzing the GaFchromic films irradiated at gantry 0, 90 and 270 degrees. We observed 0.5 mm shift in lateral direction (patient left), ±0.9 mm shift in AP direction and ±1.0 mm shift in vertical direction (gantry dependent). The isodose overlays showed good agreement (<2mm, 50% isodose lines) between measured and calculated doses. Conclusion: Localization accuracy depends on gantry sag, CT resolution and distortion, DRRs from treatment planning computer, localization accuracy of image guidance system, fabrication of ready-made aperture and cone housing. The total deviation from the isocenter was 1.4 mm. Dose distribution uncertainty comes from distal end error due to bolus and CT density, in addition to localization error. The planned dose distribution was well matched (>90%) to the measured values 2%/2mm criteria. Our test showed the robustness of our proton radiosurgery treatment delivery system using ready-made collimator inserts and fixed thickness compensating boluses.« less

RF transient analysis and stabilization of the phase and energy of the proposed PIP-II LINAC

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

Edelen, J. P.; Chase, B. E.

This paper describes a recent effort to develop and benchmark a simulation tool for the analysis of RF transients and their compensation in an H- linear accelerator. Existing tools in this area either focus on electron LINACs or lack fundamental details about the LLRF system that are necessary to provide realistic performance estimates. In our paper we begin with a discussion of our computational models followed by benchmarking with existing beam-dynamics codes and measured data. We then analyze the effect of RF transients and their compensation in the PIP-II LINAC, followed by an analysis of calibration errors and how amore » Newton’s Method based feedback scheme can be used to regulate the beam energy to within the specified limits.« less

Tailored pump compensation for Brillouin optical time-domain analysis with distributed Brillouin amplification.

PubMed

Kim, Young Hoon; Song, Kwang Yong

2017-06-26

A Brillouin optical time domain analysis (BOTDA) system utilizing tailored compensation for the propagation loss of the pump pulse is demonstrated for long-range and high-resolution distributed sensing. A continuous pump wave for distributed Brillouin amplification (DBA pump) of the pump pulse co-propagates with the probe wave, where gradual variation of the spectral width is additionally introduced to the DBA pump to obtain a uniform Brillouin gain along the position. In the experimental confirmation, a distributed strain measurement along a 51.2 km fiber under test is presented with a spatial resolution of 20 cm, in which the measurement error (σ) of less than 1.45 MHz and the near-constant Brillouin gain of the probe wave are maintained throughout the fiber.

Opto-mechanical design of ShaneAO: the adaptive optics system for the 3-meter Shane Telescope

NASA Astrophysics Data System (ADS)

Ratliff, C.; Cabak, J.; Gavel, D.; Kupke, R.; Dillon, D.; Gates, E.; Deich, W.; Ward, J.; Cowley, D.; Pfister, T.; Saylor, M.

2014-07-01

A Cassegrain mounted adaptive optics instrument presents unique challenges for opto-mechanical design. The flexure and temperature tolerances for stability are tighter than those of seeing limited instruments. This criteria requires particular attention to material properties and mounting techniques. This paper addresses the mechanical designs developed to meet the optical functional requirements. One of the key considerations was to have gravitational deformations, which vary with telescope orientation, stay within the optical error budget, or ensure that we can compensate with a steering mirror by maintaining predictable elastic behavior. Here we look at several cases where deformation is predicted with finite element analysis and Hertzian deformation analysis and also tested. Techniques used to address thermal deformation compensation without the use of low CTE materials will also be discussed.

Assessment Study of the State of the Art in Adaptive Control and its Applications to Aircraft Control

NASA Technical Reports Server (NTRS)

Kaufman, Howard

1998-01-01

Many papers relevant to reconfigurable flight control have appeared over the past fifteen years. In general these have consisted of theoretical issues, simulation experiments, and in some cases, actual flight tests. Results indicate that reconfiguration of flight controls is certainly feasible for a wide class of failures. However many of the proposed procedures although quite attractive, need further analytical and experimental studies for meaningful validation. Many procedures assume the availability of failure detection and identification logic that will supply adequately fast, the dynamics corresponding to the failed aircraft. This in general implies that the failure detection and fault identification logic must have access to all possible anticipated faults and the corresponding dynamical equations of motion. Unless some sort of explicit on line parameter identification is included, the computational demands could possibly be too excessive. This suggests the need for some form of adaptive control, either by itself as the prime procedure for control reconfiguration or in conjunction with the failure detection logic. If explicit or indirect adaptive control is used, then it is important that the identified models be such that the corresponding computed controls deliver adequate performance to the actual aircraft. Unknown changes in trim should be modelled, and parameter identification needs to be adequately insensitive to noise and at the same time capable of tracking abrupt changes. If however, both failure detection and system parameter identification turn out to be too time consuming in an emergency situation, then the concepts of direct adaptive control should be considered. If direct model reference adaptive control is to be used (on a linear model) with stability assurances, then a positive real or passivity condition needs to be satisfied for all possible configurations. This condition is often satisfied with a feedforward compensator around the plant. This compensator must be robustly designed such that the compensated plant satisfies the required positive real conditions over all expected parameter values. Furthermore, with the feedforward only around the plant, a nonzero (but bounded error) will exist in steady state between the plant and model outputs. This error can be removed by placing the compensator also in the reference model. Design of such a compensator should not be too difficult a problem since for flight control it is generally possible to feedback all the system states.

Error analysis and algorithm implementation for an improved optical-electric tracking device based on MEMS

NASA Astrophysics Data System (ADS)

Sun, Hong; Wu, Qian-zhong

2013-09-01

In order to improve the precision of optical-electric tracking device, proposing a kind of improved optical-electric tracking device based on MEMS, in allusion to the tracking error of gyroscope senor and the random drift, According to the principles of time series analysis of random sequence, establish AR model of gyro random error based on Kalman filter algorithm, then the output signals of gyro are multiple filtered with Kalman filter. And use ARM as micro controller servo motor is controlled by fuzzy PID full closed loop control algorithm, and add advanced correction and feed-forward links to improve response lag of angle input, Free-forward can make output perfectly follow input. The function of lead compensation link is to shorten the response of input signals, so as to reduce errors. Use the wireless video monitor module and remote monitoring software (Visual Basic 6.0) to monitor servo motor state in real time, the video monitor module gathers video signals, and the wireless video module will sent these signals to upper computer, so that show the motor running state in the window of Visual Basic 6.0. At the same time, take a detailed analysis to the main error source. Through the quantitative analysis of the errors from bandwidth and gyro sensor, it makes the proportion of each error in the whole error more intuitive, consequently, decrease the error of the system. Through the simulation and experiment results shows the system has good following characteristic, and it is very valuable for engineering application.

Data-driven robust approximate optimal tracking control for unknown general nonlinear systems using adaptive dynamic programming method.

PubMed

Zhang, Huaguang; Cui, Lili; Zhang, Xin; Luo, Yanhong

2011-12-01

In this paper, a novel data-driven robust approximate optimal tracking control scheme is proposed for unknown general nonlinear systems by using the adaptive dynamic programming (ADP) method. In the design of the controller, only available input-output data is required instead of known system dynamics. A data-driven model is established by a recurrent neural network (NN) to reconstruct the unknown system dynamics using available input-output data. By adding a novel adjustable term related to the modeling error, the resultant modeling error is first guaranteed to converge to zero. Then, based on the obtained data-driven model, the ADP method is utilized to design the approximate optimal tracking controller, which consists of the steady-state controller and the optimal feedback controller. Further, a robustifying term is developed to compensate for the NN approximation errors introduced by implementing the ADP method. Based on Lyapunov approach, stability analysis of the closed-loop system is performed to show that the proposed controller guarantees the system state asymptotically tracking the desired trajectory. Additionally, the obtained control input is proven to be close to the optimal control input within a small bound. Finally, two numerical examples are used to demonstrate the effectiveness of the proposed control scheme.

Skin movement artefact assessment and compensation in the estimation of knee-joint kinematics.

PubMed

Lucchetti, L; Cappozzo, A; Cappello, A; Della Croce, U

1998-11-01

In three dimensional (3-D) human movement analysis using close-range photogrammetry, surface marker clusters deform and rigidly move relative to the underlying bone. This introduces an important artefact (skin movement artefact) which propagates to bone position and orientation and joint kinematics estimates. This occurs to the extent that those joint attitude components that undergo small variations result in totally unreliable values. This paper presents an experimental and analytical procedure, to be included in a subject-specific movement analysis protocol, which allows for the assessment of skin movement artefacts and, based on this knowledge, for their compensation. The effectiveness of this procedure was verified with reference to knee-joint kinematics and to the artefacts caused by the hip movements on markers located on the thigh surface. Quantitative validation was achieved through experimental paradigms whereby prior reliable information on the target joint kinematics was available. When position and orientation of bones were determined during the execution of a motor task, using a least-squares optimal estimator, but the rigid artefactual marker cluster movement was not dealt with, then knee joint translations and rotations were affected by root mean square errors (r.m.s.) up to 14 mm and 6 degrees, respectively. When the rigid artefactual movement was also compensated for, then r.m.s errors were reduced to less than 4 mm and 3 degrees, respectively. In addition, errors originally strongly correlated with hip rotations, after compensation, lost this correlation.

Compensated infrared absorption sensor for carbon dioxide and other infrared absorbing gases

DOEpatents

Owen, Thomas E.

2005-11-29

A gas sensor, whose chamber uses filters and choppers in either a semicircular geometry or annular geometry, and incorporates separate infrared radiation filters and optical choppers. This configuration facilitates the use of a single infrared radiation source and a single detector for infrared measurements at two wavelengths, such that measurement errors may be compensated.

Study of Current Measurement Method Based on Circular Magnetic Field Sensing Array

PubMed Central

Li, Zhenhua; Zhang, Siqiu; Wu, Zhengtian; Tao, Yuan

2018-01-01

Classic core-based instrument transformers are more prone to magnetic saturation. This affects the measurement accuracy of such transformers and limits their applications in measuring large direct current (DC). Moreover, protection and control systems may exhibit malfunctions due to such measurement errors. This paper presents a more accurate method for current measurement based on a circular magnetic field sensing array. The proposed measurement approach utilizes multiple hall sensors that are evenly distributed on a circle. The average value of all hall sensors is regarded as the final measurement. The calculation model is established in the case of magnetic field interference of the parallel wire, and the simulation results show that the error decreases significantly when the number of hall sensors n is greater than 8. The measurement error is less than 0.06% when the wire spacing is greater than 2.5 times the radius of the sensor array. A simulation study on the off-center primary conductor is conducted, and a kind of hall sensor compensation method is adopted to improve the accuracy. The simulation and test results indicate that the measurement error of the system is less than 0.1%. PMID:29734742

Study of Current Measurement Method Based on Circular Magnetic Field Sensing Array.

PubMed

Li, Zhenhua; Zhang, Siqiu; Wu, Zhengtian; Abu-Siada, Ahmed; Tao, Yuan

2018-05-05

Classic core-based instrument transformers are more prone to magnetic saturation. This affects the measurement accuracy of such transformers and limits their applications in measuring large direct current (DC). Moreover, protection and control systems may exhibit malfunctions due to such measurement errors. This paper presents a more accurate method for current measurement based on a circular magnetic field sensing array. The proposed measurement approach utilizes multiple hall sensors that are evenly distributed on a circle. The average value of all hall sensors is regarded as the final measurement. The calculation model is established in the case of magnetic field interference of the parallel wire, and the simulation results show that the error decreases significantly when the number of hall sensors n is greater than 8. The measurement error is less than 0.06% when the wire spacing is greater than 2.5 times the radius of the sensor array. A simulation study on the off-center primary conductor is conducted, and a kind of hall sensor compensation method is adopted to improve the accuracy. The simulation and test results indicate that the measurement error of the system is less than 0.1%.

Active optics null test system based on a liquid crystal programmable spatial light modulator

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

Ares, Miguel; Royo, Santiago; Sergievskaya, Irina

2010-11-10

We present an active null test system adapted to test lenses and wavefronts with complex shapes and strong local deformations. This system provides greater flexibility than conventional static null tests that match only a precisely positioned, individual wavefront. The system is based on a cylindrical Shack-Hartmann wavefront sensor, a commercial liquid crystal programmable phase modulator (PPM), which acts as the active null corrector, enabling the compensation of large strokes with high fidelity in a single iteration, and a spatial filter to remove unmodulated light when steep phase changes are compensated. We have evaluated the PPM's phase response at 635 nmmore » and checked its performance by measuring its capability to generate different amounts of defocus aberration, finding root mean squared errors below {lambda}/18 for spherical wavefronts with peak-to-valley heights of up to 78.7{lambda}, which stands as the limit from which diffractive artifacts created by the PPM have been found to be critical under no spatial filtering. Results of a null test for a complex lens (an ophthalmic customized progressive addition lens) are presented and discussed.« less

A method for calibration of Soleil-Babinet compensator using a spectrophotometer

NASA Astrophysics Data System (ADS)

Wang, Jun; Chen, Lei; Li, Bo; Shi, Lili; Luo, Ting

2010-06-01

A method using a spectrophotometer for calibrating Soleil-Babinet compensator is proposed. It is based on the spectroscopic method which utilizes the relation between transmittance and wavelength to obtain retardation. By placing a multiple order half wave plate behind the Soleil-Babinet compensator, zero-order retardation can be measured, which is difficult to accomplish by spectroscopic method. In the experiment, the retardations of the compensator in the range 0- λ are measured. It is demonstrated that the precision of retardation is 0.45 nm at the position 0 and λ while the maximum error is less than 1 nm between the two positions.

Adaptive integral robust control and application to electromechanical servo systems.

PubMed

Deng, Wenxiang; Yao, Jianyong

2017-03-01

This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Tele-Operated Lunar Rover Navigation Using Lidar

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Allan, Mark B.; Utz, Hans, Heinrich; Deans, Matthew C.; Bouyssounouse, Xavier; Choi, Yoonhyuk; Fluckiger, Lorenzo; Lee, Susan Y.; To, Vinh; Loh, Jonathan;

A new smooth robust control design for uncertain nonlinear systems with non-vanishing disturbances

NASA Astrophysics Data System (ADS)

Xian, Bin; Zhang, Yao

2016-06-01

In this paper, we consider the control problem for a general class of nonlinear system subjected to uncertain dynamics and non-varnishing disturbances. A smooth nonlinear control algorithm is presented to tackle these uncertainties and disturbances. The proposed control design employs the integral of a nonlinear sigmoid function to compensate the uncertain dynamics, and achieve a uniformly semi-global practical asymptotic stable tracking control of the system outputs. A novel Lyapunov-based stability analysis is employed to prove the convergence of the tracking errors and the stability of the closed-loop system. Numerical simulation results on a two-link robot manipulator are presented to illustrate the performance of the proposed control algorithm comparing with the layer-boundary sliding mode controller and the robust of integration of sign of error control design. Furthermore, real-time experiment results for the attitude control of a quadrotor helicopter are also included to confirm the effectiveness of the proposed algorithm.

Compensation method for the influence of angle of view on animal temperature measurement using thermal imaging camera combined with depth image.

PubMed

Jiao, Leizi; Dong, Daming; Zhao, Xiande; Han, Pengcheng

2016-12-01

In the study, we proposed an animal surface temperature measurement method based on Kinect sensor and infrared thermal imager to facilitate the screening of animals with febrile diseases. Due to random motion and small surface temperature variation of animals, the influence of the angle of view on temperature measurement is significant. The method proposed in the present study could compensate the temperature measurement error caused by the angle of view. Firstly, we analyzed the relationship between measured temperature and angle of view and established the mathematical model for compensating the influence of the angle of view with the correlation coefficient above 0.99. Secondly, the fusion method of depth and infrared thermal images was established for synchronous image capture with Kinect sensor and infrared thermal imager and the angle of view of each pixel was calculated. According to experimental results, without compensation treatment, the temperature image measured in the angle of view of 74° to 76° showed the difference of more than 2°C compared with that measured in the angle of view of 0°. However, after compensation treatment, the temperature difference range was only 0.03-1.2°C. This method is applicable for real-time compensation of errors caused by the angle of view during the temperature measurement process with the infrared thermal imager. Copyright © 2016 Elsevier Ltd. All rights reserved.

Investigation, development, and application of optimal output feedback theory. Volume 3: The relationship between dynamic compensators and observers and Kalman filters

NASA Technical Reports Server (NTRS)

Broussard, John R.

1987-01-01

Relationships between observers, Kalman Filters and dynamic compensators using feedforward control theory are investigated. In particular, the relationship, if any, between the dynamic compensator state and linear functions of a discrete plane state are investigated. It is shown that, in steady state, a dynamic compensator driven by the plant output can be expressed as the sum of two terms. The first term is a linear combination of the plant state. The second term depends on plant and measurement noise, and the plant control. Thus, the state of the dynamic compensator can be expressed as an estimator of the first term with additive error given by the second term. Conditions under which a dynamic compensator is a Kalman filter are presented, and reduced-order optimal estimaters are investigated.

Feedback control of thermal lensing in a high optical power cavity.

PubMed

Fan, Y; Zhao, C; Degallaix, J; Ju, L; Blair, D G; Slagmolen, B J J; Hosken, D J; Brooks, A F; Veitch, P J; Munch, J

2008-10-01

This paper reports automatic compensation of strong thermal lensing in a suspended 80 m optical cavity with sapphire test mass mirrors. Variation of the transmitted beam spot size is used to obtain an error signal to control the heating power applied to the cylindrical surface of an intracavity compensation plate. The negative thermal lens created in the compensation plate compensates the positive thermal lens in the sapphire test mass, which was caused by the absorption of the high intracavity optical power. The results show that feedback control is feasible to compensate the strong thermal lensing expected to occur in advanced laser interferometric gravitational wave detectors. Compensation allows the cavity resonance to be maintained at the fundamental mode, but the long thermal time constant for thermal lensing control in fused silica could cause difficulties with the control of parametric instabilities.

Development of a Spindle Thermal Error Characterization and Compensation Sensor System for Machining Center Accuracy Enhancement

DTIC Science & Technology

1993-12-01

When Government drawings, specifications or other data are used for any purpose other than in connection with a definitely related Government...in any manner licensing the holder or any other person or corporation, or conveying any rights or permission to manufacture, use , or sell any...Reduction Project(7408) WsigonDC 20503. 1. AGENCY USE ONLY (Leave SW*n) 2. REPORT DATE 3. REPORT TYPE AND DATES COVERED IDecember 1993 Final April

Coherent detection in optical fiber systems.

PubMed

Ip, Ezra; Lau, Alan Pak Tao; Barros, Daniel J F; Kahn, Joseph M

2008-01-21

The drive for higher performance in optical fiber systems has renewed interest in coherent detection. We review detection methods, including noncoherent, differentially coherent, and coherent detection, as well as a hybrid method. We compare modulation methods encoding information in various degrees of freedom (DOF). Polarization-multiplexed quadrature-amplitude modulation maximizes spectral efficiency and power efficiency, by utilizing all four available DOF, the two field quadratures in the two polarizations. Dual-polarization homodyne or heterodyne downconversion are linear processes that can fully recover the received signal field in these four DOF. When downconverted signals are sampled at the Nyquist rate, compensation of transmission impairments can be performed using digital signal processing (DSP). Linear impairments, including chromatic dispersion and polarization-mode dispersion, can be compensated quasi-exactly using finite impulse response filters. Some nonlinear impairments, such as intra-channel four-wave mixing and nonlinear phase noise, can be compensated partially. Carrier phase recovery can be performed using feedforward methods, even when phase-locked loops may fail due to delay constraints. DSP-based compensation enables a receiver to adapt to time-varying impairments, and facilitates use of advanced forward-error-correction codes. We discuss both single- and multi-carrier system implementations. For a given modulation format, using coherent detection, they offer fundamentally the same spectral efficiency and power efficiency, but may differ in practice, because of different impairments and implementation details. With anticipated advances in analog-to-digital converters and integrated circuit technology, DSP-based coherent receivers at bit rates up to 100 Gbit/s should become practical within the next few years.

Canceling the momentum in a phase-shifting algorithm to eliminate spatially uniform errors.

PubMed

Hibino, Kenichi; Kim, Yangjin

2016-08-10

In phase-shifting interferometry, phase modulation nonlinearity causes both spatially uniform and nonuniform errors in the measured phase. Conventional linear-detuning error-compensating algorithms only eliminate the spatially variable error component. The uniform error is proportional to the inertial momentum of the data-sampling weight of a phase-shifting algorithm. This paper proposes a design approach to cancel the momentum by using characteristic polynomials in the Z-transform space and shows that an arbitrary M-frame algorithm can be modified to a new (M+2)-frame algorithm that acquires new symmetry to eliminate the uniform error.

Measurement of steep aspheric surfaces using improved two-wavelength phase-shifting interferometer

NASA Astrophysics Data System (ADS)

Zhang, Liqiong; Wang, Shaopu; Hu, Yao; Hao, Qun

2017-10-01

Optical components with aspheric surfaces can improve the imaging quality of optical systems, and also provide extra advantages such as lighter weight, smaller volume and simper structure. In order to satisfy these performance requirements, the surface error of aspheric surfaces, especially high departure aspheric surfaces must be measured accurately and conveniently. The major obstacle of traditional null-interferometry for aspheric surface under test is that specific and complex null optics need to be designed to fully compensate for the normal aberration of the aspheric surface under test. However, non-null interferometry partially compensating for the aspheric normal aberration can test aspheric surfaces without specific null optics. In this work, a novel non-null test approach of measuring the deviation between aspheric surfaces and the best reference sphere by using improved two-wavelength phase shifting interferometer is described. With the help of the calibration based on reverse iteration optimization, we can effectively remove the retrace error and thus improve the accuracy. Simulation results demonstrate that this method can measure the aspheric surface with the departure of over tens of microns from the best reference sphere, which introduces approximately 500λ of wavefront aberration at the detector.

SU-E-T-515: Field-In-Field Compensation Technique Using Multi-Leaf Collimator to Deliver Total Body Irradiation (TBI) Dose

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

Lakeman, T; Wang, IZ; Roswell Park Cancer Institute, Buffalo, NY

Purpose: Total body irradiation (TBI) uses large parallel-opposed radiation fields to suppress the patient's immune system and eradicate the residual cancer cells in preparation of recipient for bone marrow transplant. The manual placement of lead compensators has been used conventionally to compensate for the varying thickness through the entire body in large-field TBI. The goal of this study is to pursue utilizing the modern field-in-field (FIF) technique with the multi-leaf collimator (MLC) to more accurately and efficiently deliver dose to patients in need of TBI. Method: Treatment plans utilizing the FIF technique to deliver a total body dose were createdmore » retrospectively for patients for whom CT data had been previously acquired. Treatment fields include one pair of opposed open large fields (collimator=45°) with a specific weighting and a succession of smaller fields (collimator=90°) each with their own weighting. The smaller fields are shaped by moving MLC to block the sections of the patient which have already received close to 100% of the prescribed dose. The weighting factors for each of these fields were calculated using the attenuation coefficient of the initial lead compensators and the separation of the patient in different positions in the axial plane. Results: Dose-volume histograms (DVH) were calculated for evaluating the FIF compensation technique. The maximum body doses calculated from the DVH were reduced from the non-compensated 179.3% to 148.2% in the FIF plans, indicating a more uniform dose with the FIF compensation. All calculated monitor units were well within clinically acceptable limits and exceeded those of the original lead compensation plan by less than 50 MU (only ~1.1% increase). Conclusion: MLC FIF technique for TBI will not significantly increase the beam on time while it can substantially reduce the compensator setup time and the potential risk of errors in manually placing lead compensators.« less

An adaptive modeling and simulation environment for combined-cycle data reconciliation and degradation estimation

NASA Astrophysics Data System (ADS)

Lin, Tsungpo

Performance engineers face the major challenge in modeling and simulation for the after-market power system due to system degradation and measurement errors. Currently, the majority in power generation industries utilizes the deterministic data matching method to calibrate the model and cascade system degradation, which causes significant calibration uncertainty and also the risk of providing performance guarantees. In this research work, a maximum-likelihood based simultaneous data reconciliation and model calibration (SDRMC) is used for power system modeling and simulation. By replacing the current deterministic data matching with SDRMC one can reduce the calibration uncertainty and mitigate the error propagation to the performance simulation. A modeling and simulation environment for a complex power system with certain degradation has been developed. In this environment multiple data sets are imported when carrying out simultaneous data reconciliation and model calibration. Calibration uncertainties are estimated through error analyses and populated to performance simulation by using principle of error propagation. System degradation is then quantified by performance comparison between the calibrated model and its expected new & clean status. To mitigate smearing effects caused by gross errors, gross error detection (GED) is carried out in two stages. The first stage is a screening stage, in which serious gross errors are eliminated in advance. The GED techniques used in the screening stage are based on multivariate data analysis (MDA), including multivariate data visualization and principal component analysis (PCA). Subtle gross errors are treated at the second stage, in which the serial bias compensation or robust M-estimator is engaged. To achieve a better efficiency in the combined scheme of the least squares based data reconciliation and the GED technique based on hypotheses testing, the Levenberg-Marquardt (LM) algorithm is utilized as the optimizer. To reduce the computation time and stabilize the problem solving for a complex power system such as a combined cycle power plant, meta-modeling using the response surface equation (RSE) and system/process decomposition are incorporated with the simultaneous scheme of SDRMC. The goal of this research work is to reduce the calibration uncertainties and, thus, the risks of providing performance guarantees arisen from uncertainties in performance simulation.

System for and method of freezing biological tissue

NASA Technical Reports Server (NTRS)

Williams, T. E.; Cygnarowicz, T. A. (Inventor)

1978-01-01

Biological tissue is frozen while a polyethylene bag placed in abutting relationship against opposed walls of a pair of heaters. The bag and tissue are cooled with refrigerating gas at a time programmed rate at least equal to the maximum cooling rate needed at any time during the freezing process. The temperature of the bag, and hence of the tissue, is compared with a time programmed desired value for the tissue temperature to derive an error indication. The heater is activated in response to the error indication so that the temperature of the tissue follows the desired value for the time programmed tissue temperature. The tissue is heated to compensate for excessive cooling of the tissue as a result of the cooling by the refrigerating gas. In response to the error signal, the heater is deactivated while the latent heat of fusion is being removed from the tissue while the tissue is changing phase from liquid to solid.

Predicting the random drift of MEMS gyroscope based on K-means clustering and OLS RBF Neural Network

NASA Astrophysics Data System (ADS)

Wang, Zhen-yu; Zhang, Li-jie

2017-10-01

Measure error of the sensor can be effectively compensated with prediction. Aiming at large random drift error of MEMS(Micro Electro Mechanical System))gyroscope, an improved learning algorithm of Radial Basis Function(RBF) Neural Network(NN) based on K-means clustering and Orthogonal Least-Squares (OLS) is proposed in this paper. The algorithm selects the typical samples as the initial cluster centers of RBF NN firstly, candidates centers with K-means algorithm secondly, and optimizes the candidate centers with OLS algorithm thirdly, which makes the network structure simpler and makes the prediction performance better. Experimental results show that the proposed K-means clustering OLS learning algorithm can predict the random drift of MEMS gyroscope effectively, the prediction error of which is 9.8019e-007°/s and the prediction time of which is 2.4169e-006s

Self-calibration method of the inner lever-arm parameters for a tri-axis RINS

NASA Astrophysics Data System (ADS)

Song, Tianxiao; Li, Kui; Sui, Jie; Liu, Zengjun; Liu, Juncheng

2017-11-01

A rotational inertial navigation system (RINS) could improve navigation performance by modulating the inertial sensor errors with rotatable gimbals. When an inertial measurement unit (IMU) rotates, the deviations between the accelerometer-sensitive points and the IMU center will lead to an inner lever-arm effect. In this paper, a self-calibration method of the inner lever-arm parameters for a tri-axis RINS is proposed. A novel rotation scheme with variable angular rate rotation is designed to motivate the velocity errors caused by the inner lever-arm effect. By extending all inner lever-arm parameters as filter states, a Kalman filter with velocity errors as measurement is established to achieve the calibration. The accuracy and feasibility of the proposed method are illustrated by both simulations and experiments. The final results indicate that the inner lever-arm effect is significantly restrained after compensation by the calibration results.

Atmospheric Compensation and Surface Temperature and Emissivity Retrieval with LWIR Hyperspectral Imagery

NASA Astrophysics Data System (ADS)

Pieper, Michael

Accurate estimation or retrieval of surface emissivity spectra from long-wave infrared (LWIR) or Thermal Infrared (TIR) hyperspectral imaging data acquired by airborne or space-borne sensors is necessary for many scientific and defense applications. The at-aperture radiance measured by the sensor is a function of the ground emissivity and temperature, modified by the atmosphere. Thus the emissivity retrieval process consists of two interwoven steps: atmospheric compensation (AC) to retrieve the ground radiance from the measured at-aperture radiance and temperature-emissivity separation (TES) to separate the temperature and emissivity from the ground radiance. In-scene AC (ISAC) algorithms use blackbody-like materials in the scene, which have a linear relationship between their ground radiances and at-aperture radiances determined by the atmospheric transmission and upwelling radiance. Using a clear reference channel to estimate the ground radiance, a linear fitting of the at-aperture radiance and estimated ground radiance is done to estimate the atmospheric parameters. TES algorithms for hyperspectral imaging data assume that the emissivity spectra for solids are smooth compared to the sharp features added by the atmosphere. The ground temperature and emissivity are found by finding the temperature that provides the smoothest emissivity estimate. In this thesis we develop models to investigate the sensitivity of AC and TES to the basic assumptions enabling their performance. ISAC assumes that there are perfect blackbody pixels in a scene and that there is a clear channel, which is never the case. The developed ISAC model explains how the quality of blackbody-like pixels affect the shape of atmospheric estimates and the clear channel assumption affects their magnitude. Emissivity spectra for solids usually have some roughness. The TES model identifies four sources of error: the smoothing error of the emissivity spectrum, the emissivity error from using the incorrect temperature, and the errors caused by sensor noise and wavelength calibration. The ways these errors interact determines the overall TES performance. Since the AC and TES processes are interwoven, any errors in AC are transferred to TES and the final temperature and emissivity estimates. Combining the two models, shape errors caused by the blackbody assumption are transferred to the emissivity estimates, where magnitude errors from the clear channel assumption are compensated by TES temperature induced emissivity errors. The ability for the temperature induced error to compensate for such atmospheric errors makes it difficult to determine the correct atmospheric parameters for a scene. With these models we are able to determine the expected quality of estimated emissivity spectra based on the quality of blackbody-like materials on the ground, the emissivity of the materials being searched for, and the properties of the sensor. The quality of material emissivity spectra is a key factor in determining detection performance for a material in a scene.

Simulation of eye-tracker latency, spot size, and ablation pulse depth on the correction of higher order wavefront aberrations with scanning spot laser systems.

PubMed

Bueeler, Michael; Mrochen, Michael

2005-01-01

The aim of this theoretical work was to investigate the robustness of scanning spot laser treatments with different laser spot diameters and peak ablation depths in case of incomplete compensation of eye movements due to eye-tracker latency. Scanning spot corrections of 3rd to 5th Zernike order wavefront errors were numerically simulated. Measured eye-movement data were used to calculate the positioning error of each laser shot assuming eye-tracker latencies of 0, 5, 30, and 100 ms, and for the case of no eye tracking. The single spot ablation depth ranged from 0.25 to 1.0 microm and the spot diameter from 250 to 1000 microm. The quality of the ablation was rated by the postoperative surface variance and the Strehl intensity ratio, which was calculated after a low-pass filter was applied to simulate epithelial surface smoothing. Treatments performed with nearly ideal eye tracking (latency approximately 0) provide the best results with a small laser spot (0.25 mm) and a small ablation depth (250 microm). However, combinations of a large spot diameter (1000 microm) and a small ablation depth per pulse (0.25 microm) yield the better results for latencies above a certain threshold to be determined specifically. Treatments performed with tracker latencies in the order of 100 ms yield similar results as treatments done completely without eye-movement compensation. CONCWSIONS: Reduction of spot diameter was shown to make the correction more susceptible to eye movement induced error. A smaller spot size is only beneficial when eye movement is neutralized with a tracking system with a latency <5 ms.

An LPV Adaptive Observer for Updating a Map Applied to an MAF Sensor in a Diesel Engine.

PubMed

Liu, Zhiyuan; Wang, Changhui

2015-10-23

In this paper, a new method for mass air flow (MAF) sensor error compensation and an online updating error map (or lookup table) due to installation and aging in a diesel engine is developed. Since the MAF sensor error is dependent on the engine operating point, the error model is represented as a two-dimensional (2D) map with two inputs, fuel mass injection quantity and engine speed. Meanwhile, the 2D map representing the MAF sensor error is described as a piecewise bilinear interpolation model, which can be written as a dot product between the regression vector and parameter vector using a membership function. With the combination of the 2D map regression model and the diesel engine air path system, an LPV adaptive observer with low computational load is designed to estimate states and parameters jointly. The convergence of the proposed algorithm is proven under the conditions of persistent excitation and given inequalities. The observer is validated against the simulation data from engine software enDYNA provided by Tesis. The results demonstrate that the operating point-dependent error of the MAF sensor can be approximated acceptably by the 2D map from the proposed method.

Legal consequences of the moral duty to report errors.

PubMed

Hall, Jacqulyn Kay

2003-09-01

Increasingly, clinicians are under a moral duty to report errors to the patients who are injured by such errors. The sources of this duty are identified, and its probable impact on malpractice litigation and criminal law is discussed. The potential consequences of enforcing this new moral duty as a minimum in law are noted. One predicted consequence is that the trend will be accelerated toward government payment of compensation for errors. The effect of truth-telling on individuals is discussed.

Good ergonomics and team diversity reduce absenteeism and errors in car manufacturing.

PubMed

Fritzsche, Lars; Wegge, Jürgen; Schmauder, Martin; Kliegel, Matthias; Schmidt, Klaus-Helmut

2014-01-01

Prior research suggests that ergonomics work design and mixed teams (in age and gender) may compensate declines in certain abilities of ageing employees. This study investigates simultaneous effects of both team level factors on absenteeism and performance (error rates) over one year in a sample of 56 car assembly teams (N = 623). Results show that age was related to prolonged absenteeism and more mistakes in work planning, but not to overall performance. In comparison, high-physical workload was strongly associated with longer absenteeism and increased error rates. Furthermore, controlling for physical workload, age diversity was related to shorter absenteeism, and the presence of females in the team was associated with shorter absenteeism and better performance. In summary, this study suggests that both ergonomics work design and mixed team composition may compensate age-related productivity risks in manufacturing by maintaining the work ability of older employees and improving job quality.

Aerial robot intelligent control method based on back-stepping

NASA Astrophysics Data System (ADS)

Zhou, Jian; Xue, Qian

2018-05-01

The aerial robot is characterized as strong nonlinearity, high coupling and parameter uncertainty, a self-adaptive back-stepping control method based on neural network is proposed in this paper. The uncertain part of the aerial robot model is compensated online by the neural network of Cerebellum Model Articulation Controller and robust control items are designed to overcome the uncertainty error of the system during online learning. At the same time, particle swarm algorithm is used to optimize and fix parameters so as to improve the dynamic performance, and control law is obtained by the recursion of back-stepping regression. Simulation results show that the designed control law has desired attitude tracking performance and good robustness in case of uncertainties and large errors in the model parameters.

Impairment assessment of orthogonal frequency division multiplexing over dispersion-managed links in backbone and backhaul networks

NASA Astrophysics Data System (ADS)

Tamilarasan, Ilavarasan; Saminathan, Brindha; Murugappan, Meenakshi

2016-04-01

The past decade has seen the phenomenal usage of orthogonal frequency division multiplexing (OFDM) in the wired as well as wireless communication domains, and it is also proposed in the literature as a future proof technique for the implementation of flexible resource allocation in cognitive optical networks. Fiber impairment assessment and adaptive compensation becomes critical in such implementations. A comprehensive analytical model for impairments in OFDM-based fiber links is developed. The proposed model includes the combined impact of laser phase fluctuations, fiber dispersion, self phase modulation, cross phase modulation, four-wave mixing, the nonlinear phase noise due to the interaction of amplified spontaneous emission with fiber nonlinearities, and the photodetector noises. The bit error rate expression for the proposed model is derived based on error vector magnitude estimation. The performance analysis of the proposed model is presented and compared for dispersion compensated and uncompensated backbone/backhaul links. The results suggest that OFDM would perform better for uncompensated links than the compensated links due to the negligible FWM effects and there is a need for flexible compensation. The proposed model can be employed in cognitive optical networks for accurate assessment of fiber-related impairments.

On-line estimation and compensation of measurement delay in GPS/SINS integration

NASA Astrophysics Data System (ADS)

Yang, Tao; Wang, Wei

2008-10-01

The chief aim of this paper is to propose a simple on-line estimation and compensation method of GPS/SINS measurement delay. The causes of time delay for GPS/SINS integration are analyzed in this paper. New Kalman filter state equations augmented by measurement delay and modified measurement equations are derived. Based on an open-loop Kalman filter, several simulations are run, results of which show that by the proposed method, the estimation and compensation error of measurement delay is below 0.1s.

Restoration of the ASCA Source Position Accuracy

NASA Astrophysics Data System (ADS)

Gotthelf, E. V.; Ueda, Y.; Fujimoto, R.; Kii, T.; Yamaoka, K.

2000-11-01

We present a calibration of the absolute pointing accuracy of the Advanced Satellite for Cosmology and Astrophysics (ASCA) which allows us to compensate for a large error (up to 1') in the derived source coordinates. We parameterize a temperature dependent deviation of the attitude solution which is responsible for this error. By analyzing ASCA coordinates of 100 bright active galactic nuclei, we show that it is possible to reduce the uncertainty in the sky position for any given observation by a factor of 4. The revised 90% error circle radius is then 12", consistent with preflight specifications, effectively restoring the full ASCA pointing accuracy. Herein, we derive an algorithm which compensates for this attitude error and present an internet-based table to be used to correct post facto the coordinate of all ASCA observations. While the above error circle is strictly applicable to data taken with the on-board Solid-state Imaging Spectrometers (SISs), similar coordinate corrections are derived for data obtained with the Gas Imaging Spectrometers (GISs), which, however, have additional instrumental uncertainties. The 90% error circle radius for the central 20' diameter of the GIS is 24". The large reduction in the error circle area for the two instruments offers the opportunity to greatly enhance the search for X-ray counterparts at other wavelengths. This has important implications for current and future ASCA source catalogs and surveys.

Design and Implementation of an Intrinsically Safe Liquid-Level Sensor Using Coaxial Cable

PubMed Central

Jin, Baoquan; Liu, Xin; Bai, Qing; Wang, Dong; Wang, Yu

2015-01-01

Real-time detection of liquid level in complex environments has always been a knotty issue. In this paper, an intrinsically safe liquid-level sensor system for flammable and explosive environments is designed and implemented. The poly vinyl chloride (PVC) coaxial cable is chosen as the sensing element and the measuring mechanism is analyzed. Then, the capacitance-to-voltage conversion circuit is designed and the expected output signal is achieved by adopting parameter optimization. Furthermore, the experimental platform of the liquid-level sensor system is constructed, which involves the entire process of measuring, converting, filtering, processing, visualizing and communicating. Additionally, the system is designed with characteristics of intrinsic safety by limiting the energy of the circuit to avoid or restrain the thermal effects and sparks. Finally, the approach of the piecewise linearization is adopted in order to improve the measuring accuracy by matching the appropriate calibration points. The test results demonstrate that over the measurement range of 1.0 m, the maximum nonlinearity error is 0.8% full-scale span (FSS), the maximum repeatability error is 0.5% FSS, and the maximum hysteresis error is reduced from 0.7% FSS to 0.5% FSS by applying software compensation algorithms. PMID:26029949

Design and implementation of an intrinsically safe liquid-level sensor using coaxial cable.

PubMed

Jin, Baoquan; Liu, Xin; Bai, Qing; Wang, Dong; Wang, Yu

2015-05-28

Real-time detection of liquid level in complex environments has always been a knotty issue. In this paper, an intrinsically safe liquid-level sensor system for flammable and explosive environments is designed and implemented. The poly vinyl chloride (PVC) coaxial cable is chosen as the sensing element and the measuring mechanism is analyzed. Then, the capacitance-to-voltage conversion circuit is designed and the expected output signal is achieved by adopting parameter optimization. Furthermore, the experimental platform of the liquid-level sensor system is constructed, which involves the entire process of measuring, converting, filtering, processing, visualizing and communicating. Additionally, the system is designed with characteristics of intrinsic safety by limiting the energy of the circuit to avoid or restrain the thermal effects and sparks. Finally, the approach of the piecewise linearization is adopted in order to improve the measuring accuracy by matching the appropriate calibration points. The test results demonstrate that over the measurement range of 1.0 m, the maximum nonlinearity error is 0.8% full-scale span (FSS), the maximum repeatability error is 0.5% FSS, and the maximum hysteresis error is reduced from 0.7% FSS to 0.5% FSS by applying software compensation algorithms.

Compensating for estimation smoothing in kriging

USGS Publications Warehouse

Olea, R.A.; Pawlowsky, Vera

1996-01-01

Smoothing is a characteristic inherent to all minimum mean-square-error spatial estimators such as kriging. Cross-validation can be used to detect and model such smoothing. Inversion of the model produces a new estimator-compensated kriging. A numerical comparison based on an exhaustive permeability sampling of a 4-fr2 slab of Berea Sandstone shows that the estimation surface generated by compensated kriging has properties intermediate between those generated by ordinary kriging and stochastic realizations resulting from simulated annealing and sequential Gaussian simulation. The frequency distribution is well reproduced by the compensated kriging surface, which also approximates the experimental semivariogram well - better than ordinary kriging, but not as well as stochastic realizations. Compensated kriging produces surfaces that are more accurate than stochastic realizations, but not as accurate as ordinary kriging. ?? 1996 International Association for Mathematical Geology.

A Rapid Method to Achieve Aero-Engine Blade Form Detection

PubMed Central

Sun, Bin; Li, Bing

2015-01-01

This paper proposes a rapid method to detect aero-engine blade form, according to the characteristics of an aero-engine blade surface. This method first deduces an inclination error model in free-form surface measurements based on the non-contact laser triangulation principle. Then a four-coordinate measuring system was independently developed, a special fixture was designed according to the blade shape features, and a fast measurement of the blade features path was planned. Finally, by using the inclination error model for correction of acquired data, the measurement error that was caused by tilt form is compensated. As a result the measurement accuracy of the Laser Displacement Sensor was less than 10 μm. After the experimental verification, this method makes full use of optical non-contact measurement fast speed, high precision and wide measuring range of features. Using a standard gauge block as a measurement reference, the coordinate system conversion data is simple and practical. It not only improves the measurement accuracy of the blade surface, but also its measurement efficiency. Therefore, this method increases the value of the measurement of complex surfaces. PMID:26039420

A rapid method to achieve aero-engine blade form detection.

PubMed

Sun, Bin; Li, Bing

2015-06-01

This paper proposes a rapid method to detect aero-engine blade form, according to the characteristics of an aero-engine blade surface. This method first deduces an inclination error model in free-form surface measurements based on the non-contact laser triangulation principle. Then a four-coordinate measuring system was independently developed, a special fixture was designed according to the blade shape features, and a fast measurement of the blade features path was planned. Finally, by using the inclination error model for correction of acquired data, the measurement error that was caused by tilt form is compensated. As a result the measurement accuracy of the Laser Displacement Sensor was less than 10 μm. After the experimental verification, this method makes full use of optical non-contact measurement fast speed, high precision and wide measuring range of features. Using a standard gauge block as a measurement reference, the coordinate system conversion data is simple and practical. It not only improves the measurement accuracy of the blade surface, but also its measurement efficiency. Therefore, this method increases the value of the measurement of complex surfaces.

Heritability of neural reactions to social exclusion and prosocial compensation in middle childhood.

PubMed

van der Meulen, Mara; Steinbeis, Nikolaus; Achterberg, Michelle; van IJzendoorn, Marinus H; Crone, Eveline A

2018-06-07

Experiencing and observing social exclusion and inclusion, as well as prosocial behavior, are important aspects of social relationships in childhood. However, it is currently unknown to what extent these processes and their neural correlates differ in heritability. We investigated influences of genetics and environment on experiencing social exclusion and compensating for social exclusion of others with the Prosocial Cyberball Game using fMRI in a twin sample (aged 7-9; N = 500). Neuroimaging analyses (N = 283) revealed that experiencing possible self-exclusion resulted in activity in inferior frontal gyrus and medial prefrontal cortex, which was influenced by genetics and unique environment. Experiencing self-inclusion was associated with activity in anterior cingulate cortex, insula and striatum, but this was not significantly explained by genetics or shared environment. We found that children show prosocial compensating behavior when observing social exclusion. Prosocial compensating behavior was associated with activity in posterior cingulate cortex/precuneus, and showed unique environmental effects or measurement error at both behavioral and neural level. Together, these findings show that in children neural activation for experiencing possible self-exclusion and self-inclusion, and for displaying prosocial compensating behavior, is accounted for by unique environmental factors and measurement error, with a small genetic effect on possible self-exclusion. Copyright © 2018 The Authors. Published by Elsevier Ltd.. All rights reserved.

Computer aided manufacturing for complex freeform optics

NASA Astrophysics Data System (ADS)

Wolfs, Franciscus; Fess, Ed; Johns, Dustin; LePage, Gabriel; Matthews, Greg

2017-10-01

Recently, the desire to use freeform optics has been increasing. Freeform optics can be used to expand the capabilities of optical systems and reduce the number of optics needed in an assembly. The traits that increase optical performance also present challenges in manufacturing. As tolerances on freeform optics become more stringent, it is necessary to continue to improve methods for how the grinding and polishing processes interact with metrology. To create these complex shapes, OptiPro has developed a computer aided manufacturing package called PROSurf. PROSurf generates tool paths required for grinding and polishing freeform optics with multiple axes of motion. It also uses metrology feedback for deterministic corrections. ProSurf handles 2 key aspects of the manufacturing process that most other CAM systems struggle with. The first is having the ability to support several input types (equations, CAD models, point clouds) and still be able to create a uniform high-density surface map useable for generating a smooth tool path. The second is to improve the accuracy of mapping a metrology file to the part surface. To perform this OptiPro is using 3D error maps instead of traditional 2D maps. The metrology error map drives the tool path adjustment applied during processing. For grinding, the error map adjusts the tool position to compensate for repeatable system error. For polishing, the error map drives the relative dwell times of the tool across the part surface. This paper will present the challenges associated with these issues and solutions that we have created.

Selective and divided attention modulates auditory-vocal integration in the processing of pitch feedback errors.

PubMed

Liu, Ying; Hu, Huijing; Jones, Jeffery A; Guo, Zhiqiang; Li, Weifeng; Chen, Xi; Liu, Peng; Liu, Hanjun

2015-08-01

Speakers rapidly adjust their ongoing vocal productions to compensate for errors they hear in their auditory feedback. It is currently unclear what role attention plays in these vocal compensations. This event-related potential (ERP) study examined the influence of selective and divided attention on the vocal and cortical responses to pitch errors heard in auditory feedback regarding ongoing vocalisations. During the production of a sustained vowel, participants briefly heard their vocal pitch shifted up two semitones while they actively attended to auditory or visual events (selective attention), or both auditory and visual events (divided attention), or were not told to attend to either modality (control condition). The behavioral results showed that attending to the pitch perturbations elicited larger vocal compensations than attending to the visual stimuli. Moreover, ERPs were likewise sensitive to the attentional manipulations: P2 responses to pitch perturbations were larger when participants attended to the auditory stimuli compared to when they attended to the visual stimuli, and compared to when they were not explicitly told to attend to either the visual or auditory stimuli. By contrast, dividing attention between the auditory and visual modalities caused suppressed P2 responses relative to all the other conditions and caused enhanced N1 responses relative to the control condition. These findings provide strong evidence for the influence of attention on the mechanisms underlying the auditory-vocal integration in the processing of pitch feedback errors. In addition, selective attention and divided attention appear to modulate the neurobehavioral processing of pitch feedback errors in different ways. © 2015 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Blind Compensation of I/Q Impairments in Wireless Transceivers

PubMed Central

Aziz, Mohsin; Ghannouchi, Fadhel M.; Helaoui, Mohamed

2017-01-01

The majority of techniques that deal with the mitigation of in-phase and quadrature-phase (I/Q) imbalance at the transmitter (pre-compensation) require long training sequences, reducing the throughput of the system. These techniques also require a feedback path, which adds more complexity and cost to the transmitter architecture. Blind estimation techniques are attractive for avoiding the use of long training sequences. In this paper, we propose a blind frequency-independent I/Q imbalance compensation method based on the maximum likelihood (ML) estimation of the imbalance parameters of a transceiver. A closed-form joint probability density function (PDF) for the imbalanced I and Q signals is derived and validated. ML estimation is then used to estimate the imbalance parameters using the derived joint PDF of the output I and Q signals. Various figures of merit have been used to evaluate the efficacy of the proposed approach using extensive computer simulations and measurements. Additionally, the bit error rate curves show the effectiveness of the proposed method in the presence of the wireless channel and Additive White Gaussian Noise. Real-world experimental results show an image rejection of greater than 30 dB as compared to the uncompensated system. This method has also been found to be robust in the presence of practical system impairments, such as time and phase delay mismatches. PMID:29257081

MPDATA: Third-order accuracy for variable flows

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Operator control systems and methods for swing-free gantry-style cranes

DOEpatents

Feddema, J.T.; Petterson, B.J.; Robinett, R.D. III

1998-07-28

A system and method are disclosed for eliminating swing motions in gantry-style cranes while subject to operator control. The present invention comprises an infinite impulse response (IIR) filter and a proportional-integral (PI) feedback controller. The IIR filter receives input signals (commanded velocity or acceleration) from an operator input device and transforms them into output signals in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder. The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor. The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload. 10 figs.

Operator control systems and methods for swing-free gantry-style cranes

DOEpatents

Feddema, John T.; Petterson, Ben J.; Robinett, III, Rush D.

1998-01-01

A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder (25). The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor (27). The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload.

Method for removing tilt control in adaptive optics systems

DOEpatents

Salmon, Joseph Thaddeus

1998-01-01

A new adaptive optics system and method of operation, whereby the method removes tilt control, and includes the steps of using a steering mirror to steer a wavefront in the desired direction, for aiming an impinging aberrated light beam in the direction of a deformable mirror. The deformable mirror has its surface deformed selectively by means of a plurality of actuators, and compensates, at least partially, for existing aberrations in the light beam. The light beam is split into an output beam and a sample beam, and the sample beam is sampled using a wavefront sensor. The sampled signals are converted into corresponding electrical signals for driving a controller, which, in turn, drives the deformable mirror in a feedback loop in response to the sampled signals, for compensating for aberrations in the wavefront. To this purpose, a displacement error (gradient) of the wavefront is measured, and adjusted by a modified gain matrix, which satisfies the following equation: G'=(I-X(X.sup.T X).sup.-1 X.sup.T)G(I-A)

Alignment and calibration of the MgF2 biplate compensator for applications in rotating-compensator multichannel ellipsometry.

PubMed

Lee, J; Rovira, P I; An, I; Collins, R W

2001-08-01

Biplate compensators made from MgF2 are being used increasingly in rotating-element single-channel and multichannel ellipsometers. For the measurement of accurate ellipsometric spectra, the compensator must be carefully (i) aligned internally to ensure that the fast axes of the two plates are perpendicular and (ii) calibrated to determine the phase retardance delta versus photon energy E. We present alignment and calibration procedures for multichannel ellipsometer configurations with special attention directed to the precision, accuracy, and reproducibility in the determination of delta (E). Run-to-run variations in external compensator alignment, i.e., alignment with respect to the incident beam, can lead to irreproducibilities in delta of approximately 0.2 degrees . Errors in the ellipsometric measurement of a sample can be minimized by calibrating with an external compensator alignment that matches as closely as possible that used in the measurement.

Description of a dual fail-operational redundant strapdown inertial measurement unit for integrated avionics systems research

NASA Technical Reports Server (NTRS)

Bryant, W. H.; Morrell, F. R.

1981-01-01

Attention is given to a redundant strapdown inertial measurement unit for integrated avionics. The system consists of four two-degree-of-freedom turned rotor gyros and four two-degree-of-freedom accelerometers in a skewed and separable semi-octahedral array. The unit is coupled through instrument electronics to two flight computers which compensate sensor errors. The flight computers are interfaced to the microprocessors and process failure detection, isolation, redundancy management and flight control/navigation algorithms. The unit provides dual fail-operational performance and has data processing frequencies consistent with integrated avionics concepts presently planned.

Investigation of 16 × 10 Gbps DWDM System Based on Optimized Semiconductor Optical Amplifier

NASA Astrophysics Data System (ADS)

Rani, Aruna; Dewra, Sanjeev

2017-08-01

This paper investigates the performance of an optical system based on optimized semiconductor optical amplifier (SOA) at 160 Gbps with 0.8 nm channel spacing. Transmission distances up to 280 km at -30 dBm input signal power and up to 247 km at -32 dBm input signal power with acceptable bit error rate (BER) and Q-factor are examined. It is also analyzed that the transmission distance up to 292 km has been covered at -28 dBm input signal power using Dispersion Shifted (DS)-Normal fiber without any power compensation methods.

Short-term saccadic adaptation in the macaque monkey: a binocular mechanism

PubMed Central

Schultz, K. P.

2013-01-01

Saccadic eye movements are rapid transfers of gaze between objects of interest. Their duration is too short for the visual system to be able to follow their progress in time. Adaptive mechanisms constantly recalibrate the saccadic responses by detecting how close the landings are to the selected targets. The double-step saccadic paradigm is a common method to simulate alterations in saccadic gain. While the subject is responding to a first target shift, a second shift is introduced in the middle of this movement, which masks it from visual detection. The error in landing introduced by the second shift is interpreted by the brain as an error in the programming of the initial response, with gradual gain changes aimed at compensating the apparent sensorimotor mismatch. A second shift applied dichoptically to only one eye introduces disconjugate landing errors between the two eyes. A monocular adaptive system would independently modify only the gain of the eye exposed to the second shift in order to reestablish binocular alignment. Our results support a binocular mechanism. A version-based saccadic adaptive process detects postsaccadic version errors and generates compensatory conjugate gain alterations. A vergence-based saccadic adaptive process detects postsaccadic disparity errors and generates corrective nonvisual disparity signals that are sent to the vergence system to regain binocularity. This results in striking dynamical similarities between visually driven combined saccade-vergence gaze transfers, where the disparity is given by the visual targets, and the double-step adaptive disconjugate responses, where an adaptive disparity signal is generated internally by the saccadic system. PMID:23076111

In vivo validation of a new technique that compensates for soft tissue artefact in the upper-arm: preliminary results.

PubMed

Cutti, Andrea Giovanni; Cappello, Angelo; Davalli, Angelo

2006-01-01

Soft tissue artefact is the dominant error source for upper extremity motion analyses that use skin-mounted markers, especially in humeral axial rotation. A new in vivo technique is presented that is based on the definition of a humerus bone-embedded frame almost "artefact free" but influenced by the elbow orientation in the measurement of the humeral axial rotation, and on an algorithm designed to solve this kinematic coupling. The technique was validated in vivo in a study of six healthy subjects who performed five arm-movement tasks. For each task the similarity between a gold standard pattern and the axial rotation pattern before and after the application of the compensation algorithm was evaluated in terms of explained variance, gain, phase and offset. In addition the root mean square error between the patterns was used as a global similarity estimator. After the application, for four out of five tasks, patterns were highly correlated, in phase, with almost equal gain and limited offset; the root mean square error decreased from the original 9 degrees to 3 degrees . The proposed technique appears to help compensate for the soft tissue artefact affecting axial rotation. A further development is also proposed to make the technique effective also for the pure prono-supination task.

Inferential modeling and predictive feedback control in real-time motion compensation using the treatment couch during radiotherapy

NASA Astrophysics Data System (ADS)

Qiu, Peng; D'Souza, Warren D.; McAvoy, Thomas J.; Liu, K. J. Ray

2007-09-01

Tumor motion induced by respiration presents a challenge to the reliable delivery of conformal radiation treatments. Real-time motion compensation represents the technologically most challenging clinical solution but has the potential to overcome the limitations of existing methods. The performance of a real-time couch-based motion compensation system is mainly dependent on two aspects: the ability to infer the internal anatomical position and the performance of the feedback control system. In this paper, we propose two novel methods for the two aspects respectively, and then combine the proposed methods into one system. To accurately estimate the internal tumor position, we present partial-least squares (PLS) regression to predict the position of the diaphragm using skin-based motion surrogates. Four radio-opaque markers were placed on the abdomen of patients who underwent fluoroscopic imaging of the diaphragm. The coordinates of the markers served as input variables and the position of the diaphragm served as the output variable. PLS resulted in lower prediction errors compared with standard multiple linear regression (MLR). The performance of the feedback control system depends on the system dynamics and dead time (delay between the initiation and execution of the control action). While the dynamics of the system can be inverted in a feedback control system, the dead time cannot be inverted. To overcome the dead time of the system, we propose a predictive feedback control system by incorporating forward prediction using least-mean-square (LMS) and recursive least square (RLS) filtering into the couch-based control system. Motion data were obtained using a skin-based marker. The proposed predictive feedback control system was benchmarked against pure feedback control (no forward prediction) and resulted in a significant performance gain. Finally, we combined the PLS inference model and the predictive feedback control to evaluate the overall performance of the feedback control system. Our results show that, with the tumor motion unknown but inferred by skin-based markers through the PLS model, the predictive feedback control system was able to effectively compensate intra-fraction motion.

Adaptive neural network motion control of manipulators with experimental evaluations.

PubMed

Puga-Guzmán, S; Moreno-Valenzuela, J; Santibáñez, V

2014-01-01

A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller.

Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

PubMed Central

Puga-Guzmán, S.; Moreno-Valenzuela, J.; Santibáñez, V.

2014-01-01

A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller. PMID:24574910

Compensation for loads during arm movements using equilibrium-point control.

PubMed

Gribble, P L; Ostry, D J

2000-12-01

A significant problem in motor control is how information about movement error is used to modify control signals to achieve desired performance. A potential source of movement error and one that is readily controllable experimentally relates to limb dynamics and associated movement-dependent loads. In this paper, we have used a position control model to examine changes to control signals for arm movements in the context of movement-dependent loads. In the model, based on the equilibrium-point hypothesis, equilibrium shifts are adjusted directly in proportion to the positional error between desired and actual movements. The model is used to simulate multi-joint movements in the presence of both "internal" loads due to joint interaction torques, and externally applied loads resulting from velocity-dependent force fields. In both cases it is shown that the model can achieve close correspondence to empirical data using a simple linear adaptation procedure. An important feature of the model is that it achieves compensation for loads during movement without the need for either coordinate transformations between positional error and associated corrective forces, or inverse dynamics calculations.

Electromagnetic organ tracking allows for real-time compensation of tissue shift in image-guided laparoscopic rectal surgery: results of a phantom study.

PubMed

Wagner, M; Gondan, M; Zöllner, C; Wünscher, J J; Nickel, F; Albala, L; Groch, A; Suwelack, S; Speidel, S; Maier-Hein, L; Müller-Stich, B P; Kenngott, H G

2016-02-01

Laparoscopic resection is a minimally invasive treatment option for rectal cancer but requires highly experienced surgeons. Computer-aided technologies could help to improve safety and efficiency by visualizing risk structures during the procedure. The prerequisite for such an image guidance system is reliable intraoperative information on iatrogenic tissue shift. This could be achieved by intraoperative imaging, which is rarely available. Thus, the aim of the present study was to develop and validate a method for real-time deformation compensation using preoperative imaging and intraoperative electromagnetic tracking (EMT) of the rectum. Three models were compared and evaluated for the compensation of tissue deformation. For model A, no compensation was performed. Model B moved the corresponding points rigidly to the motion of the EMT sensor. Model C used five nested linear regressions with increasing level of complexity to compute the deformation (C1-C5). For evaluation, 14 targets and an EMT organ sensor were fit into a silicone-molded rectum of the OpenHELP phantom. Following a computed tomography, the image guidance was initiated and the rectum was deformed in the same way as during surgery in a total of 14 experimental runs. The target registration error (TRE) was measured for all targets in different positions of the rectum. The mean TRE without correction (model A) was 32.8 ± 20.8 mm, with only 19.6% of the measurements below 10 mm (80.4% above 10 mm). With correction, the mean TRE could be reduced using the rigid correction (model B) to 6.8 ± 4.8 mm with 78.7% of the measurements being <10 mm. Using the most complex linear regression correction (model C5), the error could be reduced to 2.9 ± 1.4 mm with 99.8% being below 10 mm. In laparoscopic rectal surgery, the combination of electromagnetic organ tracking and preoperative imaging is a promising approach to compensating for intraoperative tissue shift in real-time.

Fabrication and correction of freeform surface based on Zernike polynomials by slow tool servo

NASA Astrophysics Data System (ADS)

Cheng, Yuan-Chieh; Hsu, Ming-Ying; Peng, Wei-Jei; Hsu, Wei-Yao

2017-10-01

Recently, freeform surface widely using to the optical system; because it is have advance of optical image and freedom available to improve the optical performance. For freeform optical fabrication by integrating freeform optical design, precision freeform manufacture, metrology freeform optics and freeform compensate method, to modify the form deviation of surface, due to production process of freeform lens ,compared and provides more flexibilities and better performance. This paper focuses on the fabrication and correction of the free-form surface. In this study, optical freeform surface using multi-axis ultra-precision manufacturing could be upgrading the quality of freeform. It is a machine equipped with a positioning C-axis and has the CXZ machining function which is also called slow tool servo (STS) function. The freeform compensate method of Zernike polynomials results successfully verified; it is correction the form deviation of freeform surface. Finally, the freeform surface are measured experimentally by Ultrahigh Accurate 3D Profilometer (UA3P), compensate the freeform form error with Zernike polynomial fitting to improve the form accuracy of freeform.

Enhancement of the efficiency of the automatic control system to control the thermal load of steam boilers fired with fuels of several types

NASA Astrophysics Data System (ADS)

Ismatkhodzhaev, S. K.; Kuzishchin, V. F.

2017-05-01

An automatic control system to control the thermal load (ACS) in a drum-type boiler under random fluctuations in the blast-furnace and coke-oven gas consumption rates and to control action on the natural gas consumption is considered. The system provides for use of a compensator by the basic disturbance, the blast-furnace gas consumption rate. To enhance the performance of the system, it is proposed to use more accurate mathematical second-order delay models of the channels of the object under control in combination with calculation by frequency methods of the controller parameters as well as determination of the structure and parameters of the compensator considering the statistical characteristics of the disturbances and using simulation. The statistical characteristics of the random blast-furnace gas consumption signal based on experimental data are provided. The random signal is presented in the form of the low-frequency (LF) and high-frequency (HF) components. The models of the correlation functions and spectral densities are developed. The article presents the results of calculating the optimal settings of the control loop with the controlled variable in the form of the "heat" signal with the restricted frequency variation index using three variants of the control performance criteria, viz., the linear and quadratic integral indices under step disturbance and the control error variance under random disturbance by the blastfurnace gas consumption rate. It is recommended to select a compensator designed in the form of series connection of two parts, one of which corresponds to the operator inverse to the transfer function of the PI controller, i.e., in the form of a really differentiating element. This facilitates the realization of the second part of the compensator by the invariance condition similar to transmitting the compensating signal to the object input. The results of simulation under random disturbance by the blast-furnace gas consumption are reported. Recommendations are made on the structure and parameters of the shaping filters for modeling the LF and HF components of the random signal. The results of the research may find applications in the systems to control the thermal processes with compensation of basic disturbances, in particular, in boilers for combustion of accompanying gases.

Correction of large amplitude wavefront aberrations

NASA Astrophysics Data System (ADS)

Cornelissen, S. A.; Bierden, P. A.; Bifano, T. G.; Webb, R. H.; Burns, S.; Pappas, S.

2005-12-01

Recently, a number of research groups around the world have developed ophthalmic instruments capable of in vivo diffraction limited imaging of the human retina. Adaptive optics was used in these systems to compensate for the optical aberrations of the eye and provide high contrast, high resolution images. Such compensation uses a wavefront sensor and a wavefront corrector (usually a deformable mirror) coordinated in a closed- loop control system that continuously works to counteract aberrations. While those experiments produced promising results, the deformable mirrors have had insufficient range of motion to permit full correction of the large amplitude aberrations of the eye expected in a normal population of human subjects. Other retinal imaging systems developed to date with MEMS (micro-electromechanical systems) DMs suffer similar limitations. This paper describes the design, manufacture and testing of a 6um stroke polysilicon surface micromachined deformable mirror that, coupled with an new optical method to double the effective stroke of the MEMS-DM, will permit diffraction-limited retinal imaging through dilated pupils in at least 90% of the human population. A novel optical design using spherical mirrors provides a double pass of the wavefront over the deformable mirror such that a 6um mirror displacement results in 12um of wavefront compensation which could correct for 24um of wavefront error. Details of this design are discussed. Testing of the effective wavefront modification was performed using a commercial wavefront sensor. Results are presented demonstrating improvement in the amplitude of wavefront control using an existing high degree of freedom MEMS deformable mirror.

Stroke maximizing and high efficient hysteresis hybrid modeling for a rhombic piezoelectric actuator

NASA Astrophysics Data System (ADS)

Shao, Shubao; Xu, Minglong; Zhang, Shuwen; Xie, Shilin

2016-06-01

Rhombic piezoelectric actuator (RPA), which employs a rhombic mechanism to amplify the small stroke of PZT stack, has been widely used in many micro-positioning machineries due to its remarkable properties such as high displacement resolution and compact structure. In order to achieve large actuation range along with high accuracy, the stroke maximizing and compensation for the hysteresis are two concerns in the use of RPA. However, existing maximization methods based on theoretical model can hardly accurately predict the maximum stroke of RPA because of approximation errors that are caused by the simplifications that must be made in the analysis. Moreover, despite the high hysteresis modeling accuracy of Preisach model, its modeling procedure is trivial and time-consuming since a large set of experimental data is required to determine the model parameters. In our research, to improve the accuracy of theoretical model of RPA, the approximation theory is employed in which the approximation errors can be compensated by two dimensionless coefficients. To simplify the hysteresis modeling procedure, a hybrid modeling method is proposed in which the parameters of Preisach model can be identified from only a small set of experimental data by using the combination of discrete Preisach model (DPM) with particle swarm optimization (PSO) algorithm. The proposed novel hybrid modeling method can not only model the hysteresis with considerable accuracy but also significantly simplified the modeling procedure. Finally, the inversion of hysteresis is introduced to compensate for the hysteresis non-linearity of RPA, and consequently a pseudo-linear system can be obtained.

Results of the Compensated Earth-Moon-Earth Retroreflector Laser Link (CEMERLL) Experiment

NASA Technical Reports Server (NTRS)

Wilson, K. E.; Leatherman, P. R.; Cleis, R.; Spinhirne, J.; Fugate, R. Q.

1997-01-01

Adaptive optics techniques can be used to realize a robust low bit-error-rate link by mitigating the atmosphere-induced signal fades in optical communications links between ground-based transmitters and deep-space probes. Phase I of the Compensated Earth-Moon-Earth Retroreflector Laser Link (CEMERLL) experiment demonstrated the first propagation of an atmosphere-compensated laser beam to the lunar retroreflectors. A 1.06-micron Nd:YAG laser beam was propagated through the full aperture of the 1.5-m telescope at the Starfire Optical Range (SOR), Kirtland Air Force Base, New Mexico, to the Apollo 15 retroreflector array at Hadley Rille. Laser guide-star adaptive optics were used to compensate turbulence-induced aberrations across the transmitter's 1.5-m aperture. A 3.5-m telescope, also located at the SOR, was used as a receiver for detecting the return signals. JPL-supplied Chebyshev polynomials of the retroreflector locations were used to develop tracking algorithms for the telescopes. At times we observed in excess of 100 photons returned from a single pulse when the outgoing beam from the 1.5-m telescope was corrected by the adaptive optics system. No returns were detected when the outgoing beam was uncompensated. The experiment was conducted from March through September 1994, during the first or last quarter of the Moon.

Intelligent complementary sliding-mode control for LUSMS-based X-Y-theta motion control stage.

PubMed

Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai; Liu, Yen-Hung

2010-07-01

An intelligent complementary sliding-mode control (ICSMC) system using a recurrent wavelet-based Elman neural network (RWENN) estimator is proposed in this study to control the mover position of a linear ultrasonic motors (LUSMs)-based X-Y-theta motion control stage for the tracking of various contours. By the addition of a complementary generalized error transformation, the complementary sliding-mode control (CSMC) can efficiently reduce the guaranteed ultimate bound of the tracking error by half compared with the slidingmode control (SMC) while using the saturation function. To estimate a lumped uncertainty on-line and replace the hitting control of the CSMC directly, the RWENN estimator is adopted in the proposed ICSMC system. In the RWENN, each hidden neuron employs a different wavelet function as an activation function to improve both the convergent precision and the convergent time compared with the conventional Elman neural network (ENN). The estimation laws of the RWENN are derived using the Lyapunov stability theorem to train the network parameters on-line. A robust compensator is also proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher-order terms in Taylor series. Finally, some experimental results of various contours tracking show that the tracking performance of the ICSMC system is significantly improved compared with the SMC and CSMC systems.

Feasibility study on image guided patient positioning for stereotactic body radiation therapy of liver malignancies guided by liver motion.

PubMed

Heinz, Christian; Gerum, Sabine; Freislederer, Philipp; Ganswindt, Ute; Roeder, Falk; Corradini, Stefanie; Belka, Claus; Niyazi, Maximilian

2016-06-27

Fiducial markers are the superior method to compensate for interfractional motion in liver SBRT. However this method is invasive and thereby limits its application range. In this retrospective study, the compensation method for the interfractional motion using fiducial markers (gold standard) was compared to a new non-invasive approach, which does rely on the organ motion of the liver and the relative tumor position within this volume. We analyzed six patients (3 m, 3f) treated with SBRT in 2014. After fiducial marker implantation, all patients received a treatment CT (free breathing, without abdominal compression) and a 4D-CT (consisting of 10 respiratory phases). For all patients the gross tumor volumes (GTVs), internal target volume (ITV), planning target volume (PTV), internal marker target volumes (IMTVs) and the internal liver target volume (ILTV) were delineated based on the CT and 4D-CT images. CBCT imaging was used for the standard treatment setup based on the fiducial markers. According to the patient coordinates the 3 translational compensation values (t x , t y , t z ) for the interfractional motion were calculated by matching the blurred fiducial markers with the corresponding IMTV structures. 4 observers were requested to recalculate the translational compensation values for each CBCT (31) based on the ILTV structures. The differences of the translational compensation values between the IMTV and ILTV approach were analyzed. The magnitude of the mean absolute 3D registration error with regard to the gold standard overall patients and observers was 0.50 cm ± 0.28 cm. Individual registration errors up to 1.3 cm were observed. There was no significant overall linear correlation between the respiratory motion and the registration error of the ILTV approach. Two different methods to calculate the translational compensation values for interfractional motion in stereotactic liver therapy were evaluated. The registration accuracy of the ILTV approach is mainly limited by the non-rigid behavior of the liver and the individual registration experience of the observer. The ILTV approach lacks the accuracy that would be desired for stereotactic radiotherapy of the liver.