Active-passive hybrid piezoelectric actuators for high-precision hard disk drive servo systems

NASA Astrophysics Data System (ADS)

Chan, Kwong Wah; Liao, Wei-Hsin

2006-03-01

Positioning precision is crucial to today's increasingly high-speed, high-capacity, high data density, and miniaturized hard disk drives (HDDs). The demand for higher bandwidth servo systems that can quickly and precisely position the read/write head on a high track density becomes more pressing. Recently, the idea of applying dual-stage actuators to track servo systems has been studied. The push-pull piezoelectric actuated devices have been developed as micro actuators for fine and fast positioning, while the voice coil motor functions as a large but coarse seeking. However, the current dual-stage actuator design uses piezoelectric patches only without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed actuators will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. We aim to develop this hybrid servo system not only to increase speed of track seeking but also to improve precision of track following servos in HDDs. New piezoelectrically actuated suspensions with passive damping have been designed and fabricated. In order to evaluate positioning and track following performances for the dual-stage track servo systems, experimental efforts are carried out to implement the synthesized active-passive suspension structure with enhanced piezoelectric actuators using a composite nonlinear feedback controller.

An open source digital servo for atomic, molecular, and optical physics experiments

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

Leibrandt, D. R., E-mail: david.leibrandt@nist.gov; Heidecker, J.

2015-12-15

We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of themore » laser used to probe the narrow clock transition of {sup 27}Al{sup +} in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.« less

An open source digital servo for atomic, molecular, and optical physics experiments.

PubMed

Leibrandt, D R; Heidecker, J

2015-12-01

We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of (27)Al(+) in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

An open source digital servo for atomic, molecular, and optical physics experiments

NASA Astrophysics Data System (ADS)

Leibrandt, D. R.; Heidecker, J.

2015-12-01

We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27Al+ in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

An open source digital servo for atomic, molecular, and optical physics experiments

PubMed Central

Leibrandt, D. R.; Heidecker, J.

2016-01-01

We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27Al+ in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser. PMID:26724014

Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit.

PubMed

Taghizadeh, Mostafa; Ghaffari, Ali; Najafi, Farid

2009-10-01

In this paper, the effect of pneumatic circuit design on the input-output behavior of PWM-driven servo-pneumatic systems is investigated and their control performances are improved using linear controllers instead of complex and costly nonlinear ones. Generally, servo-pneumatic systems are well known for their nonlinear behavior. However, PWM-driven servo-pneumatic systems have the advantage of flexibility in the design of pneumatic circuits which affects the input-output linearity of the whole system. A simple pneumatic circuit with only one fast switching valve is designed which leads to a quasi-linear input-output relation. The quasi-linear behavior of the proposed circuit is verified both experimentally and by simulations. Closed loop position control experiments are then carried out using linear P- and PD-controllers. Since the output position is noisy and cannot be directly differentiated, a Kalman filter is designed to estimate the velocity of the cylinder. Highly improved tracking performances are obtained using these linear controllers, compared to previous works with nonlinear controllers.

A Matlab/Simulink-Based Interactive Module for Servo Systems Learning

ERIC Educational Resources Information Center

Aliane, N.

2010-01-01

This paper presents an interactive module for learning both the fundamental and practical issues of servo systems. This module, developed using Simulink in conjunction with the Matlab graphical user interface (Matlab-GUI) tool, is used to supplement conventional lectures in control engineering and robotics subjects. First, the paper introduces the…

Smart Cutting Tools and Smart Machining: Development Approaches, and Their Implementation and Application Perspectives

NASA Astrophysics Data System (ADS)

Cheng, Kai; Niu, Zhi-Chao; Wang, Robin C.; Rakowski, Richard; Bateman, Richard

2017-09-01

Smart machining has tremendous potential and is becoming one of new generation high value precision manufacturing technologies in line with the advance of Industry 4.0 concepts. This paper presents some innovative design concepts and, in particular, the development of four types of smart cutting tools, including a force-based smart cutting tool, a temperature-based internally-cooled cutting tool, a fast tool servo (FTS) and smart collets for ultraprecision and micro manufacturing purposes. Implementation and application perspectives of these smart cutting tools are explored and discussed particularly for smart machining against a number of industrial application requirements. They are contamination-free machining, machining of tool-wear-prone Si-based infra-red devices and medical applications, high speed micro milling and micro drilling, etc. Furthermore, implementation techniques are presented focusing on: (a) plug-and-produce design principle and the associated smart control algorithms, (b) piezoelectric film and surface acoustic wave transducers to measure cutting forces in process, (c) critical cutting temperature control in real-time machining, (d) in-process calibration through machining trials, (e) FE-based design and analysis of smart cutting tools, and (f) application exemplars on adaptive smart machining.

A novel diamond micro-/nano-machining process for the generation of hierarchical micro-/nano-structures

NASA Astrophysics Data System (ADS)

Zhu, Zhiwei; To, Suet; Ehmann, Kornel F.; Xiao, Gaobo; Zhu, Wule

2016-03-01

A new mechanical micro-/nano-machining process that combines rotary spatial vibrations (RSV) of a diamond tool and the servo motions of the workpiece is proposed and applied for the generation of multi-tier hierarchical micro-/nano-structures. In the proposed micro-/nano-machining system, the servo motion, as the primary cutting motion generated by a slow-tool-servo, is adopted for the fine generation of the primary surfaces with complex shapes. The RSV, as the tertiary cutting operation, is superimposed on the secondary fundamental rotary cutting motion to construct secondary nano-structures on the primary surface. Since the RSV system generally works at much higher frequencies and motion resolution than the primary and secondary motions, it leads to an inherent hierarchical cutting architecture. To investigate the machining performance, complex micro-/nano-structures were generated and explored by both numerical simulations and actual cutting tests. Rotary vibrations of the diamond tool at a constant rotational distance offer an inherent constant cutting velocity, leading to the ability for the generation of homogeneous micro-/nano-structures with fixed amplitudes and frequencies of the vibrations, even over large-scale surfaces. Furthermore, by deliberately combining the non-resonant three-axial vibrations and the servo motion, the generation of a variety of micro-/nano-structures with complex shapes and with flexibly tunable feature sizes can be achieved.

Transfer function verification and block diagram simplification of a very high-order distributed pole closed-loop servo by means of non-linear time-response simulation

NASA Technical Reports Server (NTRS)

Mukhopadhyay, A. K.

1975-01-01

Linear frequency domain methods are inadequate in analyzing the 1975 Viking Orbiter (VO75) digital tape recorder servo due to dominant nonlinear effects such as servo signal limiting, unidirectional servo control, and static/dynamic Coulomb friction. The frequency loop (speed control) servo of the VO75 tape recorder is used to illustrate the analytical tools and methodology of system redundancy elimination and high order transfer function verification. The paper compares time-domain performance parameters derived from a series of nonlinear time responses with the available experimental data in order to select the best possible analytical transfer function representation of the tape transport (mechanical segment of the tape recorder) from several possible candidates. The study also shows how an analytical time-response simulation taking into account most system nonlinearities can pinpoint system redundancy and overdesign stemming from a strictly empirical design approach. System order reduction is achieved through truncation of individual transfer functions and elimination of redundant blocks.

Servo-controlling structure of five-axis CNC system for real-time NURBS interpolating

NASA Astrophysics Data System (ADS)

Chen, Liangji; Guo, Guangsong; Li, Huiying

2017-07-01

NURBS (Non-Uniform Rational B-Spline) is widely used in CAD/CAM (Computer-Aided Design / Computer-Aided Manufacturing) to represent sculptured curves or surfaces. In this paper, we develop a 5-axis NURBS real-time interpolator and realize it in our developing CNC(Computer Numerical Control) system. At first, we use two NURBS curves to represent tool-tip and tool-axis path respectively. According to feedrate and Taylor series extension, servo-controlling signals of 5 axes are obtained for each interpolating cycle. Then, generation procedure of NC(Numerical Control) code with the presented method is introduced and the method how to integrate the interpolator into our developing CNC system is given. And also, the servo-controlling structure of the CNC system is introduced. Through the illustration, it has been indicated that the proposed method can enhance the machining accuracy and the spline interpolator is feasible for 5-axis CNC system.

Semi-Autonomous Electrosurgery for Tumor Resection Using a Multi-Degree of Freedom Electrosurgical Tool and Visual Servoing*

PubMed Central

Opfermann, Justin D.; Leonard, Simon; Decker, Ryan S.; Uebele, Nicholas A.; Bayne, Christopher E.; Joshi, Arjun S.; Krieger, Axel

2017-01-01

This paper specifies a surgical robot performing semi-autonomous electrosurgery for tumor resection and evaluates its accuracy using a visual servoing paradigm. We describe the design and integration of a novel, multi-degree of freedom electrosurgical tool for the smart tissue autonomous robot (STAR). Standardized line tests are executed to determine ideal cut parameters in three different types of porcine tissue. STAR is then programmed with the ideal cut setting for porcine tissue and compared against expert surgeons using open and laparoscopic techniques in a line cutting task. We conclude with a proof of concept demonstration using STAR to semi-autonomously resect pseudo-tumors in porcine tissue using visual servoing. When tasked to excise tumors with a consistent 4mm margin, STAR can semi-autonomously dissect tissue with an average margin of 3.67 mm and a standard deviation of 0.89mm. PMID:29503760

Reliable vision-guided grasping

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1992-01-01

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems, such as tracking, in that the distance from the target is a relevant servo parameter. The methodology described in this paper is hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent,' and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system.

Verification and Validation of the New Dynamic Mooring Modules Available in FAST v8: Preprint

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

Wendt, Fabian; Robertson, Amy; Jonkman, Jason

2016-08-01

The open-source aero-hydro-servo-elastic wind turbine simulation software, FAST v8, was recently coupled to two newly developed mooring dynamics modules: MoorDyn and FEAMooring. MoorDyn is a lumped-mass-based mooring dynamics module developed by the University of Maine, and FEAMooring is a finite-element-based mooring dynamics module developed by Texas A&M University. This paper summarizes the work performed to verify and validate these modules against other mooring models and measured test data to assess their reliability and accuracy. The quality of the fairlead load predictions by the open-source mooring modules MoorDyn and FEAMooring appear to be largely equivalent to what is predicted by themore » commercial tool OrcaFlex. Both mooring dynamic model predictions agree well with the experimental data, considering the given limitations in the accuracy of the platform hydrodynamic load calculation and the quality of the measurement data.« less

Verification and Validation of the New Dynamic Mooring Modules Available in FAST v8

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

Wendt, Fabian F.; Andersen, Morten T.; Robertson, Amy N.

2016-07-01

The open-source aero-hydro-servo-elastic wind turbine simulation software, FAST v8, was recently coupled to two newly developed mooring dynamics modules: MoorDyn and FEAMooring. MoorDyn is a lumped-mass-based mooring dynamics module developed by the University of Maine, and FEAMooring is a finite-element-based mooring dynamics module developed by Texas A&M University. This paper summarizes the work performed to verify and validate these modules against other mooring models and measured test data to assess their reliability and accuracy. The quality of the fairlead load predictions by the open-source mooring modules MoorDyn and FEAMooring appear to be largely equivalent to what is predicted by themore » commercial tool OrcaFlex. Both mooring dynamic model predictions agree well with the experimental data, considering the given limitations in the accuracy of the platform hydrodynamic load calculation and the quality of the measurement data.« less

An ultra-precision tool nanoindentation instrument for replication of single point diamond tool cutting edges

NASA Astrophysics Data System (ADS)

Cai, Yindi; Chen, Yuan-Liu; Xu, Malu; Shimizu, Yuki; Ito, So; Matsukuma, Hiraku; Gao, Wei

2018-05-01

Precision replication of the diamond tool cutting edge is required for non-destructive tool metrology. This paper presents an ultra-precision tool nanoindentation instrument designed and constructed for replication of the cutting edge of a single point diamond tool onto a selected soft metal workpiece by precisely indenting the tool cutting edge into the workpiece surface. The instrument has the ability to control the indentation depth with a nanometric resolution, enabling the replication of tool cutting edges with high precision. The motion of the diamond tool along the indentation direction is controlled by the piezoelectric actuator of a fast tool servo (FTS). An integrated capacitive sensor of the FTS is employed to detect the displacement of the diamond tool. The soft metal workpiece is attached to an aluminum cantilever whose deflection is monitored by another capacitive sensor, referred to as an outside capacitive sensor. The indentation force and depth can be accurately evaluated from the diamond tool displacement, the cantilever deflection and the cantilever spring constant. Experiments were carried out by replicating the cutting edge of a single point diamond tool with a nose radius of 2.0 mm on a copper workpiece surface. The profile of the replicated tool cutting edge was measured using an atomic force microscope (AFM). The effectiveness of the instrument in precision replication of diamond tool cutting edges is well-verified by the experimental results.

Enhanced control of a flexure-jointed micromanipulation system using a vision-based servoing approach

NASA Astrophysics Data System (ADS)

Chuthai, T.; Cole, M. O. T.; Wongratanaphisan, T.; Puangmali, P.

2018-01-01

This paper describes a high-precision motion control implementation for a flexure-jointed micromanipulator. A desktop experimental motion platform has been created based on a 3RUU parallel kinematic mechanism, driven by rotary voice coil actuators. The three arms supporting the platform have rigid links with compact flexure joints as integrated parts and are made by single-process 3D printing. The mechanism overall size is approximately 250x250x100 mm. The workspace is relatively large for a flexure-jointed mechanism, being approximately 20x20x6 mm. A servo-control implementation based on pseudo-rigid-body models (PRBM) of kinematic behavior combined with nonlinear-PID control has been developed. This is shown to achieve fast response with good noise-rejection and platform stability. However, large errors in absolute positioning occur due to deficiencies in the PRBM kinematics, which cannot accurately capture flexure compliance behavior. To overcome this problem, visual servoing is employed, where a digital microscopy system is used to directly measure the platform position by image processing. By adopting nonlinear PID feedback of measured angles for the actuated joints as inner control loops, combined with auxiliary feedback of vision-based measurements, the absolute positioning error can be eliminated. With controller gain tuning, fast dynamic response and low residual vibration of the end platform can be achieved with absolute positioning accuracy within ±1 micron.

New method to improve dynamic stiffness of electro-hydraulic servo systems

NASA Astrophysics Data System (ADS)

Bai, Yanhong; Quan, Long

2013-09-01

Most current researches working on improving stiffness focus on the application of control theories. But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated, so the control action is lagged. Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms. In this paper, the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed. On this basis, the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward. And a scheme using double servo valves to realize flow feedforward compensation is presented, in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time. The two valves are arranged in parallel to control the cylinder jointly. Furthermore, the model of flow compensation is derived, by which the product of the amplitude and width of the valve’s pulse command signal can be calculated. And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations. Using the proposed scheme, simulations and experiments at different positions with different force changes are conducted. The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time. That is, system dynamic load stiffness is evidently raised. This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

Microsurgical Clipping of an Anterior Communicating Artery Aneurysm Using a Novel Robotic Visualization Tool in Lieu of the Binocular Operating Microscope: Operative Video.

PubMed

Klinger, Daniel R; Reinard, Kevin A; Ajayi, Olaide O; Delashaw, Johnny B

2018-01-01

The binocular operating microscope has been the visualization instrument of choice for microsurgical clipping of intracranial aneurysms for many decades. To discuss recent technological advances that have provided novel visualization tools, which may prove to be superior to the binocular operating microscope in many regards. We present an operative video and our operative experience with the BrightMatterTM Servo System (Synaptive Medical, Toronto, Ontario, Canada) during the microsurgical clipping of an anterior communicating artery aneurysm. To the best of our knowledge, the use of this device for the microsurgical clipping of an intracranial aneurysm has never been described in the literature. The BrightMatterTM Servo System (Synaptive Medical) is a surgical exoscope which avoids many of the ergonomic constraints of the binocular operating microscope, but is associated with a steep learning curve. The BrightMatterTM Servo System (Synaptive Medical) is a maneuverable surgical exoscope that is positioned with a directional aiming device and a surgeon-controlled foot pedal. While utilizing this device comes with a steep learning curve typical of any new technology, the BrightMatterTM Servo System (Synaptive Medical) has several advantages over the conventional surgical microscope, which include a relatively unobstructed surgical field, provision of high-definition images, and visualization of difficult angles/trajectories. This device can easily be utilized as a visualization tool for a variety of cranial and spinal procedures in lieu of the binocular operating microscope. We anticipate that this technology will soon become an integral part of the neurosurgeon's armamentarium. Copyright © 2017 by the Congress of Neurological Surgeons

MULTIPLIER CIRCUIT

DOEpatents

Chase, R.L.

1963-05-01

An electronic fast multiplier circuit utilizing a transistor controlled voltage divider network is presented. The multiplier includes a stepped potentiometer in which solid state or transistor switches are substituted for mechanical wipers in order to obtain electronic switching that is extremely fast as compared to the usual servo-driven mechanical wipers. While this multiplier circuit operates as an approximation and in steps to obtain a voltage that is the product of two input voltages, any desired degree of accuracy can be obtained with the proper number of increments and adjustment of parameters. (AEC)

Verification and Validation of Multisegmented Mooring Capabilities in FAST v8

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

Andersen, Morten T.; Wendt, Fabian F.; Robertson, Amy N.

2016-07-01

The quasi-static and dynamic mooring modules of the open-source aero-hydro-servo-elastic wind turbine simulation software, FAST v8, have previously been verified and validated, but only for mooring arrangements consisting of single lines connecting each fairlead and anchor. This paper extends the previous verification and validation efforts to focus on the multisegmented mooring capability of the FAST v8 modules: MAP++, MoorDyn, and the OrcaFlex interface. The OC3-Hywind spar buoy system tested by the DeepCwind consortium at the MARIN ocean basin, which includes a multisegmented bridle layout of the mooring system, was used for the verification and validation activities.

Flight instrument and telemetry response and its inversion

NASA Technical Reports Server (NTRS)

Weinberger, M. R.

1971-01-01

Mathematical models of rate gyros, servo accelerometers, pressure transducers, and telemetry systems were derived and their parameters were obtained from laboratory tests. Analog computer simulations were used extensively for verification of the validity for fast and large input signals. An optimal inversion method was derived to reconstruct input signals from noisy output signals and a computer program was prepared.

Effects of Simulated Surface Effect Ship Motions on Crew Habitability. Phase II. Volume 2. Facility, Test conditions, and Schedules

DTIC Science & Technology

1977-05-01

fast acceleration response over the frequency range from 0.2 to 5 Hz, being characterized by a flat amplitude and a 0.02-0.03 sec effective delay...the hot reservoir oil through three fan-cooled radiators. The c••ling syst~m operates intermit - tently (controlled by a thermostat) to keep the oil...a very fast and puowerful hydrau- lic position servo, having its own 1000 psi power supply and very tight position control loop. It can position the 4

Verification of the New FAST v8 Capabilities for the Modeling of Fixed-Bottom Offshore Wind Turbines: Preprint

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

Barahona, B.; Jonkman, J.; Damiani, R.

2014-12-01

Coupled dynamic analysis has an important role in the design of offshore wind turbines because the systems are subject to complex operating conditions from the combined action of waves and wind. The aero-hydro-servo-elastic tool FAST v8 is framed in a novel modularization scheme that facilitates such analysis. Here, we present the verification of new capabilities of FAST v8 to model fixed-bottom offshore wind turbines. We analyze a series of load cases with both wind and wave loads and compare the results against those from the previous international code comparison projects-the International Energy Agency (IEA) Wind Task 23 Subtask 2 Offshoremore » Code Comparison Collaboration (OC3) and the IEA Wind Task 30 OC3 Continued (OC4) projects. The verification is performed using the NREL 5-MW reference turbine supported by monopile, tripod, and jacket substructures. The substructure structural-dynamics models are built within the new SubDyn module of FAST v8, which uses a linear finite-element beam model with Craig-Bampton dynamic system reduction. This allows the modal properties of the substructure to be synthesized and coupled to hydrodynamic loads and tower dynamics. The hydrodynamic loads are calculated using a new strip theory approach for multimember substructures in the updated HydroDyn module of FAST v8. These modules are linked to the rest of FAST through the new coupling scheme involving mapping between module-independent spatial discretizations and a numerically rigorous implicit solver. The results show that the new structural dynamics, hydrodynamics, and coupled solutions compare well to the results from the previous code comparison projects.« less

Servo scanning 3D micro EDM for array micro cavities using on-machine fabricated tool electrodes

NASA Astrophysics Data System (ADS)

Tong, Hao; Li, Yong; Zhang, Long

2018-02-01

Array micro cavities are useful in many fields including in micro molds, optical devices, biochips and so on. Array servo scanning micro electro discharge machining (EDM), using array micro electrodes with simple cross-sectional shape, has the advantage of machining complex 3D micro cavities in batches. In this paper, the machining errors caused by offline-fabricated array micro electrodes are analyzed in particular, and then a machining process of array servo scanning micro EDM is proposed by using on-machine fabricated array micro electrodes. The array micro electrodes are fabricated on-machine by combined procedures including wire electro discharge grinding, array reverse copying and electrode end trimming. Nine-array tool electrodes with Φ80 µm diameter and 600 µm length are obtained. Furthermore, the proposed process is verified by several machining experiments for achieving nine-array hexagonal micro cavities with top side length of 300 µm, bottom side length of 150 µm, and depth of 112 µm or 120 µm. In the experiments, a chip hump accumulates on the electrode tips like the built-up edge in mechanical machining under the conditions of brass workpieces, copper electrodes and the dielectric of deionized water. The accumulated hump can be avoided by replacing the water dielectric by an oil dielectric.

Verification and Validation of Multisegmented Mooring Capabilities in FAST v8: Preprint

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

Andersen, Morten T.; Wendt, Fabian; Robertson, Amy

2016-08-01

The quasi-static and dynamic mooring modules of the open-source aero-hydro-servo-elastic wind turbine simulation software, FAST v8, have previously been verified and validated, but only for mooring arrangements consisting of single lines connecting each fairlead and anchor. This paper extends the previous verification and validation efforts to focus on the multisegmented mooring capability of the FAST v8 modules: MAP++, MoorDyn, and the OrcaFlex interface. The OC3-Hywind spar buoy system tested by the DeepCwind consortium at the MARIN ocean basin, which includes a multisegmented bridle layout of the mooring system, was used for the verification and validation activities.

Aeroelastic Modeling of Offshore Turbines and Support Structures in Hurricane-Prone Regions (Poster)

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

Damiani, R.

US offshore wind turbines (OWTs) will likely have to contend with hurricanes and the associated loading conditions. Current industry standards do not account for these design load cases (DLCs), thus a new approach is required to guarantee that the OWTs achieve an appropriate level of reliability. In this study, a sequentially coupled aero-hydro-servo-elastic modeling technique was used to address two design approaches: 1.) The ABS (American Bureau of Shipping) approach; and 2.) The Hazard Curve or API (American Petroleum Institute) approach. The former employs IEC partial load factors (PSFs) and 100-yr return-period (RP) metocean events. The latter allows setting PSFsmore » and RP to a prescribed level of system reliability. The 500-yr RP robustness check (appearing in [2] and [3] upcoming editions) is a good indicator of the target reliability for L2 structures. CAE tools such as NREL's FAST and Bentley's' SACS (offshore analysis and design software) can be efficiently coupled to simulate system loads under hurricane DLCs. For this task, we augmented the latest FAST version (v. 8) to include tower aerodynamic drag that cannot be ignored in hurricane DLCs. In this project, a 6 MW turbine was simulated on a typical 4-legged jacket for a mid-Atlantic site. FAST-calculated tower base loads were fed to SACS at the interface level (transition piece); SACS added hydrodynamic and wind loads on the exposed substructure, and calculated mudline overturning moments, and member and joint utilization. Results show that CAE tools can be effectively used to compare design approaches for the design of OWTs in hurricane regions and to achieve a well-balanced design, where reliability levels and costs are optimized.« less

A new servo method using servo layer and transverse MR head for submicron track servo on hard computer disks

NASA Astrophysics Data System (ADS)

Tan, Baolin; Mapps, Desmond J.; Pan, Genhua; Robinson, Paul

1996-03-01

A disk with a data, servo and isolation layer has been fabricated with the data layer magnetized along the circumferential direction. The servo layer was recorded with servo pattern magnetized along the radial direction. A continuous servo signal is obtained and the servo does not occupy any data area. In this new method, the servo and data bits can share media surface area on the disk without interference. Track following on 0.7 μm tracks has been demonstrated using the new servo method on longitudinal rigid disks.

Nearly arc-length tool path generation and tool radius compensation algorithm research in FTS turning

NASA Astrophysics Data System (ADS)

Zhao, Minghui; Zhao, Xuesen; Li, Zengqiang; Sun, Tao

2014-08-01

In the non-rotational symmetrical microstrcture surfaces generation using turning method with Fast Tool Servo(FTS), non-uniform distribution of the interpolation data points will lead to long processing cycle and poor surface quality. To improve this situation, nearly arc-length tool path generation algorithm is proposed, which generates tool tip trajectory points in nearly arc-length instead of the traditional interpolation rule of equal angle and adds tool radius compensation. All the interpolation points are equidistant in radial distribution because of the constant feeding speed in X slider, the high frequency tool radius compensation components are in both X direction and Z direction, which makes X slider difficult to follow the input orders due to its large mass. Newton iterative method is used to calculate the neighboring contour tangent point coordinate value with the interpolation point X position as initial value, in this way, the new Z coordinate value is gotten, and the high frequency motion components in X direction is decomposed into Z direction. Taking a typical microstructure with 4μm PV value for test, which is mixed with two 70μm wave length sine-waves, the max profile error at the angle of fifteen is less than 0.01μm turning by a diamond tool with big radius of 80μm. The sinusoidal grid is machined on a ultra-precision lathe succesfully, the wavelength is 70.2278μm the Ra value is 22.81nm evaluated by data points generated by filtering out the first five harmonics.

Research on flight stability performance of rotor aircraft based on visual servo control method

NASA Astrophysics Data System (ADS)

Yu, Yanan; Chen, Jing

2016-11-01

control method based on visual servo feedback is proposed, which is used to improve the attitude of a quad-rotor aircraft and to enhance its flight stability. Ground target images are obtained by a visual platform fixed on aircraft. Scale invariant feature transform (SIFT) algorism is used to extract image feature information. According to the image characteristic analysis, fast motion estimation is completed and used as an input signal of PID flight control system to realize real-time status adjustment in flight process. Imaging tests and simulation results show that the method proposed acts good performance in terms of flight stability compensation and attitude adjustment. The response speed and control precision meets the requirements of actual use, which is able to reduce or even eliminate the influence of environmental disturbance. So the method proposed has certain research value to solve the problem of aircraft's anti-disturbance.

Anti-disturbance rapid vibration suppression of the flexible aerial refueling hose

NASA Astrophysics Data System (ADS)

Su, Zikang; Wang, Honglun; Li, Na

2018-05-01

As an extremely dangerous phenomenon in autonomous aerial refueling (AAR), the flexible refueling hose vibration caused by the receiver aircraft's excessive closure speed should be suppressed once it appears. This paper proposed a permanent magnet synchronous motor (PMSM) based refueling hose servo take-up system for the vibration suppression of the flexible refueling hose. A rapid back-stepping based anti-disturbance nonsingular fast terminal sliding mode (NFTSM) control scheme with a specially established finite-time convergence NFTSM observer is proposed for the PMSM based hose servo take-up system under uncertainties and disturbances. The unmeasured load torque and other disturbances in the PMSM system are reconstituted by the NFTSM observer and to be compensated during the controller design. Then, with the back-stepping technique, a rapid anti-disturbance NFTSM controller is proposed for the PMSM angular tracking to improve the tracking error convergence speed and tracking precision. The proposed vibration suppression scheme is then applied to PMSM based hose servo take-up system for the refueling hose vibration suppression in AAR. Simulation results show the proposed scheme can suppress the hose vibration rapidly and accurately even the system is exposed to strong uncertainties and probe position disturbances, it is more competitive in tracking accuracy, tracking error convergence speed and robustness.

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.

Aviation Wide-Angle Visual System (AWAVS). Trainer Design Report. Subsystem Design Report

DTIC Science & Technology

1977-05-01

205 60 Frequency-Gain Plot for FLOLS Meatball Servo 209 61 FLOLS Zoom Servo, Block Diagram 210 62 FLOLS Zoom Iris Servo, Block Diagram and...Servo Input Torques 196 24 FLOLS Servo Components 197 25 FLOLS Meatball Servo Performance 203 26 Inherent Zeros and Poles for FLOLS Meatball Servo...of their relative powers must equal the ratio of 500 ft to the simu- lated range. The FLOLS are on whenever the pilot is within the meatball field

Cine-servo lens technology for 4K broadcast and cinematography

NASA Astrophysics Data System (ADS)

Nurishi, Ryuji; Wakazono, Tsuyoshi; Usui, Fumiaki

2015-09-01

Central to the rapid evolution of 4K image capture technology in the past few years, deployment of large-format cameras with Super35mm Single Sensors is increasing in TV production for diverse shows such as dramas, documentaries, wildlife, and sports. While large format image capture has been the standard in the cinema world for quite some time, the recent experiences within the broadcast industry have revealed a variety of requirement differences for large format lenses compared to those of the cinema industry. A typical requirement for a broadcast lens is a considerably higher zoom ratio in order to avoid changing lenses in the middle of a live event, which is mostly not the case for traditional cinema productions. Another example is the need for compact size, light weight, and servo operability for a single camera operator shooting in a shoulder-mount ENG style. On the other hand, there are new requirements that are common to both worlds, such as smooth and seamless change in angle of view throughout the long zoom range, which potentially offers new image expression that never existed in the past. This paper will discuss the requirements from the two industries of cinema and broadcast, while at the same time introducing the new technologies and new optical design concepts applied to our latest "CINE-SERVO" lens series which presently consists of two models, CN7x17KAS-S and CN20x50IAS-H. It will further explain how Canon has realized 4K optical performance and fast servo control while simultaneously achieving compact size, light weight and high zoom ratio, by referring to patent-pending technologies such as the optical power layout, lens construction, and glass material combinations.

Materials Processing Research and Development

DTIC Science & Technology

2001-11-01

interface between a Ti-6Al-4V workpiece and H13 tool steel die for various combinations of lubricants and workpiece-die temperatures. The ring test was...attaching a type-K thermocouple to the sample. The samples at 400 °C were heated using band heaters attached to H13 tool steel dies, with the...Ring Tests The ring tests were performed on a 200 kip servo-hydraulic press between H13 tool steel dies heated to the prescribed die temperatures of

An ironless armature brushless torque motor

NASA Technical Reports Server (NTRS)

Studer, P. A.

1973-01-01

A high torque motor with improved servo mechanism is reported. Armature windings are cast into an epoxy cylinder and armature conductors are integrally cast with an aluminum mounting ring which provides thermal conductance directly into the structure. This configuration eliminates magnetic hysteresis because there is no relative motion between the rotating magnetic field and any stationary iron. The absence of destabilization forces provides a fast electrical response compared with a typical torquer of conventional construction.

The International Solid Earth Research Virtual Observatory

NASA Astrophysics Data System (ADS)

Fox, G.; Pierce, M.; Rundle, J.; Donnellan, A.; Parker, J.; Granat, R.; Lyzenga, G.; McLeod, D.; Grant, L.

2004-12-01

We describe the architecture and initial implementation of the International Solid Earth Research Virtual Observatory (iSERVO). This has been prototyped within the USA as SERVOGrid and expansion is planned to Australia, China, Japan and other countries. We base our design on a globally scalable distributed "cyber-infrastructure" or Grid built around a Web Services-based approach consistent with the extended Web Service Interoperability approach. The Solid Earth Science Working Group of NASA has identified several challenges for Earth Science research. In order to investigate these, we need to couple numerical simulation codes and data mining tools to observational data sets. This observational data are now available on-line in internet-accessible forms, and the quantity of this data is expected to grow explosively over the next decade. We architect iSERVO as a loosely federated Grid of Grids with each country involved supporting a national Solid Earth Research Grid. The national Grid Operations, possibly with dedicated control centers, are linked together to support iSERVO where an International Grid control center may eventually be necessary. We address the difficult multi-administrative domain security and ownership issues by exposing capabilities as services for which the risk of abuse is minimized. We support large scale simulations within a single domain using service-hosted tools (mesh generation, data repository and sensor access, GIS, visualization). Simulations typically involve sequential or parallel machines in a single domain supported by cross-continent services. We use Web Services implement Service Oriented Architecture (SOA) using WSDL for service description and SOAP for message formats. These are augmented by UDDI, WS-Security, WS-Notification/Eventing and WS-ReliableMessaging in the WS-I+ approach. Support for the latter two capabilities will be available over the next 6 months from the NaradaBrokering messaging system. We augment these specifications with the powerful portlet architecture using WSRP and JSR168 supported by such portal containers as uPortal, WebSphere, and Apache JetSpeed2. The latter portal aggregates component user interfaces for each iSERVO service allowing flexible customization of the user interface. We exploit the portlets produced by the NSF NMI (Middleware initiative) OGCE activity. iSERVO also uses specifications from the Open Geographical Information Systems (GIS) Consortium (OGC) that defines a number of standards for modeling earth surface feature data and services for interacting with this data. The data models are expressed in the XML-based Geography Markup Language (GML), and the OGC service framework are being adapted to use the Web Service model. The SERVO prototype includes a GIS Grid that currently includes the core WMS and WFS (Map and Feature) services. We will follow the best practice in the Grid and Web Service field and will adapt our technology as appropriate. For example, we expect to support services built on WS-RF when is finalized and to make use of the database interfaces OGSA-DAI and its WS-I+ versions. Finally, we review advances in Web Service scripting (such as HPSearch) and workflow systems (such as GCF) and their applications to iSERVO.

The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments

NASA Astrophysics Data System (ADS)

Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J.; Madison, Kirk W.

2018-02-01

In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments.

PubMed

Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J; Madison, Kirk W

2018-02-01

In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

Design and analysis of a new high frequency double-servo direct drive rotary valve

NASA Astrophysics Data System (ADS)

Zhu, Muzhi; Zhao, Shengdun; Li, Jingxiang

2016-12-01

Researchers have investigated direct drive valve for many years to solve problems, such as fluid force imbalance and switching frequency. The structure of the rotary valve has received considerable research interest because of its favorable dynamic properties and simple structure. This paper studied the high frequency doubleservo direct drive rotary valve (DDRV), and proposed a novel structure and drive method satisfying high reversing frequency and adequate quantity of flow. Servo motors are integrated into the valve by the innovative structure, which is designed to equilibrate the unbalanced radial fluid force with the symmetric distributed oil ports. Aside from the fast reversing function of the valve, the DDRV presented high performance in linearity of the flow quantity and valve opening as a result of the fan-shaped flow ports. In addition, a computational fluid dynamics (CFD) method based on Fluent was conducted to verify the flux regulation effect of the height change of the adjustable boss.

Small Autonomous Aircraft Servo Health Monitoring

NASA Technical Reports Server (NTRS)

Quintero, Steven

2008-01-01

Small air vehicles offer challenging power, weight, and volume constraints when considering implementation of system health monitoring technologies. In order to develop a testbed for monitoring the health and integrity of control surface servos and linkages, the Autonomous Aircraft Servo Health Monitoring system has been designed for small Uninhabited Aerial Vehicle (UAV) platforms to detect problematic behavior from servos and the air craft structures they control, This system will serve to verify the structural integrity of an aircraft's servos and linkages and thereby, through early detection of a problematic situation, minimize the chances of an aircraft accident. Embry-Riddle Aeronautical University's rotary-winged UAV has an Airborne Power management unit that is responsible for regulating, distributing, and monitoring the power supplied to the UAV's avionics. The current sensing technology utilized by the Airborne Power Management system is also the basis for the Servo Health system. The Servo Health system measures the current draw of the servos while the servos are in Motion in order to quantify the servo health. During a preflight check, deviations from a known baseline behavior can be logged and their causes found upon closer inspection of the aircraft. The erratic behavior nay include binding as a result of dirt buildup or backlash caused by looseness in the mechanical linkages. Moreover, the Servo Health system will allow elusive problems to be identified and preventative measures taken to avoid unnecessary hazardous conditions in small autonomous aircraft.

Control system to reduce the effects of friction in drive trains of continuous-path-positioning systems. [Patent application

DOEpatents

Green, W.L.

1980-12-01

An improved continuous-path-positioning servo-control system is provided for reducing the effects of friction arising at very low cutting speeds in the drive trains of numerically controlled cutting machines, and the like. The improvement comprises a feed forward network for altering the gain of the servo-control loop at low positioning velocities to prevent stick-slip movement of the cutting tool holder being positioned by the control system. The feed forward network shunts conventional lag-compensators in the control loop, or loops, so that the error signal used for positioning varies linearly when the value is small, but being limited for larger values. Thus, at higher positioning speeds there is little effect of the added component upon the control being achieved.

Forming of AHSS using Servo-Presses

NASA Astrophysics Data System (ADS)

Groseclose, Adam Richard

Stamping of Advanced High Strength Steel (AHSS) alloys poses several challenges due to the material's higher strength and low formability compared to conventional steels and other problems such as (a) inconsistency of incoming material properties, (b) ductile fracture during forming, (c) higher contact pressure and temperature rise during forming, (d) higher die wear leading to reduced tool life, (e) higher forming load/press capacity, and (f) large springback leading to dimensional inaccuracy in the formed part. [Palaniswamy et. al., 2007]. The use of AHSS has been increasing steadily in automotive stamping. New AHSS alloys (TRIP, TWIP) may replace some of the Hot Stamping applications. Stamping of AHSS alloys, especially higher strength materials, 780 MPa and higher, present new challenges in obtaining good part definition (corner and fillet radii), formability (fracture and resulting scrap) and in reducing springback. Servo-drive presses, having the capability to have infinitely variable and adjustable ram speed and dwell at BDC, offer a potential improvement in quality, part definition, and springback reduction especially when the infinitely adjustable slide motion is used in combination with a CNC hydraulic cushion. Thus, it is desirable to establish a scientific/engineering basis for improving the stamping conditions in forming AHSS using a servo-drive press.

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.

Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

NASA Astrophysics Data System (ADS)

Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

Array servo scanning micro EDM of 3D micro cavities

NASA Astrophysics Data System (ADS)

Tong, Hao; Li, Yong; Yi, Futing

2011-05-01

Micro electro discharge machining (Micro EDM) is a non-traditional processing technology with the special advantages of low set-up cost and few cutting force in machining any conductive materials regardless of their hardness. As well known, die-sinking EDM is unsuitable for machining the complex 3D micro cavity less than 1mm due to the high-priced fabrication of 3D microelectrode itself and its serous wear during EDM process. In our former study, a servo scanning 3D micro-EDM (3D SSMEDM) method was put forward, and our experiments showed it was available to fabricate complex 3D micro-cavities. In this study, in order to improve machining efficiency and consistency accuracy for array 3D micro-cavities, an array-servo-scanning 3D micro EDM (3D ASSMEDM) method is presented considering the complementary advantages of the 3D SSMEDM and the array micro electrodes with simple cross-section. During 3D ASSMEDM process, the array cavities designed by CAD / CAM system can be batch-manufactured by servo scanning layer by layer using array-rod-like micro tool electrodes, and the axial wear of the array electrodes is compensated in real time by keeping discharge gap. To verify the effectiveness of the 3D ASSMEDM, the array-triangle-micro cavities (side length 630 μm) are batch-manufactured on P-doped silicon by applying the array-micro-electrodes with square-cross-section fabricated by LIGA process. Our exploratory experiment shows that the 3D ASSMEDM provides a feasible approach for the batch-manufacture of 3D array-micro-cavities of conductive materials.

Dynamics analysis of the fast-slow hydro-turbine governing system with different time-scale coupling

NASA Astrophysics Data System (ADS)

Zhang, Hao; Chen, Diyi; Wu, Changzhi; Wang, Xiangyu

2018-01-01

Multi-time scales modeling of hydro-turbine governing system is crucial in precise modeling of hydropower plant and provides support for the stability analysis of the system. Considering the inertia and response time of the hydraulic servo system, the hydro-turbine governing system is transformed into the fast-slow hydro-turbine governing system. The effects of the time-scale on the dynamical behavior of the system are analyzed and the fast-slow dynamical behaviors of the system are investigated with different time-scale. Furthermore, the theoretical analysis of the stable regions is presented. The influences of the time-scale on the stable region are analyzed by simulation. The simulation results prove the correctness of the theoretical analysis. More importantly, the methods and results of this paper provide a perspective to multi-time scales modeling of hydro-turbine governing system and contribute to the optimization analysis and control of the system.

78 FR 4762 - Airworthiness Directives; Bell Helicopter Textron Canada Limited (Bell) Helicopters

Federal Register 2010, 2011, 2012, 2013, 2014

2013-01-23

... certain hydraulic servo actuator assemblies (servo) for a loose nut, shaft, and clevis assembly, modifying... through 52430, with a hydraulic servo actuator assembly (servo), part number (P/N) 206-076-062-103...) No. 206L-11-169, Revision B, dated August 29, 2011 (ASB). (2) Applying only hand pressure, determine...

Phase-Division-Based Dynamic Optimization of Linkages for Drawing Servo Presses

NASA Astrophysics Data System (ADS)

Zhang, Zhi-Gang; Wang, Li-Ping; Cao, Yan-Ke

2017-11-01

Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage optimization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes: use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized linkages are compared with those of a mature linkage SL4-2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research provides a promising method for designing energy-saving drawing servo presses with high work ratings.

Microcontroller-based servo for two-crystal X-ray monochromators.

PubMed

Siddons, D P

1998-05-01

Microcontrollers have become increasingly easy to incorporate into instruments as the architectures and support tools have developed. The PIC series is particularly easy to use, and this paper describes a controller used to stabilize the output of a two-crystal X-ray monochromator at a given offset from its peak intensity position, as such monochromators are generally used.

Mechanical design control and implementation of a new movable intensity profile beamline monitor for the TRIUMF parity experiment 497

NASA Astrophysics Data System (ADS)

Ries, Thomas C.

1995-05-01

Two new movable beam intensity profile monitors have been installed into the TRIUMF Parity Experiment 497 Beamlines. Each unit serves two functions. Firstly, the beam median position, in a plane normal to the beam, is detected by split plate Secondary Emission Monitors. This information is used to lock the beam into the position of the movable monitor to within a few μm's via high band width ferrite core steering magnets operating in tandem in a closed loop servo feedback control system. Secondly, the beam profile and intensity is detected via a multi-wire secondary emission non-movable monitor, where the data provides high precision values regarding centroidal positions and profiles. The centroid position of the beam is statistically determined to an accuracy of ±10 μm from a data record length of 1 second. The design of each device adheres to strict standards of mechanically rigid construction. The split plate SEM accuracy and repeatability is better than 15 μm with an absolute resolution limit of 0.4 μm. Maximum travel is 2 inches in the vertical plane. Since the device is mechanically modular and both degrees of freedom are combined into a single mechanical unit, fast and easy handling is possible for maintenance in radioactive areas. The actuators are dc servo motors with tachometers driven by linear servo power amplifiers. These amplifiers are used in lieu of pulse width modulated amps to eliminate noise produced by the switching circuits. Position sensing is done by variable reluctance type absolute rotary encoders providing 16 bit resolution over the full range of travel. Positioning is done manually using a self centring potentiometer on the control panel that provides a ± velocity command signal to the power amplifiers. This configuration ensures good controllability over a very large range of positioning speeds hence making 0.4 μm incremental positioning possible, as well as, fast relocations over large relative distances. The precision movement and jitter was measured in the laboratory. Examples will be given of the monitor use with beam.

Robotized High Intensity Focused Ultrasound (HIFU) system for treatment of mobile organs using motion tracking by ultrasound imaging: An in vitro study.

PubMed

Chanel, Laure-Anais; Nageotte, Florent; Vappou, Jonathan; Luo, Jianwen; Cuvillon, Loic; de Mathelin, Michel

2015-01-01

High Intensity Focused Ultrasound (HIFU) therapy is a very promising method for ablation of solid tumors. However, intra-abdominal organ motion, principally due to breathing, is a substantial limitation that results in incorrect tumor targeting. The objective of this work is to develop an all-in-one robotized HIFU system that can compensate motion in real-time during HIFU treatment. To this end, an ultrasound visual servoing scheme working at 20 Hz was designed. It relies on the motion estimation by using a fast ultrasonic speckle tracking algorithm and on the use of an interleaved imaging/HIFU sonication sequence for avoiding ultrasonic wave interferences. The robotized HIFU system was tested on a sample of chicken breast undergoing a vertical sinusoidal motion at 0.25 Hz. Sonications with and without motion compensation were performed in order to assess the effect of motion compensation on thermal lesions induced by HIFU. Motion was reduced by more than 80% thanks to this ultrasonic visual servoing system.

Theoretical and Experimental Study of Light Shift in a CPT-Based RB Vapor Cell Frequency Standard

DTIC Science & Technology

2001-01-01

Questions and Answers ROBERT LUTWAK (Datum): When you servo the microwave power to eliminate the light shift, what do you servo to? To what are you...leveling that signal? MIA0 ZHU: Do you mean what I servo to o r where did I do the servo? LUTWAK : What is the error signal that determines the TR

A fast acting electrical servo for the actuation of full span, Fowler-type wing flaps in DLC applications: A detail design study

NASA Technical Reports Server (NTRS)

Smetana, F. O.; Montoya, R. J.; Carden, R. K.

1972-01-01

The philosophy and detail design of an electro-mechanical actuator for Fowler-type wing flaps which have a response time constant of 0.025 seconds are described. A conventional electrical servomotor with a power rating twice the maximum power delivered to the load is employed along with adaptive, gain-scheduled feedback and various logic circuits, including one to remove electrical excitation from the motor during extended periods when no motion of the flap is desired.

Lawrence Livermore National Laboratory ULTRA-350 Test Bed

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

Hopkins, D J; Wulff, T A; Carlisle, K

2001-04-10

LLNL has many in-house designed high precision machine tools. Some of these tools include the Large Optics Diamond Turning Machine (LODTM) [1], Diamond Turning Machine No.3 (DTM-3) and two Precision Engineering Research Lathes (PERL-1 and PERL-11). These machines have accuracy in the sub-micron range and in most cases position resolution in the couple of nanometers range. All of these machines are built with similar underlying technologies. The machines use capstan drive technology, laser interferometer position feedback, tachometer velocity feedback, permanent magnet (PM) brush motors and analog velocity and position loop servo compensation [2]. The machine controller does not perform anymore » servo compensation it simply computes the differences between the commanded position and the actual position (the following error) and sends this to a D/A for the analog servo position loop. LLNL is designing a new high precision diamond turning machine. The machine is called the ULTRA 350 [3]. In contrast to many of the proven technologies discussed above, the plan for the new machine is to use brushless linear motors, high precision linear scales, machine controller motor commutation and digital servo compensation for the velocity and position loops. Although none of these technologies are new and have been in use in industry, applications of these technologies to high precision diamond turning is limited. To minimize the risks of these technologies in the new machine design, LLNL has established a test bed to evaluate these technologies for application in high precision diamond turning. The test bed is primarily composed of commercially available components. This includes the slide with opposed hydrostatic bearings, the oil system, the brushless PM linear motor, the two-phase input three-phase output linear motor amplifier and the system controller. The linear scales are not yet commercially available but use a common electronic output format. As of this writing, the final verdict for the use of these technologies is still out but the first part of the work has been completed with promising results. The goal of this part of the work was to close a servo position loop around a slide incorporating these technologies and to measure the performance. This paper discusses the tests that were setup for system evaluation and the results of the measurements made. Some very promising results include; slide positioning to nanometer level and slow speed slide direction reversal at less than 100nm/min with no observed discontinuities. This is very important for machine contouring in diamond turning. As a point of reference, at 100 nm/min it would take the slide almost 7 years to complete the full designed travel of 350 mm. This speed has been demonstrated without the use of a velocity sensor. The velocity is derived from the position sensor. With what has been learned on the test bed, the paper finishes with a brief comparison of the old and new technologies. The emphasis of this comparison will be on the servo performance as illustrated with bode plot diagrams.« less

Lawrence Livermore National Laboratory ULTRA-350 Test Bed

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

Hopkins, D J; Wulff, T A; Carlisle, K

2001-04-10

LLNL has many in-house designed high precision machine tools. Some of these tools include the Large Optics Diamond Turning Machine (LODTM) [1], Diamond Turning Machine No.3 (DTM-3) and two Precision Engineering Research Lathes (PERL-I and PERL-II). These machines have accuracy in the sub-micron range and in most cases position resolution in the couple of nanometers range. All of these machines are built with similar underlying technologies. The machines use capstan drive technology, laser interferometer position feedback, tachometer velocity feedback, permanent magnet (PM) brush motors and analog velocity and position loop servo compensation [2]. The machine controller does not perform anymore » servo compensation it simply computes the differences between the commanded position and the actual position (the following error) and sends this to a D/A for the analog servo position loop. LLNL is designing a new high precision diamond turning machine. The machine is called the ULTRA 350 [3]. In contrast to many of the proven technologies discussed above, the plan for the new machine is to use brushless linear motors, high precision linear scales, machine controller motor commutation and digital servo compensation for the velocity and position loops. Although none of these technologies are new and have been in use in industry, applications of these technologies to high precision diamond turning is limited. To minimize the risks of these technologies in the new machine design, LLNL has established a test bed to evaluate these technologies for application in high precision diamond turning. The test bed is primarily composed of commercially available components. This includes the slide with opposed hydrostatic bearings, the oil system, the brushless PM linear motor, the two-phase input three-phase output linear motor amplifier and the system controller. The linear scales are not yet commercially available but use a common electronic output format. As of this writing, the final verdict for the use of these technologies is still out but the first part of the work has been completed with promising results. The goal of this part of the work was to close a servo position loop around a slide incorporating these technologies and to measure the performance. This paper discusses the tests that were setup for system evaluation and the results of the measurements made. Some very promising results include; slide positioning to nanometer level and slow speed slide direction reversal at less than 100nm/min with no observed discontinuities. This is very important for machine contouring in diamond turning. As a point of reference, at 100 nm/min it would take the slide almost 7 years to complete the full designed travel of 350 mm. This speed has been demonstrated without the use of a velocity sensor. The velocity is derived from the position sensor. With what has been learned on the test bed, the paper finishes with a brief comparison of the old and new technologies. The emphasis of this comparison will be on the servo performance as illustrated with bode plot diagrams.« less

Fuzzy self-learning control for magnetic servo system

NASA Technical Reports Server (NTRS)

Tarn, J. H.; Kuo, L. T.; Juang, K. Y.; Lin, C. E.

1994-01-01

It is known that an effective control system is the key condition for successful implementation of high-performance magnetic servo systems. Major issues to design such control systems are nonlinearity; unmodeled dynamics, such as secondary effects for copper resistance, stray fields, and saturation; and that disturbance rejection for the load effect reacts directly on the servo system without transmission elements. One typical approach to design control systems under these conditions is a special type of nonlinear feedback called gain scheduling. It accommodates linear regulators whose parameters are changed as a function of operating conditions in a preprogrammed way. In this paper, an on-line learning fuzzy control strategy is proposed. To inherit the wealth of linear control design, the relations between linear feedback and fuzzy logic controllers have been established. The exercise of engineering axioms of linear control design is thus transformed into tuning of appropriate fuzzy parameters. Furthermore, fuzzy logic control brings the domain of candidate control laws from linear into nonlinear, and brings new prospects into design of the local controllers. On the other hand, a self-learning scheme is utilized to automatically tune the fuzzy rule base. It is based on network learning infrastructure; statistical approximation to assign credit; animal learning method to update the reinforcement map with a fast learning rate; and temporal difference predictive scheme to optimize the control laws. Different from supervised and statistical unsupervised learning schemes, the proposed method learns on-line from past experience and information from the process and forms a rule base of an FLC system from randomly assigned initial control rules.

Analysis on the multi-dimensional spectrum of the thrust force for the linear motor feed drive system in machine tools

NASA Astrophysics Data System (ADS)

Yang, Xiaojun; Lu, Dun; Ma, Chengfang; Zhang, Jun; Zhao, Wanhua

2017-01-01

The motor thrust force has lots of harmonic components due to the nonlinearity of drive circuit and motor itself in the linear motor feed drive system. What is more, in the motion process, these thrust force harmonics may vary with the position, velocity, acceleration and load, which affects the displacement fluctuation of the feed drive system. Therefore, in this paper, on the basis of the thrust force spectrum obtained by the Maxwell equation and the electromagnetic energy method, the multi-dimensional variation of each thrust harmonic is analyzed under different motion parameters. Then the model of the servo system is established oriented to the dynamic precision. The influence of the variation of the thrust force spectrum on the displacement fluctuation is discussed. At last the experiments are carried out to verify the theoretical analysis above. It can be found that the thrust harmonics show multi-dimensional spectrum characteristics under different motion parameters and loads, which should be considered to choose the motion parameters and optimize the servo control parameters in the high-speed and high-precision machine tools equipped with the linear motor feed drive system.

Piloted Simulator Investigation of Techniques to Achieve Attitude Command Response with Limited Authority Servos

NASA Technical Reports Server (NTRS)

Key, David L.; Heffley, Robert K.

2002-01-01

The purpose of the study was to develop generic design principles for obtaining attitude command response in moderate to aggressive maneuvers without increasing SCAS series servo authority from the existing +/- 10%. In particular, to develop a scheme that would work on the UH-60 helicopter so that it can be considered for incorporation in future upgrades. The basic math model was a UH-60A version of GENHEL. The simulation facility was the NASA-Ames Vertical Motion Simulator (VMS). Evaluation tasks were Hover, Acceleration-Deceleration, and Sidestep, as defined in ADS-33D-PRF for Degraded Visual Environment (DVE). The DVE was adjusted to provide a Usable Cue Environment (UCE) equal to two. The basic concept investigated was the extent to which the limited attitude command authority achievable by the series servo could be supplemented by a 10%/sec trim servo. The architecture used provided angular rate feedback to only the series servo, shared the attitude feedback between the series and trim servos, and when the series servo approached saturation the attitude feedback was slowly phased out. Results show that modest use of the trim servo does improve pilot ratings, especially in and around hover. This improvement can be achieved with little degradation in response predictability during moderately aggressive maneuvers.

Tool path strategy and cutting process monitoring in intelligent machining

NASA Astrophysics Data System (ADS)

Chen, Ming; Wang, Chengdong; An, Qinglong; Ming, Weiwei

2018-06-01

Intelligent machining is a current focus in advanced manufacturing technology, and is characterized by high accuracy and efficiency. A central technology of intelligent machining—the cutting process online monitoring and optimization—is urgently needed for mass production. In this research, the cutting process online monitoring and optimization in jet engine impeller machining, cranio-maxillofacial surgery, and hydraulic servo valve deburring are introduced as examples of intelligent machining. Results show that intelligent tool path optimization and cutting process online monitoring are efficient techniques for improving the efficiency, quality, and reliability of machining.

CLFs-based optimization control for a class of constrained visual servoing systems.

PubMed

Song, Xiulan; Miaomiao, Fu

2017-03-01

In this paper, we use the control Lyapunov function (CLF) technique to present an optimized visual servo control method for constrained eye-in-hand robot visual servoing systems. With the knowledge of camera intrinsic parameters and depth of target changes, visual servo control laws (i.e. translation speed) with adjustable parameters are derived by image point features and some known CLF of the visual servoing system. The Fibonacci method is employed to online compute the optimal value of those adjustable parameters, which yields an optimized control law to satisfy constraints of the visual servoing system. The Lyapunov's theorem and the properties of CLF are used to establish stability of the constrained visual servoing system in the closed-loop with the optimized control law. One merit of the presented method is that there is no requirement of online calculating the pseudo-inverse of the image Jacobian's matrix and the homography matrix. Simulation and experimental results illustrated the effectiveness of the method proposed here. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Fault Detection and Severity Analysis of Servo Valves Using Recurrence Quantification Analysis

DTIC Science & Technology

2014-10-02

Fault Detection and Severity Analysis of Servo Valves Using Recurrence Quantification Analysis M. Samadani1, C. A. Kitio Kwuimy2, and C. Nataraj3...diagnostics of nonlinear systems. A detailed nonlinear math- ematical model of a servo electro-hydraulic system has been used to demonstrate the procedure...Two faults have been considered associated with the servo valve including the in- creased friction between spool and sleeve and the degradation of the

Research on phase locked loop in optical memory servo system

NASA Astrophysics Data System (ADS)

Qin, Liqin; Ma, Jianshe; Zhang, Jianyong; Pan, Longfa; Deng, Ming

2005-09-01

Phase locked loop (PLL) is a closed loop automatic control system, which can track the phase of input signal. It widely applies in each area of electronic technology. This paper research the phase locked loop in optical memory servo area. This paper introduces the configuration of digital phase locked loop (PLL) and phase locked servo system, the control theory, and analyses system's stability. It constructs the phase locked loop experiment system of optical disk spindle servo, which based on special chip. DC motor is main object, this system adopted phase locked servo technique and digital signal processor (DSP) to achieve constant linear velocity (CLV) in controlling optical spindle motor. This paper analyses the factors that affect the stability of phase locked loop in spindle servo system, and discusses the affection to the optical disk readout signal and jitter due to the stability of phase locked loop.

Operating manual for the miniservo-control tester

USGS Publications Warehouse

Rapp, W.L.

1986-01-01

Ever since the implementation of servo-control units (regular and minimodels) with manometers at U. S. Geological Survey streamflow stations, the need for an effective and efficient servo-control unit tester has been paramount among field personnel. In numerous cases, servo-control unit failures were blamed on battery failures and vice versa. There was no valid instrument to definitively identify cause of failure, let alone properly diagnose the servo-control/manometer system. In 1983, two servo-control unit testers were developed and fabricated. One was mechanical in fabrication, operation, and serviceability; the other was electronic. The testers were extensively used and evaluated in Maine, Ohio, Kansas, and Louisiana under a wide range of environmental conditions. The consensus to integrate the best aspects of both testers into one instrument allowed the Survey to finally solve its long-time need for an effective, efficient servo-control unit tester. (USGS)

Two-axis gimbal for air-to-air and air-to-ground laser communications

NASA Astrophysics Data System (ADS)

Talmor, Amnon G.; Harding, Harvard; Chen, Chien-Chung

2016-03-01

For bi-directional links between high-altitude-platforms (HAPs) and ground, and air-to-air communication between such platforms, a hemispherical +30°C field-of-regard and low-drag low-mass two-axis gimbal was designed and prototyped. The gimbal comprises two servo controlled non-orthogonal elevation over azimuth axis, and inner fast steering mirrors for fine field-of-regard adjustment. The design encompasses a 7.5cm diameter aperture refractive telescope in its elevation stage, folded between two flat mirrors with an exit lens leading to a two mirrors miniature Coude-path fixed to the azimuth stage. Multiple gimbal configurations were traded prior to finalizing a selection that met the requirements. The selected design was manifested onboard a carbon fiber and magnesium composite structure, motorized by custom-built servo motors, and commutated by optical encoders. The azimuth stage is electrically connected to the stationary base via slip ring while the elevation stage made of passive optics. Both axes are aligned by custom-built ceramic-on-steel angular contact duplex bearings, and controlled by embedded electronics featuring a rigid-flex PCB architecture. FEA analysis showed that the design is mechanically robust over a temperature range of +60°C to -80°C, and with first mode of natural frequencies above 400Hz. The total mass of the prototyped gimbal is 3.5kg, including the inner optical bench, which contains fast steering mirrors (FSMs) and tracking sensors. Future version of this gimbal, in prototyping stage, shall weigh less than 3.0kg.

Dual arm master controller for a bilateral servo-manipulator

DOEpatents

Kuban, Daniel P.; Perkins, Gerald S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Remote tong/tool latch and storage bracket for an advanced servo-manipulator

DOEpatents

Nicholson, John R.

1990-01-01

An arrangement for stowing releasable end effectors for manipulator arms wherein the end effector includes a releasable latch mechanism for connecting the end effector to the manipulator arm, and a storage holder is provided which includes an arrangement for actuating the latch mechanism as the end effector is moved into and out of the holder by the action of the manipulator arm.

Modeling and stability of electro-hydraulic servo of hydraulic excavator

NASA Astrophysics Data System (ADS)

Jia, Wenhua; Yin, Chenbo; Li, Guo; Sun, Menghui

2017-11-01

The condition of the hydraulic excavator is complicated and the working environment is bad. The safety and stability of the control system is influenced by the external factors. This paper selects hydraulic excavator electro-hydraulic servo system as the research object. A mathematical model and simulation model using AMESIM of servo system is established. Then the pressure and flow characteristics are analyzed. The design and optimization of electro-hydraulic servo system and its application in engineering machinery is provided.

Servo-controlled pneumatic pressure oscillator for respiratory impedance measurements and high-frequency ventilation.

PubMed

Kaczka, David W; Lutchen, Kenneth R

2004-04-01

The ability to provide forced oscillatory excitation of the respiratory system can be useful in mechanical impedance measurements as well as high frequency ventilation (HFV). Experimental systems currently used for generating forced oscillations are limited in their ability to provide high amplitude flows or maintain the respiratory system at a constant mean pressure during excitation. This paper presents the design and implementation of a pneumatic pressure oscillator based on a proportional solenoid valve. The device is capable of providing forced oscillatory excitations to the respiratory system over a bandwidth suitable for mechanical impedance measurements and HVF. It delivers high amplitude flows (> 1.4 l/s) and utilizes a servo-control mechanism to maintain a load at a fixed mean pressure during simultaneous oscillation. Under open-loop conditions, the device exhibited a static hysteresis of approximately 7%, while its dynamic magnitude and phase responses were flat out to 10 Hz. Broad-band measurement of total harmonic distortion was approximately 19%. Under closed-loop conditions, the oscillator was able to maintain a mechanical test load at both positive and negative mean pressures during oscillatory excitations from 0.1 to 10.0 Hz. Impedance of the test load agreed closely with theoretical predictions. We conclude that this servo-controlled oscillator can be a useful tool for respiratory impedance measurements as well as HFV.

Permanent magnet synchronous motor servo system control based on μC/OS

NASA Astrophysics Data System (ADS)

Shi, Chongyang; Chen, Kele; Chen, Xinglong

2015-10-01

When Opto-Electronic Tracking system operates in complex environments, every subsystem must operate efficiently and stably. As a important part of Opto-Electronic Tracking system, the performance of PMSM(Permanent Magnet Synchronous Motor) servo system affects the Opto-Electronic Tracking system's accuracy and speed greatly[1][2]. This paper applied embedded real-time operating system μC/OS to the control of PMSM servo system, implemented SVPWM(Space Vector Pulse Width Modulation) algorithm in PMSM servo system, optimized the stability of PMSM servo system. Pointing on the characteristics of the Opto-Electronic Tracking system, this paper expanded μC/OS with software redundancy processes, remote debugging and upgrading. As a result, the Opto- Electronic Tracking system performs efficiently and stably.

Adaptive servo ventilation for central sleep apnoea in heart failure: SERVE-HF on-treatment analysis.

PubMed

Woehrle, Holger; Cowie, Martin R; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K; Somers, Virend K; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

2017-08-01

This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the control group in the SERVE-HF trial.Time-dependent on-treatment analyses were conducted (unadjusted and adjusted for predictive covariates). A comprehensive, time-dependent model was developed to correct for asymmetric selection effects (to minimise bias).The comprehensive model showed increased cardiovascular death hazard ratios during adaptive servo ventilation usage periods, slightly lower than those in the SERVE-HF intention-to-treat analysis. Self-selection bias was evident. Patients randomised to adaptive servo ventilation who crossed over to the control group were at higher risk of cardiovascular death than controls, while control patients with crossover to adaptive servo ventilation showed a trend towards lower risk of cardiovascular death than patients randomised to adaptive servo ventilation. Cardiovascular risk did not increase as nightly adaptive servo ventilation usage increased.On-treatment analysis showed similar results to the SERVE-HF intention-to-treat analysis, with an increased risk of cardiovascular death in heart failure with reduced ejection fraction patients with predominant central sleep apnoea treated with adaptive servo ventilation. Bias is inevitable and needs to be taken into account in any kind of on-treatment analysis in positive airway pressure studies. Copyright ©ERS 2017.

78 FR 42406 - Airworthiness Directives; Eurocopter France Helicopters

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-16

... 3 of the Rotorcraft Flight Manual. Many of the non-compliant servo-controls were installed by the... Emergency AD, we have discovered that the servo-control's component history card or equivalent record may... servo-controls with a non-compliant input lever bearing be replaced and returned to the manufacturer. AD...

Remote tong/tool latch and storage bracket for an advanced servo-manipulator

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

Nicholson, J.R.

1990-04-03

An arrangement is described for stowing releasable end effectors for manipulator arms wherein the end effector includes a releasable latch mechanism for connecting the end effector to the manipulator arm, and a storage holder is provided which includes an arrangement for actuating the latch mechanism as the end effector is moved into and out of the holder by the action of the manipulator arm. 7 figs.

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

Numerical simulation and experimental study of heat-fluid-solid coupling of double flapper-nozzle servo valve

NASA Astrophysics Data System (ADS)

Zhao, Jianhua; Zhou, Songlin; Lu, Xianghui; Gao, Dianrong

2015-09-01

The double flapper-nozzle servo valve is widely used to launch and guide the equipment. Due to the large instantaneous flow rate of servo valve working under specific operating conditions, the temperature of servo valve would reach 120°C and the valve core and valve sleeve deform in a short amount of time. So the control precision of servo valve significantly decreases and the clamping stagnation phenomenon of valve core appears. In order to solve the problem of degraded control accuracy and clamping stagnation of servo valve under large temperature difference circumstance, the numerical simulation of heat-fluid-solid coupling by using finite element method is done. The simulation result shows that zero position leakage of servo valve is basically impacted by oil temperature and change of fit clearance. The clamping stagnation is caused by warpage-deformation and fit clearance reduction of the valve core and valve sleeve. The distribution rules of the temperature and thermal-deformation of shell, valve core and valve sleeve and the pressure, velocity and temperature field of flow channel are also analyzed. Zero position leakage and electromagnet's current when valve core moves in full-stroke are tested using Electro-hydraulic Servo-valve Characteristic Test-bed of an aerospace sciences and technology corporation. The experimental results show that the change law of experimental current at different oil temperatures is roughly identical to simulation current. The current curve of the electromagnet is smooth when oil temperature is below 80°C, but the amplitude of current significantly increases and the hairy appears when oil temperature is above 80°C. The current becomes smooth again after the warped valve core and valve sleeve are reground. It indicates that clamping stagnation is caused by warpage-deformation and fit clearance reduction of valve core and valve sleeve. This paper simulates and tests the heat-fluid-solid coupling of double flapper-nozzle servo valve, and the obtained results provide the reference value for the design of double flapper-nozzle force feedback servo valve.

Probe Scanning Support System by a Parallel Mechanism for Robotic Echography

NASA Astrophysics Data System (ADS)

Aoki, Yusuke; Kaneko, Kenta; Oyamada, Masami; Takachi, Yuuki; Masuda, Kohji

We propose a probe scanning support system based on force/visual servoing control for robotic echography. First, we have designed and formulated its inverse kinematics the construction of mechanism. Next, we have developed a scanning method of the ultrasound probe on body surface to construct visual servo system based on acquired echogram by the standalone medical robot to move the ultrasound probe on patient abdomen in three-dimension. The visual servo system detects local change of brightness in time series echogram, which is stabilized the position of the probe by conventional force servo system in the robot, to compensate not only periodical respiration motion but also body motion. Then we integrated control method of the visual servo with the force servo as a hybrid control in both of position and force. To confirm the ability to apply for actual abdomen, we experimented the total system to follow the gallbladder as a moving target to keep its position in the echogram by minimizing variation of reaction force on abdomen. As the result, the system has a potential to be applied to automatic detection of human internal organ.

Optics derotator servo control system for SONG Telescope

NASA Astrophysics Data System (ADS)

Xu, Jin; Ren, Changzhi; Ye, Yu

2012-09-01

The Stellar Oscillations Network Group (SONG) is an initiative which aims at designing and building a groundbased network of 1m telescopes dedicated to the study of phenomena occurring in the time domain. Chinese standard node of SONG is an Alt-Az Telescope of F/37 with 1m diameter. Optics derotator control system of SONG telescope adopts the development model of "Industrial Computer + UMAC Motion Controller + Servo Motor".1 Industrial computer is the core processing part of the motion control, motion control card(UMAC) is in charge of the details on the motion control, Servo amplifier accepts the control commands from UMAC, and drives the servo motor. The position feedback information comes from the encoder, to form a closed loop control system. This paper describes in detail hardware design and software design for the optics derotator servo control system. In terms of hardware design, the principle, structure, and control algorithm of servo system based on optics derotator are analyzed and explored. In terms of software design, the paper proposes the architecture of the system software based on Object-Oriented Programming.

Towards an Aero-Propulso-Servo-Elasticity Analysis of a Commercial Supersonic Transport

NASA Technical Reports Server (NTRS)

Connolly, Joseph W.; Kopasakis, George; Chwalowski, Pawel; Sanetrik, Mark D.; Carlson, Jan-Renee; Silva, Walt A.; McNamara, Jack

2016-01-01

This paper covers the development of an aero-propulso-servo-elastic (APSE) model using computational fluid dynamics (CFD) and linear structural deformations. The APSE model provides the integration of the following two previously developed nonlinear dynamic simulations: a variable cycle turbofan engine and an elastic supersonic commercial transport vehicle. The primary focus of this study is to provide a means to include relevant dynamics of a turbomachinery propulsion system into the aeroelastic studies conducted during a vehicle design, which have historically neglected propulsion effects. A high fidelity CFD tool is used here for the integration platform. The elastic vehicle neglecting the propulsion system serves as a comparison of traditional approaches to the APSE results. An overview of the methodology is presented for integrating the propulsion system and elastic vehicle. Static aeroelastic analysis comparisons between the traditional and developed APSE models for a wing tip detection indicate that the propulsion system impact on the vehicle elastic response could increase the detection by approximately ten percent.

Active Guidance of a Handheld Micromanipulator using Visual Servoing.

PubMed

Becker, Brian C; Voros, Sandrine; Maclachlan, Robert A; Hager, Gregory D; Riviere, Cameron N

2009-05-12

In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: snap-to, motion-scaling, and standoff-regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the micromanipulator and the desired target object being manipulated. Individual behaviors activate in task-specific situations when the micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with an accuracy of 17.5 ± 0.4μm Root Mean Squared Error (RMSE) distance between the tip and target. Scaling the operator's motions and preventing unwanted contact with non-target objects also provides a larger margin of safety.

Experimental research of flow servo-valve

NASA Astrophysics Data System (ADS)

Takosoglu, Jakub

Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

Analysis of Simulation Tools for the Study of Advanced Marine Power Systems.

DTIC Science & Technology

1992-09-01

model of a steam turbine prime mover which accounts for both plant and servo/steam valve time constants is given in Fig. 14. 41 + Figure 14 Second order...given in Fig. 12 of Chapter VI. The parameters for this device as given by Mayer are [14]: "* KE=l "* KA= 2 0 0 "* KF=0.3 "* TA=0.0 2 seconds 92 " TF1

The effect of adaptive servo-ventilation on dyspnoea, haemodynamic parameters and plasma catecholamine concentrations in acute cardiogenic pulmonary oedema.

PubMed

Nakano, Shintaro; Kasai, Takatoshi; Tanno, Jun; Sugi, Keiki; Sekine, Yasumasa; Muramatsu, Toshihiro; Senbonmatsu, Takaaki; Nishimura, Shigeyuki

2015-08-01

Adaptive servo-ventilation has a potential sympathoinhibitory effect in acute cardiogenic pulmonary oedema (ACPO). To evaluate the acute effects of adaptive servo-ventilation in patients with ACPO. Fifty-eight consecutive patients with ACPO were divided into those who underwent adaptive servo-ventilation and those who received oxygen therapy alone as part of their immediate care. Visual analogue scale, vital signs, blood gas data and plasma catecholamine concentrations at baseline and 1 h during emergency care, and subsequent clinical events (death within 30 days, intubation within seven days or between seven and 30 days, and length of hospital stay) were assessed. Pre-matched and post-propensity score (PS)-matched datasets were analysed. During the first hour of adaptive servo-ventilation, plasma catecholamine concentrations fell significantly (baseline versus 1 h: epinephrine p = 0.003, norepinephrine p < 0.001, dopamine p < 0.001), with falls in blood pressure, heart rate, respiratory rate and pCO2, and rise in HCO3 and pH. In the PS-matched model, visual analogue scale (p = 0.036), systolic blood pressure (from 153.8 ± 30.7 to 133.1 ± 16.3 mmHg; p = 0.025) and plasma dopamine concentration (p = 0.034) fell significantly in the adaptive servo-ventilation group compared with the oxygen therapy alone group. The clinical outcomes between the groups were comparable. In patients with ACPO, emergency care using adaptive servo-ventilation attenuated plasma catecholamine concentrations and led to the improvement of dyspnoea, vital signs and acid-base balance, without adversely influencing clinical outcomes. Using adaptive servo-ventilation, rather than standard oxygen alone, may relieve dyspnoea and improve haemodynamic status, possibly by modulating sympathetic nerve activity. © The European Society of Cardiology 2014.

Servo Platform Circuit Design of Pendulous Gyroscope Based on DSP

NASA Astrophysics Data System (ADS)

Tan, Lilong; Wang, Pengcheng; Zhong, Qiyuan; Zhang, Cui; Liu, Yunfei

2018-03-01

In order to solve the problem when a certain type of pendulous gyroscope in the initial installation deviation more than 40 degrees, that the servo platform can not be up to the speed of the gyroscope in the rough north seeking phase. This paper takes the digital signal processor TMS320F28027 as the core, uses incremental digital PID algorithm, carries out the circuit design of the servo platform. Firstly, the hardware circuit is divided into three parts: DSP minimum system, motor driving circuit and signal processing circuit, then the mathematical model of incremental digital PID algorithm is established, based on the model, writes the PID control program in CCS3.3, finally, the servo motor tracking control experiment is carried out, it shows that the design can significantly improve the tracking ability of the servo platform, and the design has good engineering practice.

Preterm infant thermal care: differing thermal environments produced by air versus skin servo-control incubators.

PubMed

Thomas, K A; Burr, R

1999-06-01

Incubator thermal environments produced by skin versus air servo-control were compared. Infant abdominal skin and incubator air temperatures were recorded from 18 infants in skin servo-control and 14 infants in air servo-control (26- to 29-week gestational age, 14 +/- 2 days postnatal age) for 24 hours. Differences in incubator and infant temperature, neutral thermal environment (NTE) maintenance, and infant and incubator circadian rhythm were examined using analysis of variance and scatterplots. Skin servo-control resulted in more variable air temperature, yet more stable infant temperature, and more time within the NTE. Circadian rhythm of both infant and incubator temperature differed by control mode and the relationship between incubator and infant temperature rhythms was a function of control mode. The differences between incubator control modes extend beyond temperature stability and maintenance of NTE. Circadian rhythm of incubator and infant temperatures is influenced by incubator control.

Study of Servo Press with a Flywheel

NASA Astrophysics Data System (ADS)

Tso, Pei-Lum; Li, Cheng-Ho

The servo press with a flywheel is able to provide flexible motions with energy-saving merit, but its true potential has not been thoroughly studied and verified. In this paper, such the “hybrid-driven” servo press is focused on, and the stamping capacity and the energy distribution between the flywheel and the servomotor are investigated. The capacity is derived based on the principle of energy conservation, and a method of using a capacity percentage plane for evaluation is proposed. A case study is included to illustrate and interpret that the stamping capacity is highly dependent on the programmed punch motions, thus the capacity prediction is always necessary while applying this kind of servo press. The energy distribution is validated by blanking experiments, and the results indicate that the servomotor needs only to provide 15% to the flywheel torque, 12% of the total stamping energy. This validates that the servomotor power is significantly saved in comparison with conventional servo presses.

Position feedback system for volume holographic storage media

DOEpatents

Hays, Nathan J [San Francisco, CA; Henson, James A [Morgan Hill, CA; Carpenter, Christopher M [Sunnyvale, CA; Akin, Jr William R. [Morgan Hill, CA; Ehrlich, Richard M [Saratoga, CA; Beazley, Lance D [San Jose, CA

1998-07-07

A method of holographic recording in a photorefractive medium wherein stored holograms may be retrieved with maximum signal-to noise ratio (SNR) is disclosed. A plurality of servo blocks containing position feedback information is recorded in the crystal and made non-erasable by heating the crystal. The servo blocks are recorded at specific increments, either angular or frequency, depending whether wavelength or angular multiplexing is applied, and each servo block is defined by one of five patterns. Data pages are then recorded at positions or wavelengths enabling each data page to be subsequently reconstructed with servo patterns which provide position feedback information. The method of recording data pages and servo blocks is consistent with conventional practices. In addition, the recording system also includes components (e.g. voice coil motor) which respond to position feedback information and adjust the angular position of the reference angle of a reference beam to maximize SNR by reducing crosstalk, thereby improving storage capacity.

75 FR 68548 - Airworthiness Directives; Airbus Model A318, A319, A320, and A321 Series Airplanes

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-08

...: One case of elevator servo-control disconnection has been experienced on an aeroplane of the A320 family. Investigation has revealed that the failure occurred at the servo-control rod eye-end. Further to... servo-control rod eye-ends. In several cases, both actuators of the same elevator surface were affected...

Fuzzy model-based servo and model following control for nonlinear systems.

PubMed

Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O

2009-12-01

This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach.

HYDRAULIC SERVO CONTROL MECHANISM

DOEpatents

Hussey, R.B.; Gottsche, M.J. Jr.

1963-09-17

A hydraulic servo control mechanism of compact construction and low fluid requirements is described. The mechanism consists of a main hydraulic piston, comprising the drive output, which is connected mechanically for feedback purposes to a servo control piston. A control sleeve having control slots for the system encloses the servo piston, which acts to cover or uncover the slots as a means of controlling the operation of the system. This operation permits only a small amount of fluid to regulate the operation of the mechanism, which, as a result, is compact and relatively light. This mechanism is particuiarly adaptable to the drive and control of control rods in nuclear reactors. (auth)

GMRT servo system : overview of the upgrades

NASA Astrophysics Data System (ADS)

Bagde, Shailendra

The servo system of the GMRT, designed in the early 1990s by BARC and subsequently commissioned in the antennas by 1996, is a classical nested loop control system. Some of its major subsystems are undergoing significant upgrades to increase reliability, reduce maintenance and overcome obsolescence of components. These include the solid-state interlock system, a PC104 based servo control computer, and advanced BLDC drives and motors.

Adaptive Servo-Ventilation for Central Sleep Apnea in Systolic Heart Failure.

PubMed

Cowie, Martin R; Woehrle, Holger; Wegscheider, Karl; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K; Somers, Virend K; Zannad, Faiez; Teschler, Helmut

2015-09-17

Central sleep apnea is associated with poor prognosis and death in patients with heart failure. Adaptive servo-ventilation is a therapy that uses a noninvasive ventilator to treat central sleep apnea by delivering servo-controlled inspiratory pressure support on top of expiratory positive airway pressure. We investigated the effects of adaptive servo-ventilation in patients who had heart failure with reduced ejection fraction and predominantly central sleep apnea. We randomly assigned 1325 patients with a left ventricular ejection fraction of 45% or less, an apnea-hypopnea index (AHI) of 15 or more events (occurrences of apnea or hypopnea) per hour, and a predominance of central events to receive guideline-based medical treatment with adaptive servo-ventilation or guideline-based medical treatment alone (control). The primary end point in the time-to-event analysis was the first event of death from any cause, lifesaving cardiovascular intervention (cardiac transplantation, implantation of a ventricular assist device, resuscitation after sudden cardiac arrest, or appropriate lifesaving shock), or unplanned hospitalization for worsening heart failure. In the adaptive servo-ventilation group, the mean AHI at 12 months was 6.6 events per hour. The incidence of the primary end point did not differ significantly between the adaptive servo-ventilation group and the control group (54.1% and 50.8%, respectively; hazard ratio, 1.13; 95% confidence interval [CI], 0.97 to 1.31; P=0.10). All-cause mortality and cardiovascular mortality were significantly higher in the adaptive servo-ventilation group than in the control group (hazard ratio for death from any cause, 1.28; 95% CI, 1.06 to 1.55; P=0.01; and hazard ratio for cardiovascular death, 1.34; 95% CI, 1.09 to 1.65; P=0.006). Adaptive servo-ventilation had no significant effect on the primary end point in patients who had heart failure with reduced ejection fraction and predominantly central sleep apnea, but all-cause and cardiovascular mortality were both increased with this therapy. (Funded by ResMed and others; SERVE-HF ClinicalTrials.gov number, NCT00733343.).

A new confined high pressure rotary shear apparatus: preliminary results

NASA Astrophysics Data System (ADS)

Faulkner, D.; Coughlan, G.; Bedford, J. D.

2017-12-01

The frictional properties of fault zone materials, and their evolution during slip, are of paramount importance for determining the earthquake mechanics of large tectonic faults. Friction is a parameter that is difficult to determine from seismological methods so much of our understanding comes from experiment. Rotary shear apparatuses have been widely used in experimental studies to elucidate the frictional properties of faults under realistic earthquake slip velocities (0.1-10 m/s) and displacements (>20 m). However one technical limitation of rotary shear experiments at seismic slip rates has been the lack of confinement. This has led to a limit on the normal stress (due to the strength of the forcing blocks) and also a lack of control of measurements of the pore fluid pressure. Here we present the first preliminary results from a rotary shear apparatus that has been developed to attempt to address this issue. The new fully confined ring shear apparatus has a fast-acting servo-hydraulic confining pressure system of up to 200 MPa and a servo-controlled upstream and downstream pore pressure system of up to 200 MPa. Displacement rates of 0.01μ/s to 2 m/s can be achieved. Fault gouge samples can therefore be sheared at earthquake speed whilst being subject to pressures typically associated with the depth of earthquake nucleation.

[Development of a gait trainer with regulated servo-drive for rehabilitation of locomotor disabled patients].

PubMed

Uhlenbrock, D; Sarkodie-Gyan, T; Reiter, F; Konrad, M; Hesse, S

1997-01-01

The aim of the present study was to develop a new gait trainer for the rehabilitation of non-ambulatory patients. For the simulation of the gait phase, we used a commercially available fitness trainer (Fast Track) with two foot plates moving in an alternating fashion and connected to a servo-controlled propulsion system providing the necessary support for the movement depending on the patient's impairment level. To compensate deficient equilibrium reflexes, the patient was suspended in a harness capable of supporting some of his/her weight. Video analysis of gait and the kinesiological EMG were used to assess the pattern of movement and the corresponding muscle activity, which were then evaluated in healthy subjects, spinal cord injured and stroke patients and compared with walking on the flat or on a treadmill. Walking on the gait trainer was characterised by a symmetrical, sinusoidal movement of lower amplitude than in normal gait. The EMG showed a low activity of the tibialis anterior muscle, while the antigravity muscles were clearly activated by the gait trainer during the stance phase. In summary, the new gait trainer generates a symmetrical gait-like movement, promoting weight acceptance in the stance phase, which is important for the restoration of walking ability.

Load-Direction-Derived Support Structures for Wind Turbines: A Lattice Tower Concept and Preparations for Future Certifications: Preprint

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

Jonkman, Jason; Damiani, Rick R; Struve, Achim

The call for more cost-effective and environmentally friendly tower concepts is motivated by tower costs [1] and tower CO2-emission contributions [2], which are high relative to the whole wind turbine system. The proposed rotatable tower concept with yaw bearing at the bottom instead of the top of the tower will provide beneficial economic and environmental impacts to the turbine system. This wind alignment capability indicates a load-direction-derived tower design. By combining this approach with a lattice concept, large material and cost savings for the tower can be achieved. This paper presents a way to analyze and verify the proposed designmore » through aero-servo-elastic simulations, which make future certifications of rotatable tower concepts viable. For this reason, the state-of-the-art, open-source lattice-tower finite-element-method (FEM) module SubDyn [10], developed by the National Renewable Energy Laboratory, has been modified to account for arbitrary member cross-sections. Required changes in the beam element stiffness and mass matrix formulation took place according to an energy method [13]. All validated adaptions will be usable within the aero-servo-elastic simulation framework FAST and are also beneficial for other nonrotatable lattice structures.« less

Long-Term Adaptive Servo-Ventilator Treatment Prevents Cardiac Death and Improves Clinical Outcome.

PubMed

Imamura, Teruhiko; Kinugawa, Koichiro; Nitta, Daisuke; Komuro, Issei

2016-01-01

Adaptive servo-ventilation (ASV) is a recently developed, noninvasive therapeutic tool for the treatment of heart failure (HF). However, the efficacy of ASV therapy in patients with advanced HF remains uncertain, especially as regards its contribution to freedom from cardiac replacement therapy. A total of 85 patients with advanced HF (New York Heart Association [NYHA] class IV 71%, inotrope infusion-dependent 34%) refractory to guideline-directed medical therapy, received ASV therapy, irrespective of sleep-disordered breathing, at our institute between 2008 and 2014. Among these 85 patients, 46 continued ASV therapy for > 1 month (continued group), whereas 39 discontinued the therapy after < 1 month because of intolerance (discontinued group). There were no significant differences in baseline variables between the two groups. Heart rate indicating sympathetic activity, left ventricular (LV) reverse remodeling assessed by LV diastolic diameter, LV ejection fraction, and the grades of mitral and tricuspid regurgitations, HF severity assessed by NYHA class and plasma level of B-type natriuretic peptide, and end-organ dysfunction, improved significantly at 6 months following the initiation of ASV therapy (P < 0.05 for all). All-cause mortality and cardiac death rate were significantly lower during 2-year follow up in the continued group (P < 0.05 for both). In conclusion, ASV is a novel therapeutic tool prior to cardiac replacement therapy in patients with advanced HF and may prolong the period until cardiac replacement therapy becomes necessary.

Research Based on AMESim of Electro-hydraulic Servo Loading System

NASA Astrophysics Data System (ADS)

Li, Jinlong; Hu, Zhiyong

2017-09-01

Electro-hydraulic servo loading system is a subject studied by many scholars in the field of simulation and control at home and abroad. The electro-hydraulic servo loading system is a loading device simulation of stress objects by aerodynamic moment and other force in the process of movement, its function is all kinds of gas in the lab condition to analyze stress under dynamic load of objects. The purpose of this paper is the design of AMESim electro-hydraulic servo system, PID control technology is used to configure the parameters of the control system, complete the loading process under different conditions, the optimal design parameters, optimization of dynamic performance of the loading system.

Advances in the Assessment of Wind Turbine Operating Extreme Loads via More Efficient Calculation Approaches

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

Graf, Peter; Damiani, Rick R.; Dykes, Katherine

2017-01-09

A new adaptive stratified importance sampling (ASIS) method is proposed as an alternative approach for the calculation of the 50 year extreme load under operational conditions, as in design load case 1.1 of the the International Electrotechnical Commission design standard. ASIS combines elements of the binning and extrapolation technique, currently described by the standard, and of the importance sampling (IS) method to estimate load probability of exceedances (POEs). Whereas a Monte Carlo (MC) approach would lead to the sought level of POE with a daunting number of simulations, IS-based techniques are promising as they target the sampling of the inputmore » parameters on the parts of the distributions that are most responsible for the extreme loads, thus reducing the number of runs required. We compared the various methods on select load channels as output from FAST, an aero-hydro-servo-elastic tool for the design and analysis of wind turbines developed by the National Renewable Energy Laboratory (NREL). Our newly devised method, although still in its infancy in terms of tuning of the subparameters, is comparable to the others in terms of load estimation and its variance versus computational cost, and offers great promise going forward due to the incorporation of adaptivity into the already powerful importance sampling concept.« less

Electrical servo actuator bracket. [fuel control valves on jet engines

NASA Technical Reports Server (NTRS)

Sawyer, R. V. (Inventor)

1981-01-01

An electrical servo actuator is mounted on a support arm which is allowed to pivot on a bolt through a fixed mounting bracket. The actuator is pivotally connected to the end of the support arm by a bolt which has an extension allowed to pass through a slot in the fixed mounting bracket. An actuator rod extends from the servo actuator to a crank arm which turns a control shaft. A short linear thrust of the rod pivots the crank arm through about 90 for full-on control with the rod contracted into the servo actuator, and full-off control when the rod is extended from the actuator. A spring moves the servo actuator and actuator rod toward the control crank arm once the actuator rod is fully extended in the full-off position. This assures the turning of the control shaft to a full-off position. A stop bolt and slot are provided to limit pivot motion. Once fully extended, the spring pivots the motion.

Performance verification and system parameter identification of spacecraft tape recorder control servo

NASA Technical Reports Server (NTRS)

Mukhopadhyay, A. K.

1979-01-01

Design adequacy of the lead-lag compensator of the frequency loop, accuracy checking of the analytical expression for the electrical motor transfer function, and performance evaluation of the speed control servo of the digital tape recorder used on-board the 1976 Viking Mars Orbiters and Voyager 1977 Jupiter-Saturn flyby spacecraft are analyzed. The transfer functions of the most important parts of a simplified frequency loop used for test simulation are described and ten simulation cases are reported. The first four of these cases illustrate the method of selecting the most suitable transfer function for the hysteresis synchronous motor, while the rest verify and determine the servo performance parameters and alternative servo compensation schemes. It is concluded that the linear methods provide a starting point for the final verification/refinement of servo design by nonlinear time response simulation and that the variation of the parameters of the static/dynamic Coulomb friction is as expected in a long-life space mission environment.

Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications.

PubMed

Azizian, Mahdi; Khoshnam, Mahta; Najmaei, Nima; Patel, Rajni V

2014-09-01

Intra-operative imaging is widely used to provide visual feedback to a clinician when he/she performs a procedure. In visual servoing, surgical instruments and parts of tissue/body are tracked by processing the acquired images. This information is then used within a control loop to manoeuvre a robotic manipulator during a procedure. A comprehensive search of electronic databases was completed for the period 2000-2013 to provide a survey of the visual servoing applications in medical robotics. The focus is on medical applications where image-based tracking is used for closed-loop control of a robotic system. Detailed classification and comparative study of various contributions in visual servoing using endoscopic or direct visual images are presented and summarized in tables and diagrams. The main challenges in using visual servoing for medical robotic applications are identified and potential future directions are suggested. 'Supervised automation of medical robotics' is found to be a major trend in this field. Copyright © 2013 John Wiley & Sons, Ltd.

Vision-guided gripping of a cylinder

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper.

Direct drive digital servo press with high parallel control

NASA Astrophysics Data System (ADS)

Murata, Chikara; Yabe, Jun; Endou, Junichi; Hasegawa, Kiyoshi

2013-12-01

Direct drive digital servo press has been developed as the university-industry joint research and development since 1998. On the basis of this result, 4-axes direct drive digital servo press has been developed and in the market on April of 2002. This servo press is composed of 1 slide supported by 4 ball screws and each axis has linearscale measuring the position of each axis with high accuracy less than μm order level. Each axis is controlled independently by servo motor and feedback system. This system can keep high level parallelism and high accuracy even with high eccentric load. Furthermore the 'full stroke full power' is obtained by using ball screws. Using these features, new various types of press forming and stamping have been obtained by development and production. The new stamping and forming methods are introduced and 'manufacturing' need strategy of press forming with high added value and also the future direction of press forming are also introduced.

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

NASA Astrophysics Data System (ADS)

Yao, Jianyong

2018-06-01

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

Design Optimization and Testing of an Active Core for Sandwich Panels

DTIC Science & Technology

2009-07-01

decided to employ servo motors as the actuator in this prototype test rather than using Nitinol spring actuators in the previous report. The servo...motors – although heavier than the Nitinol actuators, have several attractive attributes. Firstly servo motors have excellent respond time given they...are completely electrically actuated, whereas in the case of Nitinol actuators the actuation suffers a lag period for the Joule’s heating to take

Effects of Surface Roughness and Mechanical Properties of Cover-Layer on Near-Field Optical Recording

NASA Astrophysics Data System (ADS)

Kim, Jin-Hong; Lee, Jun-Seok; Lim, Jungshik; Seo, Jung-Kyo

2009-03-01

Narrow gap distance in cover-layer incident near-field recording (NFR) configuration causes a collision problem in the interface between a solid immersion lens and a disk surface. A polymer cover-layer with smooth surface results in a stable gap servo while a nanocomposite cover-layer with high refractive index shows a collision problem during the gap servo test. Even though a dielectric cover-layer, in which the surface is rougher than the polymer, supplements the mechanical properties, an unclear eye pattern due to an unstable gap servo can be obtained after a chemical mechanical polishing. Not only smooth surface but also good mechanical properties of cover-layer are required for the stable gap servo in the NFR.

Optimizing the feedback control of Galvo scanners for laser manufacturing systems

NASA Astrophysics Data System (ADS)

Mirtchev, Theodore; Weeks, Robert; Minko, Sergey

2010-06-01

This paper summarizes the factors that limit the performance of moving-magnet galvo scanners driven by closed-loop digital servo amplifiers: torsional resonances, drifts, nonlinearities, feedback noise and friction. Then it describes a detailed Simulink® simulator that takes into account these factors and can be used to automatically tune the controller for best results with given galvo type and trajectory patterns. It allows for rapid testing of different control schemes, for instance combined position/velocity PID loops and displays the corresponding output in terms of torque, angular position and feedback sensor signal. The tool is configurable and can either use a dynamical state-space model of galvo's open-loop response, or can import the experimentally measured frequency domain transfer function. Next a drive signal digital pre-filtering technique is discussed. By performing a real-time Fourier analysis of the raw command signal it can be pre-warped to minimize all harmonics around the torsional resonances while boosting other non-resonant high frequencies. The optimized waveform results in much smaller overshoot and better settling time. Similar performance gain cannot be extracted from the servo controller alone.

IUSThrust Vector Control (TVC) servo system

NASA Technical Reports Server (NTRS)

Conner, G. E.

1979-01-01

The IUS TVC SERVO SYSTEM which consists of four electrically redundant electromechanical actuators, four potentiometer assemblies, and two controllers to provide movable nozzle control on both IUS solid rocket motors is developed. An overview of the more severe IUS TVC servo system design requirements, the system and component designs, and test data acquired on a preliminary development unit is presented. Attention is focused on the unique methods of sensing movable nozzle position and providing for redundant position locks.

Improvement of a Pneumatic Control Valve with Self-Holding Function

NASA Astrophysics Data System (ADS)

Dohta, Shujiro; Akagi, Tetsuya; Kobayashi, Wataru; Shimooka, So; Masago, Yusuke

2017-10-01

The purpose of this study is to develop a small-sized, lightweight and low-cost control valve with low energy consumption and to apply it to the assistive system. We have developed some control valves; a tiny on/off valve using a vibration motor, and an on/off valve with self-holding function. We have also proposed and tested the digital servo valve with self-holding function using permanent magnets and a small-sized servo motor. In this paper, in order to improve the valve, an analytical model of the digital servo valve is proposed. And the simulated results by using the analytical model and identified parameters were compared with the experimental results. Then, the improved digital servo valve was designed based on the calculated results and tested. As a result, we realized the digital servo valve that can control the flow rate more precisely while maintaining its volume and weight compared with the previous valve. As an application of the improved valve, a position control system of rubber artificial muscle was built and the position control was performed successfully.

System and method for moving a probe to follow movements of tissue

NASA Technical Reports Server (NTRS)

Feldstein, C.; Andrews, T. W.; Crawford, D. W.; Cole, M. A. (Inventor)

1981-01-01

An apparatus is described for moving a probe that engages moving living tissue such as a heart or an artery that is penetrated by the probe, which moves the probe in synchronism with the tissue to maintain the probe at a constant location with respect to the tissue. The apparatus includes a servo positioner which moves a servo member to maintain a constant distance from a sensed object while applying very little force to the sensed object, and a follower having a stirrup at one end resting on a surface of the living tissue and another end carrying a sensed object adjacent to the servo member. A probe holder has one end mounted on the servo member and another end which holds the probe.

Servo-integrated patterned media by hybrid directed self-assembly.

PubMed

Xiao, Shuaigang; Yang, Xiaomin; Steiner, Philip; Hsu, Yautzong; Lee, Kim; Wago, Koichi; Kuo, David

2014-11-25

A hybrid directed self-assembly approach is developed to fabricate unprecedented servo-integrated bit-patterned media templates, by combining sphere-forming block copolymers with 5 teradot/in.(2) resolution capability, nanoimprint and optical lithography with overlay control. Nanoimprint generates prepatterns with different dimensions in the data field and servo field, respectively, and optical lithography controls the selective self-assembly process in either field. Two distinct directed self-assembly techniques, low-topography graphoepitaxy and high-topography graphoepitaxy, are elegantly integrated to create bit-patterned templates with flexible embedded servo information. Spinstand magnetic test at 1 teradot/in.(2) shows a low bit error rate of 10(-2.43), indicating fully functioning bit-patterned media and great potential of this approach for fabricating future ultra-high-density magnetic storage media.

Robust Hinfinity position control synthesis of an electro-hydraulic servo system.

PubMed

Milić, Vladimir; Situm, Zeljko; Essert, Mario

2010-10-01

This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor

NASA Astrophysics Data System (ADS)

Wang, Yannian; Wu, Peizhi; Liu, Chengtao

2017-09-01

To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.

High Torque-to-Inertia Servo System for Stabilizing Sensor Systems. Candidate Systems Include Missile Guidance, Surveillance, and Tracking

DTIC Science & Technology

1980-04-01

specifications ... 3-10 25. Typical isolation curve ... 3-12 26. Servo amp/motor/load frequency response (inner gimbal) ... 4-3 27. Slave loop ( open loop...slave loop ( open loop) frequency response (inner gimbal) . . . 4-4 30. Slave loop (closed loop) frequency response (inner gimbal) ... 4-5 3 . Slave...loop inner gimbal time response ... 4-5 32. Servo amp/motor/load frequency response (outer gimbal) ... 4-6 33. Slave loop ( open loop) uncompensated

The application of Halbach cylinders to brushless ac servo motors

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

Atallah, K.; Howe, D.

1998-07-01

Halbach cylinders are applied to brushless ac servo motors. It is shown that a sinusoidal back-emf waveform and a low cogging torque can be achieved without recourse to conventional design features such as distributed windings and/or stator/rotor skew. A technique for imparting a multipole Halbach magnetization distribution on an isotropic permanent magnet cylinder is described, and it is shown that the torque capability of a Halbach ac servo motor can be up to 33% higher than conventional brushless permanent magnet ac motors.

Vision servo of industrial robot: A review

NASA Astrophysics Data System (ADS)

Zhang, Yujin

2018-04-01

Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.

Tension is servo controlled in film advance system

NASA Technical Reports Server (NTRS)

1965-01-01

Servocontrol device feeds film into a roller system. Two linear potentiometers connected to spring loaded tension rollers furnish servo input signal. Can be used in any continuous material transport system.

Preterm infant thermal responses to caregiving differ by incubator control mode.

PubMed

Thomas, Karen A

2003-12-01

To determine the influence of caregiving on preterm infant and incubator temperature and to investigate incubator control mode in thermal responses to caregiving. The intensive within-subject design involved continuous recording of infant and incubator temperature and videotaping throughout a 24-hour period in 40 hospitalized preterm infants. Temperature at care onset was compared with care offset, and 5, 10, 15, and 20 minutes following care offset using ANOVA-RM. Following caregiving, infant and incubator temperature differed significantly over time by incubator control mode. In air servo-control, infant temperature tended to decrease after caregiving, while in skin servo-control infant temperature remained relatively stable. With caregiving, incubator temperature remained consistent in air servo-control and increased in skin servo-control. The temperature effects of caregiving should be considered relative to maintenance of thermoneutrality and unintentional thermal stimulation.

Hydrogen Financial Analysis Scenario Tool (H2FAST); NREL (National Renewable Energy Laboratory)

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

Melaina, Marc

This presentation describes the Hydrogen Financial Analysis Scenario Tool, H2FAST, and provides an overview of each of the three H2FAST formats: the H2FAST web tool, the H2FAST Excel spreadsheet, and the H2FAST Business Case Scenario (BCS) tool. Examples are presented to illustrate the types of questions that H2FAST can help answer.

Interferometer scanning mechanisms and metrology at ABB: recent developments and future perspectives

NASA Astrophysics Data System (ADS)

Grandmont, Frédéric; Buijs, Henry; Mandar, Julie

2017-11-01

Interferometers are devices meant to create an interference pattern between photons emitted from a given target of interest. In most cases, this interference pattern must be scanned over time or space to reveal useful information about the target (ex.: radiance spectra or a star diameter). This scanning is typically achieved by moving mirrors at a precision a few orders of magnitude smaller than the wavelength under study. This sometimes leads to mechanism requirements of especially high dynamic range equivalent to 30 bits or more (ex. Sub-nanometer precision over stoke of tens of cms for spectroscopy or tens of meters for astronomical spatial interferometry). On top of this mechanical challenge, the servo control of the mirror position involves obtaining relative distance measurement between distant optical elements with similar if not better dynamic range. The feedback information for such servo-control loop is usually the optical path difference (OPD) measured with a metrology laser beam injected in the interferometer. Over the years since the establishement of the Fourier Transform Spectrometers (FTS) in the 60's as a standard spectroscopic tools, many different approaches have been used to accomplish this task. When it comes to space however, not all approaches are successful. The design challenge can be viewed as analogous to that of scene scanning modules with the exception that the sensitivity and precision are much finer. These mechanisms must move freely to allow fine corrections while remaining stiff to reject external perturbations with frequencies outside of the servo control system reach. Space also brings the additional challenges of implementing as much redundancy as possible and offering protection during launch for these sub-systems viewed as critical single point failures of the payloads they serve.

A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.

PubMed

Lin, Hao-Ting

2017-06-04

This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

PubMed Central

Lin, Hao-Ting

2017-01-01

This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally. PMID:28587220

A Hydraulic Blowdown Servo System For Launch Vehicle

NASA Astrophysics Data System (ADS)

Chen, Anping; Deng, Tao

2016-07-01

This paper introduced a hydraulic blowdown servo system developed for a solid launch vehicle of the family of Chinese Long March Vehicles. It's the thrust vector control (TVC) system for the first stage. This system is a cold gas blowdown hydraulic servo system and consist of gas vessel, hydraulic reservoir, servo actuator, digital control unit (DCU), electric explosion valve, and pressure regulator etc. A brief description of the main assemblies and characteristics follows. a) Gas vessel is a resin/carbon fiber composite over wrapped pressure vessel with a titanium liner, The volume of the vessel is about 30 liters. b) Hydraulic reservoir is a titanium alloy piston type reservoir with a magnetostrictive sensor as the fluid level indicator. The volume of the reservoir is about 30 liters. c) Servo actuator is a equal area linear piston actuator with a 2-stage low null leakage servo valve and a linear variable differential transducer (LVDT) feedback the piston position, Its stall force is about 120kN. d) Digital control unit (DCU) is a compact digital controller based on digital signal processor (DSP), and deployed dual redundant 1553B digital busses to communicate with the on board computer. e) Electric explosion valve is a normally closed valve to confine the high pressure helium gas. f) Pressure regulator is a spring-loaded poppet pressure valve, and regulates the gas pressure from about 60MPa to about 24MPa. g) The whole system is mounted in the aft skirt of the vehicle. h) This system delivers approximately 40kW hydraulic power, by contrast, the total mass is less than 190kg. the power mass ratio is about 0.21. Have finished the development and the system test. Bench and motor static firing tests verified that all of the performances have met the design requirements. This servo system is complaint to use of the solid launch vehicle.

Hydrogen Financial Analysis Scenario Tool (H2FAST) Documentation

Science.gov Websites

for the web and spreadsheet versions of H2FAST. H2FAST Web Tool User's Manual H2FAST Spreadsheet Tool User's Manual (DRAFT) Technical Support Send questions or feedback about H2FAST to H2FAST@nrel.gov. Home

Investigation of the low flux servo-controlled limit of a co-phased interferometer

NASA Astrophysics Data System (ADS)

Damé, Luc; Derrien, Marc; Kozlowski, Mathias; Merdjane, Mohamed

2018-04-01

This paper, "Investigation of the low flux servo-controlled limit of a co-phased interferometer," was presented as part of International Conference on Space Optics—ICSO 1997, held in Toulouse, France.

A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction.

PubMed

Li, Changsheng; Wang, Tianmiao; Hu, Lei; Zhang, Lihai; Du, Hailong; Zhao, Lu; Wang, Lifeng; Tang, Peifu

2015-09-01

Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while posing new challenges. Against this scientific background, we develop a visual servo-based teleoperation robot system. In this article, we present a robot system, analyze the visual servo-based control system in detail and develop path planning for fracture reduction, inverse kinematics, and output forces of the reduction mechanism. A series of experimental tests is conducted on a bone model and an animal bone. The experimental results demonstrate the feasibility of the robot system. The robot system uses preoperative computed tomography data to realize high precision and perform minimally invasive teleoperation for fracture reduction via the visual servo-based control system while protecting surgeons from radiation. © IMechE 2015.

Development of X-Y servo pneumatic-piezoelectric hybrid actuators for position control with high response, large stroke and nanometer accuracy.

PubMed

Chiang, Mao-Hsiung

2010-01-01

This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO) system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

Development of X-Y Servo Pneumatic-Piezoelectric Hybrid Actuators for Position Control with High Response, Large Stroke and Nanometer Accuracy

PubMed Central

Chiang, Mao-Hsiung

2010-01-01

This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO) system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally. PMID:22319266

Servo control booster system for minimizing following error

DOEpatents

Wise, William L.

1985-01-01

A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, .DELTA.S.sub.R, on a continuous real-time basis for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error .gtoreq..DELTA.S.sub.R, to produce precise position correction signals. When the command-to-response error is less than .DELTA.S.sub.R, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

The study on servo-control system in the large aperture telescope

NASA Astrophysics Data System (ADS)

Hu, Wei; Zhenchao, Zhang; Daxing, Wang

2008-08-01

Large astronomical telescope or extremely enormous astronomical telescope servo tracking technique will be one of crucial technology that must be solved in researching and manufacturing. To control technique feature of large astronomical telescope or extremely enormous astronomical telescope, this paper design a sort of large astronomical telescope servo tracking control system. This system composes a principal and subordinate distributed control system, host computer sends steering instruction and receive slave computer functional mode, slave computer accomplish control algorithm and execute real-time control. Large astronomical telescope servo control use direct drive machine, and adopt DSP technology to complete direct torque control algorithm, Such design can not only increase control system performance, but also greatly reduced volume and costs of control system, which has a significant occurrence. The system design scheme can be proved reasonably by calculating and simulating. This system can be applied to large astronomical telescope.

Quality of life improves in patients with chronic heart failure and Cheyne-Stokes respiration treated with adaptive servo-ventilation in a nurse-led heart failure clinic.

PubMed

Olseng, Margareth W; Olsen, Brita F; Hetland, Arild; Fagermoen, May S; Jacobsen, Morten

2017-05-01

The aim of this study was to investigate if quality of life improved in chronic heart failure patients with Cheyne-Stokes respiration treated with adaptive servo-ventilation in nurse-led heart failure clinic. Cheyne-Stokes respiration is associated with decreased quality of life in patients with chronic heart failure. Adaptive servo-ventilation is introduced to treat this sleep-disordered breathing. Randomised, controlled design. Fifty-one patients (ranging from 53-84 years), New York Heart Association III-IV and/or left ventricular ejection fraction ≤40% and Cheyne-Stokes respiration were randomised to an intervention group who received adaptive servo-ventilation or a control group. Minnesota Living with Heart Failure Questionnaire was used to assess quality of life at randomisation and after three months. Both groups were followed in the nurse-led heart failure clinic. Adaptive servo ventilation improved quality of life-scores both in a per protocol analysis and in an intention to treat analysis. Twenty-one patients dropped out of the study, nine in the control and 12 in the intervention group. Use of adaptive servo-ventilation improved quality of life in chronic heart failure patients with Cheyne-Stokes respiration. However, the drop-out rate was high. Chronic heart failure patients come regularly to the nurse-led heart failure clinic. The heart failure nurses' competency has to include knowledge of equipment to provide support and continuity of care to the patients. © 2016 John Wiley & Sons Ltd.

Analysis of Hydraulic Servo Equations for WRDRF Prototype Control System : Volume I

DOT National Transportation Integrated Search

1971-10-01

A set of dynamic performance equations derived by Wylie Labs., Huntsville, Alabama, were independently rederived and checked. These equations describe the perfromance of the prototype electro hydraulic servo actuator system selected by Wylie as repre...

Photoelectric radar servo control system based on ARM+FPGA

NASA Astrophysics Data System (ADS)

Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

2016-01-01

In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a large number of experiments verify the reliability of embedded servo control system's functions, the stability of the program and the stability of the hardware circuit. Meanwhile, the system can also achieve the satisfactory of user experience, to achieve a multi-mode motion, real-time motion status monitoring, online system parameter changes and other convenient features.

Deceleration system for kinematic linkages of positioning

NASA Astrophysics Data System (ADS)

Stan, G.

2017-08-01

Flexible automation is used more and more in various production processes, so that both machining itself on CNC machine tools and workpiece handling means are performed through programming the needed working cycle. In order to obtain a successful precise positioning, each motion degree needs a certain deceleration before stopping at a programmed point. The increase of motion speed of moving elements within the manipulators structure depends directly on deceleration duty quality before the programmed stop. Proportional valves as well as servo-valves that can perform hydraulic decelerations are well known, but they feature several disadvantages, such as: high price, severe conditions for oil filtering and low reliability under industrial conditions. This work presents a new deceleration system that allows adjustment of deceleration slope according to actual conditions: inertial mass, speed etc. The new solution of hydraulic decelerator allows its integration to a position loop or its usage in case of positioning large elements that only perform fixed cycles. The results being obtained on the positioning accuracy of a linear axis using the new solution of the hydraulic decelerator are presented, too. The price of the new deceleration system is much lower compared to the price of proportional valves or servo-valves.

Use of a novel drainage flow servo-controlled CPB for mitral valve replacement in a Jehovah's Witness.

PubMed

Niimi, Yoshinari; Murata, Seiichiro; Mitou, Yumi; Ohno, Yusuke

2018-03-01

We developed a novel open cardiopulmonary bypass (CPB) system, a drainage flow servo-controlled CPB system (DS-CPB), in which rotational speed of the main roller pump is servo-controlled to generate the same amount of flow as the systemic venous drainage. It was designed to safely decrease the priming volume while maintaining a constant reservoir level, even during fluctuations of the drainage flow. We report a successful use of a novel DS-CPB system in an elderly Jehovah's Witness patient with dehydration who underwent mitral valve replacement.

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.

Nonlinear friction model for servo press simulation

NASA Astrophysics Data System (ADS)

Ma, Ninshu; Sugitomo, Nobuhiko; Kyuno, Takunori; Tamura, Shintaro; Naka, Tetsuo

2013-12-01

The friction coefficient was measured under an idealized condition for a pulse servo motion. The measured friction coefficient and its changing with both sliding distance and a pulse motion showed that the friction resistance can be reduced due to the re-lubrication during unloading process of the pulse servo motion. Based on the measured friction coefficient and its changes with sliding distance and re-lubrication of oil, a nonlinear friction model was developed. Using the newly developed the nonlinear friction model, a deep draw simulation was performed and the formability was evaluated. The results were compared with experimental ones and the effectiveness was verified.

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.

Provision of servo-controlled cooling during neonatal transport.

PubMed

Johnston, Ewen D; Becher, Julie-Clare; Mitchell, Anne P; Stenson, Benjamin J

2012-09-01

Therapeutic hypothermia is a time critical intervention for infants who have experienced a hypoxic-ischaemic event. Previously reported methods of cooling during transport do not demonstrate the same stability achieved in the neonatal unit. The authors developed a system which allowed provision of servo-controlled cooling throughout transport, and present their first year's experience. Retrospective review of routinely collected patient data. 14 out-born infants were referred for cooling during a 12-month period. Nine infants were managed with the servo-controlled system during transport. Cooling was commenced in all infants before 6 h of life. Median time from team arrival to the infant having a temperature in the target range (33-34°C) was 45 min. Median temperature during transfer was 33.5°C (range 33-34°C). Temperature on arrival at the cooling centre ranged from 33.4°C to 33.8°C. Servo-controlled cooling during transport is feasible and provides an optimal level of thermal control.

Self-Contained Avionics Sensing and Flight Control System for Small Unmanned Aerial Vehicle

NASA Technical Reports Server (NTRS)

Ingham, John C. (Inventor); Shams, Qamar A. (Inventor); Logan, Michael J. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Melanie L. (Inventor); Kuhn, III, Theodore R. (Inventor); Babel, III, Walter C. (Inventor); Fox, legal representative, Christopher L. (Inventor); Adams, James K. (Inventor); Laughter, Sean A. (Inventor)

2011-01-01

A self-contained avionics sensing and flight control system is provided for an unmanned aerial vehicle (UAV). The system includes sensors for sensing flight control parameters and surveillance parameters, and a Global Positioning System (GPS) receiver. Flight control parameters and location signals are processed to generate flight control signals. A Field Programmable Gate Array (FPGA) is configured to provide a look-up table storing sets of values with each set being associated with a servo mechanism mounted on the UAV and with each value in each set indicating a unique duty cycle for the servo mechanism associated therewith. Each value in each set is further indexed to a bit position indicative of a unique percentage of a maximum duty cycle for the servo mechanism associated therewith. The FPGA is further configured to provide a plurality of pulse width modulation (PWM) generators coupled to the look-up table. Each PWM generator is associated with and adapted to be coupled to one of the servo mechanisms.

Servo control booster system for minimizing following error

DOEpatents

Wise, W.L.

1979-07-26

A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, ..delta..S/sub R/, on a continuous real-time basis, for all operational times of consequence and for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error greater than or equal to ..delta..S/sub R/, to produce precise position correction signals. When the command-to-response error is less than ..delta..S/sub R/, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

Overview of the Hydrogen Financial Analysis Scenario Tool (H2FAST); NREL (National Renewable Energy Laboratory)

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

Melaina, Marc; Bush, Brian; Penev, Michael

This presentation provides an introduction to the Hydrogen Financial Analysis Scenario Tool (H2FAST) and includes an overview of each of the three versions of H2FAST: the Web tool, the Excel spreadsheet version, and the beta version of the H2FAST Business Case Scenario tool.

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

NASA Astrophysics Data System (ADS)

Pomares, Jorge; Felicetti, Leonard; Pérez, Javier; Emami, M. Reza

2018-02-01

An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

Simple piezoelectric-actuated mirror with 180 kHz servo bandwidth.

PubMed

Briles, Travis C; Yost, Dylan C; Cingöz, Arman; Ye, Jun; Schibli, Thomas R

2010-05-10

We present a high bandwidth piezoelectric-actuated mirror for length stabilization of an optical cavity. The actuator displays a transfer function with a flat amplitude response and greater than 135 masculine phase margin up to 200 kHz, allowing a 180 kHz unity gain frequency to be achieved in a closed servo loop. To the best of our knowledge, this actuator has achieved the largest servo bandwidth for a piezoelectric transducer (PZT). The actuator should be very useful in a wide variety of applications requiring precision control of optical lengths, including laser frequency stabilization, optical interferometers, and optical communications. (c) 2010 Optical Society of America.

Parametric model of servo-hydraulic actuator coupled with a nonlinear system: Experimental validation

NASA Astrophysics Data System (ADS)

Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

2018-05-01

Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.

Light-controlled resistors provide quadrature signal rejection for high-gain servo systems

NASA Technical Reports Server (NTRS)

Mc Cauley, D. D.

1967-01-01

Servo amplifier feedback system, in which the phase sensitive detection, low pass filtering, and multiplication functions required for quadrature rejection, are preformed by light-controlled photoresistors, eliminates complex circuitry. System increases gain, improves signal-to-noise ratio, and eliminates the necessity for compensation.

A computer-based servo system for controlling isotonic contractions of muscle.

PubMed

Smith, J P; Barsotti, R J

1993-11-01

We have developed a computer-based servo system for controlling isotonic releases in muscle. This system is a composite of commercially available devices: an IBM personal computer, an analog-to-digital (A/D) board, an Akers AE801 force transducer, and a Cambridge Technology motor. The servo loop controlling the force clamp is generated by computer via the A/D board, using a program written in QuickBASIC 4.5. Results are shown that illustrate the ability of the system to clamp the force generated by either skinned cardiac trabeculae or single rabbit psoas fibers down to the resolution of the force transducer within 4 ms. This rate is independent of the level of activation of the tissue and the size of the load imposed during the release. The key to the effectiveness of the system consists of two algorithms that are described in detail. The first is used to calculate the error signal to hold force to the desired level. The second algorithm is used to calculate the appropriate gain of the servo for a particular fiber and the size of the desired load to be imposed. The results show that the described computer-based method for controlling isotonic releases in muscle represents a good compromise between simplicity and performance and is an alternative to the custom-built digital/analog servo devices currently being used in studies of muscle mechanics.

Analysis of an electrohydraulic aircraft control surface servo and comparison with test results

NASA Technical Reports Server (NTRS)

Edwards, J. W.

1972-01-01

An analysis of an electrohydraulic aircraft control-surface system is made in which the system is modeled as a lumped, two-mass, spring-coupled system controlled by a servo valve. Both linear and nonlinear models are developed, and the effects of hinge-moment loading are included. Transfer functions of the system and approximate literal factors of the transfer functions for several cases are presented. The damping action of dynamic pressure feedback is analyzed. Comparisons of the model responses with results from tests made on a highly resonant rudder control-surface servo indicate the adequacy of the model. The effects of variations in hinge-moment loading are illustrated.

76 FR 45655 - Airworthiness Directives; Superior Air Parts and Lycoming Engines (Formerly Textron Lycoming...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-08-01

... holidays. For service information identified in this AD, contact AVStar Fuel Systems, Inc., 1365 Park Lane... a faulty fuel servo, Bendix model RSA-10ED1. AVStar Fuel Systems (AFS) had overhauled the fuel servo...) since new due to suspected manufacturing defects. AVStar Fuel Systems produces diaphragms, P/Ns...

Antenna servo control system characterization: Rate loop analysis for 34-m antenna at DSS 15

NASA Technical Reports Server (NTRS)

Nickerson, J. A.; Cox, D. G.; Smith, H. K.; Engel, J. H.; Ahlstrom, H. G.

1986-01-01

The elevation and azimuth servo rate loops at the 34-m High Efficiency Deep Space Station 15 (DSS 15) are described. Time and frequency response performance criteria were measured. The results are compared to theoretically deduced performance criteria. Unexpected anomalies in the frequency response are observed and identified.

76 FR 66609 - Airworthiness Directives; Bell Helicopter Textron Canada (Bell) Model 407 and 427 Helicopters

Federal Register 2010, 2011, 2012, 2013, 2014

2011-10-27

... surface. The AD also requires reidentifying the servo by metal-impression stamping or by vibro- etching... surface. The AD also requires reidentifying the servo by metal-impression stamping or by vibro-etching... metal-impression stamping or by vibro-etching ``67.01'' onto the modification plate. Before installing a...

Compact, Lightweight Servo-Controllable Brakes

NASA Technical Reports Server (NTRS)

Lovchik, Christopher S.; Townsend, William; Guertin, Jeffrey; Matsuoka, Yoky

2010-01-01

Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements. In a brake of the type under development, a controllable intermediate state of torque is reached through on/off switching at a high frequency.

Hydraulic servo control spool valve

DOEpatents

Miller, Donald M.

1983-01-01

A servo operated spool valve having a fixed sleeve and axially movable spool. The sleeve is machined in two halves to form a long, narrow tapered orifice slot across which a transverse wall of the spool is positioned. The axial position of the spool wall along the slot regulates the open orifice area with extreme precision.

Dynamic Response of Control Servo System Installed in NAES-Equipped SB2C-5 Airplane (BuAer No. 83135)

NASA Technical Reports Server (NTRS)

Smaus, Louis H.; Stewart, Elwood C.

1950-01-01

Dynamic--response measurements for various conditions of displacement and rate signal input, sensitivity setting, and simulated hinge moment were made of the three control-surface servo systems of an NAES-equipped remote-controlled airplane while on the ground. The basic components of the servo systems are those of the General Electric Company type G-1 autopilot using electrical signal. sources, solenoid-operated valves, and hydraulic pistons. The test procedures and difficulties are discussed, Both frequency and transient-response data, are presented and comparisons are made. The constants describing the servo system, the undamped natural frequency, and the damping ratio, are determined by several methods. The response of the system with the addition of airframe rate signal is calculated. The transfer function of the elevator surface, linkage, and cable system is obtained. The agreement between various methods of measurement and calculation is considered very good. The data are complete enough and in such form that they may be used directly with the frequency-response data of an airplane to predict the stability of the autopilot-airplane combination.

A failure effects simulation of a low authority flight control augmentation system on a UH-1H helicopter

NASA Technical Reports Server (NTRS)

Corliss, L. D.; Talbot, P. D.

1977-01-01

A two-pilot moving base simulator experiment was conducted to assess the effects of servo failures of a flight control system on the transient dynamics of a Bell UH-1H helicopter. The flight control hardware considered was part of the V/STOLAND system built with control authorities of from 20-40%. Servo hardover and oscillatory failures were simulated in each control axis. Measurements were made to determine the adequacy of the failure monitoring system time delay and the servo center and lock time constant, the pilot reaction times, and the altitude and attitude excursions of the helicopter at hover and 60 knots. Safe recoveries were made from all failures under VFR conditions. Pilot reaction times were from 0.5 to 0.75 sec. Reduction of monitor delay times below these values resulted in significantly reduced excursion envelopes. A subsequent flight test was conducted on a UH-1H helicopter with the V/STOLAND system installed. Series servo hardovers were introduced in hover and at 60 knots straight and level. Data from these tests are included for comparison.

1:50 Scale Testing of Three Floating Wind Turbines at MARIN and Numerical Model Validation Against Test Data

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

Dagher, Habib; Viselli, Anthony; Goupee, Andrew

The primary goal of the basin model test program discussed herein is to properly scale and accurately capture physical data of the rigid body motions, accelerations and loads for different floating wind turbine platform technologies. The intended use for this data is for performing comparisons with predictions from various aero-hydro-servo-elastic floating wind turbine simulators for calibration and validation. Of particular interest is validating the floating offshore wind turbine simulation capabilities of NREL’s FAST open-source simulation tool. Once the validation process is complete, coupled simulators such as FAST can be used with a much greater degree of confidence in design processesmore » for commercial development of floating offshore wind turbines. The test program subsequently described in this report was performed at MARIN (Maritime Research Institute Netherlands) in Wageningen, the Netherlands. The models considered consisted of the horizontal axis, NREL 5 MW Reference Wind Turbine (Jonkman et al., 2009) with a flexible tower affixed atop three distinct platforms: a tension leg platform (TLP), a spar-buoy modeled after the OC3 Hywind (Jonkman, 2010) and a semi-submersible. The three generic platform designs were intended to cover the spectrum of currently investigated concepts, each based on proven floating offshore structure technology. The models were tested under Froude scale wind and wave loads. The high-quality wind environments, unique to these tests, were realized in the offshore basin via a novel wind machine which exhibits negligible swirl and low turbulence intensity in the flow field. Recorded data from the floating wind turbine models included rotor torque and position, tower top and base forces and moments, mooring line tensions, six-axis platform motions and accelerations at key locations on the nacelle, tower, and platform. A large number of tests were performed ranging from simple free-decay tests to complex operating conditions with irregular sea states and dynamic winds.« less

Nonlinear Dynamic Modeling of a Supersonic Commercial Transport Turbo-Machinery Propulsion System for Aero-Propulso-Servo-Elasticity Research

NASA Technical Reports Server (NTRS)

Connolly, Joseph W.; Kopasakis, George; Carlson, Jan-Renee; Woolwine, Kyle

2015-01-01

This paper covers the development of an integrated nonlinear dynamic model for a variable cycle turbofan engine, supersonic inlet, and convergent-divergent nozzle that can be integrated with an aeroelastic vehicle model to create an overall Aero-Propulso-Servo-Elastic (APSE) modeling tool. The primary focus of this study is to provide a means to capture relevant thrust dynamics of a full supersonic propulsion system by using relatively simple quasi-one dimensional computational fluid dynamics (CFD) methods that will allow for accurate control algorithm development and capture the key aspects of the thrust to feed into an APSE model. Previously, propulsion system component models have been developed and are used for this study of the fully integrated propulsion system. An overview of the methodology is presented for the modeling of each propulsion component, with a focus on its associated coupling for the overall model. To conduct APSE studies the de- scribed dynamic propulsion system model is integrated into a high fidelity CFD model of the full vehicle capable of conducting aero-elastic studies. Dynamic thrust analysis for the quasi-one dimensional dynamic propulsion system model is presented along with an initial three dimensional flow field model of the engine integrated into a supersonic commercial transport.

Nonlinear Dynamic Modeling of a Supersonic Commercial Transport Turbo-Machinery Propulsion System for Aero-Propulso-Servo-Elasticity Research

NASA Technical Reports Server (NTRS)

Connolly, Joe; Carlson, Jan-Renee; Kopasakis, George; Woolwine, Kyle

2015-01-01

This paper covers the development of an integrated nonlinear dynamic model for a variable cycle turbofan engine, supersonic inlet, and convergent-divergent nozzle that can be integrated with an aeroelastic vehicle model to create an overall Aero-Propulso-Servo-Elastic (APSE) modeling tool. The primary focus of this study is to provide a means to capture relevant thrust dynamics of a full supersonic propulsion system by using relatively simple quasi-one dimensional computational fluid dynamics (CFD) methods that will allow for accurate control algorithm development and capture the key aspects of the thrust to feed into an APSE model. Previously, propulsion system component models have been developed and are used for this study of the fully integrated propulsion system. An overview of the methodology is presented for the modeling of each propulsion component, with a focus on its associated coupling for the overall model. To conduct APSE studies the described dynamic propulsion system model is integrated into a high fidelity CFD model of the full vehicle capable of conducting aero-elastic studies. Dynamic thrust analysis for the quasi-one dimensional dynamic propulsion system model is presented along with an initial three dimensional flow field model of the engine integrated into a supersonic commercial transport.

Induced hypothermia for infants with hypoxic- ischemic encephalopathy using a servo-controlled fan: an exploratory pilot study.

PubMed

Horn, Alan; Thompson, Clare; Woods, David; Nel, Alida; Bekker, Adrie; Rhoda, Natasha; Pieper, Clarissa

2009-06-01

Several trials suggest that hypothermia is beneficial in selected infants with hypoxic-ischemic encephalopathy. However, the cooling methods used required repeated interventions and were either expensive or reported significant temperature variation. The objective of this pilot study was to describe the use, efficacy, and physiologic impact of an inexpensive servo-controlled cooling fan blowing room-temperature air. A servo-controlled fan was manufactured and used to cool 10 infants with hypoxic-ischemic encephalopathy to a rectal temperature of 33 degrees C to 34 degrees C. The infants were sedated with phenobarbital, but clonidine was administered to some infants if shivering or discomfort occurred. A servo-controlled radiant warmer was used simultaneously with the fan to prevent overcooling. The settings used on the fan and radiant warmer differed slightly between some infants as the technique evolved. A rectal temperature of 34 degrees C was achieved in a median time of 58 minutes. Overcooling did not occur, and the mean temperature during cooling was 33.6 degrees C +/- 0.2 degrees C. Inspired oxygen requirements increased in 6 infants, and 5 infants required inotropic support during cooling, but this was progressively reduced after 1 to 2 days. Dehydration did not occur. Five infants shivered when faster fan speeds were used, but 4 of the 5 infants had hypomagnesemia. Shivering was controlled with clonidine in 4 infants, but 1 infant required morphine. Servo-controlled fan cooling with room-temperature air, combined with servo-controlled radiant warming, was an effective, simple, and safe method of inducing and maintaining rectal temperatures of 33 degrees C to 34 degrees C in sedated infants with hypoxic-ischemic encephalopathy. After induction of hypothermia, a low fan speed facilitated accurate temperature control, and warmer-controlled rewarming at 0.2 degrees C increments every 30 minutes resulted in more appropriate rewarming than when 0.5 degrees C increments every hour were used.

Machining approach of freeform optics on infrared materials via ultra-precision turning.

PubMed

Li, Zexiao; Fang, Fengzhou; Chen, Jinjin; Zhang, Xiaodong

2017-02-06

Optical freeform surfaces are of great advantage in excellent optical performance and integrated alignment features. It has wide applications in illumination, imaging and non-imaging, etc. Machining freeform surfaces on infrared (IR) materials with ultra-precision finish is difficult due to its brittle nature. Fast tool servo (FTS) assisted diamond turning is a powerful technique for the realization of freeform optics on brittle materials due to its features of high spindle speed and high cutting speed. However it has difficulties with large slope angles and large rise-and-falls in the sagittal direction. In order to overcome this defect, the balance of the machining quality on the freeform surface and the brittle nature in IR materials should be realized. This paper presents the design of a near-rotational freeform surface (NRFS) with a low non-rotational degree (NRD) to constraint the variation of traditional freeform optics to solve this issue. In NRFS, the separation of the surface results in a rotational part and a residual part denoted as a non-rotational surface (NRS). Machining NRFS on germanium is operated by FTS diamond turning. Characteristics of the surface indicate that the optical finish of the freeform surface has been achieved. The modulation transfer function (MTF) of the freeform optics shows a good agreement to the design expectation. Images of the final optical system confirm that the fabricating strategy is of high efficiency and high quality. Challenges and prospects are discussed to provide guidance of future work.

Modeling astronomical adaptive optics performance with temporally filtered Wiener reconstruction of slope data

NASA Astrophysics Data System (ADS)

Correia, Carlos M.; Bond, Charlotte Z.; Sauvage, Jean-François; Fusco, Thierry; Conan, Rodolphe; Wizinowich, Peter L.

2017-10-01

We build on a long-standing tradition in astronomical adaptive optics (AO) of specifying performance metrics and error budgets using linear systems modeling in the spatial-frequency domain. Our goal is to provide a comprehensive tool for the calculation of error budgets in terms of residual temporally filtered phase power spectral densities and variances. In addition, the fast simulation of AO-corrected point spread functions (PSFs) provided by this method can be used as inputs for simulations of science observations with next-generation instruments and telescopes, in particular to predict post-coronagraphic contrast improvements for planet finder systems. We extend the previous results and propose the synthesis of a distributed Kalman filter to mitigate both aniso-servo-lag and aliasing errors whilst minimizing the overall residual variance. We discuss applications to (i) analytic AO-corrected PSF modeling in the spatial-frequency domain, (ii) post-coronagraphic contrast enhancement, (iii) filter optimization for real-time wavefront reconstruction, and (iv) PSF reconstruction from system telemetry. Under perfect knowledge of wind velocities, we show that $\\sim$60 nm rms error reduction can be achieved with the distributed Kalman filter embodying anti- aliasing reconstructors on 10 m class high-order AO systems, leading to contrast improvement factors of up to three orders of magnitude at few ${\\lambda}/D$ separations ($\\sim1-5{\\lambda}/D$) for a 0 magnitude star and reaching close to one order of magnitude for a 12 magnitude star.

Servo action in the human thumb.

PubMed Central

Marsden, C D; Merton, P A; Morton, H B

1976-01-01

1. The servo-like properties of muscle in healthy human subjects have been studied by interfering unexpectedly with flexion movements of the top joint of the thumb. This movement is carried out by the flexor pollicis longus muscle only. 2. The movements were standardized in rate by giving the subject a tracking task. They started off against a constant torque load offered by an electric motor. 3. In some movements the load remained constant, but in others, in mid-course, perturbations were introduced at random. Either the movement was halted, or released and allowed to accelerate by reducing the load, or reversed by suddenly increasing the current in the motor, so stretching the muscle. 4. Usually eight or sixteen responses to each kind of perturbation and a similar number of controls against a constant load were averaged. 5. Muscle activity was recorded as the electromyogram from surface electrodes over the belly of the long flexor in the lower forearm. Action potentials were usually full-wave rectified and integrated. 6. About 50 msec after a perturbation the muscle's activity alters in such a sense as to tend to compensate for the perturbation, i.e. it increases after a halt or a stretch and decreases after a release. The latency is similar in each case. 7. These responses are interpreted as manifestations of automatic servo action based on the stretch reflex. They are considered to be too early to be voluntary. 8. This interpretation was supported by measuring voluntary reaction times to perturbations under tracking conditions. They were found to be 90 msec or longer. 9. When the initial load was increased by a factor of 10, the servo responses were all scaled up likewise. Thus to a first approximation the gain of the servo is proportional to initial load. 10. It follows that in relaxed muscle the gain should be zero. This was confirmed by showing that stretching a relaxed muscle gives no reflex, or only a small one. 11. Gain appears to be determined by the level of muscle activation as determined by the effort made by the subject, rather than by the actual pressure exerted by the thumb. 12. Thus in fatigued muscle gain is boosted as the muscle has to be activated more strongly to keep up the same force output. The net effect is to compensate for fatigue and maintain the performance of the servo. 13. The Discussion centres on the implications of gain control in the servo. For a start, if the gain of the stretch reflex arc is zero in relaxed muscle, contractions cannot be initiated via the stretch reflex by simply causing the spindles to contract, as proposed on the original 'follow-up' servo theory. Images Fig. 1 PMID:133238

Preliminary Development of Real Time Usage-Phase Monitoring System for CNC Machine Tools with a Case Study on CNC Machine VMC 250

NASA Astrophysics Data System (ADS)

Budi Harja, Herman; Prakosa, Tri; Raharno, Sri; Yuwana Martawirya, Yatna; Nurhadi, Indra; Setyo Nogroho, Alamsyah

2018-03-01

The production characteristic of job-shop industry at which products have wide variety but small amounts causes every machine tool will be shared to conduct production process with dynamic load. Its dynamic condition operation directly affects machine tools component reliability. Hence, determination of maintenance schedule for every component should be calculated based on actual usage of machine tools component. This paper describes study on development of monitoring system to obtaining information about each CNC machine tool component usage in real time approached by component grouping based on its operation phase. A special device has been developed for monitoring machine tool component usage by utilizing usage phase activity data taken from certain electronics components within CNC machine. The components are adaptor, servo driver and spindle driver, as well as some additional components such as microcontroller and relays. The obtained data are utilized for detecting machine utilization phases such as power on state, machine ready state or spindle running state. Experimental result have shown that the developed CNC machine tool monitoring system is capable of obtaining phase information of machine tool usage as well as its duration and displays the information at the user interface application.

Magnetic particle clutch controls servo system

NASA Technical Reports Server (NTRS)

Fow, P. B.

1973-01-01

Magnetic clutches provide alternative means of driving low-power rate or positioning servo systems. They may be used over wide variety of input speed ranges and weigh comparatively little. Power drain is good with overall motor/clutch efficiency greater than 50 percent, and gain of clutch is close to linear, following hysteresis curve of core and rotor material.

Research on intelligent algorithm of electro - hydraulic servo control system

NASA Astrophysics Data System (ADS)

Wang, Yannian; Zhao, Yuhui; Liu, Chengtao

2017-09-01

In order to adapt the nonlinear characteristics of the electro-hydraulic servo control system and the influence of complex interference in the industrial field, using a fuzzy PID switching learning algorithm is proposed and a fuzzy PID switching learning controller is designed and applied in the electro-hydraulic servo controller. The designed controller not only combines the advantages of the fuzzy control and PID control, but also introduces the learning algorithm into the switching function, which makes the learning of the three parameters in the switching function can avoid the instability of the system during the switching between the fuzzy control and PID control algorithms. It also makes the switch between these two control algorithm more smoother than that of the conventional fuzzy PID.

Enhancement of tracking performance in electro-optical system based on servo control algorithm

NASA Astrophysics Data System (ADS)

Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

2017-10-01

Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

Chiari malformation and central sleep apnea syndrome: efficacy of treatment with adaptive servo-ventilation*

PubMed Central

do Vale, Jorge Marques; Silva, Eloísa; Pereira, Isabel Gil; Marques, Catarina; Sanchez-Serrano, Amparo; Torres, António Simões

2014-01-01

The Chiari malformation type I (CM-I) has been associated with sleep-disordered breathing, especially central sleep apnea syndrome. We report the case of a 44-year-old female with CM-I who was referred to our sleep laboratory for suspected sleep apnea. The patient had undergone decompressive surgery 3 years prior. An arterial blood gas analysis showed hypercapnia. Polysomnography showed a respiratory disturbance index of 108 events/h, and all were central apnea events. Treatment with adaptive servo-ventilation was initiated, and central apnea was resolved. This report demonstrates the efficacy of servo-ventilation in the treatment of central sleep apnea syndrome associated with alveolar hypoventilation in a CM-I patient with a history of decompressive surgery. PMID:25410846

Active Vibration Isolation Devices with Inertial Servo Actuators

NASA Astrophysics Data System (ADS)

Melik-Shakhnazarov, V. A.; Strelov, V. I.; Sofiyanchuk, D. V.; Tregubenko, A. A.

2018-03-01

The use of active vibration isolation devices (AVIDs) in aerospace engineering is subject to the following restrictions. First, the volume for installing additional devices is always limited in instrument racks and compartments. Secondly, in many cases, it is impossible to add supports for servo actuators for fundamental or design considerations. In the paper, it has been shown that this problem can be solved if the inertial servo actuators are used in AVIDs instead of reference actuators. A transfer function has been theoretically calculated for an AVID controlled by inertial actuators. It has been shown that the volume of a six-mode single-housing AVID with inertial actuators can be 2-2.5 times smaller than that of devices with support actuators.

Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

NASA Astrophysics Data System (ADS)

Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

2018-02-01

Hydraulic actuators have been widely used to experimentally examine structural behavior at multiple scales. Real-time hybrid simulation (RTHS) is one innovative testing method that largely relies on such servo-hydraulic actuators. In RTHS, interface conditions must be enforced in real time, and controllers are often used to achieve tracking of the desired displacements. Thus, neglecting the dynamics of hydraulic transfer system may result either in system instability or sub-optimal performance. Herein, we propose a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a nonlinear physical specimen. The nonlinear dynamical model is transformed into controllable canonical form for further tracking control design purposes. Through a number of experiments, the controllable canonical model is validated.

Soil chemical sensor and precision agricultural chemical delivery system and method

DOEpatents

Colburn, Jr., John W.

1991-01-01

A real time soil chemical sensor and precision agricultural chemical delivery system includes a plurality of ground-engaging tools in association with individual soil sensors which measure soil chemical levels. The system includes the addition of a solvent which rapidly saturates the soil/tool interface to form a conductive solution of chemicals leached from the soil. A multivalent electrode, positioned within a multivalent frame of the ground-engaging tool, applies a voltage or impresses a current between the electrode and the tool frame. A real-time soil chemical sensor and controller senses the electrochemical reaction resulting from the application of the voltage or current to the leachate, measures it by resistivity methods, and compares it against pre-set resistivity levels for substances leached by the solvent. Still greater precision is obtained by calibrating for the secondary current impressed through solvent-less soil. The appropriate concentration is then found and the servo-controlled delivery system applies the appropriate amount of fertilizer or agricultural chemicals substantially in the location from which the soil measurement was taken.

Soil chemical sensor and precision agricultural chemical delivery system and method

DOEpatents

Colburn, J.W. Jr.

1991-07-23

A real time soil chemical sensor and precision agricultural chemical delivery system includes a plurality of ground-engaging tools in association with individual soil sensors which measure soil chemical levels. The system includes the addition of a solvent which rapidly saturates the soil/tool interface to form a conductive solution of chemicals leached from the soil. A multivalent electrode, positioned within a multivalent frame of the ground-engaging tool, applies a voltage or impresses a current between the electrode and the tool frame. A real-time soil chemical sensor and controller senses the electrochemical reaction resulting from the application of the voltage or current to the leachate, measures it by resistivity methods, and compares it against pre-set resistivity levels for substances leached by the solvent. Still greater precision is obtained by calibrating for the secondary current impressed through solvent-less soil. The appropriate concentration is then found and the servo-controlled delivery system applies the appropriate amount of fertilizer or agricultural chemicals substantially in the location from which the soil measurement was taken. 5 figures.

Efficacy and safety of strategies to preserve stable extracorporeal life support flow during simulated hypovolemia.

PubMed

Simons, A P; Lindelauf, A A M A; Ganushchak, Y M; Maessen, J G; Weerwind, P W

2014-01-01

Without volume-buffering capacity in extracorporeal life support (ELS) systems, hypovolemia can acutely reduce support flow. This study aims at evaluating efficacy and safety of strategies for preserving stable ELS during hypovolemia. Flow and/or pressure-guided servo pump control, a reserve-driven control strategy and a volume buffer capacity (VBC) device were evaluated with respect to pump flow, venous line pressure and arterial gaseous microemboli (GME) during simulated normovolemia and hypovolemia. Normovolemia resulted in a GME-free pump flow of 3.1 ± 0.0 L/min and a venous line pressure of -10 ± 1 mmHg. Hypovolemia without servo pump control resulted in a GME-loaded flow of 2.3 ± 0.4 L/min with a venous line pressure of -114 ± 52 mmHg. Servo control resulted in an unstable and GME-loaded flow of 1.5 ± 1.2 L/min. With and without servo pump control, the VBC device stabilised flow (SD = 0.2 and 0.0 L/min, respectively) and venous line pressure (SD=51 and 4 mmHg, respectively) with near-absent GME activity. Reserve-driven pump control combined with a VBC device restored a near GME-free flow of 2.7 ± 0.0 L/min with a venous line pressure of -9 ± 0 mmHg. In contrast to a reserve-driven pump control strategy combined with a VBC device, flow and pressure servo control for ELS show evident deficits in preserving stable and safe ELS flow during hypovolemia.

Evaluating transient performance of servo mechanisms by analysing stator current of PMSM

NASA Astrophysics Data System (ADS)

Zhang, Qing; Tan, Luyao; Xu, Guanghua

2018-02-01

Smooth running and rapid response are the desired performance goals for the transient motions of servo mechanisms. Because of the uncertain and unobservable transient behaviour of servo mechanisms, it is difficult to evaluate their transient performance. Under the effects of electromechanical coupling, the stator current signals of a permanent-magnet synchronous motor (PMSM) potentially contain the performance information regarding servo mechanisms in use. In this paper, a novel method based on analysing the stator current of the PMSM is proposed for quantifying the transient performance. First, a vector control model is constructed to simulate the stator current behaviour in the transient processes of consecutive speed changes, consecutive load changes, and intermittent start-stops. It is discovered that the amplitude and frequency of the stator current are modulated by the transient load torque and motor speed, respectively. The stator currents under different performance conditions are also simulated and compared. Then, the stator current is processed using a local means decomposition (LMD) algorithm to extract the instantaneous amplitude and instantaneous frequency. The sample entropy of the instantaneous amplitude, which reflects the complexity of the load torque variation, is calculated as a performance indicator of smooth running. The peak-to-peak value of the instantaneous frequency, which defines the range of the motor speed variation, is set as a performance indicator of rapid response. The proposed method is applied to both simulated data in an intermittent start-stops process and experimental data measured for a batch of servo turrets for turning lathes. The results show that the performance evaluations agree with the actual performance.

Dynamic modeling and experiment of a new type of parallel servo press considering gravity counterbalance

NASA Astrophysics Data System (ADS)

He, Jun; Gao, Feng; Bai, Yongjun; Wu, Shengfu

2013-11-01

The large capacity servo press is traditionally realized by means of redundant actuation, however there exist the over-constraint problem and interference among actuators, which increases the control difficulty and the product cost. A new type of press mechanism with parallel topology is presented to develop the mechanical servo press with high stamping capacity. The dynamic model considering gravity counterbalance is proposed based on the virtual work principle, and then the effect of counterbalance cylinder on the dynamic performance of the servo press is studied. It is found that the motor torque required to operate the press is a lot less than the others when the ratio of the counterbalance force to the gravity of ram is in the vicinity of 1.0. The stamping force of the real press prototype can reach up to 25 MN on the position of 13 mm away from the bottom dead center. The typical deep-drawing process with 1 200 mm stroke at 8 strokes per minute is proposed by means of five order polynomial. On this process condition, the driving torques are calculated based on the above dynamic model and the torque measuring test is also carried out on the prototype. It is shown that the curve trend of calculation torque is consistent to the measured result and that the average error is less than 15%. The parallel mechanism is introduced into the development of large capacity servo press to avoid the over-constraint and interference of traditional redundant actuation, and its dynamic characteristics with gravity counterbalance are presented.

Rigid hoist articulated grapple system development for enhanced remote maintenance

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

Witham, C.; White, P.; Garin, J.

1979-01-01

Remote maintenance and repair within nuclear environments have become more demanding of remote manipulation equipment in the last few years. A deficiency exists in the array of tools available for dexterous operations of loads in the 180-kg range. The development of a manipulation system with enhanced operator controls is discussed. This system is a six-degree-of-freedom manipulator with bilateral servo control. It is to be attached to a mobile support boom in order to operate throughout the nuclear cell. The manipulator is intended to work in conjunction with light duty servomanipulators, overhead crane systems, and through-the-wall mechanical master slaves.

FEED FORWARD EQUATIONS.

DTIC Science & Technology

and feed forward stabilization) have been implemented. An on-mount gyro system consists of gyroscopes mounted on the radar antenna which sense...antenna motion and send compensating signals back to the antenna servo mechanism. Feed forward stabilization consists of determining antenna angular rates...caused by ships attitude changes, as measured by a stable platform (such as SINS), and feeding compensating signals back to the antenna servo

Load control system. [for space shuttle external tank ground tests

NASA Technical Reports Server (NTRS)

Grosse, J. C.

1977-01-01

The load control system developed for the shuttle external structural tests is described. The system consists of a load programming/display module, and a load control module along with the following hydraulic system components: servo valves, dump valves, hydraulic system components, and servo valve manifold blocks. One load programming/display subsystem can support multiple load control subsystem modules.

Adjustable Speed Drive Project for Teaching a Servo Systems Course Laboratory

ERIC Educational Resources Information Center

Rodriguez-Resendiz, J.; Herrera-Ruiz, G.; Rivas-Araiza, E. A.

2011-01-01

This paper describes an adjustable speed drive for a three-phase motor, which has been implemented as a design for a servo system laboratory course in an engineering curriculum. The platform is controlled and analyzed in a LabVIEW environment and run on a PC. Theory is introduced in order to show the sensorless algorithms. These are computed by…

Temperature control during therapeutic moderate whole-body hypothermia for neonatal encephalopathy.

PubMed

Strohm, B; Azzopardi, D

2010-09-01

The precision of temperature control achieved in clinical practice during therapeutic hypothermia in neonates has not been described. The hourly rectal temperature recordings from 17 infants treated with servo controlled and an equal number treated with manually adjusted cooling equipment were examined. The target rectal temperature for all infants is 33.5 degrees C for 72 h. During 6 to 72 h after start of cooling, the mean (95% CI, variance) of the averaged rectal temperatures was 33.6 degrees C (95% CI 33.4 degrees C to 33.8 degrees C, 0.1 degrees C) in the manually adjusted group and 33.4 degrees C (95% CI 33.3 degrees C to 33.5 degrees C, 0.04 degrees C) in the servo controlled group (means, p=0.08; equality of variance, p=0.03). The variance was also significantly different between infant groups during 1 to 5 h after start of cooling, p=0.01, but not during rewarming. The rectal temperature can be maintained close to the target temperature with either manually adjusted or servo controlled equipment, but there is less temperature variability with the servo controlled system in use in the UK.

Turbofan Volume Dynamics Model for Investigations of Aero-Propulso-Servo-Elastic Effects in a Supersonic Commercial Transport

NASA Technical Reports Server (NTRS)

Connolly, Joseph W.; Kopasakis, George; Lemon, Kimberly A.

2010-01-01

A turbofan simulation has been developed for use in aero-propulso-servo-elastic coupling studies, on supersonic vehicles. A one-dimensional lumped volume approach is used whereby each component (fan, high-pressure compressor, combustor, etc.) is represented as a single volume using characteristic performance maps and conservation equations for continuity, momentum and energy. The simulation is developed in the MATLAB/SIMULINK (The MathWorks, Inc.) environment in order to facilitate controls development, and ease of integration with a future aero-servo-elastic vehicle model being developed at NASA Langley. The complete simulation demonstrated steady state results that closely match a proposed engine suitable for a supersonic business jet at the cruise condition. Preliminary investigation of the transient simulation revealed expected trends for fuel flow disturbances as well as upstream pressure disturbances. A framework for system identification enables development of linear models for controller design. Utilizing this framework, a transfer function modeling an upstream pressure disturbance s impacts on the engine speed is developed as an illustrative case of the system identification. This work will eventually enable an overall vehicle aero-propulso-servo-elastic model

Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats.

PubMed

Thomsen, Klaus; Shirley, David G

2007-01-01

Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment of a suitably high urine flow rate by constant infusion of hypotonic glucose solution. The second series of experiments showed that replacement of blood samples with donor blood can also lead to increases in fractional lithium excretion and accompanying increases in water and sodium excretion, a problem not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without interference from unwanted changes in extracellular volume. 2007 S. Karger AG, Basel

Application of IFT and SPSA to servo system control.

PubMed

Rădac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M; Preitl, Stefan

2011-12-01

This paper treats the application of two data-based model-free gradient-based stochastic optimization techniques, i.e., iterative feedback tuning (IFT) and simultaneous perturbation stochastic approximation (SPSA), to servo system control. The representative case of controlled processes modeled by second-order systems with an integral component is discussed. New IFT and SPSA algorithms are suggested to tune the parameters of the state feedback controllers with an integrator in the linear-quadratic-Gaussian (LQG) problem formulation. An implementation case study concerning the LQG-based design of an angular position controller for a direct current servo system laboratory equipment is included to highlight the pros and cons of IFT and SPSA from an application's point of view. The comparison of IFT and SPSA algorithms is focused on an insight into their implementation.

Study of parameter identification using hybrid neural-genetic algorithm in electro-hydraulic servo system

NASA Astrophysics Data System (ADS)

Moon, Byung-Young

2005-12-01

The hybrid neural-genetic multi-model parameter estimation algorithm was demonstrated. This method can be applied to structured system identification of electro-hydraulic servo system. This algorithms consist of a recurrent incremental credit assignment(ICRA) neural network and a genetic algorithm. The ICRA neural network evaluates each member of a generation of model and genetic algorithm produces new generation of model. To evaluate the proposed method, electro-hydraulic servo system was designed and manufactured. The experiment was carried out to figure out the hybrid neural-genetic multi-model parameter estimation algorithm. As a result, the dynamic characteristics were obtained such as the parameters(mass, damping coefficient, bulk modulus, spring coefficient), which minimize total square error. The result of this study can be applied to hydraulic systems in industrial fields.

Design of intelligent vehicle control system based on single chip microcomputer

NASA Astrophysics Data System (ADS)

Zhang, Congwei

2018-06-01

The smart car microprocessor uses the KL25ZV128VLK4 in the Freescale series of single-chip microcomputers. The image sampling sensor uses the CMOS digital camera OV7725. The obtained track data is processed by the corresponding algorithm to obtain track sideline information. At the same time, the pulse width modulation control (PWM) is used to control the motor and servo movements, and based on the digital incremental PID algorithm, the motor speed control and servo steering control are realized. In the project design, IAR Embedded Workbench IDE is used as the software development platform to program and debug the micro-control module, camera image processing module, hardware power distribution module, motor drive and servo control module, and then complete the design of the intelligent car control system.

Reliable Control Using Disturbance Observer and Equivalent Transfer Function for Position Servo System in Current Feedback Loop Failure

NASA Astrophysics Data System (ADS)

Ishikawa, Kaoru; Nakamura, Taro; Osumi, Hisashi

A reliable control method is proposed for multiple loop control system. After a feedback loop failure, such as case of the sensor break down, the control system becomes unstable and has a big fluctuation even if it has a disturbance observer. To cope with this problem, the proposed method uses an equivalent transfer function (ETF) as active redundancy compensation after the loop failure. The ETF is designed so that it does not change the transfer function of the whole system before and after the loop failure. In this paper, the characteristic of reliable control system that uses an ETF and a disturbance observer is examined by the experiment that uses the DC servo motor for the current feedback loop failure in the position servo system.

iSERVO: Implementing the International Solid Earth Research Virtual Observatory by Integrating Computational Grid and Geographical Information Web Services

NASA Astrophysics Data System (ADS)

Aktas, Mehmet; Aydin, Galip; Donnellan, Andrea; Fox, Geoffrey; Granat, Robert; Grant, Lisa; Lyzenga, Greg; McLeod, Dennis; Pallickara, Shrideep; Parker, Jay; Pierce, Marlon; Rundle, John; Sayar, Ahmet; Tullis, Terry

2006-12-01

We describe the goals and initial implementation of the International Solid Earth Virtual Observatory (iSERVO). This system is built using a Web Services approach to Grid computing infrastructure and is accessed via a component-based Web portal user interface. We describe our implementations of services used by this system, including Geographical Information System (GIS)-based data grid services for accessing remote data repositories and job management services for controlling multiple execution steps. iSERVO is an example of a larger trend to build globally scalable scientific computing infrastructures using the Service Oriented Architecture approach. Adoption of this approach raises a number of research challenges in millisecond-latency message systems suitable for internet-enabled scientific applications. We review our research in these areas.

A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery.

PubMed

Dagnino, Giulio; Mattos, Leonardo S; Caldwell, Darwin G

2015-02-01

Surgical quality in phonomicrosurgery can be improved by open-loop laser control (e.g., high-speed scanning capabilities) with a robust and accurate closed-loop visual servoing systems. A new vision-based system for laser scanning control during robot-assisted phonomicrosurgery was developed and tested. Laser scanning was accomplished with a dual control strategy, which adds a vision-based trajectory correction phase to a fast open-loop laser controller. The system is designed to eliminate open-loop aiming errors caused by system calibration limitations and by the unpredictable topology of real targets. Evaluation of the new system was performed using CO(2) laser cutting trials on artificial targets and ex-vivo tissue. This system produced accuracy values corresponding to pixel resolution even when smoke created by the laser-target interaction clutters the camera view. In realistic test scenarios, trajectory following RMS errors were reduced by almost 80 % with respect to open-loop system performances, reaching mean error values around 30 μ m and maximum observed errors in the order of 60 μ m. A new vision-based laser microsurgical control system was shown to be effective and promising with significant positive potential impact on the safety and quality of laser microsurgeries.

Hydrogen Financial Analysis Scenario Tool (H2FAST). Web Tool User's Manual

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

Bush, B.; Penev, M.; Melaina, M.

The Hydrogen Financial Analysis Scenario Tool (H2FAST) provides a quick and convenient indepth financial analysis for hydrogen fueling stations. This manual describes how to use the H2FAST web tool, which is one of three H2FAST formats developed by the National Renewable Energy Laboratory (NREL). Although all of the formats are based on the same financial computations and conform to generally accepted accounting principles (FASAB 2014, Investopedia 2014), each format provides a different level of complexity and user interactivity.

The usability of ventilators: a comparative evaluation of use safety and user experience.

PubMed

Morita, Plinio P; Weinstein, Peter B; Flewwelling, Christopher J; Bañez, Carleene A; Chiu, Tabitha A; Iannuzzi, Mario; Patel, Aastha H; Shier, Ashleigh P; Cafazzo, Joseph A

2016-08-20

The design complexity of critical care ventilators (CCVs) can lead to use errors and patient harm. In this study, we present the results of a comparison of four CCVs from market leaders, using a rigorous methodology for the evaluation of use safety and user experience of medical devices. We carried out a comparative usability study of four CCVs: Hamilton G5, Puritan Bennett 980, Maquet SERVO-U, and Dräger Evita V500. Forty-eight critical care respiratory therapists participated in this fully counterbalanced, repeated measures study. Participants completed seven clinical scenarios composed of 16 tasks on each ventilator. Use safety was measured by percentage of tasks with use errors or close calls (UE/CCs). User experience was measured by system usability and workload metrics, using the Post-Study System Usability Questionnaire (PSSUQ) and the National Aeronautics and Space Administration Task Load Index (NASA-TLX). Nine of 18 post hoc contrasts between pairs of ventilators were significant after Bonferroni correction, with effect sizes between 0.4 and 1.09 (Cohen's d). There were significantly fewer UE/CCs with SERVO-U when compared to G5 (p = 0.044) and V500 (p = 0.020). Participants reported higher system usability for G5 when compared to PB980 (p = 0.035) and higher system usability for SERVO-U when compared to G5 (p < 0.001), PB980 (p < 0.001), and V500 (p < 0.001). Participants reported lower workload for G5 when compared to PB980 (p < 0.001) and lower workload for SERVO-U when compared to PB980 (p < 0.001) and V500 (p < 0.001). G5 scored better on two of nine possible comparisons; SERVO-U scored better on seven of nine possible comparisons. Aspects influencing participants' performance and perception include the low sensitivity of G5's touchscreen and the positive effect from the quality of SERVO-U's user interface design. This study provides empirical evidence of how four ventilators from market leaders compare and highlights the importance of medical technology design. Within the boundaries of this study, we can infer that SERVO-U demonstrated the highest levels of use safety and user experience, followed by G5. Based on qualitative data, differences in outcomes could be explained by interaction design, quality of hardware components used in manufacturing, and influence of consumer product technology on users' expectations.

Synchronous Control Method and Realization of Automated Pharmacy Elevator

NASA Astrophysics Data System (ADS)

Liu, Xiang-Quan

Firstly, the control method of elevator's synchronous motion is provided, the synchronous control structure of double servo motor based on PMAC is accomplished. Secondly, synchronous control program of elevator is implemented by using PMAC linear interpolation motion model and position error compensation method. Finally, the PID parameters of servo motor were adjusted. The experiment proves the control method has high stability and reliability.

New technique for servo-control of arterial oxygen tension in preterm infants.

PubMed Central

Beddis, I R; Collins, P; Levy, N M; Godfrey, S; Silverman, M

1979-01-01

Equipment has been developed for the servo-control of arterial oxygen tension in sick, newborn babies. Using an indwelling umbilical arterial oxygen electrode as sensor, the equipment successfully regulated the administration of oxygen to 12 newborn babies with respiratory distress syndrome, significantly improving the stability of arterial oxygen tension and lessening the duration of episodes of hypoxia and hyperoxia. PMID:453911

Opto-mechanical subsystem of a 10 micrometer wavelength receiver terminal. Waveguide laser local oscillator. Servo system

NASA Technical Reports Server (NTRS)

1975-01-01

An engineering model opto-mechanical subsystem for a 10.6-micrometer laser heterodyne receiver is developed, and a CO2 waveguide local oscillator and servo electronics are provided for the receiver. Design goals are presented for the subsystems and overall package design is described. Thermal and mechanical distortion loading tests were performed and the results are included.

Servo-control for maintaining abdominal skin temperature at 36C in low birth weight infants.

PubMed

Sinclair, J C

2000-01-01

Randomized trials have shown that the neonatal mortality rate of low birth-weight babies can be reduced by keeping them warm. For low birth-weight babies nursed in incubators, warm conditions may be achieved either by heating the air to a desired temperature, or by servo-controlling the baby's body temperature at a desired set-point. In low birth weight infants, to determine the effect on death and other important clinical outcomes of targeting body temperature rather than air temperature as the end-point of control of incubator heating. Standard search strategy of the Cochrane Neonatal Collaborative Review Group. Randomized or quasi-randomized trials which test the effects of having the heat output of the incubator servo-controlled from body temperature compared with setting a constant incubator air temperature. Trial methodologic quality was systematically assessed. Outcome measures included death, timing of death, cause of death, and other clinical outcomes. Categorical outcomes were analyzed using relative risk and risk difference. Meta-analysis assumed a fixed effect model. Compared to setting a constant incubator air temperature of 31.8C, servo-control of abdominal skin temperature at 36C reduces the neonatal death rate among low birth weight infants: relative risk 0.72 (95% CI 0.54, 0.97); risk difference -12.7% (95% CI -1.6, -23.9). This effect is even greater among VLBW infants. During at least the first week after birth, low birth weight babies should be provided with a carefully regulated thermal environment that is near the thermoneutral point. For LBW babies in incubators, this can be achieved by adjusting incubator temperature to maintain an anterior abdominal skin temperature of at least 36C, using either servo-control or frequent manual adjustment of incubator air temperature.

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

NASA Astrophysics Data System (ADS)

Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

2017-08-01

This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

Apparatus producing constant cable tension for intermittent demand

DOEpatents

Lauritzen, Ted

1985-01-01

The disclosed apparatus produces constant tension in superconducting electrical cable, or some other strand, under conditions of intermittent demand, as the cable is unreeled from a reel or reeled thereon. The apparatus comprises a pivotally supported swing frame on which the reel is rotatably supported, a rotary motor, a drive train connected between the motor and the reel and including an electrically controllable variable torque slip clutch, a servo transducer connected to the swing frame for producing servo input signals corresponding to the position thereof, a servo control system connected between the transducer and the clutch for regulating the torque transmitted by the clutch to maintain the swing frame in a predetermined position, at least one air cylinder connected to the swing frame for counteracting the tension in the cable, and pressure regulating means for supplying a constant air pressure to the cylinder to establish the constant tension in the cable, the servo system and the clutch being effective to produce torque on the reel in an amount sufficient to provide tension in the cable corresponding to the constant force exerted by the air cylinder. The drive train also preferably includes a fail-safe brake operable to its released position by electrical power in common with the servo system, for preventing rotation of the reel if there is a power failure. A shock absorber and biasing springs may also be connected to the swing frame, such springs biasing the frame toward its predetermined position. The tension in the cable may be measured by force measuring devices engageable with the bearings for the reel shaft, such bearings being supported for slight lateral movement. The reel shaft is driven by a Shmidt coupler which accommodates such movement.

Spinal Tissue Loading Created by Different Methods of Spinal Manipulative Therapy Application

PubMed Central

Funabashi, Martha; Nougarou, François; Descarreaux, Martin; Prasad, Narasimha; Kawchuk, Gregory N.

2017-01-01

Study Design. Comparative study using robotic replication of spinal manipulative therapy (SMT) vertebral kinematics together with serial dissection. Objective. The aim of this study was to quantify loads created in cadaveric spinal tissues arising from three different forms of SMT application. Summary of Background Data. There exist many distinct methods by which to apply SMT. It is not known presently whether different forms of SMT application have different effects on spinal tissues. Should the method of SMT application modulate spinal tissue loading, quantifying this relation may help explain the varied outcomes of SMT in terms of effect and safety. Methods. SMT was applied to the third lumbar vertebra in 12 porcine cadavers using three SMT techniques: a clinical device that applies forces through a hand-held instrument (INST), a manual technique of applying SMT clinically (MAN) and a research device that applies parameters of manual SMT through a servo-controlled linear actuator motor (SERVO). The resulting kinematics from each SMT application were tracked optically via indwelling bone pins. The L3/L4 segment was then removed, mounted in a parallel robot and the resulting kinematics from SMT replayed for each SMT application technique. Serial dissection of spinal structures was conducted to quantify loading characteristics of discrete spinal tissues. Results. In terms of load magnitude, SMT application with MAN and SERVO created greater forces than INST in all conditions (P < 0.05). Additionally, MAN and SERVO created comparable posterior forces in the intact specimen, but MAN created greater posterior forces on IVD structures compared to SERVO (P < 0.05). Conclusion. Specific methods of SMT application create unique vertebral loading characteristics, which may help explain the varied outcomes of SMT in terms of effect and safety. Level of Evidence: N/A PMID:28146021

Secure FAST: Security Enhancement in the NATO Time Sensitive Targeting Tool

DTIC Science & Technology

2010-11-01

designed to aid in the tracking and prosecuting of Time Sensitive Targets. The FAST tool provides user level authentication and authorisation in terms...level authentication and authorisation in terms of security. It uses operating system level security but does not provide application level security for...and collaboration tool, designed to aid in the tracking and prosecuting of Time Sensitive Targets. The FAST tool provides user level authentication and

Servo-controlled hind-limb electrical stimulation for short-term arterial pressure control.

PubMed

Kawada, Toru; Shimizu, Shuji; Yamamoto, Hiromi; Shishido, Toshiaki; Kamiya, Atsunori; Miyamoto, Tadayoshi; Sunagawa, Kenji; Sugimachi, Masaru

2009-05-01

Autonomic neural intervention is a promising tool for modulating the circulatory system thereby treating some cardiovascular diseases. In 8 pentobarbital-anesthetized cats, it was examined whether the arterial pressure (AP) could be controlled by acupuncture-like hind-limb electrical stimulation (HES). With a 0.5-ms pulse width, HES monotonically reduced AP as the stimulus current increased from 1 to 5 mA, suggesting that the stimulus current could be a primary control variable. In contrast, the depressor effect of HES showed a nadir approximately 10 Hz in the frequency range between 1 and 100 Hz. Dynamic characteristics of the AP response to HES approximated a second-order low-pass filter with dead time (gain: -10.2 +/- 1.6 mmHg/mA, natural frequency: 0.040 +/- 0.004 Hz, damping ratio 1.80 +/- 0.24, dead time: 1.38 +/- 0.13 s, mean +/- SE). Based on these dynamic characteristics, a servo-controlled HES system was developed. When a target AP value was set at 20 mmHg below the baseline AP, the time required for the AP response to reach 90% of the target level was 38 +/- 10 s. The steady-state error between the measured and target AP values was 1.3 +/- 0.1 mmHg. Autonomic neural intervention by acupuncture-like HES might provide an additional modality to quantitatively control the circulatory system.

Measuring the photodetector frequency response for ultrasonic applications by a heterodyne system with difference- frequency servo control.

PubMed

Koch, Christian

2010-05-01

A technique for the calibration of photodiodes in ultrasonic measurement systems using standard and cost-effective optical and electronic components is presented. A heterodyne system was realized using two commercially available distributed feedback lasers, and the required frequency stability and resolution were ensured by a difference-frequency servo control scheme. The frequency-sensitive element generating the error signal for the servo loop comprised a delay-line discriminator constructed from electronic elements. Measurements were carried out at up to 450 MHz, and the uncertainties of about 5% (k = 2) can be further reduced by improved radio frequency power measurement without losing the feature of using only simple elements. The technique initially dedicated to the determination of the frequency response of photodetectors applied in ultrasonic applications can be transferred to other application fields of optical measurements.

High precision tracking control of a servo gantry with dynamic friction compensation.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-05-01

This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

NASA Astrophysics Data System (ADS)

Bian, Min; Guo, Qingyun

Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

HYDRAULIC SERVO

DOEpatents

Wiegand, D.E.

1962-05-01

A hydraulic servo is designed in which a small pressure difference produced at two orifices by an electrically operated flapper arm in a constantly flowing hydraulic loop is hydraulically amplified by two constant flow pumps, two additional orifices, and three unconnected ball pistons. Two of the pistons are of one size and operate against the additional orifices, and the third piston is of a different size and operates between and against the first two pistons. (AEC)

Pulse Width Modulator Controller Design for a Brushless DC Motor Position Servo.

DTIC Science & Technology

1987-06-01

C. POWER CONDITIONER SIMULATION Accurate modeling of power conditioning and commutation in brushless dc motors requires explicit definition of the...Study of a Brushless DC Motor Power Conditioner for a Cruise Missile Fin Control Actuator, Master’s Thesis, Naval Postgraduate School, Monterey, Ca...DESIGN FOR A BRUSHLESS DC MOTOR POSITION SERVO by Vincent S. Rossitto June 1987 Thesis Advisor: Alex Gerba, Jr. Approved for public release

Solar Collector Control System.

DTIC Science & Technology

A system for controlling the movement in azimuth and elevation of a large number of sun following solor energy collectors from a single controller...The system utilizes servo signal generators, a modulator and a demodulator for transmitting the servo signals, and stepping motors for controlling...remotely located solar collectors. The system allows precise tracking of the sun by a series of solar collectors without the necessity or expense of individualized solar trackers. (Author)

Nondestructive Evaluation of Metallized Tape Bonds Formed by Tape Automated Bonding (TAB)

DTIC Science & Technology

1989-04-01

powered by micro-positioning linear actuators. 3) Interchangeable sample-holding fixtures mounted upon top of slide assembly. 4) Coverslip gantry mounted...Controller Unit 1) Motor power supplies 2) Motor output servo driver amplifiers 3) "Macro-language" command Interpreter 4) Two-way cormunications with...adjustments are manual knobs giving approximately one degree of tilt adjustment per turn. The servo controller has self-contained power supplies for

Servo Controlled Variable Pressure Modification to Space Shuttle Hydraulic Pump

NASA Technical Reports Server (NTRS)

Kouns, H. H.

1983-01-01

Engineering drawings show modifications made to the constant pressure control of the model AP27V-7 hydraulic pump to an electrically controlled variable pressure setting compensator. A hanger position indicator was included for continuously monitoring hanger angle. A simplex servo driver was furnished for controlling the pressure setting servovalve. Calibration of the rotary variable displacement transducer is described as well as pump performance and response characteristics.

Application of optimal control theory to the design of the NASA/JPL 70-meter antenna servos

NASA Technical Reports Server (NTRS)

Alvarez, L. S.; Nickerson, J.

1989-01-01

The application of Linear Quadratic Gaussian (LQG) techniques to the design of the 70-m axis servos is described. Linear quadratic optimal control and Kalman filter theory are reviewed, and model development and verification are discussed. Families of optimal controller and Kalman filter gain vectors were generated by varying weight parameters. Performance specifications were used to select final gain vectors.

Analysis of High Speed Jets Produced by a Servo Tube Driven Liquid Jet Injector

NASA Astrophysics Data System (ADS)

Portaro, Rocco; Ng, Hoi Dick

2017-11-01

In today's healthcare environment many types of medication must be administered through the use of hypodermic needles. Although this practice has been in use for many years, drawbacks such as accidental needle stick injuries, transmission of deadly viruses and bio-hazardous waste are still present. This study focuses on improving a needle free technology known as liquid jet injection, through the implementation of a linear servo tube actuator for the construction of a fully closed loop liquid jet injection system. This device has the ability to deliver both micro- and macro- molecules, high viscosity fluids whilst providing real time control of the jet pressure profile for accurate depth and dispersion control. The experiments are conducted using a prototype that consists of a 3 kW servo tube actuator, coupled to a specially designed injection head allowing nozzle size and injection volume to be varied. The device is controlled via a high speed servo amplifier and FPGA. The high speed jets emanating from the injector are assessed via high speed photography and through the use of a force transducer. Preliminary results indicate that the system allows for accurate shaping of the jet pressure profile, making it possible to target different tissue depths/types accurately.

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.

Indirect Measurement of Rotor Dynamic Imbalance for Control Moment Gyroscopes via Gimbal Disturbance Observer.

PubMed

Huang, Liya; Wu, Zhong; Wang, Kan

2018-06-07

The high-precision speed control of gimbal servo systems is the key to generating high-precision torque for control moment gyroscopes (CMGs) in spacecrafts. However, the control performance of gimbal servo systems may be degraded significantly by disturbances, especially a dynamic imbalance disturbance with the same frequency as the high-speed rotor. For assembled CMGs, it is very difficult to measure the rotor imbalance directly by using a dynamic balancing machine. In this paper, a gimbal disturbance observer is proposed to estimate the dynamic imbalance of the rotor assembled in the CMG. First, a third-order dynamical system is established to describe the disturbance dynamics of the gimbal servo system, in which the rotor dynamic imbalance torque along the gimbal axis and the other disturbances are modeled to be periodic and bounded, respectively. Then, the gimbal disturbance observer is designed for the third-order dynamical system by using the total disturbance as a virtual measurement. Since the virtual measurement is derived from the inverse dynamics of the gimbal servo system, the information of the rotor dynamic imbalance can be obtained indirectly only using the measurements of gimbal speed and three-phase currents. Semi-physical experimental results demonstrate the effectiveness of the observer by using a CMG simulator.

Hexapod Robot

NASA Technical Reports Server (NTRS)

Begody, Ericka

2016-01-01

The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to right or up and down. The hexapod will eventually be able to track the object moving its head and body in sync with on another and being able to rotate its body at 360 degrees. This is the plans and possible end results for the hexapod robot I will be working on during my summer internship at NASA Johnson Space Center. Since working on the hexapod project I have gained an increase interest in robotics. I enjoy the process of critical thinking. Also will working on this project I was challenged in a way that made more passionate to strive even more to become an engineer. I've learned that asking questions is an important part of the learning process. Also I learn that much more is accomplished when teamwork is applied.

FAST Simulation Tool Containing Methods for Predicting the Dynamic Response of Wind Turbines

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

Jonkman, Jason

2015-08-12

FAST is a simulation tool (computer software) for modeling tlie dynamic response of horizontal-axis wind turbines. FAST employs a combined modal and multibody structural-dynamics formulation in the time domain.

Hybrid test on building structures using electrodynamic fatigue test machine

NASA Astrophysics Data System (ADS)

Xu, Zhao-Dong; Wang, Kai-Yang; Guo, Ying-Qing; Wu, Min-Dong; Xu, Meng

2017-01-01

Hybrid simulation is an advanced structural dynamic experimental method that combines experimental physical models with analytical numerical models. It has increasingly been recognised as a powerful methodology to evaluate structural nonlinear components and systems under realistic operating conditions. One of the barriers for this advanced testing is the lack of flexible software for hybrid simulation using heterogeneous experimental equipment. In this study, an electrodynamic fatigue test machine is made and a MATLAB program is developed for hybrid simulation. Compared with the servo-hydraulic system, electrodynamic fatigue test machine has the advantages of small volume, easy operation and fast response. A hybrid simulation is conducted to verify the flexibility and capability of the whole system whose experimental substructure is one spring brace and numerical substructure is a two-storey steel frame structure. Experimental and numerical results show the feasibility and applicability of the whole system.

The research on visual industrial robot which adopts fuzzy PID control algorithm

NASA Astrophysics Data System (ADS)

Feng, Yifei; Lu, Guoping; Yue, Lulin; Jiang, Weifeng; Zhang, Ye

2017-03-01

The control system of six degrees of freedom visual industrial robot based on the control mode of multi-axis motion control cards and PC was researched. For the variable, non-linear characteristics of industrial robot`s servo system, adaptive fuzzy PID controller was adopted. It achieved better control effort. In the vision system, a CCD camera was used to acquire signals and send them to video processing card. After processing, PC controls the six joints` motion by motion control cards. By experiment, manipulator can operate with machine tool and vision system to realize the function of grasp, process and verify. It has influence on the manufacturing of the industrial robot.

Fabrication technology

NASA Astrophysics Data System (ADS)

1988-05-01

Many laboratory programs continue to need optical components of ever-increasing size and accuracy. Unfortunately, optical surfaces produced by the conventional sequence of grinding, lapping, and polishing can become prohibitively expensive. Research in the Fabrication Technology area focuses on methods of fabricating components with heretofore unrealized levels of precision. In FY87, researchers worked to determine the fundamental mechanical limits of material removal, experimented with unique material removal and deposition processes, developed servo systems for controlling the geometric position of ultraprecise machine tools, and advanced the ability to precisely measure contoured workpieces. Continued work in these areas will lead to more cost-effective processes to fabricate even higher quality optical components for advanced lasers and for visible, ultraviolet, and X-ray diagnostic systems.

Rationale and design of the SERVE-HF study: treatment of sleep-disordered breathing with predominant central sleep apnoea with adaptive servo-ventilation in patients with chronic heart failure.

PubMed

Cowie, Martin R; Woehrle, Holger; Wegscheider, Karl; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita; Somers, Virend K; Zannad, Faiez; Teschler, Helmut

2013-08-01

Central sleep apnoea/Cheyne-Stokes respiration (CSA/CSR) is a risk factor for increased mortality and morbidity in heart failure (HF). Adaptive servo-ventilation (ASV) is a non-invasive ventilation modality for the treatment of CSA/CSR in patients with HF. SERVE-HF is a multinational, multicentre, randomized, parallel trial designed to assess the effects of addition of ASV (PaceWave, AutoSet CS; ResMed) to optimal medical management compared with medical management alone (control group) in patients with symptomatic chronic HF, LVEF ≤45%, and predominant CSA. The trial is based on an event-driven group sequential design, and the final analysis will be performed when 651 events have been observed or the study is terminated at one of the two interim analyses. The aim is to randomize ∼1200 patients to be followed for a minimum of 2 years. Patients are to stay in the trial up to study termination. The first patient was randomized in February 2008 and the study is expected to end mid 2015. The primary combined endpoint is the time to first event of all-cause death, unplanned hospitalization (or unplanned prolongation of a planned hospitalization) for worsening (chronic) HF, cardiac transplantation, resuscitation of sudden cardiac arrest, or appropriate life-saving shock for ventricular fibrillation or fast ventricular tachycardia in implantable cardioverter defibrillator patients. The SERVE-HF study is a randomized study that will provide important data on the effect of treatment with ASV on morbidity and mortality, as well as the cost-effectiveness of this therapy, in patients with chronic HF and predominantly CSA/CSR. ISRCTN19572887.

New mode switching algorithm for the JPL 70-meter antenna servo controller

NASA Technical Reports Server (NTRS)

Nickerson, J. A.

1988-01-01

The design of control mode switching algorithms and logic for JPL's 70 m antenna servo controller are described. The old control mode switching logic was reviewed and perturbation problems were identified. Design approaches for mode switching are presented and the final design is described. Simulations used to compare old and new mode switching algorithms and logic show that the new mode switching techniques will significantly reduce perturbation problems.

Tensile Deformation and Adiabatic Heating in Post-Yield Response of Polycarbonate

DTIC Science & Technology

2015-11-01

display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1. REPORT DATE (DD-MM-YYYY) November 2015 2...to investigate the rate-dependent mechanical response from quasi-static to intermediate (~5/s) strain rates using a traditional servo -hydraulic load...less than 7-mm thickness) These specimens were loaded in tension using an Instron servo -hydraulic test frame. Far-field load and stress measurements

Reconfigurable Flight Control Design using a Robust Servo LQR and Radial Basis Function Neural Networks

NASA Technical Reports Server (NTRS)

Burken, John J.

2005-01-01

This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.

Optimality based repetitive controller design for track-following servo system of optical disk drives.

PubMed

Chen, Wentao; Zhang, Weidong

2009-10-01

In an optical disk drive servo system, to attenuate the external periodic disturbances induced by inevitable disk eccentricity, repetitive control has been used successfully. The performance of a repetitive controller greatly depends on the bandwidth of the low-pass filter included in the repetitive controller. However, owing to the plant uncertainty and system stability, it is difficult to maximize the bandwidth of the low-pass filter. In this paper, we propose an optimality based repetitive controller design method for the track-following servo system with norm-bounded uncertainties. By embedding a lead compensator in the repetitive controller, both the system gain at periodic signal's harmonics and the bandwidth of the low-pass filter are greatly increased. The optimal values of the repetitive controller's parameters are obtained by solving two optimization problems. Simulation and experimental results are provided to illustrate the effectiveness of the proposed method.

Application of Least Mean Square Algorithms to Spacecraft Vibration Compensation

NASA Technical Reports Server (NTRS)

Woodard , Stanley E.; Nagchaudhuri, Abhijit

1998-01-01

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

Robot Arm with Tendon Connector Plate and Linear Actuator

NASA Technical Reports Server (NTRS)

Bridgwater, Lyndon (Inventor); Millerman, Alexander (Inventor); Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor); Nguyen, Vienny (Inventor)

2014-01-01

A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an accurate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

Resolved motion rate and resolved acceleration servo-control of wheeled mobile robots

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

Muir, P.F.; Neuman, C.P.; Carnegie-Mellon Univ., Pittsburgh, PA

1989-01-01

Accurate motion control of wheeled mobile robots (WMRs) is required for their application to autonomous, semi-autonomous and teleoperated tasks. The similarities between WMRs and stationary manipulators suggest that current, successful, model-based manipulator control algorithms may be applied to WMRs. Special characteristics of WMRs including higher-pairs, closed-chains, friction and unactuated and unsensed joints require innovative modeling methodologies. The WMR modeling challenge has been recently overcome, thus enabling the application of manipulator control algorithms to WMRs. This realization lays the foundation for significant technology transfer from manipulator control to WMR control. We apply two Cartesian-space manipulator control algorithms: resolved motion rate (kinematics-based)more » and resolved acceleration (dynamics-based) control to WMR servo-control. We evaluate simulation studies of two exemplary WMRs: Uranus (a three degree-of-freedom WMR constructed at Carnegie Mellon University), and Bicsun-Bicas (a two degree-of-freedom WMR being constructed at Sandia National Laboratories) under the control of these algorithms. Although resolved motion rate servo-control is adequate for the control of Uranus, resolved acceleration servo-control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities. Successful accurate motion control of these WMRs in simulation is driving current experimental research studies. 18 refs., 7 figs., 5 tabs.« less

Simulator evaluation of the final approach spacing tool

NASA Technical Reports Server (NTRS)

Davis, Thomas J.; Erzberger, Heinz; Green, Steven M.

1990-01-01

The design and simulator evaluation of an automation tool for assisting terminal radar approach controllers in sequencing and spacing traffic onto the final approach course is described. The automation tool, referred to as the Final Approach Spacing Tool (FAST), displays speed and heading advisories for arrivals as well as sequencing information on the controller's radar display. The main functional elements of FAST are a scheduler that schedules and sequences the traffic, a 4-D trajectory synthesizer that generates the advisories, and a graphical interface that displays the information to the controller. FAST was implemented on a high performance workstation. It can be operated as a stand-alone in the Terminal Radar Approach Control (TRACON) Facility or as an element of a system integrated with automation tools in the Air Route Traffic Control Center (ARTCC). FAST was evaluated by experienced TRACON controllers in a real-time air traffic control simulation. Simulation results show that FAST significantly reduced controller workload and demonstrated a potential for an increase in landing rate.

A servo controlled gradient loading triaxial model test system for deep-buried cavern.

PubMed

Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

2015-10-01

A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the "real" geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

Servo-control for maintaining abdominal skin temperature at 36C in low birth weight infants.

PubMed

Sinclair, J C

2002-01-01

Randomized trials have shown that the neonatal mortality rate of low birth-weight babies can be reduced by keeping them warm. For low birth-weight babies nursed in incubators, warm conditions may be achieved either by heating the air to a desired temperature, or by servo-controlling the baby's body temperature at a desired set-point. In low birth weight infants, to determine the effect on death and other important clinical outcomes of targeting body temperature rather than air temperature as the end-point of control of incubator heating. Standard search strategy of the Cochrane Neonatal Review Group. Searches were made of the Cochrane Controlled Trials Register (CCTR) (Cochrane Library, Issue 4, 2001) and MEDLINE, 1966 to November 2001. Randomized or quasi-randomized trials which test the effects of having the heat output of the incubator servo-controlled from body temperature compared with setting a constant incubator air temperature. Trial methodologic quality was systematically assessed. Outcome measures included death, timing of death, cause of death, and other clinical outcomes. Categorical outcomes were analyzed using relative risk and risk difference. Meta-analysis assumed a fixed effect model. Two eligible trials were found. In total, they included 283 babies and 112 deaths. Compared to setting a constant incubator air temperature of 31.8C, servo-control of abdominal skin temperature at 36C reduces the neonatal death rate among low birth weight infants: relative risk 0.72 (95% CI 0.54, 0.97); risk difference -12.7% (95% CI -1.6, -23.9). This effect is even greater among VLBW infants. During at least the first week after birth, low birth weight babies should be provided with a carefully regulated thermal environment that is near the thermoneutral point. For LBW babies in incubators, this can be achieved by adjusting incubator temperature to maintain an anterior abdominal skin temperature of at least 36C, using either servo-control or frequent manual adjustment of incubator air temperature.

Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

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

Dixon, Warren

2004-06-01

There is significant motivation to provide robotic systems with improved autonomy as a means to significantly accelerate deactivation and decommissioning (D&D) operations while also reducing the associated costs, removing human operators from hazardous environments, and reducing the required burden and skill of human operators. To achieve improved autonomy, this project focused on the basic science challenges leading to the development of visual servo controllers. The challenge in developing these controllers is that a camera provides 2-dimensional image information about the 3-dimensional Euclidean-space through a perspective (range dependent) projection that can be corrupted by uncertainty in the camera calibration matrix andmore » by disturbances such as nonlinear radial distortion. Disturbances in this relationship (i.e., corruption in the sensor information) propagate erroneous information to the feedback controller of the robot, leading to potentially unpredictable task execution. This research project focused on the development of a visual servo control methodology that targets compensating for disturbances in the camera model (i.e., camera calibration and the recovery of range information) as a means to achieve predictable response by the robotic system operating in unstructured environments. The fundamental idea is to use nonlinear Lyapunov-based techniques along with photogrammetry methods to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current robotic applications. The outcome of this control methodology is a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature recognition and extraction to enable robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). The developed methodology has been reported in numerous peer-reviewed publications and the performance and enabling capabilities of the resulting visual servo control modules have been demonstrated on mobile robot and robot manipulator platforms.« less

Fast steering and quick positioning of large field-of-regard, two-axis, four-gimbaled sight

NASA Astrophysics Data System (ADS)

Ansari, Zahir Ahmed; Nigam, Madhav Ji; Kumar, Avnish

2017-07-01

Fast steering and quick positioning are prime requirements of the current electro-optical tracking system to achieve quick target acquisition. A scheme has been proposed for realizing these features using two-axis, four-gimbaled sight. For steering the line of sight in the stabilization mode, outer gimbal is slaved to the gyro stabilized inner gimbal. Typically, the inner gimbals have direct drives and outer gimbals have geared drives, which result in a mismatch in the acceleration capability of their servo loops. This limits the allowable control bandwidth for the inner gimbal. However, to achieve high stabilization accuracy, high bandwidth control loops are essential. This contradictory requirement has been addressed by designing a suitable command conditioning module for the inner gimbals. Also, large line-of-sight freedom in pitch axis is required to provide a wide area surveillance capacity for airborne application. This leads to a loss of freedom along the yaw axis as the pitch angle goes beyond 70 deg or so. This is addressed by making the outer gimbal master after certain pitch angle. Moreover, a mounting scheme for gyro has been proposed to accomplish yaw axis stabilization for 110-deg pitch angle movement with a single two-axis gyro.

A new state space model for the NASA/JPL 70-meter antenna servo controls

NASA Technical Reports Server (NTRS)

Hill, R. E.

1987-01-01

A control axis referenced model of the NASA/JPL 70-m antenna structure is combined with the dynamic equations of servo components to produce a comprehansive state variable (matrix) model of the coupled system. An interactive Fortran program for generating the linear system model and computing its salient parameters is described. Results are produced in a state variable, block diagram, and in factored transfer function forms to facilitate design and analysis by classical as well as modern control methods.

Hydrogen maser frequency standard computer model for automatic cavity tuning servo simulations

NASA Technical Reports Server (NTRS)

Potter, P. D.; Finnie, C.

1978-01-01

A computer model of the JPL hydrogen maser frequency standard was developed. This model allows frequency stability data to be generated, as a function of various maser parameters, many orders of magnitude faster than these data can be obtained by experimental test. In particular, the maser performance as a function of the various automatic tuning servo parameters may be readily determined. Areas of discussion include noise sources, first-order autotuner loop, second-order autotuner loop, and a comparison of the loops.

Pseudo Dynamic Testing and Seismic Rehabilitation of Iraqi Brick, Bearing and Shear Walls

DTIC Science & Technology

2008-04-01

R es ea rc h L ab or at or y Approved for public release; distribution is unlimited. ERDC/CERL TR-08-6 April 2008 Pseudo Dynamic Testing and...Model 307-50 and one Satec 100 kip servo-hydraulic actuator controlled by closed-loop servo controllers and an Instron 8800 multi-axis controller and RS...Plus testing software.* The Satec actuator was operated in displacement control mode, and the 50 kip CGS actuators were operated in modal control

Programmable Digital Controller

NASA Technical Reports Server (NTRS)

Wassick, Gregory J.

2012-01-01

An existing three-channel analog servo loop controller has been redesigned for piezoelectric-transducer-based (PZT-based) etalon control applications to a digital servo loop controller. This change offers several improvements over the previous analog controller, including software control over proportional-integral-derivative (PID) parameters, inclusion of other data of interest such as temperature and pressure in the control laws, improved ability to compensate for PZT hysteresis and mechanical mount fluctuations, ability to provide pre-programmed scanning and stepping routines, improved user interface, expanded data acquisition, and reduced size, weight, and power.

Optical Storage System For Small Software Package Distribution

NASA Astrophysics Data System (ADS)

Wehrenberg, Paul J.

1985-04-01

This paper describes an optical mass storage system being developed for extremely low cost distribution of small software packages. The structure of the media, design of the optical playback system, and some aspects of mastering and media production are discussed. This read only system is designed solely for the purpose of down loading code in a spooling fashion from the media to the host machine. The media is configured as a plastic card with dimensions 85 mm x 12 mm x 2mm. Each data region on a card is a rectangle 1.33 mm x 59.4 mm which carries up to 64 KB of user data. Cost estimates for production are 0.06 per card for the media and 38.00 for the playback device. The mastering process for the production tooling uses photolithography techniques and can provide production tooling within a few hours of software release. The playback mechanism is rugged and small, and does not require the use of any electromechanical servos.

Programmable controller system for wind tunnel diversion vanes

NASA Technical Reports Server (NTRS)

King, R. F.

1982-01-01

A programmable controller (PC) system automatic sequence control, which acts as a supervisory controller for the servos, selects the proper drives, and automatically sequences the vanes, was developed for use in a subsonic wind tunnel. Tunnel modifications include a new second test section (80 ft x 100 ft with a maximum air speed capability of 110 knots) and an increase in maximum velocity flow from 200 knots to 300 knots. A completely automatic sequence control is necessary in order to allow intricate motion of the 14 triangularly arranged vanes which can be as large as 70 ft high x 35 ft wide and which require precise acceleration and deceleration control. Rate servos on each drive aid in this control, and servo cost was minimized by using four silicon controlled rectifier controllers to control the 20 dc drives. The PC has a programming capacity which facilitated the implementation of extensive logic design. A series of diagrams sequencing the vanes and a block diagram of the system are included.

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.

Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

PubMed

Chen, Tien-Chi; Yu, Chih-Hsien

2009-07-01

A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

Control-structure interaction in precision pointing servo loops

NASA Technical Reports Server (NTRS)

Spanos, John T.

1989-01-01

The control-structure interaction problem is addressed via stability analysis of a generic linear servo loop model. With the plant described by the rigid body mode and a single elastic mode, structural flexibility is categorized into one of three types: (1) appendage, (2) in-the-loop minimum phase, and (3) in-the-loop nonminimum phase. Closing the loop with proportional-derivative (PD) control action and introducing sensor roll-off dynamics in the feedback path, stability conditions are obtained. Trade studies are conducted with modal frequency, modal participation, modal damping, loop bandwidth, and sensor bandwidth treated as free parameters. Results indicate that appendage modes are most likely to produce instability if they are near the sensor rolloff, whereas in-the-loop modes are most dangerous near the loop bandwidth. The main goal of this paper is to provide a fundamental understanding of the control-structure interaction problem so that it may benefit the design of complex spacecraft and pointing system servo loops. In this framework, the JPL Pathfinder gimbal pointer is considered as an example.

Helicopter force-feel and stability augmentation system with parallel servo-actuator

NASA Technical Reports Server (NTRS)

Hoh, Roger H. (Inventor)

2006-01-01

A force-feel system is implemented by mechanically coupling a servo-actuator to and in parallel with a flight control system. The servo-actuator consists of an electric motor, a gearing device, and a clutch. A commanded cockpit-flight-controller position is achieved by pilot actuation of a trim-switch. The position of the cockpit-flight-controller is compared with the commanded position to form a first error which is processed by a shaping function to correlate the first error with a commanded force at the cockpit-flight-controller. The commanded force on the cockpit-flight-controller provides centering forces and improved control feel for the pilot. In an embodiment, the force-feel system is used as the basic element of stability augmentation system (SAS). The SAS provides a stabilization signal that is compared with the commanded position to form a second error signal. The first error is summed with the second error for processing by the shaping function.

THREAD: A programming environment for interactive planning-level robotics applications

NASA Technical Reports Server (NTRS)

Beahan, John J., Jr.

1989-01-01

THREAD programming language, which was developed to meet the needs of researchers in developing robotics applications that perform such tasks as grasp, trajectory design, sensor data analysis, and interfacing with external subsystems in order to perform servo-level control of manipulators and real time sensing is discussed. The philosophy behind THREAD, the issues which entered into its design, and the features of the language are discussed from the viewpoint of researchers who want to develop algorithms in a simulation environment, and from those who want to implement physical robotics systems. The detailed functions of the many complex robotics algorithms and tools which are part of the language are not explained, but an overall impression of their capability is given.

Design of a final approach spacing tool for TRACON air traffic control

NASA Technical Reports Server (NTRS)

Davis, Thomas J.; Erzberger, Heinz; Bergeron, Hugh

1989-01-01

This paper describes an automation tool that assists air traffic controllers in the Terminal Radar Approach Control (TRACON) Facilities in providing safe and efficient sequencing and spacing of arrival traffic. The automation tool, referred to as the Final Approach Spacing Tool (FAST), allows the controller to interactively choose various levels of automation and advisory information ranging from predicted time errors to speed and heading advisories for controlling time error. FAST also uses a timeline to display current scheduling and sequencing information for all aircraft in the TRACON airspace. FAST combines accurate predictive algorithms and state-of-the-art mouse and graphical interface technology to present advisory information to the controller. Furthermore, FAST exchanges various types of traffic information and communicates with automation tools being developed for the Air Route Traffic Control Center. Thus it is part of an integrated traffic management system for arrival traffic at major terminal areas.

Novel AC Servo Rotating and Linear Composite Driving Device for Plastic Forming Equipment

NASA Astrophysics Data System (ADS)

Liang, Jin-Tao; Zhao, Sheng-Dun; Li, Yong-Yi; Zhu, Mu-Zhi

2017-07-01

The existing plastic forming equipment are mostly driven by traditional AC motors with long transmission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for complicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion without transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on the dynamic test benches are conducted. The results indicate that the output torque can attain to 420 N·m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive. the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accuracy direct driving device in plastic forming equipment.

Development of Servo Motor Trainer for Basic Control System in Laboratory of Electrical Engineering Control System Faculty of Engineering Universitas Negeri Surabaya

NASA Astrophysics Data System (ADS)

Endryansyah; Wanarti Rusimamto, Puput; Ridianto, Adam; Sugiarto, Hariyadi

2018-04-01

In the Department of Electrical Engineering FT Unesa, there are 3 majors: S1 Electrical Engineering Education, S1 Electrical Engineering, and D3 Electrical Engineering. Courses the Basic System Settings go to in the curriculum of the three programs. Team lecturer college of basic system settings seek learning innovation, focused on the development of trainer to student practicum at the laboratory of systems control. Trainer developed is a servo motor along with the lab module that contains a wide variety of theories about the servo motor and guide the practicum. This research type is development research using methods Research & development (R & D). In which the steps are applied in this study is as follows: pay attention to the potential and existing problems, gather information and study the literature, design the product, validate the design, revise the design, a limited trial. The results of the validation of learning device in the form of modules and trainer obtained as follows: score validation of learning device is 3,64; score validation lab module Servo Motor is 3,47; and questionnaire responses of students is 3,73. The result of the whole validation value is located in the interval >of 3.25 s/d 4 with the category of “Very Valid”, so it can be concluded that all instruments have a level of validity “Very Valid” and worthy of use for further learning.

The development of the Final Approach Spacing Tool (FAST): A cooperative controller-engineer design approach

NASA Technical Reports Server (NTRS)

Lee, Katharine K.; Davis, Thomas J.

1995-01-01

Historically, the development of advanced automation for air traffic control in the United States has excluded the input of the air traffic controller until the need of the development process. In contrast, the development of the Final Approach Spacing Tool (FAST), for the terminal area controller, has incorporated the end-user in early, iterative testing. This paper describes a cooperative between the controller and the developer to create a tool which incorporates the complexity of the air traffic controller's job. This approach to software development has enhanced the usability of FAST and has helped smooth the introduction of FAST into the operational environment.

Measurement of instantaneous rotational speed using double-sine-varying-density fringe pattern

NASA Astrophysics Data System (ADS)

Zhong, Jianfeng; Zhong, Shuncong; Zhang, Qiukun; Peng, Zhike

2018-03-01

Fast and accurate rotational speed measurement is required both for condition monitoring and faults diagnose of rotating machineries. A vision- and fringe pattern-based rotational speed measurement system was proposed to measure the instantaneous rotational speed (IRS) with high accuracy and reliability. A special double-sine-varying-density fringe pattern (DSVD-FP) was designed and pasted around the shaft surface completely and worked as primary angular sensor. The rotational angle could be correctly obtained from the left and right fringe period densities (FPDs) of the DSVD-FP image sequence recorded by a high-speed camera. The instantaneous angular speed (IAS) between two adjacent frames could be calculated from the real-time rotational angle curves, thus, the IRS also could be obtained accurately and efficiently. Both the measurement principle and system design of the novel method have been presented. The influence factors on the sensing characteristics and measurement accuracy of the novel system, including the spectral centrobaric correction method (SCCM) on the FPD calculation, the noise sources introduce by the image sensor, the exposure time and the vibration of the shaft, were investigated through simulations and experiments. The sampling rate of the high speed camera could be up to 5000 Hz, thus, the measurement becomes very fast and the change in rotational speed was sensed within 0.2 ms. The experimental results for different IRS measurements and characterization of the response property of a servo motor demonstrated the high accuracy and fast measurement of the proposed technique, making it attractive for condition monitoring and faults diagnosis of rotating machineries.

On-line tool breakage monitoring of vibration tapping using spindle motor current

NASA Astrophysics Data System (ADS)

Li, Guangjun; Lu, Huimin; Liu, Gang

2008-10-01

Input current of driving motor has been employed successfully as monitoring the cutting state in manufacturing processes for more than a decade. In vibration tapping, however, the method of on-line monitoring motor electric current has not been reported. In this paper, a tap failure prediction method is proposed to monitor the vibration tapping process using the electrical current signal of the spindle motor. The process of vibration tapping is firstly described. Then the relationship between the torque of vibration tapping and the electric current of motor is investigated by theoretic deducing and experimental measurement. According to those results, a monitoring method of tool's breakage is proposed through monitoring the ratio of the current amplitudes during adjacent vibration tapping periods. Finally, a low frequency vibration tapping system with motor current monitoring is built up using a servo motor B-106B and its driver CR06. The proposed method has been demonstrated with experiment data of vibration tapping in titanic alloys. The result of experiments shows that the method, which can avoid the tool breakage and giving a few error alarms when the threshold of amplitude ratio is 1.2 and there is at least 2 times overrun among 50 adjacent periods, is feasible for tool breakage monitoring in the process of vibration tapping small thread holes.

Wellbore inertial directional surveying system

DOEpatents

Andreas, R.D.; Heck, G.M.; Kohler, S.M.; Watts, A.C.

1982-09-08

A wellbore inertial directional surveying system for providing a complete directional survey of an oil or gas well borehole to determine the displacement in all three directions of the borehole path relative to the well head at the surface. The information generated by the present invention is especially useful when numerous wells are drilled to different geographical targets from a single offshore platform. Accurate knowledge of the path of the borehole allows proper well spacing and provides assurance that target formations are reached. The tool is lowered down into a borehole on an electrical cable. A computer positioned on the surface communicates with the tool via the cable. The tool contains a sensor block which is supported on a single gimbal, the rotation axis of which is aligned with the cylinder axis of the tool and, correspondingly, the borehole. The gyroscope measurement of the sensor block rotation is used in a null-seeking servo loop which essentially prevents rotation of the sensor block about the gimbal axis. Angular rates of the sensor block about axes which are perpendicular to te gimbal axis are measured by gyroscopes in a manner similar to a strapped-down arrangement. Three accelerometers provide acceleration information as the tool is lowered within the borehole. The uphole computer derives position information based upon acceleration information and angular rate information. Kalman estimation techniques are used to compensate for system errors. 25 figures.

Wellbore inertial directional surveying system

DOEpatents

Andreas, Ronald D.; Heck, G. Michael; Kohler, Stewart M.; Watts, Alfred C.

1991-01-01

A wellbore inertial directional surveying system for providing a complete directional survey of an oil or gas well borehole to determine the displacement in all three directions of the borehole path relative to the well head at the surface. The information generated by the present invention is especially useful when numerous wells are drilled to different geographical targets from a single off-shore platform. Accurate knowledge of the path of the borehole allows proper well spacing and provides assurance that target formations are reached. The tool is lowered down into a borehole on the electrical cable. A computer positioned on the surface communicates with the tool via the cable. The tool contains a sensor block which is supported on a single gimbal, the rotation axis of which is aligned with the cylinder axis of the tool and, correspondingly, the borehole. The gyroscope measurement of the sensor block rotation is used in a null-seeking servo loop which essentially prevents rotation of the sensor block aboutthe gimbal axis. Angular rates of the sensor block about axes which are perpendicular to the gimbal axis are measured by gyroscopes in a manner similar to a strapped-down arrangement. Three accelerometers provide acceleration information as the tool is lowered within the borehole. The uphole computer derives position information based upon acceleration information and anular rate information. Kalman estimation techniques are used to compensate for system errors.

MULTIPLE SHAFT TOOL HEAD

DOEpatents

Colbert, H.P.

1962-10-23

An improved tool head arrangement is designed for the automatic expanding of a plurality of ferruled tubes simultaneously. A plurality of output shafts of a multiple spindle drill head are driven in unison by a hydraulic motor. A plurality of tube expanders are respectively coupled to the shafts through individual power train arrangements. The axial or thrust force required for the rolling operation is provided by a double acting hydraulic cylinder having a hollow through shaft with the shaft cooperating with an internally rotatable splined shaft slidably coupled to a coupling rigidly attached to the respectlve output shaft of the drill head, thereby transmitting rotary motion and axial thrust simultaneously to the tube expander. A hydraulic power unit supplies power to each of the double acting cylinders through respective two-position, four-way valves, under control of respective solenoids for each of the cylinders. The solenoids are in turn selectively controlled by a tool selection control unit which in turn is controlled by signals received from a programmed, coded tape from a tape reader. The number of expanders that are extended in a rolling operation, which may be up to 42 expanders, is determined by a predetermined program of operations depending upon the arrangement of the ferruled tubes to be expanded in the tube bundle. The tape reader also supplies dimensional information to a machine tool servo control unit for imparting selected, horizontal and/or vertical movement to the tool head assembly. (AEC)

Powered orthosis and attachable power-assist device with Hydraulic Bilateral Servo System.

PubMed

Ohnishi, Kengo; Saito, Yukio; Oshima, Toru; Higashihara, Takanori

2013-01-01

This paper discusses the developments and control strategies of exoskeleton-type robot systems for the application of an upper limb powered orthosis and an attachable power-assist device for care-givers. Hydraulic Bilateral Servo System, which consist of a computer controlled motor, parallel connected hydraulic actuators, position sensors, and pressure sensors, are installed in the system to derive the joint motion of the exoskeleton arm. The types of hydraulic component structure and the control strategy are discussed in relation to the design philosophy and target joints motions.

Transistor-based interface circuitry

DOEpatents

Taubman, Matthew S [Richland, WA

2007-02-13

Among the embodiments of the present invention is an apparatus that includes a transistor, a servo device, and a current source. The servo device is operable to provide a common base mode of operation of the transistor by maintaining an approximately constant voltage level at the transistor base. The current source is operable to provide a bias current to the transistor. A first device provides an input signal to an electrical node positioned between the emitter of the transistor and the current source. A second device receives an output signal from the collector of the transistor.

Design and evaluation of an air traffic control Final Approach Spacing Tool

NASA Technical Reports Server (NTRS)

Davis, Thomas J.; Erzberger, Heinz; Green, Steven M.; Nedell, William

1991-01-01

This paper describes the design and simulator evaluation of an automation tool for assisting terminal radar approach controllers in sequencing and spacing traffic onto the final approach course. The automation tool, referred to as the Final Approach Spacing Tool (FAST), displays speed and heading advisories for arriving aircraft as well as sequencing information on the controller's radar display. The main functional elements of FAST are a scheduler that schedules and sequences the traffic, a four-dimensional trajectory synthesizer that generates the advisories, and a graphical interface that displays the information to the controller. FAST has been implemented on a high-performance workstation. It can be operated as a stand-alone in the terminal radar approach control facility or as an element of a system integrated with automation tools in the air route traffic control center. FAST was evaluated by experienced air traffic controllers in a real-time air traffic control simulation. simulation results summarized in the paper show that the automation tools significantly reduced controller work load and demonstrated a potential for an increase in landing rate.

48 CFR 1852.223-76 - Federal Automotive Statistical Tool Reporting.

Code of Federal Regulations, 2011 CFR

2011-10-01

... data describing vehicle usage required by the Federal Automotive Statistical Tool (FAST) by October 15 of each year. FAST is accessed through http://fastweb.inel.gov/. (End of clause) [68 FR 43334, July...

48 CFR 1852.223-76 - Federal Automotive Statistical Tool Reporting.

Code of Federal Regulations, 2012 CFR

2012-10-01

... data describing vehicle usage required by the Federal Automotive Statistical Tool (FAST) by October 15 of each year. FAST is accessed through http://fastweb.inel.gov/. (End of clause) [68 FR 43334, July...

48 CFR 1852.223-76 - Federal Automotive Statistical Tool Reporting.

Code of Federal Regulations, 2013 CFR

2013-10-01

... data describing vehicle usage required by the Federal Automotive Statistical Tool (FAST) by October 15 of each year. FAST is accessed through http://fastweb.inel.gov/. (End of clause) [68 FR 43334, July...

48 CFR 1852.223-76 - Federal Automotive Statistical Tool Reporting.

Code of Federal Regulations, 2014 CFR

2014-10-01

... data describing vehicle usage required by the Federal Automotive Statistical Tool (FAST) by October 15 of each year. FAST is accessed through http://fastweb.inel.gov/. (End of clause) [68 FR 43334, July...

Bi-level positive pressure ventilation and adaptive servo ventilation in patients with heart failure and Cheyne-Stokes respiration.

PubMed

Fietze, Ingo; Blau, Alexander; Glos, Martin; Theres, Heinz; Baumann, Gert; Penzel, Thomas

2008-08-01

Nocturnal positive pressure ventilation (PPV) has been shown to be effective in patients with impaired left ventricular ejection fraction (LVEF) and Cheyne-Stokes respiration (CSR). We investigated the effect of a bi-level PPV and adaptive servo ventilation on LVEF, CSR, and quantitative sleep quality. Thirty-seven patients (New York heart association [NYHA] II-III) with LVEF<45% and CSR were investigated by electrocardiography (ECG), echocardiography and polysomnography. The CSR index (CSRI) was 32.3+/-16.2/h. Patients were randomly treated with bi-level PPV using the standard spontaneous/timed (S/T) mode or with adaptive servo ventilation mode (AutoSetCS). After 6 weeks, 30 patients underwent control investigations with ECG, echocardiography, and polysomnography. The CSRI decreased significantly to 13.6+/-13.4/h. LVEF increased significantly after 6 weeks of ventilation (from 25.1+/-8.5 to 28.8+/-9.8%, p<0.01). The number of respiratory-related arousals decreased significantly. Other quantitative sleep parameters did not change. The Epworth sleepiness score improved slightly. Daytime blood pressure and heart rate did not change. There were some differences between bi-level PPV and adaptive servo ventilation: the CSRI decreased more in the AutoSetCS group while the LVEF increased more in the bi-level PPV group. Administration of PPV can successfully attenuate CSA. Reduced CSA may be associated with improved LVEF; however, this may depend on the mode of PPV. Changed LVEF is evident even in the absence of significant changes in blood pressure.

Technique for positioning hologram for balancing large data capacity with fast readout

NASA Astrophysics Data System (ADS)

Shimada, Ken-ichi; Hosaka, Makoto; Yamazaki, Kazuyoshi; Onoe, Shinsuke; Ide, Tatsuro

2017-09-01

The technical difficulty of balancing large data capacity with a high data transfer rate in holographic data storage systems (HDSSs) is significantly high because of tight tolerances for physical perturbation. From a system margin perspective in terabyte-class HDSSs, the positioning error of a holographic disc should be within about 10 µm to ensure high readout quality. Furthermore, fine control of the positioning should be accomplished within a time frame of about 10 ms for a high data transfer rate of the Gbps class, while a conventional method based on servo control of spindle or sled motors can rarely satisfy the requirement. In this study, a new compensation method for the effect of positioning error, which precisely controls the positioning of a Nyquist aperture instead of a holographic disc, has been developed. The method relaxes the markedly low positional tolerance of a holographic disc. Moreover, owing to the markedly light weight of the aperture, positioning control within the required time frame becomes feasible.

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.

Automated digital magnetofluidics

NASA Astrophysics Data System (ADS)

Schneider, J.; Garcia, A. A.; Marquez, M.

2008-08-01

Drops can be moved in complex patterns on superhydrophobic surfaces using a reconfigured computer-controlled x-y metrology stage with a high degree of accuracy, flexibility, and reconfigurability. The stage employs a DMC-4030 controller which has a RISC-based, clock multiplying processor with DSP functions, accepting encoder inputs up to 22 MHz, provides servo update rates as high as 32 kHz, and processes commands at rates as fast as 40 milliseconds. A 6.35 mm diameter cylindrical NdFeB magnet is translated by the stage causing water drops to move by the action of induced magnetization of coated iron microspheres that remain in the drop and are attracted to the rare earth magnet through digital magnetofluidics. Water drops are easily moved in complex patterns in automated digital magnetofluidics at an average speed of 2.8 cm/s over a superhydrophobic polyethylene surface created by solvent casting. With additional components, some potential uses for this automated microfluidic system include characterization of superhydrophobic surfaces, water quality analysis, and medical diagnostics.

Dynamic parameter identification of robot arms with servo-controlled electrical motors

NASA Astrophysics Data System (ADS)

Jiang, Zhao-Hui; Senda, Hiroshi

2005-12-01

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

Data-driven adaptive fractional order PI control for PMSM servo system with measurement noise and data dropouts.

PubMed

Xie, Yuanlong; Tang, Xiaoqi; Song, Bao; Zhou, Xiangdong; Guo, Yixuan

2018-04-01

In this paper, data-driven adaptive fractional order proportional integral (AFOPI) control is presented for permanent magnet synchronous motor (PMSM) servo system perturbed by measurement noise and data dropouts. The proposed method directly exploits the closed-loop process data for the AFOPI controller design under unknown noise distribution and data missing probability. Firstly, the proposed method constructs the AFOPI controller tuning problem as a parameter identification problem using the modified l p norm virtual reference feedback tuning (VRFT). Then, iteratively reweighted least squares is integrated into the l p norm VRFT to give a consistent compensation solution for the AFOPI controller. The measurement noise and data dropouts are estimated and eliminated by feedback compensation periodically, so that the AFOPI controller is updated online to accommodate the time-varying operating conditions. Moreover, the convergence and stability are guaranteed by mathematical analysis. Finally, the effectiveness of the proposed method is demonstrated both on simulations and experiments implemented on a practical PMSM servo system. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system.

PubMed

Gao, Bingwei; Shao, Junpeng; Yang, Xiaodong

2014-11-01

In order to enhance the anti-jamming ability of electro-hydraulic position servo control system at the same time improve the control precision of the system, a compound control strategy that combines velocity compensation with Active Disturbance Rejection Controller (ADRC) is proposed, and the working principle of the compound control strategy is given. ADRC controller is designed, and the extended state observer is used for observing internal parameters uncertainties and external disturbances, so that the disturbances of the system are suppressed effectively. Velocity compensation controller is designed and the compensation model is derived to further improve the positioning accuracy of the system and to achieve the velocity compensation without disturbance. The compound control strategy is verified by the simulation and experiment respectively, and the simulation and experimental results show that the electro-hydraulic position servo control system with ADRC controller can effectively inhibit the external disturbances, the precise positioning control is realized after introducing the velocity compensation controller, and verify that the compound control strategy is effective. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

NASA Astrophysics Data System (ADS)

Ou, Meiying; Li, Shihua; Wang, Chaoli

2013-12-01

This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

On-orbit evaluation of the control system/structural mode interactions on OSO-8

NASA Technical Reports Server (NTRS)

Slafer, L. I.

1980-01-01

The Orbiting Solar Observatory-8 experienced severe structural mode/control loop interaction problems during the spacecraft development. Extensive analytical studies, using the hybrid coordinate modeling approach, and comprehensive ground testing were carried out in order to achieve the system's precision pointing performance requirements. A recent series of flight tests were conducted with the spacecraft in which a wide bandwidth, high resolution telemetry system was utilized to evaluate the on-orbit flexible dynamics characteristics of the vehicle along with the control system performance. This paper describes the results of these tests, reviewing the basic design problem, analytical approach taken, ground test philosophy, and on-orbit testing. Data from the tests was used to determine the primary mode frequency, damping, and servo coupling dynamics for the on-orbit condition. Additionally, the test results have verified analytically predicted differences between the on-orbit and ground test environments. The test results have led to a validation of both the analytical modeling and servo design techniques used during the development of the control system, and also verified the approach taken to vehicle and servo ground testing.

Influence of Forming Conditions on Springback in V-bending Process Using Servo Press

NASA Astrophysics Data System (ADS)

Abe, Shinya; Takahashi, Susumu

To improve fuel efficiency, aluminum alloys and high tensile steel sheets are increasingly being applied to automotive body parts. However, it is difficult to obtain accurate dimensions of formed parts. Therefore, technologies for reducing springback for the part formed by press are strongly demanded. It is said that the die holding time at the bottom dead center of a servo press slide can affect springback. To clarify the forming mechanisms of this phenomenon, a V bending test with a servo press was performed. Aluminum alloys sheets are applied as specimens. The location of press slide was measured by linear scales. It was found that the movement of the slide in a slide motion program differs from the actual movement of the slide. It is important to confirm if the slide is located in the position specified in the program. In addition, a springback angle measurement system is proposed that uses laser displacement measurement apparatus. Because it avoids human error, the proposed measurement system is more accurate than the image processing method.

Analysis of the position of robotic cell components and its impact on energy consumption by robot

NASA Astrophysics Data System (ADS)

Banas, W.; Gwiazda, A.; Monica, Z.; Sekala, A.; Foit, K.

2016-08-01

Location elements in the robot cell is very important must provide reasonable access to technological points. This is a basic condition, but it is possible to shift these elements worth considering over other criteria. One of them can be energy consumption. This is an economic parameter and in most cases its improvement make shorten the working time an industrial robot. In most conventional mechanical systems you do not need to consume power in standby mode only for a move. Robot because of its construction, even if it does not move has enabled engines and is ready to move. In this case, the servo speed is zero. During this stop servo squeak. Low-speed motors cause the engine torque is reduced and increases power consumption. In larger robots are installed brakes that when the robot does not move mechanically hold the position. Off the robot has enabled brakes and remembers the position servo drives. Brakes must be released when the robot wants to move and drives hold the position.

Noncontact optical motion sensing for real-time analysis

NASA Astrophysics Data System (ADS)

Fetzer, Bradley R.; Imai, Hiromichi

1990-08-01

The adaptation of an image dissector tube (IDT) within the OPTFOLLOW system provides high resolution displacement measurement of a light discontinuity. Due to the high speed response of the IDT and the advanced servo loop circuitry, the system is capable of real time analysis of the object under test. The image of the discontinuity may be contoured by direct or reflected light and ranges spectrally within the field of visible light. The image is monitored to 500 kHz through a lens configuration which transposes the optical image upon the photocathode of the IDT. The photoelectric effect accelerates the resultant electrons through a photomultiplier and an enhanced current is emitted from the anode. A servo loop controls the electron beam, continually centering it within the IDT using magnetic focusing of deflection coils. The output analog voltage from the servo amplifier is thereby proportional to the displacement of the target. The system is controlled by a microprocessor with a 32kbyte memory and provides a digital display as well as instructional readout on a color monitor allowing for offset image tracking and automatic system calibration.

Experiments and simulation of thermal behaviors of the dual-drive servo feed system

NASA Astrophysics Data System (ADS)

Yang, Jun; Mei, Xuesong; Feng, Bin; Zhao, Liang; Ma, Chi; Shi, Hu

2015-01-01

The machine tool equipped with the dual-drive servo feed system could realize high feed speed as well as sharp precision. Currently, there is no report about the thermal behaviors of the dual-drive machine, and the current research of the thermal characteristics of machines mainly focuses on steady simulation. To explore the influence of thermal characterizations on the precision of a jib boring machine assembled dual-drive feed system, the thermal equilibrium tests and the research on thermal-mechanical transient behaviors are carried out. A laser interferometer, infrared thermography and a temperature-displacement acquisition system are applied to measure the temperature distribution and thermal deformation at different feed speeds. Subsequently, the finite element method (FEM) is used to analyze the transient thermal behaviors of the boring machine. The complex boundary conditions, such as heat sources and convective heat transfer coefficient, are calculated. Finally, transient variances in temperatures and deformations are compared with the measured values, and the errors between the measurement and the simulation of the temperature and the thermal error are 2 °C and 2.5 μm, respectively. The researching results demonstrate that the FEM model can predict the thermal error and temperature distribution very well under specified operating condition. Moreover, the uneven temperature gradient is due to the asynchronous dual-drive structure that results in thermal deformation. Additionally, the positioning accuracy decreases as the measured point became further away from the motor, and the thermal error and equilibrium period both increase with feed speeds. The research proposes a systematical method to measure and simulate the boring machine transient thermal behaviors.

Correcting groove error in gratings ruled on a 500-mm ruling engine using interferometric control.

PubMed

Mi, Xiaotao; Yu, Haili; Yu, Hongzhu; Zhang, Shanwen; Li, Xiaotian; Yao, Xuefeng; Qi, Xiangdong; Bayinhedhig; Wan, Qiuhua

2017-07-20

Groove error is one of the most important factors affecting grating quality and spectral performance. To reduce groove error, we propose a new ruling-tool carriage system based on aerostatic guideways. We design a new blank carriage system with double piezoelectric actuators. We also propose a completely closed-loop servo-control system with a new optical measurement system that can control the position of the diamond relative to the blank. To evaluate our proposed methods, we produced several gratings, including an echelle grating with 79  grooves/mm, a grating with 768  grooves/mm, and a high-density grating with 6000  grooves/mm. The results show that our methods effectively reduce groove error in ruled gratings.

Enhanced Numerical Tools for Computer Simulation of Coupled Physical Phenomena and Design of Components Made of Innovative Materials

NASA Astrophysics Data System (ADS)

Cegielski, M.; Hernik, S.; Kula, M.; Oleksy, M.

This section is based on paper [96], the objective of which is modeling of the unilateral damage effect in the aluminum alloy Al-2024, based on the nonlinear Armstrong-Frederick model Eq. 6.60 enriched by damage [170] with a continuous damage deactivation concept. The simulation is proposed in order to model the phenomenon of nonsymmetric hysteresis loop evolution due to different damage growth under tension and compression observed in the experiment [1]. The specimens used in the experiment were made of aluminum alloy Al-2024 (Table 7.1). The tests were carried out at room temperature on a servo-hydraulic INSTRON machine type 1340, using thin-walled tubes of the dimensions: internal diameter 15 mm and external diameter 18 mm.

Computational design and multiscale modeling of a nanoactuator using DNA actuation.

PubMed

Hamdi, Mustapha

2009-12-02

Developments in the field of nanobiodevices coupling nanostructures and biological components are of great interest in medical nanorobotics. As the fundamentals of bio/non-bio interaction processes are still poorly understood in the design of these devices, design tools and multiscale dynamics modeling approaches are necessary at the fabrication pre-project stage. This paper proposes a new concept of optimized carbon nanotube based servomotor design for drug delivery and biomolecular transport applications. The design of an encapsulated DNA-multi-walled carbon nanotube actuator is prototyped using multiscale modeling. The system is parametrized by using a quantum level approach and characterized by using a molecular dynamics simulation. Based on the analysis of the simulation results, a servo nanoactuator using ionic current feedback is simulated and analyzed for application as a drug delivery carrier.

41 CFR 102-34.335 - How do I submit information to the General Services Administration (GSA) for the Federal Fleet...

Code of Federal Regulations, 2012 CFR

2012-01-01

... through the Federal Automotive Statistical Tool (FAST), an Internet-based reporting tool. To find out how to submit motor vehicle data to GSA through FAST, consult the instructions from your agency fleet...; and (5) Fuel used. Note to § 102-34.335: The FAST system is also used by agency Fleet Managers to...

41 CFR 102-34.335 - How do I submit information to the General Services Administration (GSA) for the Federal Fleet...

Code of Federal Regulations, 2010 CFR

2010-07-01

... through the Federal Automotive Statistical Tool (FAST), an Internet-based reporting tool. To find out how to submit motor vehicle data to GSA through FAST, consult the instructions from your agency fleet...; and (5) Fuel used. Note to § 102-34.335: The FAST system is also used by agency Fleet Managers to...

41 CFR 102-34.335 - How do I submit information to the General Services Administration (GSA) for the Federal Fleet...

Code of Federal Regulations, 2014 CFR

2014-01-01

... through the Federal Automotive Statistical Tool (FAST), an Internet-based reporting tool. To find out how to submit motor vehicle data to GSA through FAST, consult the instructions from your agency fleet...; and (5) Fuel used. Note to § 102-34.335: The FAST system is also used by agency Fleet Managers to...

41 CFR 102-34.335 - How do I submit information to the General Services Administration (GSA) for the Federal Fleet...

Code of Federal Regulations, 2011 CFR

2011-01-01

... through the Federal Automotive Statistical Tool (FAST), an Internet-based reporting tool. To find out how to submit motor vehicle data to GSA through FAST, consult the instructions from your agency fleet...; and (5) Fuel used. Note to § 102-34.335: The FAST system is also used by agency Fleet Managers to...

41 CFR 102-34.335 - How do I submit information to the General Services Administration (GSA) for the Federal Fleet...

Code of Federal Regulations, 2013 CFR

2013-07-01

... through the Federal Automotive Statistical Tool (FAST), an Internet-based reporting tool. To find out how to submit motor vehicle data to GSA through FAST, consult the instructions from your agency fleet...; and (5) Fuel used. Note to § 102-34.335: The FAST system is also used by agency Fleet Managers to...

Aero-servo-viscoelasticity theory: Lifting surfaces, plates, velocity transients, flutter, and instability

NASA Astrophysics Data System (ADS)

Merrett, Craig G.

Modern flight vehicles are fabricated from composite materials resulting in flexible structures that behave differently from the more traditional elastic metal structures. Composite materials offer a number of advantages compared to metals, such as improved strength to mass ratio, and intentional material property anisotropy. Flexible aircraft structures date from the Wright brothers' first aircraft with fabric covered wooden frames. The flexibility of the structure was used to warp the lifting surface for flight control, a concept that has reappeared as aircraft morphing. These early structures occasionally exhibited undesirable characteristics during flight such as interactions between the empennage and the aft fuselage, or control problems with the elevators. The research to discover the cause and correction of these undesirable characteristics formed the first foray into the field of aeroelasticity. Aeroelasticity is the intersection and interaction between aerodynamics, elasticity, and inertia or dynamics. Aeroelasticity is well suited for metal aircraft, but requires expansion to improve its applicability to composite vehicles. The first is a change from elasticity to viscoelasticity to more accurately capture the solid mechanics of the composite material. The second change is to include control systems. While the inclusion of control systems in aeroelasticity lead to aero-servo-elasticity, more control possibilities exist for a viscoelastic composite material. As an example, during the lay-up of carbon-epoxy plies, piezoelectric control patches are inserted between different plies to give a variety of control options. The expanded field is called aero-servo-viscoelasticity. The phenomena of interest in aero-servo-viscoelasticity are best classified according to the type of structure considered, either a lifting surface or a panel, and the type of dynamic stability present. For both types of structures, the governing equations are integral-partial differential equations. The spatial component of the governing equations is eliminated using a series expansion of basis functions and by applying Galerkin's method. The number of terms in the series expansion affects the convergence of the spatial component, and convergence is best determined by the von Koch rules that previously appeared for column buckling problems. After elimination of the spatial component, an ordinary integral-differential equation in time remains. The dynamic stability of elastic and viscoelastic problems is assessed using the determinant of the governing system of equations and the time component of the solution in the form exp (lambda t). The determinant is in terms of lambda where the values of lambda are the latent roots of the aero-servo-viscoelastic system. The real component of lambda dictates the stability of the system. If all the real components are negative, the system is stable. If at least one real component is zero and all others are negative, the system is neutrally stable. If one or more real components are positive, the system is unstable. In aero-servo-viscoelasticity, the neutrally stable condition is termed flutter. For an aero-servo-viscoelastic lifting surface, the unstable condition is historically termed torsional divergence. The more general aero-servo-viscoelastic theory has produced a number of important results, enumerated in the following list: 1. Subsonic panel flutter can occur before panel instability. This result overturned a long held assumption in aeroelasticity, and was produced by the novel application of the von Koch rules for convergence. Further, experimental results from the 1950s by the Air Force were retrieved to provide additional proof. 2. An expanded definition for flutter of a lifting surface. The legacy definition is that flutter is the first occurrence of simple harmonic motion of a structure, and the flight velocity at which this motion occurs is taken as the flutter speed. The expanded definition indicates that the flutter condition should be taken when simple harmonic motion occurs and certain additional velocity derivatives are satisfied. 3. The viscoelastic material behavior imposes a flutter time indicating that the presence of flutter should be verified for the entire life time of a flight vehicle. 4. An expanded definition for instability of a lifting surface or panel. Traditionally, instability is treated as a static phenomenon. The static case is only a limiting case of dynamic instability for a viscoelastic structure. Instability occurs when a particular combination of flight velocity and time are reached leading to growing displacements of the structure. 5. The inclusion of flight velocity transients that occur during maneuvers. Two- and three-dimensional unsteady incompressible and compressible aerodynamics were reformulated for a time dependent velocity. The inclusion of flight velocity transients does affect the flutter and instability conditions for a lifting surface and a panel. The applications of aero-servo-viscoelasticity are to aircraft design, wind turbine blades, submarine's stealth coatings and hulls, and land transportation to name a few examples. One caveat regarding this field of research is that general predictions for an application are not always possible as the stability of a structure depends on the phase relations between the various parameters such as mass, stiffness, damping, and the aerodynamic loads. The viscoelastic material parameters in particular alter the system parameters in directions that are difficult to predict. The inclusion of servo controls permits an additional design factor and can improve the performance of a structure beyond the native performance; however over-control is possible so a maximum limit to useful control does exist. Lastly, the number of material and control parameters present in aero-servo-viscoelasticity are amenable to optimization protocols to produce the optimal structure for a given mission.

A modern control theory based algorithm for control of the NASA/JPL 70-meter antenna axis servos

NASA Technical Reports Server (NTRS)

Hill, R. E.

1987-01-01

A digital computer-based state variable controller was designed and applied to the 70-m antenna axis servos. The general equations and structure of the algorithm and provisions for alternate position error feedback modes to accommodate intertarget slew, encoder referenced tracking, and precision tracking modes are descibed. Development of the discrete time domain control model and computation of estimator and control gain parameters based on closed loop pole placement criteria are discussed. The new algorithm was successfully implemented and tested in the 70-m antenna at Deep Space Network station 63 in Spain.

Visual-servoing optical microscopy

DOEpatents

Callahan, Daniel E.; Parvin, Bahram

2009-06-09

The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time: quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

Visual-servoing optical microscopy

DOEpatents

Callahan, Daniel E [Martinez, CA; Parvin, Bahram [Mill Valley, CA

2011-05-24

The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time; quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

Visual-servoing optical microscopy

DOEpatents

Callahan, Daniel E; Parvin, Bahram

2013-10-01

The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time; quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

AeroPropulsoServoElasticity: Dynamic Modeling of the Variable Cycle Propulsion System

NASA Technical Reports Server (NTRS)

Kopasakis, George

2012-01-01

This presentation was made at the 2012 Fundamental Aeronautics Program Technical Conference and it covers research work for the Dynamic Modeling of the Variable cycle Propulsion System that was done under the Supersonics Project, in the area of AeroPropulsoServoElasticity. The presentation covers the objective for the propulsion system dynamic modeling work, followed by the work that has been done so far to model the variable Cycle Engine, modeling of the inlet, the nozzle, the modeling that has been done to model the affects of flow distortion, and finally presenting some concluding remarks and future plans.

Analog simulation of flux-summing servo-model, phases 1 and 2

NASA Technical Reports Server (NTRS)

Hriber, E. J.

1984-01-01

The analog simulation was developed for a closed-loop system having an electrohydraulic flux-summing servo valve and actuator with associated inertial load. One-fourth of the system's total forward gain is carried by each of four channels. The present study successfully applied failure mode management techniques to the problem of channel failure. Digital logic circuitry was developed to maintain the overall forward gain of the system at a constant value, in the presence of channel failure. Finally, the stability of the system was verified, and performance characteristics were determined through the use of frequency response methods.

Servo Reduces Friction In Flexure Bearing

NASA Technical Reports Server (NTRS)

Clingman, W. Dean

1991-01-01

Proposed servocontrol device reduces such resistive torques as stiction, friction, ripple, and cogging in flexure bearing described in LAR-14348, "Flexure Bearing Reduces Startup Friction". Reduces frictional "bump" torque encountered when bearing ball runs into buildup of grease on bearing race. Also used as cable follower to reduce torque caused by cable and hoses when they bend because of motion of bearing. New device includes torquer across ball race. Torquer controlled by servo striving to keep flexure at null, removing torque to outer ring. In effect, device is inner control loop reducing friction, but does not control platforms or any outer-control-loop functions.

Definition and design of an experiment to test raster scanning with rotating unbalanced-mass devices on gimbaled payloads

NASA Technical Reports Server (NTRS)

Lightsey, W. D.; Alhorn, D. C.; Polites, M. E.

1992-01-01

An experiment designed to test the feasibility of using rotating unbalanced-mass (RUM) devices for line and raster scanning gimbaled payloads, while expending very little power is described. The experiment is configured for ground-based testing, but the scan concept is applicable to ground-based, balloon-borne, and space-based payloads, as well as free-flying spacecraft. The servos used in scanning are defined; the electronic hardware is specified; and a computer simulation model of the system is described. Simulation results are presented that predict system performance and verify the servo designs.

Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

NASA Astrophysics Data System (ADS)

Song, Zhen; Moore, Kevin L.; Chen, YangQuan; Bahl, Vikas

2003-09-01

As an outgrowth of series of projects focused on mobility of unmanned ground vehicles (UGV), an omni-directional (ODV), multi-robot, autonomous mobile parking security system has been developed. The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a ``marsupial mothership'' for the ODIS vehicles and performs coarse resolution inspection. A key task for the T4 robot is license plate recognition (LPR). For a successful LPR task without compromising the recognition rate, the robot must be able to identify the bumper locations of vehicles in the parking area and then precisely position the LPR camera relative to the bumper. This paper describes a 2D-laser scanner based approach to bumper identification and laser servoing for the T4 robot. The system uses a gimbal-mounted scanning laser. As the T4 robot travels down a row of parking stalls, data is collected from the laser every 100ms. For each parking stall in the range of the laser during the scan, the data is matched to a ``bumper box'' corresponding to where a car bumper is expected, resulting in a point cloud of data corresponding to a vehicle bumper for each stall. Next, recursive line-fitting algorithms are used to determine a line for the data in each stall's ``bumper box.'' The fitting technique uses Hough based transforms, which are robust against segmentation problems and fast enough for real-time line fitting. Once a bumper line is fitted with an acceptable confidence, the bumper location is passed to the T4 motion controller, which moves to position the LPR camera properly relative to the bumper. The paper includes examples and results that show the effectiveness of the technique, including its ability to work in real-time.

The performance of two automatic servo-ventilation devices in the treatment of central sleep apnea.

PubMed

Javaheri, Shahrokh; Goetting, Mark G; Khayat, Rami; Wylie, Paul E; Goodwin, James L; Parthasarathy, Sairam

2011-12-01

This study was conducted to evaluate the therapeutic performance of a new auto Servo Ventilation device (Philips Respironics autoSV Advanced) for the treatment of complex central sleep apnea (CompSA). The features of autoSV Advanced include an automatic expiratory pressure (EPAP) adjustment, an advanced algorithm for distinguishing open versus obstructed airway apnea, a modified auto backup rate which is proportional to subject's baseline breathing rate, and a variable inspiratory support. Our primary aim was to compare the performance of the advanced servo-ventilator (BiPAP autoSV Advanced) with conventional servo-ventilator (BiPAP autoSV) in treating central sleep apnea (CSA). A prospective, multicenter, randomized, controlled trial. Five sleep laboratories in the United States. Thirty-seven participants were included. All subjects had full night polysomnography (PSG) followed by a second night continuous positive airway pressure (CPAP) titration. All had a central apnea index ≥ 5 per hour of sleep on CPAP. Subjects were randomly assigned to 2 full-night PSGs while treated with either the previously marketed autoSV, or the new autoSV Advanced device. The 2 randomized sleep studies were blindly scored centrally. Across the 4 nights (PSG, CPAP, autoSV, and autoSV Advanced), the mean ± 1 SD apnea hypopnea indices were 53 ± 23, 35 ± 20, 10 ± 10, and 6 ± 6, respectively; indices for CSA were 16 ± 19, 19 ± 18, 3 ± 4, and 0.6 ± 1. AutoSV Advanced was more effective than other modes in correcting sleep related breathing disorders. BiPAP autoSV Advanced was more effective than conventional BiPAP autoSV in the treatment of sleep disordered breathing in patients with CSA.

A randomized clinical trial of therapeutic hypothermia mode during transport for neonatal encephalopathy.

PubMed

Akula, Vishnu Priya; Joe, Priscilla; Thusu, Kajori; Davis, Alexis S; Tamaresis, John S; Kim, Sunhwa; Shimotake, Thomas K; Butler, Stephen; Honold, Jose; Kuzniewicz, Michael; DeSandre, Glenn; Bennett, Mihoko; Gould, Jeffrey; Wallenstein, Matthew B; Van Meurs, Krisa

2015-04-01

To determine if temperature regulation is improved during neonatal transport using a servo-regulated cooling device when compared with standard practice. We performed a multicenter, randomized, nonmasked clinical trial in newborns with neonatal encephalopathy cooled during transport to 9 neonatal intensive care units in California. Newborns who met institutional criteria for therapeutic hypothermia were randomly assigned to receive cooling according to usual center practices vs device servo-regulated cooling. The primary outcome was the percentage of temperatures in target range (33°-34°C) during transport. Secondary outcomes included percentage of newborns reaching target temperature any time during transport, time to target temperature, and percentage of newborns in target range 1 hour after cooling initiation. One hundred newborns were enrolled: 49 to control arm and 51 to device arm. Baseline demographics did not differ with the exception of cord pH. For each subject, the percentage of temperatures in the target range was calculated. Infants cooled using the device had a higher percentage of temperatures in target range compared with control infants (median 73% [IQR 17-88] vs 0% [IQR 0-52], P < .001). More subjects reached target temperature during transport using the servo-regulated device (80% vs 49%, P <.001), and in a shorter time period (44 ± 31 minutes vs 63 ± 37 minutes, P = .04). Device-cooled infants reached target temperature by 1 hour with greater frequency than control infants (71% vs 20%, P < .001). Cooling using a servo-regulated device provides more predictable temperature management during neonatal transport than does usual care for outborn newborns with neonatal encephalopathy. Copyright © 2015 Elsevier Inc. All rights reserved.

Analysis of TMT primary mirror control-structure interaction

NASA Astrophysics Data System (ADS)

MacMynowski, Douglas G.; Thompson, Peter M.; Sirota, Mark J.

2008-07-01

The primary mirror control system (M1CS) keeps the 492 segments of the Thirty Meter Telescope primary mirror aligned in the presence of disturbances. A global position control loop uses feedback from inter-segment edge sensors to three actuators behind each segment that control segment piston, tip and tilt. If soft force actuators are used (e.g. voice-coil), then in addition to the global position loop there will be a local servo loop to provide stiffness. While the M1 control system at Keck compensates only for slow disturbances such as gravity and thermal variations, the M1CS for TMT will need to provide some compensation for higher frequency wind disturbances in order to meet stringent error budget targets. An analysis of expected high-wavenumber wind forces on M1 suggests that a 1Hz control bandwidth is required for the global feedback of segment edge-sensorbased position information in order to minimize high spatial frequency segment response for both seeing-limited and adaptive optics performance. A much higher bandwidth is required from the local servo loop to provide adequate stiffness to wind or acoustic disturbances. A related paper presents the control designs for the local actuator servo loops. The disturbance rejection requirements would not be difficult to achieve for a single segment, but the structural coupling between segments mounted on a flexible mirror cell results in controlstructure interaction (CSI) that limits the achievable bandwidth. Using a combination of simplified modeling to build intuition and the full telescope finite element model for verification, we present designs and analysis for both the local servo loop and global loop demonstrating sufficient bandwidth and resulting wind-disturbance rejection despite the presence of CSI.

Design and fabrication of a freeform phase plate for high-order ocular aberration correction

NASA Astrophysics Data System (ADS)

Yi, Allen Y.; Raasch, Thomas W.

2005-11-01

In recent years it has become possible to measure and in some instances to correct the high-order aberrations of human eyes. We have investigated the correction of wavefront error of human eyes by using phase plates designed to compensate for that error. The wavefront aberrations of the four eyes of two subjects were experimentally determined, and compensating phase plates were machined with an ultraprecision diamond-turning machine equipped with four independent axes. A slow-tool servo freeform trajectory was developed for the machine tool path. The machined phase-correction plates were measured and compared with the original design values to validate the process. The position of the phase-plate relative to the pupil is discussed. The practical utility of this mode of aberration correction was investigated with visual acuity testing. The results are consistent with the potential benefit of aberration correction but also underscore the critical positioning requirements of this mode of aberration correction. This process is described in detail from optical measurements, through machining process design and development, to final results.

L1 adaptive control of uncertain gear transmission servo systems with deadzone nonlinearity.

PubMed

Zuo, Zongyu; Li, Xiao; Shi, Zhiguang

2015-09-01

This paper deals with the adaptive control problem of Gear Transmission Servo (GTS) systems in the presence of unknown deadzone nonlinearity and viscous friction. A global differential homeomorphism based on a novel differentiable deadzone model is proposed first. Since there exist both matched and unmatched state-dependent unknown nonlinearities, a full-state feedback L1 adaptive controller is constructed to achieve uniformly bounded transient response in addition to steady-state performance. Finally, simulation results are included to show the elimination of limit cycles, in addition to demonstrating the main results in this paper. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Current control circuitry

DOEpatents

Taubman, Matthew S [Richland, WA

2005-03-15

Among the embodiments of the present invention is an apparatus that includes a transistor (30), a servo device (40), and a current source (50). The servo device (40) is operable to provide a common base mode of operation of the transistor (30) by maintaining an approximately constant voltage level at the transistor base (32b). The current source (150) is operable to provide a bias current to the transistor (30). A first device (24) provides an input signal to an electrical node (70) positioned between the emitter (32e) of the transistor (30) and the current source (50). A second device (26) receives an output signal from the collector (32c) of the transistor (30).

A study of the feasibility of directly applying gas generator systems to space shuttle mechanical functions

NASA Technical Reports Server (NTRS)

Lake, E. R.

1974-01-01

This study examined the current status and potential application of pyrotechnic gas generators and energy convertors for the space shuttle program. While most pyrotechnic devices utilize some form of linear actuation, only limited use of rotary actuators has been observed. This latter form of energy conversion, using a vane-type actuator as optimum, offers considerable potential in the area of servo, as well as non-servo systems, and capitalizes on a means of providing prolonged operating times. Pyrotechnic devices can often be shown to provide the optimum means of attaining a truly redundant back-up to a primary, non-pyrotechnic system.

Dynamic testing system for hybrid magneto-optical recording

NASA Astrophysics Data System (ADS)

Chen, Lu; Xu, Wendong; Fan, Yongtao; Zhu, Qing

2008-12-01

Hybrid Magneto-Optical Recording is a potential data storage technology in the future informational society. To construct a research platform for hybrid recording, a dynamic testing system is designed and built in this paper, in which 406.7nm blue laser is used for recording and 655nm red laser for focus servo. With high modularization, the computer serves as the control core for the laser external modulation, focus servo, and sample plate spinning. Each module and its function are discussed in detail in the paper. Experimental results are also given to verify the stable and smooth performance of the system, in which the key obstacle, vibration noise, is successfully surmounted.

Modelling and Simulation Based on Matlab/Simulink: A Press Mechanism

NASA Astrophysics Data System (ADS)

Halicioglu, R.; Dulger, L. C.; Bozdana, A. T.

2014-03-01

In this study, design and kinematic analysis of a crank-slider mechanism for a crank press is studied. The crank-slider mechanism is the commonly applied one as direct and indirect drive alternatives in practice. Since inexpensiveness, flexibility and controllability are getting more and more important in many industrial applications especially in automotive industry, a crank press with servo actuator (servo crank press) is taken as an application. Design and kinematic analysis of representative mechanism is presented with geometrical analysis for the inverse kinematic of the mechanism by using desired motion concept of slider. The mechanism is modelled in MATLAB/Simulink platform. The simulation results are presented herein.

A new ultrasonic real-time scanner featuring a servo-controlled transducer displaying a sector image.

PubMed

Skolnick, M L; Matzuk, T

1978-08-01

This paper describes a new real-time servo-controlled sector scanner that produces high-resolution images similar to phased-array systems, but possesses the simplicity of design and low cost best achievable in a mechanical sector scanner. Its unique feature is the transducer head which contains a single moving part--the transducer. Frame rates vary from 0 to 30 degrees and the sector angle from 0 to 60 degrees. Abdominal applications include: differentiation of vascular structures, detection of small masses, imaging of diagonally oriented organs. Survey scanning, and demonstration of regions difficult to image with contact scanners. Cardiac uses are also described.

A 1 kg Mass Comparator Using Flexure-Strip Suspensions: Preliminary Results

NASA Astrophysics Data System (ADS)

Quinn, T. J.; Speake, C. C.; Davis, R. S.

1986-01-01

This paper describes the design and construction of a novel form of equal-arm balance. The balance has been designed to study the performance of flexure strips for use as pivots in a 1 kg mass comparator working at the highest accuracy. The beam of the balance is servo controlled using optical detection of angular position and electromagnetic control. Small mass differences are measured in terms of the differences in the servo currents required to reproduce the same position of the beam. Preliminary results using this prototype balance indicate that an accuracy in mass comparison of about 5 parts in 1010 can be achieved.

Strong stabilization servo controller with optimization of performance criteria.

PubMed

Sarjaš, Andrej; Svečko, Rajko; Chowdhury, Amor

2011-07-01

Synthesis of a simple robust controller with a pole placement technique and a H(∞) metrics is the method used for control of a servo mechanism with BLDC and BDC electric motors. The method includes solving a polynomial equation on the basis of the chosen characteristic polynomial using the Manabe standard polynomial form and parametric solutions. Parametric solutions are introduced directly into the structure of the servo controller. On the basis of the chosen parametric solutions the robustness of a closed-loop system is assessed through uncertainty models and assessment of the norm ‖•‖(∞). The design procedure and the optimization are performed with a genetic algorithm differential evolution - DE. The DE optimization method determines a suboptimal solution throughout the optimization on the basis of a spectrally square polynomial and Šiljak's absolute stability test. The stability of the designed controller during the optimization is being checked with Lipatov's stability condition. Both utilized approaches: Šiljak's test and Lipatov's condition, check the robustness and stability characteristics on the basis of the polynomial's coefficients, and are very convenient for automated design of closed-loop control and for application in optimization algorithms such as DE. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Evaluation of electrolytic tilt sensors for measuring model angle of attack in wind tunnel tests

NASA Technical Reports Server (NTRS)

Wong, Douglas T.

1992-01-01

The results of a laboratory evaluation of electrolytic tilt sensors as potential candidates for measuring model attitude or angle of attack in wind tunnel tests are presented. The performance of eight electrolytic tilt sensors was compared with that of typical servo accelerometers used for angle-of-attack measurements. The areas evaluated included linearity, hysteresis, repeatability, temperature characteristics, roll-on-pitch interaction, sensitivity to lead-wire resistance, step response time, and rectification. Among the sensors being evaluated, the Spectron model RG-37 electrolytic tilt sensors have the highest overall accuracy in terms of linearity, hysteresis, repeatability, temperature sensitivity, and roll sensitivity. A comparison of the sensors with the servo accelerometers revealed that the accuracy of the RG-37 sensors was on the average about one order of magnitude worse. Even though a comparison indicates that the cost of each tilt sensor is about one-third the cost of each servo accelerometer, the sensors are considered unsuitable for angle-of-attack measurements. However, the potential exists for other applications such as wind tunnel wall-attitude measurements where the errors resulting from roll interaction, vibration, and response time are less and sensor temperature can be controlled.

Development of a measurement and feedback training tool for the arm strokes of high-performance luge athletes.

PubMed

Lembert, Sandra; Schachner, Otto; Raschner, Christian

2011-12-01

Previous studies have shown that the start plays a critical role in sliding events and explains more than 55% of the variance of the final time in luge. Experts evaluate the contribution of the arm strokes to be 23% of the total starting performance. The aim of the present study was to develop a measurement and feedback training tool (Speedpaddler) for the arm strokes of high-performance luge athletes. The construction is an aluminium alloy framework with a customary belt conveyor system, which is driven by two synchronized servo motors. Training is possible with constant speeds up to 12 m · s(-1) or several speed curves, which simulate the acceleration of different luge tracks. The construction facilitates variations in the inclination and speed of the conveyor belts and thereby the resistance and movement speed. If the athlete accelerates the conveyor belts during arm-paddling, the torque of the motors decreases. Torque measurements and high-speed video offer valuable insights into the several technique criteria. Comparisons of arm-paddle cycle durations on ice and on the Speedpaddler with 18 luge athletes (national team and juniors) showed no statistical differences. The Speedpaddler might be a useful tool to improve starting performance all year round.

Multicriteria Gain Tuning for Rotorcraft Flight Controls (also entitled The Development of the Conduit Advanced Control System Design and Evaluation Interface with a Case Study Application Fly by Wire Helicopter Design)

NASA Technical Reports Server (NTRS)

Biezad, Daniel

1997-01-01

Handling qualities analysis and control law design would seem to be naturally complimenting components of aircraft flight control system design, however these two closely coupled disciplines are often not well integrated in practice. Handling qualities engineers and control system engineers may work in separate groups within an aircraft company. Flight control system engineers and handling quality specialists may come from different backgrounds and schooling and are often not aware of the other group's research. Thus while the handling qualities specifications represent desired aircraft response characteristics, these are rarely incorporated directly in the control system design process. Instead modem control system design techniques are based on servo-loop robustness specifications, and simple representations of the desired control response. Comprehensive handling qualities analysis is often left until the end of the design cycle and performed as a check of the completed design for satisfactory performance. This can lead to costly redesign or less than satisfactory aircraft handling qualities when the flight testing phase is reached. The desire to integrate the fields of handling qualities and flight,control systems led to the development of the CONDUIT system. This tool facilitates control system designs that achieve desired handling quality requirements and servo-loop specifications in a single design process. With CONDUIT, the control system engineer is now able to directly design and control systems to meet the complete handling specifications. CONDUIT allows the designer to retain a preferred control law structure, but then tunes the system parameters to meet the handling quality requirements.

Acceleration constraints in modeling and control of nonholonomic systems

NASA Astrophysics Data System (ADS)

Bajodah, Abdulrahman H.

2003-10-01

Acceleration constraints are used to enhance modeling techniques for dynamical systems. In particular, Kane's equations of motion subjected to bilateral constraints, unilateral constraints, and servo-constraints are modified by utilizing acceleration constraints for the purpose of simplifying the equations and increasing their applicability. The tangential properties of Kane's method provide relationships between the holonomic and the nonholonomic partial velocities, and hence allow one to describe nonholonomic generalized active and inertia forces in terms of their holonomic counterparts, i.e., those which correspond to the system without constraints. Therefore, based on the modeling process objectives, the holonomic and the nonholonomic vector entities in Kane's approach are used interchangeably to model holonomic and nonholonomic systems. When the holonomic partial velocities are used to model nonholonomic systems, the resulting models are full-order (also called nonminimal or unreduced) and separated in accelerations. As a consequence, they are readily integrable and can be used for generic system analysis. Other related topics are constraint forces, numerical stability of the nonminimal equations of motion, and numerical constraint stabilization. Two types of unilateral constraints considered are impulsive and friction constraints. Impulsive constraints are modeled by means of a continuous-in-velocities and impulse-momentum approaches. In controlled motion, the acceleration form of constraints is utilized with the Moore-Penrose generalized inverse of the corresponding constraint matrix to solve for the inverse dynamics of servo-constraints, and for the redundancy resolution of overactuated manipulators. If control variables are involved in the algebraic constraint equations, then these tools are used to modify the controlled equations of motion in order to facilitate control system design. An illustrative example of spacecraft stabilization is presented.

Cognitive learning: a machine learning approach for automatic process characterization from design

NASA Astrophysics Data System (ADS)

Foucher, J.; Baderot, J.; Martinez, S.; Dervilllé, A.; Bernard, G.

2018-03-01

Cutting edge innovation requires accurate and fast process-control to obtain fast learning rate and industry adoption. Current tools available for such task are mainly manual and user dependent. We present in this paper cognitive learning, which is a new machine learning based technique to facilitate and to speed up complex characterization by using the design as input, providing fast training and detection time. We will focus on the machine learning framework that allows object detection, defect traceability and automatic measurement tools.

What is the Optimal Strategy for Adaptive Servo-Ventilation Therapy?

PubMed

Imamura, Teruhiko; Kinugawa, Koichiro

2018-05-23

Clinical advantages in the adaptive servo-ventilation (ASV) therapy have been reported in selected heart failure patients with/without sleep-disorder breathing, whereas multicenter randomized control trials could not demonstrate such advantages. Considering this discrepancy, optimal patient selection and device setting may be a key for the successful ASV therapy. Hemodynamic and echocardiographic parameters indicating pulmonary congestion such as elevated pulmonary capillary wedge pressure were reported as predictors of good response to ASV therapy. Recently, parameters indicating right ventricular dysfunction also have been reported as good predictors. Optimal device setting with appropriate pressure setting during appropriate time may also be a key. Large-scale prospective trial with optimal patient selection and optimal device setting is warranted.

Weighted feature selection criteria for visual servoing of a telerobot

NASA Technical Reports Server (NTRS)

Feddema, John T.; Lee, C. S. G.; Mitchell, O. R.

1989-01-01

Because of the continually changing environment of a space station, visual feedback is a vital element of a telerobotic system. A real time visual servoing system would allow a telerobot to track and manipulate randomly moving objects. Methodologies for the automatic selection of image features to be used to visually control the relative position between an eye-in-hand telerobot and a known object are devised. A weighted criteria function with both image recognition and control components is used to select the combination of image features which provides the best control. Simulation and experimental results of a PUMA robot arm visually tracking a randomly moving carburetor gasket with a visual update time of 70 milliseconds are discussed.

A fuzzy-logic antiswing controller for three-dimensional overhead cranes.

PubMed

Cho, Sung-Kun; Lee, Ho-Hoon

2002-04-01

In this paper, a new fuzzy antiswing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control crane position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position and rope length for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by experiments with a three-dimensional prototype overhead crane.

A patient transfer apparatus between bed and stretcher.

PubMed

Wang, Hongbo; Kasagami, Fumio

2008-02-01

This paper presents a patient transfer apparatus between bed and stretcher. This apparatus makes it possible for the nurse to move weak, injured, or paralyzed patient from bed to stretcher, or vice versa, alone. Moreover, the suffering, stress, and uneasy feeling of the patient can be alleviated. This paper describes the specification, mechanical design, control system, and motion control of the apparatus. A special devised mechanism is developed, and a new servo system is used in this control system. The control principle and algorithm of the new servo system are proposed, and the motion-control method and safety function of the apparatus are described. The experimental results and evaluation indicated the effectiveness of this system.

Ultra-Compact Transputer-Based Controller for High-Level, Multi-Axis Coordination

NASA Technical Reports Server (NTRS)

Zenowich, Brian; Crowell, Adam; Townsend, William T.

2013-01-01

The design of machines that rely on arrays of servomotors such as robotic arms, orbital platforms, and combinations of both, imposes a heavy computational burden to coordinate their actions to perform coherent tasks. For example, the robotic equivalent of a person tracing a straight line in space requires enormously complex kinematics calculations, and complexity increases with the number of servo nodes. A new high-level architecture for coordinated servo-machine control enables a practical, distributed transputer alternative to conventional central processor electronics. The solution is inherently scalable, dramatically reduces bulkiness and number of conductor runs throughout the machine, requires only a fraction of the power, and is designed for cooling in a vacuum.

Engineering evaluations and studies. Report for Ku-band studies, exhibit A

NASA Technical Reports Server (NTRS)

Dodds, J. G.; Huth, G. K.; Maronde, R. G.; Roberts, D.

1981-01-01

System performance aspects of the Ku band radar communication hardware and investigations into the Ku band/payload interfaces are discussed. The communications track problem caused by the excessive signal dynamic range at the servo input was investigated. The management/handover logic is discussed and a simplified description of the transmitter enable logic function is presented. Output noise produced by a voltage-controlled oscillator chip used in the SPA return-link channel 3 mid-bit detector is discussed. The deployed assembly (DA) and EA-2 critical design review data are evaluated. Cross coupling effects on antenna servo stability were examined. A series of meetings on the acceptance test specification for the deployed assembly is summarized.

Investigation of creep by use of closed loop servo-hydraulic test system

NASA Technical Reports Server (NTRS)

Wu, H. C.; Yao, J. C.

1981-01-01

Creep tests were conducted by means of a closed loop servo-controlled materials test system. These tests are different from the conventional creep tests in that the strain history prior to creep may be carefully monitored. Tests were performed for aluminum alloy 6061-0 at 150 C and monitored by a PDP 11/04 minicomputer at a preset constant plastic-strain rate prehistory. The results show that the plastic-strain rate prior to creep plays a significant role in creep behavior. The endochronic theory of viscoplasticity was applied to describe the observed creep curves. The concepts of intrinsic time and strain rate sensitivity function are employed and modified according to the present observation.

LINC-NIRVANA piston control elements

NASA Astrophysics Data System (ADS)

Brix, Mario; Pott, Jörg-Uwe; Bertram, Thomas; Rost, Steffen; Borelli, Jose Luis; Herbst, Thomas M.; Kuerster, Martin; Rohloff, Ralf-Rainer

2010-07-01

We review the status of hardware developments related to the Linc-Nirvana optical path difference (OPD) control. The status of our telescope vibration measurements is given. We present the design concept of a feed-forward loop to damp the impact of telescope mirror vibrations on the OPD seen by Linc-Nirvana. At the focus of the article is a description of the actuator of the OPD control loop. The weight and vibration optimized construction of this actuator (aka piston mirror) and its mount has a complex dynamical behavior, which prevents classical PI feedback control from delivering fast and precise motion of the mirror surface. Therefore, an H-; optimized control strategy will be applied, custom designed for the piston mirror. The effort of realizing a custom controller on a DSP to drive the piezo is balanced by the outlook of achieving more than 5x faster servo bandwidths. The laboratory set-up to identify the system, and verify the closed loop control performance is presented. Our goal is to achieve 30 Hz closed-loop control bandwidth at a precision of 30 nm.

Adaptive servo ventilation improves cardiac dysfunction and prognosis in chronic heart failure patients with Cheyne-Stokes respiration.

PubMed

Yoshihisa, Akiomi; Shimizu, Takeshi; Owada, Takashi; Nakamura, Yuichi; Iwaya, Shoji; Yamauchi, Hiroyuki; Miyata, Makiko; Hoshino, Yasuto; Sato, Takamasa; Suzuki, Satoshi; Sugimoto, Koichi; Yamaki, Takayoshi; Kunii, Hiroyuki; Nakazato, Kazuhiko; Suzuki, Hitoshi; Saitoh, Shu-ichi; Takeishi, Yasuchika

2011-01-01

Cheyne-Stokes respiration (CSR) is often observed in patients with chronic heart failure (CHF). Although adaptive servo ventilation (ASV) is effective for CSR, it remains unclear whether ASV improves the cardiac function and prognosis of patients with CHF and CSR.Sixty patients with CHF and CSR (mean left ventricular ejection fraction 38.7%, mean apnea hypopnea index 36.8 times/hour, mean central apnea index 19.1 times/hour) were enrolled in this study. Patients were divided into two groups: 23 patients treated with ASV (ASV group) and 37 patients treated without ASV (Non-ASV group). Measurement of plasma B-type natriuretic peptide (BNP) levels and echocardiography were performed before, 3 and 6 months after treatments in each group. Patients were followed-up for cardiac events (cardiac death and re-hospitalization) after discharge. In the ASV group, NYHA functional class, BNP levels, cardiac systolic and diastolic function were significantly improved with ASV treatment for 6 months. In contrast, none of these parameters changed in the Non-ASV group. Importantly, Kaplan-Meier analysis clearly demonstrated that the event-free rate was significantly higher in the ASV group than in the Non-ASV group.Adaptive servo ventilation improves cardiac function and prognosis in patients with chronic heart failure and Cheyne-Stokes respiration.

Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

NASA Astrophysics Data System (ADS)

Chen, Syuan-Yi; Gong, Sheng-Sian

2017-09-01

This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

Fuzzy control of small servo motors

NASA Technical Reports Server (NTRS)

Maor, Ron; Jani, Yashvant

1993-01-01

To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

PubMed

Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

2017-08-12

In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, Bahram A.; Maestre, Marcos F.; Fish, Richard H.; Johnston, William E.

1997-01-01

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations add reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, B.A.; Maestre, M.F.; Fish, R.H.; Johnston, W.E.

1997-09-23

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations and reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage. 11 figs.

Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

PubMed Central

Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

2017-01-01

In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

Design of Servo Scheme and Drive Electronics for the Integrated Electrohydraulic Actuation System of RLV-TD

NASA Astrophysics Data System (ADS)

Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.

2017-12-01

Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.

Expanded Capabilities for the Hydrogen Financial Analysis Scenario Tool (H2FAST)

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

Bush, Brian; Melaina, Marc; Penev, Michael

This presentation describes how NREL expanded the capabilities for the Hydrogen Financial Analysis Scenario Tool (H2FAST) in FY16. It was presented at the U.S. Department of Energy Hydrogen and Fuel Cells Program 2016 Annual Merit Review and Peer Evaluation Meeting on June 8, 2016, in Washington, D.C.

The interrater and test-retest reliability of the Home Falls and Accidents Screening Tool (HOME FAST) in Malaysia: Using raters with a range of professional backgrounds.

PubMed

Romli, Muhammad Hibatullah; Mackenzie, Lynette; Lovarini, Meryl; Tan, Maw Pin; Clemson, Lindy

2017-06-01

Falls can be a devastating issue for older people living in the community, including those living in Malaysia. Health professionals and community members have a responsibility to ensure that older people have a safe home environment to reduce the risk of falls. Using a standardised screening tool is beneficial to intervene early with this group. The Home Falls and Accidents Screening Tool (HOME FAST) should be considered for this purpose; however, its use in Malaysia has not been studied. Therefore, the aim of this study was to evaluate the interrater and test-retest reliability of the HOME FAST with multiple professionals in the Malaysian context. A cross-sectional design was used to evaluate interrater reliability where the HOME FAST was used simultaneously in the homes of older people by 2 raters and a prospective design was used to evaluate test-retest reliability with a separate group of older people at different times in their homes. Both studies took place in an urban area of Kuala Lumpur. Professionals from 9 professional backgrounds participated as raters in this study, and a group of 51 community older people were recruited for the interrater reliability study and another group of 30 for the test-retest reliability study. The overall agreement was moderate for interrater reliability and good for test-retest reliability. The HOME FAST was consistently rated by different professionals, and no bias was found among the multiple raters. The HOME FAST can be used with confidence by a variety of professionals across different settings. The HOME FAST can become a universal tool to screen for home hazards related to falls. © 2017 John Wiley & Sons, Ltd.

Genetic Adaptive Control for PZT Actuators

NASA Technical Reports Server (NTRS)

Kim, Jeongwook; Stover, Shelley K.; Madisetti, Vijay K.

1995-01-01

A piezoelectric transducer (PZT) is capable of providing linear motion if controlled correctly and could provide a replacement for traditional heavy and large servo systems using motors. This paper focuses on a genetic model reference adaptive control technique (GMRAC) for a PZT which is moving a mirror where the goal is to keep the mirror velocity constant. Genetic Algorithms (GAs) are an integral part of the GMRAC technique acting as the search engine for an optimal PID controller. Two methods are suggested to control the actuator in this research. The first one is to change the PID parameters and the other is to add an additional reference input in the system. The simulation results of these two methods are compared. Simulated Annealing (SA) is also used to solve the problem. Simulation results of GAs and SA are compared after simulation. GAs show the best result according to the simulation results. The entire model is designed using the Mathworks' Simulink tool.

Two measures of performance in a peg-in-hole manipulation task with force feedback

NASA Technical Reports Server (NTRS)

Hill, J. W.

1977-01-01

The results are described from two manipulators on a peg-in-hole task, which is part of a continued effort to develop models for human performance with remote manipulators. Task difficulty is varied by changing the diameter of the peg to be inserted in a 50 mm diameter hole. An automatic measuring system records the distance between the tool being held by the manipulator and the receptacle into which it is to be inserted. The data from repeated insertions are processed by computer to determine task times, accumulated distances, and trajectories. Experiments with both the MA-11 cable-connected master-slave manipulator common to hot cell work and the MA-23 servo-controlled manipulator (with and without force feedback) are described. Comparison of these results with previous results of the Ames Manipulator shows that force feedback provides a consistent advantage.

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback

NASA Technical Reports Server (NTRS)

Gettman, Chang-Ching L.; Adams, Neil; Bedrossian, Nazareth; Valavani, Lena

1993-01-01

This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.

[Cardiac efficiency in patients with Cheyne-Stokes respiration as a result of heart insufficiency during long-term nasal respiratory treatment with adaptive servo ventilation (AutoSet CS)].

PubMed

Schädlich, S; Königs, I; Kalbitz, F; Blankenburg, T; Busse, H-J; Schütte, W

2004-06-01

Cheyne-Stokes respiration (CSR) is known to be an important negative predictor of outcome in patients with congestive heart failure. The goal of this study was to investigate whether the use of adaptive servo ventilation (AutoSet CS) would permit sufficient suppression of this pathological breathing pattern and improve cardiac function in longterm use over 1 year. Inclusion criteria for the study were congestive heart failure (left ventricular ejection fraction 20-50%), proven CSR with a central apnea-hypopnea index (AHI) > 15/h and stable clinical status with standard medical therapy. Patients with obstructive sleep apnea and COPD were excluded. Twenty consecutive patients (16 male) age 65.5 years (range 48-77) were followed with full blood counts, blood gas analysis, lung function tests and questionnaires for cardiopulmonary capacities (Minnesota, MRC Scale) and sleepiness (Epworth Sleepiness Scale). In addition, we performed 6-min walk distance (6MWD), echocardiography and polysomnography just before and after adjusting to adaptive servo ventilation and 3 and 12 months later. Mean usage of adaptive servo ventilation was sufficient (4.3 +/- 2.1 h/day at 12 months). No significant changes in blood gas analysis, blood counts and pulmonary function were detectable. CSR disappeared almost completely in all patients (AHI pre-study 44.3 +/- 13.4/h vs 3.4 +/- 8.0/h at 12 months; p < 0.0001). Saturation normalized steadily over the course of the study. The desaturation index decreased from 45.3 +/- 17.8/h to 5.2 +/- 11.5/h at 12 months (p < 0.0001). Mean saturation increased with the first night of sleep with adaptive servo ventilation from 92.0 +/- 2.5% to 93.0 +/- 1.6% (p < 0.05) and then to 94.1 +/- 1.9% at 3, and 94.2 +/- 1.9% at 12 months (p < 0.001). Quality of sleep was significantly improved with an increase of slow-wave sleep from 4.5 +/- 4.6% to 13.7 +/- 6.9% at 12 months (p < 0.0001). The arousal index concomitantly decreased from 29.8 +/- 17.9/h pre-study to 12.0 +/- 10.3/h at 12 months (p < 0.01). REM-sleep and sleep efficiency remained unchanged. The Epworth Sleepiness Scale showed only a trend to improvement. Cardiac function improved significantly during the course of the study. The ejection fraction increased from mean 37.1 +/- 12.5% pre-study to 41.7 +/- 8.8% at 12 months (p < 0.05). The 6-min walk distance increased from 192 +/- 110 m to 277 +/- 130 m at 12 months (p < 0.01). The MRC and Minnesota score were not significantly different pre- and post-study. We conclude that long-term respirator therapy with adaptive servo ventilation has sufficiently suppressed CSR and improved cardiac function in patients with congestive heart failure. Thus, safety and feasibility of this respirator therapy could be demonstrated. However, due to methodological reasons (no control group, no randomization) a direct effect on cardiac function could not be confirmed.

SCOUT: A Fast Monte-Carlo Modeling Tool of Scintillation Camera Output

PubMed Central

Hunter, William C. J.; Barrett, Harrison H.; Lewellen, Thomas K.; Miyaoka, Robert S.; Muzi, John P.; Li, Xiaoli; McDougald, Wendy; MacDonald, Lawrence R.

2011-01-01

We have developed a Monte-Carlo photon-tracking and readout simulator called SCOUT to study the stochastic behavior of signals output from a simplified rectangular scintillation-camera design. SCOUT models the salient processes affecting signal generation, transport, and readout. Presently, we compare output signal statistics from SCOUT to experimental results for both a discrete and a monolithic camera. We also benchmark the speed of this simulation tool and compare it to existing simulation tools. We find this modeling tool to be relatively fast and predictive of experimental results. Depending on the modeled camera geometry, we found SCOUT to be 4 to 140 times faster than other modeling tools. PMID:22072297

SCOUT: a fast Monte-Carlo modeling tool of scintillation camera output†

PubMed Central

Hunter, William C J; Barrett, Harrison H.; Muzi, John P.; McDougald, Wendy; MacDonald, Lawrence R.; Miyaoka, Robert S.; Lewellen, Thomas K.

2013-01-01

We have developed a Monte-Carlo photon-tracking and readout simulator called SCOUT to study the stochastic behavior of signals output from a simplified rectangular scintillation-camera design. SCOUT models the salient processes affecting signal generation, transport, and readout of a scintillation camera. Presently, we compare output signal statistics from SCOUT to experimental results for both a discrete and a monolithic camera. We also benchmark the speed of this simulation tool and compare it to existing simulation tools. We find this modeling tool to be relatively fast and predictive of experimental results. Depending on the modeled camera geometry, we found SCOUT to be 4 to 140 times faster than other modeling tools. PMID:23640136

Humanoid Robot Control System Balance Dance Indonesia and Reader Filters Using Complementary Angle Values

NASA Astrophysics Data System (ADS)

Sholihin; Susanti, Eka

2018-02-01

The development of increasingly advanced technology, make people want to be more developed and curiosity to know more to determine the development of advanced technology. Robot is a tool that can be used as a tool for people who have several advantages. Basically humanoid robot is a robot that resembles a human being with all the driving structure. In the application of this humanoid robot manufacture researchers use MPU6050 module which is an important component of the robot because it can provide a response to the angle reference axis X and Y reference axis, the reading corner still has noise if not filtered out beforehand. On the other hand the use of Complementary filters are the answer to reduce the noise. By arranging the filter coefficients and time sampling filter that affects the signal updates corner. The angle value will be the value of the sensor to the process to the PID system which generates output values that are integrated with the servo pulses. Researchers will test to get a reading of the most stable angle for this experiment is the "a" or the value of the filter coefficient = 0.96 and "dt" or the sampling time = 10 ms.

Pilot study to investigate the feasibility of the Home Falls and Accidents Screening Tool (HOME FAST) to identify older Malaysian people at risk of falls

PubMed Central

Romli, Muhammad Hibatullah; Mackenzie, Lynette; Lovarini, Meryl; Tan, Maw Pin

2016-01-01

Objective The relationship between home hazards and falls in older Malaysian people is not yet fully understood. No tools to evaluate the Malaysian home environment currently exist. Therefore, this study aimed to pilot the Home Falls and Accidents Screening Tool (HOME FAST) to identify hazards in Malaysian homes, to evaluate the feasibility of using the HOME FAST in the Malaysian Elders Longitudinal Research (MELoR) study and to gather preliminary data about the experience of falls among a small sample of Malaysian older people. Design A cross-sectional pilot study was conducted. Setting An urban setting in Kuala Lumpur. Participants 26 older people aged 60 and over were recruited from the control group of a related research project in Malaysia, in addition to older people known to the researchers. Primary outcome measure The HOME FAST was applied with the baseline survey for the MELoR study via a face-to-face interview and observation of the home by research staff. Results The majority of the participants were female, of Malay or Chinese ethnicity and living with others in a double-storeyed house. Falls were reported in the previous year by 19% and 80% of falls occurred at home. Gender and fear of falling had the strongest associations with home hazards. Most hazards were detected in the bathroom area. A small number of errors were detected in the HOME FAST ratings by researchers. Conclusions The HOME FAST is feasible as a research and clinical tool for the Malaysian context and is appropriate for use in the MELoR study. Home hazards were prevalent in the homes of older people and further research with the larger MELoR sample is needed to confirm the validity of using the HOME FAST in Malaysia. Training in the use of the HOME FAST is needed to ensure accurate use by researchers. PMID:27531736

Nonlinear control for a class of hydraulic servo system.

PubMed

Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

2004-11-01

The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

Matter-wave coherence limit owing to cosmic gravitational wave background

NASA Astrophysics Data System (ADS)

Steane, Andrew M.

2017-12-01

We study matter-wave interferometry in the presence of a stochastic background of gravitational waves. It is shown that if the background has a scale-invariant spectrum over a wide bandwidth (which is expected in a class of inflationary models of Big Bang cosmology), then separated-path interference cannot be observed for a lump of matter of size above a limit which is very insensitive to the strength and bandwidth of the fluctuations, unless the interferometer is servo-controlled or otherwise protected. For ordinary solid matter this limit is of order 1-10 mm. A servo-controlled or cross-correlated device would also exhibit limits to the observation of macroscopic interference, which we estimate for ordinary matter moving at speeds small compared to c.

Myoelectric hand prosthesis force control through servo motor current feedback.

PubMed

Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

2009-10-01

This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

A discrete time-varying internal model-based approach for high precision tracking of a multi-axis servo gantry.

PubMed

Zhang, Zhen; Yan, Peng; Jiang, Huan; Ye, Peiqing

2014-09-01

In this paper, we consider the discrete time-varying internal model-based control design for high precision tracking of complicated reference trajectories generated by time-varying systems. Based on a novel parallel time-varying internal model structure, asymptotic tracking conditions for the design of internal model units are developed, and a low order robust time-varying stabilizer is further synthesized. In a discrete time setting, the high precision tracking control architecture is deployed on a Voice Coil Motor (VCM) actuated servo gantry system, where numerical simulations and real time experimental results are provided, achieving the tracking errors around 3.5‰ for frequency-varying signals. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Simple and robust phase-locking of optical cavities with > 200 KHz servo-bandwidth using a piezo-actuated mirror mounted in soft materials.

PubMed

Goldovsky, David; Jouravsky, Valery; Pe'er, Avi

2016-12-12

We present an approach to locking of optical cavities with piezoelectric actuated mirrors based on a simple and effective mechanical decoupling of the mirror and actuator from the surrounding mount. Using simple elastic materials (e.g. rubber or soft silicone gel pads) as mechanical dampers between the piezo-mirror compound and the surrounding mount, a firm and stable mounting of a relatively large mirror (8mm diameter) can be maintained that is isolated from external mechanical resonances, and is limited only by the internal piezo-mirror resonance of > 330 KHz. Our piezo lock showed positive servo gain up to 208 KHz, and a temporal response to a step interference within < 3 μs.

Adaptive identification of vessel's added moments of inertia with program motion

NASA Astrophysics Data System (ADS)

Alyshev, A. S.; Melnikov, V. G.

2018-05-01

In this paper, we propose a new experimental method for determining the moments of inertia of the ship model. The paper gives a brief review of existing methods, a description of the proposed method and experimental stand, test procedures and calculation formulas and experimental results. The proposed method is based on the energy approach with special program motions. The ship model is fixed in a special rack consisting of a torsion element and a set of additional servo drives with flywheels (reactive wheels), which correct the motion. The servo drives with an adaptive controller provide the symmetry of the motion, which is necessary for the proposed identification procedure. The effectiveness of the proposed approach is confirmed by experimental results.

An analysis of a nonlinear instability in the implementation of a VTOL control system

NASA Technical Reports Server (NTRS)

Weber, J. M.

1982-01-01

The contributions to nonlinear behavior and unstable response of the model following yaw control system of a VTOL aircraft during hover were determined. The system was designed as a state rate feedback implicit model follower that provided yaw rate command/heading hold capability and used combined full authority parallel and limited authority series servo actuators to generate an input to the yaw reaction control system of the aircraft. Both linear and nonlinear system models, as well as describing function linearization techniques were used to determine the influence on the control system instability of input magnitude and bandwidth, series servo authority, and system bandwidth. Results of the analysis describe stability boundaries as a function of these system design characteristics.

Paying attention to saccadic intrusions.

PubMed

Gowen, E; Abadi, R V; Poliakoff, E

2005-12-01

Fixation to a target in primary gaze is invariably interrupted by physiological conjugate saccadic intrusions (SI). These small idiosyncratic eye movements (usually <1 degrees in amplitude) take the form of an initial horizontal fast eye movement away from the desired eye position, followed after a variable duration by a return saccade or drift. As the aetiology of SI is still unclear, it was the aim of this study to investigate whether SI are related to exogenous or endogenous attentional processes. This was achieved by varying (a) the "bottom-up" target viewing conditions (target presence, servo control of the target, target background, target size) and (b) the 'top-down' attentional state (instruction change--'look' or 'hold eyes steady' and passive fixation versus active--'respond to change' fixation) in 13 subjects (the number of participants in each task varied between 7 and 11). We also manipulated the orientation of pure exogenous attention through a cue-target task, during which subjects were required to respond to a target, preceded by a non-informative cue by either pressing a button or making a saccade towards the target. SI amplitude, duration, frequency and direction were measured. SI amplitude was found to be significantly higher when the target was absent and SI frequency significantly lower during open loop conditions. Target size and background influenced SI behaviour in an idiosyncratic manner, although there was a trend for subjects to exhibit lower SI frequencies and amplitudes when a patterned background was present and larger SI amplitudes with larger target sizes. SI frequency decreased during the "hold eyes steady" passive command as well as during active fixation but SI direction was not influenced by the exogenous cue-target task. These results suggest that SI are related to endogenous rather than exogenous attention mechanisms. Our experiments lead us to propose that SI represent shifts in endogenous attention that reflect a baseline attention state present during laboratory fixation tasks and may prove to be a useful tool to explore higher cortical control of fixation.

Next Generation CTAS Tools

NASA Technical Reports Server (NTRS)

Erzberger, Heinz

2000-01-01

The FAA's Free Flight Phase 1 Office is in the process of deploying the current generation of CTAS tools, which are the Traffic Management Advisor (TMA) and the passive Final Approach Spacing Tool (pFAST), at selected centers and airports. Research at NASA is now focussed on extending the CTAS software and computer human interfaces to provide more advanced capabilities. The Multi-center TMA (McTMA) is designed to operate at airports where arrival flows originate from two or more centers whose boundaries are in close proximity to the TRACON boundary. McTMA will also include techniques for routing arrival flows away from congested airspace and around airspace reserved for arrivals into other hub airports. NASA is working with FAA and MITRE to build a prototype McTMA for the Philadelphia airport. The active Final Approach Spacing Tool (aFAST) provides speed and heading advisories to help controllers achieve accurate spacing between aircraft on final approach. These advisories will be integrated with those in the existing pFAST to provide a set of comprehensive advisories for controlling arrival traffic from the TRACON boundary to touchdown at complex, high-capacity airports. A research prototype of aFAST, designed for the Dallas-Fort Worth is in an advanced stage of development. The Expedite Departure Path (EDP) and Direct-To tools are designed to help controllers guide departing aircraft out of the TRACON airspace and to climb to cruise altitude along the most efficient routes.

Scoring the home falls and accidents screening tool for health professionals (HOME FAST-HP): Evidence from one epidemiological study.

PubMed

Mackenzie, Lynette; Byles, Julie

2018-03-30

Falls in older people are a major public health concern. To target falls prevention interventions, screening tools need to be able to identify older people at greater risk of falling. This study aimed to investigate the screening capacity of the Home Falls and Accidents Screening Tool for health professionals (HOME FAST-HP), and to identify the best cut-off score to identify older people at higher risk of falls using the HOME FAST-HP. The study used cross-sectional data from a random sample of 650 women from the 1921 to 1926 cohort of the Australian Longitudinal Study of Women's Health (ALSWH). Selected women were sent a postal survey including the HOME FAST-HP, falls history, and other health factors. Scores on the home fast were calculated and the cut-point for optimal sensitivity and specificity of the HOME FAST-HP in relation to falls was assessed using a Receiver Operating Characteristic curve. A total of 567 older women participated (response rate 87%). The mean age of participants was 77.5 yrs (95% CI 77.31-77.70). A total of 153 participants (27%) reported a fall in the previous six months. The mean number of hazards using the HOME FAST-HP was 9.74 (95% CI 9.48-10.01), range 2-22. Non-fallers had a mean of 9.6 hazards (95% CI 9.32-9.91) and fallers had a mean of 10.63 hazards (95% CI 10.08-11.19) which was a significant difference (t = 3.41, P = 0.001). The area under the receiver operator curve (AUC) was 0.58 (95% CI 0.53-0.64). A HOME FAST-HP cut-off score of 9 was associated with the optimal sensitivity for falls (73.9%), with specificity (37.9%), and positive predictive value was 30.6% and negative predictive value was 79.7%. The HOME FAST-HP can be used as a screening tool to identify fallers with a cut-off score of nine indicating a higher risk of falling. © 2018 Occupational Therapy Australia.

AeroDyn V15.04: Design tool for wind and MHK turbines

DOE Data Explorer

Murray, Robynne; Hayman, Greg; Jonkman, Jason

2017-04-28

AeroDyn is a time-domain wind and MHK turbine aerodynamics module that can be coupled into the FAST version 8 multi-physics engineering tool to enable aero-elastic simulation of horizontal-axis wind turbines. AeroDyn V15.04 has been updated to include a cavitation check for MHK turbines, and can be driven as a standalone code to compute wind turbine aerodynamic response uncoupled from FAST. Note that while AeroDyn has been updated to v15.04, FAST v8.16 has not yet been updated and still uses AeroDyn v15.03.

Pediatric FAST and elevated liver transaminases: An effective screening tool in blunt abdominal trauma.

PubMed

Sola, Juan E; Cheung, Michael C; Yang, Relin; Koslow, Starr; Lanuti, Emma; Seaver, Chris; Neville, Holly L; Schulman, Carl I

2009-11-01

The current standard for the evaluation of children with blunt abdominal trauma (BAT) consists of physical examination, screening lab values, and computed tomography (CT) scan. We sought to determine if the focused assessment with sonography for trauma (FAST) combined with elevated liver transaminases (AST/ALT) could be used as a screening tool for intra-abdominal injury (IAI) in pediatric patients with BAT. Registry data at a level 1 trauma center was retrospectively reviewed from 1991-2007. Data collected on BAT patients under the age of 16 y included demographics, injury mechanism, ISS, GCS, imaging studies, serum ALT and AST levels, and disposition. AST and ALT were considered positive if either one was >100 IU/L. Overall, 3171 cases were identified. A total of 1008 (31.8%) patients received CT scan, 1148 (36.2%) had FAST, and 497 (15.7%) patients received both. Of the 497 patients, 400 (87.1%) also had AST and ALT measured. FAST was 50% sensitive, 91% specific, with a positive predictive value (PPV) of 68%, negative predictive value (NPV) of 83%, and accuracy of 80%. Combining FAST with elevated AST or ALT resulted in a statistically significant increase in all measures (sensitivity 88%, specificity 98%, PPV 94%, NPV 96%, accuracy 96%). FAST combined with AST or ALT > 100 IU/L is an effective screening tool for IAI in children following BAT. Pediatric patients with a negative FAST and liver transaminases < 100 IU/L should be observed rather than subjected to the radiation risk of CT.

Will Your Battery Survive a World With Fast Chargers?

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

Neubauer, J. S.; Wood, E.

Fast charging is attractive to battery electric vehicle (BEV) drivers for its ability to enable long-distance travel and quickly recharge depleted batteries on short notice. However, such aggressive charging and the sustained vehicle operation that result could lead to excessive battery temperatures and degradation. Properly assessing the consequences of fast charging requires accounting for disparate cycling, heating, and aging of individual cells in large BEV packs when subjected to realistic travel patterns, usage of fast chargers, and climates over long durations (i.e., years). The U.S. Department of Energy's Vehicle Technologies Office has supported the National Renewable Energy Laboratory's development ofmore » BLAST-V-the Battery Lifetime Analysis and Simulation Tool for Vehicles-to create a tool capable of accounting for all of these factors. We present on the findings of applying this tool to realistic fast charge scenarios. The effects of different travel patterns, climates, battery sizes, battery thermal management systems, and other factors on battery performance and degradation are presented. We find that the impact of realistic fast charging on battery degradation is minimal for most drivers, due to the low frequency of use. However, in the absence of active battery cooling systems, a driver's desired utilization of a BEV and fast charging infrastructure can result in unsafe peak battery temperatures. We find that active battery cooling systems can control peak battery temperatures to safe limits while allowing the desired use of the vehicle.« less

Techniques for the insertion of the ProSeal laryngeal mask airway: comparison of the Foley airway stylet tool with the introducer tool in a prospective, randomized study.

PubMed

Chen, Mao-Kai; Hsu, Hung-Te; Lu, I-Cheng; Shih, Chih-Kai; Shen, Ya-Chun; Tseng, Kuang-Yi; Cheng, Kuang-I

2014-01-01

Many tools have been developed to facilitate the insertion of the ProSeal laryngeal mask airway (LMA) insertion, which can be impeded by folding of its soft cuff. The aim of this study was to compare the efficiency of ProSeal LMA insertion guided by a soft, direct optical Foley Airway Stylet Tool (FAST) with the standard introducer tool (IT). One hundred sixty patients undergoing general anesthesia using the ProSeal LMA as an airway management device were randomly allocated to either FAST-guided or IT-assisted groups. Following ProSeal LMA insertion, the glottic and esophageal openings were identified using a fiberoptic bronchoscope introduced through the airway and the drain tube. The primary outcomes were time taken to insert the ProSeal LMA and the success rate at the first attempt. Secondary end points included ease of insertion, hemodynamic response to insertion, and postoperative adverse events recorded in the recovery room and on the first postoperative morning. One hundred forty patients were included in the final analysis: 66 in the FAST-guided group and 74 in the IT-assisted group. The success rate of FAST device-guided ProSeal LMA insertion (95.7%) was broadly comparable with IT-assisted insertion (98.7%). However, the time taken to insert the ProSeal LMA was significantly longer when the FAST technique was used (p <0.001). The incidence of correct alignment of the airway tube and the drain tube did not differ significantly between the groups. There were no significant differences in ease of insertion or hemodynamic responses to insertion, except that the incidence of postoperative sore throat was significantly higher in the FAST group on the first postoperative day (22.2% compared with 6.8% in the IT group; p = 0.035). Both FAST-guided and IT-assisted techniques achieved correct ProSeal LMA positioning, but the IT technique was significantly quicker and less likely to cause a sore throat. ClinicalTrials.gov Identifier: NCT02048657.

Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

NASA Astrophysics Data System (ADS)

Vu, Van Tan; Sename, Olivier; Dugard, Luc; Gaspar, Peter

2017-09-01

Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.

Development of an EtherCAT enabled digital servo controller for the Green Bank Telescope

NASA Astrophysics Data System (ADS)

Whiteis, Peter G.; Mello, Melinda J.

2012-09-01

EtherCAT (Ethernet for Control Automation Technology) is gaining wide spread popularity in the automation industry as a real time field bus based on low cost, Ethernet hardware. EtherCAT maximizes use of 100Mbps Ethernet hardware by using a collision free ring topology, efficient Ethernet frame utilization (> 95%), and data exchange "on the fly". These characteristics enable EtherCAT to achieve Master to Slave node data exchange rates of > 1000 Hz. The Green Bank Telescope, commissioned in 2000, utilizes an analog control system for motion control of 8 elevation and 16 azimuth motors. This architecture, while sufficient for observations at frequencies up to 50GHz, has significant limitations for the current scientific goals of observing at 115GHz. Accordingly, the Green Bank staff has embarked on a servo upgrade project to develop a digital servo system which accommodates development and implementation of advanced control algorithms. This paper describes how the new control system requirements, use of existing infrastructure and budget constraints led us to define a distributed motion control architecture where EtherCAT real-time Ethernet was selected as the communication bus. Finally, design details are provided that describe how NRAO developed a custom EtherCAT-enabled motor controller interface for the GBT's legacy motor drives in order to provide technical benefits and flexibility not available in commercial products.

FAST: FAST Analysis of Sequences Toolbox

PubMed Central

Lawrence, Travis J.; Kauffman, Kyle T.; Amrine, Katherine C. H.; Carper, Dana L.; Lee, Raymond S.; Becich, Peter J.; Canales, Claudia J.; Ardell, David H.

2015-01-01

FAST (FAST Analysis of Sequences Toolbox) provides simple, powerful open source command-line tools to filter, transform, annotate and analyze biological sequence data. Modeled after the GNU (GNU's Not Unix) Textutils such as grep, cut, and tr, FAST tools such as fasgrep, fascut, and fastr make it easy to rapidly prototype expressive bioinformatic workflows in a compact and generic command vocabulary. Compact combinatorial encoding of data workflows with FAST commands can simplify the documentation and reproducibility of bioinformatic protocols, supporting better transparency in biological data science. Interface self-consistency and conformity with conventions of GNU, Matlab, Perl, BioPerl, R, and GenBank help make FAST easy and rewarding to learn. FAST automates numerical, taxonomic, and text-based sorting, selection and transformation of sequence records and alignment sites based on content, index ranges, descriptive tags, annotated features, and in-line calculated analytics, including composition and codon usage. Automated content- and feature-based extraction of sites and support for molecular population genetic statistics make FAST useful for molecular evolutionary analysis. FAST is portable, easy to install and secure thanks to the relative maturity of its Perl and BioPerl foundations, with stable releases posted to CPAN. Development as well as a publicly accessible Cookbook and Wiki are available on the FAST GitHub repository at https://github.com/tlawrence3/FAST. The default data exchange format in FAST is Multi-FastA (specifically, a restriction of BioPerl FastA format). Sanger and Illumina 1.8+ FastQ formatted files are also supported. FAST makes it easier for non-programmer biologists to interactively investigate and control biological data at the speed of thought. PMID:26042145

Calibration and validation of a spar-type floating offshore wind turbine model using the FAST dynamic simulation tool

DOE PAGES

Browning, J. R.; Jonkman, J.; Robertson, A.; ...

2014-12-16

In this study, high-quality computer simulations are required when designing floating wind turbines because of the complex dynamic responses that are inherent with a high number of degrees of freedom and variable metocean conditions. In 2007, the FAST wind turbine simulation tool, developed and maintained by the U.S. Department of Energy's (DOE's) National Renewable Energy Laboratory (NREL), was expanded to include capabilities that are suitable for modeling floating offshore wind turbines. In an effort to validate FAST and other offshore wind energy modeling tools, DOE funded the DeepCwind project that tested three prototype floating wind turbines at 1/50 th scalemore » in a wave basin, including a semisubmersible, a tension-leg platform, and a spar buoy. This paper describes the use of the results of the spar wave basin tests to calibrate and validate the FAST offshore floating simulation tool, and presents some initial results of simulated dynamic responses of the spar to several combinations of wind and sea states. Wave basin tests with the spar attached to a scale model of the NREL 5-megawatt reference wind turbine were performed at the Maritime Research Institute Netherlands under the DeepCwind project. This project included free-decay tests, tests with steady or turbulent wind and still water (both periodic and irregular waves with no wind), and combined wind/wave tests. The resulting data from the 1/50th model was scaled using Froude scaling to full size and used to calibrate and validate a full-size simulated model in FAST. Results of the model calibration and validation include successes, subtleties, and limitations of both wave basin testing and FAST modeling capabilities.« less

High-speed ultrafast laser machining with tertiary beam positioning (Conference Presentation)

NASA Astrophysics Data System (ADS)

Yang, Chuan; Zhang, Haibin

2017-03-01

For an industrial laser application, high process throughput and low average cost of ownership are critical to commercial success. Benefiting from high peak power, nonlinear absorption and small-achievable spot size, ultrafast lasers offer advantages of minimal heat affected zone, great taper and sidewall quality, and small via capability that exceeds the limits of their predecessors in via drilling for electronic packaging. In the past decade, ultrafast lasers have both grown in power and reduced in cost. For example, recently, disk and fiber technology have both shown stable operation in the 50W to 200W range, mostly at high repetition rate (beyond 500 kHz) that helps avoid detrimental nonlinear effects. However, to effectively and efficiently scale the throughput with the fast-growing power capability of the ultrafast lasers while keeping the beneficial laser-material interactions is very challenging, mainly because of the bottleneck imposed by the inertia-related acceleration limit and servo gain bandwidth when only stages and galvanometers are being used. On the other side, inertia-free scanning solutions like acoustic optics and electronic optical deflectors have small scan field, and therefore not suitable for large-panel processing. Our recent system developments combine stages, galvanometers, and AODs into a coordinated tertiary architecture for high bandwidth and meanwhile large field beam positioning. Synchronized three-level movements allow extremely fast local speed and continuous motion over the whole stage travel range. We present the via drilling results from such ultrafast system with up to 3MHz pulse to pulse random access, enabling high quality low cost ultrafast machining with emerging high average power laser sources.

Adaptive Servo-Ventilation in "Real Life" Conditions : the OTRLASV Study

ClinicalTrials.gov

2017-03-27

Chronic Heart Failure and; Complex Sleep Apnea Syndrome; Obstructive Sleep Apnea Syndrome and; Idiopathic Central Sleep Apnea Syndrome; Idiopathic Induced Periodic Breathing; Central Sleep Apnea Syndrome

Velocity control of servo systems using an integral retarded algorithm.

PubMed

Ramírez, Adrián; Garrido, Rubén; Mondié, Sabine

2015-09-01

This paper presents a design technique for the delay-based controller called Integral Retarded (IR), and its applications to velocity control of servo systems. Using spectral analysis, the technique yields a tuning strategy for the IR by assigning a triple real dominant root for the closed-loop system. This result ultimately guarantees a desired exponential decay rate σ(d) while achieving the IR tuning as explicit function of σ(d) and system parameters. The intentional introduction of delay allows using noisy velocity measurements without additional filtering. The structure of the controller is also able to avoid velocity measurements by using instead position information. The IR is compared to a classical PI, both tested in a laboratory prototype. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Elevation scanning laser/multi-sensor hazard detection system controller and mirror/mast speed control components. [roving vehicle electromechanical devices

NASA Technical Reports Server (NTRS)

Craig, J.; Yerazunis, S. W.

1978-01-01

The electro-mechanical and electronic systems involved with pointing a laser beam from a roving vehicle along a desired vector are described. A rotating 8 sided mirror, driven by a phase-locked dc motor servo system, and monitored by a precision optical shaft encoder is used. This upper assembly is then rotated about an orthogonal axis to allow scanning into all 360 deg around the vehicle. This axis is also driven by a phase locked dc motor servo-system, and monitored with an optical shaft encoder. The electronics are realized in standard TTL integrated circuits with UV-erasable proms used to store desired coordinates of laser fire. Related topics such as the interface to the existing test vehicle are discussed.

Parallel computation of level set method for 500 Hz visual servo control

NASA Astrophysics Data System (ADS)

Fei, Xianfeng; Igarashi, Yasunobu; Hashimoto, Koichi

2008-11-01

We propose a 2D microorganism tracking system using a parallel level set method and a column parallel vision system (CPV). This system keeps a single microorganism in the middle of the visual field under a microscope by visual servoing an automated stage. We propose a new energy function for the level set method. This function constrains an amount of light intensity inside the detected object contour to control the number of the detected objects. This algorithm is implemented in CPV system and computational time for each frame is 2 [ms], approximately. A tracking experiment for about 25 s is demonstrated. Also we demonstrate a single paramecium can be kept tracking even if other paramecia appear in the visual field and contact with the tracked paramecium.

Servo-controlled intravital microscope system

NASA Technical Reports Server (NTRS)

Mansour, M. N.; Wayland, H. J.; Chapman, C. P. (Inventor)

1975-01-01

A microscope system is described for viewing an area of a living body tissue that is rapidly moving, by maintaining the same area in the field-of-view and in focus. A focus sensing portion of the system includes two video cameras at which the viewed image is projected, one camera being slightly in front of the image plane and the other slightly behind it. A focus sensing circuit for each camera differentiates certain high frequency components of the video signal and then detects them and passes them through a low pass filter, to provide dc focus signal whose magnitudes represent the degree of focus. An error signal equal to the difference between the focus signals, drives a servo that moves the microscope objective so that an in-focus view is delivered to an image viewing/recording camera.

Linear quadratic servo control of a reusable rocket engine

NASA Technical Reports Server (NTRS)

Musgrave, Jeffrey L.

1991-01-01

The paper deals with the development of a design method for a servo component in the frequency domain using singular values and its application to a reusable rocket engine. A general methodology used to design a class of linear multivariable controllers for intelligent control systems is presented. Focus is placed on performance and robustness characteristics, and an estimator design performed in the framework of the Kalman-filter formalism with emphasis on using a sensor set different from the commanded values is discussed. It is noted that loop transfer recovery modifies the nominal plant noise intensities in order to obtain the desired degree of robustness to uncertainty reflected at the plant input. Simulation results demonstrating the performance of the linear design on a nonlinear engine model over all power levels during mainstage operation are discussed.

Evaluation of electrolytic tilt sensors for wind tunnel model angle-of-attack (AOA) measurements

NASA Technical Reports Server (NTRS)

Wong, Douglas T.

1991-01-01

The results of a laboratory evaluation of three types of electrolytic tilt sensors as potential candidates for model attitude or angle of attack (AOA) measurements in wind tunnel tests are presented. Their performance was also compared with that from typical servo accelerometers used for AOA measurements. Model RG-37 electrolytic tilt sensors were found to have the highest overall accuracy among the three types. Compared with the servo accelerometer, their accuracies are about one order of magnitude worse and each of them cost about two-thirds less. Therefore, the sensors are unsuitable for AOA measurements although they are less expensive. However, the potential for other applications exists where the errors resulting from roll interaction, vibration, and response time are less, and sensor temperature can be controlled.

Advanced servo manipulator

DOEpatents

Holt, W.E.; Kuban, D.P.; Martin, H.L.

1988-10-25

An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member. 41 figs.

Advanced servo manipulator

DOEpatents

Holt, William E.; Kuban, Daniel P.; Martin, H. Lee

1988-01-01

An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.

Beats produced between a rhythmic applied force and the resting tremor of Parkinsonism.

PubMed Central

Walsh, E G

1979-01-01

Rhythmic forces have been applied to the wrist of patients with Parkinsonism tremor by means of a printed motor. The tremor rate was not altered to that of the applied force. On the contrary, beats were established, the rate of which depended on the difference in rate between the tremor and the applied rhythm. Most of the observations have been for horizontal motion of the hand but similar phenomena have been seen for vertical movements, and for other parts of the body--for example, foot, elbow, finger joint, and head. The observations are regarded as supporting the view that the tremorgenic mechanism is central. There was no electromyographic evidence of servo driving or servo assistance in the genesis of the tremor. PMID:762588

Spectroscopy of 171Yb in an optical lattice based on laser linewidth transfer using a narrow linewidth frequency comb.

PubMed

Inaba, Hajime; Hosaka, Kazumoto; Yasuda, Masami; Nakajima, Yoshiaki; Iwakuni, Kana; Akamatsu, Daisuke; Okubo, Sho; Kohno, Takuya; Onae, Atsushi; Hong, Feng-Lei

2013-04-08

We propose a novel, high-performance, and practical laser source system for optical clocks. The laser linewidth of a fiber-based frequency comb is reduced by phase locking a comb mode to an ultrastable master laser at 1064 nm with a broad servo bandwidth. A slave laser at 578 nm is successively phase locked to a comb mode at 578 nm with a broad servo bandwidth without any pre-stabilization. Laser frequency characteristics such as spectral linewidth and frequency stability are transferred to the 578-nm slave laser from the 1064-nm master laser. Using the slave laser, we have succeeded in observing the clock transition of (171)Yb atoms confined in an optical lattice with a 20-Hz spectral linewidth.

Optimization of Smart Structure for Improving Servo Performance of Hard Disk Drive

NASA Astrophysics Data System (ADS)

Kajiwara, Itsuro; Takahashi, Masafumi; Arisaka, Toshihiro

Head positioning accuracy of the hard disk drive should be improved to meet today's increasing performance demands. Vibration suppression of the arm in the hard disk drive is very important to enhance the servo bandwidth of the head positioning system. In this study, smart structure technology is introduced into the hard disk drive to suppress the vibration of the head actuator. It has been expected that the smart structure technology will contribute to the development of small and light-weight mechatronics devices with the required performance. First, modeling of the system is conducted with finite element method and modal analysis. Next, the actuator location and the control system are simultaneously optimized using genetic algorithm. Vibration control effect with the proposed vibration control mechanisms has been evaluated by some simulations.

M2Lite: An Open-source, Light-weight, Pluggable and Fast Proteome Discoverer MSF to mzIdentML Tool.

PubMed

Aiyetan, Paul; Zhang, Bai; Chen, Lily; Zhang, Zhen; Zhang, Hui

2014-04-28

Proteome Discoverer is one of many tools used for protein database search and peptide to spectrum assignment in mass spectrometry-based proteomics. However, the inadequacy of conversion tools makes it challenging to compare and integrate its results to those of other analytical tools. Here we present M2Lite, an open-source, light-weight, easily pluggable and fast conversion tool. M2Lite converts proteome discoverer derived MSF files to the proteomics community defined standard - the mzIdentML file format. M2Lite's source code is available as open-source at https://bitbucket.org/paiyetan/m2lite/src and its compiled binaries and documentation can be freely downloaded at https://bitbucket.org/paiyetan/m2lite/downloads.

CscoreTool: fast Hi-C compartment analysis at high resolution.

PubMed

Zheng, Xiaobin; Zheng, Yixian

2018-05-01

The genome-wide chromosome conformation capture (Hi-C) has revealed that the eukaryotic genome can be partitioned into A and B compartments that have distinctive chromatin and transcription features. Current Principle Component Analyses (PCA)-based method for the A/B compartment prediction based on Hi-C data requires substantial CPU time and memory. We report the development of a method, CscoreTool, which enables fast and memory-efficient determination of A/B compartments at high resolution even in datasets with low sequencing depth. https://github.com/scoutzxb/CscoreTool. xzheng@carnegiescience.edu. Supplementary data are available at Bioinformatics online.

Pilot study to investigate the feasibility of the Home Falls and Accidents Screening Tool (HOME FAST) to identify older Malaysian people at risk of falls.

PubMed

Romli, Muhammad Hibatullah; Mackenzie, Lynette; Lovarini, Meryl; Tan, Maw Pin

2016-08-16

The relationship between home hazards and falls in older Malaysian people is not yet fully understood. No tools to evaluate the Malaysian home environment currently exist. Therefore, this study aimed to pilot the Home Falls and Accidents Screening Tool (HOME FAST) to identify hazards in Malaysian homes, to evaluate the feasibility of using the HOME FAST in the Malaysian Elders Longitudinal Research (MELoR) study and to gather preliminary data about the experience of falls among a small sample of Malaysian older people. A cross-sectional pilot study was conducted. An urban setting in Kuala Lumpur. 26 older people aged 60 and over were recruited from the control group of a related research project in Malaysia, in addition to older people known to the researchers. The HOME FAST was applied with the baseline survey for the MELoR study via a face-to-face interview and observation of the home by research staff. The majority of the participants were female, of Malay or Chinese ethnicity and living with others in a double-storeyed house. Falls were reported in the previous year by 19% and 80% of falls occurred at home. Gender and fear of falling had the strongest associations with home hazards. Most hazards were detected in the bathroom area. A small number of errors were detected in the HOME FAST ratings by researchers. The HOME FAST is feasible as a research and clinical tool for the Malaysian context and is appropriate for use in the MELoR study. Home hazards were prevalent in the homes of older people and further research with the larger MELoR sample is needed to confirm the validity of using the HOME FAST in Malaysia. Training in the use of the HOME FAST is needed to ensure accurate use by researchers. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/

A Digital Motion Control System for Large Telescopes

NASA Astrophysics Data System (ADS)

Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.

2001-05-01

We have designed and programmed a digital motion control system for large telescopes, in particular, the 6-meter antennas of the Submillimeter Array on Mauna Kea. The system consists of a single robust, high-reliability microcontroller board which implements a two-axis velocity servo while monitoring and responding to critical safety parameters. Excellent tracking performance has been achieved with this system (0.3 arcsecond RMS at sidereal rate). The 24x24 centimeter four-layer printed circuit board contains a multitude of hardware devices: 40 digital inputs (for limit switches and fault indicators), 32 digital outputs (to enable/disable motor amplifiers and brakes), a quad 22-bit ADC (to read the motor tachometers), four 16-bit DACs (that provide torque signals to the motor amplifiers), a 32-LED status panel, a serial port to the LynxOS PowerPC antenna computer (RS422/460kbps), a serial port to the Palm Vx handpaddle (RS232/115kbps), and serial links to the low-resolution absolute encoders on the azimuth and elevation axes. Each section of the board employs independent ground planes and power supplies, with optical isolation on all I/O channels. The processor is an Intel 80C196KC 16-bit microcontroller running at 20MHz on an 8-bit bus. This processor executes an interrupt-driven, scheduler-based software system written in C and assembled into an EPROM with user-accessible variables stored in NVSRAM. Under normal operation, velocity update requests arrive at 100Hz from the position-loop servo process running independently on the antenna computer. A variety of telescope safety checks are performed at 279Hz including routine servicing of a 6 millisecond watchdog timer. Additional ADCs onboard the microcontroller monitor the winding temperature and current in the brushless three-phase drive motors. The PID servo gains can be dynamically changed in software. Calibration factors and software filters can be applied to the tachometer readings prior to the application of the servo gains in the torque computations. The Palm pilot handpaddle displays the complete status of the telescope and allows full local control of the drives in an intuitive, touchscreen user interface which is especially useful during reconfigurations of the antenna array.

Performance of Leak Compensation in All-Age ICU Ventilators During Volume-Targeted Neonatal Ventilation: A Lung Model Study.

PubMed

Itagaki, Taiga; Bennett, Desmond J; Chenelle, Christopher T; Fisher, Daniel F; Kacmarek, Robert M

2017-01-01

Volume-targeted ventilation is increasingly used in low birthweight infants because of the potential for reducing volutrauma and avoiding hypocapnea. However, it is not known what level of air leak is acceptable during neonatal volume-targeted ventilation when leak compensation is activated concurrently. Four ICU ventilators (Servo-i, PB980, V500, and Avea) were compared in available invasive volume-targeted ventilation modes (pressure control continuous spontaneous ventilation [PC-CSV] and pressure control continuous mandatory ventilation [PC-CMV]). The Servo-i and PB980 were tested with (+) and without (-) their proximal flow sensor. The V500 and Avea were tested with their proximal flow sensor as indicated by their manufacturers. An ASL 5000 lung model was used to simulate 4 neonatal scenarios (body weight 0.5, 1, 2, and 4 kg). The ASL 5000 was ventilated via an endotracheal tube with 3 different leaks. Two minutes of data were collected after each change in leak level, and the asynchrony index was calculated. Tidal volume (V T ) before and after the change in leak was assessed. The differences in delivered V T between before and after the change in leak were within ±5% in all scenarios with the PB980 (-/+) and V500. With the Servo-i (-/+), baseline V T was ≥10% greater than set V T during PC-CSV, and delivered V T markedly changed with leak. The Avea demonstrated persistent high V T in all leak scenarios. Across all ventilators, the median asynchrony index was 1% (interquartile range 0-27%) in PC-CSV and 1.8% (0-45%) in PC-CMV. The median asynchrony index was significantly higher in the Servo-i (-/+) than in the PB980 (-/+) and V500 in 1 and 2 kg scenarios during PC-CSV and PC-CMV. The PB980 and V500 were the only ventilators to acclimate to all leak scenarios and achieve targeted V T . Further clinical investigation is needed to validate the use of leak compensation during neonatal volume-targeted ventilation. Copyright © 2017 by Daedalus Enterprises.

Servo Driven Corotation: Development of AN Inertial Clock.

NASA Astrophysics Data System (ADS)

Cheung, Wah-Kwan Stephen

An inertial clock to test non-metricity of gravity is proposed here. A first, room-temperature, servo corotation -protected, double magnetically suspended precision rotor system is developed for this purpose. The specific goal was to exhibit the properties of such a clock in its entirety at whatever level of precision was achievable. A monolithic system has been completed for these preliminary studies. It includes particular development of individual experimental sub-systems (a hybrid double magnetic suspension; a diffusion pumping system; a microcomputer -controlled eddy-current drive system; and the angular period measuring schemes for the doubly suspended rotors). Double magnetic suspension had been investigated by Beams for other purposes. The upper transducer is optical but parametrized and the lower transducer employs the frequency modulation characteristic of a LC tank circuit. The doubly suspended rotors corotate so that the upper rotor is servoed to rotate at the same angular velocity as that of the lower rotor. This creates a "drag free" environment for the lower rotor and effectively eliminates the gas drag on the lower rotor. Consequently, the decay time constant of the lower rotor increases. With other means of protection, the lower rotor will then, with perfect system operation, suffer no drag and therefore become the inertial time keeper. A commercial microcomputer is introduced to execute the servo-corotation. The tests thus far are, with one exception, run at atmospheric pressure. An idealized analysis for open and closed loop corotation is shown. Such analysis includes only the viscous drag acting on the corotating rotors. The analysis suggests that angular position control be added to the present feedback drive which is of derivative nature only. Open and closed corotation runs show that a strong torsional coupling besides that of the gas drag exists between the rotors. When misalignment of the support pole pieces is deliberately made significant, a stronger coupling between the rotors results. The coupling is suspected to be magnetic in nature. The complicated geometry of the double magnetic suspension scheme makes it difficult to evaluate the known mechanical cranking effect applied to this situation.

Malingering and PTSD: detecting malingering and war related PTSD by Miller Forensic Assessment of Symptoms Test (M-FAST).

PubMed

Ahmadi, Khodabakhsh; Lashani, Zeynab; Afzali, Mohammad Hassan; Tavalaie, S Abbas; Mirzaee, Jafar

2013-05-29

Malingering is prevalent in PTSD, especially in delayed-onset PTSD. Despite the attempts to detect it, indicators, tools and methods to accurately detect malingering need extensive scientific and clinical research. Therefore, this study was designed to validate a tool that can detect malingering of war-related PTSD by Miller Forensic Assessment of Symptoms Test (M-FAST). In this blind clinical diagnosis study, one hundred and twenty veterans referred to War Related PTSD Diagnosis Committee in Iran in 2011 were enrolled. In the first step, the clients received Psychiatry diagnosis and were divided into two groups based on the DSM-IV-TR, and in the second step, the participants completed M-FAST. The t-test score within two groups by M-FAST Scale showed a significant difference (t = 14.058, P < 0.0001), and 92% of malingering war-related PTSD participants scored more than 6 and %87 of PTSD group scored less than 6 in M-FAST Scale. M-FAST showed a significant difference between war-related PTSD and malingering participants. The ≥6 score cutoff was suggested by M-FAST to detect malingering of war-related PTSD.

Fast simulation tool for ultraviolet radiation at the earth's surface

NASA Astrophysics Data System (ADS)

Engelsen, Ola; Kylling, Arve

2005-04-01

FastRT is a fast, yet accurate, UV simulation tool that computes downward surface UV doses, UV indices, and irradiances in the spectral range 290 to 400 nm with a resolution as small as 0.05 nm. It computes a full UV spectrum within a few milliseconds on a standard PC, and enables the user to convolve the spectrum with user-defined and built-in spectral response functions including the International Commission on Illumination (CIE) erythemal response function used for UV index calculations. The program accounts for the main radiative input parameters, i.e., instrumental characteristics, solar zenith angle, ozone column, aerosol loading, clouds, surface albedo, and surface altitude. FastRT is based on look-up tables of carefully selected entries of atmospheric transmittances and spherical albedos, and exploits the smoothness of these quantities with respect to atmospheric, surface, geometrical, and spectral parameters. An interactive site, http://nadir.nilu.no/~olaeng/fastrt/fastrt.html, enables the public to run the FastRT program with most input options. This page also contains updated information about FastRT and links to freely downloadable source codes and binaries.

E-FAST-Exposure and Fate Assessment Screening Tool Version 2014

EPA Pesticide Factsheets

E-FAST estimates potential exposures to the general population and surface water concentrations based on releases from industrial operations and basic physical-chemical properties and fate parameters of the substance

Mechanical Characterization of the Iter Mock-Up Insulation after Reactor Irradiation

NASA Astrophysics Data System (ADS)

Prokopec, R.; Humer, K.; Fillunger, H.; Maix, R. K.; Weber, H. W.

2010-04-01

The ITER mock-up project was launched in order to demonstrate the feasibility of an industrial impregnation process using the new cyanate ester/epoxy blend. The mock-up simulates the TF winding pack cross section by a stainless steel structure with the same dimensions as the TF winding pack at a length of 1 m. It consists of 7 plates simulating the double pancakes, each of them is wrapped with glass fiber/Kapton sandwich tapes. After stacking the 7 plates, additional insulation layers are wrapped to simulate the ground insulation. This paper presents the results of the mechanical quality tests on the mock-up pancake insulation. Tensile and short beam shear specimens were cut from the plates extracted from the mock-up and tested at 77 K using a servo-hydraulic material testing device. All tests were repeated after reactor irradiation to a fast neutron fluence of 1×1022 m-2 (E>0.1 MeV). In order to simulate the pulsed operation of ITER, tension-tension fatigue measurements were performed in the load controlled mode. Initial results show a high mechanical strength as expected from the high number of thin glass fiber layers, and an excellent homogeneity of the material.

Widely tunable laser frequency offset lock with 30 GHz range and 5 THz offset.

PubMed

Biesheuvel, J; Noom, D W E; Salumbides, E J; Sheridan, K T; Ubachs, W; Koelemeij, J C J

2013-06-17

We demonstrate a simple and versatile method to greatly extend the tuning range of optical frequency shifting devices, such as acousto-optic modulators (AOMs). We use this method to stabilize the frequency of a tunable narrow-band continuous-wave (CW) laser to a transmission maximum of an external Fabry-Perot interferometer (FPI) with a tunable frequency offset. This is achieved through a servo loop which contains an in-loop AOM for simple radiofrequency (RF) tuning of the optical frequency over the full 30 GHz mode-hop-free tuning range of the CW laser. By stabilizing the length of the FPI to a stabilized helium-neon (HeNe) laser (at 5 THz offset from the tunable laser) we simultaneously transfer the ~ 1 MHz absolute frequency stability of the HeNe laser to the entire 30 GHz range of the tunable laser. Thus, our method allows simple, wide-range, fast and reproducible optical frequency tuning and absolute optical frequency measurements through RF electronics, which is here demonstrated by repeatedly recording a 27-GHz-wide molecular iodine spectrum at scan rates up to 500 MHz/s. General technical aspects that determine the performance of the method are discussed in detail.

Online Wavelet Complementary velocity Estimator.

PubMed

Righettini, Paolo; Strada, Roberto; KhademOlama, Ehsan; Valilou, Shirin

2018-02-01

In this paper, we have proposed a new online Wavelet Complementary velocity Estimator (WCE) over position and acceleration data gathered from an electro hydraulic servo shaking table. This is a batch estimator type that is based on the wavelet filter banks which extract the high and low resolution of data. The proposed complementary estimator combines these two resolutions of velocities which acquired from numerical differentiation and integration of the position and acceleration sensors by considering a fixed moving horizon window as input to wavelet filter. Because of using wavelet filters, it can be implemented in a parallel procedure. By this method the numerical velocity is estimated without having high noise of differentiators, integration drifting bias and with less delay which is suitable for active vibration control in high precision Mechatronics systems by Direct Velocity Feedback (DVF) methods. This method allows us to make velocity sensors with less mechanically moving parts which makes it suitable for fast miniature structures. We have compared this method with Kalman and Butterworth filters over stability, delay and benchmarked them by their long time velocity integration for getting back the initial position data. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

77 FR 42421 - Airworthiness Directives; Bell Helicopter Textron Canada Helicopters

Federal Register 2010, 2011, 2012, 2013, 2014

2012-07-19

... nut or clevis assembly. The AD also requires reidentifying the servo by metal- impression stamping or... plate. (g) Alternative Methods of Compliance (AMOCs) (1) The Manager, Safety Management Group, FAA, may...

A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

PubMed

Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

2014-07-01

The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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

PubMed

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

2016-07-01

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

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

NASA Technical Reports Server (NTRS)

Shaver, Charles; Williamson, Michael

1986-01-01

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

Advanced telepresence surgery system development.

PubMed

Jensen, J F; Hill, J W

1996-01-01

SRI International is currently developing a prototype remote telepresence surgery system, for the Advanced Research Projects Agency (ARPA), that will bring life-saving surgical care to wounded soldiers in the zone of combat. Remote surgery also has potentially important applications in civilian medicine. In addition, telepresence will find wide medical use in local surgery, in endoscopic, laparoscopic, and microsurgery applications. Key elements of the telepresence technology now being developed for ARPA, including the telepresence surgeon's workstation (TSW) and associated servo control systems, will have direct application to these areas of minimally invasive surgery. The TSW technology will also find use in surgical training, where it will provide an immersive visual and haptic interface for interaction with computer-based anatomical models. In this paper, we discuss our ongoing development of the MEDFAST telesurgery system, focusing on the TSW man-machine interface and its associated servo control electronics.

Design and control of a high precision drive mechanism

NASA Astrophysics Data System (ADS)

Pan, Bo; He, Yongqiang; Wang, Haowei; Zhang, Shuyang; Zhang, Donghua; Wei, Xiaorong; Jiang, Zhihong

2017-01-01

This paper summarizes the development of a high precision drive mechanism (HPDM) for space application, such as the directional antenna, the laser communication device, the mobile camera and other pointing mechanisms. In view of the great practical significance of high precision drive system, control technology for permanent magnet synchronous motor (PMSM) servo system is also studied and a PMSM servo controller is designed in this paper. And the software alignment was applied to the controller to eliminate the steady error of the optical encoder, which helps to realize the 1 arcsec (1σ) control precision. To assess its capabilities, the qualification environment testing including the thermal vacuum cycling testing, and the sinusoidal and random vibration were carried out. The testing results show that the performance of the HPDM is almost the same between the former and the end of each testing.

A miniature electronically tunable Fabry-Perot filter

NASA Astrophysics Data System (ADS)

O'Sullivan, B.; Pietraszewski, K. A. R.

A miniature electronically tunable, servo controlled Fabry-Perot filter for use in fiber optic sensors, spectroscopy, data and telecommunications, and laser tuning has been developed. The servo control system utilizes capacitance micrometry and piezo technology to maintain stable cavity mirror separations with a noise of less than 0.9nm rms while enabling random access tuning to any wavelength in the design range in less than 0.5ms. Free spectral ranges from 75,000GHz to 300GHz (560nm to 1.5nm at 1500nm wavelength) are typical with finesses between 3 and 300. At present the device has been made commercially available in two formats: fiber optically coupled, with single-mode or multimode fiber, or with a 3mm clear aperture. The design and performance of the instrument are presented along with some typical application examples.

An Apparatus for Varying Effective Dihedral in Flight with Application to a Study of Tolerable Dihedral on a Conventional Fighter Airplane

NASA Technical Reports Server (NTRS)

Kauffman, William M; Liddell, Charles J , Jr; Smith, Allan; Van Dyke, Rudolph D , Jr

1949-01-01

An apparatus for varying effective dihedral in flight by means of servo actuation of the ailerons in response to sideslip angle is described. The results of brief flight tests of the apparatus on a conventional fighter airplane are presented and discussed. The apparatus is shown to have satisfactory simulated a wide range of effective dihedral under static and dynamic conditions. The effects of a small amount of servo lag are shown to be measurable when the apparatus is simulating small negative values of dihedral. However, these effects were not considered by the pilots to give the airplane an artificial feel. The results of an investigation employing the apparatus to determine the tolerable (safe for normal fighter operation) range of effective dihedral on the test airplane are presented.

Door Security using Face Detection and Raspberry Pi

NASA Astrophysics Data System (ADS)

Bhutra, Venkatesh; Kumar, Harshav; Jangid, Santosh; Solanki, L.

2018-03-01

With the world moving towards advanced technologies, security forms a crucial part in daily life. Among the many techniques used for this purpose, Face Recognition stands as effective means of authentication and security. This paper deals with the user of principal component and security. PCA is a statistical approach used to simplify a data set. The minimum Euclidean distance found from the PCA technique is used to recognize the face. Raspberry Pi a low cost ARM based computer on a small circuit board, controls the servo motor and other sensors. The servo-motor is in turn attached to the doors of home and opens up when the face is recognized. The proposed work has been done using a self-made training database of students from B.K. Birla Institute of Engineering and Technology, Pilani, Rajasthan, India.

Building large mosaics of confocal edomicroscopic images using visual servoing.

PubMed

Rosa, Benoît; Erden, Mustafa Suphi; Vercauteren, Tom; Herman, Benoît; Szewczyk, Jérôme; Morel, Guillaume

2013-04-01

Probe-based confocal laser endomicroscopy provides real-time microscopic images of tissues contacted by a small probe that can be inserted in vivo through a minimally invasive access. Mosaicking consists in sweeping the probe in contact with a tissue to be imaged while collecting the video stream, and process the images to assemble them in a large mosaic. While most of the literature in this field has focused on image processing, little attention has been paid so far to the way the probe motion can be controlled. This is a crucial issue since the precision of the probe trajectory control drastically influences the quality of the final mosaic. Robotically controlled motion has the potential of providing enough precision to perform mosaicking. In this paper, we emphasize the difficulties of implementing such an approach. First, probe-tissue contacts generate deformations that prevent from properly controlling the image trajectory. Second, in the context of minimally invasive procedures targeted by our research, robotic devices are likely to exhibit limited quality of the distal probe motion control at the microscopic scale. To cope with these problems visual servoing from real-time endomicroscopic images is proposed in this paper. It is implemented on two different devices (a high-accuracy industrial robot and a prototype minimally invasive device). Experiments on different kinds of environments (printed paper and ex vivo tissues) show that the quality of the visually servoed probe motion is sufficient to build mosaics with minimal distortion in spite of disturbances.

Identification and real-time position control of a servo-hydraulic rotary actuator by means of a neurobiologically motivated algorithm.

PubMed

Sadeghieh, Ali; Sazgar, Hadi; Goodarzi, Kamyar; Lucas, Caro

2012-01-01

This paper presents a new intelligent approach for adaptive control of a nonlinear dynamic system. A modified version of the brain emotional learning based intelligent controller (BELBIC), a bio-inspired algorithm based upon a computational model of emotional learning which occurs in the amygdala, is utilized for position controlling a real laboratorial rotary electro-hydraulic servo (EHS) system. EHS systems are known to be nonlinear and non-smooth due to many factors such as leakage, friction, hysteresis, null shift, saturation, dead zone, and especially fluid flow expression through the servo valve. The large value of these factors can easily influence the control performance in the presence of a poor design. In this paper, a mathematical model of the EHS system is derived, and then the parameters of the model are identified using the recursive least squares method. In the next step, a BELBIC is designed based on this dynamic model and utilized to control the real laboratorial EHS system. To prove the effectiveness of the modified BELBIC's online learning ability in reducing the overall tracking error, results have been compared to those obtained from an optimal PID controller, an auto-tuned fuzzy PI controller (ATFPIC), and a neural network predictive controller (NNPC) under similar circumstances. The results demonstrate not only excellent improvement in control action, but also less energy consumption. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

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.

HERMES travels by CAN bus

NASA Astrophysics Data System (ADS)

Waller, Lewis G.; Shortridge, Keith; Farrell, Tony J.; Vuong, Minh; Muller, Rolf; Sheinis, Andrew I.

2014-07-01

The new HERMES spectrograph represents the first foray by AAO into the use of commercial off-the-shelf industrial field bus technology for instrument control, and we regard the final system, with its relatively simple wiring requirements, as a great success. However, both software and hardware teams had to work together to solve a number of problems integrating the chosen CANopen/CAN bus system into our normal observing systems. A Linux system running in an industrial PC chassis ran the HERMES control software, using a PCI CAN bus interface connected to a number of distributed CANopen/CAN bus I/O devices and servo amplifiers. In the main, the servo amplifiers performed impressively, although some experimentation with homing algorithms was required, and we hit a significant hurdle when we discovered that we needed to disable some of the encoders used during observations; we learned a lot about how servo amplifiers respond when their encoders are turned off, and about how encoders react to losing power. The software was based around a commercial CANopen library from Copley Controls. Early worries about how this heavily multithreaded library would work with our standard data acquisition system led to the development of a very low-level CANopen software simulator to verify the design. This also enabled the software group to develop and test almost all the control software well in advance of the construction of the hardware. In the end, the instrument went from initial installation at the telescope to successful commissioning remarkably smoothly.

Fast analysis of radionuclide decay chain migration

NASA Astrophysics Data System (ADS)

Chen, J. S.; Liang, C. P.; Liu, C. W.; Li, L.

2014-12-01

A novel tool for rapidly predicting the long-term plume behavior of an arbitrary length radionuclide decay chain is presented in this study. This fast tool is achieved based on generalized analytical solutions in compact format derived for a set of two-dimensional advection-dispersion equations coupled with sequential first-order decay reactions in groundwater system. The performance of the developed tool is evaluated by a numerical model using a Laplace transform finite difference scheme. The results of performance evaluation indicate that the developed model is robust and accurate. The developed model is then used to fast understand the transport behavior of a four-member radionuclide decay chain. Results show that the plume extents and concentration levels of any target radionuclide are very sensitive to longitudinal, transverse dispersion, decay rate constant and retardation factor. The developed model are useful tools for rapidly assessing the ecological and environmental impact of the accidental radionuclide releases such as the Fukushima nuclear disaster where multiple radionuclides leaked through the reactor, subsequently contaminating the local groundwater and ocean seawater in the vicinity of the nuclear plant.

Developing a passive load reduction blade for the DTU 10 MW reference turbine

NASA Astrophysics Data System (ADS)

de Vaal, J. B.; Nygaard, T. A.; Stenbro, R.

2016-09-01

This paper presents the development of a passive load reduction blade for the DTU 10 MW reference wind turbine, using the aero-hydro-servo-elastic analysis tool 3DFloat. Passive load reduction is achieved by introducing sweep to the path of the blade elastic axis, so that out-of-plane bending deflections result in load alleviating torsional deformations of the blade. Swept blades are designed to yield similar annual energy production as a rotor with a reference straight blade. This is achieved by modifying the aerodynamic twist distribution for swept blades based on non-linear blade deflection under steady state loads. The passive load reduction capability of a blade design is evaluated by running a selection of fatigue- and extreme load cases with the analysis tool 3DFloat and determining equivalent fatigue loads, fatigue damage and extreme loads at the blade root and tower base. The influence of sweep on the flutter speed of a blade design is also investigated. A large number of blade designs are evaluated by varying the parameters defining the sweep path of a blade's elastic axis. Results show that a moderate amount of sweep can effectively reduce equivalent fatigue damage and extreme loads, without significantly reducing the flutter speed, or compromising annual energy production.

HAKOU v3: SWIMS Hurricane Inundation Fast Forecasting Tool for Hawaii

DTIC Science & Technology

2012-02-01

SUBTITLE HAKOU v3: SWIMS Hurricane Inundation Fast Forecasting Tool For Hawaii 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...Coupled SWAN+ADCIRC were driven with wind and pressure fields generated by the planetary boundary layer model TC96 (Thompson and Cardone 1996...F., and V. J. Cardone . 1996. Practical modeling of hurricane surface wind fields. J. Waterw. Port C-ASCE. 122(4): 195-205. Zijlema, M. 2010

A Virtual World of Visualization

NASA Technical Reports Server (NTRS)

1998-01-01

In 1990, Sterling Software, Inc., developed the Flow Analysis Software Toolkit (FAST) for NASA Ames on contract. FAST is a workstation based modular analysis and visualization tool. It is used to visualize and animate grids and grid oriented data, typically generated by finite difference, finite element and other analytical methods. FAST is now available through COSMIC, NASA's software storehouse.

77 FR 18718 - Petroleum Reduction and Alternative Fuel Consumption Requirements for Federal Fleets

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-28

... Statistical Tool Web-based reporting system (FAST) for FY 2005. Moreover, section 438.102(b) would require... reflected in FY 2005 FAST data, or (2) the lesser of (a) five percent of total Federal fleet vehicle fuel... event that the Federal fleet's alternative fuel use value for FY 2005 submitted through FAST did not...

Operational test results of the passive final approach spacing tool

DOT National Transportation Integrated Search

1997-06-01

A prototype decision support tool for terminal area air traffic controllers, : referred to as the Final Approach Spacing Tool (FAST), was recently evaluated in : operation with live air traffic at the Dallas/Fort Worth, Texas Airport, : Controllers u...

A 17 degree of freedom anthropomorphic manipulator

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Three-link Swimming in Sand

NASA Astrophysics Data System (ADS)

Hatton, R. L.; Ding, Yang; Masse, Andrew; Choset, Howie; Goldman, Daniel

2011-11-01

Many animals move within in granular media such as desert sand. Recent biological experiments have revealed that the sandfish lizard uses an undulatory gait to swim within sand. Models reveal that swimming occurs in a frictional fluid in which inertial effects are small and kinematics dominate. To understand the fundamental mechanics of swimming in granular media (GM), we examine a model system that has been well-studied in Newtonian fluids: the three-link swimmer. We create a physical model driven by two servo-motors, and a discrete element simulation of the swimmer. To predict optimal gaits we use a recent geometric mechanics theory combined with empirically determined resistive force laws for GM. We develop a kinematic relationship between the swimmer's shape and position velocities and construct connection vector field and constraint curvature function visualizations of the system dynamics. From these we predict optimal gaits for forward, lateral and rotational motion. Experiment and simulation are in accord with the theoretical predictions; thus geometric tools can be used to study locomotion in GM.

A universal six-joint robot controller

NASA Technical Reports Server (NTRS)

Bihn, D. G.; Hsia, T. C.

1987-01-01

A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

Pneumatic Valve Operated by Multiplex Pneumatic Transmission

NASA Astrophysics Data System (ADS)

Nishioka, Yasutaka; Suzumori, Koichi; Kanda, Takefumi; Wakimoto, Shuichi

A pneumatic system has several advantages, which are cheapness, lightweight, and reliability to human and environment. These advantages are adapted to some research areas, such as industrial lines, medical and nursing cares, and rehabilitation tools. However, the pneumatic system needs several devices; compressor, air tube, and control valve. This research aim to downsize pneumatic system. In this paper, a new method of multiplex pneumatic transmission for multi-pneumatic servo system is proposed. The valve for this system consists of two vibrators supported by springs, which was designed with simple and cheap structure. The working principle of the valve is vibrators resonance from multiplex pneumatic transmission and it is possible to work as ON/OFF valves without electric wire. Dynamic simulation was used to confirm the working principle of the resonance driving system. A prototype device confirming the principle was designed and developed based on the simulation. The experiments show that this new control system works very well to control two separated valves through single pneumatic tube.

Near field communication (NFC) model for arduino uno based security systems office system

NASA Astrophysics Data System (ADS)

Chairunnas, A.; Abdurrasyid, I.

2018-03-01

Currently, many offices or companies that start growing rapidly in a company or office should have a very limited room to enter only people entitled to enter the room and use the facilities contained in it, for example, Files in it must have many files and documents very important because to reduce the abuse of files and irresponsible person. Because it will be made room door security system by using Near Field Communication on android smartphone. Software used is Arduino IDE. The tools used in this system are Arduino Uno R3, NFC shield, pear sensor, bell, led, servo, 16 × 2 LCD, and Near Field Communication (NFC) in android smartphone. This system runs based on 2 inputs of a new technology that is Near Field Communication (NFC) in android smartphone. And also use pear sensor to detect unauthorized person entering the room. If the correct password is entered then the door will open and the pear sensor will light off if wrong then the bell will light up.

Training Medical Novices in Spinal Microsurgery: Does the Modality Matter? A Pilot Study Comparing Traditional Microscopic Surgery and a Novel Robotic Optoelectronic Visualization Tool

PubMed Central

Tubbs, R. Shane; Page, Jeni; Chapman, Alexandra; Burgess, Brittni; Laws, Tyler; Warren, Haylie; Oskouian, Rod J

2016-01-01

The operative microscope has been a staple instrument in the neurosurgical operating room over the last 50 years. With advances in optoelectronics, options such as robotically controlled high magnification have become available. Such robotically controlled optoelectronic systems may offer new opportunities in surgical technique and teaching. However, traditionally trained surgeons may find it hard to accept newer technologies due to an inherent bias emerging from their previous background. We, therefore, studied how a medically naïve population in a pilot study would meet set microsurgical goals in a cadaver experiment using either a conventional operative microscope or BrightMatter™ Servo system, ​a robotically controlled optoelectronic system (Synaptive Medical, Toronto, Ontario, Canada). We found that the relative ease in teaching medical novices with a robotically controlled optoelectronic system was more valuable when compared to using a modern-day surgical microscope. PMID:26973804

A neural network-based approach to noise identification of interferometric GW antennas: the case of the 40 m Caltech laser interferometer

NASA Astrophysics Data System (ADS)

Acernese, F.; Barone, F.; de Rosa, M.; De Rosa, R.; Eleuteri, A.; Milano, L.; Tagliaferri, R.

2002-06-01

In this paper, a neural network-based approach is presented for the real time noise identification of a GW laser interferometric antenna. The 40 m Caltech laser interferometer output data provide a realistic test bed for noise identification algorithms because of the presence of many relevant effects: violin resonances in the suspensions, main power harmonics, ring-down noise from servo control systems, electronic noises, glitches and so on. These effects can be assumed to be present in all the first interferometric long baseline GW antennas such as VIRGO, LIGO, GEO and TAMA. For noise identification, we used the Caltech-40 m laser interferometer data. The results we obtained are pretty good notwithstanding the high initial computational cost. The algorithm we propose is general and robust, taking into account that it does not require a priori information on the data, nor a precise model, and it constitutes a powerful tool for time series data analysis.

Controlling Force and Depth in Friction Stir Welding

NASA Technical Reports Server (NTRS)

Adams, Glynn; Loftus, Zachary; McCormac, Nathan; Venable, Richard

2005-01-01

Feedback control of the penetration force applied to a pin tool in friction stir welding has been found to be a robust and reliable means for controlling the depth of penetration of the tool. This discovery has made it possible to simplify depth control and to weld with greater repeatability, even on workpieces with long weld joints. Prior to this discovery, depths of penetration in friction stir welding were controlled by hard-tooled roller assemblies or by depth actuators controlled by feedback from such external sensors as linear variable-differential transformers or laser-based devices. These means of control are limited: A hard-tooled roller assembly confines a pin tool to a preset depth that cannot be changed easily during the welding process. A measurement by an external sensor is only an indirect indicative of the depth of penetration, and computations to correlate such a measurement with a depth of penetration are vulnerable to error. The present force-feedback approach exploits the proportionality between the depth and the force of penetration Unlike a depth measurement taken by an external sensor, a force measurement can be direct because it can be taken by a sensor coupled directly to the pin tool. The reading can be processed through a modern electronic servo control system to control an actuator to keep the applied penetration force at the desired level. In comparison with the older depth-control methods described above, this method offers greater sensitivity to plasticizing of the workpiece metal and is less sensitive to process noise, resulting in a more consistent process. In an experiment, a tapered panel was friction stir welded while controlling the force of penetration according to this method. The figure is a plot of measurements taken during the experiment, showing that force was controlled with a variation of 200 lb (890 N), resulting in control of the depth of penetration with a variation of 0.004 in. (0.1 mm).

The fast encryption package

NASA Technical Reports Server (NTRS)

Bishop, Matt

1988-01-01

The organization of some tools to help improve passwork security at a UNIX-based site is described along with how to install and use them. These tools and their associated library enable a site to force users to pick reasonably safe passwords (safe being site configurable) and to enable site management to try to crack existing passworks. The library contains various versions of a very fast implementation of the Data Encryption Standard and of the one-way encryption functions used to encryp the password.

Benchmarking short sequence mapping tools

PubMed Central

2013-01-01

Background The development of next-generation sequencing instruments has led to the generation of millions of short sequences in a single run. The process of aligning these reads to a reference genome is time consuming and demands the development of fast and accurate alignment tools. However, the current proposed tools make different compromises between the accuracy and the speed of mapping. Moreover, many important aspects are overlooked while comparing the performance of a newly developed tool to the state of the art. Therefore, there is a need for an objective evaluation method that covers all the aspects. In this work, we introduce a benchmarking suite to extensively analyze sequencing tools with respect to various aspects and provide an objective comparison. Results We applied our benchmarking tests on 9 well known mapping tools, namely, Bowtie, Bowtie2, BWA, SOAP2, MAQ, RMAP, GSNAP, Novoalign, and mrsFAST (mrFAST) using synthetic data and real RNA-Seq data. MAQ and RMAP are based on building hash tables for the reads, whereas the remaining tools are based on indexing the reference genome. The benchmarking tests reveal the strengths and weaknesses of each tool. The results show that no single tool outperforms all others in all metrics. However, Bowtie maintained the best throughput for most of the tests while BWA performed better for longer read lengths. The benchmarking tests are not restricted to the mentioned tools and can be further applied to others. Conclusion The mapping process is still a hard problem that is affected by many factors. In this work, we provided a benchmarking suite that reveals and evaluates the different factors affecting the mapping process. Still, there is no tool that outperforms all of the others in all the tests. Therefore, the end user should clearly specify his needs in order to choose the tool that provides the best results. PMID:23758764

Improving accuracy of unbound resilient modulus testing

DOT National Transportation Integrated Search

1997-07-01

The P46 Laboratory Startup and Quality Control Procedure was developed to ensure the accuracy and reliability of the resilient modulus data produced while testing soil and aggregate materials using closed-loop servo-hydraulic systems. It was develope...

A method of eliminating hydrogen maser wall shift

NASA Technical Reports Server (NTRS)

Levine, M. W.; Vessot, R. F. C.

1972-01-01

Maser output frequency shift was prevented by storage bulb kept at temperature at which wall shift is zero and effects of bulb size, shape, and surface texture are eliminated. Servo system is shown, along with bidirectional counter.

A new neural net approach to robot 3D perception and visuo-motor coordination

NASA Technical Reports Server (NTRS)

Lee, Sukhan

1992-01-01

A novel neural network approach to robot hand-eye coordination is presented. The approach provides a true sense of visual error servoing, redundant arm configuration control for collision avoidance, and invariant visuo-motor learning under gazing control. A 3-D perception network is introduced to represent the robot internal 3-D metric space in which visual error servoing and arm configuration control are performed. The arm kinematic network performs the bidirectional association between 3-D space arm configurations and joint angles, and enforces the legitimate arm configurations. The arm kinematic net is structured by a radial-based competitive and cooperative network with hierarchical self-organizing learning. The main goal of the present work is to demonstrate that the neural net representation of the robot 3-D perception net serves as an important intermediate functional block connecting robot eyes and arms.

Control Oriented Modeling and Validation of Aeroservoelastic Systems

NASA Technical Reports Server (NTRS)

Crowder, Marianne; deCallafon, Raymond (Principal Investigator)

2002-01-01

Lightweight aircraft design emphasizes the reduction of structural weight to maximize aircraft efficiency and agility at the cost of increasing the likelihood of structural dynamic instabilities. To ensure flight safety, extensive flight testing and active structural servo control strategies are required to explore and expand the boundary of the flight envelope. Aeroservoelastic (ASE) models can provide online flight monitoring of dynamic instabilities to reduce flight time testing and increase flight safety. The success of ASE models is determined by the ability to take into account varying flight conditions and the possibility to perform flight monitoring under the presence of active structural servo control strategies. In this continued study, these aspects are addressed by developing specific methodologies and algorithms for control relevant robust identification and model validation of aeroservoelastic structures. The closed-loop model robust identification and model validation are based on a fractional model approach where the model uncertainties are characterized in a closed-loop relevant way.

A disturbance observer-based adaptive control approach for flexure beam nano manipulators.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-01-01

This paper presents a systematic modeling and control methodology for a two-dimensional flexure beam-based servo stage supporting micro/nano manipulations. Compared with conventional mechatronic systems, such systems have major control challenges including cross-axis coupling, dynamical uncertainties, as well as input saturations, which may have adverse effects on system performance unless effectively eliminated. A novel disturbance observer-based adaptive backstepping-like control approach is developed for high precision servo manipulation purposes, which effectively accommodates model uncertainties and coupling dynamics. An auxiliary system is also introduced, on top of the proposed control scheme, to compensate the input saturations. The proposed control architecture is deployed on a customized-designed nano manipulating system featured with a flexure beam structure and voice coil actuators (VCA). Real time experiments on various manipulating tasks, such as trajectory/contour tracking, demonstrate precision errors of less than 1%. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

PubMed

Guo, Qing; Yu, Tian; Jiang, Dan

2015-11-01

In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

A telerobotic digital controller system

NASA Technical Reports Server (NTRS)

Brown, Richard J.

1992-01-01

This system is a network of joint mounted dual axes digital servo-controllers (DDSC), providing control of various joints and end effectors of different robotic systems. This report provides description of and user required information for the Digital Controller System Network (DSCN) and, in particular, the DDSC, Model DDSC-2, developed to perform the controller functions. The DDSC can control 3 phase brushless or brush type DC motors, requiring up to 8 amps. Only four wires, two for power and 2 for serial communication, are required, except for local sensor and motor connections. This highly capable, very flexible, programmable servo-controller, contained on a single, compact printed circuit board measuring only 4.5 x 5.1 inches, is applicable to control systems of all types from sub-arc second precision pointing to control of robotic joints and end effectors. This document concentrates on the robotic applications for the DDSC.

Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory.

PubMed

Wang, Chengwen; Quan, Long; Zhang, Shijie; Meng, Hongjun; Lan, Yuan

2017-03-01

Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Actively suspended counter-rotating machine

NASA Technical Reports Server (NTRS)

Studer, Philip A. (Inventor)

1983-01-01

A counter-rotating machine, such as a positive displacement pump having a pair of meshed, non-contacting helical screws (10,12), subjects its rotating members to axial and radial thrust forces when used for such purposes as compression of liquid or gaseous phase fluids while transporting them through a pump cavity (11,13). Each helical screw (10,12) has a shaft (17,17') which is actively suspended at opposite ends (11a,11b) of the pump cavity by a servo-controlled magnetic bearing assembly (19) and a servo-controlled rotary drive motor (20). Both bearing assemblies and drive motors are mounted on the outside of the pump cavity (11,13). Opto-electric angular position sensors (250) provide synchronization between radial orientation of the drive motors. The bearing assemblies and drive motors conjugately provide axial stabilization and radial centering of the helical screws during volumetric compression of aspirated liquid or gaseous phase fluids.

Grasp Assist Device with Shared Tendon Actuator Assembly

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Bergelin, Bryan J. (Inventor); Bridgwater, Lyndon (Inventor)

2015-01-01

A grasp assist device includes a glove with first and second tendon-driven fingers, a tendon, and a sleeve with a shared tendon actuator assembly. Tendon ends are connected to the respective first and second fingers. The actuator assembly includes a drive assembly having a drive axis and a tendon hook. The tendon hook, which defines an arcuate surface slot, is linearly translatable along the drive axis via the drive assembly, e.g., a servo motor thereof. The flexible tendon is routed through the surface slot such that the surface slot divides the flexible tendon into two portions each terminating in a respective one of the first and second ends. The drive assembly may include a ball screw and nut. An end cap of the actuator assembly may define two channels through which the respective tendon portions pass. The servo motor may be positioned off-axis with respect to the drive axis.

Harmony search optimization in dimensional accuracy of die sinking EDM process using SS316L stainless steel

NASA Astrophysics Data System (ADS)

Deris, A. M.; Zain, A. M.; Sallehuddin, R.; Sharif, S.

2017-09-01

Electric discharge machine (EDM) is one of the widely used nonconventional machining processes for hard and difficult to machine materials. Due to the large number of machining parameters in EDM and its complicated structural, the selection of the optimal solution of machining parameters for obtaining minimum machining performance is remain as a challenging task to the researchers. This paper proposed experimental investigation and optimization of machining parameters for EDM process on stainless steel 316L work piece using Harmony Search (HS) algorithm. The mathematical model was developed based on regression approach with four input parameters which are pulse on time, peak current, servo voltage and servo speed to the output response which is dimensional accuracy (DA). The optimal result of HS approach was compared with regression analysis and it was found HS gave better result y giving the most minimum DA value compared with regression approach.

Volume Dynamics Propulsion System Modeling for Supersonics Vehicle Research

NASA Technical Reports Server (NTRS)

Kopasakis, George; Connolly, Joseph W.; Paxson, Daniel E.; Ma, Peter

2010-01-01

Under the NASA Fundamental Aeronautics Program the Supersonics Project is working to overcome the obstacles to supersonic commercial flight. The proposed vehicles are long slim body aircraft with pronounced aero-servo-elastic modes. These modes can potentially couple with propulsion system dynamics; leading to performance challenges such as aircraft ride quality and stability. Other disturbances upstream of the engine generated from atmospheric wind gusts, angle of attack, and yaw can have similar effects. In addition, for optimal propulsion system performance, normal inlet-engine operations are required to be closer to compressor stall and inlet unstart. To study these phenomena an integrated model is needed that includes both airframe structural dynamics as well as the propulsion system dynamics. This paper covers the propulsion system component volume dynamics modeling of a turbojet engine that will be used for an integrated vehicle Aero-Propulso-Servo-Elastic model and for propulsion efficiency studies.

Volume Dynamics Propulsion System Modeling for Supersonics Vehicle Research

NASA Technical Reports Server (NTRS)

Kopasakis, George; Connolly, Joseph W.; Paxson, Daniel E.; Ma, Peter

2008-01-01

Under the NASA Fundamental Aeronautics Program, the Supersonics Project is working to overcome the obstacles to supersonic commercial flight. The proposed vehicles are long slim body aircraft with pronounced aero-servo-elastic modes. These modes can potentially couple with propulsion system dynamics; leading to performance challenges such as aircraft ride quality and stability. Other disturbances upstream of the engine generated from atmospheric wind gusts, angle of attack, and yaw can have similar effects. In addition, for optimal propulsion system performance, normal inlet-engine operations are required to be closer to compressor stall and inlet unstart. To study these phenomena an integrated model is needed that includes both airframe structural dynamics as well as the propulsion system dynamics. This paper covers the propulsion system component volume dynamics modeling of a turbojet engine that will be used for an integrated vehicle Aero-Propulso-Servo-Elastic model and for propulsion efficiency studies.

Volume Dynamics Propulsion System Modeling for Supersonics Vehicle Research

NASA Technical Reports Server (NTRS)

Kopasakis, George; Connolly, Joseph W.; Paxson, Daniel E.; Ma, Peter

2008-01-01

Under the NASA Fundamental Aeronautics Program the Supersonics Project is working to overcome the obstacles to supersonic commercial flight. The proposed vehicles are long slim body aircraft with pronounced aero-servo-elastic modes. These modes can potentially couple with propulsion system dynamics; leading to performance challenges such as aircraft ride quality and stability. Other disturbances upstream of the engine generated from atmospheric wind gusts, angle of attack, and yaw can have similar effects. In addition, for optimal propulsion system performance, normal inlet-engine operations are required to be closer to compressor stall and inlet unstart. To study these phenomena an integrated model is needed that includes both airframe structural dynamics as well as the propulsion system dynamics. This paper covers the propulsion system component volume dynamics modeling of a turbojet engine that will be used for an integrated vehicle Aero- Propulso-Servo-Elastic model and for propulsion efficiency studies.

Cover-layer with High Refractive Index for Near-Field Recording Media

NASA Astrophysics Data System (ADS)

Kim, Jin-Hong; Lee, Jun-Seok

2007-06-01

TiO2 nanoparticles are added into UV-curable resin to increase the refractive index of the cover-layer laminated for cover-layer incident near-field recording media. A high refractive index is required for the cover-layer operating with an optical head with a high numerical aperture. The eye pattern from a cover-layer coated 20 GB read-only memory disc in which the refractive index of the cover-layer is 1.75 is achieved, but the gap servo is unstable owing to the rough surface of the cover-layer. Even though the light loss due to the nanoparticles is negligible, a rough microstructure is developed by adding the nanoparticles into an organic binder material. To achieve a smooth surface for a stable gap servo, the solubility of the nanoparticles should be enhanced by the optimization of the surface of the nanoparticles.

Cover-Layer with High Refractive Index for Near-Field Recording Media

NASA Astrophysics Data System (ADS)

Kim, Jin-Hong; Lee, Jun-Seok

2007-06-01

TiO2 nanoparticles are added into UV-curable resin to increase the refractive index of the cover-layer laminated for cover-layer incident near-field recording media. A high refractive index is required for the cover-layer operating with an optical head with a high numerical aperture. The eye pattern from a cover-layer coated 20 GB read-only memory disc in which the refractive index of the cover-layer is 1.75 is achieved, but the gap servo is unstable owing to the rough surface of the cover-layer. Even though the light loss due to the nanoparticles is negligible, a rough microstructure is developed by adding the nanoparticles into an organic binder material. To achieve a smooth surface for a stable gap servo, the solubility of the nanoparticles should be enhanced by the optimization of the surface of the nanoparticles.

Faulting of rocks in three-dimensional strain fields I. Failure of rocks in polyaxial, servo-control experiments

USGS Publications Warehouse

Reches, Z.; Dieterich, J.H.

1983-01-01

The dependence of the number of sets of faults and their orientation on the intermediate strain axis is investigated through polyaxial tests, reported here, and theoretical analysis, reported in an accompanying paper. In the experiments, cubic samples of Berea sandstone, Sierra-White and Westerly granites, and Candoro and Solnhofen limestones were loaded on their three pairs of faces by three independent, mutually perpendicular presses at room temperature. Two of the presses were servo-controlled and applied constant displacement rates throughout the experiment. Most samples display three or four sets of faults in orthorhombic symmetry. These faults form in several yielding events that follow a stage of elastic deformation. In many experiments, the maximum and the intermediate compressive stresses interchange orientations during the yielding events, where the corresponding strains are constant. The final stage of most experiments is characterized by slip along the faults. ?? 1983.

Modeling and analysis of the DSS-14 antenna control system

NASA Technical Reports Server (NTRS)

Gawronski, W.; Bartos, R.

1996-01-01

An improvement of pointing precision of the DSS-14 antenna is planned for the near future. In order to analyze the improvement limits and to design new controllers, a precise model of the antenna and the servo is developed, including a finite element model of the antenna structure and detailed models of the hydraulic drives and electronic parts. The DSS-14 antenna control system has two modes of operation: computer mode and precision mode. The principal goal of this investigation is to develop the model of the computer mode and to evaluate its performance. The DSS-14 antenna computer model consists of the antenna structure and drives in azimuth and elevation. For this model, the position servo loop is derived, and simulations of the closed-loop antenna dynamics are presented. The model is significantly different from that for the 34-m beam-waveguide antennas.

Faulting of rocks in three-dimensional strain fields I. Failure of rocks in polyaxial, servo-control experiments

NASA Astrophysics Data System (ADS)

Reches, Ze'ev; Dieterich, James H.

1983-05-01

The dependence of the number of sets of faults and their orientation on the intermediate strain axis is investigated through polyaxial tests, reported here, and theoretical analysis, reported in an accompanying paper. In the experiments, cubic samples of Berea sandstone, Sierra-White and Westerly granites, and Candoro and Solnhofen limestones were loaded on their three pairs of faces by three independent, mutually perpendicular presses at room temperature. Two of the presses were servo-controlled and applied constant displacement rates throughout the experiment. Most samples display three or four sets of faults in orthorhombic symmetry. These faults form in several yielding events that follow a stage of elastic deformation. In many experiments, the maximum and the intermediate compressive stresses interchange orientations during the yielding events, where the corresponding strains are constant. The final stage of most experiments is characterized by slip along the faults.

FSW of Aluminum Tailor Welded Blanks across Machine Platforms

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

Hovanski, Yuri; Upadhyay, Piyush; Carlson, Blair

2015-02-16

Development and characterization of friction stir welded aluminum tailor welded blanks was successfully carried out on three separate machine platforms. Each was a commercially available, gantry style, multi-axis machine designed specifically for friction stir welding. Weld parameters were developed to support high volume production of dissimilar thickness aluminum tailor welded blanks at speeds of 3 m/min and greater. Parameters originally developed on an ultra-high stiffness servo driven machine where first transferred to a high stiffness servo-hydraulic friction stir welding machine, and subsequently transferred to a purpose built machine designed to accommodate thin sheet aluminum welding. The inherent beam stiffness, bearingmore » compliance, and control system for each machine were distinctly unique, which posed specific challenges in transferring welding parameters across machine platforms. This work documents the challenges imposed by successfully transferring weld parameters from machine to machine, produced from different manufacturers and with unique control systems and interfaces.« less

Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

NASA Astrophysics Data System (ADS)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

Math Machines: Using Actuators in Physics Classes

NASA Astrophysics Data System (ADS)

Thomas, Frederick J.; Chaney, Robert A.; Gruesbeck, Marta

2018-01-01

Probeware (sensors combined with data-analysis software) is a well-established part of physics education. In engineering and technology, sensors are frequently paired with actuators—motors, heaters, buzzers, valves, color displays, medical dosing systems, and other devices that are activated by electrical signals to produce intentional physical change. This article describes how a 20-year project aimed at better integration of the STEM disciplines (science, technology, engineering and mathematics) uses brief actuator activities in physics instruction. Math Machines "actionware" includes software and hardware that convert virtually any free-form, time-dependent algebraic function into the dynamic actions of a stepper motor, servo motor, or RGB (red, green, blue) color mixer. With wheels and a platform, the stepper motor becomes LACI, a programmable vehicle. Adding a low-power laser module turns the servo motor into a programmable Pointer. Adding a gear and platform can transform the Pointer into an earthquake simulator.

Dynamic analysis of a bio-inspired climbing robot using ADAMS-Simulink co-simulation

NASA Astrophysics Data System (ADS)

Chattopadhyay, P.; Dikshit, H.; Majumder, A.; Ghoshal, S.; Maity, A.

2018-04-01

Climbing robot has been an area of interest since the demand of inspection of pipeline, nuclear power plant, and various big structure is growing up rapidly. This paper represents the development of a bio-inspired modular robot which mimics inchworm locomotion during climbing. In the present paper, the climbing motion is achieved only on a flat vertical plane by magnetic adhesion principle. The robot is modelled as a 4-link planar mechanism with three revolute joints actuated by DC servo motors. Sinusoidal gait pattern is used to approximate the motion of an inchworm. The dynamics of the robot is presented by using ADAMS/MATLAB co-simulation methodology. The simulation result gives the maximum value of joint torque during one complete cycle of motion. This torque value is used for the selection of servo motor specifications required to build the prototype.

Adaptive GSA-based optimal tuning of PI controlled servo systems with reduced process parametric sensitivity, robust stability and controller robustness.

PubMed

Precup, Radu-Emil; David, Radu-Codrut; Petriu, Emil M; Radac, Mircea-Bogdan; Preitl, Stefan

2014-11-01

This paper suggests a new generation of optimal PI controllers for a class of servo systems characterized by saturation and dead zone static nonlinearities and second-order models with an integral component. The objective functions are expressed as the integral of time multiplied by absolute error plus the weighted sum of the integrals of output sensitivity functions of the state sensitivity models with respect to two process parametric variations. The PI controller tuning conditions applied to a simplified linear process model involve a single design parameter specific to the extended symmetrical optimum (ESO) method which offers the desired tradeoff to several control system performance indices. An original back-calculation and tracking anti-windup scheme is proposed in order to prevent the integrator wind-up and to compensate for the dead zone nonlinearity of the process. The minimization of the objective functions is carried out in the framework of optimization problems with inequality constraints which guarantee the robust stability with respect to the process parametric variations and the controller robustness. An adaptive gravitational search algorithm (GSA) solves the optimization problems focused on the optimal tuning of the design parameter specific to the ESO method and of the anti-windup tracking gain. A tuning method for PI controllers is proposed as an efficient approach to the design of resilient control systems. The tuning method and the PI controllers are experimentally validated by the adaptive GSA-based tuning of PI controllers for the angular position control of a laboratory servo system.

Application of simple adaptive control to water hydraulic servo cylinder system

NASA Astrophysics Data System (ADS)

Ito, Kazuhisa; Yamada, Tsuyoshi; Ikeo, Shigeru; Takahashi, Koji

2012-09-01

Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control (SAC) for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC (within 10 μm of the reference position) and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems.

A new telescope control software for the Mayall 4-meter telescope

NASA Astrophysics Data System (ADS)

Abareshi, Behzad; Marshall, Robert; Gott, Shelby; Sprayberry, David; Cantarutti, Rolando; Joyce, Dick; Williams, Doug; Probst, Ronald; Reetz, Kristin; Paat, Anthony; Butler, Karen; Soto, Christian; Dey, Arjun; Summers, David

2016-07-01

The Mayall 4-meter telescope recently went through a major modernization of its telescope control system in preparation for DESI. We describe MPK (Mayall Pointing Kernel), our new software for telescope control. MPK outputs a 20Hz position-based trajectory with a velocity component, which feeds into Mayall's new servo system over a socket. We wrote a simple yet realistic servo simulator that let us develop MPK mostly without access to real hardware, and also lets us provide other teams with a Mayall simulator as test bed for development of new instruments. MPK has a small core comprised of prioritized, soft real-time threads. Access to the core's services is via MPK's main thread, a complete, interactive Tcl/Tk shell, which gives us the power and flexibility of a scripting language to add any other features, from GUIs, to modules for interaction with critical subsystems like dome or guider, to an API for networked clients of a new instrument (e.g., DESI). MPK is designed for long term maintainability: it runs on a stock computer and Linux OS, and uses only standard, open source libraries, except for commercial software that comes with source code in ANSI C/C++. We discuss the technical details of how MPK combines the Reflexxes motion library with the TCSpk/TPK pointing library to generically handle any motion requests, from slews to offsets to sidereal or non-sidereal tracking. We show how MPK calculates when the servos have reached a steady state. We also discuss our TPOINT modeling strategy and report performance results.

An open architecture for hybrid force-visual servo control of robotic manipulators in unstructured environments

NASA Astrophysics Data System (ADS)

Hassanzadeh, Iraj; Janabi-Sharifi, Farrokh

2005-12-01

In this paper, a new open architecture for visual servo control tasks is illustrated. A Puma-560 robotic manipulator is used to prove the concept. This design enables doing hybrid forcehisual servo control in an unstructured environment in different modes. Also, it can be controlled through Internet in teleoperation mode using a haptic device. Our proposed structure includes two major parts, hardware and software. In terms of hardware, it consists of a master (host) computer, a slave (target) computer, a Puma 560 manipulator, a CCD camera, a force sensor and a haptic device. There are five DAQ cards, interfacing Puma 560 and a slave computer. An open architecture package is developed using Matlab (R), Simulink (R) and XPC target toolbox. This package has the Hardware-In-the-Loop (HIL) property, i.e., enables one to readily implement different configurations of force, visual or hybrid control in real time. The implementation includes the following stages. First of all, retrofitting of puma was carried out. Then a modular joint controller for Puma 560 was realized using Simulink (R). Force sensor driver and force control implementation were written, using sjknction blocks of Simulink (R). Visual images were captured through Image Acquisition Toolbox of Matlab (R), and processed using Image Processing Toolbox. A haptic device interface was also written in Simulink (R). Thus, this setup could be readily reconfigured and accommodate any other robotic manipulator and/or other sensors without the trouble of the external issues relevant to the control, interface and software, while providing flexibility in components modification.

Experimental Research in Boost Driver with EDLCs

NASA Astrophysics Data System (ADS)

Matsumoto, Hirokazu

The supply used in servo systems tends to have a high voltage in order to reduce loss and improve the response of motor drives. We propose a new boost motor driver that comprises EDLCs. The proposed driver has a simple structure, wherein the EDLCs are connected in series to the supply, and comprises a charge circuit to charge the EDLCs. The proposed driver has three advantages over conventional boost drivers. The first advantage is that the driver can easily attain the stable boost voltage. The second advantage is that the driver can reduce input power peaks. In a servo system, the input power peaks become greater than the rated power in order to accelerate the motor rapidly. This implies that the equipments that supply power to servo systems must have sufficient power capacity to satisfy the power peaks. The proposed driver can suppress the increase of the power capacity of supply facilities. The third advantage is that the driver can store almost all of the regenerative energy. Conventional drivers have a braking resistor to suppress the increase in the DC link voltage. This causes a considerable reduction in the efficiency. The proposed driver is more efficient than conventional drivers. In this study, the experimental results confirmed the effectiveness of the proposed driver and showed that the drive performance of the proposed driver is the same as that of a conventional driver. Furthermore, it was confirmed that the results of the simulation of a model of the EDLC module, whose capacitance is dependent on the frequency, correspond well with the experimental results.

Massively Parallel Processing for Fast and Accurate Stamping Simulations

NASA Astrophysics Data System (ADS)

Gress, Jeffrey J.; Xu, Siguang; Joshi, Ramesh; Wang, Chuan-tao; Paul, Sabu

2005-08-01

The competitive automotive market drives automotive manufacturers to speed up the vehicle development cycles and reduce the lead-time. Fast tooling development is one of the key areas to support fast and short vehicle development programs (VDP). In the past ten years, the stamping simulation has become the most effective validation tool in predicting and resolving all potential formability and quality problems before the dies are physically made. The stamping simulation and formability analysis has become an critical business segment in GM math-based die engineering process. As the simulation becomes as one of the major production tools in engineering factory, the simulation speed and accuracy are the two of the most important measures for stamping simulation technology. The speed and time-in-system of forming analysis becomes an even more critical to support the fast VDP and tooling readiness. Since 1997, General Motors Die Center has been working jointly with our software vendor to develop and implement a parallel version of simulation software for mass production analysis applications. By 2001, this technology was matured in the form of distributed memory processing (DMP) of draw die simulations in a networked distributed memory computing environment. In 2004, this technology was refined to massively parallel processing (MPP) and extended to line die forming analysis (draw, trim, flange, and associated spring-back) running on a dedicated computing environment. The evolution of this technology and the insight gained through the implementation of DM0P/MPP technology as well as performance benchmarks are discussed in this publication.

Field evaluations of "ShapeAccelArray" in-place MEMS inclinometer strings for subsurface deformation monitoring.

DOT National Transportation Integrated Search

2012-03-01

Continuous monitoring of subsurface ground movements is accomplished with in-place instruments utilizing automated data acquisition methods. These typically include TDR (Time Domain Reflectometry) or assemblies of several servo-accelerometer-based, e...

Detail of exciter turbine showing shaft, scroll case, servomotor and ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

Detail of exciter turbine showing shaft, scroll case, servo-motor and operating ring (left foreground) and hand wheel for butterfly valve (right background) - Morony Hydroelectric Facility, Dam and Powerhouse, Morony Dam Road, Great Falls, Cascade County, MT

Thresholds of cortical activation of muscle spindles and α motoneurones of the baboon's hand

PubMed Central

Koeze, T. H.; Phillips, C. G.; Sheridan, J. D.

1968-01-01

1. Much current thinking about voluntary movement assumes that the segmental γ loops can function as a servomechanism operated by the brain. However, the α motoneurones of the baboon's hand receive a powerful monosynaptic (CM) projection from the precentral gyrus. If servo-driving from the same cortical area is to be possible, it must project independently to the fusimotor neurones and have sufficient power to increase the afferent signalling from the muscle spindles. The cortical thresholds for contraction of m. extensor digitorum communis and for acceleration of the discharges of its muscle spindles have therefore been compared. 2. Significant results in this context require that the spindles studied be coupled in parallel with the responding extrafusal muscle fibres. Many spindles were not unloaded by the submaximal contractions evoked by cortical stimulation, although all so tested were unloaded by maximal motor nerve twitches. Reasons are given for thinking that such apparent lack of parallel coupling is an artifact of complex intramuscular anatomy and limitation of shortening by `isometric' myography. 3. A brief burst of corticospinal volleys at 500/sec, which is specially effective in exciting α motoneurones over the CM projection, failed to excite spindle afferents at or below the threshold for a cortical `twitch'. 4. In a few epileptiform discharges, bursts of spindle acceleration occurred independently of the clonic contractions. A relatively direct and independent cortico-fusimotor (CF) projection may therefore exist. 5. Prolonged near-threshold stimulation at 50-100/sec, which allows time for temporal summation in the less direct projections (e.g. cortico-interneuronal, cortico-rubro-spinal) and does not cause frequency-potentiation at CM synapses, gives abundant evidence of independent α and fusimotor projections, whose actions hardly outlast the stimulation period. 6. Although independent CF projections would permit servo-driving in natural movements of the hand (given adequate loop gain), there has been no evidence of servo-driving by cortical stimulation or in the spontaneous contractions of light anaesthesia. 7. Independent projections would provide for controlled αγ co-excitation in the servo-governing of natural movements (Matthews, 1964). 8. Evidence is reviewed that the CM projection itself may be part of an important control loop for voluntary movement in primates. A corollary would be a diminished importance of CF projections for segmental loops and an increased importance for maintaining the spindle input to cortical loops. PMID:4231033

siMacro: A Fast and Easy Data Processing Tool for Cell-Based Genomewide siRNA Screens.

PubMed

Singh, Nitin Kumar; Seo, Bo Yeun; Vidyasagar, Mathukumalli; White, Michael A; Kim, Hyun Seok

2013-03-01

Growing numbers of studies employ cell line-based systematic short interfering RNA (siRNA) screens to study gene functions and to identify drug targets. As multiple sources of variations that are unique to siRNA screens exist, there is a growing demand for a computational tool that generates normalized values and standardized scores. However, only a few tools have been available so far with limited usability. Here, we present siMacro, a fast and easy-to-use Microsoft Office Excel-based tool with a graphic user interface, designed to process single-condition or two-condition synthetic screen datasets. siMacro normalizes position and batch effects, censors outlier samples, and calculates Z-scores and robust Z-scores, with a spreadsheet output of >120,000 samples in under 1 minute.

siMacro: A Fast and Easy Data Processing Tool for Cell-Based Genomewide siRNA Screens

PubMed Central

Singh, Nitin Kumar; Seo, Bo Yeun; Vidyasagar, Mathukumalli; White, Michael A.

2013-01-01

Growing numbers of studies employ cell line-based systematic short interfering RNA (siRNA) screens to study gene functions and to identify drug targets. As multiple sources of variations that are unique to siRNA screens exist, there is a growing demand for a computational tool that generates normalized values and standardized scores. However, only a few tools have been available so far with limited usability. Here, we present siMacro, a fast and easy-to-use Microsoft Office Excel-based tool with a graphic user interface, designed to process single-condition or two-condition synthetic screen datasets. siMacro normalizes position and batch effects, censors outlier samples, and calculates Z-scores and robust Z-scores, with a spreadsheet output of >120,000 samples in under 1 minute. PMID:23613684

21-cm Observations with the NASA ADAS 18-meter Antenna System: Baseline Astronomical Observations and Measurements of Performance Characteristics

NASA Astrophysics Data System (ADS)

Malphrus, B. K.; Combs, M. S.; Kruth, J.

2001-12-01

Herein we report astronomical observations made with the NASA Advanced Data Acquisition System (ADAS). The NASA ADAS antenna, located at NASA Goddard Spaceflight Center's Wallops Flight Facility, Virginia, is an 18-meter X-band antenna system that has been primarily used for satellite tracking and served as the telecommunication station for the NASA IUE satellite until ca. 1997. A joint NASA-Morehead State University (MSU)-Kentucky NSF EPSCoR venture has been initiated to upgrade and relocate the antenna system to MSU's Astrophysics Laboratory where it will provide a research instrument and active laboratory for undergraduate students as well as be engaged in satellite tracking missions. As part of the relocation efforts, many systems will be upgraded including replacement of a hydrostatic azimuth bearing with a high-precision electromechanical bearing, a new servo system, and Ku-capable reflector surface. It is widely believed that there are still contributions that small aperture centimeter-wave instruments can make utilizing three primary observing strategies: 1.) longitudinal studies of RF variations in cosmic phenomena, 2.) surveys of large areas of sky, and 3.) fast reactions to transient phenomena. MSU faculty and staff along with NASA engineers re-outfitted the ADAS system with RF systems and upgraded servo controllers during the spring and summer of 2001. Empirical measurements of primary system performance characteristics were made including G/T (at S- and L bands), noise figures, pointing and tracking accuracies, and drive speeds and accelerations. Baseline astronomical observations were made with the MSU L-band receiver using a 6 MHz bandwidth centered at 1420 MHz (21-cm) and observing over a range of frequencies (up to 2.5 MHz, tunable over the 6 MHz window) with a 2048-channel back-end spectrometer, providing up to 1 KHz frequency resolution. Baseline observations of radio sources herein reported include Cygnus A, 3C 157, 3C 48 and the Andromeda Galaxy. After its transition to Morehead State University (which is expected to be completed in 2004), the 18-meter will be available for use by students and faculty from all U.S. institutions for astronomical observations. Transitioning of the 18-meter antenna is made possible by NASA, and the Kentucky NSF EPSCoR program and by grants from the U.S. Small Business Administration.

Methods of and system for swing damping movement of suspended objects

DOEpatents

Jones, J.F.; Petterson, B.J.; Strip, D.R.

1991-03-05

A payload suspended from a gantry is swing damped in accordance with a control algorithm based on the periodic motion of the suspended mass or by servoing on the forces induced by the suspended mass. 13 figures.

An anthropomorphic master-slave manipulator system.

NASA Technical Reports Server (NTRS)

Vykukal, H. C.; King, R. F.; Vallotton, W. C.

1973-01-01

Review of some of the results of a teleoperator systems technology program devoted to the development of an anthropomorphic unilateral master-slave manipulator system. Following a discussion of the mechanical design details and servo design considerations, the developed system's test results are presented.

A Neural Model for Language and Speech.

ERIC Educational Resources Information Center

Buckingham, Hugh W., Jr.; Hollien, Harry

1978-01-01

A neural model in the form of a servo-mechanism is developed to account for certain aspects of language and speech in the human nervous system. Emphasis is placed on encoding processes as well as on-going feedback during production. (SW)

Grid Integration Research | Wind | NREL

Science.gov Websites

-generated simulation of a wind turbine. Wind Power Plant Modeling and Simulation Engineers at the National computer-aided engineering tool, FAST, as well as their wind power plant simulation tool, Wind-Plant

Validation of FAST Model Sleep Estimates with Actigraph Measured Sleep in Locomotive Engineers

DOT National Transportation Integrated Search

2012-04-01

This report presents the results of a study to validate the AutoSleep sleep prediction algorithm, which is a component of the Fatigue Avoidance Scheduling Tool (FAST). Researchers collected work and sleep data from 41 locomotive engineers by using ac...

The Processing of Airspace Concept Evaluations Using FASTE-CNS as a Pre- or Post-Simulation CNS Analysis Tool

NASA Technical Reports Server (NTRS)

Mainger, Steve

2004-01-01

As NASA speculates on and explores the future of aviation, the technological and physical aspects of our environment increasing become hurdles that must be overcome for success. Research into methods for overcoming some of these selected hurdles have been purposed by several NASA research partners as concepts. The task of establishing a common evaluation environment was placed on NASA's Virtual Airspace Simulation Technologies (VAST) project (sub-project of VAMS), and they responded with the development of the Airspace Concept Evaluation System (ACES). As one examines the ACES environment from a communication, navigation or surveillance (CNS) perspective, the simulation parameters are built with assumed perfection in the transactions associated with CNS. To truly evaluate these concepts in a realistic sense, the contributions/effects of CNS must be part of the ACES. NASA Glenn Research Center (GRC) has supported the Virtual Airspace Modeling and Simulation (VAMS) project through the continued development of CNS models and analysis capabilities which supports the ACES environment. NASA GRC initiated the development a communications traffic loading analysis tool, called the Future Aeronautical Sub-network Traffic Emulator for Communications, Navigation and Surveillance (FASTE-CNS), as part of this support. This tool allows for forecasting of communications load with the understanding that, there is no single, common source for loading models used to evaluate the existing and planned communications channels; and that, consensus and accuracy in the traffic load models is a very important input to the decisions being made on the acceptability of communication techniques used to fulfill the aeronautical requirements. Leveraging off the existing capabilities of the FASTE-CNS tool, GRC has called for FASTE-CNS to have the functionality to pre- and post-process the simulation runs of ACES to report on instances when traffic density, frequency congestion or aircraft spacing/distance violations have occurred. The integration of these functions require that the CNS models used to characterize these avionic system be of higher fidelity and better consistency then is present in FASTE-CNS system. This presentation will explore the capabilities of FASTE-CNS with renewed emphasis on the enhancements being added to perform these processing functions; the fidelity and reliability of CNS models necessary to make the enhancements work; and the benchmarking of FASTE-CNS results to improve confidence for the results of the new processing capabilities.

Fast force actuators for LSST primary/tertiary mirror

NASA Astrophysics Data System (ADS)

Hileman, Edward; Warner, Michael; Wiecha, Oliver

2010-07-01

The very short slew times and resulting high inertial loads imposed upon the Large Synoptic Survey Telescope (LSST) create new challenges to the primary mirror support actuators. Traditionally large borosilicate mirrors are supported by pneumatic systems, which is also the case for the LSST. These force based actuators bear the weight of the mirror and provide active figure correction, but do not define the mirror position. A set of six locating actuators (hardpoints) arranged in a hexapod fashion serve to locate the mirror. The stringent dynamic requirements demand that the force actuators must be able to counteract in real time for dynamic forces on the hardpoints during slewing to prevent excessive hardpoint loads. The support actuators must also maintain the prescribed forces accurately during tracking to maintain acceptable mirror figure. To meet these requirements, candidate pneumatic cylinders incorporating force feedback control and high speed servo valves are being tested using custom instrumentation with automatic data recording. Comparative charts are produced showing details of friction, hysteresis cycles, operating bandwidth, and temperature dependency. Extremely low power actuator controllers are being developed to avoid heat dissipation in critical portions of the mirror and also to allow for increased control capabilities at the actuator level, thus improving safety, performance, and the flexibility of the support system.

Design, characterization and control of the Unique Mobility Corporation robot

NASA Technical Reports Server (NTRS)

Velasco, Virgilio B., Jr.; Newman, Wyatt S.; Steinetz, Bruce; Kopf, Carlo; Malik, John

1994-01-01

Space and mass are at a premium on any space mission, and thus any machinery designed for space use should be lightweight and compact, without sacrificing strength. It is for this reason that NASA/LeRC contracted Unique Mobility Corporation to exploit their novel actuator designs to build a robot that would advance the present state of technology with respect to these requirements. Custom-designed motors are the key feature of this robot. They are compact, high-performance dc brushless servo motors with a high pole count and low inductance, thus permitting high torque generation and rapid phase commutation. Using a custom-designed digital signal processor-based controller board, the pulse width modulation power amplifiers regulate the fast dynamics of the motor currents. In addition, the programmable digital signal processor (DSP) controller permits implementation of nonlinear compensation algorithms to account for motoring vs. regeneration, torque ripple, and back-EMF. As a result, the motors produce a high torque relative to their size and weight, and can do so with good torque regulation and acceptably high velocity saturation limits. This paper presents the Unique Mobility Corporation robot prototype: its actuators, its kinematic design, its control system, and its experimental characterization. Performance results, including saturation torques, saturation velocities and tracking accuracy tests are included.

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

Wendt, Fabian F; Damiani, Rick R

This poster summarizes the scope and preliminary results of a study conducted for the Bureau of Safety and Environmental Enforcement aimed at quantifying differences between two modeling approaches (fully coupled and sequentially coupled) through aero-hydro-servo-elastic simulations of two offshore wind turbines on a monopile and jacket substructure.

75 FR 56061 - Notice of Petitions by Firms for Determination of Eligibility To Apply for Trade Adjustment...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-09-15

... Avenue, 8/31/2010 The firm manufactures hydraulic, air over Jackson, MI 49203. oil and pneumatic presses..., cylinders, valves, servo controls, and fittings. Fiber-Line, Inc 3050 Campus Drive 9/7/2010 The firm...

Electronic white cane with GPS radar-based concept as blind mobility enhancement without distance limitation

NASA Astrophysics Data System (ADS)

Halim, Suharsono; Handafiah, Finna; Aprilliyani, Ria; Udhiarto, Arief

2018-02-01

The Indonesian Ministry of Social Affairs, in July 2012, informed that the number of blind in Indonesia has been the largest among to the people with other disabilities. The most common tools utilized to help the blind was a conventional cane which has limited features and therefore it was difficult to be used as a mobilization tools. Moreover, the conventional cane cannot assist them or their family when the blind gets lost. In this research, we designed and implemented an electronic white cane with the concept of radar and global positioning system (GPS). The purpose of this research was to design and develop an electronic white cane which can enhance the mobility of the blind without distance coverage limitation. Utilizing ultrasonic sensors as a distance measurement and a servo motor as an actuator, the produced radar system is able to map an area with maximum distance and coverage angle of 5 meters and 180° respectively. The blind senses the obstacle around them from the vibration generated by five vibration motors. The vibration becomes more intense when the obstacle is detected closer. In addition, we implemented a GPS to monitor the blind's position and allow their family to find them easily when the blind need a help. Based on the tests performed, we have successfully developed an electronic white cane that can be a solution to improve the blind's mobility.

The Future of Air Traffic Management

NASA Technical Reports Server (NTRS)

Denery, Dallas G.; Erzberger, Heinz; Edwards, Thomas A. (Technical Monitor)

1998-01-01

A system for the control of terminal area traffic to improve productivity, referred to as the Center-TRACON Automation System (CTAS), is being developed at NASA's Ames Research Center under a joint program with the FAA. CTAS consists of a set of integrated tools that provide computer-generated advisories for en-route and terminal area controllers. The premise behind the design of CTAS has been that successful planning of traffic requires accurate trajectory prediction. Data bases consisting of representative aircraft performance models, airline preferred operational procedures and a three dimensional wind model support the trajectory prediction. The research effort has been the design of a set of automation tools that make use of this trajectory prediction capability to assist controllers in overall management of traffic. The first tool, the Traffic Management Advisor (TMA), provides the overall flow management between the en route and terminal areas. A second tool, the Final Approach Spacing Tool (FAST) provides terminal area controllers with sequence and runway advisories to allow optimal use of the runways. The TMA and FAST are now being used in daily operations at Dallas/Ft. Worth airport. Additional activities include the development of several other tools. These include: 1) the En Route Descent Advisor that assist the en route controller in issuing conflict free descents and ascents; 2) the extension of FAST to include speed and heading advisories and the Expedite Departure Path (EDP) that assists the terminal controller in management of departures; and 3) the Collaborative Arrival Planner (CAP) that will assist the airlines in operational decision making. The purpose of this presentation is to review the CTAS concept and to present the results of recent field tests. The paper will first discuss the overall concept and then discuss the status of the individual tools.

Automated Design Tools for Integrated Mixed-Signal Microsystems (NeoCAD)

DTIC Science & Technology

2005-02-01

method, Model Order Reduction (MOR) tools, system-level, mixed-signal circuit synthesis and optimization tools, and parsitic extraction tools. A unique...Mission Area: Command and Control mixed signal circuit simulation parasitic extraction time-domain simulation IC design flow model order reduction... Extraction 1.2 Overall Program Milestones CHAPTER 2 FAST TIME DOMAIN MIXED-SIGNAL CIRCUIT SIMULATION 2.1 HAARSPICE Algorithms 2.1.1 Mathematical Background

Role of pressure in angiotensin II-induced renal injury: chronic servo-control of renal perfusion pressure in rats.

PubMed

Mori, Takefumi; Cowley, Allen W

2004-04-01

Renal perfusion pressure was servo-controlled chronically in rats to quantify the relative contribution of elevated arterial pressure versus angiotensin II (Ang II) on the induction of renal injury in Ang II-induced hypertension. Sprague-Dawley rats fed a 4% salt diet were administered Ang II for 14 days (25 ng/kg per minute IV; saline only for sham rats), and the renal perfusion pressure to the left kidney was continuously servo-controlled to maintain a normal pressure in that kidney throughout the period of hypertension. An aortic occluder was implanted around the aorta between the two renal arteries and carotid and femoral arterial pressure were measured continuously throughout the experiment to determine uncontrolled and controlled renal perfusion pressure, respectively. Renal perfusion pressure of uncontrolled, controlled, and sham kidneys over the period of Ang II or saline infusion averaged 152.6+/-7.0, 117.4+/-3.5, and 110.7+/-2.2 mm Hg, respectively. The high-pressure uncontrolled kidneys exhibited tubular necrosis and interstitial fibrosis, especially prominent in the outer medullary region. Regional glomerular sclerosis and interlobular artery injury were also pronounced. Controlled kidneys were significantly protected from interlobular artery injury, juxtamedullary glomeruli injury, tubular necrosis, and interstitial fibrosis as determined by comparing the level of injury. Glomerular injury was not prevented in the outer cortex. Transforming growth factor (TGF)-beta and active NF-kappaB proteins determined by immunohistochemistry were colocalized in the uncontrolled kidney in regions of interstitial fibrosis. We conclude that the preferential juxtamedullary injury found in Ang II hypertension is largely induced by pressure and is probably mediated through the TGF-beta and NF-kappaB pathway.

Recent results in visual servoing

NASA Astrophysics Data System (ADS)

Chaumette, François

2008-06-01

Visual servoing techniques consist in using the data provided by a vision sensor in order to control the motions of a dynamic system. Such systems are usually robot arms, mobile robots, aerial robots,… but can also be virtual robots for applications in computer animation, or even a virtual camera for applications in computer vision and augmented reality. A large variety of positioning tasks, or mobile target tracking, can be implemented by controlling from one to all the degrees of freedom of the system. Whatever the sensor configuration, which can vary from one on-board camera on the robot end-effector to several free-standing cameras, a set of visual features has to be selected at best from the image measurements available, allowing to control the degrees of freedom desired. A control law has also to be designed so that these visual features reach a desired value, defining a correct realization of the task. With a vision sensor providing 2D measurements, potential visual features are numerous, since as well 2D data (coordinates of feature points in the image, moments, …) as 3D data provided by a localization algorithm exploiting the extracted 2D measurements can be considered. It is also possible to combine 2D and 3D visual features to take the advantages of each approach while avoiding their respective drawbacks. From the selected visual features, the behavior of the system will have particular properties as for stability, robustness with respect to noise or to calibration errors, robot 3D trajectory, etc. The talk will present the main basic aspects of visual servoing, as well as technical advances obtained recently in the field inside the Lagadic group at INRIA/INRISA Rennes. Several application results will be also described.

Modal space three-state feedback control for electro-hydraulic servo plane redundant driving mechanism with eccentric load decoupling.

PubMed

Zhao, Jinsong; Wang, Zhipeng; Zhang, Chuanbi; Yang, Chifu; Bai, Wenjie; Zhao, Zining

2018-06-01

The shaking table based on electro-hydraulic servo parallel mechanism has the advantage of strong carrying capacity. However, the strong coupling caused by the eccentric load not only affects the degree of freedom space control precision, but also brings trouble to the system control. A novel decoupling control strategy is proposed, which is based on modal space to solve the coupling problem for parallel mechanism with eccentric load. The phenomenon of strong dynamic coupling among degree of freedom space is described by experiments, and its influence on control design is discussed. Considering the particularity of plane motion, the dynamic model is built by Lagrangian method to avoid complex calculations. The dynamic equations of the coupling physical space are transformed into the dynamic equations of the decoupling modal space by using the weighted orthogonality of the modal main mode with respect to mass matrix and stiffness matrix. In the modal space, the adjustments of the modal channels are independent of each other. Moreover, the paper discusses identical closed-loop dynamic characteristics of modal channels, which will realize decoupling for degree of freedom space, thus a modal space three-state feedback control is proposed to expand the frequency bandwidth of each modal channel for ensuring their near-identical responses in a larger frequency range. Experimental results show that the concept of modal space three-state feedback control proposed in this paper can effectively reduce the strong coupling problem of degree of freedom space channels, which verify the effectiveness of the proposed model space state feedback control strategy for improving the control performance of the electro-hydraulic servo plane redundant driving mechanism. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Control algorithm implementation for a redundant degree of freedom manipulator

NASA Technical Reports Server (NTRS)

Cohan, Steve

1991-01-01

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

Antenna Controller Replacement Software

NASA Technical Reports Server (NTRS)

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

In Silico PCR Tools for a Fast Primer, Probe, and Advanced Searching.

PubMed

Kalendar, Ruslan; Muterko, Alexandr; Shamekova, Malika; Zhambakin, Kabyl

2017-01-01

The polymerase chain reaction (PCR) is fundamental to molecular biology and is the most important practical molecular technique for the research laboratory. The principle of this technique has been further used and applied in plenty of other simple or complex nucleic acid amplification technologies (NAAT). In parallel to laboratory "wet bench" experiments for nucleic acid amplification technologies, in silico or virtual (bioinformatics) approaches have been developed, among which in silico PCR analysis. In silico NAAT analysis is a useful and efficient complementary method to ensure the specificity of primers or probes for an extensive range of PCR applications from homology gene discovery, molecular diagnosis, DNA fingerprinting, and repeat searching. Predicting sensitivity and specificity of primers and probes requires a search to determine whether they match a database with an optimal number of mismatches, similarity, and stability. In the development of in silico bioinformatics tools for nucleic acid amplification technologies, the prospects for the development of new NAAT or similar approaches should be taken into account, including forward-looking and comprehensive analysis that is not limited to only one PCR technique variant. The software FastPCR and the online Java web tool are integrated tools for in silico PCR of linear and circular DNA, multiple primer or probe searches in large or small databases and for advanced search. These tools are suitable for processing of batch files that are essential for automation when working with large amounts of data. The FastPCR software is available for download at http://primerdigital.com/fastpcr.html and the online Java version at http://primerdigital.com/tools/pcr.html .

Evolutionary algorithm based optimization of hydraulic machines utilizing a state-of-the-art block coupled CFD solver and parametric geometry and mesh generation tools

NASA Astrophysics Data System (ADS)

S, Kyriacou; E, Kontoleontos; S, Weissenberger; L, Mangani; E, Casartelli; I, Skouteropoulou; M, Gattringer; A, Gehrer; M, Buchmayr

2014-03-01

An efficient hydraulic optimization procedure, suitable for industrial use, requires an advanced optimization tool (EASY software), a fast solver (block coupled CFD) and a flexible geometry generation tool. EASY optimization software is a PCA-driven metamodel-assisted Evolutionary Algorithm (MAEA (PCA)) that can be used in both single- (SOO) and multiobjective optimization (MOO) problems. In MAEAs, low cost surrogate evaluation models are used to screen out non-promising individuals during the evolution and exclude them from the expensive, problem specific evaluation, here the solution of Navier-Stokes equations. For additional reduction of the optimization CPU cost, the PCA technique is used to identify dependences among the design variables and to exploit them in order to efficiently drive the application of the evolution operators. To further enhance the hydraulic optimization procedure, a very robust and fast Navier-Stokes solver has been developed. This incompressible CFD solver employs a pressure-based block-coupled approach, solving the governing equations simultaneously. This method, apart from being robust and fast, also provides a big gain in terms of computational cost. In order to optimize the geometry of hydraulic machines, an automatic geometry and mesh generation tool is necessary. The geometry generation tool used in this work is entirely based on b-spline curves and surfaces. In what follows, the components of the tool chain are outlined in some detail and the optimization results of hydraulic machine components are shown in order to demonstrate the performance of the presented optimization procedure.

5-Second Rule

MedlinePlus

... the tools used to wash them (picture eating food off the mop in the cafeteria if you need a visual). Even with a brand-new mop or sponge, stubborn germs can still be on the floor after cleaning. Fast is better ... fast enough. Although a piece of food does pick up more bacteria the longer it's ...

Improved electromechanical master-slave manipulator

NASA Technical Reports Server (NTRS)

Forster, G.; Goertz, R.; Grimson, J.; Mingesz, D.; Potts, C.

1968-01-01

Electric master-slave manipulator uses force multiplication and allows the operator to remotely control the slave arm. Both the master and slave arms execute seven distinct motions by a specially designed force-reflecting servo having a one to one correspondence between the motion at the master and slave.

46 CFR 58.25-5 - General.

Code of Federal Regulations, 2011 CFR

2011-10-01

... tanker's hydraulic steering gear. Auxiliary steering gear means the equipment, other than any part of the...; (2) Receivers; (3) Feedback devices; (4) Hydraulic servo-control pumps, with associated motors and... the hydraulic equipment for applying torque to the rudder stock. It includes, but is not limited to...

46 CFR 58.25-5 - General.

Code of Federal Regulations, 2014 CFR

2014-10-01

... tanker's hydraulic steering gear. Auxiliary steering gear means the equipment, other than any part of the...; (2) Receivers; (3) Feedback devices; (4) Hydraulic servo-control pumps, with associated motors and... the hydraulic equipment for applying torque to the rudder stock. It includes, but is not limited to...

Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

NASA Astrophysics Data System (ADS)

Almubarak, Yara; Tadesse, Yonas

2017-04-01

The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

NASA Technical Reports Server (NTRS)

Hill, R. E.

1989-01-01

Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure.

Adaptive servo-ventilation: How does it fit into the treatment of central sleep apnoea syndrome? Expert opinions.

PubMed

Priou, P; d'Ortho, M-P; Damy, T; Davy, J-M; Gagnadoux, F; Gentina, T; Meurice, J-C; Pepin, J-L; Tamisier, R; Philippe, C

2015-12-01

The preliminary results of the SERVE-HF study have led to the release of safety information with subsequent contraindication to the use of adaptive servo-ventilation (ASV) for the treatment of central sleep apnoeas in patients with chronic symptomatic systolic heart failure with left ventricular ejection fraction (LVEF) ≤ 45%. The aim of this article is to review these results, and to provide more detailed arguments based on data from the literature advocating the continued use of ASV in different indications, including heart failure with preserved LVEF, complex sleep apnoea syndrome, opioid-induced central sleep apnea syndrome, idiopathic central SAS, and central SAS due to a stroke. Based on these findings, we propose to set up registers dedicated to patients in whom ASV has been stopped and in the context of the next setting up of ASV in these specific indications to ensure patient safety and allow reasoned decisions on the use of ASV. Copyright © 2015 SPLF. Published by Elsevier Masson SAS. All rights reserved.

Indirect adaptive fuzzy wavelet neural network with self- recurrent consequent part for AC servo system.

PubMed

Hou, Runmin; Wang, Li; Gao, Qiang; Hou, Yuanglong; Wang, Chao

2017-09-01

This paper proposes a novel indirect adaptive fuzzy wavelet neural network (IAFWNN) to control the nonlinearity, wide variations in loads, time-variation and uncertain disturbance of the ac servo system. In the proposed approach, the self-recurrent wavelet neural network (SRWNN) is employed to construct an adaptive self-recurrent consequent part for each fuzzy rule of TSK fuzzy model. For the IAFWNN controller, the online learning algorithm is based on back propagation (BP) algorithm. Moreover, an improved particle swarm optimization (IPSO) is used to adapt the learning rate. The aid of an adaptive SRWNN identifier offers the real-time gradient information to the adaptive fuzzy wavelet neural controller to overcome the impact of parameter variations, load disturbances and other uncertainties effectively, and has a good dynamic. The asymptotical stability of the system is guaranteed by using the Lyapunov method. The result of the simulation and the prototype test prove that the proposed are effective and suitable. Copyright © 2017. Published by Elsevier Ltd.

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.

State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.

PubMed

Yu, Jue; Zhuang, Jian; Yu, Dehong

2015-01-01

This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Linear quadratic servo control of a reusable rocket engine

NASA Technical Reports Server (NTRS)

Musgrave, Jeffrey L.

1991-01-01

A design method for a servo compensator is developed in the frequency domain using singular values. The method is applied to a reusable rocket engine. An intelligent control system for reusable rocket engines was proposed which includes a diagnostic system, a control system, and an intelligent coordinator which determines engine control strategies based on the identified failure modes. The method provides a means of generating various linear multivariable controllers capable of meeting performance and robustness specifications and accommodating failure modes identified by the diagnostic system. Command following with set point control is necessary for engine operation. A Kalman filter reconstructs the state while loop transfer recovery recovers the required degree of robustness while maintaining satisfactory rejection of sensor noise from the command error. The approach is applied to the design of a controller for a rocket engine satisfying performance constraints in the frequency domain. Simulation results demonstrate the performance of the linear design on a nonlinear engine model over all power levels during mainstage operation.

In-orbit evaluation of the control system/structural mode interactions of the OSO-8 spacecraft

NASA Technical Reports Server (NTRS)

Slafer, L. I.

1979-01-01

The Orbiting Solar Observatory-8 experienced severe structural mode/control loop interaction problems during the spacecraft development. Extensive analytical studies, using the hybrid coordinate modeling approach, and comprehensive ground testing were carried out in order to achieve the system's precision pointing performance requirements. A recent series of flight tests were conducted with the spacecraft in which a wide bandwidth, high resolution telemetry system was utilized to evaluate the on-orbit flexible dynamics characteristics of the vehicle along with the control system performance. The paper describes the results of these tests, reviewing the basic design problem, analytical approach taken, ground test philosophy, and on-orbit testing. Data from the tests was used to determine the primary mode frequency, damping, and servo coupling dynamics for the on-orbit condition. Additionally, the test results have verified analytically predicted differences between the on-orbit and ground test environments, and have led to a validation of both the analytical modeling and servo design techniques used during the development of the control system.

Experiments evaluating compliance and force feedback effect on manipulator performance

NASA Technical Reports Server (NTRS)

Kugath, D. A.

1972-01-01

The performance capability was assessed of operators performing simulated space tasks using manipulator systems which had compliance and force feedback varied. Two manipulators were used, the E-2 electromechanical man-equivalent (force, reach, etc.) master-slave system and a modified CAM 1400 hydraulic master-slave with 100 lbs force capability at reaches of 24 ft. The CAM 1400 was further modified to operate without its normal force feedback. Several experiments and simulations were performed. The first two involved the E-2 absorbing the energy of a moving mass and secondly, guiding a mass thru a maze. Thus, both work and self paced tasks were studied as servo compliance was varied. Three simulations were run with the E-2 mounted on the CAM 1400 to evaluate the concept of a dexterous manipulator as an end effector of a boom-manipulator. Finally, the CAM 1400 performed a maze test and also simulated the capture of a large mass as the servo compliance was varied and with force feedback included and removed.

Optimization design about gimbal structure of high-precision autonomous celestial navigation tracking mirror system

NASA Astrophysics Data System (ADS)

Huang, Wei; Yang, Xiao-xu; Han, Jun-feng; Wei, Yu; Zhang, Jing; Xie, Mei-lin; Yue, Peng

2016-01-01

High precision tracking platform of celestial navigation with control mirror servo structure form, to solve the disadvantages of big volume and rotational inertia, slow response speed, and so on. It improved the stability and tracking accuracy of platform. Due to optical sensor and mirror are installed on the middle-gimbal, stiffness and resonant frequency requirement for high. Based on the application of finite element modality analysis theory, doing Research on dynamic characteristics of the middle-gimbal, and ANSYS was used for the finite element dynamic emulator analysis. According to the result of the computer to find out the weak links of the structure, and Put forward improvement suggestions and reanalysis. The lowest resonant frequency of optimization middle-gimbal avoid the bandwidth of the platform servo mechanism, and much higher than the disturbance frequency of carrier aircraft, and reduces mechanical resonance of the framework. Reaching provides a theoretical basis for the whole machine structure optimization design of high-precision of autonomous Celestial navigation tracking mirror system.

Laser Assisted Micro Wire GMAW and Droplet Welding

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

FUERSCHBACH, PHILLIP W.; LUCK, D. L.; BERTRAM, LEE A.

2002-03-01

Laser beam welding is the principal welding process for the joining of Sandia weapon components because it can provide a small fusion zone with low overall heating. Improved process robustness is desired since laser energy absorption is extremely sensitive to joint variation and filler metal is seldom added. This project investigated the experimental and theoretical advantages of combining a fiber optic delivered Nd:YAG laser with a miniaturized GMAW system. Consistent gas metal arc droplet transfer employing a 0.25 mm diameter wire was only obtained at high currents in the spray transfer mode. Excessive heating of the workpiece in this modemore » was considered an impractical result for most Sandia micro-welding applications. Several additional droplet detachment approaches were investigated and analyzed including pulsed tungsten arc transfer(droplet welding), servo accelerated transfer, servo dip transfer, and electromechanically braked transfer. Experimental observations and rigorous analysis of these approaches indicate that decoupling droplet detachment from the arc melting process is warranted and may someday be practical.« less

Propulsion System Dynamic Modeling of the NASA Supersonic Concept Vehicle for AeroPropulsoServoElasticity

NASA Technical Reports Server (NTRS)

Kopasakis, George; Connolly, Joseph W.; Seiel, Jonathan

2016-01-01

A summary of the propulsion system modeling under NASA's High Speed Project (HSP) AeroPropulsoServoElasticity (APSE) task is provided with a focus on the propulsion system for the low-boom supersonic configuration developed by Lockheed Martin and referred to as the N+2 configuration. This summary includes details on the effort to date to develop computational models for the various propulsion system components. The objective of this paper is to summarize the model development effort in this task, while providing more detail in the modeling areas that have not been previously published. The purpose of the propulsion system modeling and the overall APSE effort is to develop an integrated dynamic vehicle model to conduct appropriate unsteady analysis of supersonic vehicle performance. This integrated APSE system model concept includes the propulsion system model, and the vehicle structural aerodynamics model. The development to date of such a preliminary integrated model will also be summarized in this report

Propulsion System Dynamic Modeling for the NASA Supersonic Concept Vehicle: AeroPropulsoServoElasticity

NASA Technical Reports Server (NTRS)

Kopasakis, George; Connolly, Joseph; Seidel, Jonathan

2014-01-01

A summary of the propulsion system modeling under NASA's High Speed Project (HSP) AeroPropulsoServoElasticity (APSE) task is provided with a focus on the propulsion system for the low-boom supersonic configuration developed by Lockheed Martin and referred to as the N+2 configuration. This summary includes details on the effort to date to develop computational models for the various propulsion system components. The objective of this paper is to summarize the model development effort in this task, while providing more detail in the modeling areas that have not been previously published. The purpose of the propulsion system modeling and the overall APSE effort is to develop an integrated dynamic vehicle model to conduct appropriate unsteady analysis of supersonic vehicle performance. This integrated APSE system model concept includes the propulsion system model, and the vehicle structural-aerodynamics model. The development to date of such a preliminary integrated model will also be summarized in this report.propulsion system dynamics, the structural dynamics, and aerodynamics.

Propulsion System Dynamic Modeling of the NASA Supersonic Concept Vehicle for AeroPropulsoServoElasticity

NASA Technical Reports Server (NTRS)

Kopasakis, George; Connolly, Joseph W.; Seidel, Jonathan

2014-01-01

A summary of the propulsion system modeling under NASA's High Speed Project (HSP) AeroPropulsoServoElasticity (APSE) task is provided with a focus on the propulsion system for the lowboom supersonic configuration developed by Lockheed Martin and referred to as the N+2 configuration. This summary includes details on the effort to date to develop computational models for the various propulsion system components. The objective of this paper is to summarize the model development effort in this task, while providing more detail in the modeling areas that have not been previously published. The purpose of the propulsion system modeling and the overall APSE effort is to develop an integrated dynamic vehicle model to conduct appropriate unsteady analysis of supersonic vehicle performance. This integrated APSE system model concept includes the propulsion system model, and the vehicle structural-aerodynamics model. The development to date of such a preliminary integrated model will also be summarized in this report.

Linear motor drive system for continuous-path closed-loop position control of an object

DOEpatents

Barkman, William E.

1980-01-01

A precision numerical controlled servo-positioning system is provided for continuous closed-loop position control of a machine slide or platform driven by a linear-induction motor. The system utilizes filtered velocity feedback to provide system stability required to operate with a system gain of 100 inches/minute/0.001 inch of following error. The filtered velocity feedback signal is derived from the position output signals of a laser interferometer utilized to monitor the movement of the slide. Air-bearing slides mounted to a stable support are utilized to minimize friction and small irregularities in the slideway which would tend to introduce positioning errors. A microprocessor is programmed to read command and feedback information and converts this information into the system following error signal. This error signal is summed with the negative filtered velocity feedback signal at the input of a servo amplifier whose output serves as the drive power signal to the linear motor position control coil.

The Total In-Flight Simulator (TIFS) aerodynamics and systems: Description and analysis. [maneuver control and gust alleviators

NASA Technical Reports Server (NTRS)

Andrisani, D., II; Daughaday, H.; Dittenhauser, J.; Rynaski, E.

1978-01-01

The aerodynamics, control system, instrumentation complement and recording system of the USAF Total In/Flight Simulator (TIFS) airplane are described. A control system that would allow the ailerons to be operated collectively, as well as, differentially to entrance the ability of the vehicle to perform the dual function of maneuver load control and gust alleviation is emphasized. Mathematical prediction of the rigid body and the flexible equations of longitudinal motion using the level 2.01 FLEXSTAB program are included along with a definition of the vehicle geometry, the mass and stiffness distribution, the calculated mode frequencies and mode shapes, and the resulting aerodynamic equations of motion of the flexible vehicle. A complete description of the control and instrumentation system of the aircraft is presented, including analysis, ground test and flight data comparisons of the performance and bandwidth of the aerodynamic surface servos. Proposed modification for improved performance of the servos are also presented.

FAST Modularization Framework for Wind Turbine Simulation: Full-System Linearization

DOE PAGES

Jonkman, Jason M.; Jonkman, Bonnie J.

2016-10-03

The wind engineering community relies on multiphysics engineering software to run nonlinear time-domain simulations e.g. for design-standards-based loads analysis. Although most physics involved in wind energy are nonlinear, linearization of the underlying nonlinear system equations is often advantageous to understand the system response and exploit well-established methods and tools for analyzing linear systems. Here, this paper presents the development and verification of the new linearization functionality of the open-source engineering tool FAST v8 for land-based wind turbines, as well as the concepts and mathematical background needed to understand and apply it correctly.

PWMScan: a fast tool for scanning entire genomes with a position-specific weight matrix.

PubMed

Ambrosini, Giovanna; Groux, Romain; Bucher, Philipp

2018-03-05

Transcription factors (TFs) regulate gene expression by binding to specific short DNA sequences of 5 to 20-bp to regulate the rate of transcription of genetic information from DNA to messenger RNA. We present PWMScan, a fast web-based tool to scan server-resident genomes for matches to a user-supplied PWM or TF binding site model from a public database. The web server and source code are available at http://ccg.vital-it.ch/pwmscan and https://sourceforge.net/projects/pwmscan, respectively. giovanna.ambrosini@epfl.ch. SUPPLEMENTARY DATA ARE AVAILABLE AT BIOINFORMATICS ONLINE.

FAST modularization framework for wind turbine simulation: full-system linearization

NASA Astrophysics Data System (ADS)

Jonkman, J. M.; Jonkman, B. J.

2016-09-01

The wind engineering community relies on multiphysics engineering software to run nonlinear time-domain simulations e.g. for design-standards-based loads analysis. Although most physics involved in wind energy are nonlinear, linearization of the underlying nonlinear system equations is often advantageous to understand the system response and exploit well- established methods and tools for analyzing linear systems. This paper presents the development and verification of the new linearization functionality of the open-source engineering tool FAST v8 for land-based wind turbines, as well as the concepts and mathematical background needed to understand and apply it correctly.