Sensory feedback in prosthetics: a standardized test bench for closed-loop control.

PubMed

Dosen, Strahinja; Markovic, Marko; Hartmann, Cornelia; Farina, Dario

2015-03-01

Closing the control loop by providing sensory feedback to the user of a prosthesis is an important challenge, with major impact on the future of prosthetics. Developing and comparing closed-loop systems is a difficult task, since there are many different methods and technologies that can be used to implement each component of the system. Here, we present a test bench developed in Matlab Simulink for configuring and testing the closed-loop human control system in standardized settings. The framework comprises a set of connected generic blocks with normalized inputs and outputs, which can be customized by selecting specific implementations from a library of predefined components. The framework is modular and extensible and it can be used to configure, compare and test different closed-loop system prototypes, thereby guiding the development towards an optimal system configuration. The use of the test bench was demonstrated by investigating two important aspects of closed-loop control: performance of different electrotactile feedback interfaces (spatial versus intensity coding) during a pendulum stabilization task and feedforward methods (joystick versus myocontrol) for force control. The first experiment demonstrated that in the case of trained subjects the intensity coding might be superior to spatial coding. In the second experiment, the control of force was rather poor even with a stable and precise control interface (joystick), demonstrating that inherent characteristics of the prosthesis can be an important limiting factor when considering the overall effectiveness of the closed-loop control. The presented test bench is an important instrument for investigating different aspects of human manual control with sensory feedback.

A parametric LQ approach to multiobjective control system design

NASA Technical Reports Server (NTRS)

Kyr, Douglas E.; Buchner, Marc

1988-01-01

The synthesis of a constant parameter output feedback control law of constrained structure is set in a multiple objective linear quadratic regulator (MOLQR) framework. The use of intuitive objective functions such as model-following ability and closed-loop trajectory sensitivity, allow multiple objective decision making techniques, such as the surrogate worth tradeoff method, to be applied. For the continuous-time deterministic problem with an infinite time horizon, dynamic compensators as well as static output feedback controllers can be synthesized using a descent Anderson-Moore algorithm modified to impose linear equality constraints on the feedback gains by moving in feasible directions. Results of three different examples are presented, including a unique reformulation of the sensitivity reduction problem.

Plug-in module acceleration feedback control for fast steering mirror-based beam stabilization systems

NASA Astrophysics Data System (ADS)

Deng, Chao; Ren, Wei; Mao, Yao; Ren, Ge

2017-08-01

A plug-in module acceleration feedback control (Plug-In AFC) strategy based on the disturbance observer (DOB) principle is proposed for charge-coupled device (CCD)-based fast steering mirror (FSM) stabilization systems. In classical FSM tracking systems, dual-loop control (DLC), including velocity feedback and position feedback, is usually utilized to enhance the closed-loop performance. Due to the mechanical resonance of the system and CCD time delay, the closed-loop bandwidth is severely restricted. To solve this problem, cascade acceleration feedback control (AFC), which is a kind of high-precision robust control method, is introduced to strengthen the disturbance rejection property. However, in practical applications, it is difficult to realize an integral algorithm in an acceleration controller to compensate for the quadratic differential contained in the FSM acceleration model, resulting in a challenging controller design and a limited improvement. To optimize the acceleration feedback framework in the FSM system, different from the cascade AFC, the accelerometers are used to construct DOB to compensate for the platform vibrations directly. The acceleration nested loop can be plugged into the velocity loop without changing the system stability, and the controller design is quite simple. A series of comparative experimental results demonstrate that the disturbance rejection property of the CCD-based FSM can be effectively improved by the proposed approach.

GPU-based optimal control for RWM feedback in tokamaks

DOE PAGES

Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; ...

2017-08-23

The design and implementation of a Graphics Processing Unit (GPU) based Resistive Wall Mode (RWM) controller to perform feedback control on the RWM using Linear Quadratic Gaussian (LQG) control is reported herein. Also, the control algorithm is based on a simplified DIII-D VALEN model. By using NVIDIA’s GPUDirect RDMA framework, the digitizer and output module are able to write and read directly to and from GPU memory, eliminating memory transfers between host and GPU. In conclusion, the system and algorithm was able to reduce plasma response excited by externally applied fields by 32% during development experiments.

GPU-based optimal control for RWM feedback in tokamaks

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

Clement, Mitchell; Hanson, Jeremy; Bialek, Jim

The design and implementation of a Graphics Processing Unit (GPU) based Resistive Wall Mode (RWM) controller to perform feedback control on the RWM using Linear Quadratic Gaussian (LQG) control is reported herein. Also, the control algorithm is based on a simplified DIII-D VALEN model. By using NVIDIA’s GPUDirect RDMA framework, the digitizer and output module are able to write and read directly to and from GPU memory, eliminating memory transfers between host and GPU. In conclusion, the system and algorithm was able to reduce plasma response excited by externally applied fields by 32% during development experiments.

Design of an embedded inverse-feedforward biomolecular tracking controller for enzymatic reaction processes.

PubMed

Foo, Mathias; Kim, Jongrae; Sawlekar, Rucha; Bates, Declan G

2017-04-06

Feedback control is widely used in chemical engineering to improve the performance and robustness of chemical processes. Feedback controllers require a 'subtractor' that is able to compute the error between the process output and the reference signal. In the case of embedded biomolecular control circuits, subtractors designed using standard chemical reaction network theory can only realise one-sided subtraction, rendering standard controller design approaches inadequate. Here, we show how a biomolecular controller that allows tracking of required changes in the outputs of enzymatic reaction processes can be designed and implemented within the framework of chemical reaction network theory. The controller architecture employs an inversion-based feedforward controller that compensates for the limitations of the one-sided subtractor that generates the error signals for a feedback controller. The proposed approach requires significantly fewer chemical reactions to implement than alternative designs, and should have wide applicability throughout the fields of synthetic biology and biological engineering.

A variable-gain output feedback control design methodology

NASA Technical Reports Server (NTRS)

Halyo, Nesim; Moerder, Daniel D.; Broussard, John R.; Taylor, Deborah B.

1989-01-01

A digital control system design technique is developed in which the control system gain matrix varies with the plant operating point parameters. The design technique is obtained by formulating the problem as an optimal stochastic output feedback control law with variable gains. This approach provides a control theory framework within which the operating range of a control law can be significantly extended. Furthermore, the approach avoids the major shortcomings of the conventional gain-scheduling techniques. The optimal variable gain output feedback control problem is solved by embedding the Multi-Configuration Control (MCC) problem, previously solved at ICS. An algorithm to compute the optimal variable gain output feedback control gain matrices is developed. The algorithm is a modified version of the MCC algorithm improved so as to handle the large dimensionality which arises particularly in variable-gain control problems. The design methodology developed is applied to a reconfigurable aircraft control problem. A variable-gain output feedback control problem was formulated to design a flight control law for an AFTI F-16 aircraft which can automatically reconfigure its control strategy to accommodate failures in the horizontal tail control surface. Simulations of the closed-loop reconfigurable system show that the approach produces a control design which can accommodate such failures with relative ease. The technique can be applied to many other problems including sensor failure accommodation, mode switching control laws and super agility.

A Generic Guidance and Control Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cotting, M. Christopher; Cox, Timothy H.

2005-01-01

A control system framework is presented for both real-time and batch six-degree-of-freedom simulation. This framework allows stabilization and control with multiple command options, from body rate control to waypoint guidance. Also, pilot commands can be used to operate the simulation in a pilot-in-the-loop environment. This control system framework is created by using direct vehicle state feedback with nonlinear dynamic inversion. A direct control allocation scheme is used to command aircraft effectors. Online B-matrix estimation is used in the control allocation algorithm for maximum algorithm flexibility. Primary uses for this framework include conceptual design and early preliminary design of aircraft, where vehicle models change rapidly and a knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and a simulated high performance fighter are controlled to demonstrate the flexibility and utility of the control system.

Structure-based control of complex networks with nonlinear dynamics.

PubMed

Zañudo, Jorge Gomez Tejeda; Yang, Gang; Albert, Réka

2017-07-11

What can we learn about controlling a system solely from its underlying network structure? Here we adapt a recently developed framework for control of networks governed by a broad class of nonlinear dynamics that includes the major dynamic models of biological, technological, and social processes. This feedback-based framework provides realizable node overrides that steer a system toward any of its natural long-term dynamic behaviors, regardless of the specific functional forms and system parameters. We use this framework on several real networks, identify the topological characteristics that underlie the predicted node overrides, and compare its predictions to those of structural controllability in control theory. Finally, we demonstrate this framework's applicability in dynamic models of gene regulatory networks and identify nodes whose override is necessary for control in the general case but not in specific model instances.

Augmented reality and haptic interfaces for robot-assisted surgery.

PubMed

Yamamoto, Tomonori; Abolhassani, Niki; Jung, Sung; Okamura, Allison M; Judkins, Timothy N

2012-03-01

Current teleoperated robot-assisted minimally invasive surgical systems do not take full advantage of the potential performance enhancements offered by various forms of haptic feedback to the surgeon. Direct and graphical haptic feedback systems can be integrated with vision and robot control systems in order to provide haptic feedback to improve safety and tissue mechanical property identification. An interoperable interface for teleoperated robot-assisted minimally invasive surgery was developed to provide haptic feedback and augmented visual feedback using three-dimensional (3D) graphical overlays. The software framework consists of control and command software, robot plug-ins, image processing plug-ins and 3D surface reconstructions. The feasibility of the interface was demonstrated in two tasks performed with artificial tissue: palpation to detect hard lumps and surface tracing, using vision-based forbidden-region virtual fixtures to prevent the patient-side manipulator from entering unwanted regions of the workspace. The interoperable interface enables fast development and successful implementation of effective haptic feedback methods in teleoperation. Copyright © 2011 John Wiley & Sons, Ltd.

Data-driven model reference control of MIMO vertical tank systems with model-free VRFT and Q-Learning.

PubMed

Radac, Mircea-Bogdan; Precup, Radu-Emil; Roman, Raul-Cristian

2018-02-01

This paper proposes a combined Virtual Reference Feedback Tuning-Q-learning model-free control approach, which tunes nonlinear static state feedback controllers to achieve output model reference tracking in an optimal control framework. The novel iterative Batch Fitted Q-learning strategy uses two neural networks to represent the value function (critic) and the controller (actor), and it is referred to as a mixed Virtual Reference Feedback Tuning-Batch Fitted Q-learning approach. Learning convergence of the Q-learning schemes generally depends, among other settings, on the efficient exploration of the state-action space. Handcrafting test signals for efficient exploration is difficult even for input-output stable unknown processes. Virtual Reference Feedback Tuning can ensure an initial stabilizing controller to be learned from few input-output data and it can be next used to collect substantially more input-state data in a controlled mode, in a constrained environment, by compensating the process dynamics. This data is used to learn significantly superior nonlinear state feedback neural networks controllers for model reference tracking, using the proposed Batch Fitted Q-learning iterative tuning strategy, motivating the original combination of the two techniques. The mixed Virtual Reference Feedback Tuning-Batch Fitted Q-learning approach is experimentally validated for water level control of a multi input-multi output nonlinear constrained coupled two-tank system. Discussions on the observed control behavior are offered. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Computational motor control: feedback and accuracy.

PubMed

Guigon, Emmanuel; Baraduc, Pierre; Desmurget, Michel

2008-02-01

Speed/accuracy trade-off is a ubiquitous phenomenon in motor behaviour, which has been ascribed to the presence of signal-dependent noise (SDN) in motor commands. Although this explanation can provide a quantitative account of many aspects of motor variability, including Fitts' law, the fact that this law is frequently violated, e.g. during the acquisition of new motor skills, remains unexplained. Here, we describe a principled approach to the influence of noise on motor behaviour, in which motor variability results from the interplay between sensory and motor execution noises in an optimal feedback-controlled system. In this framework, we first show that Fitts' law arises due to signal-dependent motor noise (SDN(m)) when sensory (proprioceptive) noise is low, e.g. under visual feedback. Then we show that the terminal variability of non-visually guided movement can be explained by the presence of signal-dependent proprioceptive noise. Finally, we show that movement accuracy can be controlled by opposite changes in signal-dependent sensory (SDN(s)) and SDN(m), a phenomenon that could be ascribed to muscular co-contraction. As the model also explains kinematics, kinetics, muscular and neural characteristics of reaching movements, it provides a unified framework to address motor variability.

Evolution of the Generic Lock System at Jefferson Lab

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

Brian Bevins; Yves Roblin

2003-10-13

The Generic Lock system is a software framework that allows highly flexible feedback control of large distributed systems. It allows system operators to implement new feedback loops between arbitrary process variables quickly and with no disturbance to the underlying control system. Several different types of feedback loops are provided and more are being added. This paper describes the further evolution of the system since it was first presented at ICALEPCS 2001 and reports on two years of successful use in accelerator operations. The framework has been enhanced in several key ways. Multiple-input, multiple-output (MIMO) lock types have been added formore » accelerator orbit and energy stabilization. The general purpose Proportional-Integral-Derivative (PID) locks can now be tuned automatically. The generic lock server now makes use of the Proxy IOC (PIOC) developed at Jefferson Lab to allow the locks to be monitored from any EPICS Channel Access aware client. (Previously clients had to be Cdev aware.) The dependency on the Qt XML parser has been replaced with the freely available Xerces DOM parser from the Apache project.« less

The Patient Feedback Response Framework - Understanding why UK hospital staff find it difficult to make improvements based on patient feedback: A qualitative study.

PubMed

Sheard, Laura; Marsh, Claire; O'Hara, Jane; Armitage, Gerry; Wright, John; Lawton, Rebecca

2017-04-01

Patients are increasingly being asked for feedback about their healthcare experiences. However, healthcare staff often find it difficult to act on this feedback in order to make improvements to services. This paper draws upon notions of legitimacy and readiness to develop a conceptual framework (Patient Feedback Response Framework - PFRF) which outlines why staff may find it problematic to respond to patient feedback. A large qualitative study was conducted with 17 ward based teams between 2013 and 2014, across three hospital Trusts in the North of England. This was a process evaluation of a wider study where ward staff were encouraged to make action plans based on patient feedback. We focus on three methods here: i) examination of taped discussion between ward staff during action planning meetings ii) facilitators notes of these meetings iii) telephone interviews with staff focusing on whether action plans had been achieved six months later. Analysis employed an abductive approach. Through the development of the PFRF, we found that making changes based on patient feedback is a complex multi-tiered process and not something that ward staff can simply 'do'. First, staff must exhibit normative legitimacy - the belief that listening to patients is a worthwhile exercise. Second, structural legitimacy has to be in place - ward teams need adequate autonomy, ownership and resource to enact change. Some ward teams are able to make improvements within their immediate control and environment. Third, for those staff who require interdepartmental co-operation or high level assistance to achieve change, organisational readiness must exist at the level of the hospital otherwise improvement will rarely be enacted. Case studies drawn from our empirical data demonstrate the above. It is only when appropriate levels of individual and organisational capacity to change exist, that patient feedback is likely to be acted upon to improve services. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Runtime Assurance Framework Development for Highly Adaptive Flight Control Systems

DTIC Science & Technology

2015-12-01

performing a surveillance mission. The demonstration platform consisted of RTA systems for the inner- loop control, outer- loop guidance, ownship flight...For the inner- loop , the concept of employing multiple transition controllers in the reversionary control system was studied. For all feedback levels...5 RTA Protection Applied to Inner- Loop Control Systems .................................................61 5.1 General Description of Morphing Wing

Identification of optimal feedback control rules from micro-quadrotor and insect flight trajectories.

PubMed

Faruque, Imraan A; Muijres, Florian T; Macfarlane, Kenneth M; Kehlenbeck, Andrew; Humbert, J Sean

2018-06-01

This paper presents "optimal identification," a framework for using experimental data to identify the optimality conditions associated with the feedback control law implemented in the measurements. The technique compares closed loop trajectory measurements against a reduced order model of the open loop dynamics, and uses linear matrix inequalities to solve an inverse optimal control problem as a convex optimization that estimates the controller optimality conditions. In this study, the optimal identification technique is applied to two examples, that of a millimeter-scale micro-quadrotor with an engineered controller on board, and the example of a population of freely flying Drosophila hydei maneuvering about forward flight. The micro-quadrotor results show that the performance indices used to design an optimal flight control law for a micro-quadrotor may be recovered from the closed loop simulated flight trajectories, and the Drosophila results indicate that the combined effect of the insect longitudinal flight control sensing and feedback acts principally to regulate pitch rate.

Negative plant-phyllosphere feedbacks in native Asteraceae hosts - a novel extension of the plant-soil feedback framework.

PubMed

Whitaker, Briana K; Bauer, Jonathan T; Bever, James D; Clay, Keith

2017-08-01

Over the past 25 years, the plant-soil feedback (PSF) framework has catalyzed our understanding of how belowground microbiota impact plant fitness and species coexistence. Here, we apply a novel extension of this framework to microbiota associated with aboveground tissues, termed 'plant-phyllosphere feedback (PPFs)'. In parallel greenhouse experiments, rhizosphere and phyllosphere microbiota of con- and heterospecific hosts from four species were independently manipulated. In a third experiment, we tested the combined effects of soil and phyllosphere feedback under field conditions. We found that three of four species experienced weak negative PSF whereas, in contrast, all four species experienced strong negative PPFs. Field-based feedback estimates were highly negative for all four species, though variable in magnitude. Our results suggest that phyllosphere microbiota, like rhizosphere microbiota, can potentially mediate plant species coexistence via negative feedbacks. Extension of the PSF framework to the phyllosphere is needed to more fully elucidate plant-microbiota interactions. © 2017 John Wiley & Sons Ltd/CNRS.

A Framework for Optimal Control Allocation with Structural Load Constraints

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Taylor, Brian R.; Jutte, Christine V.; Burken, John J.; Trinh, Khanh V.; Bodson, Marc

2010-01-01

Conventional aircraft generally employ mixing algorithms or lookup tables to determine control surface deflections needed to achieve moments commanded by the flight control system. Control allocation is the problem of converting desired moments into control effector commands. Next generation aircraft may have many multipurpose, redundant control surfaces, adding considerable complexity to the control allocation problem. These issues can be addressed with optimal control allocation. Most optimal control allocation algorithms have control surface position and rate constraints. However, these constraints are insufficient to ensure that the aircraft's structural load limits will not be exceeded by commanded surface deflections. In this paper, a framework is proposed to enable a flight control system with optimal control allocation to incorporate real-time structural load feedback and structural load constraints. A proof of concept simulation that demonstrates the framework in a simulation of a generic transport aircraft is presented.

Stationary average consensus protocol for a class of heterogeneous high-order multi-agent systems with application for aircraft

NASA Astrophysics Data System (ADS)

Rezaei, Mohammad Hadi; Menhaj, Mohammad Bagher

2018-01-01

This paper investigates the stationary average consensus problem for a class of heterogeneous-order multi-agent systems. The goal is to bring the positions of agents to the average of their initial positions while letting the other states converge to zero. To this end, three different consensus protocols are proposed. First, based on the auxiliary variables information among the agents under switching directed networks and state-feedback control, a protocol is proposed whereby all the agents achieve stationary average consensus. In the second and third protocols, by resorting to only measurements of relative positions of neighbouring agents under fixed balanced directed networks, two control frameworks are presented with two strategies based on state-feedback and output-feedback control. Finally, simulation results are given to illustrate the effectiveness of the proposed protocols.

The optimal location of piezoelectric actuators and sensors for vibration control of plates

NASA Astrophysics Data System (ADS)

Kumar, K. Ramesh; Narayanan, S.

2007-12-01

This paper considers the optimal placement of collocated piezoelectric actuator-sensor pairs on a thin plate using a model-based linear quadratic regulator (LQR) controller. LQR performance is taken as objective for finding the optimal location of sensor-actuator pairs. The problem is formulated using the finite element method (FEM) as multi-input-multi-output (MIMO) model control. The discrete optimal sensor and actuator location problem is formulated in the framework of a zero-one optimization problem. A genetic algorithm (GA) is used to solve the zero-one optimization problem. Different classical control strategies like direct proportional feedback, constant-gain negative velocity feedback and the LQR optimal control scheme are applied to study the control effectiveness.

The Interplay between Feedback and Buffering in Cellular Homeostasis.

PubMed

Hancock, Edward J; Ang, Jordan; Papachristodoulou, Antonis; Stan, Guy-Bart

2017-11-22

Buffering, the use of reservoirs of molecules to maintain concentrations of key molecular species, and negative feedback are the primary known mechanisms for robust homeostatic regulation. To our knowledge, however, the fundamental principles behind their combined effect have not been elucidated. Here, we study the interplay between buffering and negative feedback in the context of cellular homeostasis. We show that negative feedback counteracts slow-changing disturbances, whereas buffering counteracts fast-changing disturbances. Furthermore, feedback and buffering have limitations that create trade-offs for regulation: instability in the case of feedback and molecular noise in the case of buffering. However, because buffering stabilizes feedback and feedback attenuates noise from slower-acting buffering, their combined effect on homeostasis can be synergistic. These effects can be explained within a traditional control theory framework and are consistent with experimental observations of both ATP homeostasis and pH regulation in vivo. These principles are critical for studying robustness and homeostasis in biology and biotechnology. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

The New Feedback Control System of RFX-mod Based on the MARTe Real-Time Framework

NASA Astrophysics Data System (ADS)

Manduchi, G.; Luchetta, A.; Soppelsa, A.; Taliercio, C.

2014-06-01

A real-time system has been successfully used since 2004 in the RFX-mod nuclear fusion experiment to control the position of the plasma and its Magneto Hydrodynamic (MHD) modes. However, its latency and the limited computation power of the used processors prevented the usage of more aggressive control algorithms. Therefore a new hardware and software architecture has been designed to overcome such limitations and to provide a shorter latency and a much increased computation power. The new system is based on a Linux multi-core server and uses MARTe, a framework for real-time control which is gaining interest in the fusion community.

Control of nonlinear systems with applications to constrained robots and spacecraft attitude stabilization

NASA Technical Reports Server (NTRS)

Krishnan, Hariharan

1993-01-01

This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude cannot be asymptotically stabilized using continuous feedback, but a discontinuous stabilizing feedback control strategy is constructed. If the uncontrolled principal axis is an axis of symmetry, the complete spacecraft dynamics cannot be stabilized. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but again a discontinuous feedback control strategy is constructed.

Consensus for multi-agent systems with time-varying input delays

NASA Astrophysics Data System (ADS)

Yuan, Chengzhi; Wu, Fen

2017-10-01

This paper addresses the consensus control problem for linear multi-agent systems subject to uniform time-varying input delays and external disturbance. A novel state-feedback consensus protocol is proposed under the integral quadratic constraint (IQC) framework, which utilises not only the relative state information from neighbouring agents but also the real-time information of delays by means of the dynamic IQC system states for feedback control. Based on this new consensus protocol, the associated IQC-based control synthesis conditions are established and fully characterised as linear matrix inequalities (LMIs), such that the consensus control solution with optimal ? disturbance attenuation performance can be synthesised efficiently via convex optimisation. A numerical example is used to demonstrate the proposed approach.

Detection of nuclear resonance signals: modification of the receiver operating characteristics using feedback.

PubMed

Blauch, A J; Schiano, J L; Ginsberg, M D

2000-06-01

The performance of a nuclear resonance detection system can be quantified using binary detection theory. Within this framework, signal averaging increases the probability of a correct detection and decreases the probability of a false alarm by reducing the variance of the noise in the average signal. In conjunction with signal averaging, we propose another method based on feedback control concepts that further improves detection performance. By maximizing the nuclear resonance signal amplitude, feedback raises the probability of correct detection. Furthermore, information generated by the feedback algorithm can be used to reduce the probability of false alarm. We discuss the advantages afforded by feedback that cannot be obtained using signal averaging. As an example, we show how this method is applicable to the detection of explosives using nuclear quadrupole resonance. Copyright 2000 Academic Press.

Model-based framework for multi-axial real-time hybrid simulation testing

NASA Astrophysics Data System (ADS)

Fermandois, Gaston A.; Spencer, Billie F.

2017-10-01

Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction (CSI). One approach to reducing experimental errors considers a multi-input, multi-output (MIMO) controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation (maRTHS) testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-offreedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box (LBCB) located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the frame is represented physically in the laboratory as a cantilevered steel column. For realtime execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controlled at the interface between substructures.

A Framework for Engineering Stress Resilient Plants Using Genetic Feedback Control and Regulatory Network Rewiring.

PubMed

Foo, Mathias; Gherman, Iulia; Zhang, Peijun; Bates, Declan G; Denby, Katherine J

2018-05-23

Crop disease leads to significant waste worldwide, both pre- and postharvest, with subsequent economic and sustainability consequences. Disease outcome is determined both by the plants' response to the pathogen and by the ability of the pathogen to suppress defense responses and manipulate the plant to enhance colonization. The defense response of a plant is characterized by significant transcriptional reprogramming mediated by underlying gene regulatory networks, and components of these networks are often targeted by attacking pathogens. Here, using gene expression data from Botrytis cinerea-infected Arabidopsis plants, we develop a systematic approach for mitigating the effects of pathogen-induced network perturbations, using the tools of synthetic biology. We employ network inference and system identification techniques to build an accurate model of an Arabidopsis defense subnetwork that contains key genes determining susceptibility of the plant to the pathogen attack. Once validated against time-series data, we use this model to design and test perturbation mitigation strategies based on the use of genetic feedback control. We show how a synthetic feedback controller can be designed to attenuate the effect of external perturbations on the transcription factor CHE in our subnetwork. We investigate and compare two approaches for implementing such a controller biologically-direct implementation of the genetic feedback controller, and rewiring the regulatory regions of multiple genes-to achieve the network motif required to implement the controller. Our results highlight the potential of combining feedback control theory with synthetic biology for engineering plants with enhanced resilience to environmental stress.

Structure-based control of complex networks with nonlinear dynamics

NASA Astrophysics Data System (ADS)

Zanudo, Jorge G. T.; Yang, Gang; Albert, Reka

What can we learn about controlling a system solely from its underlying network structure? Here we use a framework for control of networks governed by a broad class of nonlinear dynamics that includes the major dynamic models of biological, technological, and social processes. This feedback-based framework provides realizable node overrides that steer a system towards any of its natural long term dynamic behaviors, regardless of the dynamic details and system parameters. We use this framework on several real networks, identify the topological characteristics that underlie the predicted node overrides, and compare its predictions to those of classical structural control theory. Finally, we demonstrate this framework's applicability in dynamic models of gene regulatory networks and identify nodes whose override is necessary for control in the general case, but not in specific model instances. This work was supported by NSF Grants PHY 1205840 and IIS 1160995. JGTZ is a recipient of a Stand Up To Cancer - The V Foundation Convergence Scholar Award.

Relationships between CO 2, thermodynamic limits on silicate weathering, and the strength of the silicate weathering feedback

DOE PAGES

Winnick, Matthew J.; Maher, Kate

2018-01-27

Recent studies have suggested that thermodynamic limitations on chemical weathering rates exert a first-order control on riverine solute fluxes and by extension, global chemical weathering rates. As such, these limitations may play a prominent role in the regulation of carbon dioxide levels (pCO 2) over geologic timescales by constraining the maximum global weathering flux. In this study, we develop a theoretical scaling relationship between equilibrium solute concentrations and pCO 2 based on equilibrium constants and reaction stoichiometry relating primary mineral dissolution and secondary mineral precipitation. Here, we test this theoretical scaling relationship against reactive transport simulations of chemical weathering profilesmore » under open-and closed-system conditions, representing partially and fully water-saturated regolith, respectively. Under open-system conditions, equilibrium bicarbonate concentrations vary as a power-law function of pCO 2(y =kx n)where nis dependent on reaction stoichiometry and kis dependent on both reaction stoichiometry and the equilibrium constant. Under closed-system conditions, bicarbonate concentrations vary linearly with pCO 2 at low values and approach open-system scaling at high pCO 2. To describe the potential role of thermodynamic limitations in the global silicate weathering feedback, we develop a new mathematical framework to assess weathering feedback strength in terms of both (1) steady-state atmospheric pCO 2 concentrations, and (2) susceptibility to secular changes in degassing rates and transient carbon cycle perturbations, which we term 1st and 2nd order feedback strength, respectively. Finally, we discuss the implications of these results for the effects of vascular land plant evolution on feedback strength, the potential role of vegetation in controlling modern solute fluxes, and the application of these frameworks to a more complete functional description of the silicate weathering feedback. Most notably, the dependence of equilibrium solute concentrations on pCO 2 may represent a direct weathering feedback largely independent of climate and modulated by belowground organic carbon respiration.« less

Relationships between CO 2, thermodynamic limits on silicate weathering, and the strength of the silicate weathering feedback

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

Winnick, Matthew J.; Maher, Kate

Recent studies have suggested that thermodynamic limitations on chemical weathering rates exert a first-order control on riverine solute fluxes and by extension, global chemical weathering rates. As such, these limitations may play a prominent role in the regulation of carbon dioxide levels (pCO 2) over geologic timescales by constraining the maximum global weathering flux. In this study, we develop a theoretical scaling relationship between equilibrium solute concentrations and pCO 2 based on equilibrium constants and reaction stoichiometry relating primary mineral dissolution and secondary mineral precipitation. Here, we test this theoretical scaling relationship against reactive transport simulations of chemical weathering profilesmore » under open-and closed-system conditions, representing partially and fully water-saturated regolith, respectively. Under open-system conditions, equilibrium bicarbonate concentrations vary as a power-law function of pCO 2(y =kx n)where nis dependent on reaction stoichiometry and kis dependent on both reaction stoichiometry and the equilibrium constant. Under closed-system conditions, bicarbonate concentrations vary linearly with pCO 2 at low values and approach open-system scaling at high pCO 2. To describe the potential role of thermodynamic limitations in the global silicate weathering feedback, we develop a new mathematical framework to assess weathering feedback strength in terms of both (1) steady-state atmospheric pCO 2 concentrations, and (2) susceptibility to secular changes in degassing rates and transient carbon cycle perturbations, which we term 1st and 2nd order feedback strength, respectively. Finally, we discuss the implications of these results for the effects of vascular land plant evolution on feedback strength, the potential role of vegetation in controlling modern solute fluxes, and the application of these frameworks to a more complete functional description of the silicate weathering feedback. Most notably, the dependence of equilibrium solute concentrations on pCO 2 may represent a direct weathering feedback largely independent of climate and modulated by belowground organic carbon respiration.« less

Relationships between CO2, thermodynamic limits on silicate weathering, and the strength of the silicate weathering feedback

NASA Astrophysics Data System (ADS)

Winnick, Matthew J.; Maher, Kate

2018-03-01

Recent studies have suggested that thermodynamic limitations on chemical weathering rates exert a first-order control on riverine solute fluxes and by extension, global chemical weathering rates. As such, these limitations may play a prominent role in the regulation of carbon dioxide levels (pCO2) over geologic timescales by constraining the maximum global weathering flux. In this study, we develop a theoretical scaling relationship between equilibrium solute concentrations and pCO2 based on equilibrium constants and reaction stoichiometry relating primary mineral dissolution and secondary mineral precipitation. We test this theoretical scaling relationship against reactive transport simulations of chemical weathering profiles under open- and closed-system conditions, representing partially and fully water-saturated regolith, respectively. Under open-system conditions, equilibrium bicarbonate concentrations vary as a power-law function of pCO2 (y = kxn) where n is dependent on reaction stoichiometry and k is dependent on both reaction stoichiometry and the equilibrium constant. Under closed-system conditions, bicarbonate concentrations vary linearly with pCO2 at low values and approach open-system scaling at high pCO2. To describe the potential role of thermodynamic limitations in the global silicate weathering feedback, we develop a new mathematical framework to assess weathering feedback strength in terms of both (1) steady-state atmospheric pCO2 concentrations, and (2) susceptibility to secular changes in degassing rates and transient carbon cycle perturbations, which we term 1st and 2nd order feedback strength, respectively. Finally, we discuss the implications of these results for the effects of vascular land plant evolution on feedback strength, the potential role of vegetation in controlling modern solute fluxes, and the application of these frameworks to a more complete functional description of the silicate weathering feedback. Most notably, the dependence of equilibrium solute concentrations on pCO2 may represent a direct weathering feedback largely independent of climate and modulated by belowground organic carbon respiration.

A robust model predictive control algorithm for uncertain nonlinear systems that guarantees resolvability

NASA Technical Reports Server (NTRS)

Acikmese, Ahmet Behcet; Carson, John M., III

2006-01-01

A robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems is developed that guarantees resolvability. With resolvability, initial feasibility of the finite-horizon optimal control problem implies future feasibility in a receding-horizon framework. The control consists of two components; (i) feed-forward, and (ii) feedback part. Feed-forward control is obtained by online solution of a finite-horizon optimal control problem for the nominal system dynamics. The feedback control policy is designed off-line based on a bound on the uncertainty in the system model. The entire controller is shown to be robustly stabilizing with a region of attraction composed of initial states for which the finite-horizon optimal control problem is feasible. The controller design for this algorithm is demonstrated on a class of systems with uncertain nonlinear terms that have norm-bounded derivatives and derivatives in polytopes. An illustrative numerical example is also provided.

Visual Inference Programming

NASA Technical Reports Server (NTRS)

Wheeler, Kevin; Timucin, Dogan; Rabbette, Maura; Curry, Charles; Allan, Mark; Lvov, Nikolay; Clanton, Sam; Pilewskie, Peter

2002-01-01

The goal of visual inference programming is to develop a software framework data analysis and to provide machine learning algorithms for inter-active data exploration and visualization. The topics include: 1) Intelligent Data Understanding (IDU) framework; 2) Challenge problems; 3) What's new here; 4) Framework features; 5) Wiring diagram; 6) Generated script; 7) Results of script; 8) Initial algorithms; 9) Independent Component Analysis for instrument diagnosis; 10) Output sensory mapping virtual joystick; 11) Output sensory mapping typing; 12) Closed-loop feedback mu-rhythm control; 13) Closed-loop training; 14) Data sources; and 15) Algorithms. This paper is in viewgraph form.

East African weathering dynamics controlled by vegetation-climate feedbacks

USGS Publications Warehouse

Ivory, Sarah J.; McGlue, Michael M.; Ellis, Geoffrey S.; Boehlke, Adam; Lézine, Anne-Marie; Vincens, Annie; Cohen, Andrew S.

2017-01-01

Tropical weathering has important linkages to global biogeochemistry and landscape evolution in the East African rift. We disentangle the influences of climate and terrestrial vegetation on chemical weathering intensity and erosion at Lake Malawi using a long sediment record. Fossil pollen, microcharcoal, particle size, and mineralogy data affirm that the detrital clays accumulating in deep water within the lake are controlled by feedbacks between climate and hinterland forest composition. Particle-size patterns are also best explained by vegetation, through feedbacks with lake levels, wildfires, and erosion. We develop a new source-to-sink framework that links lacustrine sedimentation to hinterland vegetation in tropical rifts. Our analysis suggests that climate-vegetation interactions and their coupling to weathering/erosion could threaten future food security and has implications for accurately predicting petroleum play elements in continental rift basins.

LMI-Based Generation of Feedback Laws for a Robust Model Predictive Control Algorithm

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Carson, John M., III

2007-01-01

This technical note provides a mathematical proof of Corollary 1 from the paper 'A Nonlinear Model Predictive Control Algorithm with Proven Robustness and Resolvability' that appeared in the 2006 Proceedings of the American Control Conference. The proof was omitted for brevity in the publication. The paper was based on algorithms developed for the FY2005 R&TD (Research and Technology Development) project for Small-body Guidance, Navigation, and Control [2].The framework established by the Corollary is for a robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems that guarantees the resolvability of the associated nite-horizon optimal control problem in a receding-horizon implementation. Additional details of the framework are available in the publication.

Meta-analysis: audit and feedback features impact effectiveness on care quality.

PubMed

Hysong, Sylvia J

2009-03-01

Audit and feedback (A&F) has long been used to improve quality of care, albeit with variable results. This meta-analytic study tested whether Feedback Intervention Theory, a framework from industrial/organizational psychology, explains the observed variability in health care A&F research. studies cited by Jamtvedt's 2006 Cochrane systematic review of A&F, followed by database searches using the Cochrane review's search strategy to identify more recent studies. Cochrane review criteria, plus: presence of a treatment group receiving only A & F; a control group receiving no intervention; a quantitatively measurable outcome; minimum n of 10 per arm; sufficient statistics for effect size calculations. Moderators: presence of discouragement and praise; correct solution, attainment level, velocity, frequency, and normative information; feedback format (verbal, textual, graphic, public, computerized, group vs. individual); goal setting activity. meta-analytic procedures using the Hedges-Olkin method. Of 519 studies initially identified, 19 met all inclusion criteria. Studies were most often excluded due to the lack of a feedback-only arm. A&F has a modest, though significant positive effect on quality outcomes (d = 0.40, 95% confidence interval = +/-0.20); providing specific suggestions for improvement, written, and more frequent feedback strengthened this effect, whereas graphical and verbal feedback attenuated this effect. A&F effectiveness is improved when feedback is delivered with specific suggestions for improvement, in writing, and frequently. Other feedback characteristics could also potentially improve effectiveness; however, research with stricter experimental controls is needed to identify the specific feedback characteristics that maximize its effectiveness.

Neurocognitive therapeutics: from concept to application in the treatment of negative attention bias.

PubMed

Schnyer, David M; Beevers, Christopher G; deBettencourt, Megan T; Sherman, Stephanie M; Cohen, Jonathan D; Norman, Kenneth A; Turk-Browne, Nicholas B

2015-01-01

There is growing interest in the use of neuroimaging for the direct treatment of mental illness. Here, we present a new framework for such treatment, neurocognitive therapeutics. What distinguishes neurocognitive therapeutics from prior approaches is the use of precise brain-decoding techniques within a real-time feedback system, in order to adapt treatment online and tailor feedback to individuals' needs. We report an initial feasibility study that uses this framework to alter negative attention bias in a small number of patients experiencing significant mood symptoms. The results are consistent with the promise of neurocognitive therapeutics to improve mood symptoms and alter brain networks mediating attentional control. Future work should focus on optimizing the approach, validating its effectiveness, and expanding the scope of targeted disorders.

Adaptive Fuzzy Output Constrained Control Design for Multi-Input Multioutput Stochastic Nonstrict-Feedback Nonlinear Systems.

PubMed

Li, Yongming; Tong, Shaocheng

2017-12-01

In this paper, an adaptive fuzzy output constrained control design approach is addressed for multi-input multioutput uncertain stochastic nonlinear systems in nonstrict-feedback form. The nonlinear systems addressed in this paper possess unstructured uncertainties, unknown gain functions and unknown stochastic disturbances. Fuzzy logic systems are utilized to tackle the problem of unknown nonlinear uncertainties. The barrier Lyapunov function technique is employed to solve the output constrained problem. In the framework of backstepping design, an adaptive fuzzy control design scheme is constructed. All the signals in the closed-loop system are proved to be bounded in probability and the system outputs are constrained in a given compact set. Finally, the applicability of the proposed controller is well carried out by a simulation example.

Analysis and design of gain scheduled control systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Shamma, Jeff S.

1988-01-01

Gain scheduling, as an idea, is to construct a global feedback control system for a time varying and/or nonlinear plant from a collection of local time invariant designs. However in the absence of a sound analysis, these designs come with no guarantees on the robustness, performance, or even nominal stability of the overall gain schedule design. Such an analysis is presented for three types of gain scheduling situations: (1) a linear parameter varying plant scheduling on its exogenous parameters, (2) a nonlinear plant scheduling on a prescribed reference trajectory, and (3) a nonlinear plant scheduling on the current plant output. Conditions are given which guarantee that the stability, robustness, and performance properties of the fixed operating point designs carry over to the global gain scheduled designs, such as the scheduling variable should vary slowly and capture the plants nonlinearities. Finally, an alternate design framework is proposed which removes the slowing varying restriction or gain scheduled systems. This framework addresses some fundamental feedback issues previously ignored in standard gain.

Mittag-Leffler synchronization of delayed fractional-order bidirectional associative memory neural networks with discontinuous activations: state feedback control and impulsive control schemes.

PubMed

Ding, Xiaoshuai; Cao, Jinde; Zhao, Xuan; Alsaadi, Fuad E

2017-08-01

This paper is concerned with the drive-response synchronization for a class of fractional-order bidirectional associative memory neural networks with time delays, as well as in the presence of discontinuous activation functions. The global existence of solution under the framework of Filippov for such networks is firstly obtained based on the fixed-point theorem for condensing map. Then the state feedback and impulsive controllers are, respectively, designed to ensure the Mittag-Leffler synchronization of these neural networks and two new synchronization criteria are obtained, which are expressed in terms of a fractional comparison principle and Razumikhin techniques. Numerical simulations are presented to validate the proposed methodologies.

A new decentralised controller design method for a class of strongly interconnected systems

NASA Astrophysics Data System (ADS)

Duan, Zhisheng; Jiang, Zhong-Ping; Huang, Lin

2017-02-01

In this paper, two interconnected structures are first discussed, under which some closed-loop subsystems must be unstable to make the whole interconnected system stable, which can be viewed as a kind of strongly interconnected systems. Then, comparisons with small gain theorem are discussed and large gain interconnected characteristics are shown. A new approach for the design of decentralised controllers is presented by determining the Lyapunov function structure previously, which allows the existence of unstable subsystems. By fully utilising the orthogonal space information of input matrix, some new understandings are presented for the construction of Lyapunov matrix. This new method can deal with decentralised state feedback, static output feedback and dynamic output feedback controllers in a unified framework. Furthermore, in order to reduce the design conservativeness and deal with robustness, a new robust decentralised controller design method is given by combining with the parameter-dependent Lyapunov function method. Some basic rules are provided for the choice of initial variables in Lyapunov matrix or new introduced slack matrices. As byproducts, some linear matrix inequality based sufficient conditions are established for centralised static output feedback stabilisation. Effects of unstable subsystems in nonlinear Lur'e systems are further discussed. The corresponding decentralised controller design method is presented for absolute stability. The examples illustrate that the new method is significantly effective.

Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Li, Xiaohui; Sun, Zhenping; Cao, Dongpu; Liu, Daxue; He, Hangen

2017-03-01

This study proposes a novel integrated local trajectory planning and tracking control (ILTPTC) framework for autonomous vehicles driving along a reference path with obstacles avoidance. For this ILTPTC framework, an efficient state-space sampling-based trajectory planning scheme is employed to smoothly follow the reference path. A model-based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths. An objective function considering both safety and comfort performance is carefully formulated for assessing the generated trajectories and selecting the optimal one. For accurately tracking the optimal trajectory while overcoming external disturbances and model uncertainties, a combined feedforward and feedback controller is developed. Both simulation analyses and vehicle testing are performed to verify the effectiveness of the proposed ILTPTC framework, and future research is also briefly discussed.

Optimal Power Flow Pursuit

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

Dall'Anese, Emiliano; Simonetto, Andrea

This paper considers distribution networks featuring inverter-interfaced distributed energy resources, and develops distributed feedback controllers that continuously drive the inverter output powers to solutions of AC optimal power flow (OPF) problems. Particularly, the controllers update the power setpoints based on voltage measurements as well as given (time-varying) OPF targets, and entail elementary operations implementable onto low-cost microcontrollers that accompany power-electronics interfaces of gateways and inverters. The design of the control framework is based on suitable linear approximations of the AC power-flow equations as well as Lagrangian regularization methods. Convergence and OPF-target tracking capabilities of the controllers are analytically established. Overall,more » the proposed method allows to bypass traditional hierarchical setups where feedback control and optimization operate at distinct time scales, and to enable real-time optimization of distribution systems.« less

Climate policy to defeat the green paradox.

PubMed

Fölster, Stefan; Nyström, Johan

2010-05-01

Carbon dioxide emissions have accelerated since the signing of the Kyoto Protocol. This discouraging development may partly be blamed on accelerating world growth and on lags in policy instruments. However, it also raises serious question concerning whether policies to reduce CO2 emissions are as effective as generally assumed. In recent years, a considerable number of studies have identified various feedback mechanisms of climate policies that often erode, and occasionally reinforce, their effectiveness. These studies generally focus on a few feedback mechanisms at a time, without capturing the entire effect. Partial accounting of policy feedbacks is common in many climate scenarios. The IPCC, for example, only accounts for direct leakage and rebound effects. This article attempts to map the aggregate effects of different types of climate policy feedback mechanisms in a cohesive framework. Controlling feedback effects is essential if the policy measures are to make any difference on a global level. A general conclusion is that aggregate policy feedback mechanisms tend to make current climate policies much less effective than is generally assumed. In fact, various policy measures involve a definite risk of 'backfiring' and actually increasing CO2 emissions. This risk is particularly pronounced once effects of climate policies on the pace of innovation in climate technology are considered. To stand any chance of controlling carbon emissions, it is imperative that feedback mechanisms are integrated into emission scenarios, targets for emission reduction and implementation of climate policy. In many cases, this will reduce the scope for subsidies to renewable energy sources, but increase the scope for other measures such as schemes to return carbon dioxide to the ground and to mitigate emissions of greenhouse gases from wetlands and oceans. A framework that incorporates policy feedback effects necessitates rethinking the design of the national and regional emission targets. This leads us to a new way of formulating emission targets that include feedback effects, the global impact target. Once the full climate policy feedback mechanisms are accounted for, there are probably only three main routes in climate policy that stand a chance of mitigating global warming: (a) returning carbon to the ground, (b) technological leaps in zero-emission energy technology that make it profitable to leave much carbon in the ground even in Annex II countries and (c) international agreements that make it more profitable to leave carbon in the ground or in forests.

Topological analysis of metabolic control.

PubMed

Sen, A K

1990-12-01

A topological approach is presented for the analysis of control and regulation in metabolic pathways. In this approach, the control structure of a metabolic pathway is represented by a weighted directed graph. From an inspection of the topology of the graph, the control coefficients of the enzymes are evaluated in a heuristic manner in terms of the enzyme elasticities. The major advantage of the topological approach is that it provides a visual framework for (1) calculating the control coefficients of the enzymes, (2) analyzing the cause-effect relationships of the individual enzymes, (3) assessing the relative importance of the enzymes in metabolic regulation, and (4) simplifying the structure of a given pathway, from a regulatory viewpoint. Results are obtained for (a) an unbranched pathway in the absence of feedback the feedforward regulation and (b) an unbranched pathway with feedback inhibition. Our formulation is based on the metabolic control theory of Kacser and Burns (1973) and Heinrich and Rapoport (1974).

Probabilistic Category Learning in Developmental Dyslexia: Evidence from Feedback and Paired-Associate Weather Prediction Tasks

PubMed Central

Gabay, Yafit; Vakil, Eli; Schiff, Rachel; Holt, Lori L.

2015-01-01

Objective Developmental dyslexia is presumed to arise from specific phonological impairments. However, an emerging theoretical framework suggests that phonological impairments may be symptoms stemming from an underlying dysfunction of procedural learning. Method We tested procedural learning in adults with dyslexia (n=15) and matched-controls (n=15) using two versions of the Weather Prediction Task: Feedback (FB) and Paired-associate (PA). In the FB-based task, participants learned associations between cues and outcomes initially by guessing and subsequently through feedback indicating the correctness of response. In the PA-based learning task, participants viewed the cue and its associated outcome simultaneously without overt response or feedback. In both versions, participants trained across 150 trials. Learning was assessed in a subsequent test without presentation of the outcome, or corrective feedback. Results The Dyslexia group exhibited impaired learning compared with the Control group on both the FB and PA versions of the weather prediction task. Conclusions The results indicate that the ability to learn by feedback is not selectively impaired in dyslexia. Rather it seems that the probabilistic nature of the task, shared by the FB and PA versions of the weather prediction task, hampers learning in those with dyslexia. Results are discussed in light of procedural learning impairments among participants with dyslexia. PMID:25730732

Estimating radiative feedbacks from stochastic fluctuations in surface temperature and energy imbalance

NASA Astrophysics Data System (ADS)

Proistosescu, C.; Donohoe, A.; Armour, K.; Roe, G.; Stuecker, M. F.; Bitz, C. M.

2017-12-01

Joint observations of global surface temperature and energy imbalance provide for a unique opportunity to empirically constrain radiative feedbacks. However, the satellite record of Earth's radiative imbalance is relatively short and dominated by stochastic fluctuations. Estimates of radiative feedbacks obtained by regressing energy imbalance against surface temperature depend strongly on sampling choices and on assumptions about whether the stochastic fluctuations are primarily forced by atmospheric or oceanic variability (e.g. Murphy and Forster 2010, Dessler 2011, Spencer and Braswell 2011, Forster 2016). We develop a framework around a stochastic energy balance model that allows us to parse the different contributions of atmospheric and oceanic forcing based on their differing impacts on the covariance structure - or lagged regression - of temperature and radiative imbalance. We validate the framework in a hierarchy of general circulation models: the impact of atmospheric forcing is examined in unforced control simulations of fixed sea-surface temperature and slab ocean model versions; the impact of oceanic forcing is examined in coupled simulations with prescribed ENSO variability. With the impact of atmospheric and oceanic forcing constrained, we are able to predict the relationship between temperature and radiative imbalance in a fully coupled control simulation, finding that both forcing sources are needed to explain the structure of the lagged-regression. We further model the dependence of feedback estimates on sampling interval by considering the effects of a finite equilibration time for the atmosphere, and issues of smoothing and aliasing. Finally, we develop a method to fit the stochastic model to the short timeseries of temperature and radiative imbalance by performing a Bayesian inference based on a modified version of the spectral Whittle likelihood. We are thus able to place realistic joint uncertainty estimates on both stochastic forcing and radiative feedbacks derived from observational records. We find that these records are, as of yet, too short to be useful in constraining radiative feedbacks, and we provide estimates of how the uncertainty narrows as a function of record length.

Blended shared control utilizing online identification : Regulating grasping forces of a surrogate surgical grasper.

PubMed

Stephens, Trevor K; Kong, Nathan J; Dockter, Rodney L; O'Neill, John J; Sweet, Robert M; Kowalewski, Timothy M

2018-06-01

Surgical robots are increasingly common, yet routine tasks such as tissue grasping remain potentially harmful with high occurrences of tissue crush injury due to the lack of force feedback from the grasper. This work aims to investigate whether a blended shared control framework which utilizes real-time identification of the object being grasped as part of the feedback may help address the prevalence of tissue crush injury in robotic surgeries. This work tests the proposed shared control framework and tissue identification algorithm on a custom surrogate surgical robotic grasping setup. This scheme utilizes identification of the object being grasped as part of the feedback to regulate to a desired force. The blended shared control is arbitrated between human and an implicit force controller based on a computed confidence in the identification of the grasped object. The online identification is performed using least squares based on a nonlinear tissue model. Testing was performed on five silicone tissue surrogates. Twenty grasps were conducted, with half of the grasps performed under manual control and half of the grasps performed with the proposed blended shared control, to test the efficacy of the control scheme. The identification method resulted in an average of 95% accuracy across all time samples of all tissue grasps using a full leave-grasp-out cross-validation. There was an average convergence time of [Formula: see text] ms across all training grasps for all tissue surrogates. Additionally, there was a reduction in peak forces induced during grasping for all tissue surrogates when applying blended shared control online. The blended shared control using online identification more successfully regulated grasping forces to the desired target force when compared with manual control. The preliminary work on this surrogate setup for surgical grasping merits further investigation on real surgical tools and with real human tissues.

Design and evaluation of a trilateral shared-control architecture for teleoperated training robots.

PubMed

Shamaei, Kamran; Kim, Lawrence H; Okamura, Allison M

2015-08-01

Multilateral teleoperated robots can be used to train humans to perform complex tasks that require collaborative interaction and expert supervision, such as laparoscopic surgical procedures. In this paper, we explain the design and performance evaluation of a shared-control architecture that can be used in trilateral teleoperated training robots. The architecture includes dominance and observation factors inspired by the determinants of motor learning in humans, including observational practice, focus of attention, feedback and augmented feedback, and self-controlled practice. Toward the validation of such an architecture, we (1) verify the stability of a trilateral system by applying Llewellyn's criterion on a two-port equivalent architecture, and (2) demonstrate that system transparency remains generally invariant across relevant observation factors and movement frequencies. In a preliminary experimental study, a dyad of two human users (one novice, one expert) collaborated on the control of a robot to follow a trajectory. The experiment showed that the framework can be used to modulate the efforts of the users and adjust the source and level of haptic feedback to the novice user.

Modeling the Arrest of Tissue Growth in Epithelia

NASA Astrophysics Data System (ADS)

Golden, Alexander; Lubensky, David

The mechanisms of control and eventual arrest of growth of tissues is an area that has received considerable attention, both experimentally and in the development of quantitative models. In particular, the Drosophila wing disc epithelium appears to robustly arrive at a unique final size. One mechanism that has the potential to play a role in the eventual cessation of growth is mechanical feedback from stresses induced by nonuniform growth. There is experimental support for an effect on the tissue growth rate by such mechanical stresses, and a number of numerical or cell-based models have been proposed that show that the arrest of growth can be achieved by mechanical feedback. We introduce an analytic framework that allows us to understand different coarse-grained feedback mechanisms on the same terms. We use the framework to distinguish between families of models that do not have a unique final size and those that do and give rough estimates for how much variability in the eventual organ size can be expected in models that do not have a unique final size. NSF Grant DMR-1056456.

Surgical model-view-controller simulation software framework for local and collaborative applications

PubMed Central

Sankaranarayanan, Ganesh; Halic, Tansel; Arikatla, Venkata Sreekanth; Lu, Zhonghua; De, Suvranu

2010-01-01

Purpose Surgical simulations require haptic interactions and collaboration in a shared virtual environment. A software framework for decoupled surgical simulation based on a multi-controller and multi-viewer model-view-controller (MVC) pattern was developed and tested. Methods A software framework for multimodal virtual environments was designed, supporting both visual interactions and haptic feedback while providing developers with an integration tool for heterogeneous architectures maintaining high performance, simplicity of implementation, and straightforward extension. The framework uses decoupled simulation with updates of over 1,000 Hz for haptics and accommodates networked simulation with delays of over 1,000 ms without performance penalty. Results The simulation software framework was implemented and was used to support the design of virtual reality-based surgery simulation systems. The framework supports the high level of complexity of such applications and the fast response required for interaction with haptics. The efficacy of the framework was tested by implementation of a minimally invasive surgery simulator. Conclusion A decoupled simulation approach can be implemented as a framework to handle simultaneous processes of the system at the various frame rates each process requires. The framework was successfully used to develop collaborative virtual environments (VEs) involving geographically distributed users connected through a network, with the results comparable to VEs for local users. PMID:20714933

Surgical model-view-controller simulation software framework for local and collaborative applications.

PubMed

Maciel, Anderson; Sankaranarayanan, Ganesh; Halic, Tansel; Arikatla, Venkata Sreekanth; Lu, Zhonghua; De, Suvranu

2011-07-01

Surgical simulations require haptic interactions and collaboration in a shared virtual environment. A software framework for decoupled surgical simulation based on a multi-controller and multi-viewer model-view-controller (MVC) pattern was developed and tested. A software framework for multimodal virtual environments was designed, supporting both visual interactions and haptic feedback while providing developers with an integration tool for heterogeneous architectures maintaining high performance, simplicity of implementation, and straightforward extension. The framework uses decoupled simulation with updates of over 1,000 Hz for haptics and accommodates networked simulation with delays of over 1,000 ms without performance penalty. The simulation software framework was implemented and was used to support the design of virtual reality-based surgery simulation systems. The framework supports the high level of complexity of such applications and the fast response required for interaction with haptics. The efficacy of the framework was tested by implementation of a minimally invasive surgery simulator. A decoupled simulation approach can be implemented as a framework to handle simultaneous processes of the system at the various frame rates each process requires. The framework was successfully used to develop collaborative virtual environments (VEs) involving geographically distributed users connected through a network, with the results comparable to VEs for local users.

Providing haptic feedback in robot-assisted minimally invasive surgery: a direct optical force-sensing solution for haptic rendering of deformable bodies.

PubMed

Ehrampoosh, Shervin; Dave, Mohit; Kia, Michael A; Rablau, Corneliu; Zadeh, Mehrdad H

2013-01-01

This paper presents an enhanced haptic-enabled master-slave teleoperation system which can be used to provide force feedback to surgeons in minimally invasive surgery (MIS). One of the research goals was to develop a combined-control architecture framework that included both direct force reflection (DFR) and position-error-based (PEB) control strategies. To achieve this goal, it was essential to measure accurately the direct contact forces between deformable bodies and a robotic tool tip. To measure the forces at a surgical tool tip and enhance the performance of the teleoperation system, an optical force sensor was designed, prototyped, and added to a robot manipulator. The enhanced teleoperation architecture was formulated by developing mathematical models for the optical force sensor, the extended slave robot manipulator, and the combined-control strategy. Human factor studies were also conducted to (a) examine experimentally the performance of the enhanced teleoperation system with the optical force sensor, and (b) study human haptic perception during the identification of remote object deformability. The first experiment was carried out to discriminate deformability of objects when human subjects were in direct contact with deformable objects by means of a laparoscopic tool. The control parameters were then tuned based on the results of this experiment using a gain-scheduling method. The second experiment was conducted to study the effectiveness of the force feedback provided through the enhanced teleoperation system. The results show that the force feedback increased the ability of subjects to correctly identify materials of different deformable types. In addition, the virtual force feedback provided by the teleoperation system comes close to the real force feedback experienced in direct MIS. The experimental results provide design guidelines for choosing and validating the control architecture and the optical force sensor.

Multi-voxel Patterns Reveal Functionally Differentiated Networks Underlying Auditory Feedback Processing of Speech

PubMed Central

Zheng, Zane Z.; Vicente-Grabovetsky, Alejandro; MacDonald, Ewen N.; Munhall, Kevin G.; Cusack, Rhodri; Johnsrude, Ingrid S.

2013-01-01

The everyday act of speaking involves the complex processes of speech motor control. An important component of control is monitoring, detection and processing of errors when auditory feedback does not correspond to the intended motor gesture. Here we show, using fMRI and converging operations within a multi-voxel pattern analysis framework, that this sensorimotor process is supported by functionally differentiated brain networks. During scanning, a real-time speech-tracking system was employed to deliver two acoustically different types of distorted auditory feedback or unaltered feedback while human participants were vocalizing monosyllabic words, and to present the same auditory stimuli while participants were passively listening. Whole-brain analysis of neural-pattern similarity revealed three functional networks that were differentially sensitive to distorted auditory feedback during vocalization, compared to during passive listening. One network of regions appears to encode an ‘error signal’ irrespective of acoustic features of the error: this network, including right angular gyrus, right supplementary motor area, and bilateral cerebellum, yielded consistent neural patterns across acoustically different, distorted feedback types, only during articulation (not during passive listening). In contrast, a fronto-temporal network appears sensitive to the speech features of auditory stimuli during passive listening; this preference for speech features was diminished when the same stimuli were presented as auditory concomitants of vocalization. A third network, showing a distinct functional pattern from the other two, appears to capture aspects of both neural response profiles. Taken together, our findings suggest that auditory feedback processing during speech motor control may rely on multiple, interactive, functionally differentiated neural systems. PMID:23467350

Biologically inspired design of feedback control systems implemented using DNA strand displacement reactions.

PubMed

Foo, Mathias; Sawlekar, Rucha; Kulkarni, Vishwesh V; Bates, Declan G

2016-08-01

The use of abstract chemical reaction networks (CRNs) as a modelling and design framework for the implementation of computing and control circuits using enzyme-free, entropy driven DNA strand displacement (DSD) reactions is starting to garner widespread attention in the area of synthetic biology. Previous work in this area has demonstrated the theoretical plausibility of using this approach to design biomolecular feedback control systems based on classical proportional-integral (PI) controllers, which may be constructed from CRNs implementing gain, summation and integrator operators. Here, we propose an alternative design approach that utilises the abstract chemical reactions involved in cellular signalling cycles to implement a biomolecular controller - termed a signalling-cycle (SC) controller. We compare the performance of the PI and SC controllers in closed-loop with a nonlinear second-order chemical process. Our results show that the SC controller outperforms the PI controller in terms of both performance and robustness, and also requires fewer abstract chemical reactions to implement, highlighting its potential usefulness in the construction of biomolecular control circuits.

Run-to-Run Optimization Control Within Exact Inverse Framework for Scan Tracking.

PubMed

Yeoh, Ivan L; Reinhall, Per G; Berg, Martin C; Chizeck, Howard J; Seibel, Eric J

2017-09-01

A run-to-run optimization controller uses a reduced set of measurement parameters, in comparison to more general feedback controllers, to converge to the best control point for a repetitive process. A new run-to-run optimization controller is presented for the scanning fiber device used for image acquisition and display. This controller utilizes very sparse measurements to estimate a system energy measure and updates the input parameterizations iteratively within a feedforward with exact-inversion framework. Analysis, simulation, and experimental investigations on the scanning fiber device demonstrate improved scan accuracy over previous methods and automatic controller adaptation to changing operating temperature. A specific application example and quantitative error analyses are provided of a scanning fiber endoscope that maintains high image quality continuously across a 20 °C temperature rise without interruption of the 56 Hz video.

Understanding the dynamics of sustainable social-ecological systems: human behavior, institutions, and regulatory feedback networks.

PubMed

Anderies, John M

2015-02-01

I present a general mathematical modeling framework that can provide a foundation for the study of sustainability in social- ecological systems (SESs). Using basic principles from feedback control and a sequence of specific models from bioeconomics and economic growth, I outline several mathematical and empirical challenges associated with the study of sustainability of SESs. These challenges are categorized into three classes: (1) the social choice of performance measures, (2) uncertainty, and (3) collective action. Finally, I present some opportunities for combining stylized dynamical systems models with empirical data on human behavior and biophysical systems to address practical challenges for the design of effective governance regimes (policy feedbacks) for highly uncertain natural resource systems.

An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.

PubMed

Lee, Duk-Hee; Choi, Jaesoon; Park, Jun-Woo; Bach, Du-Jin; Song, Seung-Jun; Kim, Yoon-Ho; Jo, Yungho; Sun, Kyung

2009-01-01

Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.

Active stability augmentation of large space structures: A stochastic control problem

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1987-01-01

A problem in SCOLE is that of slewing an offset antenna on a long flexible beam-like truss attached to the space shuttle, with rather stringent pointing accuracy requirements. The relevant methodology aspects in robust feedback-control design for stability augmentation of the beam using on-board sensors is examined. It is framed as a stochastic control problem, boundary control of a distributed parameter system described by partial differential equations. While the framework is mathematical, the emphasis is still on an engineering solution. An abstract mathematical formulation is developed as a nonlinear wave equation in a Hilbert space. That the system is controllable is shown and a feedback control law that is robust in the sense that it does not require quantitative knowledge of system parameters is developed. The stochastic control problem that arises in instrumenting this law using appropriate sensors is treated. Using an engineering first approximation which is valid for small damping, formulas for optimal choice of the control gain are developed.

Adaptive critic designs for optimal control of uncertain nonlinear systems with unmatched interconnections.

PubMed

Yang, Xiong; He, Haibo

2018-05-26

In this paper, we develop a novel optimal control strategy for a class of uncertain nonlinear systems with unmatched interconnections. To begin with, we present a stabilizing feedback controller for the interconnected nonlinear systems by modifying an array of optimal control laws of auxiliary subsystems. We also prove that this feedback controller ensures a specified cost function to achieve optimality. Then, under the framework of adaptive critic designs, we use critic networks to solve the Hamilton-Jacobi-Bellman equations associated with auxiliary subsystem optimal control laws. The critic network weights are tuned through the gradient descent method combined with an additional stabilizing term. By using the newly established weight tuning rules, we no longer need the initial admissible control condition. In addition, we demonstrate that all signals in the closed-loop auxiliary subsystems are stable in the sense of uniform ultimate boundedness by using classic Lyapunov techniques. Finally, we provide an interconnected nonlinear plant to validate the present control scheme. Copyright © 2018 Elsevier Ltd. All rights reserved.

Beyond quality improvement: exploring why primary care teams engage in a voluntary audit and feedback program.

PubMed

Wagner, Daniel J; Durbin, Janet; Barnsley, Jan; Ivers, Noah M

2017-12-02

Despite its popularity, the effectiveness of audit and feedback in support quality improvement efforts is mixed. While audit and feedback-related research efforts have investigated issues relating to feedback design and delivery, little attention has been directed towards factors which motivate interest and engagement with feedback interventions. This study explored the motivating factors that drove primary care teams to participate in a voluntary audit and feedback initiative. Interviews were conducted with leaders of primary care teams who had participated in at least one iteration of the audit and feedback program. This intervention was developed by an organization which advocates for high-quality, team-based primary care in Ontario, Canada. Interview transcripts were coded using the Consolidated Framework for Implementation Research and the resulting framework was analyzed inductively to generate key themes. Interviews were completed with 25 individuals from 18 primary care teams across Ontario. The majority were Executive Directors (14), Physician leaders (3) and support staff for Quality Improvement (4). A range of motivations for participating in the audit and feedback program beyond quality improvement were emphasized. Primarily, informants believed that the program would eventually become a best-in-class audit and feedback initiative. This reflected concerns regarding existing initiatives in terms of the intervention components and intentions as well as the perception that an initiative by primary care, for primary care would better reflect their own goals and better support desired patient outcomes. Key enablers included perceived obligations to engage and provision of support for the work involved. No teams cited an evidence base for A&F as a motivating factor for participation. A range of motivating factors, beyond quality improvement, contributed to participation in the audit and feedback program. Findings from this study highlight that efforts to understand how and when the intervention works best cannot be limited to factors within developers' control. Clinical teams may more readily engage with initiatives with the potential to address their own long-term system goals. Aligning motivations for participation with the goals of the audit and feedback initiative may facilitate both engagement and impact.

Visuomotor control, eye movements, and steering: A unified approach for incorporating feedback, feedforward, and internal models.

PubMed

Lappi, Otto; Mole, Callum

2018-06-11

The authors present an approach to the coordination of eye movements and locomotion in naturalistic steering tasks. It is based on recent empirical research, in particular, on driver eye movements, that poses challenges for existing accounts of how we visually steer a course. They first analyze how the ideas of feedback and feedforward processes and internal models are treated in control theoretical steering models within vision science and engineering, which share an underlying architecture but have historically developed in very separate ways. The authors then show how these traditions can be naturally (re)integrated with each other and with contemporary neuroscience, to better understand the skill and gaze strategies involved. They then propose a conceptual model that (a) gives a unified account to the coordination of gaze and steering control, (b) incorporates higher-level path planning, and (c) draws on the literature on paired forward and inverse models in predictive control. Although each of these (a-c) has been considered before (also in the context of driving), integrating them into a single framework and the authors' multiple waypoint identification hypothesis within that framework are novel. The proposed hypothesis is relevant to all forms of visually guided locomotion. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

A unified framework for image retrieval using keyword and visual features.

PubMed

Jing, Feng; Li, Mingling; Zhang, Hong-Jiang; Zhang, Bo

2005-07-01

In this paper, a unified image retrieval framework based on both keyword annotations and visual features is proposed. In this framework, a set of statistical models are built based on visual features of a small set of manually labeled images to represent semantic concepts and used to propagate keywords to other unlabeled images. These models are updated periodically when more images implicitly labeled by users become available through relevance feedback. In this sense, the keyword models serve the function of accumulation and memorization of knowledge learned from user-provided relevance feedback. Furthermore, two sets of effective and efficient similarity measures and relevance feedback schemes are proposed for query by keyword scenario and query by image example scenario, respectively. Keyword models are combined with visual features in these schemes. In particular, a new, entropy-based active learning strategy is introduced to improve the efficiency of relevance feedback for query by keyword. Furthermore, a new algorithm is proposed to estimate the keyword features of the search concept for query by image example. It is shown to be more appropriate than two existing relevance feedback algorithms. Experimental results demonstrate the effectiveness of the proposed framework.

Feedback control in planarian stem cell systems.

PubMed

Mangel, Marc; Bonsall, Michael B; Aboobaker, Aziz

2016-02-13

In planarian flatworms, the mechanisms underlying the activity of collectively pluripotent adult stem cells (neoblasts) and their descendants can now be studied from the level of the individual gene to the entire animal. Flatworms maintain startling developmental plasticity and regenerative capacity in response to variable nutrient conditions or injury. We develop a model for cell dynamics in such animals, assuming that fully differentiated cells exert feedback control on neoblast activity. Our model predicts a number of whole organism level and general cell biological and behaviours, some of which have been empirically observed or inferred in planarians and others that have not. As previously observed empirically we find: 1) a curvilinear relationship between external food and planarian steady state size; 2) the fraction of neoblasts in the steady state is constant regardless of planarian size; 3) a burst of controlled apoptosis during regeneration after amputation as the number of differentiated cells are adjusted towards their homeostatic/steady state level. In addition our model describes the following properties that can inform and be tested by future experiments: 4) the strength of feedback control from differentiated cells to neoblasts (i.e. the activity of the signalling system) and from neoblasts on themselves in relation to absolute number depends upon the level of food in the environment; 5) planarians adjust size when food level reduces initially through increased apoptosis and then through a reduction in neoblast self-renewal activity; 6) following wounding or excision of differentiated cells, different time scales characterize both recovery of size and the two feedback functions; 7) the temporal pattern of feedback controls differs noticeably during recovery from a removal or neoblasts or a removal of differentiated cells; 8) the signaling strength for apoptosis of differentiated cells depends upon both the absolute and relative deviations of the number of differentiated cells from their homeostatic level; and 9) planaria prioritize resource use for cell divisions. We offer the first analytical framework for organizing experiments on planarian flatworm stem cell dynamics in a form that allows models to be compared with quantitative cell data based on underlying molecular mechanisms and thus facilitate the interplay between empirical studies and modeling. This framework is the foundation for studying cell migration during wound repair, the determination of homeostatic levels of differentiated cells by natural selection, and stochastic effects.

Reliable Adaptive Video Streaming Driven by Perceptual Semantics for Situational Awareness

PubMed Central

Pimentel-Niño, M. A.; Saxena, Paresh; Vazquez-Castro, M. A.

2015-01-01

A novel cross-layer optimized video adaptation driven by perceptual semantics is presented. The design target is streamed live video to enhance situational awareness in challenging communications conditions. Conventional solutions for recreational applications are inadequate and novel quality of experience (QoE) framework is proposed which allows fully controlled adaptation and enables perceptual semantic feedback. The framework relies on temporal/spatial abstraction for video applications serving beyond recreational purposes. An underlying cross-layer optimization technique takes into account feedback on network congestion (time) and erasures (space) to best distribute available (scarce) bandwidth. Systematic random linear network coding (SRNC) adds reliability while preserving perceptual semantics. Objective metrics of the perceptual features in QoE show homogeneous high performance when using the proposed scheme. Finally, the proposed scheme is in line with content-aware trends, by complying with information-centric-networking philosophy and architecture. PMID:26247057

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery.

PubMed

Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

2011-06-01

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

PubMed Central

Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

2013-01-01

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information. PMID:24398557

The Data-to-Action Framework: A Rapid Program Improvement Process.

PubMed

Zakocs, Ronda; Hill, Jessica A; Brown, Pamela; Wheaton, Jocelyn; Freire, Kimberley E

2015-08-01

Although health education programs may benefit from quality improvement methods, scant resources exist to help practitioners apply these methods for program improvement. The purpose of this article is to describe the Data-to-Action framework, a process that guides practitioners through rapid-feedback cycles in order to generate actionable data to improve implementation of ongoing programs. The framework was designed while implementing DELTA PREP, a 3-year project aimed at building the primary prevention capacities of statewide domestic violence coalitions. The authors describe the framework's main steps and provide a case example of a rapid-feedback cycle and several examples of rapid-feedback memos produced during the project period. The authors also discuss implications for health education evaluation and practice. © 2015 Society for Public Health Education.

Feedback Conversations: Creating Feedback Dialogues with a New Textual Tool for Industrial Design Student Feedback

ERIC Educational Resources Information Center

Funk, Mathias; van Diggelen, Migchiel

2017-01-01

In this paper, the authors describe how a study of a large database of written university teacher feedback in the department of Industrial Design led to the development of a new conceptual framework for feedback and the design of a new feedback tool. This paper focuses on the translation of related work in the area of feedback mechanisms for…

Adaptive and neuroadaptive control for nonnegative and compartmental dynamical systems

NASA Astrophysics Data System (ADS)

Volyanskyy, Kostyantyn Y.

Neural networks have been extensively used for adaptive system identification as well as adaptive and neuroadaptive control of highly uncertain systems. The goal of adaptive and neuroadaptive control is to achieve system performance without excessive reliance on system models. To improve robustness and the speed of adaptation of adaptive and neuroadaptive controllers several controller architectures have been proposed in the literature. In this dissertation, we develop a new neuroadaptive control architecture for nonlinear uncertain dynamical systems. The proposed framework involves a novel controller architecture with additional terms in the update laws that are constructed using a moving window of the integrated system uncertainty. These terms can be used to identify the ideal system weights of the neural network as well as effectively suppress system uncertainty. Linear and nonlinear parameterizations of the system uncertainty are considered and state and output feedback neuroadaptive controllers are developed. Furthermore, we extend the developed framework to discrete-time dynamical systems. To illustrate the efficacy of the proposed approach we apply our results to an aircraft model with wing rock dynamics, a spacecraft model with unknown moment of inertia, and an unmanned combat aerial vehicle undergoing actuator failures, and compare our results with standard neuroadaptive control methods. Nonnegative systems are essential in capturing the behavior of a wide range of dynamical systems involving dynamic states whose values are nonnegative. A sub-class of nonnegative dynamical systems are compartmental systems. These systems are derived from mass and energy balance considerations and are comprised of homogeneous interconnected microscopic subsystems or compartments which exchange variable quantities of material via intercompartmental flow laws. In this dissertation, we develop direct adaptive and neuroadaptive control framework for stabilization, disturbance rejection and noise suppression for nonnegative and compartmental dynamical systems with noise and exogenous system disturbances. We then use the developed framework to control the infusion of the anesthetic drug propofol for maintaining a desired constant level of depth of anesthesia for surgery in the face of continuing hemorrhage and hemodilution. Critical care patients, whether undergoing surgery or recovering in intensive care units, require drug administration to regulate physiological variables such as blood pressure, cardiac output, heart rate, and degree of consciousness. The rate of infusion of each administered drug is critical, requiring constant monitoring and frequent adjustments. In this dissertation, we develop a neuroadaptive output feedback control framework for nonlinear uncertain nonnegative and compartmental systems with nonnegative control inputs and noisy measurements. The proposed framework is Lyapunov-based and guarantees ultimate boundedness of the error signals. In addition, the neuroadaptive controller guarantees that the physical system states remain in the nonnegative orthant of the state space. Finally, the developed approach is used to control the infusion of the anesthetic drug propofol for maintaining a desired constant level of depth of anesthesia for surgery in the face of noisy electroencephalographic (EEG) measurements. Clinical trials demonstrate excellent regulation of unconsciousness allowing for a safe and effective administration of the anesthetic agent propofol. Furthermore, a neuroadaptive output feedback control architecture for nonlinear nonnegative dynamical systems with input amplitude and integral constraints is developed. Specifically, the neuroadaptive controller guarantees that the imposed amplitude and integral input constraints are satisfied and the physical system states remain in the nonnegative orthant of the state space. The proposed approach is used to control the infusion of the anesthetic drug propofol for maintaining a desired constant level of depth of anesthesia for noncardiac surgery in the face of infusion rate constraints and a drug dosing constraint over a specified period. In addition, the aforementioned control architecture is used to control lung volume and minute ventilation with input pressure constraints that also accounts for spontaneous breathing by the patient. Specifically, we develop a pressure- and work-limited neuroadaptive controller for mechanical ventilation based on a nonlinear multi-compartmental lung model. The control framework does not rely on any averaged data and is designed to automatically adjust the input pressure to the patient's physiological characteristics capturing lung resistance and compliance modeling uncertainty. Moreover, the controller accounts for input pressure constraints as well as work of breathing constraints. The effect of spontaneous breathing is incorporated within the lung model and the control framework. Finally, a neural network hybrid adaptive control framework for nonlinear uncertain hybrid dynamical systems is developed. The proposed hybrid adaptive control framework is Lyapunov-based and guarantees partial asymptotic stability of the closed-loop hybrid system; that is, asymptotic stability with respect to part of the closed-loop system states associated with the hybrid plant states. A numerical example is provided to demonstrate the efficacy of the proposed hybrid adaptive stabilization approach.

Pyff - a pythonic framework for feedback applications and stimulus presentation in neuroscience.

PubMed

Venthur, Bastian; Scholler, Simon; Williamson, John; Dähne, Sven; Treder, Matthias S; Kramarek, Maria T; Müller, Klaus-Robert; Blankertz, Benjamin

2010-01-01

This paper introduces Pyff, the Pythonic feedback framework for feedback applications and stimulus presentation. Pyff provides a platform-independent framework that allows users to develop and run neuroscientific experiments in the programming language Python. Existing solutions have mostly been implemented in C++, which makes for a rather tedious programming task for non-computer-scientists, or in Matlab, which is not well suited for more advanced visual or auditory applications. Pyff was designed to make experimental paradigms (i.e., feedback and stimulus applications) easily programmable. It includes base classes for various types of common feedbacks and stimuli as well as useful libraries for external hardware such as eyetrackers. Pyff is also equipped with a steadily growing set of ready-to-use feedbacks and stimuli. It can be used as a standalone application, for instance providing stimulus presentation in psychophysics experiments, or within a closed loop such as in biofeedback or brain-computer interfacing experiments. Pyff communicates with other systems via a standardized communication protocol and is therefore suitable to be used with any system that may be adapted to send its data in the specified format. Having such a general, open-source framework will help foster a fruitful exchange of experimental paradigms between research groups. In particular, it will decrease the need of reprogramming standard paradigms, ease the reproducibility of published results, and naturally entail some standardization of stimulus presentation.

Pyff – A Pythonic Framework for Feedback Applications and Stimulus Presentation in Neuroscience

PubMed Central

Venthur, Bastian; Scholler, Simon; Williamson, John; Dähne, Sven; Treder, Matthias S.; Kramarek, Maria T.; Müller, Klaus-Robert; Blankertz, Benjamin

2010-01-01

This paper introduces Pyff, the Pythonic feedback framework for feedback applications and stimulus presentation. Pyff provides a platform-independent framework that allows users to develop and run neuroscientific experiments in the programming language Python. Existing solutions have mostly been implemented in C++, which makes for a rather tedious programming task for non-computer-scientists, or in Matlab, which is not well suited for more advanced visual or auditory applications. Pyff was designed to make experimental paradigms (i.e., feedback and stimulus applications) easily programmable. It includes base classes for various types of common feedbacks and stimuli as well as useful libraries for external hardware such as eyetrackers. Pyff is also equipped with a steadily growing set of ready-to-use feedbacks and stimuli. It can be used as a standalone application, for instance providing stimulus presentation in psychophysics experiments, or within a closed loop such as in biofeedback or brain–computer interfacing experiments. Pyff communicates with other systems via a standardized communication protocol and is therefore suitable to be used with any system that may be adapted to send its data in the specified format. Having such a general, open-source framework will help foster a fruitful exchange of experimental paradigms between research groups. In particular, it will decrease the need of reprogramming standard paradigms, ease the reproducibility of published results, and naturally entail some standardization of stimulus presentation. PMID:21160550

A unified motion planning approach for redundant and non-redundant manipulators with actuator constraints. Ph.D. Thesis Final Report

NASA Technical Reports Server (NTRS)

Chung, Ching-Luan

1990-01-01

The term trajectory planning has been used to refer to the process of determining the time history of joint trajectory of each joint variable corresponding to a specified trajectory of the end effector. The trajectory planning problem was solved as a purely kinematic problem. The drawback is that there is no guarantee that the actuators can deliver the effort necessary to track the planned trajectory. To overcome this limitation, a motion planning approach which addresses the kinematics, dynamics, and feedback control of a manipulator in a unified framework was developed. Actuator constraints are taken into account explicitly and a priori in the synthesis of the feedback control law. Therefore the result of applying the motion planning approach described is not only the determination of the entire set of joint trajectories but also a complete specification of the feedback control strategy which would yield these joint trajectories without violating actuator constraints. The effectiveness of the unified motion planning approach is demonstrated on two problems which are of practical interest in manipulator robotics.

How time delay and network design shape response patterns in biochemical negative feedback systems.

PubMed

Börsch, Anastasiya; Schaber, Jörg

2016-08-24

Negative feedback in combination with time delay can bring about both sustained oscillations and adaptive behaviour in cellular networks. Here, we study which design features of systems with delayed negative feedback shape characteristic response patterns with special emphasis on the role of time delay. To this end, we analyse generic two-dimensional delay differential equations describing the dynamics of biochemical signal-response networks. We investigate the influence of several design features on the stability of the model equilibrium, i.e., presence of auto-inhibition and/or mass conservation and the kind and/or strength of the delayed negative feedback. We show that auto-inhibition and mass conservation have a stabilizing effect, whereas increasing abruptness and decreasing feedback threshold have a de-stabilizing effect on the model equilibrium. Moreover, applying our theoretical analysis to the mammalian p53 system we show that an auto-inhibitory feedback can decouple period and amplitude of an oscillatory response, whereas the delayed feedback can not. Our theoretical framework provides insight into how time delay and design features of biochemical networks act together to elicit specific characteristic response patterns. Such insight is useful for constructing synthetic networks and controlling their behaviour in response to external stimulation.

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

PubMed

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

2018-05-01

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

Fast cooling for a system of stochastic oscillators

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

Chen, Yongxin, E-mail: chen2468@umn.edu; Georgiou, Tryphon T., E-mail: tryphon@umn.edu; Pavon, Michele, E-mail: pavon@math.unipd.it

2015-11-15

We study feedback control of coupled nonlinear stochastic oscillators in a force field. We first consider the problem of asymptotically driving the system to a desired steady state corresponding to reduced thermal noise. Among the feedback controls achieving the desired asymptotic transfer, we find that the most efficient one from an energy point of view is characterized by time-reversibility. We also extend the theory of Schrödinger bridges to this model, thereby steering the system in finite time and with minimum effort to a target steady-state distribution. The system can then be maintained in this state through the optimal steady-state feedbackmore » control. The solution, in the finite-horizon case, involves a space-time harmonic function φ, and −logφ plays the role of an artificial, time-varying potential in which the desired evolution occurs. This framework appears extremely general and flexible and can be viewed as a considerable generalization of existing active control strategies such as macromolecular cooling. In the case of a quadratic potential, the results assume a form particularly attractive from the algorithmic viewpoint as the optimal control can be computed via deterministic matricial differential equations. An example involving inertial particles illustrates both transient and steady state optimal feedback control.« less

Inhibitory Control in the Cortico-Basal Ganglia-Thalamocortical Loop: Complex Regulation and Interplay with Memory and Decision Processes.

PubMed

Wei, Wei; Wang, Xiao-Jing

2016-12-07

We developed a circuit model of spiking neurons that includes multiple pathways in the basal ganglia (BG) and is endowed with feedback mechanisms at three levels: cortical microcircuit, corticothalamic loop, and cortico-BG-thalamocortical system. We focused on executive control in a stop signal task, which is known to depend on BG across species. The model reproduces a range of experimental observations and shows that the newly discovered feedback projection from external globus pallidus to striatum is crucial for inhibitory control. Moreover, stopping process is enhanced by the cortico-subcortical reverberatory dynamics underlying persistent activity, establishing interdependence between working memory and inhibitory control. Surprisingly, the stop signal reaction time (SSRT) can be adjusted by weights of certain connections but is insensitive to other connections in this complex circuit, suggesting novel circuit-based intervention for inhibitory control deficits associated with mental illness. Our model provides a unified framework for inhibitory control, decision making, and working memory. Copyright © 2016 Elsevier Inc. All rights reserved.

Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

NASA Astrophysics Data System (ADS)

Boukhnifer, Moussa

2012-07-01

Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral PI2 performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

Designing a stable feedback control system for blind image deconvolution.

PubMed

Cheng, Shichao; Liu, Risheng; Fan, Xin; Luo, Zhongxuan

2018-05-01

Blind image deconvolution is one of the main low-level vision problems with wide applications. Many previous works manually design regularization to simultaneously estimate the latent sharp image and the blur kernel under maximum a posterior framework. However, it has been demonstrated that such joint estimation strategies may lead to the undesired trivial solution. In this paper, we present a novel perspective, using a stable feedback control system, to simulate the latent sharp image propagation. The controller of our system consists of regularization and guidance, which decide the sparsity and sharp features of latent image, respectively. Furthermore, the formational model of blind image is introduced into the feedback process to avoid the image restoration deviating from the stable point. The stability analysis of the system indicates the latent image propagation in blind deconvolution task can be efficiently estimated and controlled by cues and priors. Thus the kernel estimation used for image restoration becomes more precision. Experimental results show that our system is effective on image propagation, and can perform favorably against the state-of-the-art blind image deconvolution methods on different benchmark image sets and special blurred images. Copyright © 2018 Elsevier Ltd. All rights reserved.

A Generic Inner-Loop Control Law Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cox, Timothy H.; Cotting, M. Christopher

2005-01-01

A generic control system framework for both real-time and batch six-degree-of-freedom simulations is presented. This framework uses a simplified dynamic inversion technique to allow for stabilization and control of any type of aircraft at the pilot interface level. The simulation, designed primarily for the real-time simulation environment, also can be run in a batch mode through a simple guidance interface. Direct vehicle-state acceleration feedback is required with the simplified dynamic inversion technique. The estimation of surface effectiveness within real-time simulation timing constraints also is required. The generic framework provides easily modifiable control variables, allowing flexibility in the variables that the pilot commands. A direct control allocation scheme is used to command aircraft effectors. Primary uses for this system include conceptual and preliminary design of aircraft, when vehicle models are rapidly changing and knowledge of vehicle six-degree-of-freedom performance is required. A simulated airbreathing hypersonic vehicle and simulated high-performance fighter aircraft are used to demonstrate the flexibility and utility of the control system.

A Generic Inner-Loop Control Law Structure for Six-Degree-of-Freedom Conceptual Aircraft Design

NASA Technical Reports Server (NTRS)

Cox, Timothy H.; Cotting, Christopher

2005-01-01

A generic control system framework for both real-time and batch six-degree-of-freedom (6-DOF) simulations is presented. This framework uses a simplified dynamic inversion technique to allow for stabilization and control of any type of aircraft at the pilot interface level. The simulation, designed primarily for the real-time simulation environment, also can be run in a batch mode through a simple guidance interface. Direct vehicle-state acceleration feedback is required with the simplified dynamic inversion technique. The estimation of surface effectiveness within real-time simulation timing constraints also is required. The generic framework provides easily modifiable control variables, allowing flexibility in the variables that the pilot commands. A direct control allocation scheme is used to command aircraft effectors. Primary uses for this system include conceptual and preliminary design of aircraft, when vehicle models are rapidly changing and knowledge of vehicle 6-DOF performance is required. A simulated airbreathing hypersonic vehicle and simulated high-performance fighter aircraft are used to demonstrate the flexibility and utility of the control system.

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient

PubMed Central

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices. PMID:29666634

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient.

PubMed

Shi, Haibo; Sun, Yaoru; Li, Jie

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices.

The linear regulator problem for parabolic systems

NASA Technical Reports Server (NTRS)

Banks, H. T.; Kunisch, K.

1983-01-01

An approximation framework is presented for computation (in finite imensional spaces) of Riccati operators that can be guaranteed to converge to the Riccati operator in feedback controls for abstract evolution systems in a Hilbert space. It is shown how these results may be used in the linear optimal regulator problem for a large class of parabolic systems.

Communicating Feedback in Teaching Practice Supervision in a Learning-Oriented Field Experience Assessment Framework

ERIC Educational Resources Information Center

Tang, Sylvia Yee Fang; Chow, Alice Wai Kwan

2007-01-01

This article seeks to understand the ways in which feedback was communicated in post-observation conferences in teaching practice supervision within the learning-oriented field experience assessment (LOFEA) framework. 32 post-observation conferences between 21 pairs of supervisors and participants of in-service teacher education programmes, and…

A prototype framework for models of socio-hydrology: identification of key feedback loops and parameterisation approach

NASA Astrophysics Data System (ADS)

Elshafei, Y.; Sivapalan, M.; Tonts, M.; Hipsey, M. R.

2014-06-01

It is increasingly acknowledged that, in order to sustainably manage global freshwater resources, it is critical that we better understand the nature of human-hydrology interactions at the broader catchment system scale. Yet to date, a generic conceptual framework for building models of catchment systems that include adequate representation of socioeconomic systems - and the dynamic feedbacks between human and natural systems - has remained elusive. In an attempt to work towards such a model, this paper outlines a generic framework for models of socio-hydrology applicable to agricultural catchments, made up of six key components that combine to form the coupled system dynamics: namely, catchment hydrology, population, economics, environment, socioeconomic sensitivity and collective response. The conceptual framework posits two novel constructs: (i) a composite socioeconomic driving variable, termed the Community Sensitivity state variable, which seeks to capture the perceived level of threat to a community's quality of life, and acts as a key link tying together one of the fundamental feedback loops of the coupled system, and (ii) a Behavioural Response variable as the observable feedback mechanism, which reflects land and water management decisions relevant to the hydrological context. The framework makes a further contribution through the introduction of three macro-scale parameters that enable it to normalise for differences in climate, socioeconomic and political gradients across study sites. In this way, the framework provides for both macro-scale contextual parameters, which allow for comparative studies to be undertaken, and catchment-specific conditions, by way of tailored "closure relationships", in order to ensure that site-specific and application-specific contexts of socio-hydrologic problems can be accommodated. To demonstrate how such a framework would be applied, two socio-hydrological case studies, taken from the Australian experience, are presented and the parameterisation approach that would be taken in each case is discussed. Preliminary findings in the case studies lend support to the conceptual theories outlined in the framework. It is envisioned that the application of this framework across study sites and gradients will aid in developing our understanding of the fundamental interactions and feedbacks in such complex human-hydrology systems, and allow hydrologists to improve social-ecological systems modelling through better representation of human feedbacks on hydrological processes.

Synchronization of a Class of Switched Neural Networks with Time-Varying Delays via Nonlinear Feedback Control.

PubMed

Wang, Leimin; Shen, Yi; Zhang, Guodong

2016-10-01

This paper is concerned with the synchronization problem for a class of switched neural networks (SNNs) with time-varying delays. First, a new crucial lemma which includes and extends the classical exponential stability theorem is constructed. Then by using the lemma, new algebraic criteria of ψ -type synchronization (synchronization with general decay rate) for SNNs are established via the designed nonlinear feedback control. The ψ -type synchronization which is in a general framework is obtained by introducing a ψ -type function. It contains exponential synchronization, polynomial synchronization, and other synchronization as its special cases. The results of this paper are general, and they also complement and extend some previous results. Finally, numerical simulations are carried out to demonstrate the effectiveness of the obtained results.

Investigation of Optimal Control Allocation for Gust Load Alleviation in Flight Control

NASA Technical Reports Server (NTRS)

Frost, Susan A.; Taylor, Brian R.; Bodson, Marc

2012-01-01

Advances in sensors and avionics computation power suggest real-time structural load measurements could be used in flight control systems for improved safety and performance. A conventional transport flight control system determines the moments necessary to meet the pilot's command, while rejecting disturbances and maintaining stability of the aircraft. Control allocation is the problem of converting these desired moments into control effector commands. In this paper, a framework is proposed to incorporate real-time structural load feedback and structural load constraints in the control allocator. Constrained optimal control allocation can be used to achieve desired moments without exceeding specified limits on monitored load points. Minimization of structural loads by the control allocator is used to alleviate gust loads. The framework to incorporate structural loads in the flight control system and an optimal control allocation algorithm will be described and then demonstrated on a nonlinear simulation of a generic transport aircraft with flight dynamics and static structural loads.

High angle of attack control law development for a free-flight wind tunnel model using direct eigenstructure assignment

NASA Technical Reports Server (NTRS)

Wendel, Thomas R.; Boland, Joseph R.; Hahne, David E.

1991-01-01

Flight-control laws are developed for a wind-tunnel aircraft model flying at a high angle of attack by using a synthesis technique called direct eigenstructure assignment. The method employs flight guidelines and control-power constraints to develop the control laws, and gain schedules and nonlinear feedback compensation provide a framework for considering the nonlinear nature of the attack angle. Linear and nonlinear evaluations show that the control laws are effective, a conclusion that is further confirmed by a scale model used for free-flight testing.

Substrate and environmental controls on microbial assimilation of soil organic carbon: a framework for Earth System Models

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

Xu, Xiaofeng; Schimel, Joshua; Thornton, Peter E

2014-01-01

Microbial assimilation of soil organic carbon is one of the fundamental processes of global carbon cycling and it determines the magnitude of microbial biomass in soils. Mechanistic understanding of microbial assimilation of soil organic carbon and its controls is important for to improve Earth system models ability to simulate carbon-climate feedbacks. Although microbial assimilation of soil organic carbon is broadly considered to be an important parameter, it really comprises two separate physiological processes: one-time assimilation efficiency and time-dependent microbial maintenance energy. Representing of these two mechanisms is crucial to more accurately simulate carbon cycling in soils. In this study, amore » simple modeling framework was developed to evaluate the substrate and environmental controls on microbial assimilation of soil organic carbon using a new term: microbial annual active period (the length of microbes remaining active in one year). Substrate quality has a positive effect on microbial assimilation of soil organic carbon: higher substrate quality (lower C:N ratio) leads to higher ratio of microbial carbon to soil organic carbon and vice versa. Increases in microbial annual active period from zero stimulate microbial assimilation of soil organic carbon; however, when microbial annual active period is longer than an optimal threshold, increasing this period decreases microbial biomass. The simulated ratios of soil microbial biomass to soil organic carbon are reasonably consistent with a recently compiled global dataset at the biome-level. The modeling framework of microbial assimilation of soil organic carbon and its controls developed in this study offers an applicable ways to incorporate microbial contributions to the carbon cycling into Earth system models for simulating carbon-climate feedbacks and to explain global patterns of microbial biomass.« less

Exploring Student Perceptions of Audiovisual Feedback via Screencasting in Online Courses

ERIC Educational Resources Information Center

Mathieson, Kathleen

2012-01-01

Using Moore's (1993) theory of transactional distance as a framework, this action research study explored students' perceptions of audiovisual feedback provided via screencasting as a supplement to text-only feedback. A crossover design was employed to ensure that all students experienced both text-only and text-plus-audiovisual feedback and to…

Systematic comparison of the response properties of protein and RNA mediated gene regulatory motifs.

PubMed

Iyengar, Bharat Ravi; Pillai, Beena; Venkatesh, K V; Gadgil, Chetan J

2017-05-30

We present a framework enabling the dissection of the effects of motif structure (feedback or feedforward), the nature of the controller (RNA or protein), and the regulation mode (transcriptional, post-transcriptional or translational) on the response to a step change in the input. We have used a common model framework for gene expression where both motif structures have an activating input and repressing regulator, with the same set of parameters, to enable a comparison of the responses. We studied the global sensitivity of the system properties, such as steady-state gain, overshoot, peak time, and peak duration, to parameters. We find that, in all motifs, overshoot correlated negatively whereas peak duration varied concavely with peak time. Differences in the other system properties were found to be mainly dependent on the nature of the controller rather than the motif structure. Protein mediated motifs showed a higher degree of adaptation i.e. a tendency to return to baseline levels; in particular, feedforward motifs exhibited perfect adaptation. RNA mediated motifs had a mild regulatory effect; they also exhibited a lower peaking tendency and mean overshoot. Protein mediated feedforward motifs showed higher overshoot and lower peak time compared to the corresponding feedback motifs.

Endogenous molecular network reveals two mechanisms of heterogeneity within gastric cancer.

PubMed

Li, Site; Zhu, Xiaomei; Liu, Bingya; Wang, Gaowei; Ao, Ping

2015-05-30

Intratumor heterogeneity is a common phenomenon and impedes cancer therapy and research. Gastric cancer (GC) cells have generally been classified into two heterogeneous cellular phenotypes, the gastric and intestinal types, yet the mechanisms of maintaining two phenotypes and controlling phenotypic transition are largely unknown. A qualitative systematic framework, the endogenous molecular network hypothesis, has recently been proposed to understand cancer genesis and progression. Here, a minimal network corresponding to such framework was found for GC and was quantified via a stochastic nonlinear dynamical system. We then further extended the framework to address the important question of intratumor heterogeneity quantitatively. The working network characterized main known features of normal gastric epithelial and GC cell phenotypes. Our results demonstrated that four positive feedback loops in the network are critical for GC cell phenotypes. Moreover, two mechanisms that contribute to GC cell heterogeneity were identified: particular positive feedback loops are responsible for the maintenance of intestinal and gastric phenotypes; GC cell progression routes that were revealed by the dynamical behaviors of individual key components are heterogeneous. In this work, we constructed an endogenous molecular network of GC that can be expanded in the future and would broaden the known mechanisms of intratumor heterogeneity.

Endogenous molecular network reveals two mechanisms of heterogeneity within gastric cancer

PubMed Central

Li, Site; Zhu, Xiaomei; Liu, Bingya; Wang, Gaowei; Ao, Ping

2015-01-01

Intratumor heterogeneity is a common phenomenon and impedes cancer therapy and research. Gastric cancer (GC) cells have generally been classified into two heterogeneous cellular phenotypes, the gastric and intestinal types, yet the mechanisms of maintaining two phenotypes and controlling phenotypic transition are largely unknown. A qualitative systematic framework, the endogenous molecular network hypothesis, has recently been proposed to understand cancer genesis and progression. Here, a minimal network corresponding to such framework was found for GC and was quantified via a stochastic nonlinear dynamical system. We then further extended the framework to address the important question of intratumor heterogeneity quantitatively. The working network characterized main known features of normal gastric epithelial and GC cell phenotypes. Our results demonstrated that four positive feedback loops in the network are critical for GC cell phenotypes. Moreover, two mechanisms that contribute to GC cell heterogeneity were identified: particular positive feedback loops are responsible for the maintenance of intestinal and gastric phenotypes; GC cell progression routes that were revealed by the dynamical behaviors of individual key components are heterogeneous. In this work, we constructed an endogenous molecular network of GC that can be expanded in the future and would broaden the known mechanisms of intratumor heterogeneity. PMID:25962957

Proportional Feedback Control of Energy Intake During Obesity Pharmacotherapy.

PubMed

Hall, Kevin D; Sanghvi, Arjun; Göbel, Britta

2017-12-01

Obesity pharmacotherapies result in an exponential time course for energy intake whereby large early decreases dissipate over time. This pattern of declining drug efficacy to decrease energy intake results in a weight loss plateau within approximately 1 year. This study aimed to elucidate the physiology underlying the exponential decay of drug effects on energy intake. Placebo-subtracted energy intake time courses were examined during long-term obesity pharmacotherapy trials for 14 different drugs or drug combinations within the theoretical framework of a proportional feedback control system regulating human body weight. Assuming each obesity drug had a relatively constant effect on average energy intake and did not affect other model parameters, our model correctly predicted that long-term placebo-subtracted energy intake was linearly related to early reductions in energy intake according to a prespecified equation with no free parameters. The simple model explained about 70% of the variance between drug studies with respect to the long-term effects on energy intake, although a significant proportional bias was evident. The exponential decay over time of obesity pharmacotherapies to suppress energy intake can be interpreted as a relatively constant effect of each drug superimposed on a physiological feedback control system regulating body weight. © 2017 The Obesity Society.

Stability and sensitivity of ABR flow control protocols

NASA Astrophysics Data System (ADS)

Tsai, Wie K.; Kim, Yuseok; Chiussi, Fabio; Toh, Chai-Keong

1998-10-01

This tutorial paper surveys the important issues in stability and sensitivity analysis of ABR flow control of ATM networks. THe stability and sensitivity issues are formulated in a systematic framework. Four main cause of instability in ABR flow control are identified: unstable control laws, temporal variations of available bandwidth with delayed feedback control, misbehaving components, and interactions between higher layer protocols and ABR flow control. Popular rate-based ABR flow control protocols are evaluated. Stability and sensitivity is shown to be the fundamental issues when the network has dynamically-varying bandwidth. Simulation result confirming the theoretical studies are provided. Open research problems are discussed.

Numerical approximation for the infinite-dimensional discrete-time optimal linear-quadratic regulator problem

NASA Technical Reports Server (NTRS)

Gibson, J. S.; Rosen, I. G.

1986-01-01

An abstract approximation framework is developed for the finite and infinite time horizon discrete-time linear-quadratic regulator problem for systems whose state dynamics are described by a linear semigroup of operators on an infinite dimensional Hilbert space. The schemes included the framework yield finite dimensional approximations to the linear state feedback gains which determine the optimal control law. Convergence arguments are given. Examples involving hereditary and parabolic systems and the vibration of a flexible beam are considered. Spline-based finite element schemes for these classes of problems, together with numerical results, are presented and discussed.

Online Recorded Data-Based Composite Neural Control of Strict-Feedback Systems With Application to Hypersonic Flight Dynamics.

PubMed

Xu, Bin; Yang, Daipeng; Shi, Zhongke; Pan, Yongping; Chen, Badong; Sun, Fuchun

2017-09-25

This paper investigates the online recorded data-based composite neural control of uncertain strict-feedback systems using the backstepping framework. In each step of the virtual control design, neural network (NN) is employed for uncertainty approximation. In previous works, most designs are directly toward system stability ignoring the fact how the NN is working as an approximator. In this paper, to enhance the learning ability, a novel prediction error signal is constructed to provide additional correction information for NN weight update using online recorded data. In this way, the neural approximation precision is highly improved, and the convergence speed can be faster. Furthermore, the sliding mode differentiator is employed to approximate the derivative of the virtual control signal, and thus, the complex analysis of the backstepping design can be avoided. The closed-loop stability is rigorously established, and the boundedness of the tracking error can be guaranteed. Through simulation of hypersonic flight dynamics, the proposed approach exhibits better tracking performance.

Central safety factor and β N control on NSTX-U via beam power and plasma boundary shape modification, using TRANSP for closed loop simulations

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

Boyer, M. D.; Andre, R.; Gates, D. A.

The high-performance operational goals of NSTX-U will require development of advanced feedback control algorithms, including control of ßN and the safety factor profile. In this work, a novel approach to simultaneously controlling ßN and the value of the safety factor on the magnetic axis, q0, through manipulation of the plasma boundary shape and total beam power, is proposed. Simulations of the proposed scheme show promising results and motivate future experimental implementation and eventual integration into a more complex current profile control scheme planned to include actuation of individual beam powers, density, and loop voltage. As part of this work, amore » flexible framework for closed loop simulations within the high-fidelity code TRANSP was developed. The framework, used here to identify control-design-oriented models and to tune and test the proposed controller, exploits many of the predictive capabilities of TRANSP and provides a means for performing control calculations based on user-supplied data (controller matrices, target waveforms, etc.). The flexible framework should enable high-fidelity testing of a variety of control algorithms, thereby reducing the amount of expensive experimental time needed to implement new control algorithms on NSTX-U and other devices.« less

Central safety factor and βN control on NSTX-U via beam power and plasma boundary shape modification, using TRANSP for closed loop simulations

NASA Astrophysics Data System (ADS)

Boyer, M. D.; Andre, R.; Gates, D. A.; Gerhardt, S.; Goumiri, I. R.; Menard, J.

2015-05-01

The high-performance operational goals of NSTX-U will require development of advanced feedback control algorithms, including control of βN and the safety factor profile. In this work, a novel approach to simultaneously controlling βN and the value of the safety factor on the magnetic axis, q0, through manipulation of the plasma boundary shape and total beam power, is proposed. Simulations of the proposed scheme show promising results and motivate future experimental implementation and eventual integration into a more complex current profile control scheme planned to include actuation of individual beam powers, density, and loop voltage. As part of this work, a flexible framework for closed loop simulations within the high-fidelity code TRANSP was developed. The framework, used here to identify control-design-oriented models and to tune and test the proposed controller, exploits many of the predictive capabilities of TRANSP and provides a means for performing control calculations based on user-supplied data (controller matrices, target waveforms, etc). The flexible framework should enable high-fidelity testing of a variety of control algorithms, thereby reducing the amount of expensive experimental time needed to implement new control algorithms on NSTX-U and other devices.

Two-dimensional simple proportional feedback control of a chaotic reaction system

NASA Astrophysics Data System (ADS)

Mukherjee, Ankur; Searson, Dominic P.; Willis, Mark J.; Scott, Stephen K.

2008-04-01

The simple proportional feedback (SPF) control algorithm may, in principle, be used to attain periodic oscillations in dynamic systems exhibiting low-dimensional chaos. However, if implemented within a discrete control framework with sampling frequency limitations, controller performance may deteriorate. This phenomenon is illustrated using simulations of a chaotic autocatalytic reaction system. A two-dimensional (2D) SPF controller that explicitly takes into account some of the problems caused by limited sampling rates is then derived by introducing suitable modifications to the original SPF method. Using simulations, the performance of the 2D-SPF controller is compared to that of a conventional SPF control law when implemented as a sampled data controller. Two versions of the 2D-SPF controller are described: linear (L2D-SPF) and quadratic (Q2D-SPF). The performance of both the L2D-SPF and Q2D-SPF controllers is shown to be superior to the SPF when controller sampling frequencies are decreased. Furthermore, it is demonstrated that the Q2D-SPF controller provides better fixed point stabilization compared to both the L2D-SPF and the conventional SPF when concentration measurements are corrupted by noise.

Rooting Theories of Plant Community Ecology in Microbial Interactions

PubMed Central

Bever, James D.; Dickie, Ian A.; Facelli, Evelina; Facelli, Jose M.; Klironomos, John; Moora, Mari; Rillig, Matthias C.; Stock, William D.; Tibbett, Mark; Zobel, Martin

2010-01-01

Predominant frameworks for understanding plant ecology have an aboveground bias that neglects soil micro-organisms. This is inconsistent with recent work illustrating the importance of soil microbes in terrestrial ecology. Microbial effects have been incorporated into plant community dynamics using ideas of niche modification and plant-soil community feedbacks. Here, we expand and integrate qualitative conceptual models of plant niche and feedback to explore implications of microbial interactions for understanding plant community ecology. At the same time we review the empirical evidence for these processes. We also consider common mycorrhizal networks, and suggest these are best interpreted within the feedback framework. Finally, we apply our integrated model of niche and feedback to understanding plant coexistence, monodominance, and invasion ecology. PMID:20557974

Bio-inspired adaptive feedback error learning architecture for motor control.

PubMed

Tolu, Silvia; Vanegas, Mauricio; Luque, Niceto R; Garrido, Jesús A; Ros, Eduardo

2012-10-01

This study proposes an adaptive control architecture based on an accurate regression method called Locally Weighted Projection Regression (LWPR) and on a bio-inspired module, such as a cerebellar-like engine. This hybrid architecture takes full advantage of the machine learning module (LWPR kernel) to abstract an optimized representation of the sensorimotor space while the cerebellar component integrates this to generate corrective terms in the framework of a control task. Furthermore, we illustrate how the use of a simple adaptive error feedback term allows to use the proposed architecture even in the absence of an accurate analytic reference model. The presented approach achieves an accurate control with low gain corrective terms (for compliant control schemes). We evaluate the contribution of the different components of the proposed scheme comparing the obtained performance with alternative approaches. Then, we show that the presented architecture can be used for accurate manipulation of different objects when their physical properties are not directly known by the controller. We evaluate how the scheme scales for simulated plants of high Degrees of Freedom (7-DOFs).

Adaptive nonlinear robust relative pose control of spacecraft autonomous rendezvous and proximity operations.

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2017-03-01

This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L 2 -gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Holistic feedback approach with video and peer discussion under teacher supervision.

PubMed

Hunukumbure, Agra Dilshani; Smith, Susan F; Das, Saroj

2017-09-29

High quality feedback is vital to learning in medical education but many students and teachers have expressed dissatisfaction on current feedback practices. Lack of teachers' insight into students' feedback requirements may be a key, which might be addressed by giving control to the students with student led feedback practices. The conceptual framework was built on three dimensions of learning theory by Illeris and Vygotsky's zone of proximal development and scaffolding. We introduced a feedback session with self-reflection and peer feedback in the form of open discussion on video-recorded student performances under teacher's guidance. The aims of this qualitative study were to explore students' perception on this holistic feedback approach and to investigate ways of maximising effective feedback and learning. Semi-structured interviews were used to gather data which were evaluated using a thematic analytical approach. The participants were third year medical students of Imperial College London on clinical placements at Hillingdon Hospital. Video based self-reflection helped some students to identify mistakes in communication and technical skills of which they were unaware prior to the session. Those who were new to video feedback found their expected self-image different to that of their actual image on video, leading to some distress. However many also identified that mistakes were not unique to themselves through peer videos and learnt from both model performances and from each other's mistakes. Balancing honest feedback with empathy was a challenge for many during peer discussion. The teacher played a vital role in making the session a success by providing guidance and a supportive environment. This study has demonstrated many potential benefits of this holistic feedback approach with video based self-reflection and peer discussion with students engaging at a deeper cognitive level than the standard descriptive feedback.

The Functional Role of the Periphery in Emotional Language Comprehension

PubMed Central

Havas, David A.; Matheson, James

2013-01-01

Language can impact emotion, even when it makes no reference to emotion states. For example, reading sentences with positive meanings (“The water park is refreshing on the hot summer day”) induces patterns of facial feedback congruent with the sentence emotionality (smiling), whereas sentences with negative meanings induce a frown. Moreover, blocking facial afference with botox selectively slows comprehension of emotional sentences. Therefore, theories of cognition should account for emotion-language interactions above the level of explicit emotion words, and the role of peripheral feedback in comprehension. For this special issue exploring frontiers in the role of the body and environment in cognition, we propose a theory in which facial feedback provides a context-sensitive constraint on the simulation of actions described in language. Paralleling the role of emotions in real-world behavior, our account proposes that (1) facial expressions accompany sudden shifts in wellbeing as described in language; (2) facial expressions modulate emotional action systems during reading; and (3) emotional action systems prepare the reader for an effective simulation of the ensuing language content. To inform the theory and guide future research, we outline a framework based on internal models for motor control. To support the theory, we assemble evidence from diverse areas of research. Taking a functional view of emotion, we tie the theory to behavioral and neural evidence for a role of facial feedback in cognition. Our theoretical framework provides a detailed account that can guide future research on the role of emotional feedback in language processing, and on interactions of language and emotion. It also highlights the bodily periphery as relevant to theories of embodied cognition. PMID:23750145

Iterative inversion of deformation vector fields with feedback control.

PubMed

Dubey, Abhishek; Iliopoulos, Alexandros-Stavros; Sun, Xiaobai; Yin, Fang-Fang; Ren, Lei

2018-05-14

Often, the inverse deformation vector field (DVF) is needed together with the corresponding forward DVF in four-dimesional (4D) reconstruction and dose calculation, adaptive radiation therapy, and simultaneous deformable registration. This study aims at improving both accuracy and efficiency of iterative algorithms for DVF inversion, and advancing our understanding of divergence and latency conditions. We introduce a framework of fixed-point iteration algorithms with active feedback control for DVF inversion. Based on rigorous convergence analysis, we design control mechanisms for modulating the inverse consistency (IC) residual of the current iterate, to be used as feedback into the next iterate. The control is designed adaptively to the input DVF with the objective to enlarge the convergence area and expedite convergence. Three particular settings of feedback control are introduced: constant value over the domain throughout the iteration; alternating values between iteration steps; and spatially variant values. We also introduce three spectral measures of the displacement Jacobian for characterizing a DVF. These measures reveal the critical role of what we term the nontranslational displacement component (NTDC) of the DVF. We carry out inversion experiments with an analytical DVF pair, and with DVFs associated with thoracic CT images of six patients at end of expiration and end of inspiration. The NTDC-adaptive iterations are shown to attain a larger convergence region at a faster pace compared to previous nonadaptive DVF inversion iteration algorithms. By our numerical experiments, alternating control yields smaller IC residuals and inversion errors than constant control. Spatially variant control renders smaller residuals and errors by at least an order of magnitude, compared to other schemes, in no more than 10 steps. Inversion results also show remarkable quantitative agreement with analysis-based predictions. Our analysis captures properties of DVF data associated with clinical CT images, and provides new understanding of iterative DVF inversion algorithms with a simple residual feedback control. Adaptive control is necessary and highly effective in the presence of nonsmall NTDCs. The adaptive iterations or the spectral measures, or both, may potentially be incorporated into deformable image registration methods. © 2018 American Association of Physicists in Medicine.

Feedback (F) Fueling Adaptation (A) Network Growth (N) and Self-Organization (S): A Complex Systems Design and Evaluation Approach to Professional Development

ERIC Educational Resources Information Center

Yoon, Susan A.; Klopfer, Eric

2006-01-01

This paper reports on the efficacy of a professional development framework premised on four complex systems design principles: Feedback, Adaptation, Network Growth and Self-organization (FANS). The framework is applied to the design and delivery of the first 2 years of a 3-year study aimed at improving teacher and student understanding of…

Distributed Simulation as a modelling tool for the development of a simulation-based training programme for cardiovascular specialties.

PubMed

Kelay, Tanika; Chan, Kah Leong; Ako, Emmanuel; Yasin, Mohammad; Costopoulos, Charis; Gold, Matthew; Kneebone, Roger K; Malik, Iqbal S; Bello, Fernando

2017-01-01

Distributed Simulation is the concept of portable, high-fidelity immersive simulation. Here, it is used for the development of a simulation-based training programme for cardiovascular specialities. We present an evidence base for how accessible, portable and self-contained simulated environments can be effectively utilised for the modelling, development and testing of a complex training framework and assessment methodology. Iterative user feedback through mixed-methods evaluation techniques resulted in the implementation of the training programme. Four phases were involved in the development of our immersive simulation-based training programme: ( 1) initial conceptual stage for mapping structural criteria and parameters of the simulation training framework and scenario development ( n  = 16), (2) training facility design using Distributed Simulation , (3) test cases with clinicians ( n  = 8) and collaborative design, where evaluation and user feedback involved a mixed-methods approach featuring (a) quantitative surveys to evaluate the realism and perceived educational relevance of the simulation format and framework for training and (b) qualitative semi-structured interviews to capture detailed feedback including changes and scope for development. Refinements were made iteratively to the simulation framework based on user feedback, resulting in (4) transition towards implementation of the simulation training framework, involving consistent quantitative evaluation techniques for clinicians ( n  = 62). For comparative purposes, clinicians' initial quantitative mean evaluation scores for realism of the simulation training framework, realism of the training facility and relevance for training ( n  = 8) are presented longitudinally, alongside feedback throughout the development stages from concept to delivery, including the implementation stage ( n  = 62). Initially, mean evaluation scores fluctuated from low to average, rising incrementally. This corresponded with the qualitative component, which augmented the quantitative findings; trainees' user feedback was used to perform iterative refinements to the simulation design and components (collaborative design), resulting in higher mean evaluation scores leading up to the implementation phase. Through application of innovative Distributed Simulation techniques, collaborative design, and consistent evaluation techniques from conceptual, development, and implementation stages, fully immersive simulation techniques for cardiovascular specialities are achievable and have the potential to be implemented more broadly.

Outcomes-focused knowledge translation: a framework for knowledge translation and patient outcomes improvement.

PubMed

Doran, Diane M; Sidani, Souraya

2007-01-01

Regularly accessing information that is current and reliable continues to be a challenge for front-line staff nurses. Reconceptualizing how nurses access information and designing appropriate decision support systems to facilitate timely access to information may be important for increasing research utilization. An outcomes-focused knowledge translation framework was developed to guide the continuous improvement of patient care through the uptake of research evidence and feedback data about patient outcomes. The framework operationalizes the three elements of the PARIHS framework at the point of care. Outcomes-focused knowledge translation involves four components: (a) patient outcomes measurement and real-time feedback about outcomes achievement; (b) best-practice guidelines, embedded in decision support tools that deliver key messages in response to patient assessment data; (c) clarification of patients' preferences for care; and (d) facilitation by advanced practice nurses and practice leaders. In this paper the framework is described and evidence is provided to support theorized relationships among the concepts in the framework. The framework guided the design of a knowledge translation intervention aimed at continuous improvement of patient care and evidence-based practice, which are fostered through real-time feedback data about patient outcomes, electronic access to evidence-based resources at the point of care, and facilitation by advanced practice nurses. The propositions in the framework need to be empirically tested through future research.

Developing a Framework for Effective Audio Feedback: A Case Study

ERIC Educational Resources Information Center

Hennessy, Claire; Forrester, Gillian

2014-01-01

The increase in the use of technology-enhanced learning in higher education has included a growing interest in new approaches to enhance the quality of feedback given to students. Audio feedback is one method that has become more popular, yet evaluating its role in feedback delivery is still an emerging area for research. This paper is based on a…

Excited, Proud, and Accomplished: Exploring the Effects of Feedback Supplemented with Web-Based Peer Benchmarking on Self-Regulated Learning in Marketing Classrooms

ERIC Educational Resources Information Center

Raska, David

2014-01-01

This research explores and tests the effect of an innovative performance feedback practice--feedback supplemented with web-based peer benchmarking--through a lens of social cognitive framework for self-regulated learning. The results suggest that providing performance feedback with references to exemplary peer output is positively associated with…

Improving Second Language Speaking Proficiency via Interactional Feedback

ERIC Educational Resources Information Center

Swanson, Peter B.; Schlig, Carmen

2010-01-01

Researchers have suggested that interactional feedback is associated with foreign/second language learning because it prompts learners to notice foreign/second language forms. Using Vygotsky's zone of proximal development and Long's interaction hypothesis as conceptual frameworks, this study explores the use of systematic explicit feedback to…

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Astronomical Data Tsunami Full Site FAQ Site Info Feedback Click map for forecast jQuery Mobile Framework = Requested Location Satellite Visible (Vis) Infrared (IR) Regional Vis Regional IR Legal Mobile site Product : NWS Internet Team Privacy Policy Mobile Page Feedback Full Survey Tweet feedback (#nwsmobileweb

Semantically Enhanced Online Configuration of Feedback Control Schemes.

PubMed

Milis, Georgios M; Panayiotou, Christos G; Polycarpou, Marios M

2018-03-01

Recent progress toward the realization of the "Internet of Things" has improved the ability of physical and soft/cyber entities to operate effectively within large-scale, heterogeneous systems. It is important that such capacity be accompanied by feedback control capabilities sufficient to ensure that the overall systems behave according to their specifications and meet their functional objectives. To achieve this, such systems require new architectures that facilitate the online deployment, composition, interoperability, and scalability of control system components. Most current control systems lack scalability and interoperability because their design is based on a fixed configuration of specific components, with knowledge of their individual characteristics only implicitly passed through the design. This paper addresses the need for flexibility when replacing components or installing new components, which might occur when an existing component is upgraded or when a new application requires a new component, without the need to readjust or redesign the overall system. A semantically enhanced feedback control architecture is introduced for a class of systems, aimed at accommodating new components into a closed-loop control framework by exploiting the semantic inference capabilities of an ontology-based knowledge model. This architecture supports continuous operation of the control system, a crucial property for large-scale systems for which interruptions have negative impact on key performance metrics that may include human comfort and welfare or economy costs. A case-study example from the smart buildings domain is used to illustrate the proposed architecture and semantic inference mechanisms.

Intelligent Control of Micro Grid: A Big Data-Based Control Center

NASA Astrophysics Data System (ADS)

Liu, Lu; Wang, Yanping; Liu, Li; Wang, Zhiseng

2018-01-01

In this paper, a structure of micro grid system with big data-based control center is introduced. Energy data from distributed generation, storage and load are analized through the control center, and from the results new trends will be predicted and applied as a feedback to optimize the control. Therefore, each step proceeded in micro grid can be adjusted and orgnized in a form of comprehensive management. A framework of real-time data collection, data processing and data analysis will be proposed by employing big data technology. Consequently, a integrated distributed generation and a optimized energy storage and transmission process can be implemented in the micro grid system.

Automatic Overset Grid Generation with Heuristic Feedback Control

NASA Technical Reports Server (NTRS)

Robinson, Peter I.

2001-01-01

An advancing front grid generation system for structured Overset grids is presented which automatically modifies Overset structured surface grids and control lines until user-specified grid qualities are achieved. The system is demonstrated on two examples: the first refines a space shuttle fuselage control line until global truncation error is achieved; the second advances, from control lines, the space shuttle orbiter fuselage top and fuselage side surface grids until proper overlap is achieved. Surface grids are generated in minutes for complex geometries. The system is implemented as a heuristic feedback control (HFC) expert system which iteratively modifies the input specifications for Overset control line and surface grids. It is developed as an extension of modern control theory, production rules systems and subsumption architectures. The methodology provides benefits over the full knowledge lifecycle of an expert system for knowledge acquisition, knowledge representation, and knowledge execution. The vector/matrix framework of modern control theory systematically acquires and represents expert system knowledge. Missing matrix elements imply missing expert knowledge. The execution of the expert system knowledge is performed through symbolic execution of the matrix algebra equations of modern control theory. The dot product operation of matrix algebra is generalized for heuristic symbolic terms. Constant time execution is guaranteed.

The neural representation of typical and atypical experiences of negative images: comparing fear, disgust and morbid fascination

PubMed Central

Lindquist, Kristen A.; Adebayo, Morenikeji; Barrett, Lisa Feldman

2016-01-01

Negative stimuli do not only evoke fear or disgust, but can also evoke a state of ‘morbid fascination’ which is an urge to approach and explore a negative stimulus. In the present neuroimaging study, we applied an innovative method to investigate the neural systems involved in typical and atypical conceptualizations of negative images. Participants received false feedback labeling their mental experience as fear, disgust or morbid fascination. This manipulation was successful; participants judged the false feedback correct for 70% of the trials on average. The neuroimaging results demonstrated differential activity within regions in the ‘neural reference space for discrete emotion’ depending on the type of feedback. We found robust differences in the ventrolateral prefrontal cortex, the dorsomedial prefrontal cortex and the lateral orbitofrontal cortex comparing morbid fascination to control feedback. More subtle differences in the dorsomedial prefrontal cortex and the lateral orbitofrontal cortex were also found between morbid fascination feedback and the other emotion feedback conditions. This study is the first to forward evidence about the neural representation of the experimentally unexplored state of morbid fascination. In line with a constructionist framework, our findings suggest that neural resources associated with the process of conceptualization contribute to the neural representation of this state. PMID:26180088

Adaptive Control Allocation in the Presence of Actuator Failures

NASA Technical Reports Server (NTRS)

Liu, Yu; Crespo, Luis G.

2010-01-01

In this paper, a novel adaptive control allocation framework is proposed. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and allocated to the member actuators adaptively. Two adaptive control allocation algorithms are proposed, which guarantee closed-loop stability and asymptotic state tracking in the presence of uncertain loss of effectiveness and constant-magnitude actuator failures. The proposed algorithms can be shown to reduce the controller complexity with proper grouping of the actuators. The proposed adaptive control allocation schemes are applied to two linearized aircraft models, and the simulation results demonstrate the performance of the proposed algorithms.

Predicting fruit fly's sensing rate with insect flight simulations.

PubMed

Chang, Song; Wang, Z Jane

2014-08-05

Without sensory feedback, flies cannot fly. Exactly how various feedback controls work in insects is a complex puzzle to solve. What do insects measure to stabilize their flight? How often and how fast must insects adjust their wings to remain stable? To gain insights into algorithms used by insects to control their dynamic instability, we develop a simulation tool to study free flight. To stabilize flight, we construct a control algorithm that modulates wing motion based on discrete measurements of the body-pitch orientation. Our simulations give theoretical bounds on both the sensing rate and the delay time between sensing and actuation. Interpreting our findings together with experimental results on fruit flies' reaction time and sensory motor reflexes, we conjecture that fruit flies sense their kinematic states every wing beat to stabilize their flight. We further propose a candidate for such a control involving the fly's haltere and first basalar motor neuron. Although we focus on fruit flies as a case study, the framework for our simulation and discrete control algorithms is applicable to studies of both natural and man-made fliers.

360 Degree Feedback: An Integrative Framework for Learning and Assessment

ERIC Educational Resources Information Center

Tee, Ding Ding; Ahmed, Pervaiz K.

2014-01-01

Feedback is widely acknowledged as the crux of a learning process. Multiplicities of research studies have been advanced to address the common "cri de coeur" of teachers and students for a constructive and effective feedback mechanism in the current higher educational settings. Nevertheless, existing pedagogical approaches in feedback…

Internal Medicine Residents' Perspectives on Receiving Feedback in Milestone Format

PubMed Central

Angus, Steven; Moriarty, John; Nardino, Robert J.; Chmielewski, Amy; Rosenblum, Michael J.

2015-01-01

Background In contrast to historical feedback, which was vague or provided residents' numerical scores without clear meaning, milestone-based feedback is focused on specific knowledge, skills, and behaviors that define developmental trajectory. It was anticipated that residents would welcome the more specific and actionable feedback provided by the milestone framework, but this has not been studied. Objective We assessed internal medicine (IM) residents' perceptions of receiving feedback in the milestone framework, particularly assessing perception of the utility of milestone-based feedback compared to non–milestone-based feedback. Methods We surveyed a total of 510 IM residents from 7 institutions. Survey questions assessed resident perception of milestone feedback in identifying strengths, weaknesses, and trajectory of professional development. Postgraduate years 2 and 3 (PGY-2 and PGY-3) residents were asked to compare milestones with prior methods of feedback. Results Of 510 residents, 356 (69.8%) responded. Slightly less than half of the residents found milestone-based feedback “extremely useful” or “very useful” in identifying strengths (44%), weaknesses (43%), specific areas for improvement (45%), and appropriate education progress (48%). Few residents found such feedback “not very useful” or “not at all useful” in these domains. A total of 51% of PGY-2 and PGY-3 residents agreed that receiving milestone-based feedback was more helpful than previous forms of feedback. Conclusions IM residents are aware of the concepts of milestones, and half of the residents surveyed found milestone feedback more helpful than previous forms of feedback. More work needs to be done to understand how milestone-based feedback could be delivered more effectively to enhance resident development. PMID:26221438

Affective Feedback from Computers and its Effect on Perceived Ability and Affect: A Test of the Computers as Social Actor Hypothesis

ERIC Educational Resources Information Center

Mishra, Punya

2006-01-01

We report an experimental study that examined two questions: (a) The effect of affective feedback from computers on participants' motivation and self-perception of ability; and (b) whether people respond similarly to computer feedback as they do to human feedback. This study, framed within the Computers As Social Actors (CASA) framework,…

Design of Distributed Engine Control Systems with Uncertain Delay.

PubMed

Liu, Xiaofeng; Li, Yanxi; Sun, Xu

Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method.

Design of Distributed Engine Control Systems with Uncertain Delay

PubMed Central

Li, Yanxi; Sun, Xu

2016-01-01

Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method. PMID:27669005

Regulation of Dynamical Systems to Optimal Solutions of Semidefinite Programs: Algorithms and Applications to AC Optimal Power Flow

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

Dall'Anese, Emiliano; Dhople, Sairaj V.; Giannakis, Georgios B.

2015-07-01

This paper considers a collection of networked nonlinear dynamical systems, and addresses the synthesis of feedback controllers that seek optimal operating points corresponding to the solution of pertinent network-wide optimization problems. Particular emphasis is placed on the solution of semidefinite programs (SDPs). The design of the feedback controller is grounded on a dual e-subgradient approach, with the dual iterates utilized to dynamically update the dynamical-system reference signals. Global convergence is guaranteed for diminishing stepsize rules, even when the reference inputs are updated at a faster rate than the dynamical-system settling time. The application of the proposed framework to the controlmore » of power-electronic inverters in AC distribution systems is discussed. The objective is to bridge the time-scale separation between real-time inverter control and network-wide optimization. Optimization objectives assume the form of SDP relaxations of prototypical AC optimal power flow problems.« less

Practical robustness measures in multivariable control system analysis. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lehtomaki, N. A.

1981-01-01

The robustness of the stability of multivariable linear time invariant feedback control systems with respect to model uncertainty is considered using frequency domain criteria. Available robustness tests are unified under a common framework based on the nature and structure of model errors. These results are derived using a multivariable version of Nyquist's stability theorem in which the minimum singular value of the return difference transfer matrix is shown to be the multivariable generalization of the distance to the critical point on a single input, single output Nyquist diagram. Using the return difference transfer matrix, a very general robustness theorem is presented from which all of the robustness tests dealing with specific model errors may be derived. The robustness tests that explicitly utilized model error structure are able to guarantee feedback system stability in the face of model errors of larger magnitude than those robustness tests that do not. The robustness of linear quadratic Gaussian control systems are analyzed.

Feedback stabilization of an oscillating vertical cylinder by POD Reduced-Order Model

NASA Astrophysics Data System (ADS)

Tissot, Gilles; Cordier, Laurent; Noack, Bernd R.

2015-01-01

The objective is to demonstrate the use of reduced-order models (ROM) based on proper orthogonal decomposition (POD) to stabilize the flow over a vertically oscillating circular cylinder in the laminar regime (Reynolds number equal to 60). The 2D Navier-Stokes equations are first solved with a finite element method, in which the moving cylinder is introduced via an ALE method. Since in fluid-structure interaction, the POD algorithm cannot be applied directly, we implemented the fictitious domain method of Glowinski et al. [1] where the solid domain is treated as a fluid undergoing an additional constraint. The POD-ROM is classically obtained by projecting the Navier-Stokes equations onto the first POD modes. At this level, the cylinder displacement is enforced in the POD-ROM through the introduction of Lagrange multipliers. For determining the optimal vertical velocity of the cylinder, a linear quadratic regulator framework is employed. After linearization of the POD-ROM around the steady flow state, the optimal linear feedback gain is obtained as solution of a generalized algebraic Riccati equation. Finally, when the optimal feedback control is applied, it is shown that the flow converges rapidly to the steady state. In addition, a vanishing control is obtained proving the efficiency of the control approach.

No Longer a Teacher Monologue--Involving EFL Writing Learners in Teachers' Assessment and Feedback Processes

ERIC Educational Resources Information Center

Huang, Shu-Chen

2016-01-01

This paper reports the design of learning-oriented formative assessments in an EFL writing course that involved learners in regularly responding to teacher feedback. Following major assessment and feedback frameworks developed recently, these formative assessments were explicated in three aspects: the scheduling of learning and assessment…

Feedback in Plastic and Reconstructive Surgery Education: Past, Present, and Future.

PubMed

Connolly, Katharine A; Azouz, Solomon M; Smith, Anthony A

2015-11-01

Education is to be provided efficiently and effectively according to guidelines in the United States by the Accreditation Council for Graduate Medical Education as core competencies and in Canada by the Royal College according to the CanMEDS framework. This article defines formative feedback, reviews the currently available validated feedback tools, and describes the future use of technology to enhance feedback in plastic surgery education.

Two controller design approaches for decentralized systems

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

Just-in-Time Feedback in Diet and Physical Activity Interventions: Systematic Review and Practical Design Framework

PubMed Central

Robertson, Michael C; Dunton, Genevieve Fridlund; Kerr, Jacqueline; Haffey, Meghan E; Burnett, Taylor; Basen-Engquist, Karen; Hicklen, Rachel S

2018-01-01

Background The integration of body-worn sensors with mobile devices presents a tremendous opportunity to improve just-in-time behavioral interventions by enhancing bidirectional communication between investigators and their participants. This approach can be used to deliver supportive feedback at critical moments to optimize the attainment of health behavior goals. Objective The goals of this systematic review were to summarize data on the content characteristics of feedback messaging used in diet and physical activity (PA) interventions and to develop a practical framework for designing just-in-time feedback for behavioral interventions. Methods Interventions that included just-in-time feedback on PA, sedentary behavior, or dietary intake were eligible for inclusion. Feedback content and efficacy data were synthesized descriptively. Results The review included 31 studies (15/31, 48%, targeting PA or sedentary behavior only; 13/31, 42%, targeting diet and PA; and 3/31, 10%, targeting diet only). All studies used just-in-time feedback, 30 (97%, 30/31) used personalized feedback, and 24 (78%, 24/31) used goal-oriented feedback, but only 5 (16%, 5/31) used actionable feedback. Of the 9 studies that tested the efficacy of providing feedback to promote behavior change, 4 reported significant improvements in health behavior. In 3 of these 4 studies, feedback was continuously available, goal-oriented, or actionable. Conclusions Feedback that was continuously available, personalized, and actionable relative to a known behavioral objective was prominent in intervention studies with significant behavior change outcomes. Future research should determine whether all or some of these characteristics are needed to optimize the effect of feedback in just-in-time interventions. PMID:29567638

Network efficient power control for wireless communication systems.

PubMed

Campos-Delgado, Daniel U; Luna-Rivera, Jose Martin; Martinez-Sánchez, C J; Gutierrez, Carlos A; Tecpanecatl-Xihuitl, J L

2014-01-01

We introduce a two-loop power control that allows an efficient use of the overall power resources for commercial wireless networks based on cross-layer optimization. This approach maximizes the network's utility in the outer-loop as a function of the averaged signal to interference-plus-noise ratio (SINR) by considering adaptively the changes in the network characteristics. For this purpose, the concavity property of the utility function was verified with respect to the SINR, and an iterative search was proposed with guaranteed convergence. In addition, the outer-loop is in charge of selecting the detector that minimizes the overall power consumption (transmission and detection). Next the inner-loop implements a feedback power control in order to achieve the optimal SINR in the transmissions despite channel variations and roundtrip delays. In our proposal, the utility maximization process and detector selection and feedback power control are decoupled problems, and as a result, these strategies are implemented at two different time scales in the two-loop framework. Simulation results show that substantial utility gains may be achieved by improving the power management in the wireless network.

Network Efficient Power Control for Wireless Communication Systems

PubMed Central

Campos-Delgado, Daniel U.; Luna-Rivera, Jose Martin; Martinez-Sánchez, C. J.; Gutierrez, Carlos A.; Tecpanecatl-Xihuitl, J. L.

2014-01-01

We introduce a two-loop power control that allows an efficient use of the overall power resources for commercial wireless networks based on cross-layer optimization. This approach maximizes the network's utility in the outer-loop as a function of the averaged signal to interference-plus-noise ratio (SINR) by considering adaptively the changes in the network characteristics. For this purpose, the concavity property of the utility function was verified with respect to the SINR, and an iterative search was proposed with guaranteed convergence. In addition, the outer-loop is in charge of selecting the detector that minimizes the overall power consumption (transmission and detection). Next the inner-loop implements a feedback power control in order to achieve the optimal SINR in the transmissions despite channel variations and roundtrip delays. In our proposal, the utility maximization process and detector selection and feedback power control are decoupled problems, and as a result, these strategies are implemented at two different time scales in the two-loop framework. Simulation results show that substantial utility gains may be achieved by improving the power management in the wireless network. PMID:24683350

Feedback and feedforward locomotor adaptations to ankle-foot load in people with incomplete spinal cord injury.

PubMed

Gordon, Keith E; Wu, Ming; Kahn, Jennifer H; Schmit, Brian D

2010-09-01

Humans with spinal cord injury (SCI) modulate locomotor output in response to limb load. Understanding the neural control mechanisms responsible for locomotor adaptation could provide a framework for selecting effective interventions. We quantified feedback and feedforward locomotor adaptations to limb load modulations in people with incomplete SCI. While subjects airstepped (stepping performed with kinematic assistance and 100% bodyweight support), a powered-orthosis created a dorisflexor torque during the "stance phase" of select steps producing highly controlled ankle-load perturbations. When given repetitive, stance phase ankle-load, the increase in hip extension work, 0.27 J/kg above baseline (no ankle-load airstepping), was greater than the response to ankle-load applied during a single step, 0.14 J/kg (P = 0.029). This finding suggests that, at the hip, subjects produced both feedforward and feedback locomotor modulations. We estimate that, at the hip, the locomotor response to repetitive ankle-load was modulated almost equally by ongoing feedback and feedforward adaptations. The majority of subjects also showed after-effects in hip kinetic patterns that lasted 3 min in response to repetitive loading, providing additional evidence of feedforward locomotor adaptations. The magnitude of the after-effect was proportional to the response to repetitive ankle-foot load (R(2) = 0.92). In contrast, increases in soleus EMG amplitude were not different during repetitive and single-step ankle-load exposure, suggesting that ankle locomotor modulations were predominately feedback-based. Although subjects made both feedback and feedforward locomotor adaptations to changes in ankle-load, between-subject variations suggest that walking function may be related to the ability to make feedforward adaptations.

Optimizing microstimulation using a reinforcement learning framework.

PubMed

Brockmeier, Austin J; Choi, John S; Distasio, Marcello M; Francis, Joseph T; Príncipe, José C

2011-01-01

The ability to provide sensory feedback is desired to enhance the functionality of neuroprosthetics. Somatosensory feedback provides closed-loop control to the motor system, which is lacking in feedforward neuroprosthetics. In the case of existing somatosensory function, a template of the natural response can be used as a template of desired response elicited by electrical microstimulation. In the case of no initial training data, microstimulation parameters that produce responses close to the template must be selected in an online manner. We propose using reinforcement learning as a framework to balance the exploration of the parameter space and the continued selection of promising parameters for further stimulation. This approach avoids an explicit model of the neural response from stimulation. We explore a preliminary architecture--treating the task as a k-armed bandit--using offline data recorded for natural touch and thalamic microstimulation, and we examine the methods efficiency in exploring the parameter space while concentrating on promising parameter forms. The best matching stimulation parameters, from k = 68 different forms, are selected by the reinforcement learning algorithm consistently after 334 realizations.

Control-oriented reduced order modeling of dipteran flapping flight

NASA Astrophysics Data System (ADS)

Faruque, Imraan

Flying insects achieve flight stabilization and control in a manner that requires only small, specialized neural structures to perform the essential components of sensing and feedback, achieving unparalleled levels of robust aerobatic flight on limited computational resources. An engineering mechanism to replicate these control strategies could provide a dramatic increase in the mobility of small scale aerial robotics, but a formal investigation has not yet yielded tools that both quantitatively and intuitively explain flapping wing flight as an "input-output" relationship. This work uses experimental and simulated measurements of insect flight to create reduced order flight dynamics models. The framework presented here creates models that are relevant for the study of control properties. The work begins with automated measurement of insect wing motions in free flight, which are then used to calculate flight forces via an empirically-derived aerodynamics model. When paired with rigid body dynamics and experimentally measured state feedback, both the bare airframe and closed loop systems may be analyzed using frequency domain system identification. Flight dynamics models describing maneuvering about hover and cruise conditions are presented for example fruit flies (Drosophila melanogaster) and blowflies (Calliphorids). The results show that biologically measured feedback paths are appropriate for flight stabilization and sexual dimorphism is only a minor factor in flight dynamics. A method of ranking kinematic control inputs to maximize maneuverability is also presented, showing that the volume of reachable configurations in state space can be dramatically increased due to appropriate choice of kinematic inputs.

Creating Coherent Incidental Learning Journeys on Smartphones Using Feedback and Progress Indicators: The SCAMP Framework

ERIC Educational Resources Information Center

Jones, Ann; Gaved, Mark; Kukulska-Hulme, Agnes; Scanlon, Eileen; Pearson, Charlie; Lameras, Petros; Dunwell, Ian; Jones, Jan

2014-01-01

Although the motivating role of feedback and progress indicators is understood in formal learning, their role in supporting incidental mobile learning is less well understood. In this paper we argue that well-designed feedback and progress indicators (FPIs) offer guidance and structure that may encourage mobile app users to move from fragmented…

Structured feedback on students' concept maps: the proverbial path to learning?

PubMed

Joseph, Conran; Conradsson, David; Nilsson Wikmar, Lena; Rowe, Michael

2017-05-25

Good conceptual knowledge is an essential requirement for health professions students, in that they are required to apply concepts learned in the classroom to a variety of different contexts. However, the use of traditional methods of assessment limits the educator's ability to correct students' conceptual knowledge prior to altering the educational context. Concept mapping (CM) is an educational tool for evaluating conceptual knowledge, but little is known about its use in facilitating the development of richer knowledge frameworks. In addition, structured feedback has the potential to develop good conceptual knowledge. The purpose of this study was to use Kinchin's criteria to assess the impact of structured feedback on the graphical complexity of CM's by observing the development of richer knowledge frameworks. Fifty-eight physiotherapy students created CM's targeting the integration of two knowledge domains within a case-based teaching paradigm. Each student received one round of structured feedback that addressed correction, reinforcement, forensic diagnosis, benchmarking, and longitudinal development on their CM's prior to the final submission. The concept maps were categorized according to Kinchin's criteria as either Spoke, Chain or Net representations, and then evaluated against defined traits of meaningful learning. The inter-rater reliability of categorizing CM's was good. Pre-feedback CM's were predominantly Chain structures (57%), with Net structures appearing least often. There was a significant reduction of the basic Spoke- structured CMs (P = 0.002) and a significant increase of Net-structured maps (P < 0.001) at the final evaluation (post-feedback). Changes in structural complexity of CMs appeared to be indicative of broader knowledge frameworks as assessed against the meaningful learning traits. Feedback on CM's seemed to have contributed towards improving conceptual knowledge and correcting naive conceptions of related knowledge. Educators in medical education could therefore consider using CM's to target individual student development.

Observability and Controllability of Networks: Symmetry in Representations of Brains and Controllers for Epidemics

NASA Astrophysics Data System (ADS)

Schiff, Steven

Observability and controllability are essential concepts to the design of predictive observer models and feedback controllers of networked systems. We present a numerical and group representational framework, to quantify the observability and controllability of nonlinear networks with explicit symmetries that shows the connection between symmetries and nonlinear measures of observability and controllability. In addition to the topology of brain networks, we have advanced our ability to represent network nodes within the brain using conservation principles and more accurate biophysics that unifies the dynamics of spikes, seizures, and spreading depression. Lastly, we show how symmetries in controller design can be applied to infectious disease epidemics. NIH Grants 1R01EB014641, 1DP1HD086071.

Effective Information Extraction Framework for Heterogeneous Clinical Reports Using Online Machine Learning and Controlled Vocabularies

PubMed Central

Zheng, Shuai; Ghasemzadeh, Nima; Hayek, Salim S; Quyyumi, Arshed A

2017-01-01

Background Extracting structured data from narrated medical reports is challenged by the complexity of heterogeneous structures and vocabularies and often requires significant manual effort. Traditional machine-based approaches lack the capability to take user feedbacks for improving the extraction algorithm in real time. Objective Our goal was to provide a generic information extraction framework that can support diverse clinical reports and enables a dynamic interaction between a human and a machine that produces highly accurate results. Methods A clinical information extraction system IDEAL-X has been built on top of online machine learning. It processes one document at a time, and user interactions are recorded as feedbacks to update the learning model in real time. The updated model is used to predict values for extraction in subsequent documents. Once prediction accuracy reaches a user-acceptable threshold, the remaining documents may be batch processed. A customizable controlled vocabulary may be used to support extraction. Results Three datasets were used for experiments based on report styles: 100 cardiac catheterization procedure reports, 100 coronary angiographic reports, and 100 integrated reports—each combines history and physical report, discharge summary, outpatient clinic notes, outpatient clinic letter, and inpatient discharge medication report. Data extraction was performed by 3 methods: online machine learning, controlled vocabularies, and a combination of these. The system delivers results with F1 scores greater than 95%. Conclusions IDEAL-X adopts a unique online machine learning–based approach combined with controlled vocabularies to support data extraction for clinical reports. The system can quickly learn and improve, thus it is highly adaptable. PMID:28487265

Cybernetics: A Model for Feedback in the ESL Classroom.

ERIC Educational Resources Information Center

Zamel, Vivian

1981-01-01

Examines cybernetics as a model which provides framework with which to view communicators and the communications in the ESL classroom because it implies the kind of feedback the learner can assimilate and act upon. (Author/BK)

Closed-loop neuromodulation of spinal sensorimotor circuits controls refined locomotion after complete spinal cord injury.

PubMed

Wenger, Nikolaus; Moraud, Eduardo Martin; Raspopovic, Stanisa; Bonizzato, Marco; DiGiovanna, Jack; Musienko, Pavel; Morari, Manfred; Micera, Silvestro; Courtine, Grégoire

2014-09-24

Neuromodulation of spinal sensorimotor circuits improves motor control in animal models and humans with spinal cord injury. With common neuromodulation devices, electrical stimulation parameters are tuned manually and remain constant during movement. We developed a mechanistic framework to optimize neuromodulation in real time to achieve high-fidelity control of leg kinematics during locomotion in rats. We first uncovered relationships between neuromodulation parameters and recruitment of distinct sensorimotor circuits, resulting in predictive adjustments of leg kinematics. Second, we established a technological platform with embedded control policies that integrated robust movement feedback and feed-forward control loops in real time. These developments allowed us to conceive a neuroprosthetic system that controlled a broad range of foot trajectories during continuous locomotion in paralyzed rats. Animals with complete spinal cord injury performed more than 1000 successive steps without failure, and were able to climb staircases of various heights and lengths with precision and fluidity. Beyond therapeutic potential, these findings provide a conceptual and technical framework to personalize neuromodulation treatments for other neurological disorders. Copyright © 2014, American Association for the Advancement of Science.

Developing a competency framework for U.S. state food and feed testing laboratory personnel.

PubMed

Kaml, Craig; Weiss, Christopher C; Dezendorf, Paul; Ishida, Maria; Rice, Daniel H; Klein, Ron; Salfinger, Yvonne

2014-01-01

A competency-based training curriculum framework for U.S. state food and feed testing laboratories personnel is being developed by the International Food Protection Training Institute (IFPTI) and three partners. The framework will help laboratories catalog existing training courses/modules, identify training gaps, inform training curricula, and create career-spanning professional development learning paths, ensuring consistent performance expectations and increasing confidence in shared test results. Ultimately, the framework will aid laboratories in meeting the requirements of ISO/IEC 17025 (2005) international accreditation and the U.S. Food Safety Modernization Act (U.S. Public Law 111-353). In collaboration with the Association of Food and Drug Officials, the Association of Public Health Laboratories, and the Association of American Feed Control Officials, IFPTI is carrying out the project in two phases. In 2013, an expert panel of seven subject matter experts developed competency and curriculum frameworks for five professional levels (entry, mid-level, expert, supervisor/manager, and senior administration) across four competency domains (technical, communication, programmatic, and leadership) including approximately 80 competencies. In 2014 the expert panel will elicit feedback from peers and finalize the framework.

Robust Brain-Machine Interface Design Using Optimal Feedback Control Modeling and Adaptive Point Process Filtering

PubMed Central

Carmena, Jose M.

2016-01-01

Much progress has been made in brain-machine interfaces (BMI) using decoders such as Kalman filters and finding their parameters with closed-loop decoder adaptation (CLDA). However, current decoders do not model the spikes directly, and hence may limit the processing time-scale of BMI control and adaptation. Moreover, while specialized CLDA techniques for intention estimation and assisted training exist, a unified and systematic CLDA framework that generalizes across different setups is lacking. Here we develop a novel closed-loop BMI training architecture that allows for processing, control, and adaptation using spike events, enables robust control and extends to various tasks. Moreover, we develop a unified control-theoretic CLDA framework within which intention estimation, assisted training, and adaptation are performed. The architecture incorporates an infinite-horizon optimal feedback-control (OFC) model of the brain’s behavior in closed-loop BMI control, and a point process model of spikes. The OFC model infers the user’s motor intention during CLDA—a process termed intention estimation. OFC is also used to design an autonomous and dynamic assisted training technique. The point process model allows for neural processing, control and decoder adaptation with every spike event and at a faster time-scale than current decoders; it also enables dynamic spike-event-based parameter adaptation unlike current CLDA methods that use batch-based adaptation on much slower adaptation time-scales. We conducted closed-loop experiments in a non-human primate over tens of days to dissociate the effects of these novel CLDA components. The OFC intention estimation improved BMI performance compared with current intention estimation techniques. OFC assisted training allowed the subject to consistently achieve proficient control. Spike-event-based adaptation resulted in faster and more consistent performance convergence compared with batch-based methods, and was robust to parameter initialization. Finally, the architecture extended control to tasks beyond those used for CLDA training. These results have significant implications towards the development of clinically-viable neuroprosthetics. PMID:27035820

What Supervisors Say in Their Feedback: Construction of CanMEDS Roles in Workplace Settings

ERIC Educational Resources Information Center

Renting, Nienke; Dornan, Tim; Gans, Rijk O. B.; Borleffs, Jan C. C.; Cohen-Schotanus, Janke; Jaarsma, A. Debbie C.

2016-01-01

The CanMEDS framework has been widely adopted in residency education and feedback processes are guided by it. It is, however, only one of many influences on what is actually discussed in feedback. The sociohistorical culture of medicine and individual supervisors' contexts, experiences and beliefs are also influential. Our aim was to find how…

Assessing Online Textual Feedback to Support Student Intrinsic Motivation Using a Collaborative Text-Based Dialogue System: A Qualitative Study

ERIC Educational Resources Information Center

Shroff, Ronnie H.; Deneen, Christopher

2011-01-01

This paper assesses textual feedback to support student intrinsic motivation using a collaborative text-based dialogue system. A research model is presented based on research into intrinsic motivation, and the specific construct of feedback provides a framework for the model. A qualitative research methodology is used to validate the model.…

Fuzzy distributed cooperative tracking for a swarm of unmanned aerial vehicles with heterogeneous goals

NASA Astrophysics Data System (ADS)

Kladis, Georgios P.; Menon, Prathyush P.; Edwards, Christopher

2016-12-01

This article proposes a systematic analysis for a tracking problem which ensures cooperation amongst a swarm of unmanned aerial vehicles (UAVs), modelled as nonlinear systems with linear and angular velocity constraints, in order to achieve different goals. A distributed Takagi-Sugeno (TS) framework design is adopted for the representation of the nonlinear model of the dynamics of the UAVs. The distributed control law which is introduced is composed of both node and network level information. Firstly, feedback gains are synthesised using a parallel distributed compensation (PDC) control law structure, for a collection of isolated UAVs; ignoring communications among the swarm. Then secondly, based on an alternation-like procedure, the resulting feedback gains are used to determine Lyapunov matrices which are utilised at network level to incorporate into the control law, the relative differences in the states of the vehicles, and to induce cooperative behaviour. Eventually stability is guaranteed for the entire swarm. The control synthesis is performed using tools from linear control theory: in particular the design criteria are posed as linear matrix inequalities (LMIs). An example based on a UAV tracking scenario is included to outline the efficacy of the approach.

Feedback-based probabilistic category learning is selectively impaired in attention/hyperactivity deficit disorder.

PubMed

Gabay, Yafit; Goldfarb, Liat

2017-07-01

Although Attention-Deficit Hyperactivity Disorder (ADHD) is closely linked to executive function deficits, it has recently been attributed to procedural learning impairments that are quite distinct from the former. These observations challenge the ability of the executive function framework solely to account for the diverse range of symptoms observed in ADHD. A recent neurocomputational model emphasizes the role of striatal dopamine (DA) in explaining ADHD's broad range of deficits, but the link between this model and procedural learning impairments remains unclear. Significantly, feedback-based procedural learning is hypothesized to be disrupted in ADHD because of the involvement of striatal DA in this type of learning. In order to test this assumption, we employed two variants of a probabilistic category learning task known from the neuropsychological literature. Feedback-based (FB) and paired associate-based (PA) probabilistic category learning were employed in a non-medicated sample of ADHD participants and neurotypical participants. In the FB task, participants learned associations between cues and outcomes initially by guessing and subsequently through feedback indicating the correctness of the response. In the PA learning task, participants viewed the cue and its associated outcome simultaneously without receiving an overt response or corrective feedback. In both tasks, participants were trained across 150 trials. Learning was assessed in a subsequent test without a presentation of the outcome or corrective feedback. Results revealed an interesting disassociation in which ADHD participants performed as well as control participants in the PA task, but were impaired compared with the controls in the FB task. The learning curve during FB training differed between the two groups. Taken together, these results suggest that the ability to incrementally learn by feedback is selectively disrupted in ADHD participants. These results are discussed in relation to both the ADHD dopaminergic dysfunction model and recent findings implicating procedural learning impairments in those with ADHD. Copyright © 2017 Elsevier Inc. All rights reserved.

Uncover it, students would learn leadership from Team-Based Learning (TBL): The effect of guided reflection and feedback.

PubMed

Alizadeh, Maryam; Mirzazadeh, Azim; Parmelee, Dean X; Peyton, Elizabeth; Janani, Leila; Hassanzadeh, Gholamreza; Nedjat, Saharnaz

2017-04-01

Little is known about best practices for teaching and learning leadership through Team-Based learning™ (TBL™) with medical students. We hypothesized that guided reflection and feedback would improve shared leadership and shared leadership capacity, and enhance team decision quality in TBL teams. We used the Kolb experiential learning theory as the theoretical framework. The study was conducted at Tehran University of Medical Sciences. Three TBL sessions with 206 students (39 teams) participated in the study. Using a quasi-experimental design, one batch received guided reflection and feedback on their team leadership processes (n = 20 teams) and the other received only TBL (n = 19 teams). Observers measured shared leadership using a checklist. Shared leadership capacity was measured using a questionnaire. Scores on a team application exercise were used to assess quality of team decisions. Evidence did not support our first hypothesis that reflection and feedback enhance shared leadership in TBL teams. Percentages of teams displaying shared leadership did not differ between intervention and control groups in sessions 1 (p = 0.6), 2 (p = 1) or 3 (p = 1). The results did not support the second hypothesis. We found no difference in quality of decision making between the intervention and control groups for sessions 1 (p = 0.77), 2 (p = 0.23), or 3 (p = 0.07). The third hypothesis that the reflection and feedback would have an effect on shared leadership capacity was supported (T = -8.55, p > 0.001 adjusted on baseline; T = -8.55, p > 0.001 adjusted on gender). We found that reflection and feedback improved shared leadership capacity but not shared leadership behaviors or team decision quality. We propose medical educators who apply TBL, should provide guided exercise in reflection and feedback so that students may better understand the benefits of working in teams as preparation for their future roles as leaders and members of health care teams.

Robust control of integrated motor-transmission powertrain system over controller area network for automotive applications

NASA Astrophysics Data System (ADS)

Zhu, Xiaoyuan; Zhang, Hui; Cao, Dongpu; Fang, Zongde

2015-06-01

Integrated motor-transmission (IMT) powertrain system with directly coupled motor and gearbox is a good choice for electric commercial vehicles (e.g., pure electric buses) due to its potential in motor size reduction and energy efficiency improvement. However, the controller design for powertrain oscillation damping becomes challenging due to the elimination of damping components. On the other hand, as controller area network (CAN) is commonly adopted in modern vehicle system, the network-induced time-varying delays that caused by bandwidth limitation will further lead to powertrain vibration or even destabilize the powertrain control system. Therefore, in this paper, a robust energy-to-peak controller is proposed for the IMT powertrain system to address the oscillation damping problem and also attenuate the external disturbance. The control law adopted here is based on a multivariable PI control, which ensures the applicability and performance of the proposed controller in engineering practice. With the linearized delay uncertainties characterized by polytopic inclusions, a delay-free closed-loop augmented system is established for the IMT powertrain system under discrete-time framework. The proposed controller design problem is then converted to a static output feedback (SOF) controller design problem where the feedback control gains are obtained by solving a set of linear matrix inequalities (LMIs). The effectiveness as well as robustness of the proposed controller is demonstrated by comparing its performance against that of a conventional PI controller.

Flexible real-time magnetic resonance imaging framework.

PubMed

Santos, Juan M; Wright, Graham A; Pauly, John M

2004-01-01

The extension of MR imaging to new applications has demonstrated the limitations of the architecture of current real-time systems. Traditional real-time implementations provide continuous acquisition of data and modification of basic sequence parameters on the fly. We have extended the concept of real-time MRI by designing a system that drives the examinations from a real-time localizer and then gets reconfigured for different imaging modes. Upon operator request or automatic feedback the system can immediately generate a new pulse sequence or change fundamental aspects of the acquisition such as gradient waveforms excitation pulses and scan planes. This framework has been implemented by connecting a data processing and control workstation to a conventional clinical scanner. Key components on the design of this framework are the data communication and control mechanisms, reconstruction algorithms optimized for real-time and adaptability, flexible user interface and extensible user interaction. In this paper we describe the various components that comprise this system. Some of the applications implemented in this framework include real-time catheter tracking embedded in high frame rate real-time imaging and immediate switching between real-time localizer and high-resolution volume imaging for coronary angiography applications.

The Milestones Passport: A Learner-Centered Application of the Milestone Framework to Prompt Real-Time Feedback in the Emergency Department.

PubMed

Yarris, Lalena M; Jones, David; Kornegay, Joshua G; Hansen, Matthew

2014-09-01

In July 2013, emergency medicine residency programs implemented the Milestone assessment as part of the Next Accreditation System. We hypothesized that applying the Milestone framework to real-time feedback in the emergency department (ED) could affect current feedback processes and culture. We describe the development and implementation of a Milestone-based, learner-centered intervention designed to prompt real-time feedback in the ED. We developed and implemented the Milestones Passport, a feedback intervention incorporating subcompetencies, in our residency program in July 2013. Our primary outcomes were feasibility, including faculty and staff time and costs, number of documented feedback encounters in the first 2 months of implementation, and user-reported time required to complete the intervention. We also assessed learner and faculty acceptability. Development and implementation of the Milestones Passport required 10 hours of program coordinator time, 120 hours of software developer time, and 20 hours of faculty time. Twenty-eight residents and 34 faculty members generated 257 Milestones Passport feedback encounters. Most residents and faculty reported that the encounters required fewer than 5 minutes to complete, and 48% (12 of 25) of the residents and 68% (19 of 28) of faculty reported satisfaction with the Milestones Passport intervention. Faculty satisfaction with overall feedback in the ED improved after the intervention (93% versus 54%, P  =  .003), whereas resident satisfaction with feedback did not change significantly. The Milestones Passport feedback intervention was feasible and acceptable to users; however, learner satisfaction with the Milestone assessment in the ED was modest.

Target Uncertainty Mediates Sensorimotor Error Correction

PubMed Central

Vijayakumar, Sethu; Wolpert, Daniel M.

2017-01-01

Human movements are prone to errors that arise from inaccuracies in both our perceptual processing and execution of motor commands. We can reduce such errors by both improving our estimates of the state of the world and through online error correction of the ongoing action. Two prominent frameworks that explain how humans solve these problems are Bayesian estimation and stochastic optimal feedback control. Here we examine the interaction between estimation and control by asking if uncertainty in estimates affects how subjects correct for errors that may arise during the movement. Unbeknownst to participants, we randomly shifted the visual feedback of their finger position as they reached to indicate the center of mass of an object. Even though participants were given ample time to compensate for this perturbation, they only fully corrected for the induced error on trials with low uncertainty about center of mass, with correction only partial in trials involving more uncertainty. The analysis of subjects’ scores revealed that participants corrected for errors just enough to avoid significant decrease in their overall scores, in agreement with the minimal intervention principle of optimal feedback control. We explain this behavior with a term in the loss function that accounts for the additional effort of adjusting one’s response. By suggesting that subjects’ decision uncertainty, as reflected in their posterior distribution, is a major factor in determining how their sensorimotor system responds to error, our findings support theoretical models in which the decision making and control processes are fully integrated. PMID:28129323

Target Uncertainty Mediates Sensorimotor Error Correction.

PubMed

Acerbi, Luigi; Vijayakumar, Sethu; Wolpert, Daniel M

2017-01-01

Human movements are prone to errors that arise from inaccuracies in both our perceptual processing and execution of motor commands. We can reduce such errors by both improving our estimates of the state of the world and through online error correction of the ongoing action. Two prominent frameworks that explain how humans solve these problems are Bayesian estimation and stochastic optimal feedback control. Here we examine the interaction between estimation and control by asking if uncertainty in estimates affects how subjects correct for errors that may arise during the movement. Unbeknownst to participants, we randomly shifted the visual feedback of their finger position as they reached to indicate the center of mass of an object. Even though participants were given ample time to compensate for this perturbation, they only fully corrected for the induced error on trials with low uncertainty about center of mass, with correction only partial in trials involving more uncertainty. The analysis of subjects' scores revealed that participants corrected for errors just enough to avoid significant decrease in their overall scores, in agreement with the minimal intervention principle of optimal feedback control. We explain this behavior with a term in the loss function that accounts for the additional effort of adjusting one's response. By suggesting that subjects' decision uncertainty, as reflected in their posterior distribution, is a major factor in determining how their sensorimotor system responds to error, our findings support theoretical models in which the decision making and control processes are fully integrated.

A user-centred evaluation framework for the Sealife semantic web browsers

PubMed Central

Oliver, Helen; Diallo, Gayo; de Quincey, Ed; Alexopoulou, Dimitra; Habermann, Bianca; Kostkova, Patty; Schroeder, Michael; Jupp, Simon; Khelif, Khaled; Stevens, Robert; Jawaheer, Gawesh; Madle, Gemma

2009-01-01

Background Semantically-enriched browsing has enhanced the browsing experience by providing contextualised dynamically generated Web content, and quicker access to searched-for information. However, adoption of Semantic Web technologies is limited and user perception from the non-IT domain sceptical. Furthermore, little attention has been given to evaluating semantic browsers with real users to demonstrate the enhancements and obtain valuable feedback. The Sealife project investigates semantic browsing and its application to the life science domain. Sealife's main objective is to develop the notion of context-based information integration by extending three existing Semantic Web browsers (SWBs) to link the existing Web to the eScience infrastructure. Methods This paper describes a user-centred evaluation framework that was developed to evaluate the Sealife SWBs that elicited feedback on users' perceptions on ease of use and information findability. Three sources of data: i) web server logs; ii) user questionnaires; and iii) semi-structured interviews were analysed and comparisons made between each browser and a control system. Results It was found that the evaluation framework used successfully elicited users' perceptions of the three distinct SWBs. The results indicate that the browser with the most mature and polished interface was rated higher for usability, and semantic links were used by the users of all three browsers. Conclusion Confirmation or contradiction of our original hypotheses with relation to SWBs is detailed along with observations of implementation issues. PMID:19796398

A user-centred evaluation framework for the Sealife semantic web browsers.

PubMed

Oliver, Helen; Diallo, Gayo; de Quincey, Ed; Alexopoulou, Dimitra; Habermann, Bianca; Kostkova, Patty; Schroeder, Michael; Jupp, Simon; Khelif, Khaled; Stevens, Robert; Jawaheer, Gawesh; Madle, Gemma

2009-10-01

Semantically-enriched browsing has enhanced the browsing experience by providing contextualized dynamically generated Web content, and quicker access to searched-for information. However, adoption of Semantic Web technologies is limited and user perception from the non-IT domain sceptical. Furthermore, little attention has been given to evaluating semantic browsers with real users to demonstrate the enhancements and obtain valuable feedback. The Sealife project investigates semantic browsing and its application to the life science domain. Sealife's main objective is to develop the notion of context-based information integration by extending three existing Semantic Web browsers (SWBs) to link the existing Web to the eScience infrastructure. This paper describes a user-centred evaluation framework that was developed to evaluate the Sealife SWBs that elicited feedback on users' perceptions on ease of use and information findability. Three sources of data: i) web server logs; ii) user questionnaires; and iii) semi-structured interviews were analysed and comparisons made between each browser and a control system. It was found that the evaluation framework used successfully elicited users' perceptions of the three distinct SWBs. The results indicate that the browser with the most mature and polished interface was rated higher for usability, and semantic links were used by the users of all three browsers. Confirmation or contradiction of our original hypotheses with relation to SWBs is detailed along with observations of implementation issues.

An Integrative Framework of Stress, Attention, and Visuomotor Performance

PubMed Central

Vine, Samuel J.; Moore, Lee J.; Wilson, Mark R.

2016-01-01

The aim of this article is to present an integrative conceptual framework that depicts the effect of acute stress on the performance of visually guided motor skills. We draw upon seminal theories highlighting the importance of subjective interpretations of stress on subsequent performance and outline how models of disrupted attentional control might explain this effect through impairments in visuomotor control. We first synthesize and critically discuss empirical support for theories examining these relationships in isolation. We then outline our integrative framework that seeks to provide a more complete picture of the interacting influences of stress responses (challenge and threat) and attention in explaining how elevated stress may lead to different visuomotor performance outcomes. We propose a number of mechanisms that explain why evaluations of stress are related to attentional control, and highlight the emotion of anxiety as the most likely candidate to explain why negative reactions to stress lead to disrupted attention and poor visuomotor skill performance. Finally, we propose a number of feedback loops that explain why stress responses are often self-perpetuating, as well as a number of proposed interventions that are designed to help improve or maintain performance in real world performance environments (e.g., sport, surgery, military, and aviation). PMID:27847484

Just-in-Time Feedback in Diet and Physical Activity Interventions: Systematic Review and Practical Design Framework.

PubMed

Schembre, Susan M; Liao, Yue; Robertson, Michael C; Dunton, Genevieve Fridlund; Kerr, Jacqueline; Haffey, Meghan E; Burnett, Taylor; Basen-Engquist, Karen; Hicklen, Rachel S

2018-03-22

The integration of body-worn sensors with mobile devices presents a tremendous opportunity to improve just-in-time behavioral interventions by enhancing bidirectional communication between investigators and their participants. This approach can be used to deliver supportive feedback at critical moments to optimize the attainment of health behavior goals. The goals of this systematic review were to summarize data on the content characteristics of feedback messaging used in diet and physical activity (PA) interventions and to develop a practical framework for designing just-in-time feedback for behavioral interventions. Interventions that included just-in-time feedback on PA, sedentary behavior, or dietary intake were eligible for inclusion. Feedback content and efficacy data were synthesized descriptively. The review included 31 studies (15/31, 48%, targeting PA or sedentary behavior only; 13/31, 42%, targeting diet and PA; and 3/31, 10%, targeting diet only). All studies used just-in-time feedback, 30 (97%, 30/31) used personalized feedback, and 24 (78%, 24/31) used goal-oriented feedback, but only 5 (16%, 5/31) used actionable feedback. Of the 9 studies that tested the efficacy of providing feedback to promote behavior change, 4 reported significant improvements in health behavior. In 3 of these 4 studies, feedback was continuously available, goal-oriented, or actionable. Feedback that was continuously available, personalized, and actionable relative to a known behavioral objective was prominent in intervention studies with significant behavior change outcomes. Future research should determine whether all or some of these characteristics are needed to optimize the effect of feedback in just-in-time interventions. ©Susan M Schembre, Yue Liao, Michael C Robertson, Genevieve Fridlund Dunton, Jacqueline Kerr, Meghan E Haffey, Taylor Burnett, Karen Basen-Engquist, Rachel S Hicklen. Originally published in the Journal of Medical Internet Research (http://www.jmir.org), 22.03.2018.

The concept of "buffering" in systems and control theory: from metaphor to math.

PubMed

Schmitt, Bernhard M

2004-10-04

The paradigm of "buffering" is used increasingly for the description of diverse "systemic" phenomena encountered in evolutionary genetics, ecology, integrative physiology, and other areas. However, in this new context, the paradigm has not yet matured into a truly quantitative concept inasmuch as it lacks a corresponding quantitative measure of "systems-level buffering strength". Here, I develop such measures on the basis of a formal and general approach to the quantitation of buffering action. "Systems-level buffering" is shown to be synonymous with "disturbance rejection" in feedback-control systems, and can be quantitated by means of dimensionless proportions between partial flows in two-partitioned systems. The units allow either the time-independent, "static" buffering properties or the time-dependent, "dynamic" ones to be measured. Analogous to this "resistance to change", one can define and measure the "conductance to change"; this quantity corresponds to "set-point tracking" in feedback-control systems. Together, these units provide a systematic framework for the quantitation of buffering action in systems biology, and reveal the common principle behind systems-level buffering, classical acid-base buffering, and multiple other manifestations of buffering.

An Analysis of Students' Perceptions of the Value and Efficacy of Instructors' Auditory and Text-Based Feedback Modalities across Multiple Conceptual Levels

ERIC Educational Resources Information Center

Ice, Phil; Swan, Karen; Diaz, Sebastian; Kupczynski, Lori; Swan-Dagen, Allison

2010-01-01

This article used work from the writing assessment literature to develop a framework for assessing the impact and perceived value of written, audio, and combined written and audio feedback strategies across four global and 22 discrete dimensions of feedback. Using a quasi-experimental research design, students at three U.S. universities were…

Robust Stabilization of Uncertain Systems Based on Energy Dissipation Concepts

NASA Technical Reports Server (NTRS)

Gupta, Sandeep

1996-01-01

Robust stability conditions obtained through generalization of the notion of energy dissipation in physical systems are discussed in this report. Linear time-invariant (LTI) systems which dissipate energy corresponding to quadratic power functions are characterized in the time-domain and the frequency-domain, in terms of linear matrix inequalities (LMls) and algebraic Riccati equations (ARE's). A novel characterization of strictly dissipative LTI systems is introduced in this report. Sufficient conditions in terms of dissipativity and strict dissipativity are presented for (1) stability of the feedback interconnection of dissipative LTI systems, (2) stability of dissipative LTI systems with memoryless feedback nonlinearities, and (3) quadratic stability of uncertain linear systems. It is demonstrated that the framework of dissipative LTI systems investigated in this report unifies and extends small gain, passivity, and sector conditions for stability. Techniques for selecting power functions for characterization of uncertain plants and robust controller synthesis based on these stability results are introduced. A spring-mass-damper example is used to illustrate the application of these methods for robust controller synthesis.

Phenotypic Evolution With and Beyond Genome Evolution.

PubMed

Félix, M-A

2016-01-01

DNA does not make phenotypes on its own. In this volume entitled "Genes and Phenotypic Evolution," the present review draws the attention on the process of phenotype construction-including development of multicellular organisms-and the multiple interactions and feedbacks between DNA, organism, and environment at various levels and timescales in the evolutionary process. First, during the construction of an individual's phenotype, DNA is recruited as a template for building blocks within the cellular context and may in addition be involved in dynamical feedback loops that depend on the environmental and organismal context. Second, in the production of phenotypic variation among individuals, stochastic, environmental, genetic, and parental sources of variation act jointly. While in controlled laboratory settings, various genetic and environmental factors can be tested one at a time or in various combinations, they cannot be separated in natural populations because the environment is not controlled and the genotype can rarely be replicated. Third, along generations, genotype and environment each have specific properties concerning the origin of their variation, the hereditary transmission of this variation, and the evolutionary feedbacks. Natural selection acts as a feedback from phenotype and environment to genotype. This review integrates recent results and concrete examples that illustrate these three points. Although some themes are shared with recent calls and claims to a new conceptual framework in evolutionary biology, the viewpoint presented here only means to add flesh to the standard evolutionary synthesis. © 2016 Elsevier Inc. All rights reserved.

Improved Shaping Approach to the Preliminary Design of Low-Thrust Trajectories

NASA Astrophysics Data System (ADS)

Novak, D. M.; Vasile, M.

2011-01-01

This paper presents a general framework for the development of shape-based approaches to low-thrust trajectory design. A novel shaping method, based on a three-dimensional description of the trajectory in spherical coordinates, is developed within this general framework. Both the exponential sinusoid and the inverse polynomial shaping are demonstrated to be particular two-dimensional cases of the spherical one. The pseudoequinoctial shaping is revisited within the new framework, and the nonosculating nature of the pseudoequinoctial elements is analyzed. A two-step approach is introduced to solve the time of flight constraint, related to the design of low-thrust arcs with boundary constraints for both spherical and pseudoequinoctial shaping. The solution derived from the shaping approach is improved with a feedback linear-quadratic controller and compared against a direct collocation method based on finite elements in time. The new shaping approach and the combination of shaping and linear-quadratic controller are tested on three case studies: a mission to Mars, a mission to asteroid 1989ML, a mission to comet Tempel-1, and a mission to Neptune.

What supervisors say in their feedback: construction of CanMEDS roles in workplace settings.

PubMed

Renting, Nienke; Dornan, Tim; Gans, Rijk O B; Borleffs, Jan C C; Cohen-Schotanus, Janke; Jaarsma, A Debbie C

2016-05-01

The CanMEDS framework has been widely adopted in residency education and feedback processes are guided by it. It is, however, only one of many influences on what is actually discussed in feedback. The sociohistorical culture of medicine and individual supervisors' contexts, experiences and beliefs are also influential. Our aim was to find how CanMEDS roles are constructed in feedback in a postgraduate curriculum-in-action. We applied a set of discourse analytic tools to written feedback from 591 feedback forms from 7 hospitals, including 3150 feedback comments in which 126 supervisors provided feedback to 120 residents after observing their performance in authentic settings. The role of Collaborator was constructed in two different ways: a cooperative discourse of equality with other workers and patients; and a discourse, which gave residents positions of power-delegating, asserting and 'taking a firm stance'. Efficiency-being fast and to the point emerged as an important attribute of physicians. Patients were seldom part of the discourses and, when they were, they were constructed as objects of communication and collaboration rather than partners. Although some of the discourses are in line with what might be expected, others were in striking contrast to the spirit of CanMEDS. This study's findings suggest that it takes more than a competency framework, evaluation instruments, and supervisor training to change the culture of workplaces. The impact on residents of training in such demanding, efficiency-focused clinical environments is an important topic for future research.

Intermittent control: a computational theory of human control.

PubMed

Gawthrop, Peter; Loram, Ian; Lakie, Martin; Gollee, Henrik

2011-02-01

The paradigm of continuous control using internal models has advanced understanding of human motor control. However, this paradigm ignores some aspects of human control, including intermittent feedback, serial ballistic control, triggered responses and refractory periods. It is shown that event-driven intermittent control provides a framework to explain the behaviour of the human operator under a wider range of conditions than continuous control. Continuous control is included as a special case, but sampling, system matched hold, an intermittent predictor and an event trigger allow serial open-loop trajectories using intermittent feedback. The implementation here may be described as "continuous observation, intermittent action". Beyond explaining unimodal regulation distributions in common with continuous control, these features naturally explain refractoriness and bimodal stabilisation distributions observed in double stimulus tracking experiments and quiet standing, respectively. Moreover, given that human control systems contain significant time delays, a biological-cybernetic rationale favours intermittent over continuous control: intermittent predictive control is computationally less demanding than continuous predictive control. A standard continuous-time predictive control model of the human operator is used as the underlying design method for an event-driven intermittent controller. It is shown that when event thresholds are small and sampling is regular, the intermittent controller can masquerade as the underlying continuous-time controller and thus, under these conditions, the continuous-time and intermittent controller cannot be distinguished. This explains why the intermittent control hypothesis is consistent with the continuous control hypothesis for certain experimental conditions.

Analysis of dental students' written peer feedback from a prospective peer assessment protocol.

PubMed

Tricio, J; Woolford, M; Escudier, M

2016-11-01

Peer assessment and feedback is encouraged to enhance students' learning. The aim of this study was to quantitatively and qualitatively analyse pre-clinical and clinical dental students' written peer feedback provided as part of a continuous, formative and structured peer assessment protocol. A total of 309 Year-2 and Year-5 dental students were invited to participate in a peer assessment and peer feedback protocol. Consenting volunteer students were trained to observe each other whilst working in the skills laboratory (Year-2) and in the dental clinic (Year-5). Subsequently, they followed a structured protocol of peer assessment and peer feedback using specially designed work-based forms during a complete academic year. The content of their written feedback was coded according to the UK General Dental Council domain, sign (positive or negative), specificity (task specific or general), and grouped into themes. A total of 108 participants (40 Year-2 and 68 Year-5) completed 1169 peer assessment work-based forms (516 pre-clinical and 653 clinical); 94% contained written feedback. The large majority (82%) of Year-2 feedback represented the clinical domain, 89% were positive, 77% were task specific, and they were grouped into 14 themes. Year-5 feedback was related mostly to Management and Leadership (37%) and Communication (32%), 64% were positive, 75% task specific, and they were clustered into 24 themes. The content of the feedback showed notable differences between Year-2 and Year-5 students. Senior students focused more on Communication and Management and Leadership skills, whilst juniors were more concerned with clinical skills. Year-5 students provided 13% negative feedback compared to only 2% from Year-2. Regulatory focus theory is discussed to explain these differences. Both groups provided peer feedback on a wide and different range of themes. However, four themes emerged in both groups: efficiency, infection control, time management and working speed. A structured peer assessment framework can be used to guide pre-clinical and clinical students to provide peer feedback focused on different domains, and on contrasting signs and specificities. It can also present an opportunity to complement tutors' feedback. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Modeling, Control, and Estimation of Flexible, Aerodynamic Structures

NASA Astrophysics Data System (ADS)

Ray, Cody W.

Engineers have long been inspired by nature’s flyers. Such animals navigate complex environments gracefully and efficiently by using a variety of evolutionary adaptations for high-performance flight. Biologists have discovered a variety of sensory adaptations that provide flow state feedback and allow flying animals to feel their way through flight. A specialized skeletal wing structure and plethora of robust, adaptable sensory systems together allow nature’s flyers to adapt to myriad flight conditions and regimes. In this work, motivated by biology and the successes of bio-inspired, engineered aerial vehicles, linear quadratic control of a flexible, morphing wing design is investigated, helping to pave the way for truly autonomous, mission-adaptive craft. The proposed control algorithm is demonstrated to morph a wing into desired positions. Furthermore, motivated specifically by the sensory adaptations organisms possess, this work transitions to an investigation of aircraft wing load identification using structural response as measured by distributed sensors. A novel, recursive estimation algorithm is utilized to recursively solve the inverse problem of load identification, providing both wing structural and aerodynamic states for use in a feedback control, mission-adaptive framework. The recursive load identification algorithm is demonstrated to provide accurate load estimate in both simulation and experiment.

Quantum and Information Thermodynamics: A Unifying Framework Based on Repeated Interactions

NASA Astrophysics Data System (ADS)

Strasberg, Philipp; Schaller, Gernot; Brandes, Tobias; Esposito, Massimiliano

2017-04-01

We expand the standard thermodynamic framework of a system coupled to a thermal reservoir by considering a stream of independently prepared units repeatedly put into contact with the system. These units can be in any nonequilibrium state and interact with the system with an arbitrary strength and duration. We show that this stream constitutes an effective resource of nonequilibrium free energy, and we identify the conditions under which it behaves as a heat, work, or information reservoir. We also show that this setup provides a natural framework to analyze information erasure ("Landauer's principle") and feedback-controlled systems ("Maxwell's demon"). In the limit of a short system-unit interaction time, we further demonstrate that this setup can be used to provide a thermodynamically sound interpretation to many effective master equations. We discuss how nonautonomously driven systems, micromasers, lasing without inversion and the electronic Maxwell demon can be thermodynamically analyzed within our framework. While the present framework accounts for quantum features (e.g., squeezing, entanglement, coherence), we also show that quantum resources do not offer any advantage compared to classical ones in terms of the maximum extractable work.

The Milestones Passport: A Learner-Centered Application of the Milestone Framework to Prompt Real-Time Feedback in the Emergency Department

PubMed Central

Yarris, Lalena M.; Jones, David; Kornegay, Joshua G.; Hansen, Matthew

2014-01-01

Background In July 2013, emergency medicine residency programs implemented the Milestone assessment as part of the Next Accreditation System. Objective We hypothesized that applying the Milestone framework to real-time feedback in the emergency department (ED) could affect current feedback processes and culture. We describe the development and implementation of a Milestone-based, learner-centered intervention designed to prompt real-time feedback in the ED. Methods We developed and implemented the Milestones Passport, a feedback intervention incorporating subcompetencies, in our residency program in July 2013. Our primary outcomes were feasibility, including faculty and staff time and costs, number of documented feedback encounters in the first 2 months of implementation, and user-reported time required to complete the intervention. We also assessed learner and faculty acceptability. Results Development and implementation of the Milestones Passport required 10 hours of program coordinator time, 120 hours of software developer time, and 20 hours of faculty time. Twenty-eight residents and 34 faculty members generated 257 Milestones Passport feedback encounters. Most residents and faculty reported that the encounters required fewer than 5 minutes to complete, and 48% (12 of 25) of the residents and 68% (19 of 28) of faculty reported satisfaction with the Milestones Passport intervention. Faculty satisfaction with overall feedback in the ED improved after the intervention (93% versus 54%, P  =  .003), whereas resident satisfaction with feedback did not change significantly. Conclusions The Milestones Passport feedback intervention was feasible and acceptable to users; however, learner satisfaction with the Milestone assessment in the ED was modest. PMID:26279784

Evaluation of intrinsic and extrinsic motivation interventions with a self-help smoking cessation program.

PubMed

Curry, S J; Wagner, E H; Grothaus, L C

1991-04-01

Personalized feedback and a financial incentive, developed from an intrinsic/extrinsic motivation framework, were evaluated as adjuncts to self-help materials for smoking cessation. Ss (N = 1,217) were randomized to 4 treatment groups and were followed up at 3 and 12 months. Consistent with hypotheses derived from the motivation framework, the financial incentive increased the use of self-help materials, did not increase cessation rates among program users, and was associated with higher relapse rates among those who did manage to quit. The personalized feedback increased both smoking cessation and use of the materials 3 months after distribution of the materials. Continuous abstinence (abstinence at 3 and 12 months) in the group that received the personalized feedback alone was twice the rate of the other groups.

Schema-based learning of adaptable and flexible prey-catching in anurans I. The basic architecture.

PubMed

Corbacho, Fernando; Nishikawa, Kiisa C; Weerasuriya, Ananda; Liaw, Jim-Shih; Arbib, Michael A

2005-12-01

A motor action often involves the coordination of several motor synergies and requires flexible adjustment of the ongoing execution based on feedback signals. To elucidate the neural mechanisms underlying the construction and selection of motor synergies, we study prey-capture in anurans. Experimental data demonstrate the intricate interaction between different motor synergies, including the interplay of their afferent feedback signals (Weerasuriya 1991; Anderson and Nishikawa 1996). Such data provide insights for the general issues concerning two-way information flow between sensory centers, motor circuits and periphery in motor coordination. We show how different afferent feedback signals about the status of the different components of the motor apparatus play a critical role in motor control as well as in learning. This paper, along with its companion paper, extend the model by Liaw et al. (1994) by integrating a number of different motor pattern generators, different types of afferent feedback, as well as the corresponding control structure within an adaptive framework we call Schema-Based Learning. We develop a model of the different MPGs involved in prey-catching as a vehicle to investigate the following questions: What are the characteristic features of the activity of a single muscle? How can these features be controlled by the premotor circuit? What are the strategies employed to generate and synchronize motor synergies? What is the role of afferent feedback in shaping the activity of a MPG? How can several MPGs share the same underlying circuitry and yet give rise to different motor patterns under different input conditions? In the companion paper we also extend the model by incorporating learning components that give rise to more flexible, adaptable and robust behaviors. To show these aspects we incorporate studies on experiments on lesions and the learning processes that allow the animal to recover its proper functioning.

Design Of Combined Stochastic Feedforward/Feedback Control

NASA Technical Reports Server (NTRS)

Halyo, Nesim

1989-01-01

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

Effective Information Extraction Framework for Heterogeneous Clinical Reports Using Online Machine Learning and Controlled Vocabularies.

PubMed

Zheng, Shuai; Lu, James J; Ghasemzadeh, Nima; Hayek, Salim S; Quyyumi, Arshed A; Wang, Fusheng

2017-05-09

Extracting structured data from narrated medical reports is challenged by the complexity of heterogeneous structures and vocabularies and often requires significant manual effort. Traditional machine-based approaches lack the capability to take user feedbacks for improving the extraction algorithm in real time. Our goal was to provide a generic information extraction framework that can support diverse clinical reports and enables a dynamic interaction between a human and a machine that produces highly accurate results. A clinical information extraction system IDEAL-X has been built on top of online machine learning. It processes one document at a time, and user interactions are recorded as feedbacks to update the learning model in real time. The updated model is used to predict values for extraction in subsequent documents. Once prediction accuracy reaches a user-acceptable threshold, the remaining documents may be batch processed. A customizable controlled vocabulary may be used to support extraction. Three datasets were used for experiments based on report styles: 100 cardiac catheterization procedure reports, 100 coronary angiographic reports, and 100 integrated reports-each combines history and physical report, discharge summary, outpatient clinic notes, outpatient clinic letter, and inpatient discharge medication report. Data extraction was performed by 3 methods: online machine learning, controlled vocabularies, and a combination of these. The system delivers results with F1 scores greater than 95%. IDEAL-X adopts a unique online machine learning-based approach combined with controlled vocabularies to support data extraction for clinical reports. The system can quickly learn and improve, thus it is highly adaptable. ©Shuai Zheng, James J Lu, Nima Ghasemzadeh, Salim S Hayek, Arshed A Quyyumi, Fusheng Wang. Originally published in JMIR Medical Informatics (http://medinform.jmir.org), 09.05.2017.

Brain reflections: A circuit-based framework for understanding information processing and cognitive control.

PubMed

Gratton, Gabriele

2018-03-01

Here, I propose a view of the architecture of the human information processing system, and of how it can be adapted to changing task demands (which is the hallmark of cognitive control). This view is informed by an interpretation of brain activity as reflecting the excitability level of neural representations, encoding not only stimuli and temporal contexts, but also action plans and task goals. The proposed cognitive architecture includes three types of circuits: open circuits, involved in feed-forward processing such as that connecting stimuli with responses and characterized by brief, transient brain activity; and two types of closed circuits, positive feedback circuits (characterized by sustained, high-frequency oscillatory activity), which help select and maintain representations, and negative feedback circuits (characterized by brief, low-frequency oscillatory bursts), which are instead associated with changes in representations. Feed-forward activity is primarily responsible for the spread of activation along the information processing system. Oscillatory activity, instead, controls this spread. Sustained oscillatory activity due to both local cortical circuits (gamma) and longer corticothalamic circuits (alpha and beta) allows for the selection of individuated representations. Through the interaction of these circuits, it also allows for the preservation of representations across different temporal spans (sensory and working memory) and their spread across the brain. In contrast, brief bursts of oscillatory activity, generated by novel and/or conflicting information, lead to the interruption of sustained oscillatory activity and promote the generation of new representations. I discuss how this framework can account for a number of psychological and behavioral phenomena. © 2017 Society for Psychophysiological Research.

Sci-Fri AM: Quality, Safety, and Professional Issues 01: CPQR Technical Quality Control Suite Development including Quality Control Workload Results

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

Malkoske, Kyle; Nielsen, Michelle; Brown, Erika

A close partnership between the Canadian Partnership for Quality Radiotherapy (CPQR) and the Canadian Organization of Medical Physicist’s (COMP) Quality Assurance and Radiation Safety Advisory Committee (QARSAC) has resulted in the development of a suite of Technical Quality Control (TQC) Guidelines for radiation treatment equipment, that outline specific performance objectives and criteria that equipment should meet in order to assure an acceptable level of radiation treatment quality. The framework includes consolidation of existing guidelines and/or literature by expert reviewers, structured stages of public review, external field-testing and ratification by COMP. The adopted framework for the development and maintenance of themore » TQCs ensures the guidelines incorporate input from the medical physics community during development, measures the workload required to perform the QC tests outlined in each TQC, and remain relevant (i.e. “living documents”) through subsequent planned reviews and updates. This presentation will show the Multi-Leaf Linear Accelerator document as an example of how feedback and cross-national work to achieve a robust guidance document. During field-testing, each technology was tested at multiple centres in a variety of clinic environments. As part of the defined feedback, workload data was captured. This lead to average time associated with testing as defined in each TQC document. As a result, for a medium-sized centre comprising 6 linear accelerators and a comprehensive brachytherapy program, we evaluate the physics workload to 1.5 full-time equivalent physicist per year to complete all QC tests listed in this suite.« less

Plant-Soil Feedback: Bridging Natural and Agricultural Sciences.

PubMed

Mariotte, Pierre; Mehrabi, Zia; Bezemer, T Martijn; De Deyn, Gerlinde B; Kulmatiski, Andrew; Drigo, Barbara; Veen, G F Ciska; van der Heijden, Marcel G A; Kardol, Paul

2018-02-01

In agricultural and natural systems researchers have demonstrated large effects of plant-soil feedback (PSF) on plant growth. However, the concepts and approaches used in these two types of systems have developed, for the most part, independently. Here, we present a conceptual framework that integrates knowledge and approaches from these two contrasting systems. We use this integrated framework to demonstrate (i) how knowledge from complex natural systems can be used to increase agricultural resource-use efficiency and productivity and (ii) how research in agricultural systems can be used to test hypotheses and approaches developed in natural systems. Using this framework, we discuss avenues for new research toward an ecologically sustainable and climate-smart future. Copyright © 2017 Elsevier Ltd. All rights reserved.

Voluntarily controlled but not merely observed visual feedback affects postural sway

PubMed Central

Asai, Tomohisa; Hiromitsu, Kentaro; Imamizu, Hiroshi

2018-01-01

Online stabilization of human standing posture utilizes multisensory afferences (e.g., vision). Whereas visual feedback of spontaneous postural sway can stabilize postural control especially when observers concentrate on their body and intend to minimize postural sway, the effect of intentional control of visual feedback on postural sway itself remains unclear. This study assessed quiet standing posture in healthy adults voluntarily controlling or merely observing visual feedback. The visual feedback (moving square) had either low or high gain and was either horizontally flipped or not. Participants in the voluntary-control group were instructed to minimize their postural sway while voluntarily controlling visual feedback, whereas those in the observation group were instructed to minimize their postural sway while merely observing visual feedback. As a result, magnified and flipped visual feedback increased postural sway only in the voluntary-control group. Furthermore, regardless of the instructions and feedback manipulations, the experienced sense of control over visual feedback positively correlated with the magnitude of postural sway. We suggest that voluntarily controlled, but not merely observed, visual feedback is incorporated into the feedback control system for posture and begins to affect postural sway. PMID:29682421

Design, parametrization, and pole placement of stabilizing output feedback compensators via injective cogenerator quotient signal modules.

PubMed

Blumthaler, Ingrid; Oberst, Ulrich

2012-03-01

Control design belongs to the most important and difficult tasks of control engineering and has therefore been treated by many prominent researchers and in many textbooks, the systems being generally described by their transfer matrices or by Rosenbrock equations and more recently also as behaviors. Our approach to controller design uses, in addition to the ideas of our predecessors on coprime factorizations of transfer matrices and on the parametrization of stabilizing compensators, a new mathematical technique which enables simpler design and also new theorems in spite of the many outstanding results of the literature: (1) We use an injective cogenerator signal module ℱ over the polynomial algebra [Formula: see text] (F an infinite field), a saturated multiplicatively closed set T of stable polynomials and its quotient ring [Formula: see text] of stable rational functions. This enables the simultaneous treatment of continuous and discrete systems and of all notions of stability, called T-stability. We investigate stabilizing control design by output feedback of input/output (IO) behaviors and study the full feedback IO behavior, especially its autonomous part and not only its transfer matrix. (2) The new technique is characterized by the permanent application of the injective cogenerator quotient signal module [Formula: see text] and of quotient behaviors [Formula: see text] of [Formula: see text]-behaviors B. (3) For the control tasks of tracking, disturbance rejection, model matching, and decoupling and not necessarily proper plants we derive necessary and sufficient conditions for the existence of proper stabilizing compensators with proper and stable closed loop behaviors, parametrize all such compensators as IO behaviors and not only their transfer matrices and give new algorithms for their construction. Moreover we solve the problem of pole placement or spectral assignability for the complete feedback behavior. The properness of the full feedback behavior ensures the absence of impulsive solutions in the continuous case, and that of the compensator enables its realization by Kalman state space equations or elementary building blocks. We note that every behavior admits an IO decomposition with proper transfer matrix, but that most of these decompositions do not have this property, and therefore we do not assume the properness of the plant. (4) The new technique can also be applied to more general control interconnections according to Willems, in particular to two-parameter feedback compensators and to the recent tracking framework of Fiaz/Takaba/Trentelman. In contrast to these authors, however, we pay special attention to the properness of all constructed transfer matrices which requires more subtle algorithms.

A conceptual framework for regional feedbacks in a changing climate

NASA Astrophysics Data System (ADS)

Batlle Bayer, L.; van den Hurk, B. J. J. M.; Strengers, B.

2012-04-01

Terrestrial ecosystems and climate influence each other through biogeochemical (e.g. carbon cycle) and biogeophysical (e.g. albedo, water fluxes) processes. These interactions might be disturbed when a climate human-induced forcing takes place (e.g. deforestation); and the ecosystem responses to the climate system might amplify (positive feedback) or dampen (negative feedback) the initial forcing. Research on feedbacks has been mainly based on the carbon cycle at the global scale. However, biogeophysical feedbacks might have a great impact at the local or regional scale, which is the main focus of this article. A conceptual framework, with the major interactions and processes between terrestrial ecosystems and climate, is presented to further explore feedbacks at the regional level. Four hot spots with potential changes in land use/management and climate are selected: sub-Saharan Africa (SSA), Europe, the Amazon Basin and South and Southeast Asia. For each region, diverse climate human-induced forcings and feedbacks were identified based on relevant published literature. For Europe, the positive soil moisture-evapotranspiration (ET) is important for natural vegetation during a heat wave event, while the positive soil moisture-precipitation feedback plays a more important role for droughts in the Amazon region. Agricultural expansion in SSA will depend on the impacts of the changing climate on crop yields and the adopted agro-technologies. The adoption of irrigation in the commonly rainfed systems might turn the positive soil moisture- ET feedback into a negative one. In contrast, South and Southeast Asia might face water shortage in the future, and thus turning the soil moisture-ET feedback into a positive one. Further research is needed for the major processes that affect the ultimate sign of the feedbacks, as well as for the interactions, which effect remains uncertain, such as ET-precipitation interaction. In addition, socio-economic feedbacks need to be added in the ecosystems-climate system since they play an essential role in human decisions on land use and land cover change (LULCC).

A Digital Map From External Forcing to the Final Surface Warming Pattern and its Seasonal Cycle

NASA Astrophysics Data System (ADS)

Cai, M.

2015-12-01

Historically, only the thermodynamic processes (e.g., water vapor, cloud, surface albedo, and atmospheric lapse rate) that directly influence the top of the atmosphere (TOA) radiative energy flux balance are considered in climate feedback analysis. One of my recent research areas is to develop a new framework for climate feedback analysis that explicitly takes into consideration not only the thermodynamic processes that the directly influence the TOA radiative energy flux balance but also the local dynamical (e.g., evaporation, surface sensible heat flux, vertical convections etc) and non-local dynamical (large-scale horizontal energy transport) processes in aiming to explain the warming asymmetry between high and low latitudes, between ocean and land, and between the surface and atmosphere. In the last 5-6 years, we have developed a coupled atmosphere-surface climate feedback-response analysis method (CFRAM) as a new framework for estimating climate feedback and sensitivity in coupled general circulation models with a full physical parameterization package. In the CFRAM, the isolation of partial temperature changes due to an external forcing alone or an individual feedback is achieved by solving the linearized infrared radiation transfer model subject to individual energy flux perturbations (external or due to feedbacks). The partial temperature changes are addable and their sum is equal to the (total) temperature change (in the linear sense). The CFRAM is used to isolate the partial temperature changes due to the external forcing, due to water vapor feedback, clouds, surface albedo, local vertical convection, and non-local atmospheric dynamical feedbacks, as well as oceanic heat storage. It has been shown that seasonal variations in the cloud feedback, surface albedo feedback, and ocean heat storage/dynamics feedback, directly caused by the strong annual cycle of insolation, contribute primarily to the large seasonal variation of polar warming. Furthermore, the CO2 forcing, and water vapor and atmospheric dynamics feedbacks add to the maximum polar warming in fall/winter.

Robust adaptive control modeling of human arm movements subject to altered gravity and mechanical loads

NASA Astrophysics Data System (ADS)

Tryfonidis, Michail

It has been observed that during orbital spaceflight the absence of gravitation related sensory inputs causes incongruence between the expected and the actual sensory feedback resulting from voluntary movements. This incongruence results in a reinterpretation or neglect of gravity-induced sensory input signals. Over time, new internal models develop, gradually compensating for the loss of spatial reference. The study of adaptation of goal-directed movements is the main focus of this thesis. The hypothesis is that during the adaptive learning process the neural connections behave in ways that can be described by an adaptive control method. The investigation presented in this thesis includes two different sets of experiments. A series of dart throwing experiments took place onboard the space station Mir. Experiments also took place at the Biomechanics lab at MIT, where the subjects performed a series of continuous trajectory tracking movements while a planar robotic manipulandum exerted external torques on the subjects' moving arms. The experimental hypothesis for both experiments is that during the first few trials the subjects will perform poorly trying to follow a prescribed trajectory, or trying to hit a target. A theoretical framework is developed that is a modification of the sliding control method used in robotics. The new control framework is an attempt to explain the adaptive behavior of the subjects. Numerical simulations of the proposed framework are compared with experimental results and predictions from competitive models. The proposed control methodology extends the results of the sliding mode theory to human motor control. The resulting adaptive control model of the motor system is robust to external dynamics, even those of negative gain, uses only position and velocity feedback, and achieves bounded steady-state error without explicit knowledge of the system's nonlinearities. In addition, the experimental and modeling results demonstrate that visuomotor learning is important not only for error correction through internal model adaptation on ground or in microgravity, but also for the minimization of the total mean-square error in the presence of random variability. Thus human intelligent decision displays certain attributes that seem to conform to Bayesian statistical games. (Copies available exclusively from MIT Libraries, Rm. 14-0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax 617-253-1690.)

A Framework for Identifying and Classifying Undergraduate Student Proof Errors

ERIC Educational Resources Information Center

Strickland, S.; Rand, B.

2016-01-01

This paper describes a framework for identifying, classifying, and coding student proofs, modified from existing proof-grading rubrics. The framework includes 20 common errors, as well as categories for interpreting the severity of the error. The coding scheme is intended for use in a classroom context, for providing effective student feedback. In…

A dynamic framework on travel mode choice focusing on utilitarian walking based on the integration of current knowledge.

PubMed

Yang, Yong

2016-09-01

Recently, research on utilitarian walking has gained momentum due to its benefits on both health and the environment. However, our overall understanding of how built and social environments affect travel mode choice (walking or not) is still limited, and most existing frameworks on travel mode choice lack dynamic processes. After a review of several mainstream theories and a number of frameworks, we propose an integrated framework. The basic constructs in the travel mode choice function are utilities, constraints, attitudes, and habits. With a hierarchical structure and heuristic rules, the travel mode choice function is modified by individual characteristics and travel characteristics. The framework explicitly presents several dynamic processes, including the perception process on the environment, attitude formation process, habit formation process, interactions among an individual's own behaviors, interactions among travelers, feedback from travel to the built and social environments, and feedback from other behaviors to the built and social environments. For utilitarian walking, the framework may contribute to the study design, data collection, adoption of new research methods, and provide indications for policy interventions.

A dynamic framework on travel mode choice focusing on utilitarian walking based on the integration of current knowledge

PubMed Central

Yang, Yong

2016-01-01

Recently, research on utilitarian walking has gained momentum due to its benefits on both health and the environment. However, our overall understanding of how built and social environments affect travel mode choice (walking or not) is still limited, and most existing frameworks on travel mode choice lack dynamic processes. After a review of several mainstream theories and a number of frameworks, we propose an integrated framework. The basic constructs in the travel mode choice function are utilities, constraints, attitudes, and habits. With a hierarchical structure and heuristic rules, the travel mode choice function is modified by individual characteristics and travel characteristics. The framework explicitly presents several dynamic processes, including the perception process on the environment, attitude formation process, habit formation process, interactions among an individual’s own behaviors, interactions among travelers, feedback from travel to the built and social environments, and feedback from other behaviors to the built and social environments. For utilitarian walking, the framework may contribute to the study design, data collection, adoption of new research methods, and provide indications for policy interventions. PMID:27747158

A brain-controlled lower-limb exoskeleton for human gait training.

PubMed

Liu, Dong; Chen, Weihai; Pei, Zhongcai; Wang, Jianhua

2017-10-01

Brain-computer interfaces have been a novel approach to translate human intentions into movement commands in robotic systems. This paper describes an electroencephalogram-based brain-controlled lower-limb exoskeleton for gait training, as a proof of concept towards rehabilitation with human-in-the-loop. Instead of using conventional single electroencephalography correlates, e.g., evoked P300 or spontaneous motor imagery, we propose a novel framework integrated two asynchronous signal modalities, i.e., sensorimotor rhythms (SMRs) and movement-related cortical potentials (MRCPs). We executed experiments in a biologically inspired and customized lower-limb exoskeleton where subjects (N = 6) actively controlled the robot using their brain signals. Each subject performed three consecutive sessions composed of offline training, online visual feedback testing, and online robot-control recordings. Post hoc evaluations were conducted including mental workload assessment, feature analysis, and statistics test. An average robot-control accuracy of 80.16% ± 5.44% was obtained with the SMR-based method, while estimation using the MRCP-based method yielded an average performance of 68.62% ± 8.55%. The experimental results showed the feasibility of the proposed framework with all subjects successfully controlled the exoskeleton. The current paradigm could be further extended to paraplegic patients in clinical trials.

A brain-controlled lower-limb exoskeleton for human gait training

NASA Astrophysics Data System (ADS)

Liu, Dong; Chen, Weihai; Pei, Zhongcai; Wang, Jianhua

2017-10-01

Brain-computer interfaces have been a novel approach to translate human intentions into movement commands in robotic systems. This paper describes an electroencephalogram-based brain-controlled lower-limb exoskeleton for gait training, as a proof of concept towards rehabilitation with human-in-the-loop. Instead of using conventional single electroencephalography correlates, e.g., evoked P300 or spontaneous motor imagery, we propose a novel framework integrated two asynchronous signal modalities, i.e., sensorimotor rhythms (SMRs) and movement-related cortical potentials (MRCPs). We executed experiments in a biologically inspired and customized lower-limb exoskeleton where subjects (N = 6) actively controlled the robot using their brain signals. Each subject performed three consecutive sessions composed of offline training, online visual feedback testing, and online robot-control recordings. Post hoc evaluations were conducted including mental workload assessment, feature analysis, and statistics test. An average robot-control accuracy of 80.16% ± 5.44% was obtained with the SMR-based method, while estimation using the MRCP-based method yielded an average performance of 68.62% ± 8.55%. The experimental results showed the feasibility of the proposed framework with all subjects successfully controlled the exoskeleton. The current paradigm could be further extended to paraplegic patients in clinical trials.

Analytically exploiting noise correlations inside the feedback loop to improve locked-oscillator performance.

PubMed

Sastrawan, J; Jones, C; Akhalwaya, I; Uys, H; Biercuk, M J

2016-08-01

We introduce concepts from optimal estimation to the stabilization of precision frequency standards limited by noisy local oscillators. We develop a theoretical framework casting various measures for frequency standard variance in terms of frequency-domain transfer functions, capturing the effects of feedback stabilization via a time series of Ramsey measurements. Using this framework, we introduce an optimized hybrid predictive feedforward measurement protocol that employs results from multiple past measurements and transfer-function-based calculations of measurement covariance to improve the accuracy of corrections within the feedback loop. In the presence of common non-Markovian noise processes these measurements will be correlated in a calculable manner, providing a means to capture the stochastic evolution of the local oscillator frequency during the measurement cycle. We present analytic calculations and numerical simulations of oscillator performance under competing feedback schemes and demonstrate benefits in both correction accuracy and long-term oscillator stability using hybrid feedforward. Simulations verify that in the presence of uncompensated dead time and noise with significant spectral weight near the inverse cycle time predictive feedforward outperforms traditional feedback, providing a path towards developing a class of stabilization software routines for frequency standards limited by noisy local oscillators.

Dynamical diagnostics of the SST annual cycle in the eastern equatorial Pacific: part I a linear coupled framework

NASA Astrophysics Data System (ADS)

Chen, Ying-Ying; Jin, Fei-Fei

2018-03-01

The eastern equatorial Pacific has a pronounced westward propagating SST annual cycle resulting from ocean-atmosphere interactions with equatorial semiannual solar forcing and off-equatorial annual solar forcing conveyed to the equator. In this two-part paper, a simple linear coupled framework is proposed to quantify the internal dynamics and external forcing for a better understanding of the linear part of the dynamics annual cycle. It is shown that an essential internal dynamical factor is the SST damping rate which measures the coupled stability in a similar way as the Bjerknes instability index for the El Niño-Southern Oscillation. It comprises three major negative terms (dynamic damping due to the Ekman pumping feedback, mean circulation advection, and thermodynamic feedback) and two positive terms (thermocline feedback and zonal advection). Another dynamical factor is the westward-propagation speed that is mainly determined by the thermodynamic feedback, the Ekman pumping feedback, and the mean circulation. The external forcing is measured by the annual and semiannual forcing factors. These linear internal and external factors, which can be estimated from data, determine the amplitude of the annual cycle.

Integrated modeling of land-use change: the role of coupling, interactions and feedbacks between the human and Earth systems

NASA Astrophysics Data System (ADS)

Monier, E.; Kicklighter, D. W.; Ejaz, Q.; Winchester, N.; Paltsev, S.; Reilly, J. M.

2016-12-01

Land-use change integrates a large number of components of the human and Earth systems, including climate, energy, water, and land. These complex coupling elements, interactions and feedbacks take place on a variety of space and time scales, thus increasing the complexity of land-use change modeling frameworks. In this study, we aim to identify which coupling elements, interactions and feedbacks are important for modeling land-use change, both at the global and regional level. First, we review the existing land-use change modeling framework used to develop land-use change projections for the Representative Concentration Pathways (RCP) scenarios. In such framework, land-use change is simulated by Integrated Assessment Models (IAMs) and mainly influenced by economic, energy, demographic and policy drivers. IAMs focus on representing the demand for agriculture and forestry goods (crops for food and bioenergy, forest products for construction and bioenergy), the interactions with other sectors of the economy and trade between various regions of the world. Then, we investigate how important various coupling elements and feedbacks with the Earth system are for projections of land-use change at the global and regional level. We focus on the following: i) the climate impacts on land productivity and greenhouse gas emissions, which requires climate change information and coupling to a terrestrial ecosystem model/crop model; ii) the climate and economic impacts on irrigation availability, which requires coupling the LUC modeling framework to a water resources management model and disaggregating rainfed and irrigated croplands; iii) the feedback of land-use change on the global and regional climate system through land-use change emissions and changes in the surface albedo and hydrology, which requires coupling to an Earth system model. Finally, we conclude our study by highlighting the current lack of clarity in how various components of the human and Earth systems are coupled in IAMs , and the need for a lexicon that is agreed upon by the IAM community.

Cooperative path following control of multiple nonholonomic mobile robots.

PubMed

Cao, Ke-Cai; Jiang, Bin; Yue, Dong

2017-11-01

Cooperative path following control problem of multiple nonholonomic mobile robots has been considered in this paper. Based on the framework of decomposition, the cooperative path following problem has been transformed into path following problem and cooperative control problem; Then cascaded theory of non-autonomous system has been employed in the design of controllers without resorting to feedback linearization. One time-varying coordinate transformation based on dilation has been introduced to solve the uncontrollable problem of nonholonomic robots when the whole group's reference converges to stationary point. Cooperative path following controllers for nonholonomic robots have been proposed under persistent reference or reference target that converges to stationary point respectively. Simulation results using Matlab have illustrated the effectiveness of the obtained theoretical results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Formative Assessment in Dance Education

ERIC Educational Resources Information Center

Andrade, Heidi; Lui, Angela; Palma, Maria; Hefferen, Joanna

2015-01-01

Feedback is crucial to students' growth as dancers. When used within the framework of formative assessment, or assessment for learning, feedback results in actionable next steps that dancers can use to improve their performances. This article showcases the work of two dance specialists, one elementary and one middle school teacher, who have…

Plant-soil feedbacks and the reversal of desertification with climate change

USDA-ARS?s Scientific Manuscript database

Our objective was to provide a conceptual framework for perennial grass recovery in a series of wet years, which includes both plant-soil feedbacks that increase available water to grasses and effects of precipitation on a sequence of recovery-related processes. We tested hypotheses based on this fr...

Towards Run-time Assurance of Advanced Propulsion Algorithms

NASA Technical Reports Server (NTRS)

Wong, Edmond; Schierman, John D.; Schlapkohl, Thomas; Chicatelli, Amy

2014-01-01

This paper covers the motivation and rationale for investigating the application of run-time assurance methods as a potential means of providing safety assurance for advanced propulsion control systems. Certification is becoming increasingly infeasible for such systems using current verification practices. Run-time assurance systems hold the promise of certifying these advanced systems by continuously monitoring the state of the feedback system during operation and reverting to a simpler, certified system if anomalous behavior is detected. The discussion will also cover initial efforts underway to apply a run-time assurance framework to NASA's model-based engine control approach. Preliminary experimental results are presented and discussed.

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

NASA Technical Reports Server (NTRS)

Farrell, Logan C.; Strawser, Phil; Hambuchen, Kimberly; Baker, Will; Badger, Julia

2017-01-01

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2012-01-01

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

Feedback in clinical education: untying the Gordian knot.

PubMed

Weinstein, Debra F

2015-05-01

Feedback is essential to clinical education, especially in the era of competencies, milestones, and entrustable professional activities. It is, however, an area where medical educators often fall short. Although educational leaders and faculty supervisors provide feedback in a variety of clinical settings, surveys show important gaps in medical student and resident satisfaction with the feedback received, suggesting lost opportunities to identify performance problems as well as to help each learner reach his or her greatest potential.In this issue of Academic Medicine, Telio and colleagues extend the empirically validated concept of a "therapeutic alliance" to propose the "educational alliance" as a framework for enhancing feedback in medical education. They highlight the importance of source credibility, which depends on the teacher-learner relationship and alignment of values, the teacher's understanding of the learner's role and goals, the teacher's direct observation of the learner, and the learner's perception of the teacher's good intentions. The author of this Commentary suggests that the educational alliance framework should prompt medical educators to reconsider feedback and explore opportunities for optimizing it. Most medical schools and graduate medical education programs are not designed in a way that supports the education alliance model, but the Commentary author offers suggestions for cultivating educational alliances, including rethinking supervisor selection criteria. Such interventions should be combined with ongoing faculty development and efforts to improve coaching and mentoring for students, residents, and fellows. Untying the Gordian knot of effective feedback will require innovative approaches, exchange of successful strategies, and continued research.

Evaluation of a performance appraisal framework for radiation therapists in planning and simulation

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

Becker, Jillian, E-mail: jillian.becker@health.qld.gov.au; Bridge, Pete; Brown, Elizabeth

2015-06-15

Constantly evolving technology and techniques within radiation therapy require practitioners to maintain a continuous approach to professional development and training. Systems of performance appraisal and adoption of regular feedback mechanisms are vital to support this development yet frequently lack structure and rely on informal peer support. A Radiation Therapy Performance Appraisal Framework (RT-PAF) for radiation therapists in planning and simulation was developed to define expectations of practice and promote a supportive and objective culture of performance and skills appraisal. Evaluation of the framework was conducted via an anonymous online survey tool. Nine peer reviewers and fourteen recipients provided feedback onmore » its effectiveness and the challenges and limitations of the approach. Findings from the evaluation were positive and suggested that both groups gained benefit from and expressed a strong interest in embedding the approach more routinely. Respondents identified common challenges related to the limited ability to implement suggested development strategies; this was strongly associated with time and rostering issues. This framework successfully defined expectations for practice and provided a fair and objective feedback process that focussed on skills development. It empowered staff to maintain their skills and reach their professional potential. Management support, particularly in regard to provision of protected time was highlighted as critical to the framework's ongoing success. The demonstrated benefits arising in terms of staff satisfaction and development highlight the importance of this commitment to the modern radiation therapy workforce.« less

Causal Loop Analysis of coastal geomorphological systems

NASA Astrophysics Data System (ADS)

Payo, Andres; Hall, Jim W.; French, Jon; Sutherland, James; van Maanen, Barend; Nicholls, Robert J.; Reeve, Dominic E.

2016-03-01

As geomorphologists embrace ever more sophisticated theoretical frameworks that shift from simple notions of evolution towards single steady equilibria to recognise the possibility of multiple response pathways and outcomes, morphodynamic modellers are facing the problem of how to keep track of an ever-greater number of system feedbacks. Within coastal geomorphology, capturing these feedbacks is critically important, especially as the focus of activity shifts from reductionist models founded on sediment transport fundamentals to more synthesist ones intended to resolve emergent behaviours at decadal to centennial scales. This paper addresses the challenge of mapping the feedback structure of processes controlling geomorphic system behaviour with reference to illustrative applications of Causal Loop Analysis at two study cases: (1) the erosion-accretion behaviour of graded (mixed) sediment beds, and (2) the local alongshore sediment fluxes of sand-rich shorelines. These case study examples are chosen on account of their central role in the quantitative modelling of geomorphological futures and as they illustrate different types of causation. Causal loop diagrams, a form of directed graph, are used to distil the feedback structure to reveal, in advance of more quantitative modelling, multi-response pathways and multiple outcomes. In the case of graded sediment bed, up to three different outcomes (no response, and two disequilibrium states) can be derived from a simple qualitative stability analysis. For the sand-rich local shoreline behaviour case, two fundamentally different responses of the shoreline (diffusive and anti-diffusive), triggered by small changes of the shoreline cross-shore position, can be inferred purely through analysis of the causal pathways. Explicit depiction of feedback-structure diagrams is beneficial when developing numerical models to explore coastal morphological futures. By explicitly mapping the feedbacks included and neglected within a model, the modeller can readily assess if critical feedback loops are included.

Rapid control and feedback rates enhance neuroprosthetic control

PubMed Central

Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.

2017-01-01

Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms. PMID:28059065

Rapid control and feedback rates enhance neuroprosthetic control

NASA Astrophysics Data System (ADS)

Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.

2017-01-01

Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms.

A fast, robust and tunable synthetic gene oscillator.

PubMed

Stricker, Jesse; Cookson, Scott; Bennett, Matthew R; Mather, William H; Tsimring, Lev S; Hasty, Jeff

2008-11-27

One defining goal of synthetic biology is the development of engineering-based approaches that enable the construction of gene-regulatory networks according to 'design specifications' generated from computational modelling. This approach provides a systematic framework for exploring how a given regulatory network generates a particular phenotypic behaviour. Several fundamental gene circuits have been developed using this approach, including toggle switches and oscillators, and these have been applied in new contexts such as triggered biofilm development and cellular population control. Here we describe an engineered genetic oscillator in Escherichia coli that is fast, robust and persistent, with tunable oscillatory periods as fast as 13 min. The oscillator was designed using a previously modelled network architecture comprising linked positive and negative feedback loops. Using a microfluidic platform tailored for single-cell microscopy, we precisely control environmental conditions and monitor oscillations in individual cells through multiple cycles. Experiments reveal remarkable robustness and persistence of oscillations in the designed circuit; almost every cell exhibited large-amplitude fluorescence oscillations throughout observation runs. The oscillatory period can be tuned by altering inducer levels, temperature and the media source. Computational modelling demonstrates that the key design principle for constructing a robust oscillator is a time delay in the negative feedback loop, which can mechanistically arise from the cascade of cellular processes involved in forming a functional transcription factor. The positive feedback loop increases the robustness of the oscillations and allows for greater tunability. Examination of our refined model suggested the existence of a simplified oscillator design without positive feedback, and we construct an oscillator strain confirming this computational prediction.

Optimality and stability of intentional and unintentional actions: I. Origins of drifts in performance.

PubMed

Parsa, Behnoosh; Terekhov, Alexander; Zatsiorsky, Vladimir M; Latash, Mark L

2017-02-01

We address the nature of unintentional changes in performance in two papers. This first paper tested a hypothesis that unintentional changes in performance variables during continuous tasks without visual feedback are due to two processes. First, there is a drift of the referent coordinate for the salient performance variable toward the actual coordinate of the effector. Second, there is a drift toward minimum of a cost function. We tested this hypothesis in four-finger isometric pressing tasks that required the accurate production of a combination of total moment and total force with natural and modified finger involvement. Subjects performed accurate force-moment production tasks under visual feedback, and then visual feedback was removed for some or all of the salient variables. Analytical inverse optimization was used to compute a cost function. Without visual feedback, both force and moment drifted slowly toward lower absolute magnitudes. Over 15 s, the force drop could reach 20% of its initial magnitude while moment drop could reach 30% of its initial magnitude. Individual finger forces could show drifts toward both higher and lower forces. The cost function estimated using the analytical inverse optimization reduced its value as a consequence of the drift. We interpret the results within the framework of hierarchical control with referent spatial coordinates for salient variables at each level of the hierarchy combined with synergic control of salient variables. The force drift is discussed as a natural relaxation process toward states with lower potential energy in the physical (physiological) system involved in the task.

Optimality and stability of intentional and unintentional actions: I. Origins of drifts in performance

PubMed Central

Parsa, Behnoosh; Terekhov, Alexander; Zatsiorsky, Vladimir M.; Latash, Mark L.

2016-01-01

We address the nature of unintentional changes in performance in two papers. This first paper tested a hypothesis that unintentional changes in performance variables during continuous tasks without visual feedback are due to two processes. First, there is a drift of the referent coordinate for the salient performance variable toward the actual coordinate of the effector. Second, there is a drift toward minimum of a cost function. We tested this hypothesis in four-finger isometric pressing tasks that required the accurate production of a combination of total moment and total force with natural and modified finger involvement. Subjects performed accurate force/moment production tasks under visual feedback, and then visual feedback was removed for some or all of the salient variables. Analytical inverse optimization was used to compute a cost function. Without visual feedback, both force and moment drifted slowly toward lower absolute magnitudes. Over 15 s, the force drop could reach 20% of its initial magnitude while moment drop could reach 30% of its initial magnitude. Individual finger forces could show drifts toward both higher and lower forces. The cost function estimated using the analytical inverse optimization reduced its value as a consequence of the drift. We interpret the results within the framework of hierarchical control with referent spatial coordinates for salient variables at each level of the hierarchy combined with synergic control of salient variables. The force drift is discussed as a natural relaxation process toward states with lower potential energy in the physical (physiological) system involved in the task. PMID:27785549

In praise of feedback: an effective intervention for college students who are heavy drinkers.

PubMed

Walters, S T

2000-03-01

The efficacy of brief motivational feedback to reduce drinking among college students has been reported by several researchers. As an extension of this theoretical and applied framework, the author tested the use of mailed feedback to influence the drinking behavior of students self-identified as moderate-to-heavy drinkers in two randomized trials. A 6-week follow-up of the efforts suggested the efficacy of the feedback intervention at reducing alcohol consumption. The feedback mechanism used in the studies is described in detail and possible reasons for its efficacy are explored. In light of the cost-effective nature of this intervention, it may warrant a place in larger campus prevention programs.

Impaired Feedforward Control and Enhanced Feedback Control of Speech in Patients with Cerebellar Degeneration

PubMed Central

Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B.

2017-01-01

The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control. SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of speech but retain the ability to make online feedback corrections; indeed, the patients show an increased sensitivity to feedback. These results indicate that the cerebellum forms a crucial part of the feedforward control system for speech but is not essential for online, feedback control. PMID:28842410

Statistics based sampling for controller and estimator design

NASA Astrophysics Data System (ADS)

Tenne, Dirk

The purpose of this research is the development of statistical design tools for robust feed-forward/feedback controllers and nonlinear estimators. This dissertation is threefold and addresses the aforementioned topics nonlinear estimation, target tracking and robust control. To develop statistically robust controllers and nonlinear estimation algorithms, research has been performed to extend existing techniques, which propagate the statistics of the state, to achieve higher order accuracy. The so-called unscented transformation has been extended to capture higher order moments. Furthermore, higher order moment update algorithms based on a truncated power series have been developed. The proposed techniques are tested on various benchmark examples. Furthermore, the unscented transformation has been utilized to develop a three dimensional geometrically constrained target tracker. The proposed planar circular prediction algorithm has been developed in a local coordinate framework, which is amenable to extension of the tracking algorithm to three dimensional space. This tracker combines the predictions of a circular prediction algorithm and a constant velocity filter by utilizing the Covariance Intersection. This combined prediction can be updated with the subsequent measurement using a linear estimator. The proposed technique is illustrated on a 3D benchmark trajectory, which includes coordinated turns and straight line maneuvers. The third part of this dissertation addresses the design of controller which include knowledge of parametric uncertainties and their distributions. The parameter distributions are approximated by a finite set of points which are calculated by the unscented transformation. This set of points is used to design robust controllers which minimize a statistical performance of the plant over the domain of uncertainty consisting of a combination of the mean and variance. The proposed technique is illustrated on three benchmark problems. The first relates to the design of prefilters for a linear and nonlinear spring-mass-dashpot system and the second applies a feedback controller to a hovering helicopter. Lastly, the statistical robust controller design is devoted to a concurrent feed-forward/feedback controller structure for a high-speed low tension tape drive.

Optimal Fault-Tolerant Control for Discrete-Time Nonlinear Strict-Feedback Systems Based on Adaptive Critic Design.

PubMed

Wang, Zhanshan; Liu, Lei; Wu, Yanming; Zhang, Huaguang

2018-06-01

This paper investigates the problem of optimal fault-tolerant control (FTC) for a class of unknown nonlinear discrete-time systems with actuator fault in the framework of adaptive critic design (ACD). A pivotal highlight is the adaptive auxiliary signal of the actuator fault, which is designed to offset the effect of the fault. The considered systems are in strict-feedback forms and involve unknown nonlinear functions, which will result in the causal problem. To solve this problem, the original nonlinear systems are transformed into a novel system by employing the diffeomorphism theory. Besides, the action neural networks (ANNs) are utilized to approximate a predefined unknown function in the backstepping design procedure. Combined the strategic utility function and the ACD technique, a reinforcement learning algorithm is proposed to set up an optimal FTC, in which the critic neural networks (CNNs) provide an approximate structure of the cost function. In this case, it not only guarantees the stability of the systems, but also achieves the optimal control performance as well. In the end, two simulation examples are used to show the effectiveness of the proposed optimal FTC strategy.

Student Predisposition to Instructor Feedback and Perceptions of Teaching Presence Predict Motivation toward Online Courses

ERIC Educational Resources Information Center

Cole, Andrew William; Nicolini, Kristine M.; Anderson, Christopher; Bunton, Thomas; Cherney, Maura R.; Fisher, Valerie Cronin; Draeger, Richard, Jr.; Featherston, Michelle; Motel, Laura; Peck, Brittnie; Allen, Mike

2017-01-01

Much research into college student motivation focuses on traditional face-to-face (FtF) classroom settings. Building from previous research in Feedback Intervention Theory (Kluger & DeNisi, 1996) and the Community of Inquiry framework (Anderson, Rourke, Garrison, & Archer, 2001; Garrison, Anderson, & Archer, 1999), this study sought to…

"Ignoring Me Is Part of Learning": Supervisory Feedback on Doctoral Writing

ERIC Educational Resources Information Center

Carter, Susan; Kumar, Vijay

2017-01-01

Doctoral supervisors aim for two goals. One is a strong thesis, timely in submission. The other is the fully fledged independent researcher who is able to write about research clearly within an epistemologically accepted framework. Feedback and feedforward on writing should address both goals. However, in many institutions, supervisors are under…

Safe-trajectory optimization and tracking control in ultra-close proximity to a failed satellite

NASA Astrophysics Data System (ADS)

Zhang, Jingrui; Chu, Xiaoyu; Zhang, Yao; Hu, Quan; Zhai, Guang; Li, Yanyan

2018-03-01

This paper presents a trajectory-optimization method for a chaser spacecraft operating in ultra-close proximity to a failed satellite. Based on the combination of active and passive trajectory protection, the constraints in the optimization framework are formulated for collision avoidance and successful docking in the presence of any thruster failure. The constraints are then handled by an adaptive Gauss pseudospectral method, in which the dynamic residuals are used as the metric to determine the distribution of collocation points. A finite-time feedback control is further employed in tracking the optimized trajectory. In particular, the stability and convergence of the controller are proved. Numerical results are given to demonstrate the effectiveness of the proposed methods.

A unified perspective on robot control - The energy Lyapunov function approach

NASA Technical Reports Server (NTRS)

Wen, John T.

1990-01-01

A unified framework for the stability analysis of robot tracking control is presented. By using an energy-motivated Lyapunov function candidate, the closed-loop stability is shown for a large family of control laws sharing a common structure of proportional and derivative feedback and a model-based feedforward. The feedforward can be zero, partial or complete linearized dynamics, partial or complete nonlinear dynamics, or linearized or nonlinear dynamics with parameter adaptation. As result, the dichotomous approaches to the robot control problem based on the open-loop linearization and nonlinear Lyapunov analysis are both included in this treatment. Furthermore, quantitative estimates of the trade-offs between different schemes in terms of the tracking performance, steady state error, domain of convergence, realtime computation load and required a prior model information are derived.

Diagnosing Disaster Resilience of Communities as Multi-scale Complex Socio-ecological Systems

NASA Astrophysics Data System (ADS)

Liu, Wei; Mochizuki, Junko; Keating, Adriana; Mechler, Reinhard; Williges, Keith; Hochrainer, Stefan

2014-05-01

Global environmental change, growing anthropogenic influence, and increasing globalisation of society have made it clear that disaster vulnerability and resilience of communities cannot be understood without knowledge on the broader social-ecological system in which they are embedded. We propose a framework for diagnosing community resilience to disasters, as a form of disturbance to social-ecological systems, with feedbacks from the local to the global scale. Inspired by iterative multi-scale analysis employed by Resilience Alliance, the related socio-ecological systems framework of Ostrom, and the sustainable livelihood framework, we developed a multi-tier framework for thinking of communities as multi-scale social-ecological systems and analyzing communities' disaster resilience and also general resilience. We highlight the cross-scale influences and feedbacks on communities that exist from lower (e.g., household) to higher (e.g., regional, national) scales. The conceptual framework is then applied to a real-world resilience assessment situation, to illustrate how key components of socio-ecological systems, including natural hazards, natural and man-made environment, and community capacities can be delineated and analyzed.

Conflict-driven adaptive control is enhanced by integral negative emotion on a short time scale.

PubMed

Yang, Qian; Pourtois, Gilles

2018-02-05

Negative emotion influences cognitive control, and more specifically conflict adaptation. However, discrepant results have often been reported in the literature. In this study, we broke down negative emotion into integral and incidental components using a modern motivation-based framework, and assessed whether the former could change conflict adaptation. In the first experiment, we manipulated the duration of the inter-trial-interval (ITI) to assess the actual time-scale of this effect. Integral negative emotion was induced by using loss-related feedback contingent on task performance, and measured at the subjective and physiological levels. Results showed that conflict-driven adaptive control was enhanced when integral negative emotion was elicited, compared to a control condition without changes in defensive motivation. Importantly, this effect was only found when a short, as opposed to long ITI was used, suggesting that it had a short time scale. In the second experiment, we controlled for effects of feature repetition and contingency learning, and replicated an enhanced conflict adaptation effect when integral negative emotion was elicited and a short ITI was used. We interpret these new results against a standard cognitive control framework assuming that integral negative emotion amplifies specific control signals transiently, and in turn enhances conflict adaptation.

Co-evolution for Problem Simplification

NASA Technical Reports Server (NTRS)

Haith, Gary L.; Lohn, Jason D.; Cplombano, Silvano P.; Stassinopoulos, Dimitris

1999-01-01

This paper explores a co-evolutionary approach applicable to difficult problems with limited failure/success performance feedback. Like familiar "predator-prey" frameworks this algorithm evolves two populations of individuals - the solutions (predators) and the problems (prey). The approach extends previous work by rewarding only the problems that match their difficulty to the level of solut,ion competence. In complex problem domains with limited feedback, this "tractability constraint" helps provide an adaptive fitness gradient that, effectively differentiates the candidate solutions. The algorithm generates selective pressure toward the evolution of increasingly competent solutions by rewarding solution generality and uniqueness and problem tractability and difficulty. Relative (inverse-fitness) and absolute (static objective function) approaches to evaluating problem difficulty are explored and discussed. On a simple control task, this co-evolutionary algorithm was found to have significant advantages over a genetic algorithm with either a static fitness function or a fitness function that changes on a hand-tuned schedule.

Uncovering the spatially distant feedback loops of global trade: A network and input-output approach.

PubMed

Prell, Christina; Sun, Laixiang; Feng, Kuishuang; He, Jiaying; Hubacek, Klaus

2017-05-15

Land-use change is increasingly driven by global trade. The term "telecoupling" has been gaining ground as a means to describe how human actions in one part of the world can have spatially distant impacts on land and land-use in another. These interactions can, over time, create both direct and spatially distant feedback loops, in which human activity and land use mutually impact one another over great expanses. In this paper, we develop an analytical framework to clarify spatially distant feedbacks in the case of land use and global trade. We use an innovative mix of multi-regional input-output (MRIO) analysis and stochastic actor-oriented models (SAOMs) for analyzing the co-evolution of changes in trade network patterns with those of land use, as embodied in trade. Our results indicate that the formation of trade ties and changes in embodied land use mutually impact one another, and further, that these changes are linked to disparities in countries' wealth. Through identifying this feedback loop, our results support ongoing discussions about the unequal trade patterns between rich and poor countries that result in uneven distributions of negative environmental impacts. Finally, evidence for this feedback loop is present even when controlling for a number of underlying mechanisms, such as countries' land endowments, their geographical distance from one another, and a number of endogenous network tendencies. Copyright © 2017 Elsevier B.V. All rights reserved.

Adaptive Approximation-Based Regulation Control for a Class of Uncertain Nonlinear Systems Without Feedback Linearizability.

PubMed

Wang, Ning; Sun, Jing-Chao; Han, Min; Zheng, Zhongjiu; Er, Meng Joo

2017-09-06

In this paper, for a general class of uncertain nonlinear (cascade) systems, including unknown dynamics, which are not feedback linearizable and cannot be solved by existing approaches, an innovative adaptive approximation-based regulation control (AARC) scheme is developed. Within the framework of adding a power integrator (API), by deriving adaptive laws for output weights and prediction error compensation pertaining to single-hidden-layer feedforward network (SLFN) from the Lyapunov synthesis, a series of SLFN-based approximators are explicitly constructed to exactly dominate completely unknown dynamics. By the virtue of significant advancements on the API technique, an adaptive API methodology is eventually established in combination with SLFN-based adaptive approximators, and it contributes to a recursive mechanism for the AARC scheme. As a consequence, the output regulation error can asymptotically converge to the origin, and all other signals of the closed-loop system are uniformly ultimately bounded. Simulation studies and comprehensive comparisons with backstepping- and API-based approaches demonstrate that the proposed AARC scheme achieves remarkable performance and superiority in dealing with unknown dynamics.

An Application of the Impact Evaluation Process for Designing a Performance Measurement and Evaluation Framework in K-12 Environments

ERIC Educational Resources Information Center

Guerra-Lopez, Ingrid; Toker, Sacip

2012-01-01

This article illustrates the application of the Impact Evaluation Process for the design of a performance measurement and evaluation framework for an urban high school. One of the key aims of this framework is to enhance decision-making by providing timely feedback about the effectiveness of various performance improvement interventions. The…

Understanding the tropical cloud feedback from an analysis of the circulation and stability regimes simulated from an upgraded multiscale modeling framework

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

Xu, Kuan-Man; Cheng, Anning

As revealed from studies using conventional general circulation models (GCMs), the thermodynamic contribution to the tropical cloud feedback dominates the dynamic contribution, but these models have difficulty in simulating the subsidence regimes in the tropics. In this study, we analyze the tropical cloud feedback from a 2 K sea surface temperature (SST) perturbation experiment performed with a multiscale modeling framework (MMF). The MMF explicitly represents cloud processes using 2-D cloud-resolving models with an advanced higher-order turbulence closure in each atmospheric column of the host GCM. We sort the monthly mean cloud properties and cloud radiative effects according to circulation andmore » stability regimes. Here, we find that the regime-sorted dynamic changes dominate the thermodynamic changes in terms of the absolute magnitude. The dynamic changes in the weak subsidence regimes exhibit strong negative cloud feedback due to increases in shallow cumulus and deep clouds while those in strongly convective and moderate-to-strong subsidence regimes have opposite signs, resulting in a small contribution to cloud feedback. On the other hand, the thermodynamic changes are large due to decreases in stratocumulus clouds in the moderate-to-strong subsidence regimes with small opposite changes in the weak subsidence and strongly convective regimes, resulting in a relatively large contribution to positive cloud feedback. The dynamic and thermodynamic changes contribute equally to positive cloud feedback and are relatively insensitive to stability in the moderate-to-strong subsidence regimes. But they are sensitive to stability changes from the SST increase in convective and weak subsidence regimes. Lastly, these results have implications for interpreting cloud feedback mechanisms.« less

Understanding the tropical cloud feedback from an analysis of the circulation and stability regimes simulated from an upgraded multiscale modeling framework

DOE PAGES

Xu, Kuan-Man; Cheng, Anning

2016-11-15

As revealed from studies using conventional general circulation models (GCMs), the thermodynamic contribution to the tropical cloud feedback dominates the dynamic contribution, but these models have difficulty in simulating the subsidence regimes in the tropics. In this study, we analyze the tropical cloud feedback from a 2 K sea surface temperature (SST) perturbation experiment performed with a multiscale modeling framework (MMF). The MMF explicitly represents cloud processes using 2-D cloud-resolving models with an advanced higher-order turbulence closure in each atmospheric column of the host GCM. We sort the monthly mean cloud properties and cloud radiative effects according to circulation andmore » stability regimes. Here, we find that the regime-sorted dynamic changes dominate the thermodynamic changes in terms of the absolute magnitude. The dynamic changes in the weak subsidence regimes exhibit strong negative cloud feedback due to increases in shallow cumulus and deep clouds while those in strongly convective and moderate-to-strong subsidence regimes have opposite signs, resulting in a small contribution to cloud feedback. On the other hand, the thermodynamic changes are large due to decreases in stratocumulus clouds in the moderate-to-strong subsidence regimes with small opposite changes in the weak subsidence and strongly convective regimes, resulting in a relatively large contribution to positive cloud feedback. The dynamic and thermodynamic changes contribute equally to positive cloud feedback and are relatively insensitive to stability in the moderate-to-strong subsidence regimes. But they are sensitive to stability changes from the SST increase in convective and weak subsidence regimes. Lastly, these results have implications for interpreting cloud feedback mechanisms.« less

Effective organizational control: implications for academic medicine.

PubMed

Wilkes, Michael S; Srinivasan, Malathi; Flamholtz, Eric

2005-11-01

This article provides a framework for understanding the nature, role, functioning, design, and effects of organizational oversight systems. Using a case study with elements recognizable to an academic audience, the authors explore how a dean of a fictitious School of Medicine might use organizational control structures to develop effective solutions to global disarray within the academic medical center. Organizational control systems are intended to help influence the behavior of people as members of a formal organization. They are necessary to motivate people toward organizational goals, to coordinate diverse efforts, and to provide feedback about problems. The authors present a model of control to make this process more visible within organizations. They explore the overlap among academic medical centers and large businesses-for instance, each is a billion-dollar enterprise with complex internal and external demands and multiple audiences. The authors identify and describe how to use the key components of an organization's control system: environment, culture, structure, and core control system. Elements of the core control system are identified, described, and explored. These closely articulating elements include planning, operations, measurement, evaluation, and feedback systems. Use of control portfolios is explored to achieve goal-outcome congruence. Additionally, the authors describe how the components of the control system can be used synergistically by academic leadership to create organizational change, congruent with larger organizational goals. The enterprise of medicine is quickly learning from the enterprise of business. Achieving goal-action congruence will better position academic medicine to meet its multiple missions.

Robust permanence for ecological equations with internal and external feedbacks.

PubMed

Patel, Swati; Schreiber, Sebastian J

2018-07-01

Species experience both internal feedbacks with endogenous factors such as trait evolution and external feedbacks with exogenous factors such as weather. These feedbacks can play an important role in determining whether populations persist or communities of species coexist. To provide a general mathematical framework for studying these effects, we develop a theorem for coexistence for ecological models accounting for internal and external feedbacks. Specifically, we use average Lyapunov functions and Morse decompositions to develop sufficient and necessary conditions for robust permanence, a form of coexistence robust to large perturbations of the population densities and small structural perturbations of the models. We illustrate how our results can be applied to verify permanence in non-autonomous models, structured population models, including those with frequency-dependent feedbacks, and models of eco-evolutionary dynamics. In these applications, we discuss how our results relate to previous results for models with particular types of feedbacks.

Reframing the Food-Biodiversity Challenge.

PubMed

Fischer, Joern; Abson, David J; Bergsten, Arvid; French Collier, Neil; Dorresteijn, Ine; Hanspach, Jan; Hylander, Kristoffer; Schultner, Jannik; Senbeta, Feyera

2017-05-01

Given the serious limitations of production-oriented frameworks, we offer here a new conceptual framework for how to analyze the nexus of food security and biodiversity conservation. We introduce four archetypes of social-ecological system states corresponding to win-win (e.g., agroecology), win-lose (e.g., intensive agriculture), lose-win (e.g., fortress conservation), and lose-lose (e.g., degraded landscapes) outcomes for food security and biodiversity conservation. Each archetype is shaped by characteristic external drivers, exhibits characteristic internal social-ecological features, and has characteristic feedbacks that maintain it. This framework shifts the emphasis from focusing on production only to considering social-ecological dynamics, and enables comparison among landscapes. Moreover, examining drivers and feedbacks facilitates the analysis of possible transitions between system states (e.g., from a lose-lose outcome to a more preferred outcome). Copyright © 2017 Elsevier Ltd. All rights reserved.

The medical educator, the discourse analyst, and the phonetician: a collaborative feedback methodology for clinical communication.

PubMed

Woodward-Kron, Robyn; Stevens, Mary; Flynn, Eleanor

2011-05-01

Frameworks for clinical communication assist educators in making explicit the principles of good communication and providing feedback to medical trainees. However, existing frameworks rarely take into account the roles of culture and language in communication, which can be important for international medical graduates (IMGs) whose first language is not English. This article describes the collaboration by a medical educator, a discourse analyst, and a phonetician to develop a communication and language feedback methodology to assist IMG trainees at a Victorian hospital in Australia with developing their doctor-patient communication skills. The Communication and Language Feedback (CaLF) methodology incorporates a written tool and video recording of role-plays of doctor-patient interactions in a classroom setting or in an objective structured clinical examination (OSCE) practice session with a simulated patient. IMG trainees receive verbal feedback from their hospital-based medical clinical educator, the simulated patient, and linguists. The CaLF tool was informed by a model of language in context, observation of IMG communication training, and process evaluation by IMG participants during January to August 2009. The authors provided participants with a feedback package containing their practice video (which included verbal feedback) and the completed CaLF tool.The CaLF methodology provides a tool for medical educators and language practitioners to work collaboratively with IMGs to enhance communication and language skills. The ongoing interdisciplinary collaboration also provides much-needed applied research opportunities in intercultural health communication, an area the authors believe cannot be adequately addressed from the perspective of one discipline alone. Copyright © by the Association of American medical Colleges.

Pre-Results of the Real-Time ODIN Validation on MARTe Using Plasma Linearized Model in FTU Tokamak

NASA Astrophysics Data System (ADS)

Sadeghi, Yahya; Boncagni, Luca

2012-06-01

MARTe is a modular framework for real-time control aspects. At present time there are several MARTe systems under development at Frascati Tokamak Upgrade (Boncagni et al. in First steps in the FTU migration towards a modular and distributed real time control architecture based on MARTe and RTNet, 2010) such as the LH power percentage system, the gas puffing control system, the real-time ODIN plasma equilibrium reconstruction system and the position/current feedback control system (in a design phase) (Boncagni et al. in J Fusion Eng Design). The real-time reconstruction of magnetic flux in FTU tokamak is an important issue to estimate some quantities that can be use to control the plasma. This paper addresses the validation of real-time implementation of that task on MARTe.

Nonlinear gearshifts control of dual-clutch transmissions during inertia phase.

PubMed

Hu, Yunfeng; Tian, Lu; Gao, Bingzhao; Chen, Hong

2014-07-01

In this paper, a model-based nonlinear gearshift controller is designed by the backstepping method to improve the shift quality of vehicles with a dual-clutch transmission (DCT). Considering easy-implementation, the controller is rearranged into a concise structure which contains a feedforward control and a feedback control. Then, robustness of the closed-loop error system is discussed in the framework of the input to state stability (ISS) theory, where model uncertainties are considered as the additive disturbance inputs. Furthermore, due to the application of the backstepping method, the closed-loop error system is ordered as a linear system. Using the linear system theory, a guideline for selecting the controller parameters is deduced which could reduce the workload of parameters tuning. Finally, simulation results and Hardware in the Loop (HiL) simulation are presented to validate the effectiveness of the designed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Impaired Feedforward Control and Enhanced Feedback Control of Speech in Patients with Cerebellar Degeneration.

PubMed

Parrell, Benjamin; Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B

2017-09-20

The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control. SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of speech but retain the ability to make online feedback corrections; indeed, the patients show an increased sensitivity to feedback. These results indicate that the cerebellum forms a crucial part of the feedforward control system for speech but is not essential for online, feedback control. Copyright © 2017 the authors 0270-6474/17/379249-10$15.00/0.

Model-Free Primitive-Based Iterative Learning Control Approach to Trajectory Tracking of MIMO Systems With Experimental Validation.

PubMed

Radac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M

2015-11-01

This paper proposes a novel model-free trajectory tracking of multiple-input multiple-output (MIMO) systems by the combination of iterative learning control (ILC) and primitives. The optimal trajectory tracking solution is obtained in terms of previously learned solutions to simple tasks called primitives. The library of primitives that are stored in memory consists of pairs of reference input/controlled output signals. The reference input primitives are optimized in a model-free ILC framework without using knowledge of the controlled process. The guaranteed convergence of the learning scheme is built upon a model-free virtual reference feedback tuning design of the feedback decoupling controller. Each new complex trajectory to be tracked is decomposed into the output primitives regarded as basis functions. The optimal reference input for the control system to track the desired trajectory is next recomposed from the reference input primitives. This is advantageous because the optimal reference input is computed straightforward without the need to learn from repeated executions of the tracking task. In addition, the optimization problem specific to trajectory tracking of square MIMO systems is decomposed in a set of optimization problems assigned to each separate single-input single-output control channel that ensures a convenient model-free decoupling. The new model-free primitive-based ILC approach is capable of planning, reasoning, and learning. A case study dealing with the model-free control tuning for a nonlinear aerodynamic system is included to validate the new approach. The experimental results are given.

Follow-up and Feedback Processes in the EHEA

ERIC Educational Resources Information Center

del Canto, Pablo; Gallego, Isabel; López, José Manuel; Medina, Esunly; Mochón, Francisco; Mora, Javier; Reyes, Angélica; Rodríguez, Eva; Salami, Esther; Santamaría, Eduard; Valero, Miguel

2011-01-01

In the present paper, we describe the work being carried out by a group of professors so as to implement the follow-up and feedback processes of the activities students do throughout the first academic years in their Engineering studies. Not to mention, this project is within the EHEA (European Higher Education Area) framework. Our results show…

What Motivates Students to Provide Feedback to Teachers about Teaching and Learning? An Expectancy Theory Perspective

ERIC Educational Resources Information Center

Caulfield, Jay

2007-01-01

The purpose of this empirical research study was to investigate what motivates students to provide formative anonymous feedback to teachers regarding their perceptions of the teaching and learning experience in order to improve student learning. Expectancy theory, specifically Vroom's Model, was used as the conceptual framework for the study.…

Using client feedback in psychotherapy from an interpersonal process perspective.

PubMed

Reese, Robert J; Slone, Norah C; Miserocchi, Kristin M

2013-09-01

The process of monitoring treatment outcome, also known as "client feedback," is increasingly becoming a recommended practice for psychotherapy. One concern, however, is how to integrate such a process into the work that psychotherapists typically do. Three clinical examples are presented, illustrating how a client feedback system can be used in conjunction with a specific theoretical framework, interpersonal process therapy (Teyber, 2006). The examples highlight that client feedback not only can be of minimal disruption to the psychotherapy process, but may also offer the potential to augment a clinician's approach to helping. Theoretical and research support are provided for each example. 2013 APA, all rights reserved

Design strategies for dynamic closed-loop optogenetic neurocontrol in vivo

NASA Astrophysics Data System (ADS)

Bolus, M. F.; Willats, A. A.; Whitmire, C. J.; Rozell, C. J.; Stanley, G. B.

2018-04-01

Objective. Controlling neural activity enables the possibility of manipulating sensory perception, cognitive processes, and body movement, in addition to providing a powerful framework for functionally disentangling the neural circuits that underlie these complex phenomena. Over the last decade, optogenetic stimulation has become an increasingly important and powerful tool for understanding neural circuit function, owing to the ability to target specific cell types and bidirectionally modulate neural activity. To date, most stimulation has been provided in open-loop or in an on/off closed-loop fashion, where previously-determined stimulation is triggered by an event. Here, we describe and demonstrate a design approach for precise optogenetic control of neuronal firing rate modulation using feedback to guide stimulation continuously. Approach. Using the rodent somatosensory thalamus as an experimental testbed for realizing desired time-varying patterns of firing rate modulation, we utilized a moving average exponential filter to estimate firing rate online from single-unit spiking measured extracellularly. This estimate of instantaneous rate served as feedback for a proportional integral (PI) controller, which was designed during the experiment based on a linear-nonlinear Poisson (LNP) model of the neuronal response to light. Main results. The LNP model fit during the experiment enabled robust closed-loop control, resulting in good tracking of sinusoidal and non-sinusoidal targets, and rejection of unmeasured disturbances. Closed-loop control also enabled manipulation of trial-to-trial variability. Significance. Because neuroscientists are faced with the challenge of dissecting the functions of circuit components, the ability to maintain control of a region of interest in spite of changes in ongoing neural activity will be important for disambiguating function within networks. Closed-loop stimulation strategies are ideal for control that is robust to such changes, and the employment of continuous feedback to adjust stimulation in real-time can improve the quality of data collected using optogenetic manipulation.

Towards Multimodal Emotion Recognition in E-Learning Environments

ERIC Educational Resources Information Center

Bahreini, Kiavash; Nadolski, Rob; Westera, Wim

2016-01-01

This paper presents a framework (FILTWAM (Framework for Improving Learning Through Webcams And Microphones)) for real-time emotion recognition in e-learning by using webcams. FILTWAM offers timely and relevant feedback based upon learner's facial expressions and verbalizations. FILTWAM's facial expression software module has been developed and…

Evaluating an audit and feedback intervention for reducing antibiotic prescribing behaviour in general dental practice (the RAPiD trial): a partial factorial cluster randomised trial protocol.

PubMed

Prior, Maria; Elouafkaoui, Paula; Elders, Andrew; Young, Linda; Duncan, Eilidh M; Newlands, Rumana; Clarkson, Jan E; Ramsay, Craig R

2014-04-24

Antibiotic prescribing in dentistry accounts for 9% of total antibiotic prescriptions in Scottish primary care. The Scottish Dental Clinical Effectiveness Programme (SDCEP) published guidance in April 2008 (2nd edition, August 2011) for Drug Prescribing in Dentistry, which aims to assist dentists to make evidence-based antibiotic prescribing decisions. However, wide variation in prescribing persists and the overall use of antibiotics is increasing. RAPiD is a 12-month partial factorial cluster randomised trial conducted in NHS General Dental Practices across Scotland. Its aim is to compare the effectiveness of individualised audit and feedback (A&F) strategies for the translation into practice of SDCEP recommendations on antibiotic prescribing. The trial uses routinely collected electronic healthcare data in five aspects of its design in order to: identify the study population; apply eligibility criteria; carry out stratified randomisation; generate the trial intervention; analyse trial outcomes. Eligibility was determined on contract status and a minimum level of recent NHS treatment provision. All eligible dental practices in Scotland were simultaneously randomised at baseline either to current audit practice or to an intervention group. Randomisation was stratified by single-handed/multi-handed practices. General dental practitioners (GDPs) working at intervention practices will receive individualised graphical representations of their antibiotic prescribing rate from the previous 14 months at baseline and an update at six months. GDPs could not be blinded to their practice allocation. Intervention practices were further randomised using a factorial design to receive feedback with or without: a health board comparator; a supplementary text-based intervention; additional feedback at nine months. The primary outcome is the total antibiotic prescribing rate per 100 courses of treatment over the year following delivery of the baseline intervention. A concurrent qualitative process evaluation will apply theory-based approaches using the Consolidated Framework for Implementation Research to explore the acceptability of the interventions and the Theoretical Domains Framework to identify barriers and enablers to evidence-based antibiotic prescribing behaviour by GDPs. RAPiD will provide a robust evaluation of A&F in dentistry in Scotland. It also demonstrates that linked administrative datasets have the potential to be used efficiently and effectively across all stages of an randomised controlled trial. Current Controlled Trials ISRCTN49204710.

Evaluating an audit and feedback intervention for reducing antibiotic prescribing behaviour in general dental practice (the RAPiD trial): a partial factorial cluster randomised trial protocol

PubMed Central

2014-01-01

Background Antibiotic prescribing in dentistry accounts for 9% of total antibiotic prescriptions in Scottish primary care. The Scottish Dental Clinical Effectiveness Programme (SDCEP) published guidance in April 2008 (2nd edition, August 2011) for Drug Prescribing in Dentistry, which aims to assist dentists to make evidence-based antibiotic prescribing decisions. However, wide variation in prescribing persists and the overall use of antibiotics is increasing. Methods RAPiD is a 12-month partial factorial cluster randomised trial conducted in NHS General Dental Practices across Scotland. Its aim is to compare the effectiveness of individualised audit and feedback (A&F) strategies for the translation into practice of SDCEP recommendations on antibiotic prescribing. The trial uses routinely collected electronic healthcare data in five aspects of its design in order to: identify the study population; apply eligibility criteria; carry out stratified randomisation; generate the trial intervention; analyse trial outcomes. Eligibility was determined on contract status and a minimum level of recent NHS treatment provision. All eligible dental practices in Scotland were simultaneously randomised at baseline either to current audit practice or to an intervention group. Randomisation was stratified by single-handed/multi-handed practices. General dental practitioners (GDPs) working at intervention practices will receive individualised graphical representations of their antibiotic prescribing rate from the previous 14 months at baseline and an update at six months. GDPs could not be blinded to their practice allocation. Intervention practices were further randomised using a factorial design to receive feedback with or without: a health board comparator; a supplementary text-based intervention; additional feedback at nine months. The primary outcome is the total antibiotic prescribing rate per 100 courses of treatment over the year following delivery of the baseline intervention. A concurrent qualitative process evaluation will apply theory-based approaches using the Consolidated Framework for Implementation Research to explore the acceptability of the interventions and the Theoretical Domains Framework to identify barriers and enablers to evidence-based antibiotic prescribing behaviour by GDPs. Discussion RAPiD will provide a robust evaluation of A&F in dentistry in Scotland. It also demonstrates that linked administrative datasets have the potential to be used efficiently and effectively across all stages of an randomised controlled trial. Trial registration Current Controlled Trials ISRCTN49204710 PMID:24758164

Self-controlled video feedback on tactical skills for soccer teams results in more active involvement of players.

PubMed

van Maarseveen, Mariëtte J J; Oudejans, Raôul R D; Savelsbergh, Geert J P

2018-02-01

Many studies have shown that self-controlled feedback is beneficial for learning motor tasks, and that learners prefer to receive feedback after supposedly good trials. However, to date all studies conducted on self-controlled learning have used individual tasks and mainly relatively simple skills. Therefore, the aim of this study was to examine self-controlled feedback on tactical skills in small-sided soccer games. Highly talented youth soccer players were assigned to a self-control or yoked group and received video feedback on their offensive performance in 3 vs. 2 small-sided games. The results showed that the self-control group requested feedback mostly after good trials, that is, after they scored a goal. In addition, the perceived performance of the self-control group was higher on feedback than on no-feedback trials. Analyses of the conversations around the video feedback revealed that the players and coach discussed good and poor elements of performance and how to improve it. Although the coach had a major role in these conversations, the players of the self-control group spoke more and showed more initiative compared to the yoked group. The results revealed no significant beneficial effect of self-controlled feedback on performance as judged by the coach. Overall, the findings suggest that in such a complex situation as small-sided soccer games, self-controlled feedback is used both to confirm correct performance elements and to determine and correct errors, and that self-controlled learning stimulates the involvement of the learner in the learning process. Copyright © 2017 Elsevier B.V. All rights reserved.

Switching LPV Control with Double-Layer LPV Model for Aero-Engines

NASA Astrophysics Data System (ADS)

Tang, Lili; Huang, Jinquan; Pan, Muxuan

2017-11-01

To cover the whole range of operating conditions of aero-engine, a double-layer LPV model is built so as to take into account of the variability due to the flight altitude, Mach number and the rotational speed. With this framework, the problem of designing LPV state-feedback robust controller that guarantees desired bounds on both H_∞ and H_2 performances is considered. Besides this, to reduce the conservativeness caused by a single LPV controller of the whole flight envelope and the common Lyapunov function method, a new method is proposed to design a family of LPV switching controllers. The switching LPV controllers can ensure that the closed-loop system remains stable in the sense of Lyapunov under arbitrary switching logic. Meanwhile, the switching LPV controllers can ensure the parameters change smoothly. The validity and performance of the theoretical results are demonstrated through a numerical example.

Feedback-Equivalence of Nonlinear Systems with Applications to Power System Equations.

NASA Astrophysics Data System (ADS)

Marino, Riccardo

The key concept of the dissertation is feedback equivalence among systems affine in control. Feedback equivalence to linear systems in Brunovsky canonical form and the construction of the corresponding feedback transformation are used to: (i) design a nonlinear regulator for a detailed nonlinear model of a synchronous generator connected to an infinite bus; (ii) establish which power system network structures enjoy the feedback linearizability property and design a stabilizing control law for these networks with a constraint on the control space which comes from the use of d.c. lines. It is also shown that the feedback linearizability property allows the use of state feedback to contruct a linear controllable system with a positive definite linear Hamiltonian structure for the uncontrolled part if the state space is even; a stabilizing control law is derived for such systems. Feedback linearizability property is characterized by the involutivity of certain nested distributions for strongly accessible analytic systems; if the system is defined on a manifold M diffeomorphic to the Euclidean space, it is established that the set where the property holds is a submanifold open and dense in M. If an analytic output map is defined, a set of nested involutive distributions can be always defined and that allows the introduction of an observability property which is the dual concept, in some sense, to feedback linearizability: the goal is to investigate when a nonlinear system affine in control with an analytic output map is feedback equivalent to a linear controllable and observable system. Finally a nested involutive structure of distributions is shown to guarantee the existence of a state feedback that takes a nonlinear system affine in control to a single input one, both feedback equivalent to linear controllable systems, preserving one controlled vector field.

Control theory for scanning probe microscopy revisited.

PubMed

Stirling, Julian

2014-01-01

We derive a theoretical model for studying SPM feedback in the context of control theory. Previous models presented in the literature that apply standard models for proportional-integral-derivative controllers predict a highly unstable feedback environment. This model uses features specific to the SPM implementation of the proportional-integral controller to give realistic feedback behaviour. As such the stability of SPM feedback for a wide range of feedback gains can be understood. Further consideration of mechanical responses of the SPM system gives insight into the causes of exciting mechanical resonances of the scanner during feedback operation.

The UKC2 regional coupled environmental prediction system

NASA Astrophysics Data System (ADS)

Lewis, Huw W.; Castillo Sanchez, Juan Manuel; Graham, Jennifer; Saulter, Andrew; Bornemann, Jorge; Arnold, Alex; Fallmann, Joachim; Harris, Chris; Pearson, David; Ramsdale, Steven; Martínez-de la Torre, Alberto; Bricheno, Lucy; Blyth, Eleanor; Bell, Victoria A.; Davies, Helen; Marthews, Toby R.; O'Neill, Clare; Rumbold, Heather; O'Dea, Enda; Brereton, Ashley; Guihou, Karen; Hines, Adrian; Butenschon, Momme; Dadson, Simon J.; Palmer, Tamzin; Holt, Jason; Reynard, Nick; Best, Martin; Edwards, John; Siddorn, John

2018-01-01

It is hypothesized that more accurate prediction and warning of natural hazards, such as of the impacts of severe weather mediated through various components of the environment, require a more integrated Earth System approach to forecasting. This hypothesis can be explored using regional coupled prediction systems, in which the known interactions and feedbacks between different physical and biogeochemical components of the environment across sky, sea and land can be simulated. Such systems are becoming increasingly common research tools. This paper describes the development of the UKC2 regional coupled research system, which has been delivered under the UK Environmental Prediction Prototype project. This provides the first implementation of an atmosphere-land-ocean-wave modelling system focussed on the United Kingdom and surrounding seas at km-scale resolution. The UKC2 coupled system incorporates models of the atmosphere (Met Office Unified Model), land surface with river routing (JULES), shelf-sea ocean (NEMO) and ocean waves (WAVEWATCH III). These components are coupled, via OASIS3-MCT libraries, at unprecedentedly high resolution across the UK within a north-western European regional domain. A research framework has been established to explore the representation of feedback processes in coupled and uncoupled modes, providing a new research tool for UK environmental science. This paper documents the technical design and implementation of UKC2, along with the associated evaluation framework. An analysis of new results comparing the output of the coupled UKC2 system with relevant forced control simulations for six contrasting case studies of 5-day duration is presented. Results demonstrate that performance can be achieved with the UKC2 system that is at least comparable to its component control simulations. For some cases, improvements in air temperature, sea surface temperature, wind speed, significant wave height and mean wave period highlight the potential benefits of coupling between environmental model components. Results also illustrate that the coupling itself is not sufficient to address all known model issues. Priorities for future development of the UK Environmental Prediction framework and component systems are discussed.

Incorporating ecogeomorphic feedbacks to better understand resiliency in streams: A review and directions forward

NASA Astrophysics Data System (ADS)

Atkinson, Carla L.; Allen, Daniel C.; Davis, Lisa; Nickerson, Zachary L.

2018-03-01

Decades of interdisciplinary research show river form and function depends on interactions between the living and nonliving world, but a dominant paradigm underlying ecogeomorphic work consists of a top-down, unidirectional approach with abiotic forces driving biotic systems. Stream form and location within the stream network does dictate the habitat and resources available for organisms and overall community structure. Yet this traditional hierarchal framework on its own is inadequate in communicating information regarding the influence of biological systems on fluvial geomorphology that lead to changes in channel morphology, sediment cycling, and system-scale functions (e.g., sediment yield, biogeochemical nutrient cycling). Substantial evidence that organisms influence fluvial geomorphology exists, specifically the ability of aquatic vegetation and lotic animals to modify flow velocities and sediment deposition and transport - thus challenging the traditional hierarchal framework. Researchers recognize the need for ecogeomorphic frameworks that conceptualize feedbacks between organisms, sediment transport, and geomorphic structure. Furthermore, vital ecosystem processes, such as biogeochemical nutrient cycling represent the conversations that are occurring between geomorphological and biological systems. Here we review and synthesize selected case studies highlighting the role organisms play in moderating geomorphic processes and likely interact with these processes to have an impact on an essential ecosystem process, biogeochemical nutrient recycling. We explore whether biophysical interactions can provide information essential to improving predictions of system-scale river functions, specifically sediment transport and biogeochemical cycling, and discuss tools used to study these interactions. We suggest that current conceptual frameworks should acknowledge that hydrologic, geomorphologic, and ecologic processes operate on different temporal scales, generating bidirectional feedback loops over space and time. Hydro- and geomorphologic processes, operating episodically during bankfull conditions, influence ecological processes (e.g., biogeochemical cycling) occurring over longer time periods during base-flow conditions. This ecological activity generates the antecedent conditions that influence the hydro- and geomorphologic processes occurring during the next high flow event, creating a bidirectional feedback. This feedback should enhance the resiliency of fluvial landforms and ecosystem processes, allowing physical and biological processes to pull and push against each other over time.

Correlations in state space can cause sub-optimal adaptation of optimal feedback control models.

PubMed

Aprasoff, Jonathan; Donchin, Opher

2012-04-01

Control of our movements is apparently facilitated by an adaptive internal model in the cerebellum. It was long thought that this internal model implemented an adaptive inverse model and generated motor commands, but recently many reject that idea in favor of a forward model hypothesis. In theory, the forward model predicts upcoming state during reaching movements so the motor cortex can generate appropriate motor commands. Recent computational models of this process rely on the optimal feedback control (OFC) framework of control theory. OFC is a powerful tool for describing motor control, it does not describe adaptation. Some assume that adaptation of the forward model alone could explain motor adaptation, but this is widely understood to be overly simplistic. However, an adaptive optimal controller is difficult to implement. A reasonable alternative is to allow forward model adaptation to 're-tune' the controller. Our simulations show that, as expected, forward model adaptation alone does not produce optimal trajectories during reaching movements perturbed by force fields. However, they also show that re-optimizing the controller from the forward model can be sub-optimal. This is because, in a system with state correlations or redundancies, accurate prediction requires different information than optimal control. We find that adding noise to the movements that matches noise found in human data is enough to overcome this problem. However, since the state space for control of real movements is far more complex than in our simple simulations, the effects of correlations on re-adaptation of the controller from the forward model cannot be overlooked.

Towards Real-Time Speech Emotion Recognition for Affective E-Learning

ERIC Educational Resources Information Center

Bahreini, Kiavash; Nadolski, Rob; Westera, Wim

2016-01-01

This paper presents the voice emotion recognition part of the FILTWAM framework for real-time emotion recognition in affective e-learning settings. FILTWAM (Framework for Improving Learning Through Webcams And Microphones) intends to offer timely and appropriate online feedback based upon learner's vocal intonations and facial expressions in order…

Learning feedback and feedforward control in a mirror-reversed visual environment.

PubMed

Kasuga, Shoko; Telgen, Sebastian; Ushiba, Junichi; Nozaki, Daichi; Diedrichsen, Jörn

2015-10-01

When we learn a novel task, the motor system needs to acquire both feedforward and feedback control. Currently, little is known about how the learning of these two mechanisms relate to each other. In the present study, we tested whether feedforward and feedback control need to be learned separately, or whether they are learned as common mechanism when a new control policy is acquired. Participants were trained to reach to two lateral and one central target in an environment with mirror (left-right)-reversed visual feedback. One group was allowed to make online movement corrections, whereas the other group only received visual information after the end of the movement. Learning of feedforward control was assessed by measuring the accuracy of the initial movement direction to lateral targets. Feedback control was measured in the responses to sudden visual perturbations of the cursor when reaching to the central target. Although feedforward control improved in both groups, it was significantly better when online corrections were not allowed. In contrast, feedback control only adaptively changed in participants who received online feedback and remained unchanged in the group without online corrections. Our findings suggest that when a new control policy is acquired, feedforward and feedback control are learned separately, and that there may be a trade-off in learning between feedback and feedforward controllers. Copyright © 2015 the American Physiological Society.

Learning feedback and feedforward control in a mirror-reversed visual environment

PubMed Central

Kasuga, Shoko; Telgen, Sebastian; Ushiba, Junichi; Nozaki, Daichi

2015-01-01

When we learn a novel task, the motor system needs to acquire both feedforward and feedback control. Currently, little is known about how the learning of these two mechanisms relate to each other. In the present study, we tested whether feedforward and feedback control need to be learned separately, or whether they are learned as common mechanism when a new control policy is acquired. Participants were trained to reach to two lateral and one central target in an environment with mirror (left-right)-reversed visual feedback. One group was allowed to make online movement corrections, whereas the other group only received visual information after the end of the movement. Learning of feedforward control was assessed by measuring the accuracy of the initial movement direction to lateral targets. Feedback control was measured in the responses to sudden visual perturbations of the cursor when reaching to the central target. Although feedforward control improved in both groups, it was significantly better when online corrections were not allowed. In contrast, feedback control only adaptively changed in participants who received online feedback and remained unchanged in the group without online corrections. Our findings suggest that when a new control policy is acquired, feedforward and feedback control are learned separately, and that there may be a trade-off in learning between feedback and feedforward controllers. PMID:26245313

Effect of vibrotactile feedback on an EMG-based proportional cursor control system.

PubMed

Li, Shunchong; Chen, Xingyu; Zhang, Dingguo; Sheng, Xinjun; Zhu, Xiangyang

2013-01-01

Surface electromyography (sEMG) has been introduced into the bio-mechatronics systems, however, most of them are lack of the sensory feedback. In this paper, the effect of vibrotactile feedback for a myoelectric cursor control system is investigated quantitatively. Simultaneous and proportional control signals are extracted from EMG using a muscle synergy model. Different types of feedback including vibrotactile feedback and visual feedback are added, assessed and compared with each other. The results show that vibrotactile feedback is capable of improving the performance of EMG-based human machine interface.

A predictive control framework for optimal energy extraction of wind farms

NASA Astrophysics Data System (ADS)

Vali, M.; van Wingerden, J. W.; Boersma, S.; Petrović, V.; Kühn, M.

2016-09-01

This paper proposes an adjoint-based model predictive control for optimal energy extraction of wind farms. It employs the axial induction factor of wind turbines to influence their aerodynamic interactions through the wake. The performance index is defined here as the total power production of the wind farm over a finite prediction horizon. A medium-fidelity wind farm model is utilized to predict the inflow propagation in advance. The adjoint method is employed to solve the formulated optimization problem in a cost effective way and the first part of the optimal solution is implemented over the control horizon. This procedure is repeated at the next controller sample time providing the feedback into the optimization. The effectiveness and some key features of the proposed approach are studied for a two turbine test case through simulations.

Adaptive control for a class of nonlinear complex dynamical systems with uncertain complex parameters and perturbations

PubMed Central

Liu, Jian; Liu, Kexin; Liu, Shutang

2017-01-01

In this paper, adaptive control is extended from real space to complex space, resulting in a new control scheme for a class of n-dimensional time-dependent strict-feedback complex-variable chaotic (hyperchaotic) systems (CVCSs) in the presence of uncertain complex parameters and perturbations, which has not been previously reported in the literature. In detail, we have developed a unified framework for designing the adaptive complex scalar controller to ensure this type of CVCSs asymptotically stable and for selecting complex update laws to estimate unknown complex parameters. In particular, combining Lyapunov functions dependent on complex-valued vectors and back-stepping technique, sufficient criteria on stabilization of CVCSs are derived in the sense of Wirtinger calculus in complex space. Finally, numerical simulation is presented to validate our theoretical results. PMID:28467431

Adaptive control for a class of nonlinear complex dynamical systems with uncertain complex parameters and perturbations.

PubMed

Liu, Jian; Liu, Kexin; Liu, Shutang

2017-01-01

In this paper, adaptive control is extended from real space to complex space, resulting in a new control scheme for a class of n-dimensional time-dependent strict-feedback complex-variable chaotic (hyperchaotic) systems (CVCSs) in the presence of uncertain complex parameters and perturbations, which has not been previously reported in the literature. In detail, we have developed a unified framework for designing the adaptive complex scalar controller to ensure this type of CVCSs asymptotically stable and for selecting complex update laws to estimate unknown complex parameters. In particular, combining Lyapunov functions dependent on complex-valued vectors and back-stepping technique, sufficient criteria on stabilization of CVCSs are derived in the sense of Wirtinger calculus in complex space. Finally, numerical simulation is presented to validate our theoretical results.

H-infinity based integrated flight-propulsion control design for a STOVL aircraft in transition flight

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Mattern, Duane L.; Bright, Michelle M.; Ouzts, Peter J.

1990-01-01

Results are presented from an application of H-infinity control design methodology to a centralized integrated flight/propulsion control (IFPC) system design for a supersonic Short Take-Off and Vertical Landing (STOVL) fighter aircraft in transition flight. The overall design methodology consists of a centralized IFPC controller design with controller partitioning. Only the feedback controller design portion of the methodology is addressed. Design and evaluation vehicle models are summarized, and insight is provided into formulating the H-infinity control problem such that it reflects the IFPC design objectives. The H-infinity controller is shown to provide decoupled command tracking for the design model. The controller order could be significantly reduced by modal residualization of the fast controller modes without any deterioration in performance. A discussion is presented of the areas in which the controller performance needs to be improved, and ways in which these improvements can be achieved within the framework of an H-infinity based linear control design.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

The Impact of Disciplinary Background and Teaching Experience on the Use of Evaluative Language in Teacher Feedback

ERIC Educational Resources Information Center

Hu, Guangwei; Choo, Lilin

2016-01-01

This study was designed to examine secondary teachers' use of evaluative language resources in their qualitative written feedback on student work and factors shaping the deployment of such resources. Drawing on appraisal theory as an analytic framework for the language of evaluation, the study analyzed 84 teachers' evaluative reports on their…

Student Beliefs towards Written Corrective Feedback: The Case of Filipino High School Students

ERIC Educational Resources Information Center

Balanga, Roselle A.; Fidel, Irish Van B.; Gumapac, Mone Virma Ginry P.; Ho, Howell T.; Tullo, Riza Mae C.; Villaraza, Patricia Monette L.; Vizconde, Camilla J.

2016-01-01

The study identified the beliefs of high school students toward Written Corrective Feedback (WCF), based on the framework of Anderson (2010). It also investigated the most common errors that students commit in writing stories and the type of WCF students receive from teachers. Data in the form of stories which were checked by teachers were…

Internet-Enabled Audio Communication: A Richer Medium For Students Feedback?

ERIC Educational Resources Information Center

Johnson, Roy D.; Keil, Mark

This study compared the effects of using voice mail (v-mail) to electronic mail (e-mail) over the Internet to provide student feedback using Media Richness Theory (MRT) and Social Presence Theory (SPT) as the theoretical framework. MRT and SPT would predict that v-mail would be perceived as higher than e-mail in media richness and social presence.…

A Pedagogical Alliance for Trust, Wellbeing and the Identification of Errors for Learning and Formative Assessment

ERIC Educational Resources Information Center

Leighton, Jacqueline P.; Bustos Gómez, María Clara

2018-01-01

Formative assessments and feedback are vital to enhancing learning outcomes but require that learners feel at ease identifying their errors, and receiving feedback from a trusted source--teachers. An experimental test of a new theoretical framework was conducted to cultivate a pedagogical alliance to enhance students' (a) trust in the teacher, (b)…

Time-delay signature of chaos in 1550 nm VCSELs with variable-polarization FBG feedback.

PubMed

Li, Yan; Wu, Zheng-Mao; Zhong, Zhu-Qiang; Yang, Xian-Jie; Mao, Song; Xia, Guang-Qiong

2014-08-11

Based on the framework of spin-flip model (SFM), the output characteristics of a 1550 nm vertical-cavity surface-emitting laser (VCSEL) subject to variable-polarization fiber Bragg grating (FBG) feedback (VPFBGF) have been investigated. With the aid of the self-correlation function (SF) and the permutation entropy (PE) function, the time-delay signature (TDS) of chaos in the VPFBGF-VCSEL is evaluated, and then the influences of the operation parameters on the TDS of chaos are analyzed. The results show that the TDS of chaos can be suppressed efficiently through selecting suitable coupling coefficient and feedback rate of the FBG, and is weaker than that of chaos generated by traditional variable-polarization mirror feedback VCSELs (VPMF-VCSELs) or polarization-preserved FBG feedback VCSELs (PPFBGF-VCSELs).

Improving Prompt Temperature Feedback by Stimulating Doppler Broadening in Heterogeneous Composite Nuclear Fuel Forms

NASA Astrophysics Data System (ADS)

Morrison, Christopher

Nuclear fuels with similar aggregate material composition, but with different millimeter and micrometer spatial configurations of the component materials can have very different safety and performance characteristics. This research focuses on modeling and attempting to engineer heterogeneous combinations of nuclear fuels to improve negative prompt temperature feedback in response to reactivity insertion accidents. Improvements in negative prompt temperature feedback are proposed by developing a tailored thermal resistance in the nuclear fuel. In the event of a large reactivity insertion, the thermal resistance allows for a faster negative Doppler feedback by temporarily trapping heat in material zones with strong absorption resonances. A multi-physics simulation framework was created that could model large reactivity insertions. The framework was then used to model a comparison of a heterogeneous fuel with a tailored thermal resistance and a homogeneous fuel without the tailored thermal resistance. The results from the analysis confirmed the fundamental premise of prompt temperature feedback and provide insights into the neutron spectrum dynamics throughout the transient process. A trade study was conducted on infinite lattice fuels to help map a design space to study and improve prompt temperature feedback with many results. A multi-scale fuel pin analysis was also completed to study more realistic geometries. The results of this research could someday allow for novel nuclear fuels that would behave differently than current fuels. The idea of having a thermal barrier coating in the fuel is contrary to most current thinking. Inherent resistance to reactivity insertion accidents could enable certain reactor types once considered vulnerable to reactivity insertion accidents to be reevaluated in light of improved negative prompt temperature feedback.

Performance-based maintenance of gas turbines for reliable control of degraded power systems

NASA Astrophysics Data System (ADS)

Mo, Huadong; Sansavini, Giovanni; Xie, Min

2018-03-01

Maintenance actions are necessary for ensuring proper operations of control systems under component degradation. However, current condition-based maintenance (CBM) models based on component health indices are not suitable for degraded control systems. Indeed, failures of control systems are only determined by the controller outputs, and the feedback mechanism compensates the control performance loss caused by the component deterioration. Thus, control systems may still operate normally even if the component health indices exceed failure thresholds. This work investigates the CBM model of control systems and employs the reduced control performance as a direct degradation measure for deciding maintenance activities. The reduced control performance depends on the underlying component degradation modelled as a Wiener process and the feedback mechanism. To this aim, the controller features are quantified by developing a dynamic and stochastic control block diagram-based simulation model, consisting of the degraded components and the control mechanism. At each inspection, the system receives a maintenance action if the control performance deterioration exceeds its preventive-maintenance or failure thresholds. Inspired by realistic cases, the component degradation model considers random start time and unit-to-unit variability. The cost analysis of maintenance model is conducted via Monte Carlo simulation. Optimal maintenance strategies are investigated to minimize the expected maintenance costs, which is a direct consequence of the control performance. The proposed framework is able to design preventive maintenance actions on a gas power plant, to ensuring required load frequency control performance against a sudden load increase. The optimization results identify the trade-off between system downtime and maintenance costs as a function of preventive maintenance thresholds and inspection frequency. Finally, the control performance-based maintenance model can reduce maintenance costs as compared to CBM and pre-scheduled maintenance.

Simulation and design of feedback control on resistive wall modes in Keda Torus eXperiment

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

Li, Chenguang; Liu, Wandong; Li, Hong

2014-12-15

The feedback control of resistive wall modes (RWMs) in Keda Torus eXperiment (KTX) (Liu et al., Plasma Phys. Controlled Fusion 56, 094009 (2014)) is investigated by simulation. A linear model is built to describe the growth of the unstable modes in the absence of feedback and the resulting mode suppression due to feedback, given the typical reversed field pinch plasma equilibrium. The layout of KTX with two shell structures (the vacuum vessel and the stabilizing shell) is taken into account. The feedback performance is explored both in the scheme of “clean mode control” (Zanca et al., Nucl. Fusion 47, 1425more » (2007)) and “raw mode control.” The discrete time control model with specific characteristic times will mimic the real feedback control action and lead to the favored control cycle. Moreover, the conceptual design of feedback control system is also presented, targeting on both RWMs and tearing modes.« less

The Role of Interpersonal Relations in Healthcare Team Communication and Patient Safety: A Proposed Model of Interpersonal Process in Teamwork.

PubMed

Lee, Charlotte Tsz-Sum; Doran, Diane Marie

2017-06-01

Patient safety is compromised by medical errors and adverse events related to miscommunications among healthcare providers. Communication among healthcare providers is affected by human factors, such as interpersonal relations. Yet, discussions of interpersonal relations and communication are lacking in healthcare team literature. This paper proposes a theoretical framework that explains how interpersonal relations among healthcare team members affect communication and team performance, such as patient safety. We synthesized studies from health and social science disciplines to construct a theoretical framework that explicates the links among these constructs. From our synthesis, we identified two relevant theories: framework on interpersonal processes based on social relation model and the theory of relational coordination. The former involves three steps: perception, evaluation, and feedback; and the latter captures relational communicative behavior. We propose that manifestations of provider relations are embedded in the third step of the framework on interpersonal processes: feedback. Thus, varying team-member relationships lead to varying collaborative behavior, which affects patient-safety outcomes via a change in team communication. The proposed framework offers new perspectives for understanding how workplace relations affect healthcare team performance. The framework can be used by nurses, administrators, and educators to improve patient safety, team communication, or to resolve conflicts.

A Proposed Conceptual Framework and Investigation of Upward Feedback Receptivity in Medical Education.

PubMed

Kost, Amanda; Combs, Heidi; Smith, Sherilyn; Klein, Eileen; Kritek, Patricia; Robins, Lynne; Cianciolo, Anna T; Butani, Lavjay; Gigante, Joseph; Ramani, Subha

2015-01-01

WGEA 2015 CONFERENCE ABSTRACT (EDITED). Faculty Perceptions of Receiving Feedback From Third-Year Clerkship Students. Amanda Kost, Heidi Combs, Sherilyn Smith, Eileen Klein, Patricia Kritek, and Lynne Robins. PHENOMENON: In addition to giving feedback to 3rd-year clerkship students, some clerkship instructors receive feedback, requested or spontaneous, from students prior to the clerkship's end. The concept of bidirectional feedback is appealing as a means of fostering a culture of respectful communication and improvement. However, little is known about how teachers perceive this feedback in practice or how it impacts the learning environment. We performed 24 semistructured 30-minute interviews with 3 to 7 attending physician faculty members each in Pediatrics, Internal Medicine, Family Medicine, Surgery, Psychiatry, and Obstetrics and Gynecology who taught in 3rd-year required clerkships during the 2012-2013 academic year. Questions probed teachers' experience with and attitudes toward receiving student feedback. Prompts were used to elicit stories and obtain participant demographics. Interviews were audio-recorded, transcribed, and entered into Dedoose for qualitative analysis. Researchers read transcripts holistically for meaning, designed a coding template, and then independently coded each transcript. A constant comparative approach and regular meetings were used to ensure consistent coding between research team members. Participants ranged in age from 37 to 74, with 5 to 35 years of teaching experience. Seventy-one percent were male, and 83% identified as White. In our preliminary analysis, our informants reported a range of experience in receiving student feedback prior to the end of a clerkship, varying from no experience to having developed mechanisms to regularly request specific feedback about their programs. Most expressed openness to actively soliciting and receiving student feedback on their teaching during the clerkship although many questioned whether this process was feasible. Actual responses to receiving student feedback were mixed. Some reported having received feedback that motivated change, and others rejected the feedback they received on the grounds that it lacked validity or was inappropriate. Others expressed uncertainty about how they would react to student feedback. Faculty expressed a preference for receiving feedback about behaviors and items that were within their control. INSIGHTS: These findings suggest there is opportunity to pilot implementation of a structured student feedback mechanism, separate from teacher evaluations, in selected 3rd-year clerkships. Materials should developed to help faculty solicit, understand, and respond to student feedback and to help students frame and provide the kinds of feedback to teachers that will lead to suggested improvements. Both these endeavors have the potential to improve the clinical learning environment during 3rd-year clerkships through the cultivation of respectful communication and the encouragement of improvement in teaching efforts.

A Web of applicant attraction: person-organization fit in the context of Web-based recruitment.

PubMed

Dineen, Brian R; Ash, Steven R; Noe, Raymond A

2002-08-01

Applicant attraction was examined in the context of Web-based recruitment. A person-organization (P-O) fit framework was adopted to examine how the provision of feedback to individuals regarding their potential P-O fit with an organization related to attraction. Objective and subjective P-O fit, agreement with fit feedback, and self-esteem also were examined in relation to attraction. Results of an experiment that manipulated fit feedback level after a self-assessment provided by a fictitious company Web site found that both feedback level and objective P-O fit were positively related to attraction. These relationships were fully mediated by subjective P-O fit. In addition, attraction was related to the interaction of objective fit, feedback, and agreement and objective fit, feedback, and self-esteem. Implications and future Web-based recruitment research directions are discussed.

Patient assessment of medication information leaflets and validation of the Evaluative Linguistic Framework (ELF).

PubMed

Hirsh, Di; Clerehan, Rosemary; Staples, Margaret; Osborne, Richard H; Buchbinder, Rachelle

2009-11-01

To obtain patient feedback about the structure and quality of medication information leaflets and validate the usefulness of the Evaluative Linguistic Framework (ELF) for improving written communication with patients. Triangulated feedback about a set of rheumatoid arthritis (RA) medication leaflets, some developed with knowledge of the ELF, was obtained from 27 people with RA from interviews, focus group discussion and self-administered questionnaires. The principal elements of the framework were investigated: overall generic structure and functions of each stage, interpersonal relationship between writer and reader, technicality of language and density of information. Participant assessments of the leaflets aligned with the framework in terms of what constituted a good leaflet. While the main purpose of the leaflets was identified as being information provision, participants also wanted clear instructions, benefits to be highlighted and side effects to be comprehensively listed. For comprehensiveness and user-friendliness, leaflets developed with guidance of the ELF were consistently preferred. According to people with RA, leaflets generated from a linguistic framework are clearer and more effective in communicating information about medications. The ELF is a user-friendly, structured analytic system that can assist with the development of effective high quality patient information materials.

REVIEW: Internal models in sensorimotor integration: perspectives from adaptive control theory

NASA Astrophysics Data System (ADS)

Tin, Chung; Poon, Chi-Sang

2005-09-01

Internal models and adaptive controls are empirical and mathematical paradigms that have evolved separately to describe learning control processes in brain systems and engineering systems, respectively. This paper presents a comprehensive appraisal of the correlation between these paradigms with a view to forging a unified theoretical framework that may benefit both disciplines. It is suggested that the classic equilibrium-point theory of impedance control of arm movement is analogous to continuous gain-scheduling or high-gain adaptive control within or across movement trials, respectively, and that the recently proposed inverse internal model is akin to adaptive sliding control originally for robotic manipulator applications. Modular internal models' architecture for multiple motor tasks is a form of multi-model adaptive control. Stochastic methods, such as generalized predictive control, reinforcement learning, Bayesian learning and Hebbian feedback covariance learning, are reviewed and their possible relevance to motor control is discussed. Possible applicability of a Luenberger observer and an extended Kalman filter to state estimation problems—such as sensorimotor prediction or the resolution of vestibular sensory ambiguity—is also discussed. The important role played by vestibular system identification in postural control suggests an indirect adaptive control scheme whereby system states or parameters are explicitly estimated prior to the implementation of control. This interdisciplinary framework should facilitate the experimental elucidation of the mechanisms of internal models in sensorimotor systems and the reverse engineering of such neural mechanisms into novel brain-inspired adaptive control paradigms in future.

Two neural network algorithms for designing optimal terminal controllers with open final time

NASA Technical Reports Server (NTRS)

Plumer, Edward S.

1992-01-01

Multilayer neural networks, trained by the backpropagation through time algorithm (BPTT), have been used successfully as state-feedback controllers for nonlinear terminal control problems. Current BPTT techniques, however, are not able to deal systematically with open final-time situations such as minimum-time problems. Two approaches which extend BPTT to open final-time problems are presented. In the first, a neural network learns a mapping from initial-state to time-to-go. In the second, the optimal number of steps for each trial run is found using a line-search. Both methods are derived using Lagrange multiplier techniques. This theoretical framework is used to demonstrate that the derived algorithms are direct extensions of forward/backward sweep methods used in N-stage optimal control. The two algorithms are tested on a Zermelo problem and the resulting trajectories compare favorably to optimal control results.

Mixed H(2)/H(sub infinity): Control with output feedback compensators using parameter optimization

NASA Technical Reports Server (NTRS)

Schoemig, Ewald; Ly, Uy-Loi

1992-01-01

Among the many possible norm-based optimization methods, the concept of H-infinity optimal control has gained enormous attention in the past few years. Here the H-infinity framework, based on the Small Gain Theorem and the Youla Parameterization, effectively treats system uncertainties in the control law synthesis. A design approach involving a mixed H(sub 2)/H-infinity norm strives to combine the advantages of both methods. This advantage motivates researchers toward finding solutions to the mixed H(sub 2)/H-infinity control problem. The approach developed in this research is based on a finite time cost functional that depicts an H-infinity bound control problem in a H(sub 2)-optimization setting. The goal is to define a time-domain cost function that optimizes the H(sub 2)-norm of a system with an H-infinity-constraint function.

Mixed H2/H(infinity)-Control with an output-feedback compensator using parameter optimization

NASA Technical Reports Server (NTRS)

Schoemig, Ewald; Ly, Uy-Loi

1992-01-01

Among the many possible norm-based optimization methods, the concept of H-infinity optimal control has gained enormous attention in the past few years. Here the H-infinity framework, based on the Small Gain Theorem and the Youla Parameterization, effectively treats system uncertainties in the control law synthesis. A design approach involving a mixed H(sub 2)/H-infinity norm strives to combine the advantages of both methods. This advantage motivates researchers toward finding solutions to the mixed H(sub 2)/H-infinity control problem. The approach developed in this research is based on a finite time cost functional that depicts an H-infinity bound control problem in a H(sub 2)-optimization setting. The goal is to define a time-domain cost function that optimizes the H(sub 2)-norm of a system with an H-infinity-constraint function.

Stabilization of model-based networked control systems

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

Miranda, Francisco; Instituto Politécnico de Viana do Castelo, Viana do Castelo; Abreu, Carlos

2016-06-08

A class of networked control systems called Model-Based Networked Control Systems (MB-NCSs) is considered. Stabilization of MB-NCSs is studied using feedback controls and simulation of stabilization for different feedbacks is made with the purpose to reduce the network trafic. The feedback control input is applied in a compensated model of the plant that approximates the plant dynamics and stabilizes the plant even under slow network conditions. Conditions for global exponential stabilizability and for the choosing of a feedback control input for a given constant time between the information moments of the network are derived. An optimal control problem to obtainmore » an optimal feedback control is also presented.« less

Essays on the Economics of Climate Change, Biofuel and Food Prices

NASA Astrophysics Data System (ADS)

Seguin, Charles

Climate change is likely to be the most important global pollution problem that humanity has had to face so far. In this dissertation, I tackle issues directly and indirectly related to climate change, bringing my modest contribution to the body of human creativity trying to deal with climate change. First, I look at the impact of non-convex feedbacks on the optimal climate policy. Second, I try to derive the optimal biofuel policy acknowledging the potential negative impacts that biofuel production might have on food supply. Finally, I test empirically for the presence of loss aversion in food purchases, which might play a role in the consumer response to food price changes brought about by biofuel production. Non-convexities in feedback processes are increasingly found to be important in the climate system. To evaluate their impact on the optimal greenhouse gas (GHG) abate- ment policy, I introduce non-convex feedbacks in a stochastic pollution control model. I numerically calibrate the model to represent the mitigation of greenhouse gas (GHG) emissions contributing to global climate change. This approach makes two contributions to the literature. First, it develops a framework to tackle stochastic non-convex pollu- tion management problems. Second, it applies this framework to the problem of climate change. This approach is in contrast to most of the economic literature on climate change that focuses either on linear feedbacks or environmental thresholds. I find that non-convex feedbacks lead to a decision threshold in the optimal mitigation policy, and I characterize how this threshold depends on feedback parameters and stochasticity. There is great hope that biofuel can help reduce greenhouse gas emissions from fossil fuel. However, there are some concerns that biofuel would increase food prices. In an optimal control model, a co-author and I look at the optimal biofuel production when it competes for land with food production. In addition oil is not exhaustible and output is subject to climate change induced damages. We find that the competitive outcome does not necessarily yield an underproduction of biofuels, but when it does, second best policies like subsidies and mandates can improve welfare. In marketing, there has been extensive empirical research to ascertain whether there is evidence of loss aversion as predicted by several reference price preference theories. Most of that literature finds that there is indeed evidence of loss aversion for many different goods. I argue that it is possible that some of that evidence seemingly supporting loss aversion arises because price endogeneity is not properly taken into account. Using scanner data I study four product categories: bread, chicken, corn and tortilla chips, and pasta. Taking prices as exogenous, I find evidence of loss aversion for bread and corn and tortilla chips. However, when instrumenting prices, the "loss aversion evidence" disappears.

A Coupled Modeling Framework of the Co-evolution of Humans and Water: Case Study of Tarim River Basin, Western China

NASA Astrophysics Data System (ADS)

Liu, D.; Tian, F.; Lin, M.; Sivapalan, M.

2014-12-01

The complex interactions and feedbacks between humans and water are very essential issues but are poorly understood in the newly proposed discipline of socio-hydrology (Sivapalan et al., 2012). An exploratory model with the appropriate level of simplification can be valuable to improve our understanding of the co-evolution and self-organization of socio-hydrological systems driven by interactions and feedbacks operating at different scales. In this study, a simple coupled modeling framework for socio-hydrology co-evolution is developed for the Tarim River Basin in Western China, and is used to illustrate the explanatory power of such a model. The study area is the mainstream of the Tarim River, which is divided into two modeling units. The socio-hydrological system is composed of four parts, i.e., social sub-system, economic sub-system, ecological sub-system, and hydrological sub-system. In each modeling unit, four coupled ordinary differential equations are used to simulate the dynamics of the social sub-system represented by human population, the economic sub-system represented by irrigated crop area, the ecological sub-system represented by natural vegetation cover and the hydrological sub-system represented by stream discharge. The coupling and feedback processes of the four dominant sub-systems (and correspondingly four state variables) are integrated into several internal system characteristics interactively and jointly determined by themselves and by other coupled systems. For example, the stream discharge is coupled to the irrigated crop area by the colonization rate and mortality rate of the irrigated crop area in the upper reach and the irrigated area is coupled to stream discharge through irrigation water consumption. The co-evolution of the Tarim socio-hydrological system is then analyzed within this modeling framework to gain insights into the overall system dynamics and its sensitivity to the external drivers and internal system variables. In the modeling framework, the state of each subsystem is holistically described by one state variable and the framework is flexible enough to comprise more processes and constitutive relationships if they are needed to illustrate the interaction and feedback mechanisms of the human-water system.

Coupled attitude-orbit dynamics and control for an electric sail in a heliocentric transfer mission.

PubMed

Huo, Mingying; Zhao, Jun; Xie, Shaobiao; Qi, Naiming

2015-01-01

The paper discusses the coupled attitude-orbit dynamics and control of an electric-sail-based spacecraft in a heliocentric transfer mission. The mathematical model characterizing the propulsive thrust is first described as a function of the orbital radius and the sail angle. Since the solar wind dynamic pressure acceleration is induced by the sail attitude, the orbital and attitude dynamics of electric sails are coupled, and are discussed together. Based on the coupled equations, the flight control is investigated, wherein the orbital control is studied in an optimal framework via a hybrid optimization method and the attitude controller is designed based on feedback linearization control. To verify the effectiveness of the proposed control strategy, a transfer problem from Earth to Mars is considered. The numerical results show that the proposed strategy can control the coupled system very well, and a small control torque can control both the attitude and orbit. The study in this paper will contribute to the theory study and application of electric sail.

Coupled Attitude-Orbit Dynamics and Control for an Electric Sail in a Heliocentric Transfer Mission

PubMed Central

Huo, Mingying; Zhao, Jun; Xie, Shaobiao; Qi, Naiming

2015-01-01

The paper discusses the coupled attitude-orbit dynamics and control of an electric-sail-based spacecraft in a heliocentric transfer mission. The mathematical model characterizing the propulsive thrust is first described as a function of the orbital radius and the sail angle. Since the solar wind dynamic pressure acceleration is induced by the sail attitude, the orbital and attitude dynamics of electric sails are coupled, and are discussed together. Based on the coupled equations, the flight control is investigated, wherein the orbital control is studied in an optimal framework via a hybrid optimization method and the attitude controller is designed based on feedback linearization control. To verify the effectiveness of the proposed control strategy, a transfer problem from Earth to Mars is considered. The numerical results show that the proposed strategy can control the coupled system very well, and a small control torque can control both the attitude and orbit. The study in this paper will contribute to the theory study and application of electric sail. PMID:25950179

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

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

Unseren, M.A.

1993-04-01

The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associatedmore » with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.« less

Evaluating Internal Model Strength and Performance of Myoelectric Prosthesis Control Strategies.

PubMed

Shehata, Ahmed W; Scheme, Erik J; Sensinger, Jonathon W

2018-05-01

On-going developments in myoelectric prosthesis control have provided prosthesis users with an assortment of control strategies that vary in reliability and performance. Many studies have focused on improving performance by providing feedback to the user but have overlooked the effect of this feedback on internal model development, which is key to improve long-term performance. In this paper, the strength of internal models developed for two commonly used myoelectric control strategies: raw control with raw feedback (using a regression-based approach) and filtered control with filtered feedback (using a classifier-based approach), were evaluated using two psychometric measures: trial-by-trial adaptation and just-noticeable difference. The performance of both strategies was also evaluated using Schmidt's style target acquisition task. Results obtained from 24 able-bodied subjects showed that although filtered control with filtered feedback had better short-term performance in path efficiency ( ), raw control with raw feedback resulted in stronger internal model development ( ), which may lead to better long-term performance. Despite inherent noise in the control signals of the regression controller, these findings suggest that rich feedback associated with regression control may be used to improve human understanding of the myoelectric control system.

Strategies in probabilistic feedback learning in Parkinson patients OFF medication.

PubMed

Bellebaum, C; Kobza, S; Ferrea, S; Schnitzler, A; Pollok, B; Südmeyer, M

2016-04-21

Studies on classification learning suggested that altered dopamine function in Parkinson's Disease (PD) specifically affects learning from feedback. In patients OFF medication, enhanced learning from negative feedback has been described. This learning bias was not seen in observational learning from feedback, indicating different neural mechanisms for this type of learning. The present study aimed to compare the acquisition of stimulus-response-outcome associations in PD patients OFF medication and healthy control subjects in active and observational learning. 16 PD patients OFF medication and 16 controls were examined with three parallel learning tasks each, two feedback-based (active and observational) and one non-feedback-based paired associates task. No acquisition deficit was seen in the patients for any of the tasks. More detailed analyses on the learning strategies did, however, reveal that the patients showed more lose-shift responses during active feedback learning than controls, and that lose-shift and win-stay responses more strongly determined performance accuracy in patients than controls. For observational feedback learning, the performance of both groups correlated similarly with the performance in non-feedback-based paired associates learning and with the accuracy of observed performance. Also, patients and controls showed comparable evidence of feedback processing in observational learning. In active feedback learning, PD patients use alternative learning strategies than healthy controls. Analyses on observational learning did not yield differences between patients and controls, adding to recent evidence of a differential role of the human striatum in active and observational learning from feedback. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Negative soil moisture-precipitation feedback in dry and wet regions.

PubMed

Yang, Lingbin; Sun, Guoqing; Zhi, Lu; Zhao, Jianjun

2018-03-05

Soil moisture-precipitation (SM-P) feedback significantly influences the terrestrial water and energy cycles. However, the sign of the feedback and the associated physical mechanism have been debated, leaving a research gap regarding global water and climate changes. Based on Koster's framework, we estimate SM-P feedback using satellite remote sensing and ground observation data sets. Methodologically, the sign of the feedback is identified by the correlation between monthly soil moisture and next-month precipitation. The physical mechanism is investigated through coupling precipitation and soil moisture (P-SM), soil moisture ad evapotranspiration (SM-E) and evapotranspiration and precipitation (E-P) correlations. Our results demonstrate that although positive SM-P feedback is predominant over land, non-negligible negative feedback occurs in dry and wet regions. Specifically, 43.75% and 40.16% of the negative feedback occurs in the arid and humid climate zones. Physically, negative SM-P feedback depends on the SM-E correlation. In dry regions, evapotranspiration change is soil moisture limited. In wet regions, evapotranspiration change is energy limited. We conclude that the complex SM-E correlation results in negative SM-P feedback in dry and wet regions, and the cause varies based on the environmental and climatic conditions.

Patient and Partner Feedback Reports to Improve Statin Medication Adherence: A Randomized Control Trial.

PubMed

Reddy, Ashok; Huseman, Tiffany L; Canamucio, Anne; Marcus, Steven C; Asch, David A; Volpp, Kevin; Long, Judith A

2017-03-01

Simple nudges such as reminders and feedback reports to either a patient or a partner may facilitate improved medication adherence. To test the impact of a pill bottle used to monitor adherence, deliver a daily alarm, and generate weekly medication adherence feedback reports on statin adherence. Three-month, three-arm randomized clinical trial (ClinicalTrials.gov identifier: NCT02480530). One hundred and twenty-six veterans with known coronary artery disease and poor adherence (medication possession ratio <80 %). Patients were randomized to one of three groups: (1) a control group (n = 36) that received a pill-monitoring device with no alarms or feedback; (2) an individual feedback group (n = 36) that received a daily alarm and a weekly medication adherence feedback report; and (3) a partner feedback group (n = 54) that received an alarm and a weekly feedback report that was shared with a friend, family member, or a peer. The intervention continued for 3 months, and participants were followed for an additional 3 months after the intervention period. Adherence as measured by pill bottle. Secondary outcomes included change in LDL (mg/dl), patient activation, and social support. During the 3-month intervention period, medication adherence was higher in both feedback arms than in the control arm (individual feedback group 89 %, partner feedback group 86 %, control group 67 %; p < 0.001 and = 0.001). At 6 months, there was no difference in medication adherence between either of the feedback groups and the control (individual feedback 60 %, partner feedback 52 %, control group 54 %; p = 0.75 and 0.97). Daily alarms combined with individual or partner feedback reports improved statin medication adherence. While neither an individual feedback nor partner feedback strategy created a sustainable medication adherence habit, the intervention itself is relatively easy to implement and low cost.

Robust design of feedback feed-forward iterative learning control based on 2D system theory for linear uncertain systems

NASA Astrophysics Data System (ADS)

Li, Zhifu; Hu, Yueming; Li, Di

2016-08-01

For a class of linear discrete-time uncertain systems, a feedback feed-forward iterative learning control (ILC) scheme is proposed, which is comprised of an iterative learning controller and two current iteration feedback controllers. The iterative learning controller is used to improve the performance along the iteration direction and the feedback controllers are used to improve the performance along the time direction. First of all, the uncertain feedback feed-forward ILC system is presented by an uncertain two-dimensional Roesser model system. Then, two robust control schemes are proposed. One can ensure that the feedback feed-forward ILC system is bounded-input bounded-output stable along time direction, and the other can ensure that the feedback feed-forward ILC system is asymptotically stable along time direction. Both schemes can guarantee the system is robust monotonically convergent along the iteration direction. Third, the robust convergent sufficient conditions are given, which contains a linear matrix inequality (LMI). Moreover, the LMI can be used to determine the gain matrix of the feedback feed-forward iterative learning controller. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed schemes.

Feedback is the breakfast of champions: the significance of self-controlled formal feedback for autonomous task engagement.

PubMed

Meng, Liang; Yang, Zijing

2018-01-03

With the aim of examining the positive effect of the formal feedback mechanism itself beyond its informational aspect, we engaged participants in the stopwatch task and recorded their electroencephalogram throughout the experiment. This task requires a button press to stop the watch within a given time interval, the completion of which is simultaneously accompanied by adequate information on task performance. In the self-controlled feedback mode, participants could freely choose whether to request formal feedback after completing the task. In another mode, additional feedback was not provided. The 'non-choice' cue was found to elicit a more negative cue-elicited feedback negativity compared with 'choice', suggesting that the opportunity to solicit formal feedback was perceived as more desirable. In addition, a more enhanced stimulus-preceding negativity was observed prior to the task initiation cue in the self-controlled feedback condition, indicating that participants paid more sustained anticipatory attention during task preparation. Taken together, these electrophysiological results suggested an inherent reward within the formal feedback mechanism itself and the significance of self-controlled formal feedback for autonomous task engagement.

Observer-Based Adaptive Neural Network Control for Nonlinear Systems in Nonstrict-Feedback Form.

PubMed

Chen, Bing; Zhang, Huaguang; Lin, Chong

2016-01-01

This paper focuses on the problem of adaptive neural network (NN) control for a class of nonlinear nonstrict-feedback systems via output feedback. A novel adaptive NN backstepping output-feedback control approach is first proposed for nonlinear nonstrict-feedback systems. The monotonicity of system bounding functions and the structure character of radial basis function (RBF) NNs are used to overcome the difficulties that arise from nonstrict-feedback structure. A state observer is constructed to estimate the immeasurable state variables. By combining adaptive backstepping technique with approximation capability of radial basis function NNs, an output-feedback adaptive NN controller is designed through backstepping approach. It is shown that the proposed controller guarantees semiglobal boundedness of all the signals in the closed-loop systems. Two examples are used to illustrate the effectiveness of the proposed approach.

Low-to-Medium Power Single Chip Digital Controlled DC-DC Regulator for Point-of-Load Applications

NASA Technical Reports Server (NTRS)

Adell, Philippe C. (Inventor); Bakkaloglu, Bertan (Inventor); Vermeire, Bert (Inventor); Liu, Tao (Inventor)

2015-01-01

A DC-DC converter for generating a DC output voltage includes: a digitally controlled pulse width modulator (DPWM) for controlling a switching power stage to supply a varying voltage to an inductor; and a digital voltage feedback circuit for controlling the DPWM in accordance with a feedback voltage corresponding to the DC output voltage, the digital voltage feedback circuit including: a first voltage controlled oscillator for converting the feedback voltage into a first frequency signal and to supply the first frequency signal to a first frequency discriminator; a second voltage controlled oscillator for converting a reference voltage into a second frequency signal and to supply the second frequency signal to a second frequency discriminator; a digital comparator for comparing digital outputs of the first and second frequency discriminators and for outputting a digital feedback signal; and a controller for controlling the DPWM in accordance with the digital feedback signal.

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 GRADE evidence-to-decision framework: a report of its testing and application in 15 international guideline panels.

PubMed

Neumann, Ignacio; Brignardello-Petersen, Romina; Wiercioch, Wojtek; Carrasco-Labra, Alonso; Cuello, Carlos; Akl, Elie; Mustafa, Reem A; Al-Hazzani, Waleed; Etxeandia-Ikobaltzeta, Itziar; Rojas, Maria Ximena; Falavigna, Maicon; Santesso, Nancy; Brozek, Jan; Iorio, Alfonso; Alonso-Coello, Pablo; Schünemann, Holger J

2016-07-15

Judgments underlying guideline recommendations are seldom recorded and presented in a systematic fashion. The GRADE Evidence-to-Decision Framework (EtD) offers a transparent way to record and report guideline developers' judgments. In this paper, we report the experiences with the EtD frameworks in 15 real guideline panels. Following the guideline panel meetings, we asked methodologists participating in the panel to provide feedback regarding the EtD framework. They were instructed to consider their own experience and the feedback collected from the rest of the panel. Two investigators independently summarized the responses and jointly interpreted the data using pre-specified domains as coding system. We asked methodologists to review the results and provide further input to improve the structure of the EtDs iteratively. The EtD framework was well received, and the comments were generally positive. Methodologists felt that in a real guideline panel, the EtD framework helps structuring a complex process through relatively simple steps in an explicit and transparent way. However, some sections (e.g., "values and preferences" and "balance between benefits and harms") required further development and clarification that were considered in the current version of the EtD framework. The use of an EtD framework in guideline development offers a structured and explicit way to record and report the judgments and discussion of guideline panels during the formulation of recommendations. In addition, it facilitates the formulation of recommendations, assessment of their strength, and identifying gaps in research.

The Selective Cue Integration Framework: A Theory of Postidentification Witness Confidence Assessment

ERIC Educational Resources Information Center

Charman, Steve D.; Carlucci, Marianna; Vallano, Jon; Gregory, Amy Hyman

2010-01-01

The current manuscript proposes a theory of how witnesses assess their confidence following a lineup identification, called the selective cue integration framework (SCIF). Drawing from past research on the postidentification feedback effect, the SCIF details a three-stage process of confidence assessment that is based largely on a…

Polish Post-Secondary Vocational Institutions and Canadian Community Colleges: A Comparison Using an Information Technology Conceptual Framework

ERIC Educational Resources Information Center

Butler, Norman L.; Pachocinski, Ryszard; Davidson, Barry S.

2006-01-01

The aim of this study was to compare Polish post-secondary vocational institutions with Canadian community colleges using an information technology theoretical framework consisting of three parts: participation, feedback and partnership. The research concentrated upon programs in nursing, tourism and information technology delivered by the three…

Usage Intention Framework Model: A Fuzzy Logic Interpretation of the Classical Utaut Model

ERIC Educational Resources Information Center

Sandaire, Johnny

2009-01-01

A fuzzy conjoint analysis (FCA: Turksen, 1992) model for enhancing management decision in the technology adoption domain was implemented as an extension to the UTAUT model (Venkatesh, Morris, Davis, & Davis, 2003). Additionally, a UTAUT-based Usage Intention Framework Model (UIFM) introduced a closed-loop feedback system. The empirical evidence…

The Data-to-Action Framework: A Rapid Program Improvement Process

ERIC Educational Resources Information Center

Zakocs, Ronda; Hill, Jessica A.; Brown, Pamela; Wheaton, Jocelyn; Freire, Kimberley E.

2015-01-01

Although health education programs may benefit from quality improvement methods, scant resources exist to help practitioners apply these methods for program improvement. The purpose of this article is to describe the Data-to-Action framework, a process that guides practitioners through rapid-feedback cycles in order to generate actionable data to…

The Effects of Practice-Based Training on Graduate Teaching Assistants' Classroom Practices

ERIC Educational Resources Information Center

Becker, Erin A.; Easlon, Erin J.; Potter, Sarah C.; Guzman-Alvarez, Alberto; Spear, Jensen M.; Facciotti, Marc T.; Igo, Michele M.; Singer, Mitchell; Pagliarulo, Christopher

2017-01-01

Evidence-based teaching is a highly complex skill, requiring repeated cycles of deliberate practice and feedback to master. Despite existing well-characterized frameworks for practice-based training in K-12 teacher education, the major principles of these frameworks have not yet been transferred to instructor development in higher educational…

Role of measurement in feedback-controlled quantum engines

NASA Astrophysics Data System (ADS)

Yi, Juyeon; Kim, Yong Woon

2018-01-01

In feedback controls, measurement is an essential step in designing protocols according to outcomes. For quantum mechanical systems, measurement has another effect; to supply energy to the measured system. We verify that in feedback-controlled quantum engines, measurement plays a dual role; not only as an auxiliary to perform feedback control but also as an energy supply to drive the engines. We consider a specific engine cycle exploiting feedback control followed by projective measurement and show that the maximum bound of the extractable work is set by both the efficacy of the feedback control and the energy change caused by projective measurement. We take a concrete example of an engine using an immobile spin-1/2 particle as a working substance and suggest two possible scenarios for work extraction.

Interactive Classification of Construction Materials: Feedback Driven Framework for Annotation and Analysis of 3d Point Clouds

NASA Astrophysics Data System (ADS)

Hess, M. R.; Petrovic, V.; Kuester, F.

2017-08-01

Digital documentation of cultural heritage structures is increasingly more common through the application of different imaging techniques. Many works have focused on the application of laser scanning and photogrammetry techniques for the acquisition of threedimensional (3D) geometry detailing cultural heritage sites and structures. With an abundance of these 3D data assets, there must be a digital environment where these data can be visualized and analyzed. Presented here is a feedback driven visualization framework that seamlessly enables interactive exploration and manipulation of massive point cloud data. The focus of this work is on the classification of different building materials with the goal of building more accurate as-built information models of historical structures. User defined functions have been tested within the interactive point cloud visualization framework to evaluate automated and semi-automated classification of 3D point data. These functions include decisions based on observed color, laser intensity, normal vector or local surface geometry. Multiple case studies are presented here to demonstrate the flexibility and utility of the presented point cloud visualization framework to achieve classification objectives.

The SLH framework for modeling quantum input-output networks

DOE PAGES

Combes, Joshua; Kerckhoff, Joseph; Sarovar, Mohan

2017-09-04

Here, many emerging quantum technologies demand precise engineering and control over networks consisting of quantum mechanical degrees of freedom connected by propagating electromagnetic fields, or quantum input-output networks. Here we review recent progress in theory and experiment related to such quantum input-output networks, with a focus on the SLH framework, a powerful modeling framework for networked quantum systems that is naturally endowed with properties such as modularity and hierarchy. We begin by explaining the physical approximations required to represent any individual node of a network, e.g. atoms in cavity or a mechanical oscillator, and its coupling to quantum fields bymore » an operator triple ( S,L,H). Then we explain how these nodes can be composed into a network with arbitrary connectivity, including coherent feedback channels, using algebraic rules, and how to derive the dynamics of network components and output fields. The second part of the review discusses several extensions to the basic SLH framework that expand its modeling capabilities, and the prospects for modeling integrated implementations of quantum input-output networks. In addition to summarizing major results and recent literature, we discuss the potential applications and limitations of the SLH framework and quantum input-output networks, with the intention of providing context to a reader unfamiliar with the field.« less

The SLH framework for modeling quantum input-output networks

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

Combes, Joshua; Kerckhoff, Joseph; Sarovar, Mohan

Here, many emerging quantum technologies demand precise engineering and control over networks consisting of quantum mechanical degrees of freedom connected by propagating electromagnetic fields, or quantum input-output networks. Here we review recent progress in theory and experiment related to such quantum input-output networks, with a focus on the SLH framework, a powerful modeling framework for networked quantum systems that is naturally endowed with properties such as modularity and hierarchy. We begin by explaining the physical approximations required to represent any individual node of a network, e.g. atoms in cavity or a mechanical oscillator, and its coupling to quantum fields bymore » an operator triple ( S,L,H). Then we explain how these nodes can be composed into a network with arbitrary connectivity, including coherent feedback channels, using algebraic rules, and how to derive the dynamics of network components and output fields. The second part of the review discusses several extensions to the basic SLH framework that expand its modeling capabilities, and the prospects for modeling integrated implementations of quantum input-output networks. In addition to summarizing major results and recent literature, we discuss the potential applications and limitations of the SLH framework and quantum input-output networks, with the intention of providing context to a reader unfamiliar with the field.« less

State feedback controller design for the synchronization of Boolean networks with time delays

NASA Astrophysics Data System (ADS)

Li, Fangfei; Li, Jianning; Shen, Lijuan

2018-01-01

State feedback control design to make the response Boolean network synchronize with the drive Boolean network is far from being solved in the literature. Motivated by this, this paper studies the feedback control design for the complete synchronization of two coupled Boolean networks with time delays. A necessary condition for the existence of a state feedback controller is derived first. Then the feedback control design procedure for the complete synchronization of two coupled Boolean networks is provided based on the necessary condition. Finally, an example is given to illustrate the proposed design procedure.

Monitoring the CMS strip tracker readout system

NASA Astrophysics Data System (ADS)

Mersi, S.; Bainbridge, R.; Baulieu, G.; Bel, S.; Cole, J.; Cripps, N.; Delaere, C.; Drouhin, F.; Fulcher, J.; Giassi, A.; Gross, L.; Hahn, K.; Mirabito, L.; Nikolic, M.; Tkaczyk, S.; Wingham, M.

2008-07-01

The CMS Silicon Strip Tracker at the LHC comprises a sensitive area of approximately 200 m2 and 10 million readout channels. Its data acquisition system is based around a custom analogue front-end chip. Both the control and the readout of the front-end electronics are performed by off-detector VME boards in the counting room, which digitise the raw event data and perform zero-suppression and formatting. The data acquisition system uses the CMS online software framework to configure, control and monitor the hardware components and steer the data acquisition. The first data analysis is performed online within the official CMS reconstruction framework, which provides many services, such as distributed analysis, access to geometry and conditions data, and a Data Quality Monitoring tool based on the online physics reconstruction. The data acquisition monitoring of the Strip Tracker uses both the data acquisition and the reconstruction software frameworks in order to provide real-time feedback to shifters on the operational state of the detector, archiving for later analysis and possibly trigger automatic recovery actions in case of errors. Here we review the proposed architecture of the monitoring system and we describe its software components, which are already in place, the various monitoring streams available, and our experiences of operating and monitoring a large-scale system.

Servo control of an optical trap.

PubMed

Wulff, Kurt D; Cole, Daniel G; Clark, Robert L

2007-08-01

A versatile optical trap has been constructed to control the position of trapped objects and ultimately to apply specified forces using feedback control. While the design, development, and use of optical traps has been extensive and feedback control has played a critical role in pushing the state of the art, few comprehensive examinations of feedback control of optical traps have been undertaken. Furthermore, as the requirements are pushed to ever smaller distances and forces, the performance of optical traps reaches limits. It is well understood that feedback control can result in both positive and negative effects in controlled systems. We give an analysis of the trapping limits as well as introducing an optical trap with a feedback control scheme that dramatically improves an optical trap's sensitivity at low frequencies.

High Accuracy Attitude Control of a Spacecraft Using Feedback Linearization

DTIC Science & Technology

1992-05-01

High Accuracy Attitude Control of a Spacecraft Using Feedback Linearization A Thesis Presented by Louis Joseph PoehIman, Captain, USAF B.S., U.S. Air...High Accuracy Attitude Control of a Spacecraft Using Feedback Linearization by Louis Joseph Poehlman, Captain, USAF Submitted to the Department of...31 2-4 Attitude Determination and Control System Architecture ................. 33 3-1 Exact Linearization Using Nonlinear Feedback

Synchrony and entrainment properties of robust circadian oscillators

PubMed Central

Bagheri, Neda; Taylor, Stephanie R.; Meeker, Kirsten; Petzold, Linda R.; Doyle, Francis J.

2008-01-01

Systems theoretic tools (i.e. mathematical modelling, control, and feedback design) advance the understanding of robust performance in complex biological networks. We highlight phase entrainment as a key performance measure used to investigate dynamics of a single deterministic circadian oscillator for the purpose of generating insight into the behaviour of a population of (synchronized) oscillators. More specifically, the analysis of phase characteristics may facilitate the identification of appropriate coupling mechanisms for the ensemble of noisy (stochastic) circadian clocks. Phase also serves as a critical control objective to correct mismatch between the biological clock and its environment. Thus, we introduce methods of investigating synchrony and entrainment in both stochastic and deterministic frameworks, and as a property of a single oscillator or population of coupled oscillators. PMID:18426774

Analysis of Control Strategies for Aircraft Flight Upset Recovery

NASA Technical Reports Server (NTRS)

Crespo, Luis G.; Kenny, Sean P.; Cox, David E.; Muri, Daniel G.

2012-01-01

This paper proposes a framework for studying the ability of a control strategy, consisting of a control law and a command law, to recover an aircraft from ight conditions that may extend beyond the normal ight envelope. This study was carried out (i) by evaluating time responses of particular ight upsets, (ii) by evaluating local stability over an equilibrium manifold that included stall, and (iii) by bounding the set in the state space from where the vehicle can be safely own to wings-level ight. These states comprise what will be called the safely recoverable ight envelope (SRFE), which is a set containing the aircraft states from where a control strategy can safely stabilize the aircraft. By safe recovery it is implied that the tran- sient response stays between prescribed limits before converging to a steady horizontal ight. The calculation of the SRFE bounds yields the worst-case initial state corresponding to each control strategy. This information is used to compare alternative recovery strategies, determine their strengths and limitations, and identify the most e ective strategy. In regard to the control law, the authors developed feedback feedforward laws based on the gain scheduling of multivariable controllers. In regard to the command law, which is the mechanism governing the exogenous signals driving the feed- forward component of the controller, we developed laws with a feedback structure that combines local stability and transient response considera- tions. The upset recovery of the Generic Transport Model, a sub-scale twin-engine jet vehicle developed by NASA Langley Research Center, is used as a case study.

Periodic synchronization control of discontinuous delayed networks by using extended Filippov-framework.

PubMed

Cai, Zuowei; Huang, Lihong; Guo, Zhenyuan; Zhang, Lingling; Wan, Xuting

2015-08-01

This paper is concerned with the periodic synchronization problem for a general class of delayed neural networks (DNNs) with discontinuous neuron activation. One of the purposes is to analyze the problem of periodic orbits. To do so, we introduce new tools including inequality techniques and Kakutani's fixed point theorem of set-valued maps to derive the existence of periodic solution. Another purpose is to design a switching state-feedback control for realizing global exponential synchronization of the drive-response network system with periodic coefficients. Unlike the previous works on periodic synchronization of neural network, both the neuron activations and controllers in this paper are allowed to be discontinuous. Moreover, owing to the occurrence of delays in neuron signal, the neural network model is described by the functional differential equation. So we introduce extended Filippov-framework to deal with the basic issues of solutions for discontinuous DNNs. Finally, two examples and simulation experiments are given to illustrate the proposed method and main results which have an important instructional significance in the design of periodic synchronized DNNs circuits involving discontinuous or switching factors. Copyright © 2015 Elsevier Ltd. All rights reserved.

The Interaction between Interoceptive and Action States within a Framework of Predictive Coding

PubMed Central

Marshall, Amanda C.; Gentsch, Antje; Schütz-Bosbach, Simone

2018-01-01

The notion of predictive coding assumes that perception is an iterative process between prior knowledge and sensory feedback. To date, this perspective has been primarily applied to exteroceptive perception as well as action and its associated phenomenological experiences such as agency. More recently, this predictive, inferential framework has been theoretically extended to interoception. This idea postulates that subjective feeling states are generated by top–down inferences made about internal and external causes of interoceptive afferents. While the processing of motor signals for action control and the emergence of selfhood have been studied extensively, the contributions of interoceptive input and especially the potential interaction of motor and interoceptive signals remain largely unaddressed. Here, we argue for a specific functional relation between motor and interoceptive awareness. Specifically, we implicate interoceptive predictions in the generation of subjective motor-related feeling states. Furthermore, we propose a distinction between reflexive and pre-reflexive modes of agentic action control and suggest that interoceptive input may affect each differently. Finally, we advocate the necessity of continuous interoceptive input for conscious forms of agentic action control. We conclude by discussing further research contributions that would allow for a fuller understanding of the interaction between agency and interoceptive awareness. PMID:29515495

Robust parameter design for automatically controlled systems and nanostructure synthesis

NASA Astrophysics Data System (ADS)

Dasgupta, Tirthankar

2007-12-01

This research focuses on developing comprehensive frameworks for developing robust parameter design methodology for dynamic systems with automatic control and for synthesis of nanostructures. In many automatically controlled dynamic processes, the optimal feedback control law depends on the parameter design solution and vice versa and therefore an integrated approach is necessary. A parameter design methodology in the presence of feedback control is developed for processes of long duration under the assumption that experimental noise factors are uncorrelated over time. Systems that follow a pure-gain dynamic model are considered and the best proportional-integral and minimum mean squared error control strategies are developed by using robust parameter design. The proposed method is illustrated using a simulated example and a case study in a urea packing plant. This idea is also extended to cases with on-line noise factors. The possibility of integrating feedforward control with a minimum mean squared error feedback control scheme is explored. To meet the needs of large scale synthesis of nanostructures, it is critical to systematically find experimental conditions under which the desired nanostructures are synthesized reproducibly, at large quantity and with controlled morphology. The first part of the research in this area focuses on modeling and optimization of existing experimental data. Through a rigorous statistical analysis of experimental data, models linking the probabilities of obtaining specific morphologies to the process variables are developed. A new iterative algorithm for fitting a Multinomial GLM is proposed and used. The optimum process conditions, which maximize the above probabilities and make the synthesis process less sensitive to variations of process variables around set values, are derived from the fitted models using Monte-Carlo simulations. The second part of the research deals with development of an experimental design methodology, tailor-made to address the unique phenomena associated with nanostructure synthesis. A sequential space filling design called Sequential Minimum Energy Design (SMED) for exploring best process conditions for synthesis of nanowires. The SMED is a novel approach to generate sequential designs that are model independent, can quickly "carve out" regions with no observable nanostructure morphology, and allow for the exploration of complex response surfaces.

Effect of soil moisture on diurnal convection and precipitation in Large-Eddy Simulations

NASA Astrophysics Data System (ADS)

Cioni, Guido; Hohenegger, Cathy

2017-04-01

Soil moisture and convective precipitation are generally thought to be strongly coupled, although limitations in the modeling set-up of past studies due to coarse resolutions, and thus poorly resolved convective processes, have prevented a trustful determination of the strength and sign of this coupling. In this work the soil moisture-precipitation feedback is investigated by means of high-resolution simulations where convection is explicitly resolved. To that aim we use the LES (Large Eddy Simulation) version of the ICON model with a grid spacing of 250 m, coupled to the TERRA-ML soil model. We use homogeneous initial soil moisture conditions and focus on the precipitation response to increase/decrease of the initial soil moisture for various atmospheric profiles. The experimental framework proposed by Findell and Eltahir (2003) is revisited by using the same atmospheric soundings as initial condition but allowing a full interaction of the atmosphere with the land-surface over a complete diurnal cycle. In agreement with Findell and Eltahir (2003) the triggering of convection can be favoured over dry soils or over wet soils depending on the initial atmospheric sounding. However, total accumulated precipitation is found to always decrease over dry soils regardless of the employed sounding, thus highlighting a positive soil moisture-precipitation feedback (more rain over wetter soils) for the considered cases. To understand these differences and to infer under which conditions a negative feedback may occur, the total accumulated precipitation is split into its magnitude and duration component. While the latter can exhibit a dry soil advantage, the precipitation magnitude strongly correlates with the surface latent heat flux and thus always exhibits a wet soil advantage. The dependency is so strong that changes in duration cannot offset it. This simple argument shows that, in our idealised setup, a negative feedback is unlikely to be observed. The effects of other factors on the soil moisture-precipitation coupling, namely cloud radiative effects, large-scale forcing, winds, and plants are investigated by conducting further sensitivity experiments. All the experiments support a positive soil moisture-precipitation feedback. References: -Findell, K. L., and E. A. Eltahir, 2003: Atmospheric controls on soil moisture-boundary layer interactions. part I: Framework development. Journal of Hydrometeorology, 4 (3), 552-569.

Effective feedback strategies for teaching in pediatric and adolescent gynecology.

PubMed

Kaul, Paritosh; Gong, Jennifer; Guiton, Gretchen

2014-08-01

The clinical setting of pediatric and adolescent gynecology poses complex tasks for the physician with its numerous procedures and the communication demands of interacting with an adolescent and/or guardian. Needless to say, teaching within this setting is highly demanding. Regardless of the level of learner or the professional role (e.g., nurse, medical student, resident, physician assistant) represented, clinical teaching requires that the instructor provide feedback in ways that benefit the student. Recent research on feedback suggests a more complex understanding of feedback than in the past. This article highlights key research and its implication for effective feedback by presenting a three part framework; know your learner, understand what is to be learned, and plan for improvement. Copyright © 2014 North American Society for Pediatric and Adolescent Gynecology. Published by Elsevier Inc. All rights reserved.

The detection and stabilisation of limit cycle for deterministic finite automata

NASA Astrophysics Data System (ADS)

Han, Xiaoguang; Chen, Zengqiang; Liu, Zhongxin; Zhang, Qing

2018-04-01

In this paper, the topological structure properties of deterministic finite automata (DFA), under the framework of the semi-tensor product of matrices, are investigated. First, the dynamics of DFA are converted into a new algebraic form as a discrete-time linear system by means of Boolean algebra. Using this algebraic description, the approach of calculating the limit cycles of different lengths is given. Second, we present two fundamental concepts, namely, domain of attraction of limit cycle and prereachability set. Based on the prereachability set, an explicit solution of calculating domain of attraction of a limit cycle is completely characterised. Third, we define the globally attractive limit cycle, and then the necessary and sufficient condition for verifying whether all state trajectories of a DFA enter a given limit cycle in a finite number of transitions is given. Fourth, the problem of whether a DFA can be stabilised to a limit cycle by the state feedback controller is discussed. Criteria for limit cycle-stabilisation are established. All state feedback controllers which implement the minimal length trajectories from each state to the limit cycle are obtained by using the proposed algorithm. Finally, an illustrative example is presented to show the theoretical results.

Emotional competence as antecedent to performance: a contingency framework.

PubMed

Abraham, Rebecca

2004-05-01

Emotional intelligence is the ability to monitor one's own and others' thinking and actions. In this integrative review, the author seeks to determine the causes of the weak relationship between emotional intelligence and performance by positing that certain emotional competencies, rather than emotional intelligence, are the true predictors of performance. The author theorizes that emotional competencies (including self-control, resilience, social skills, conscientiousness, reliability, integrity, and motivation) interact with organizational climate and job demands or job autonomy to influence performance, as represented in the form of 5 empirically testable propositions. Self-control and emotional resilience are considered to delay the onset of a decline in performance from excessive job demands. Social skills, conscientiousness, reliability, and integrity assist to promote trust, which in turn may build cohesiveness among the members of work groups. Motivation may fuel job involvement in environments that promise psychological safety and psychological meaningfulness. A combination of superior social skills and conscientiousness may enhance the self-sacrifice of benevolent employees to heightened levels of dependability and consideration. Finally, emotional honesty, self-confidence, and emotional resilience can promote superior performance, if positive feedback is delivered in an informative manner, and can mitigate the adverse effects of negative feedback.

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

NASA Technical Reports Server (NTRS)

Wong, P. K.

1975-01-01

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

Temperature feedback control for long-term carrier-envelope phase locking

DOEpatents

Chang, Zenghu [Manhattan, KS; Yun, Chenxia [Manhattan, KS; Chen, Shouyuan [Manhattan, KS; Wang, He [Manhattan, KS; Chini, Michael [Manhattan, KS

2012-07-24

A feedback control module for stabilizing a carrier-envelope phase of an output of a laser oscillator system comprises a first photodetector, a second photodetector, a phase stabilizer, an optical modulator, and a thermal control element. The first photodetector may generate a first feedback signal corresponding to a first portion of a laser beam from an oscillator. The second photodetector may generate a second feedback signal corresponding to a second portion of the laser beam filtered by a low-pass filter. The phase stabilizer may divide the frequency of the first feedback signal by a factor and generate an error signal corresponding to the difference between the frequency-divided first feedback signal and the second feedback signal. The optical modulator may modulate the laser beam within the oscillator corresponding to the error signal. The thermal control unit may change the temperature of the oscillator corresponding to a signal operable to control the optical modulator.

Uncovering the unknown: A grounded theory study exploring the impact of self-awareness on the culture of feedback in residency education.

PubMed

Ramani, Subha; Könings, Karen; Mann, Karen V; van der Vleuten, Cees

2017-10-01

Self-assessment and reflection are essential for meaningful feedback. We aimed to explore whether the well-known Johari window model of self-awareness could guide feedback conversations between faculty and residents and enhance the institutional feedback culture. We had previously explored perceptions of residents and faculty regarding sociocultural factors impacting feedback. We re-analyzed data targeting themes related to self-assessment, reflection, feedback seeking and acceptance, aiming to generate individual and institutional feedback strategies applicable to each quadrant of the window. We identified the following themes for each quadrant: (1) Behaviors known to self and others - Validating the known; (2) Behaviors unknown to self but known to others - Accepting the blind; (3) Behaviors known to self and unknown to others - Disclosure of hidden; and (4) Behaviors unknown to self and others - Uncovering the unknown. Normalizing self-disclosure of limitations, encouraging feedback seeking, training in nonjudgmental feedback and providing opportunities for longitudinal relationships could promote self-awareness, ultimately expanding the "open" quadrant of the Johari window. The Johari window, a model of self-awareness in interpersonal communications, could provide a robust framework for individuals to improve their feedback conversations and institutions to design feedback initiatives that enhance its quality and impact.

Using Feedback from Data Consumers to Capture Quality Information on Environmental Research Data

NASA Astrophysics Data System (ADS)

Devaraju, A.; Klump, J. F.

2015-12-01

Data quality information is essential to facilitate reuse of Earth science data. Recorded quality information must be sufficient for other researchers to select suitable data sets for their analysis and confirm the results and conclusions. In the research data ecosystem, several entities are responsible for data quality. Data producers (researchers and agencies) play a major role in this aspect as they often include validation checks or data cleaning as part of their work. It is possible that the quality information is not supplied with published data sets; if it is available, the descriptions might be incomplete, ambiguous or address specific quality aspects. Data repositories have built infrastructures to share data, but not all of them assess data quality. They normally provide guidelines of documenting quality information. Some suggests that scholarly and data journals should take a role in ensuring data quality by involving reviewers to assess data sets used in articles, and incorporating data quality criteria in the author guidelines. However, this mechanism primarily addresses data sets submitted to journals. We believe that data consumers will complement existing entities to assess and document the quality of published data sets. This has been adopted in crowd-source platforms such as Zooniverse, OpenStreetMap, Wikipedia, Mechanical Turk and Tomnod. This paper presents a framework designed based on open source tools to capture and share data users' feedback on the application and assessment of research data. The framework comprises a browser plug-in, a web service and a data model such that feedback can be easily reported, retrieved and searched. The feedback records are also made available as Linked Data to promote integration with other sources on the Web. Vocabularies from Dublin Core and PROV-O are used to clarify the source and attribution of feedback. The application of the framework is illustrated with the CSIRO's Data Access Portal.

Quantifying the influence of deep soil moisture on ecosystem albedo: The role of vegetation

NASA Astrophysics Data System (ADS)

Sanchez-Mejia, Zulia Mayari; Papuga, Shirley Anne; Swetish, Jessica Blaine; van Leeuwen, Willem Jan Dirk; Szutu, Daphne; Hartfield, Kyle

2014-05-01

As changes in precipitation dynamics continue to alter the water availability in dryland ecosystems, understanding the feedbacks between the vegetation and the hydrologic cycle and their influence on the climate system is critically important. We designed a field campaign to examine the influence of two-layer soil moisture control on bare and canopy albedo dynamics in a semiarid shrubland ecosystem. We conducted this campaign during 2011 and 2012 within the tower footprint of the Santa Rita Creosote Ameriflux site. Albedo field measurements fell into one of four Cases within a two-layer soil moisture framework based on permutations of whether the shallow and deep soil layers were wet or dry. Using these Cases, we identified differences in how shallow and deep soil moisture influence canopy and bare albedo. Then, by varying the number of canopy and bare patches within a gridded framework, we explore the influence of vegetation and soil moisture on ecosystem albedo. Our results highlight the importance of deep soil moisture in land surface-atmosphere interactions through its influence on aboveground vegetation characteristics. For instance, we show how green-up of the vegetation is triggered by deep soil moisture, and link deep soil moisture to a decrease in canopy albedo. Understanding relationships between vegetation and deep soil moisture will provide important insights into feedbacks between the hydrologic cycle and the climate system.

Blueprint for a coupled model of sedimentology, hydrology, and hydrogeology in streambeds

NASA Astrophysics Data System (ADS)

Partington, Daniel; Therrien, Rene; Simmons, Craig T.; Brunner, Philip

2017-06-01

The streambed constitutes the physical interface between the surface and the subsurface of a stream. Across all spatial scales, the physical properties of the streambed control surface water-groundwater interactions. Continuous alteration of streambed properties such as topography or hydraulic conductivity occurs through erosion and sedimentation processes. Recent studies from the fields of ecology, hydrogeology, and sedimentology provide field evidence that sedimentological processes themselves can be heavily influenced by surface water-groundwater interactions, giving rise to complex feedback mechanisms between sedimentology, hydrology, and hydrogeology. More explicitly, surface water-groundwater exchanges play a significant role in the deposition of fine sediments, which in turn modify the hydraulic properties of the streambed. We explore these feedback mechanisms and critically review the extent of current interaction between the different disciplines. We identify opportunities to improve current modeling practices. For example, hydrogeological models treat the streambed as a static rather than a dynamic entity, while sedimentological models do not account for critical catchment processes such as surface water-groundwater exchange. We propose a blueprint for a new modeling framework that bridges the conceptual gaps between sedimentology, hydrogeology, and hydrology. Specifically, this blueprint (1) fully integrates surface-subsurface flows with erosion, transport, and deposition of sediments and (2) accounts for the dynamic changes in surface elevation and hydraulic conductivity of the streambed. Finally, we discuss the opportunities for new research within the coupled framework.

Theory of cortical function

PubMed Central

Heeger, David J.

2017-01-01

Most models of sensory processing in the brain have a feedforward architecture in which each stage comprises simple linear filtering operations and nonlinearities. Models of this form have been used to explain a wide range of neurophysiological and psychophysical data, and many recent successes in artificial intelligence (with deep convolutional neural nets) are based on this architecture. However, neocortex is not a feedforward architecture. This paper proposes a first step toward an alternative computational framework in which neural activity in each brain area depends on a combination of feedforward drive (bottom-up from the previous processing stage), feedback drive (top-down context from the next stage), and prior drive (expectation). The relative contributions of feedforward drive, feedback drive, and prior drive are controlled by a handful of state parameters, which I hypothesize correspond to neuromodulators and oscillatory activity. In some states, neural responses are dominated by the feedforward drive and the theory is identical to a conventional feedforward model, thereby preserving all of the desirable features of those models. In other states, the theory is a generative model that constructs a sensory representation from an abstract representation, like memory recall. In still other states, the theory combines prior expectation with sensory input, explores different possible perceptual interpretations of ambiguous sensory inputs, and predicts forward in time. The theory, therefore, offers an empirically testable framework for understanding how the cortex accomplishes inference, exploration, and prediction. PMID:28167793

The biological carbon pump in the ocean: Reviewing model representations and its feedbacks on climate perturbations.

NASA Astrophysics Data System (ADS)

Hülse, Dominik; Arndt, Sandra; Ridgwell, Andy; Wilson, Jamie

2016-04-01

The ocean-sediment system, as the biggest carbon reservoir in the Earth's carbon cycle, plays a crucial role in regulating atmospheric carbon dioxide concentrations and climate. Therefore, it is essential to constrain the importance of marine carbon cycle feedbacks on global warming and ocean acidification. Arguably, the most important single component of the ocean's carbon cycle is the so-called "biological carbon pump". It transports carbon that is fixed in the light-flooded surface layer of the ocean to the deep ocean and the surface sediment, where it is degraded/dissolved or finally buried in the deep sediments. Over the past decade, progress has been made in understanding different factors that control the efficiency of the biological carbon pump and their feedbacks on the global carbon cycle and climate (i.e. ballasting = ocean acidification feedback; temperature dependant organic matter degradation = global warming feedback; organic matter sulphurisation = anoxia/euxinia feedback). Nevertheless, many uncertainties concerning the interplay of these processes and/or their relative significance remain. In addition, current Earth System Models tend to employ empirical and static parameterisations of the biological pump. As these parametric representations are derived from a limited set of present-day observations, their ability to represent carbon cycle feedbacks under changing climate conditions is limited. The aim of my research is to combine past carbon cycling information with a spatially resolved global biogeochemical model to constrain the functioning of the biological pump and to base its mathematical representation on a more mechanistic approach. Here, I will discuss important aspects that control the efficiency of the ocean's biological carbon pump, review how these processes of first order importance are mathematically represented in existing Earth system Models of Intermediate Complexity (EMIC) and distinguish different approaches to approximate biogeochemical processes in the sediments. The performance of the respective mathematical representations in constraining the importance of carbon pump feedbacks on marine biogeochemical dynamics is then compared and evaluated under different extreme climate scenarios (e.g. OAE2, Eocene) using the Earth system model 'GENIE' and proxy records. The compiled mathematical descriptions and the model results underline the lack of a complete and mechanistic framework to represent the short-term carbon cycle in most EMICs which seriously limits the ability of these models to constrain the response of the ocean's carbon cycle to past and in particular future climate change. In conclusion, this presentation will critically evaluate the approaches currently used in marine biogeochemical modelling and outline key research directions concerning model development in the future.

Algorithms for output feedback, multiple-model, and decentralized control problems

NASA Technical Reports Server (NTRS)

Halyo, N.; Broussard, J. R.

1984-01-01

The optimal stochastic output feedback, multiple-model, and decentralized control problems with dynamic compensation are formulated and discussed. Algorithms for each problem are presented, and their relationship to a basic output feedback algorithm is discussed. An aircraft control design problem is posed as a combined decentralized, multiple-model, output feedback problem. A control design is obtained using the combined algorithm. An analysis of the design is presented.

Autonomous benthic algal cultivator under feedback control of ecosystem metabolism

USDA-ARS?s Scientific Manuscript database

An autonomous and internally-controlled techno-ecological hybrid was developed that controls primary production of algae in a laboratory-scale cultivator. The technoecosystem is based on an algal turf scrubber (ATS) system that combines engineered feedback control programming with internal feedback...

Online human training of a myoelectric prosthesis controller via actor-critic reinforcement learning.

PubMed

Pilarski, Patrick M; Dawson, Michael R; Degris, Thomas; Fahimi, Farbod; Carey, Jason P; Sutton, Richard S

2011-01-01

As a contribution toward the goal of adaptable, intelligent artificial limbs, this work introduces a continuous actor-critic reinforcement learning method for optimizing the control of multi-function myoelectric devices. Using a simulated upper-arm robotic prosthesis, we demonstrate how it is possible to derive successful limb controllers from myoelectric data using only a sparse human-delivered training signal, without requiring detailed knowledge about the task domain. This reinforcement-based machine learning framework is well suited for use by both patients and clinical staff, and may be easily adapted to different application domains and the needs of individual amputees. To our knowledge, this is the first my-oelectric control approach that facilitates the online learning of new amputee-specific motions based only on a one-dimensional (scalar) feedback signal provided by the user of the prosthesis. © 2011 IEEE

Disease ecology, health and the environment: a framework to account for ecological and socio-economic drivers in the control of neglected tropical diseases

PubMed Central

Sokolow, S. H.; Ngonghala, C. N.; Jocque, M.; Lund, A.; Barry, M.; Mordecai, E. A.; Daily, G. C.; Andrews, J. R.; Bendavid, E.; Luby, S. P.; LaBeaud, A. D.; Seetah, K.; Guégan, J. F.; De Leo, G. A.

2017-01-01

Reducing the burden of neglected tropical diseases (NTDs) is one of the key strategic targets advanced by the Sustainable Development Goals. Despite the unprecedented effort deployed for NTD elimination in the past decade, their control, mainly through drug administration, remains particularly challenging: persistent poverty and repeated exposure to pathogens embedded in the environment limit the efficacy of strategies focused exclusively on human treatment or medical care. Here, we present a simple modelling framework to illustrate the relative role of ecological and socio-economic drivers of environmentally transmitted parasites and pathogens. Through the analysis of system dynamics, we show that periodic drug treatments that lead to the elimination of directly transmitted diseases may fail to do so in the case of human pathogens with an environmental reservoir. Control of environmentally transmitted diseases can be more effective when human treatment is complemented with interventions targeting the environmental reservoir of the pathogen. We present mechanisms through which the environment can influence the dynamics of poverty via disease feedbacks. For illustration, we present the case studies of Buruli ulcer and schistosomiasis, two devastating waterborne NTDs for which control is particularly challenging. This article is part of the themed issue ‘Conservation, biodiversity and infectious disease: scientific evidence and policy implications’. PMID:28438917

Coherent feedback control of a single qubit in diamond

NASA Astrophysics Data System (ADS)

Hirose, Masashi; Cappellaro, Paola

2016-04-01

Engineering desired operations on qubits subjected to the deleterious effects of their environment is a critical task in quantum information processing, quantum simulation and sensing. The most common approach relies on open-loop quantum control techniques, including optimal-control algorithms based on analytical or numerical solutions, Lyapunov design and Hamiltonian engineering. An alternative strategy, inspired by the success of classical control, is feedback control. Because of the complications introduced by quantum measurement, closed-loop control is less pervasive in the quantum setting and, with exceptions, its experimental implementations have been mainly limited to quantum optics experiments. Here we implement a feedback-control algorithm using a solid-state spin qubit system associated with the nitrogen vacancy centre in diamond, using coherent feedback to overcome the limitations of measurement-based feedback, and show that it can protect the qubit against intrinsic dephasing noise for milliseconds. In coherent feedback, the quantum system is connected to an auxiliary quantum controller (ancilla) that acquires information about the output state of the system (by an entangling operation) and performs an appropriate feedback action (by a conditional gate). In contrast to open-loop dynamical decoupling techniques, feedback control can protect the qubit even against Markovian noise and for an arbitrary period of time (limited only by the coherence time of the ancilla), while allowing gate operations. It is thus more closely related to quantum error-correction schemes, although these require larger and increasing qubit overheads. Increasing the number of fresh ancillas enables protection beyond their coherence time. We further evaluate the robustness of the feedback protocol, which could be applied to quantum computation and sensing, by exploring a trade-off between information gain and decoherence protection, as measurement of the ancilla-qubit correlation after the feedback algorithm voids the protection, even if the rest of the dynamics is unchanged.

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

NASA Technical Reports Server (NTRS)

Wehner, Walter S.

2014-01-01

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

Structural Load Alleviation Applied to Next Generation Aircraft and Wind Turbines

NASA Technical Reports Server (NTRS)

Frost, Susan

2011-01-01

Reducing the environmental impact of aviation is a goal of the Subsonic Fixed Wing Project under the Fundamental Aeronautics Program of NASAs Aeronautics Research Mission Directorate. Environmental impact of aviation is being addressed by novel aircraft configurations and materials that reduce aircraft weight and increase aerodynamic efficiency. NASA is developing tools to address the challenges of increased airframe flexibility created by wings constructed with reduced structural material and novel light-weight materials. This talk will present a framework and demonstration of a flight control system using optimal control allocation with structural load feedback and constraints to achieve safe aircraft operation. As wind turbines age, they become susceptible to many forms of blade degradation. Results will be presented on work in progress that uses adaptive contingency control for load mitigation in a wind turbine simulation with blade damage progression modeled.

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.

A Framework for the Integration of DVD Technology in Geography Teaching and Learning

ERIC Educational Resources Information Center

Van der Westhuizen, Christo P.; Richter, Barry W.; Nel, Carisma

2010-01-01

This article discusses the results when integrating digital versatile disc (DVD) technology in full-time second-year geography for BEd degree students at a university in South Africa, a developing country. It proposes a framework for the integration of the DVD in geography teaching and learning, steered by students' needs, feedback and…

Fire Effects Planning Framework: A user's guide

Treesearch

A. Black; T. Opperman

2005-01-01

Each decision to suppress fire reinforces a feedback cycle in which fuels continue to accumulate, risk escalates, and the tendency to suppress fires grows (Miller and others, 2003). Existing decision-support tools focus primarily on the negative consequences of fire. This guide outlines a framework managers can use to (1) identify key areas of fire risk and (2)...

Teacher Stress and Pupil Behaviour Explored through a Rational-Emotive Behaviour Therapy Framework

ERIC Educational Resources Information Center

Robertson, Caroline; Dunsmuir, Sandra

2013-01-01

Using the psychological framework of rational-emotive behaviour therapy, the principal aim of this study was to establish whether irrational beliefs, self-efficacy or pupil behaviour predicted teacher reports of stress. A secondary aim was to establish whether these variables, in addition to teachers' verbal feedback to pupils in class, predicted…

A Scalable Framework for CSI Feedback in FDD Massive MIMO via DL Path Aligning

NASA Astrophysics Data System (ADS)

Luo, Xiliang; Cai, Penghao; Zhang, Xiaoyu; Hu, Die; Shen, Cong

2017-09-01

Unlike the time-division duplexing (TDD) systems, the downlink (DL) and uplink (UL) channels are not reciprocal anymore in the case of frequency-division duplexing (FDD). However, some long-term parameters, e.g. the time delays and angles of arrival (AoAs) of the channel paths, still enjoy reciprocity. In this paper, by efficiently exploiting the aforementioned limited reciprocity, we address the DL channel state information (CSI) feedback in a practical wideband massive multiple-input multiple-output (MIMO) system operating in the FDD mode. With orthogonal frequency-division multiplexing (OFDM) waveform and assuming frequency-selective fading channels, we propose a scalable framework for the DL pilots design, DL CSI acquisition, and the corresponding CSI feedback in the UL. In particular, the base station (BS) can transmit the FFT-based pilots with the carefully-selected phase shifts. Then the user can rely on the so-called time-domain aggregate channel (TAC) to derive the feedback of reduced imensionality according to either its own knowledge about the statistics of the DL channels or the instruction from the serving BS. We demonstrate that each user can just feed back one scalar number per DL channel path for the BS to recover the DL CSIs. Comprehensive numerical results further corroborate our designs.

The local, remote, and global consequences of climate feedbacks

NASA Astrophysics Data System (ADS)

Feldl, Nicole

Climate feedbacks offer a powerful framework for revealing the energetic pathways by which the system adjusts to an imposed forcing, such as an increase in atmospheric CO2. We investigate how local atmospheric feedbacks, such as those associated with Arctic sea ice and the Walker circulation, affect both global climate sensitivity and spatial patterns of warming. Emphasis is placed on a general circulation model with idealized boundary conditions, for the clarity it provides. For this aquaplanet simulation, we account for rapid tropospheric adjustments to CO2 and explicitly diagnose feedbacks (using radiative kernels) and forcing for this precise model set-up. In particular, a detailed closure of the energy budget within a clean experimental set-up allows us to consider nonlinear interactions between feedbacks. The inclusion of a tropical Walker circulation is found to prime the Hadley Circulation for a larger deceleration under CO2 doubling, by altering subtropical stratus decks and the meridional feedback gradient. We perform targeted experiments to isolate the atmospheric processes responsible for the variability in climate sensitivity, with implications for high-sensitivity paleoclimates. The local climate response is characterized in terms of the meridional structure of feedbacks, atmospheric heat transport, nonlinearities, and forcing. Our results display a combination of positive subtropical feedbacks and polar amplified warming. These two factors imply a critical role for transport and nonlinear effects, with the latter acting to substantially reduce global climate sensitivity. At the hemispheric scale, a rich picture emerges: anomalous divergence of heat flux away from positive feedbacks in the subtropics; clear-sky nonlinearities that reinforce the pattern of tropical cooling and high-latitude warming tendencies; and strong ice-line feedbacks that drive further amplification of polar warming. These results have implications for regional climate predictability, by providing an indication of how spatial patterns in feedbacks combine to affect both the local and nonlocal climate response, and how constraining uncertainty in those feedbacks may constrain the climate response. We also consider how competing definitions of feedbacks influence interpretation of climate sensitivity. While climate feedbacks represent a convenient breakdown of the energy balance, their widespread appeal has led to a profusion of definitions, and to variations upon the traditional decomposition. We demonstrate that a locally defined feedback framework does provide several advantages from the perspective of regional climate predictability. Namely, it enables a partial temperature change analysis which quantifies contributions to spatial patterns of warming; it also ensures feedbacks are not biased at high latitudes due to polar amplification. Alternative approaches to characterizing feedbacks can also isolate and illuminate different atmospheric processes. In particular, comparison of two versions of the water vapor feedback, one focused on specific humidity and the other on relative humidity, allows for an elegant dissection of the relative importance of thermodynamical and dynamical changes in a warmer world.

Cognitive simulators for medical education and training.

PubMed

Kahol, Kanav; Vankipuram, Mithra; Smith, Marshall L

2009-08-01

Simulators for honing procedural skills (such as surgical skills and central venous catheter placement) have proven to be valuable tools for medical educators and students. While such simulations represent an effective paradigm in surgical education, there is an opportunity to add a layer of cognitive exercises to these basic simulations that can facilitate robust skill learning in residents. This paper describes a controlled methodology, inspired by neuropsychological assessment tasks and embodied cognition, to develop cognitive simulators for laparoscopic surgery. These simulators provide psychomotor skill training and offer the additional challenge of accomplishing cognitive tasks in realistic environments. A generic framework for design, development and evaluation of such simulators is described. The presented framework is generalizable and can be applied to different task domains. It is independent of the types of sensors, simulation environment and feedback mechanisms that the simulators use. A proof of concept of the framework is provided through developing a simulator that includes cognitive variations to a basic psychomotor task. The results of two pilot studies are presented that show the validity of the methodology in providing an effective evaluation and learning environments for surgeons.

No special K! A signal detection framework for the strategic regulation of memory accuracy.

PubMed

Higham, Philip A

2007-02-01

Two experiments investigated criterion setting and metacognitive processes underlying the strategic regulation of accuracy on the Scholastic Aptitude Test (SAT) using Type-2 signal detection theory (SDT). In Experiment 1, report bias was manipulated by penalizing participants either 0.25 (low incentive) or 4 (high incentive) points for each error. Best guesses to unanswered items were obtained so that Type-2 signal detection indices of discrimination and bias could be calculated. The same incentive manipulation was used in Experiment 2, only the test was computerized, confidence ratings were taken so that receiver operating characteristic (ROC) curves could be generated, and feedback was manipulated. The results of both experiments demonstrated that SDT provides a viable alternative to A. Koriat and M. Goldsmith's (1996c) framework of monitoring and control and reveals information about the regulation of accuracy that their framework does not. For example, ROC analysis indicated that the threshold model implied by formula scoring is inadequate. Instead, performance on the SAT should be modeled with an equal-variance Gaussian, Type-2 signal detection model. ((c) 2007 APA, all rights reserved).

A combined stochastic feedforward and feedback control design methodology with application to autoland design

NASA Technical Reports Server (NTRS)

Halyo, Nesim

1987-01-01

A combined stochastic feedforward and feedback control design methodology was developed. The objective of the feedforward control law is to track the commanded trajectory, whereas the feedback control law tries to maintain the plant state near the desired trajectory in the presence of disturbances and uncertainties about the plant. The feedforward control law design is formulated as a stochastic optimization problem and is embedded into the stochastic output feedback problem where the plant contains unstable and uncontrollable modes. An algorithm to compute the optimal feedforward is developed. In this approach, the use of error integral feedback, dynamic compensation, control rate command structures are an integral part of the methodology. An incremental implementation is recommended. Results on the eigenvalues of the implemented versus designed control laws are presented. The stochastic feedforward/feedback control methodology is used to design a digital automatic landing system for the ATOPS Research Vehicle, a Boeing 737-100 aircraft. The system control modes include localizer and glideslope capture and track, and flare to touchdown. Results of a detailed nonlinear simulation of the digital control laws, actuator systems, and aircraft aerodynamics are presented.

Geometric foundations of the theory of feedback equivalence

NASA Technical Reports Server (NTRS)

Hermann, R.

1987-01-01

A description of feedback control is presented within the context of differential equations, differential geometry, and Lie theory. Work related to the integration of differential geometry with the control techniques of feedback linearization is summarized. Particular attention is given to the application of the theory of vector field systems. Feedback invariants for control systems in state space form are also addressed.

Cross-entropy optimization for neuromodulation.

PubMed

Brar, Harleen K; Yunpeng Pan; Mahmoudi, Babak; Theodorou, Evangelos A

2016-08-01

This study presents a reinforcement learning approach for the optimization of the proportional-integral gains of the feedback controller represented in a computational model of epilepsy. The chaotic oscillator model provides a feedback control systems view of the dynamics of an epileptic brain with an internal feedback controller representative of the natural seizure suppression mechanism within the brain circuitry. Normal and pathological brain activity is simulated in this model by adjusting the feedback gain values of the internal controller. With insufficient gains, the internal controller cannot provide enough feedback to the brain dynamics causing an increase in correlation between different brain sites. This increase in synchronization results in the destabilization of the brain dynamics, which is representative of an epileptic seizure. To provide compensation for an insufficient internal controller an external controller is designed using proportional-integral feedback control strategy. A cross-entropy optimization algorithm is applied to the chaotic oscillator network model to learn the optimal feedback gains for the external controller instead of hand-tuning the gains to provide sufficient control to the pathological brain and prevent seizure generation. The correlation between the dynamics of neural activity within different brain sites is calculated for experimental data to show similar dynamics of epileptic neural activity as simulated by the network of chaotic oscillators.

Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

NASA Technical Reports Server (NTRS)

Bean, Jacob; Fuller, Chris; Schiller, Noah

2016-01-01

Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

Delay-based virtual congestion control in multi-tenant datacenters

NASA Astrophysics Data System (ADS)

Liu, Yuxin; Zhu, Danhong; Zhang, Dong

2018-03-01

With the evolution of cloud computing and virtualization, the congestion control of virtual datacenters has become the basic issue for multi-tenant datacenters transmission. Regarding to the friendly conflict of heterogeneous congestion control among multi-tenant, this paper proposes a delay-based virtual congestion control, which translates the multi-tenant heterogeneous congestion control into delay-based feedback uniformly by setting the hypervisor translation layer, modifying three-way handshake of explicit feedback and packet loss feedback and throttling receive window. The simulation results show that the delay-based virtual congestion control can effectively solve the unfairness of heterogeneous feedback congestion control algorithms.

Comprehensive joint feedback control for standing by functional neuromuscular stimulation-a simulation study.

PubMed

Nataraj, Raviraj; Audu, Musa L; Kirsch, Robert F; Triolo, Ronald J

2010-12-01

Previous investigations of feedback control of standing after spinal cord injury (SCI) using functional neuromuscular stimulation (FNS) have primarily targeted individual joints. This study assesses the potential efficacy of comprehensive (trunk, hips, knees, and ankles) joint feedback control against postural disturbances using a bipedal, 3-D computer model of SCI stance. Proportional-derivative feedback drove an artificial neural network trained to produce muscle excitation patterns consistent with maximal joint stiffness values achievable about neutral stance given typical SCI muscle properties. Feedback gains were optimized to minimize upper extremity (UE) loading required to stabilize against disturbances. Compared to the baseline case of maximum constant muscle excitations used clinically, the controller reduced UE loading by 55% in resisting external force perturbations and by 84% during simulated one-arm functional tasks. Performance was most sensitive to inaccurate measurements of ankle plantar/dorsiflexion position and hip ab/adduction velocity feedback. In conclusion, comprehensive joint feedback demonstrates potential to markedly improve FNS standing function. However, alternative control structures capable of effective performance with fewer sensor-based feedback parameters may better facilitate clinical usage.

Comprehensive Joint Feedback Control for Standing by Functional Neuromuscular Stimulation – a Simulation Study

PubMed Central

Nataraj, Raviraj; Audu, Musa L.; Kirsch, Robert F.; Triolo, Ronald J.

2013-01-01

Previous investigations of feedback control of standing after spinal cord injury (SCI) using functional neuromuscular stimulation (FNS) have primarily targeted individual joints. This study assesses the potential efficacy of comprehensive (trunk, hips, knees, and ankles) joint-feedback control against postural disturbances using a bipedal, three-dimensional computer model of SCI stance. Proportional-derivative feedback drove an artificial neural network trained to produce muscle excitation patterns consistent with maximal joint stiffness values achievable about neutral stance given typical SCI muscle properties. Feedback gains were optimized to minimize upper extremity (UE) loading required to stabilize against disturbances. Compared to the baseline case of maximum constant muscle excitations used clinically, the controller reduced UE loading by 55% in resisting external force perturbations and by 84% during simulated one-arm functional tasks. Performance was most sensitive to inaccurate measurements of ankle plantar/dorsiflexion position and hip ab/adduction velocity feedback. In conclusion, comprehensive joint-feedback demonstrates potential to markedly improve FNS standing function. However, alternative control structures capable of effective performance with fewer sensor-based feedback parameters may better facilitate clinical usage. PMID:20923741

Blind lineup administration as a prophylactic against the postidentification feedback effect.

PubMed

Dysart, Jennifer E; Lawson, Victoria Z; Rainey, Anna

2012-08-01

Confidence and other testimony-relevant judgments may be distorted when witnesses are given confirming postidentification feedback, and double-blind procedures-wherein the lineup administrator does not know the identity of the suspect-are a commonly proposed, but untested, remedy for this effect. In the current study, mock witnesses viewed a staged crime video followed by a target-present or target-absent lineup where the administrator was or was not presumed to know the identity of the suspect. After making an identification decision, witnesses were or were not given realistic, but nonidentification-specific, feedback, and then confidence and other judgments were assessed. A significant interaction was found between blind condition and feedback such that feedback inflated confidence and other judgments in presumed nonblind conditions only; feedback had no effect on participants in presumed blind conditions. As predicted by the selective cue integration framework-a theoretical model suggested to explain the interaction between presumed blind administration and feedback-this interaction was significant only for inaccurate participants. These results suggest that blind administration may serve as a prophylactic against the negative effects of postidentification feedback. In addition, the effectiveness of our subtle feedback in influencing judgments suggests that lineup administrators should take care not to provide any feedback to eyewitnesses. (PsycINFO Database Record (c) 2012 APA, all rights reserved).

Optimal feedback scheme and universal time scaling for Hamiltonian parameter estimation.

PubMed

Yuan, Haidong; Fung, Chi-Hang Fred

2015-09-11

Time is a valuable resource and it is expected that a longer time period should lead to better precision in Hamiltonian parameter estimation. However, recent studies in quantum metrology have shown that in certain cases more time may even lead to worse estimations, which puts this intuition into question. In this Letter we show that by including feedback controls this intuition can be restored. By deriving asymptotically optimal feedback controls we quantify the maximal improvement feedback controls can provide in Hamiltonian parameter estimation and show a universal time scaling for the precision limit under the optimal feedback scheme. Our study reveals an intriguing connection between noncommutativity in the dynamics and the gain of feedback controls in Hamiltonian parameter estimation.

Modelling Feedback in Virtual Patients: An Iterative Approach.

PubMed

Stathakarou, Natalia; Kononowicz, Andrzej A; Henningsohn, Lars; McGrath, Cormac

2018-01-01

Virtual Patients (VPs) offer learners the opportunity to practice clinical reasoning skills and have recently been integrated in Massive Open Online Courses (MOOCs). Feedback is a central part of a branched VP, allowing the learner to reflect on the consequences of their decisions and actions. However, there is insufficient guidance on how to design feedback models within VPs and especially in the context of their application in MOOCs. In this paper, we share our experiences from building a feedback model for a bladder cancer VP in a Urology MOOC, following an iterative process in three steps. Our results demonstrate how we can systematize the process of improving the quality of VP components by the application of known literature frameworks and extend them with a feedback module. We illustrate the design and re-design process and exemplify with content from our VP. Our results can act as starting point for discussions on modelling feedback in VPs and invite future research on the topic.

Preventing information overload: cognitive load theory as an instructional framework for teaching pharmacology.

PubMed

Kaylor, Sara K

2014-02-01

Nursing students are challenged by content-laden curricula and learning environments that emphasize testing outcomes. Likewise, educators are challenged to support student-centered learning in a manner that encourages students to connect and act upon their personal motivations. This article describes the use of cognitive load theory (CLT) as an instructional design framework for an undergraduate pharmacology for nursing course. Guided by the principles of CLT, four instructional strategies were used in this course: (a) opening review activities, (b) providing students with lecture notes, (c) a "Top Five" prototype approach, and (d) deciphering "Need to Knows" from "Nice to Knows." Instructional style and strategies received positive student feedback and were found to promote a student-centered environment and active learning. On the basis of this feedback, cognitive load theory may be a successful and effective framework for undergraduate pharmacology and other nursing courses, thus assisting students and educators alike in overcoming obstacles imposed on learning environments. Copyright 2014, SLACK Incorporated.

Progressive Learning of Topic Modeling Parameters: A Visual Analytics Framework.

PubMed

El-Assady, Mennatallah; Sevastjanova, Rita; Sperrle, Fabian; Keim, Daniel; Collins, Christopher

2018-01-01

Topic modeling algorithms are widely used to analyze the thematic composition of text corpora but remain difficult to interpret and adjust. Addressing these limitations, we present a modular visual analytics framework, tackling the understandability and adaptability of topic models through a user-driven reinforcement learning process which does not require a deep understanding of the underlying topic modeling algorithms. Given a document corpus, our approach initializes two algorithm configurations based on a parameter space analysis that enhances document separability. We abstract the model complexity in an interactive visual workspace for exploring the automatic matching results of two models, investigating topic summaries, analyzing parameter distributions, and reviewing documents. The main contribution of our work is an iterative decision-making technique in which users provide a document-based relevance feedback that allows the framework to converge to a user-endorsed topic distribution. We also report feedback from a two-stage study which shows that our technique results in topic model quality improvements on two independent measures.

Method for neural network control of motion using real-time environmental feedback

NASA Technical Reports Server (NTRS)

Buckley, Theresa M. (Inventor)

1997-01-01

A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

Feedback control of flow vorticity at low Reynolds numbers.

PubMed

Zeitz, Maria; Gurevich, Pavel; Stark, Holger

2015-03-01

Our aim is to explore strategies of feedback control to design and stabilize novel dynamic flow patterns in model systems of complex fluids. To introduce the control strategies, we investigate the simple Newtonian fluid at low Reynolds number in a circular geometry. Then, the fluid vorticity satisfies a diffusion equation. We determine the mean vorticity in the sensing area and use two control strategies to feed it back into the system by controlling the angular velocity of the circular boundary. Hysteretic feedback control generates self-regulated stable oscillations in time, the frequency of which can be adjusted over several orders of magnitude by tuning the relevant feedback parameters. Time-delayed feedback control initiates unstable vorticity modes for sufficiently large feedback strength. For increasing delay time, we first observe oscillations with beats and then regular trains of narrow pulses. Close to the transition line between the resting fluid and the unstable modes, these patterns are relatively stable over long times.

Robust Frequency-Domain Constrained Feedback Design via a Two-Stage Heuristic Approach.

PubMed

Li, Xianwei; Gao, Huijun

2015-10-01

Based on a two-stage heuristic method, this paper is concerned with the design of robust feedback controllers with restricted frequency-domain specifications (RFDSs) for uncertain linear discrete-time systems. Polytopic uncertainties are assumed to enter all the system matrices, while RFDSs are motivated by the fact that practical design specifications are often described in restricted finite frequency ranges. Dilated multipliers are first introduced to relax the generalized Kalman-Yakubovich-Popov lemma for output feedback controller synthesis and robust performance analysis. Then a two-stage approach to output feedback controller synthesis is proposed: at the first stage, a robust full-information (FI) controller is designed, which is used to construct a required output feedback controller at the second stage. To improve the solvability of the synthesis method, heuristic iterative algorithms are further formulated for exploring the feedback gain and optimizing the initial FI controller at the individual stage. The effectiveness of the proposed design method is finally demonstrated by the application to active control of suspension systems.

Moist Thermodynamics of Tropical Cyclone Formation and Intensification in High-Resolution Climate Models

NASA Astrophysics Data System (ADS)

Wing, A. A.; Camargo, S. J.; Sobel, A. H.; Kim, D.; Moon, Y.; Bosilovich, M. G.; Murakami, H.; Reed, K. A.; Vecchi, G. A.; Wehner, M. F.; Zarzycki, C. M.; Zhao, M.

2017-12-01

In recent years, climate models have improved such that high-resolution simulations are able to reproduce the climatology of tropical cyclone activity with some fidelity and show some skill in seasonal forecasting. However, biases remain in many models, motivating a better understanding of what factors control the representation of tropical cyclone activity in climate models. We explore tropical cyclogenesis and intensification processes in six high-resolution climate models from NOAA/GFDL, NCAR, and NASA, including both coupled and uncoupled configurations. Our analysis framework focuses on how convection, moisture, clouds and related processes are coupled and employs budgets of column moist static energy and the spatial variance of column moist static energy. The latter allows us to quantify the different feedback processes responsible for the amplification of moist static energy anomalies associated with the organization of convection and cyclogenesis, including surface flux feedbacks and cloud-radiative feedbacks. We track the formation and evolution of tropical cyclones in the climate model simulations and apply our analysis along the individual tracks and composited over many tropical cyclones. We use two methods of compositing: a composite over all TC track points in a given intensity range, and a composite relative to the time of lifetime maximum intensity for each storm (at the same stage in the TC life cycle).

The Most Common Feedback Themes in Communication Skills Training in an Internal Medicine Residency Program: Lessons from the Resident Audio-Recording Project.

PubMed

Han, Heeyoung; Papireddy, Muralidhar Reddy; Hingle, Susan T; Ferguson, Jacqueline Anne; Koschmann, Timothy; Sandstrom, Steve

2018-07-01

Individualized structured feedback is an integral part of a resident's learning in communication skills. However, it is not clear what feedback residents receive for their communication skills development in real patient care. We will identify the most common feedback topics given to residents regarding communication skills during Internal Medicine residency training. We analyzed Resident Audio-recording Project feedback data from 2008 to 2013 by using a content analysis approach. Using open coding and an iterative categorization process, we identified 15 emerging themes for both positive and negative feedback. The most recurrent feedback topics were Patient education, Thoroughness, Organization, Questioning strategy, and Management. The residents were guided to improve their communication skills regarding Patient education, Thoroughness, Management, and Holistic exploration of patient's problem. Thoroughness and Communication intelligibility were newly identified themes that were rarely discussed in existing frameworks. Assessment rubrics serve as a lens through which we assess the adequacy of the residents' communication skills. Rather than sticking to a specific rubric, we chose to let the rubric evolve through our experience.

Optimization of Closed Loop Eigenvalues: Maneuvering, Vibration Control, and Structure/Control Design Iteration for Flexible Spacecraft.

DTIC Science & Technology

1986-05-31

Nonlinear Feedback Control 8-16 for Spacecraft Attitude Maneuvers" 2. " Spacecraft Attitude Control Using 17-35... nonlinear state feedback control laws are developed for space- craft attitude control using the Euler parameters and conjugate angular momenta. Time... Nonlinear Feedback Control for Spacecraft Attitude Maneuvers," to appear in AIAA J. of Guidance, Control, and Dynamics, (AIAA Paper No. 83-2230-CP,

A Framework to Develop Persuasive Smart Environments

NASA Astrophysics Data System (ADS)

Lobo, Pedro; Romão, Teresa; Dias, A. Eduardo; Danado, José Carlos

This paper presents a framework for the creation of context-sensitive persuasive applications. The framework allows the authoring of new persuasive smart environments producing the appropriate feedback to the users based on different sensors spread throughout the environment to capture contextual information. Using this framework, we created an application, Smart Bins, aimed at promoting users' behavioural changes regarding the recycling of waste materials. Furthermore, to evaluate the usability of our authoring tool, we performed user tests to analyze if developers could successfully create the Smart Bins application using the framework. A description of the Smart Bins application, as well as the results of the user tests, are also presented in this paper.

Why self-controlled feedback enhances motor learning: Answers from electroencephalography and indices of motivation.

PubMed

Grand, Kirk F; Bruzi, Alessandro T; Dyke, Ford B; Godwin, Maurice M; Leiker, Amber M; Thompson, Andrew G; Buchanan, Taylor L; Miller, Matthew W

2015-10-01

It was tested whether learners who choose when to receive augmented feedback while practicing a motor skill exhibit enhanced augmented feedback processing and intrinsic motivation, along with superior learning, relative to learners who do not control their feedback. Accordingly, participants were assigned to either self-control (Self) or yoked groups and asked to practice a non-dominant arm beanbag toss. Self participants received augmented feedback at their discretion, whereas Yoked participants were given feedback schedules matched to Self counterparts. Participants' visual feedback was occluded, and when they received augmented feedback, their processing of it was indexed with the electroencephalography-derived feedback-related negativity (FRN). Participants self-reported intrinsic motivation via the Intrinsic Motivation Inventory (IMI) after practice, and completed a retention and transfer test the next day to index learning. Results partially support the hypothesis. Specifically, Self participants reported higher IMI scores, exhibited larger FRNs, and demonstrated better accuracy on the transfer test, but not on the retention test, nor did they exhibit greater consistency on the retention or transfer tests. Additionally, post-hoc multiple regression analysis indicated FRN amplitude predicted transfer test accuracy (accounting for IMI score). Results suggest self-controlled feedback schedules enhance feedback processing, which enhances the transfer of a newly acquired motor skill. Copyright © 2015 Elsevier B.V. All rights reserved.

Development and face validation of strategies for improving consultation skills.

PubMed

Lefroy, Janet; Thomas, Adam; Harrison, Chris; Williams, Stephen; O'Mahony, Fidelma; Gay, Simon; Kinston, Ruth; McKinley, R K

2014-12-01

While formative workplace based assessment can improve learners' skills, it often does not because the procedures used do not facilitate feedback which is sufficiently specific to scaffold improvement. Provision of pre-formulated strategies to address predicted learning needs has potential to improve the quality and automate the provision of written feedback. To systematically develop, validate and maximise the utility of a comprehensive list of strategies for improvement of consultation skills through a process involving both medical students and their clinical primary and secondary care tutors. Modified Delphi study with tutors, modified nominal group study with students with moderation of outputs by consensus round table discussion by the authors. 35 hospital and 21 GP tutors participated in the Delphi study and contributed 153 new or modified strategies. After review of these and the 205 original strategies, 265 strategies entered the nominal group study to which 46 year four and five students contributed, resulting in the final list of 249 validated strategies. We have developed a valid and comprehensive set of strategies which are considered useful by medical students. This list can be immediately applied by any school which uses the Calgary Cambridge Framework to inform the content of formative feedback on consultation skills. We consider that the list could also be mapped to alternative skills frameworks and so be utilised by schools which do not use the Calgary Cambridge Framework.

Employing the International Classification of Functioning, Disability and Health framework to capture user feedback in the design and testing stage of development of home-based arm rehabilitation technology.

PubMed

Sivan, Manoj; Gallagher, Justin; Holt, Ray; Weightman, Andrew; O'Connor, Rory; Levesley, Martin

2016-01-01

The purpose of this study was to evaluate the International Classification of Functioning, Disability and Health (ICF) as a framework to ensure that key aspects of user feedback are identified in the design and testing stages of development of a home-based upper limb rehabilitation system. Seventeen stroke survivors with residual upper limb weakness, and seven healthcare professionals with expertise in stroke rehabilitation, were enrolled in the user-centered design process. Through semi-structured interviews, they provided feedback on the hardware, software and impact of a home-based rehabilitation device to facilitate self-managed arm exercise. Members of the multidisciplinary clinical and engineering research team, based on previous experience and existing literature in user-centred design, developed the topic list for the interviews. Meaningful concepts were extracted from participants' interviews based on existing ICF linking rules and matched to categories within the ICF Comprehensive Core Set for stroke. Most of the interview concepts (except personal factors) matched the existing ICF Comprehensive Core Set categories. Personal factors that emerged from interviews e.g. gender, age, interest, compliance, motivation, choice and convenience that might determine device usability are yet to be categorised within the ICF framework and hence could not be matched to a specific Core Set category.

Motivation in vigilance - Effects of self-evaluation and experimenter-controlled feedback.

NASA Technical Reports Server (NTRS)

Warm, J. S.; Kanfer, F. H.; Kuwada, S.; Clark, J. L.

1972-01-01

Vigilance experiments have been performed to study the relative efficiency of feedback operations in enhancing vigilance performance. Two feedback operations were compared - i.e., experimenter-controlled feedback in the form of knowledge of results (KR) regarding response times to signal detections, and subject-controlled feedback in the form of self-evaluation (SE) of response times to signal detections. The subjects responded to the aperiodic offset of a visual signal during a 1-hr vigil. Both feedback operations were found to enhance performance efficiency: subjects in the KR and SE conditions had faster response times than controls receiving no evaluative feedback. Moreover, the data of the KR and SE groups did not differ significantly from each other. The results are discussed in terms of the hypothesis that self-evaluation is a critical factor underlying the incentive value of KR in vigilance tasks.

Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation

PubMed Central

Klauer, Christian; Schauer, Thomas; Reichenfelser, Werner; Karner, Jakob; Zwicker, Sven; Gandolla, Marta; Ambrosini, Emilia; Ferrante, Simona; Hack, Marco; Jedlitschka, Andreas; Duschau-Wicke, Alexander; Gföhler, Margit; Pedrocchi, Alessandra

2014-01-01

Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control of the arm and shoulder due to high level spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs) passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOF. The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e., a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 s. PMID:25228853

Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation.

PubMed

Klauer, Christian; Schauer, Thomas; Reichenfelser, Werner; Karner, Jakob; Zwicker, Sven; Gandolla, Marta; Ambrosini, Emilia; Ferrante, Simona; Hack, Marco; Jedlitschka, Andreas; Duschau-Wicke, Alexander; Gföhler, Margit; Pedrocchi, Alessandra

2014-01-01

Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control of the arm and shoulder due to high level spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs) passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOF. The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e., a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 s.

Tool for the Integrated Dynamic Numerical Propulsion System Simulation (NPSS)/Turbine Engine Closed-Loop Transient Analysis (TTECTrA) User's Guide

NASA Technical Reports Server (NTRS)

Chin, Jeffrey C.; Csank, Jeffrey T.

2016-01-01

The Tool for Turbine Engine Closed-Loop Transient Analysis (TTECTrA ver2) is a control design tool thatenables preliminary estimation of transient performance for models without requiring a full nonlinear controller to bedesigned. The program is compatible with subsonic engine models implemented in the MATLAB/Simulink (TheMathworks, Inc.) environment and Numerical Propulsion System Simulation (NPSS) framework. At a specified flightcondition, TTECTrA will design a closed-loop controller meeting user-defined requirements in a semi or fully automatedfashion. Multiple specifications may be provided, in which case TTECTrA will design one controller for each, producing acollection of controllers in a single run. Each resulting controller contains a setpoint map, a schedule of setpointcontroller gains, and limiters; all contributing to transient characteristics. The goal of the program is to providesteady-state engine designers with more immediate feedback on the transient engine performance earlier in the design cycle.

Minimal-Approximation-Based Distributed Consensus Tracking of a Class of Uncertain Nonlinear Multiagent Systems With Unknown Control Directions.

PubMed

Choi, Yun Ho; Yoo, Sung Jin

2017-03-28

A minimal-approximation-based distributed adaptive consensus tracking approach is presented for strict-feedback multiagent systems with unknown heterogeneous nonlinearities and control directions under a directed network. Existing approximation-based consensus results for uncertain nonlinear multiagent systems in lower-triangular form have used multiple function approximators in each local controller to approximate unmatched nonlinearities of each follower. Thus, as the follower's order increases, the number of the approximators used in its local controller increases. However, the proposed approach employs only one function approximator to construct the local controller of each follower regardless of the order of the follower. The recursive design methodology using a new error transformation is derived for the proposed minimal-approximation-based design. Furthermore, a bounding lemma on parameters of Nussbaum functions is presented to handle the unknown control direction problem in the minimal-approximation-based distributed consensus tracking framework and the stability of the overall closed-loop system is rigorously analyzed in the Lyapunov sense.

Using engineering control principles to inform the design of adaptive interventions: a conceptual introduction.

PubMed

Rivera, Daniel E; Pew, Michael D; Collins, Linda M

2007-05-01

The goal of this paper is to describe the role that control engineering principles can play in developing and improving the efficacy of adaptive, time-varying interventions. It is demonstrated that adaptive interventions constitute a form of feedback control system in the context of behavioral health. Consequently, drawing from ideas in control engineering has the potential to significantly inform the analysis, design, and implementation of adaptive interventions, leading to improved adherence, better management of limited resources, a reduction of negative effects, and overall more effective interventions. This article illustrates how to express an adaptive intervention in control engineering terms, and how to use this framework in a computer simulation to investigate the anticipated impact of intervention design choices on efficacy. The potential benefits of operationalizing decision rules based on control engineering principles are particularly significant for adaptive interventions that involve multiple components or address co-morbidities, situations that pose significant challenges to conventional clinical practice.

Using Engineering Control Principles to Inform the Design of Adaptive Interventions: A Conceptual Introduction

PubMed Central

Rivera, Daniel E.; Pew, Michael D.; Collins, Linda M.

2007-01-01

The goal of this paper is to describe the role that control engineering principles can play in developing and improving the efficacy of adaptive, time-varying interventions. It is demonstrated that adaptive interventions constitute a form of feedback control system in the context of behavioral health. Consequently, drawing from ideas in control engineering has the potential to significantly inform the analysis, design, and implementation of adaptive interventions, leading to improved adherence, better management of limited resources, a reduction of negative effects, and overall more effective interventions. This article illustrates how to express an adaptive intervention in control engineering terms, and how to use this framework in a computer simulation to investigate the anticipated impact of intervention design choices on efficacy. The potential benefits of operationalizing decision rules based on control engineering principles are particularly significant for adaptive interventions that involve multiple components or address co-morbidities, situations that pose significant challenges to conventional clinical practice. PMID:17169503

Effect of Concurrent Visual Feedback Frequency on Postural Control Learning in Adolescents.

PubMed

Marco-Ahulló, Adrià; Sánchez-Tormo, Alexis; García-Pérez, José A; Villarrasa-Sapiña, Israel; González, Luis M; García-Massó, Xavier

2018-04-13

The purpose was to find better augmented visual feedback frequency (100% or 67%) for learning a balance task in adolescents. Thirty subjects were divided randomly into a control group, and 100% and 67% feedback groups. The three groups performed pretest (3 trials), practice (12 trials), posttest (3 trials) and retention (3 trials, 24 hours later). The reduced feedback group showed lower RMS in the posttest than in the pretest (p = 0.04). The control and reduced feedback groups showed significant lower median frequency in the posttest than in the pretest (p < 0.05). Both feedback groups showed lower values in retention than in the pretest (p < 0.05). Even when the effect of feedback frequency could not be detected in motor learning, 67% of the feedback was recommended for motor adaptation.

Verbal communication improves laparoscopic team performance.

PubMed

Shiliang Chang; Waid, Erin; Martinec, Danny V; Bin Zheng; Swanstrom, Lee L

2008-06-01

The impact of verbal communication on laparoscopic team performance was examined. A total of 24 dyad teams, comprised of residents, medical students, and office staff, underwent 2 team tasks using a previously validated bench model. Twelve teams (feedback groups) received instant verbal instruction and feedback on their performance from an instructor which was compared with 12 teams (control groups) with minimal or no verbal feedback. Their performances were both video and audio taped for analysis. Surgical backgrounds were similar between feedback and control groups. Teams with more verbal feedback achieved significantly better task performance (P = .002) compared with the control group with less feedback. Impact of verbal feedback was more pronounced for tasks requiring team cooperation (aiming and navigation) than tasks depending on individual skills (knotting). Verbal communication, especially the instructions and feedback from an experienced instructor, improved team efficiency and performance.

The fundamental role of ecological feedback mechanisms for the adaptive management of seagrass ecosystems - a review.

PubMed

Maxwell, Paul S; Eklöf, Johan S; van Katwijk, Marieke M; O'Brien, Katherine R; de la Torre-Castro, Maricela; Boström, Christoffer; Bouma, Tjeerd J; Krause-Jensen, Dorte; Unsworth, Richard K F; van Tussenbroek, Brigitta I; van der Heide, Tjisse

2017-08-01

Seagrass meadows are vital ecosystems in coastal zones worldwide, but are also under global threat. One of the major hurdles restricting the success of seagrass conservation and restoration is our limited understanding of ecological feedback mechanisms. In these ecosystems, multiple, self-reinforcing feedbacks can undermine conservation efforts by masking environmental impacts until the decline is precipitous, or alternatively they can inhibit seagrass recovery in spite of restoration efforts. However, no clear framework yet exists for identifying or dealing with feedbacks to improve the management of seagrass ecosystems. Here we review the causes and consequences of multiple feedbacks between seagrass and biotic and/or abiotic processes. We demonstrate how feedbacks have the potential to impose or reinforce regimes of either seagrass dominance or unvegetated substrate, and how the strength and importance of these feedbacks vary across environmental gradients. Although a myriad of feedbacks have now been identified, the co-occurrence and likely interaction among feedbacks has largely been overlooked to date due to difficulties in analysis and detection. Here we take a fundamental step forward by modelling the interactions among two distinct above- and belowground feedbacks to demonstrate that interacting feedbacks are likely to be important for ecosystem resilience. On this basis, we propose a five-step adaptive management plan to address feedback dynamics for effective conservation and restoration strategies. The management plan provides guidance to aid in the identification and prioritisation of likely feedbacks in different seagrass ecosystems. © 2016 Cambridge Philosophical Society.

OpenSQUID: A Flexible Open-Source Software Framework for the Control of SQUID Electronics

DOE PAGES

Jaeckel, Felix T.; Lafler, Randy J.; Boyd, S. T. P.

2013-02-06

We report commercially available computer-controlled SQUID electronics are usually delivered with software providing a basic user interface for adjustment of SQUID tuning parameters, such as bias current, flux offset, and feedback loop settings. However, in a research context it would often be useful to be able to modify this code and/or to have full control over all these parameters from researcher-written software. In the case of the STAR Cryoelectronics PCI/PFL family of SQUID control electronics, the supplied software contains modules for automatic tuning and noise characterization, but does not provide an interface for user code. On the other hand, themore » Magnicon SQUIDViewer software package includes a public application programming interface (API), but lacks auto-tuning and noise characterization features. To overcome these and other limitations, we are developing an "open-source" framework for controlling SQUID electronics which should provide maximal interoperability with user software, a unified user interface for electronics from different manufacturers, and a flexible platform for the rapid development of customized SQUID auto-tuning and other advanced features. Finally, we have completed a first implementation for the STAR Cryoelectronics hardware and have made the source code for this ongoing project available to the research community on SourceForge (http://opensquid.sourceforge.net) under the GNU public license.« less

Feedback power control strategies in wireless sensor networks with joint channel decoding.

PubMed

Abrardo, Andrea; Ferrari, Gianluigi; Martalò, Marco; Perna, Fabio

2009-01-01

In this paper, we derive feedback power control strategies for block-faded multiple access schemes with correlated sources and joint channel decoding (JCD). In particular, upon the derivation of the feasible signal-to-noise ratio (SNR) region for the considered multiple access schemes, i.e., the multidimensional SNR region where error-free communications are, in principle, possible, two feedback power control strategies are proposed: (i) a classical feedback power control strategy, which aims at equalizing all link SNRs at the access point (AP), and (ii) an innovative optimized feedback power control strategy, which tries to make the network operational point fall in the feasible SNR region at the lowest overall transmit energy consumption. These strategies will be referred to as "balanced SNR" and "unbalanced SNR," respectively. While they require, in principle, an unlimited power control range at the sources, we also propose practical versions with a limited power control range. We preliminary consider a scenario with orthogonal links and ideal feedback. Then, we analyze the robustness of the proposed power control strategies to possible non-idealities, in terms of residual multiple access interference and noisy feedback channels. Finally, we successfully apply the proposed feedback power control strategies to a limiting case of the class of considered multiple access schemes, namely a central estimating officer (CEO) scenario, where the sensors observe noisy versions of a common binary information sequence and the AP's goal is to estimate this sequence by properly fusing the soft-output information output by the JCD algorithm.

Comparing the Effects of Self-Controlled and Examiner-Controlled Feedback on Learning in Children With Developmental Coordination Disorder.

PubMed

Zamani, Mohamad Hosein; Fatemi, Rouholah; Soroushmoghadam, Keyvan

2015-12-01

Feedback can improve task learning in children with developmental coordination disorder (DCD). However, the frequency and type of feedback may play different role in learning and needs to more investigations. The aim of this study was to evaluate the acquisition and retention of new feedback skills in children with DCD under different frequency of self-control and control examiner feedback. In this quasi-experimental study with pretest-posttest design, participants based on their retention were divided into four feedback groups: self-controlled feedback groups with frequencies of 50% and75%, experimenter controls with frequencies of 50% and 75%. The study sample consisted of 24 boys with DCD aged between 9 to 11 years old in Ahvaz City, Iran. Then subjects practiced 30 throwing (6 blocks of 5 attempts) in eighth session. Acquisition test immediately after the last training session, and then the retention test were taken. Data were analyzed using the paired t-test, ANOVA and Tukey tests. The results showed no significant difference between groups in the acquisition phase (P > 0.05). However,in the retention session, group of self-control showed better performance than the control tester group (P < 0.05). Based on the current findings, self-control feedback with high frequency leads to more learning in DCD children. The results of this study can be used in rehabilitation programs to improve performance and learning in children with DCD.

Short- and Long-Term Learning of Feedforward Control of a Myoelectric Prosthesis with Sensory Feedback by Amputees.

PubMed

Strbac, Matija; Isakovic, Milica; Belic, Minja; Popovic, Igor; Simanic, Igor; Farina, Dario; Keller, Thierry; Dosen, Strahinja

2017-11-01

Human motor control relies on a combination of feedback and feedforward strategies. The aim of this study was to longitudinally investigate artificial somatosensory feedback and feedforward control in the context of grasping with myoelectric prosthesis. Nine amputee subjects performed routine grasping trials, with the aim to produce four levels of force during four blocks of 60 trials across five days. The electrotactile force feedback was provided in the second and third block using multipad electrode and spatial coding. The first baseline and last validation block (open-loop control) evaluated the effects of long- (across sessions) and short-term (within session) learning, respectively. The outcome measures were the absolute error between the generated and target force, and the number of force saturations. The results demonstrated that the electrotactile feedback improved the performance both within and across sessions. In the validation block, the performance did not significantly decrease and the quality of open-loop control (baseline) improved across days, converging to the performance characterizing closed-loop control. This paper provides important insights into the feedback and feedforward processes in prosthesis control, contributing to the better understanding of the role and design of feedback in prosthetic systems.

Robust high-performance control for robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1989-01-01

A robust control scheme to accomplish accurate trajectory tracking for an integrated system of manipulator-plus-actuators is proposed. The control scheme comprises a feedforward and a feedback controller. The feedforward controller contains any known part of the manipulator dynamics that can be used for online control. The feedback controller consists of adaptive position and velocity feedback gains and an auxiliary signal which is simply generated by a fixed-gain proportional/integral/derivative controller. The feedback controller is updated by very simple adaptation laws which contain both proportional and integral adaptation terms. By introduction of a simple sigma modification to the adaptation laws, robustness is guaranteed in the presence of unmodeled dynamics and disturbances.

What do we know about how to do audit and feedback? Pitfalls in applying evidence from a systematic review.

PubMed

Foy, R; Eccles, M P; Jamtvedt, G; Young, J; Grimshaw, J M; Baker, R

2005-07-13

Improving the quality of health care requires a range of evidence-based activities. Audit and feedback is commonly used as a quality improvement tool in the UK National Health Service [NHS]. We set out to assess whether current guidance and systematic review evidence can sufficiently inform practical decisions about how to use audit and feedback to improve quality of care. We selected an important chronic disease encountered in primary care: diabetes mellitus. We identified recommendations from National Institute for Clinical Excellence (NICE) guidance on conducting audit and generated questions which would be relevant to any attempt to operationalise audit and feedback in a healthcare service setting. We explored the extent to which a systematic review of audit and feedback could provide practical guidance about whether audit and feedback should be used to improve quality of diabetes care and, if so, how audit and feedback could be optimised. National guidance suggests the importance of securing the right organisational conditions and processes. Review evidence suggests that audit and feedback can be effective in changing healthcare professional practice. However, the available evidence says relatively little about the detail of how to use audit and feedback most efficiently. Audit and feedback will continue to be an unreliable approach to quality improvement until we learn how and when it works best. Conceptualising audit and feedback within a theoretical framework offers a way forward.

Individual Finger Control of the Modular Prosthetic Limb using High-Density Electrocorticography in a Human Subject

PubMed Central

Fifer, Matthew S.; Johannes, Matthew S.; Katyal, Kapil D.; Para, Matthew P.; Armiger, Robert; Anderson, William S.; Thakor, Nitish V.; Wester, Brock A.; Crone, Nathan E.

2016-01-01

Objective We used native sensorimotor representations of fingers in a brain-machine interface to achieve immediate online control of individual prosthetic fingers. Approach Using high gamma responses recorded with a high-density ECoG array, we rapidly mapped the functional anatomy of cued finger movements. We used these cortical maps to select ECoG electrodes for a hierarchical linear discriminant analysis classification scheme to predict: 1) if any finger was moving, and, if so, 2) which digit was moving. To account for sensory feedback, we also mapped the spatiotemporal activation elicited by vibrotactile stimulation. Finally, we used this prediction framework to provide immediate online control over individual fingers of the Johns Hopkins University Applied Physics Laboratory (JHU/APL) Modular Prosthetic Limb (MPL). Main Results The balanced classification accuracy for detection of movements during the online control session was 92% (chance: 50%). At the onset of movement, finger classification was 76% (chance: 20%), and 88% (chance: 25%) if the pinky and ring finger movements were coupled. Balanced accuracy of fully flexing the cued finger was 64%, and 77% had we combined pinky and ring commands. Offline decoding yielded a peak finger decoding accuracy of 96.5% (chance: 20%) when using an optimized selection of electrodes. Offline analysis demonstrated significant finger-specific activations throughout sensorimotor cortex. Activations either prior to movement onset or during sensory feedback led to discriminable finger control. Significance Our results demonstrate the ability of ECoG-based BMIs to leverage the native functional anatomy of sensorimotor cortical populations to immediately control individual finger movements in real time. PMID:26863276

Individual finger control of a modular prosthetic limb using high-density electrocorticography in a human subject

NASA Astrophysics Data System (ADS)

Hotson, Guy; McMullen, David P.; Fifer, Matthew S.; Johannes, Matthew S.; Katyal, Kapil D.; Para, Matthew P.; Armiger, Robert; Anderson, William S.; Thakor, Nitish V.; Wester, Brock A.; Crone, Nathan E.

2016-04-01

Objective. We used native sensorimotor representations of fingers in a brain-machine interface (BMI) to achieve immediate online control of individual prosthetic fingers. Approach. Using high gamma responses recorded with a high-density electrocorticography (ECoG) array, we rapidly mapped the functional anatomy of cued finger movements. We used these cortical maps to select ECoG electrodes for a hierarchical linear discriminant analysis classification scheme to predict: (1) if any finger was moving, and, if so, (2) which digit was moving. To account for sensory feedback, we also mapped the spatiotemporal activation elicited by vibrotactile stimulation. Finally, we used this prediction framework to provide immediate online control over individual fingers of the Johns Hopkins University Applied Physics Laboratory modular prosthetic limb. Main results. The balanced classification accuracy for detection of movements during the online control session was 92% (chance: 50%). At the onset of movement, finger classification was 76% (chance: 20%), and 88% (chance: 25%) if the pinky and ring finger movements were coupled. Balanced accuracy of fully flexing the cued finger was 64%, and 77% had we combined pinky and ring commands. Offline decoding yielded a peak finger decoding accuracy of 96.5% (chance: 20%) when using an optimized selection of electrodes. Offline analysis demonstrated significant finger-specific activations throughout sensorimotor cortex. Activations either prior to movement onset or during sensory feedback led to discriminable finger control. Significance. Our results demonstrate the ability of ECoG-based BMIs to leverage the native functional anatomy of sensorimotor cortical populations to immediately control individual finger movements in real time.

V/STOL tilt rotor aircraft study. Volume 7: Tilt rotor flight control program feedback studies

NASA Technical Reports Server (NTRS)

Alexander, H. R.; Eason, W.; Gillmore, K.; Morris, J.; Spittle, R.

1973-01-01

An exploratory study has been made of the use of feedback control in tilt rotor aircraft. This has included the use of swashplate cyclic and collective controls and direct lift control. Various sensor and feedback systems are evaluated in relation to blade loads alleviation, improvement in flying qualities, and modal suppression. Recommendations are made regarding additional analytical and wind tunnel investigations and development of feedback systems in the full scale flight vehicle. Estimated costs and schedules are given.

Walking Flexibility after Hemispherectomy: Split-Belt Treadmill Adaptation and Feedback Control

ERIC Educational Resources Information Center

Choi, Julia T.; Vining, Eileen P. G.; Reisman, Darcy S.; Bastian, Amy J.

2009-01-01

Walking flexibility depends on use of feedback or reactive control to respond to unexpected changes in the environment, and the ability to adapt feedforward or predictive control for sustained alterations. Recent work has demonstrated that cerebellar damage impairs feedforward adaptation, but not feedback control, during human split-belt treadmill…

Competing feedbacks drive state transitions during initial catchment evolution: Examples from post-mining landscape and ecosystems evolution

NASA Astrophysics Data System (ADS)

Hinz, Christoph; Wolfgang, Schaaf; Werner, Gerwin

2014-05-01

Within the context of severely disturbed landscapes with little or no ecological memory, such as post-mining landscapes, we propose a simple framework that explains the catchment evolution as a result of competing feedbacks influenced by the initial conditions and the atmospheric drivers such as rainfall intermittency and intensity. The first stage of the evolution is dominated by abiotic feedbacks triggered by rainfall and subsequent fluid flow causing particle mobilisation on the surface and in the subsurface leading to flow concentration or in some instances to densification of surface and subsurface substrates. Subsequently, abiotic-biotic feedbacks start to compete in the sense that biological activity generally stabilizes substrate by preventing particle mobilisation and hence contribute to converting the substrate to a habitat. We suggest that these competing feedbacks may generate alternative stable states in particular under semi-arid and arid climatic conditions, while in temperate often energy limited environments biological process "outcompete" abiotic processes leading to a stable state, in particular from the water balance point of view for comparable geomorphic situations. To illustrate this framework, we provide examples from post-mining landscapes, in which soil, water and vegetation was monitored. In case of arid regions in Australia, we provide evidence that the initial conditions of a mine waste disposal "locked" the system into a state that was limited by water and nutrient storage capacity while at the same time it was stable from a geomorphic point of view for the observation period. The cause of the system to be locked in, is the very high hydraulic conductivity of the substrate, that has not undergone any changes during the first years. In contrast to this case study, we illustrate how this framework explains the evolution of an artificial catchment (Hühnerwasser Catchment) in Lusatia (150 km southeast of Berlin, Germany). During the initial phase of development the catchment changed very rapidly due to sediment transport, drainage network formation, and soil crusting very similar to geomorphic processes observed in arid and semi-arid landscapes void of dense vegetation. Hydraulic properties changed rapidly after few wet and dry cycles, indicative of particle mobilisation and trapping in the subsurface. Accordingly, the hydrological regime was controlled by rapid surface runoff enhanced through crust formation and at the same time a shallow ground water system developed. This surface runoff regime peeked about two years initialisation as shown by a maximum area of drainage channels. A major, fairly rapid transition occurred between three and five years after placement, in which the sediment transport ceased and vegetation coverage of the drainage channel exceeded 90%. The transition represents the onset of a transpiration dominated regime that is further enhanced by change of the plant composition of the vegetation with tree recruitment from the surrounding forming significant clusters in the catchment. This transition in the third year was also seen in a significant increase in soil fauna and plant diversity.

Dynamics of nonlinear feedback control.

PubMed

Snippe, H P; van Hateren, J H

2007-05-01

Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain signal (resp. the attenuation signal) is obtained through a concatenation of an instantaneous nonlinearity and a linear low-pass filter operating on the output of the feedback loop. For input steps, the dynamics of gain and attenuation can be very different, depending on the mathematical form of the nonlinearity and the ordering of the nonlinearity and the filtering in the feedback loop. Further, the dynamics of feedback control can be strongly asymmetrical for increment versus decrement steps of the input. Nevertheless, for each of the models studied, the nonlinearity in the feedback loop can be chosen such that immediately after an input step, the dynamics of feedback control is symmetric with respect to increments versus decrements. Finally, we study the dynamics of the output of the control loops and find conditions under which overshoots and undershoots of the output relative to the steady-state output occur when the models are stimulated with low-pass filtered steps. For small steps at the input, overshoots and undershoots of the output do not occur when the filtering in the control path is faster than the low-pass filtering at the input. For large steps at the input, however, results depend on the model, and for some of the models, multiple overshoots and undershoots can occur even with a fast control path.

Choosing Sensor Configuration for a Flexible Structure Using Full Control Synthesis

NASA Technical Reports Server (NTRS)

Lind, Rick; Nalbantoglu, Volkan; Balas, Gary

1997-01-01

Optimal locations and types for feedback sensors which meet design constraints and control requirements are difficult to determine. This paper introduces an approach to choosing a sensor configuration based on Full Control synthesis. A globally optimal Full Control compensator is computed for each member of a set of sensor configurations which are feasible for the plant. The sensor configuration associated with the Full Control system achieving the best closed-loop performance is chosen for feedback measurements to an output feedback controller. A flexible structure is used as an example to demonstrate this procedure. Experimental results show sensor configurations chosen to optimize the Full Control performance are effective for output feedback controllers.

Feedforward/feedback control synthesis for performance and robustness

NASA Technical Reports Server (NTRS)

Wie, Bong; Liu, Qiang

1990-01-01

Both feedforward and feedback control approaches for uncertain dynamical systems are investigated. The control design objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant modeling uncertainty. Preshapong of an ideal, time-optimal control input using a 'tapped-delay' filter is shown to provide a rapid maneuver with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. The proposed feedforward/feedback control approach is robust for a certain class of uncertain dynamical systems, since the control input command computed for a given desired output does not depend on the plant parameters.

Generic control software connecting astronomical instruments to the reflective memory data recording system of VLTI - bossvlti

NASA Astrophysics Data System (ADS)

Pozna, E.; Ramirez, A.; Mérand, A.; Mueller, A.; Abuter, R.; Frahm, R.; Morel, S.; Schmid, C.; Duc, T. Phan; Delplancke-Ströbele, F.

2014-07-01

The quality of data obtained by VLTI instruments may be refined by analyzing the continuous data supplied by the Reflective Memory Network (RMN). Based on 5 years experience providing VLTI instruments (PACMAN, AMBER, MIDI) with RMN data, the procedure has been generalized to make the synchronization with observation trouble-free. The present software interface saves not only months of efforts for each instrument but also provides the benefits of software frameworks. Recent applications (GRAVITY, MATISSE) supply feedback for the software to evolve. The paper highlights the way common features been identified to be able to offer reusable code in due course.

Inferential modeling and predictive feedback control in real-time motion compensation using the treatment couch during radiotherapy

NASA Astrophysics Data System (ADS)

Qiu, Peng; D'Souza, Warren D.; McAvoy, Thomas J.; Liu, K. J. Ray

2007-09-01

Tumor motion induced by respiration presents a challenge to the reliable delivery of conformal radiation treatments. Real-time motion compensation represents the technologically most challenging clinical solution but has the potential to overcome the limitations of existing methods. The performance of a real-time couch-based motion compensation system is mainly dependent on two aspects: the ability to infer the internal anatomical position and the performance of the feedback control system. In this paper, we propose two novel methods for the two aspects respectively, and then combine the proposed methods into one system. To accurately estimate the internal tumor position, we present partial-least squares (PLS) regression to predict the position of the diaphragm using skin-based motion surrogates. Four radio-opaque markers were placed on the abdomen of patients who underwent fluoroscopic imaging of the diaphragm. The coordinates of the markers served as input variables and the position of the diaphragm served as the output variable. PLS resulted in lower prediction errors compared with standard multiple linear regression (MLR). The performance of the feedback control system depends on the system dynamics and dead time (delay between the initiation and execution of the control action). While the dynamics of the system can be inverted in a feedback control system, the dead time cannot be inverted. To overcome the dead time of the system, we propose a predictive feedback control system by incorporating forward prediction using least-mean-square (LMS) and recursive least square (RLS) filtering into the couch-based control system. Motion data were obtained using a skin-based marker. The proposed predictive feedback control system was benchmarked against pure feedback control (no forward prediction) and resulted in a significant performance gain. Finally, we combined the PLS inference model and the predictive feedback control to evaluate the overall performance of the feedback control system. Our results show that, with the tumor motion unknown but inferred by skin-based markers through the PLS model, the predictive feedback control system was able to effectively compensate intra-fraction motion.

A Negative-Feedback Loop between the Detoxification/Antioxidant Response Factor SKN-1 and Its Repressor WDR-23 Matches Organism Needs with Environmental Conditions

PubMed Central

Leung, Chi K.; Wang, Ying; Deonarine, Andrew; Tang, Lanlan; Prasse, Stephanie

2013-01-01

Negative-feedback loops between transcription factors and repressors in responses to xenobiotics, oxidants, heat, hypoxia, DNA damage, and infection have been described. Although common, the function of feedback is largely unstudied. Here, we define a negative-feedback loop between the Caenorhabditis elegans detoxification/antioxidant response factor SKN-1/Nrf and its repressor wdr-23 and investigate its function in vivo. Although SKN-1 promotes stress resistance and longevity, we find that tight regulation by WDR-23 is essential for growth and reproduction. By disabling SKN-1 transactivation of wdr-23, we reveal that feedback is required to set the balance between growth/reproduction and stress resistance/longevity. We also find that feedback is required to set the sensitivity of a core SKN-1 target gene to an electrophile. Interestingly, the effect of feedback on target gene induction is greatly reduced when the stress response is strongly activated, presumably to ensure maximum activation of cytoprotective genes during potentially fatal conditions. Our work provides a framework for understanding the function of negative feedback in inducible stress responses and demonstrates that manipulation of feedback alone can shift the balance of competing animal processes toward cell protection, health, and longevity. PMID:23836880

The clinical relevance of advanced artificial feedback in the control of a multi-functional myoelectric prosthesis.

PubMed

Markovic, Marko; Schweisfurth, Meike A; Engels, Leonard F; Bentz, Tashina; Wüstefeld, Daniela; Farina, Dario; Dosen, Strahinja

2018-03-27

To effectively replace the human hand, a prosthesis should seamlessly respond to user intentions but also convey sensory information back to the user. Restoration of sensory feedback is rated highly by the prosthesis users, and feedback is critical for grasping in able-bodied subjects. Nonetheless, the benefits of feedback in prosthetics are still debated. The lack of consensus is likely due to the complex nature of sensory feedback during prosthesis control, so that its effectiveness depends on multiple factors (e.g., task complexity, user learning). We evaluated the impact of these factors with a longitudinal assessment in six amputee subjects, using a clinical setup (socket, embedded control) and a range of tasks (box and blocks, block turn, clothespin and cups relocation). To provide feedback, we have proposed a novel vibrotactile stimulation scheme capable of transmitting multiple variables from a multifunction prosthesis. The subjects wore a bracelet with four by two uniformly placed vibro-tactors providing information on contact, prosthesis state (active function), and grasping force. The subjects also completed a questionnaire for the subjective evaluation of the feedback. The tests demonstrated that feedback was beneficial only in the complex tasks (block turn, clothespin and cups relocation), and that the training had an important, task-dependent impact. In the clothespin relocation and block turn tasks, training allowed the subjects to establish successful feedforward control, and therefore, the feedback became redundant. In the cups relocation task, however, the subjects needed some training to learn how to properly exploit the feedback. The subjective evaluation of the feedback was consistently positive, regardless of the objective benefits. These results underline the multifaceted nature of closed-loop prosthesis control as, depending on the context, the same feedback interface can have different impact on performance. Finally, even if the closed-loop control does not improve the performance, it could be beneficial as it seems to improve the subjective experience. Therefore, in this study we demonstrate, for the first time, the relevance of an advanced, multi-variable feedback interface for dexterous, multi-functional prosthesis control in a clinically relevant setting.

Comparing the effects of positive and negative feedback in information-integration category learning.

PubMed

Freedberg, Michael; Glass, Brian; Filoteo, J Vincent; Hazeltine, Eliot; Maddox, W Todd

2017-01-01

Categorical learning is dependent on feedback. Here, we compare how positive and negative feedback affect information-integration (II) category learning. Ashby and O'Brien (2007) demonstrated that both positive and negative feedback are required to solve II category problems when feedback was not guaranteed on each trial, and reported no differences between positive-only and negative-only feedback in terms of their effectiveness. We followed up on these findings and conducted 3 experiments in which participants completed 2,400 II categorization trials across three days under 1 of 3 conditions: positive feedback only (PFB), negative feedback only (NFB), or both types of feedback (CP; control partial). An adaptive algorithm controlled the amount of feedback given to each group so that feedback was nearly equated. Using different feedback control procedures, Experiments 1 and 2 demonstrated that participants in the NFB and CP group were able to engage II learning strategies, whereas the PFB group was not. Additionally, the NFB group was able to achieve significantly higher accuracy than the PFB group by Day 3. Experiment 3 revealed that these differences remained even when we equated the information received on feedback trials. Thus, negative feedback appears significantly more effective for learning II category structures. This suggests that the human implicit learning system may be capable of learning in the absence of positive feedback.

Control Theory Perspective of Effects-Based Thinking and Operations: Modelling Operations as a Feedback Control System

DTIC Science & Technology

2007-11-01

Control Theory Perspective of Effects-Based Thinking and Operations Modelling “Operations” as a Feedback Control System Philip S. E... Theory Perspective of Effects-Based Thinking and Operations Modelling “Operations” as a Feedback Control System Philip S. E. Farrell...Abstract This paper explores operations that involve effects-based thinking (EBT) using Control Theory techniques in order to highlight the concept’s

Software-in-the-loop simulation of a quadcopter portion for hybrid aircraft control

NASA Astrophysics Data System (ADS)

Mansoor, Shoaib; Saedan, Mana

2018-01-01

In this paper, we present the design of the software-in-the-loop simulation framework for a quadcopter that is incorporated in our hybrid aircraft. The hybrid aircraft comprises a quad-copter and a fixed wing with one forward thrust rotor. We need to develop a split control system that utilizes a typical quadcopter controller to control four motors/propellers and a supervisor controller to control a forward thrust rotor. The supervisor controller shall take feedback signals from the quadcopter and will command the fifth rotor for stabilizing the hybrid aircraft and resolves problems like thrust saturation. The simulation simulates the control algorithm and verifies the quadcopter’s behavior using MATLAB and Simulink together. Achieving these results, we come to know how our hybrid controller will be implemented, what results to expect once the forward thrust rotor is attached to the quadcopter. The software-in-the-loop simulation of a quadcopter is one of the most effective methods for verifying overall control performance and safety of the hybrid aircraft before actual hardware implementation and flight test.

Grip force control during virtual object interaction: effect of force feedback,accuracy demands, and training.

PubMed

Gibo, Tricia L; Bastian, Amy J; Okamura, Allison M

2014-03-01

When grasping and manipulating objects, people are able to efficiently modulate their grip force according to the experienced load force. Effective grip force control involves providing enough grip force to prevent the object from slipping, while avoiding excessive force to avoid damage and fatigue. During indirect object manipulation via teleoperation systems or in virtual environments, users often receive limited somatosensory feedback about objects with which they interact. This study examines the effects of force feedback, accuracy demands, and training on grip force control during object interaction in a virtual environment. The task required subjects to grasp and move a virtual object while tracking a target. When force feedback was not provided, subjects failed to couple grip and load force, a capability fundamental to direct object interaction. Subjects also exerted larger grip force without force feedback and when accuracy demands of the tracking task were high. In addition, the presence or absence of force feedback during training affected subsequent performance, even when the feedback condition was switched. Subjects' grip force control remained reminiscent of their employed grip during the initial training. These results motivate the use of force feedback during telemanipulation and highlight the effect of force feedback during training.

Combined Auditory and Vibrotactile Feedback for Human-Machine-Interface Control.

PubMed

Thorp, Elias B; Larson, Eric; Stepp, Cara E

2014-01-01

The purpose of this study was to determine the effect of the addition of binary vibrotactile stimulation to continuous auditory feedback (vowel synthesis) for human-machine interface (HMI) control. Sixteen healthy participants controlled facial surface electromyography to achieve 2-D targets (vowels). Eight participants used only real-time auditory feedback to locate targets whereas the other eight participants were additionally alerted to having achieved targets with confirmatory vibrotactile stimulation at the index finger. All participants trained using their assigned feedback modality (auditory alone or combined auditory and vibrotactile) over three sessions on three days and completed a fourth session on the third day using novel targets to assess generalization. Analyses of variance performed on the 1) percentage of targets reached and 2) percentage of trial time at the target revealed a main effect for feedback modality: participants using combined auditory and vibrotactile feedback performed significantly better than those using auditory feedback alone. No effect was found for session or the interaction of feedback modality and session, indicating a successful generalization to novel targets but lack of improvement over training sessions. Future research is necessary to determine the cognitive cost associated with combined auditory and vibrotactile feedback during HMI control.

Intermittent compared to continuous real-time fMRI neurofeedback boosts control over amygdala activation.

PubMed

Hellrung, Lydia; Dietrich, Anja; Hollmann, Maurice; Pleger, Burkhard; Kalberlah, Christian; Roggenhofer, Elisabeth; Villringer, Arno; Horstmann, Annette

2018-02-01

Real-time fMRI neurofeedback is a feasible tool to learn the volitional regulation of brain activity. So far, most studies provide continuous feedback information that is presented upon every volume acquisition. Although this maximizes the temporal resolution of feedback information, it may be accompanied by some disadvantages. Participants can be distracted from the regulation task due to (1) the intrinsic delay of the hemodynamic response and associated feedback and (2) limited cognitive resources available to simultaneously evaluate feedback information and stay engaged with the task. Here, we systematically investigate differences between groups presented with different variants of feedback (continuous vs. intermittent) and a control group receiving no feedback on their ability to regulate amygdala activity using positive memories and feelings. In contrast to the feedback groups, no learning effect was observed in the group without any feedback presentation. The group receiving intermittent feedback exhibited better amygdala regulation performance when compared with the group receiving continuous feedback. Behavioural measurements show that these effects were reflected in differences in task engagement. Overall, we not only demonstrate that the presentation of feedback is a prerequisite to learn volitional control of amygdala activity but also that intermittent feedback is superior to continuous feedback presentation. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

The Roles of Feedback and Feedforward as Humans Learn to Control Unknown Dynamic Systems.

PubMed

Zhang, Xingye; Wang, Shaoqian; Hoagg, Jesse B; Seigler, T Michael

2018-02-01

We present results from an experiment in which human subjects interact with an unknown dynamic system 40 times during a two-week period. During each interaction, subjects are asked to perform a command-following (i.e., pursuit tracking) task. Each subject's performance at that task improves from the first trial to the last trial. For each trial, we use subsystem identification to estimate each subject's feedforward (or anticipatory) control, feedback (or reactive) control, and feedback time delay. Over the 40 trials, the magnitudes of the identified feedback controllers and the identified feedback time delays do not change significantly. In contrast, the identified feedforward controllers do change significantly. By the last trial, the average identified feedforward controller approximates the inverse of the dynamic system. This observation provides evidence that a fundamental component of human learning is updating the anticipatory control until it models the inverse dynamics.

Design study of a feedback control system for the Multicyclic Flap System rotor (MFS)

NASA Technical Reports Server (NTRS)

Weisbrich, R.; Perley, R.; Howes, H.

1977-01-01

The feasibility of automatically providing higher harmonic control to a deflectable control flap at the tip of a helicopter rotor blade through feedback of selected independent parameter was investigated. Control parameters were selected for input to the feedback system. A preliminary circuit was designed to condition the selected parameters, weigh limiting factors, and provide a proper output signal to the multi-cyclic control actuators. Results indicate that feedback control for the higher harmonic is feasible; however, design for a flight system requires an extension of the present analysis which was done for one flight condition - 120 kts, 11,500 lbs gross weight and level flight.

Integrating robotic action with biologic perception: A brain-machine symbiosis theory

NASA Astrophysics Data System (ADS)

Mahmoudi, Babak

In patients with motor disability the natural cyclic flow of information between the brain and external environment is disrupted by their limb impairment. Brain-Machine Interfaces (BMIs) aim to provide new communication channels between the brain and environment by direct translation of brain's internal states into actions. For enabling the user in a wide range of daily life activities, the challenge is designing neural decoders that autonomously adapt to different tasks, environments, and to changes in the pattern of neural activity. In this dissertation, a novel decoding framework for BMIs is developed in which a computational agent autonomously learns how to translate neural states into action based on maximization of a measure of shared goal between user and the agent. Since the agent and brain share the same goal, a symbiotic relationship between them will evolve therefore this decoding paradigm is called a Brain-Machine Symbiosis (BMS) framework. A decoding agent was implemented within the BMS framework based on the Actor-Critic method of Reinforcement Learning. The rule of the Actor as a neural decoder was to find mapping between the neural representation of motor states in the primary motor cortex (MI) and robot actions in order to solve reaching tasks. The Actor learned the optimal control policy using an evaluative feedback that was estimated by the Critic directly from the user's neural activity of the Nucleus Accumbens (NAcc). Through a series of computational neuroscience studies in a cohort of rats it was demonstrated that NAcc could provide a useful evaluative feedback by predicting the increase or decrease in the probability of earning reward based on the environmental conditions. Using a closed-loop BMI simulator it was demonstrated the Actor-Critic decoding architecture was able to adapt to different tasks as well as changes in the pattern of neural activity. The custom design of a dual micro-wire array enabled simultaneous implantation of MI and NAcc for the development of a full closed-loop system. The Actor-Critic decoding architecture was able to solve the brain-controlled reaching task using a robotic arm by capturing the interdependency between the simultaneous action representation in MI and reward expectation in NAcc.

Feedback linearization for control of air breathing engines

NASA Technical Reports Server (NTRS)

Phillips, Stephen; Mattern, Duane

1991-01-01

The method of feedback linearization for control of the nonlinear nozzle and compressor components of an air breathing engine is presented. This method overcomes the need for a large number of scheduling variables and operating points to accurately model highly nonlinear plants. Feedback linearization also results in linear closed loop system performance simplifying subsequent control design. Feedback linearization is used for the nonlinear partial engine model and performance is verified through simulation.

Indirect Identification of Linear Stochastic Systems with Known Feedback Dynamics

NASA Technical Reports Server (NTRS)

Huang, Jen-Kuang; Hsiao, Min-Hung; Cox, David E.

1996-01-01

An algorithm is presented for identifying a state-space model of linear stochastic systems operating under known feedback controller. In this algorithm, only the reference input and output of closed-loop data are required. No feedback signal needs to be recorded. The overall closed-loop system dynamics is first identified. Then a recursive formulation is derived to compute the open-loop plant dynamics from the identified closed-loop system dynamics and known feedback controller dynamics. The controller can be a dynamic or constant-gain full-state feedback controller. Numerical simulations and test data of a highly unstable large-gap magnetic suspension system are presented to demonstrate the feasibility of this indirect identification method.

Self-Controlled Feedback Facilitates Motor Learning in Both High and Low Activity Individuals

PubMed Central

Fairbrother, Jeffrey T.; Laughlin, David D.; Nguyen, Timothy V.

2012-01-01

The purpose of this study was to determine if high and low activity individuals differed in terms of the effects of self-controlled feedback on the performance and learning of a movement skill. The task consisted of a blindfolded beanbag toss using the non-preferred arm. Participants were pre-screened according to their physical activity level using the International Physical Activity Questionnaire. An equal number of high activity (HA) and low activity (LA) participants were assigned to self-control (SC) and yoked (YK) feedback conditions, creating four groups: Self-Control-High Activity; Self-Control-Low Activity; Yoked-High Activity; and Yoked-Low Activity. SC condition participants were provided feedback whenever they requested it, while YK condition participants received feedback according to a schedule created by their SC counterpart. Results indicated that the SC condition was more accurate than the YK condition during acquisition and transfer phases, and the HA condition was more accurate than the LA condition during all phases of the experiment. A post-training questionnaire indicated that participants in the SC condition asked for feedback mostly after what they perceived to be “good” trials; those in the YK condition indicated that they would have preferred to receive feedback after “good” trials. This study provided further support for the advantages of self-controlled feedback when learning motor skills, additionally showing benefits for both active and less active individuals. The results suggested that the provision of self-controlled feedback to less active learners may be a potential avenue to teaching motor skills necessary to engage in greater amounts of physical activity. PMID:22969745

Effectiveness of a smartphone app in increasing physical activity amongst male adults: a randomised controlled trial.

PubMed

Harries, Tim; Eslambolchilar, Parisa; Rettie, Ruth; Stride, Chris; Walton, Simon; van Woerden, Hugo C

2016-09-02

Smartphones are ideal for promoting physical activity in those with little intrinsic motivation for exercise. This study tested three hypotheses: H1 - receipt of social feedback generates higher step-counts than receipt of no feedback; H2 - receipt of social feedback generates higher step-counts than only receiving feedback on one's own walking; H3 - receipt of feedback on one's own walking generates higher step-counts than no feedback (H3). A parallel group randomised controlled trial measured the impact of feedback on steps-counts. Healthy male participants (n = 165) aged 18-40 were given phones pre-installed with an app that recorded steps continuously, without the need for user activation. Participants carried these with them as their main phones for a two-week run-in and six-week trial. Randomisation was to three groups: no feedback (control); personal feedback on step-counts; group feedback comparing step-counts against those taken by others in their group. The primary outcome measure, steps per day, was assessed using longitudinal multilevel regression analysis. Control variables included attitude to physical activity and perceived barriers to physical activity. Fifty-five participants were allocated to each group; 152 completed the study and were included in the analysis: n = 49, no feedback; n = 53, individual feedback; n = 50, individual and social feedback. The study provided support for H1 and H3 but not H2. Receipt of either form of feedback explained 7.7 % of between-subject variability in step-count (F = 6.626, p < 0.0005). Compared to the control, the expected step-count for the individual feedback group was 60 % higher (effect on log step-count = 0.474, 95 % CI = 0.166-0.782) and that for the social feedback group, 69 % higher (effect on log step-count = 0.526, 95 % CI = 0.212-0.840). The difference between the two feedback groups (individual vs social feedback) was not statistically significant. Always-on smartphone apps that provide step-counts can increase physical activity in young to early-middle-aged men but the provision of social feedback has no apparent incremental impact. This approach may be particularly suitable for inactive people with low levels of physical activity; it should now be tested with this population.

Microelectromechanical accelerometer with resonance-cancelling control circuit including an idle state

DOEpatents

Chu, Dahlon D.; Thelen, Jr., Donald C.; Campbell, David V.

2001-01-01

A digital feedback control circuit is disclosed for use in an accelerometer (e.g. a microelectromechanical accelerometer). The digital feedback control circuit, which periodically re-centers a proof mass in response to a sensed acceleration, is based on a sigma-delta (.SIGMA..DELTA.) configuration that includes a notch filter (e.g. a digital switched-capacitor filter) for rejecting signals due to mechanical resonances of the proof mass and further includes a comparator (e.g. a three-level comparator). The comparator generates one of three possible feedback states, with two of the feedback states acting to re-center the proof mass when that is needed, and with a third feedback state being an "idle" state which does not act to move the proof mass when no re-centering is needed. Additionally, the digital feedback control system includes an auto-zero trim capability for calibration of the accelerometer for accurate sensing of acceleration. The digital feedback control circuit can be fabricated using complementary metal-oxide semiconductor (CMOS) technology, bi-CMOS technology or bipolar technology and used in single- and dual-proof-mass accelerometers.

Virtual grasping: closed-loop force control using electrotactile feedback.

PubMed

Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

2014-01-01

Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Improving Instruction Using Statistical Process Control.

ERIC Educational Resources Information Center

Higgins, Ronald C.; Messer, George H.

1990-01-01

Two applications of statistical process control to the process of education are described. Discussed are the use of prompt feedback to teachers and prompt feedback to students. A sample feedback form is provided. (CW)

Feedback Power Control Strategies in Wireless Sensor Networks with Joint Channel Decoding

PubMed Central

Abrardo, Andrea; Ferrari, Gianluigi; Martalò, Marco; Perna, Fabio

2009-01-01

In this paper, we derive feedback power control strategies for block-faded multiple access schemes with correlated sources and joint channel decoding (JCD). In particular, upon the derivation of the feasible signal-to-noise ratio (SNR) region for the considered multiple access schemes, i.e., the multidimensional SNR region where error-free communications are, in principle, possible, two feedback power control strategies are proposed: (i) a classical feedback power control strategy, which aims at equalizing all link SNRs at the access point (AP), and (ii) an innovative optimized feedback power control strategy, which tries to make the network operational point fall in the feasible SNR region at the lowest overall transmit energy consumption. These strategies will be referred to as “balanced SNR” and “unbalanced SNR,” respectively. While they require, in principle, an unlimited power control range at the sources, we also propose practical versions with a limited power control range. We preliminary consider a scenario with orthogonal links and ideal feedback. Then, we analyze the robustness of the proposed power control strategies to possible non-idealities, in terms of residual multiple access interference and noisy feedback channels. Finally, we successfully apply the proposed feedback power control strategies to a limiting case of the class of considered multiple access schemes, namely a central estimating officer (CEO) scenario, where the sensors observe noisy versions of a common binary information sequence and the AP's goal is to estimate this sequence by properly fusing the soft-output information output by the JCD algorithm. PMID:22291536

Method and apparatus for adaptive force and position control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1989-01-01

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

The role of auditory and kinaesthetic feedback mechanisms on phonatory stability in children.

PubMed

Rathna Kumar, S B; Azeem, Suhail; Choudhary, Abhishek Kumar; Prakash, S G R

2013-12-01

Auditory feedback plays an important role in phonatory control. When auditory feedback is disrupted, various changes are observed in vocal motor control. Vocal intensity and fundamental frequency (F0) levels tend to increase in response to auditory masking. Because of the close reflexive links between the auditory and phonatory systems, it is likely that phonatory stability may be disrupted when auditory feedback is disrupted or altered. However, studies on phonatory stability under auditory masking condition in adult subjects showed that most of the subjects maintained normal levels of phonatory stability. The authors in the earlier investigations suggested that auditory feedback is not the sole contributor to vocal motor control and phonatory stability, a complex neuromuscular reflex system known as kinaesthetic feedback may play a role in controlling phonatory stability when auditory feedback is disrupted or lacking. This proposes the need to further investigate this phenomenon as to whether children show similar patterns of phonatory stability under auditory masking since their neuromotor systems are still at developmental stage, less mature and are less resistant to altered auditory feedback than adults. A total of 40 normal hearing and speaking children (20 male and 20 female) between the age group of 6 and 8 years participated as subjects. The acoustic parameters such as shimmer, jitter and harmonic-to-noise ratio (HNR) were measures and compared between no masking condition (0 dB ML) and masking condition (90 dB ML). Despite the neuromotor systems being less mature in children and less resistant than adults to altered auditory feedback, most of the children in the study demonstrated increased phonatory stability which was reflected by reduced shimmer, jitter and increased HNR values. This study implicates that most of the children demonstrate well established patterns of kinaesthetic feedback, which might have allowed them to maintain normal levels of vocal motor control even in the presence of disturbed auditory feedback. Hence, it can be concluded that children also exhibit kinaesthetic feedback mechanism to control phonatory stability when auditory feedback is disrupted which in turn highlights the importance of kinaesthetic feedback to be included in the therapeutic/intervention approaches for children with hearing and neurogenic speech deficits.

Vibrotactile Feedback Alters Dynamics Of Static Postural Control In Persons With Parkinson's Disease But Not Older Adults At High Fall Risk.

PubMed

High, Carleigh M; McHugh, Hannah F; Mills, Stephen C; Amano, Shinichi; Freund, Jane E; Vallabhajosula, Srikant

2018-06-01

Aging and Parkinson's disease are often associated with impaired postural control. Providing extrinsic feedback via vibrotactile sensation could supplement intrinsic feedback to maintain postural control. We investigated the postural control response to vibrotactile feedback provided at the trunk during challenging stance conditions in older adults at high fall risk and individuals with Parkinson's disease compared to healthy older adults. Nine older adults at high fall risk, 9 persons with Parkinson's disease and 10 healthy older adults performed 30s quiet standing on a force platform under five challenging stance conditions with eyes open/closed and standing on firm/foam surface with feet together, each with and without vibrotactile feedback. During vibrotactile feedback trials, feedback was provided when participants swayed >10% over the center of their base of support. Participants were instructed vibrations would be in response to their movement. Magnitude of postural sway was estimated using center of pressure path length, velocity, and sway area. Dynamics of individuals' postural control was evaluated using detrended fluctuation analysis. Results showed that vibrotactile feedback induced a change in postural control dynamics among persons with Parkinson's disease when standing with intact intrinsic visual input and altered intrinsic somatosensory input, but there was no change in sway magnitude. However, use of vibrotactile feedback did not significantly alter dynamics of postural control in older adults with high risk of falling or reduce the magnitude of sway. Considering the effects of vibrotactile feedback were dependent on the population and stance condition, designing an optimal therapeutic regimen for balance training should be carefully considered and be specific to a target population. Furthermore, our results suggest that explicit instructions on how to respond to the vibrotactile feedback could affect training outcome. Copyright © 2018 The Authors. Published by Elsevier B.V. All rights reserved.

Design of Distributed Controllers Seeking Optimal Power Flow Solutions Under Communication Constraints

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

Dall'Anese, Emiliano; Simonetto, Andrea; Dhople, Sairaj

This paper focuses on power distribution networks featuring inverter-interfaced distributed energy resources (DERs), and develops feedback controllers that drive the DER output powers to solutions of time-varying AC optimal power flow (OPF) problems. Control synthesis is grounded on primal-dual-type methods for regularized Lagrangian functions, as well as linear approximations of the AC power-flow equations. Convergence and OPF-solution-tracking capabilities are established while acknowledging: i) communication-packet losses, and ii) partial updates of control signals. The latter case is particularly relevant since it enables asynchronous operation of the controllers where DER setpoints are updated at a fast time scale based on local voltagemore » measurements, and information on the network state is utilized if and when available, based on communication constraints. As an application, the paper considers distribution systems with high photovoltaic integration, and demonstrates that the proposed framework provides fast voltage-regulation capabilities, while enabling the near real-time pursuit of solutions of AC OPF problems.« less

Design of Distributed Controllers Seeking Optimal Power Flow Solutions under Communication Constraints: Preprint

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

Dall'Anese, Emiliano; Simonetto, Andrea; Dhople, Sairaj

This paper focuses on power distribution networks featuring inverter-interfaced distributed energy resources (DERs), and develops feedback controllers that drive the DER output powers to solutions of time-varying AC optimal power flow (OPF) problems. Control synthesis is grounded on primal-dual-type methods for regularized Lagrangian functions, as well as linear approximations of the AC power-flow equations. Convergence and OPF-solution-tracking capabilities are established while acknowledging: i) communication-packet losses, and ii) partial updates of control signals. The latter case is particularly relevant since it enables asynchronous operation of the controllers where DER setpoints are updated at a fast time scale based on local voltagemore » measurements, and information on the network state is utilized if and when available, based on communication constraints. As an application, the paper considers distribution systems with high photovoltaic integration, and demonstrates that the proposed framework provides fast voltage-regulation capabilities, while enabling the near real-time pursuit of solutions of AC OPF problems.« less

Short-term Operation of Multi-purpose Reservoir using Model Predictive Control

NASA Astrophysics Data System (ADS)

Uysal, Gokcen; Schwanenberg, Dirk; Alvarado Montero, Rodolfo; Sensoy, Aynur; Arda Sorman, Ali

2017-04-01

Operation of water structures especially with conflicting water supply and flood mitigation objectives is under more stress attributed to growing water demand and changing hydro-climatic conditions. Model Predictive Control (MPC) based optimal control solutions has been successfully applied to different water resources applications. In this study, Feedback Control (FBC) and MPC get combined and an improved joint optimization-simulation operating scheme is proposed. Water supply and flood control objectives are fulfilled by incorporating the long term water supply objectives into a time-dependent variable guide curve policy whereas the extreme floods are attenuated by means of short-term optimization based on MPC. A final experiment is carried out to assess the lead time performance and reliability of forecasts in a hindcasting experiment with imperfect, perturbed forecasts. The framework is tested in Yuvacık Dam reservoir where the main water supply reservoir of Kocaeli City in the northwestern part of Turkey (the Marmara region) and it requires a challenging gate operation due to restricted downstream flow conditions.

Framework and implementation for improving physics essential skills via computer-based practice: Vector math

NASA Astrophysics Data System (ADS)

Mikula, Brendon D.; Heckler, Andrew F.

2017-06-01

We propose a framework for improving accuracy, fluency, and retention of basic skills essential for solving problems relevant to STEM introductory courses, and implement the framework for the case of basic vector math skills over several semesters in an introductory physics course. Using an iterative development process, the framework begins with a careful identification of target skills and the study of specific student difficulties with these skills. It then employs computer-based instruction, immediate feedback, mastery grading, and well-researched principles from cognitive psychology such as interleaved training sequences and distributed practice. We implemented this with more than 1500 students over 2 semesters. Students completed the mastery practice for an average of about 13 min /week , for a total of about 2-3 h for the whole semester. Results reveal large (>1 SD ) pretest to post-test gains in accuracy in vector skills, even compared to a control group, and these gains were retained at least 2 months after practice. We also find evidence of improved fluency, student satisfaction, and that awarding regular course credit results in higher participation and higher learning gains than awarding extra credit. In all, we find that simple computer-based mastery practice is an effective and efficient way to improve a set of basic and essential skills for introductory physics.

Network Community Detection based on the Physarum-inspired Computational Framework.

PubMed

Gao, Chao; Liang, Mingxin; Li, Xianghua; Zhang, Zili; Wang, Zhen; Zhou, Zhili

2016-12-13

Community detection is a crucial and essential problem in the structure analytics of complex networks, which can help us understand and predict the characteristics and functions of complex networks. Many methods, ranging from the optimization-based algorithms to the heuristic-based algorithms, have been proposed for solving such a problem. Due to the inherent complexity of identifying network structure, how to design an effective algorithm with a higher accuracy and a lower computational cost still remains an open problem. Inspired by the computational capability and positive feedback mechanism in the wake of foraging process of Physarum, which is a large amoeba-like cell consisting of a dendritic network of tube-like pseudopodia, a general Physarum-based computational framework for community detection is proposed in this paper. Based on the proposed framework, the inter-community edges can be identified from the intra-community edges in a network and the positive feedback of solving process in an algorithm can be further enhanced, which are used to improve the efficiency of original optimization-based and heuristic-based community detection algorithms, respectively. Some typical algorithms (e.g., genetic algorithm, ant colony optimization algorithm, and Markov clustering algorithm) and real-world datasets have been used to estimate the efficiency of our proposed computational framework. Experiments show that the algorithms optimized by Physarum-inspired computational framework perform better than the original ones, in terms of accuracy and computational cost. Moreover, a computational complexity analysis verifies the scalability of our framework.

Leading change.

PubMed

2017-02-27

In response to feedback from nursing, midwifery and other care staff who wanted to understand better how the Leading Change, Adding Value framework applies to them, NHS England has updated its webpage to include practice examples.

Listening and Speaking: A Cybernetic Synthesis.

ERIC Educational Resources Information Center

Nord, James R.

1985-01-01

Cybernetic feedback theory sees the individual as a self-organizing feedback control system that generates its own activity to control its own perceptions. Applying the principle of feedback to language use, it appears that speaking as an overt public behavior is controlled by an internally private listening capacity. With that listening capacity,…

Effects of feedback delay on learning from positive and negative feedback in patients with Parkinson's disease off medication.

PubMed

Weismüller, Benjamin; Ghio, Marta; Logmin, Kazimierz; Hartmann, Christian; Schnitzler, Alfons; Pollok, Bettina; Südmeyer, Martin; Bellebaum, Christian

2018-05-11

Phasic dopamine (DA) signals conveyed from the substantia nigra to the striatum and the prefrontal cortex crucially affect learning from feedback, with DA bursts facilitating learning from positive feedback and DA dips facilitating learning from negative feedback. Consequently, diminished nigro-striatal dopamine levels as in unmedicated patients suffering from Parkinson's Disease (PD) have been shown to lead to a negative learning bias. Recent studies suggested a diminished striatal contribution to feedback processing when the outcome of an action is temporally delayed. This study investigated whether the bias towards negative feedback learning induced by a lack of DA in PD patients OFF medication is modulated by feedback delay. To this end, PD patients OFF medication and healthy controls completed a probabilistic selection task, in which feedback was given immediately (after 800 ms) or delayed (after 6800 ms). PD patients were impaired in immediate but not delayed feedback learning. However, differences in the preference for positive/negative learning between patients and controls were seen for both learning from immediate and delayed feedback, with evidence of stronger negative learning in patients than controls. A Bayesian analysis of the data supports the conclusion that feedback timing did not affect the learning bias in the patients. These results hint at reduced, but still relevant nigro-striatal contribution to feedback learning, when feedback is delayed. Copyright © 2018 Elsevier Ltd. All rights reserved.

Electrotactile Feedback Improves Performance and Facilitates Learning in the Routine Grasping Task.

PubMed

Isaković, Milica; Belić, Minja; Štrbac, Matija; Popović, Igor; Došen, Strahinja; Farina, Dario; Keller, Thierry

2016-06-13

Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels). First (baseline) and the last (validation) session were performed in open loop, while the second and the third session (training) included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

Localized modelling and feedback control of linear instabilities in 2-D wall bounded shear flows

NASA Astrophysics Data System (ADS)

Tol, Henry; Kotsonis, Marios; de Visser, Coen

2016-11-01

A new approach is presented for control of instabilities in 2-D wall bounded shear flows described by the linearized Navier-Stokes equations (LNSE). The control design accounts both for spatially localized actuators/sensors and the dominant perturbation dynamics in an optimal control framework. An inflow disturbance model is proposed for streamwise instabilities that drive laminar-turbulent transition. The perturbation modes that contribute to the transition process can be selected and are included in the control design. A reduced order model is derived from the LNSE that captures the input-output behavior and the dominant perturbation dynamics. This model is used to design an optimal controller for suppressing the instability growth. A 2-D channel flow and a 2-D boundary layer flow over a flat plate are considered as application cases. Disturbances are generated upstream of the control domain and the resulting flow perturbations are estimated/controlled using wall shear measurements and localized unsteady blowing and suction at the wall. It will be shown that the controller is able to cancel the perturbations and is robust to unmodelled disturbances.

Feedforward-feedback control of dissolved oxygen concentration in a predenitrification system.

PubMed

Yong, Ma; Yongzhen, Peng; Shuying, Wang

2005-07-01

As the largest single energy-consuming component in most biological wastewater treatment systems, aeration control is of great interest from the point of view of saving energy and improving wastewater treatment plant efficiency. In this paper, three different strategies, including conventional constant dissolved oxygen (DO) set-point control, cascade DO set-point control, and feedforward-feedback DO set-point control were evaluated using the denitrification layout of the IWA simulation benchmark. Simulation studies showed that the feedforward-feedback DO set-point control strategy was better than the other control strategies at meeting the effluent standards and reducing operational costs. The control strategy works primarily by feedforward control based on an ammonium sensor located at the head of the aerobic process. It has an important advantage over effluent measurements in that there is no (or only a very short) time delay for information; feedforward control was combined with slow feedback control to compensate for model approximations. The feedforward-feedback DO control was implemented in a lab-scale wastewater treatment plant for a period of 60 days. Compared to operation with constant DO concentration, the required airflow could be reduced by up to 8-15% by employing the feedforward-feedback DO-control strategy, and the effluent ammonia concentration could be reduced by up to 15-25%. This control strategy can be expected to be accepted by the operating personnel in wastewater treatment plants.

A Modular Framework for Modeling Hardware Elements in Distributed Engine Control Systems

NASA Technical Reports Server (NTRS)

Zinnecker, Alicia M.; Culley, Dennis E.; Aretskin-Hariton, Eliot D.

2014-01-01

Progress toward the implementation of distributed engine control in an aerospace application may be accelerated through the development of a hardware-in-the-loop (HIL) system for testing new control architectures and hardware outside of a physical test cell environment. One component required in an HIL simulation system is a high-fidelity model of the control platform: sensors, actuators, and the control law. The control system developed for the Commercial Modular Aero-Propulsion System Simulation 40k (C-MAPSS40k) provides a verifiable baseline for development of a model for simulating a distributed control architecture. This distributed controller model will contain enhanced hardware models, capturing the dynamics of the transducer and the effects of data processing, and a model of the controller network. A multilevel framework is presented that establishes three sets of interfaces in the control platform: communication with the engine (through sensors and actuators), communication between hardware and controller (over a network), and the physical connections within individual pieces of hardware. This introduces modularity at each level of the model, encouraging collaboration in the development and testing of various control schemes or hardware designs. At the hardware level, this modularity is leveraged through the creation of a Simulink(R) library containing blocks for constructing smart transducer models complying with the IEEE 1451 specification. These hardware models were incorporated in a distributed version of the baseline C-MAPSS40k controller and simulations were run to compare the performance of the two models. The overall tracking ability differed only due to quantization effects in the feedback measurements in the distributed controller. Additionally, it was also found that the added complexity of the smart transducer models did not prevent real-time operation of the distributed controller model, a requirement of an HIL system.

A Modular Framework for Modeling Hardware Elements in Distributed Engine Control Systems

NASA Technical Reports Server (NTRS)

Zinnecker, Alicia M.; Culley, Dennis E.; Aretskin-Hariton, Eliot D.

2015-01-01

Progress toward the implementation of distributed engine control in an aerospace application may be accelerated through the development of a hardware-in-the-loop (HIL) system for testing new control architectures and hardware outside of a physical test cell environment. One component required in an HIL simulation system is a high-fidelity model of the control platform: sensors, actuators, and the control law. The control system developed for the Commercial Modular Aero-Propulsion System Simulation 40k (C-MAPSS40k) provides a verifiable baseline for development of a model for simulating a distributed control architecture. This distributed controller model will contain enhanced hardware models, capturing the dynamics of the transducer and the effects of data processing, and a model of the controller network. A multilevel framework is presented that establishes three sets of interfaces in the control platform: communication with the engine (through sensors and actuators), communication between hardware and controller (over a network), and the physical connections within individual pieces of hardware. This introduces modularity at each level of the model, encouraging collaboration in the development and testing of various control schemes or hardware designs. At the hardware level, this modularity is leveraged through the creation of a SimulinkR library containing blocks for constructing smart transducer models complying with the IEEE 1451 specification. These hardware models were incorporated in a distributed version of the baseline C-MAPSS40k controller and simulations were run to compare the performance of the two models. The overall tracking ability differed only due to quantization effects in the feedback measurements in the distributed controller. Additionally, it was also found that the added complexity of the smart transducer models did not prevent real-time operation of the distributed controller model, a requirement of an HIL system.

A Modular Framework for Modeling Hardware Elements in Distributed Engine Control Systems

NASA Technical Reports Server (NTRS)

Zinnecker, Alicia Mae; Culley, Dennis E.; Aretskin-Hariton, Eliot D.

2014-01-01

Progress toward the implementation of distributed engine control in an aerospace application may be accelerated through the development of a hardware-in-the-loop (HIL) system for testing new control architectures and hardware outside of a physical test cell environment. One component required in an HIL simulation system is a high-fidelity model of the control platform: sensors, actuators, and the control law. The control system developed for the Commercial Modular Aero-Propulsion System Simulation 40k (40,000 pound force thrust) (C-MAPSS40k) provides a verifiable baseline for development of a model for simulating a distributed control architecture. This distributed controller model will contain enhanced hardware models, capturing the dynamics of the transducer and the effects of data processing, and a model of the controller network. A multilevel framework is presented that establishes three sets of interfaces in the control platform: communication with the engine (through sensors and actuators), communication between hardware and controller (over a network), and the physical connections within individual pieces of hardware. This introduces modularity at each level of the model, encouraging collaboration in the development and testing of various control schemes or hardware designs. At the hardware level, this modularity is leveraged through the creation of a Simulink (R) library containing blocks for constructing smart transducer models complying with the IEEE 1451 specification. These hardware models were incorporated in a distributed version of the baseline C-MAPSS40k controller and simulations were run to compare the performance of the two models. The overall tracking ability differed only due to quantization effects in the feedback measurements in the distributed controller. Additionally, it was also found that the added complexity of the smart transducer models did not prevent real-time operation of the distributed controller model, a requirement of an HIL system.

Mathematical modelling of fluid transport and its regulation at multiple scales.

PubMed

Chara, Osvaldo; Brusch, Lutz

2015-04-01

Living matter equals water, to a first approximation, and water transport across barriers such as membranes and epithelia is vital. Water serves two competing functions. On the one hand, it is the fundamental solvent enabling random mobility of solutes and therefore biochemical reactions and intracellular signal propagation. Homeostasis of the intracellular water volume is required such that messenger concentration encodes the stimulus and not inverse volume fluctuations. On the other hand, water flow is needed for transport of solutes to and away from cells in a directed manner, threatening volume homeostasis and signal transduction fidelity of cells. Feedback regulation of fluid transport reconciles these competing objectives. The regulatory mechanisms often span across multiple spatial scales from cellular interactions up to the architecture of organs. Open questions relate to the dependency of water fluxes and steady state volumes on control parameters and stimuli. We here review selected mathematical models of feedback regulation of fluid transport at the cell scale and identify a general "core-shell" structure of such models. We propose that fluid transport models at other spatial scales can be constructed in a generalised core-shell framework, in which the core accounts for the biophysical effects of fluid transport whilst the shell reflects the regulatory mechanisms. We demonstrate the applicability of this framework for tissue lumen growth and suggest future experiments in zebrafish to test lumen size regulation mechanisms. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Evaluating a Modular Decision Support Application for Colorectal Cancer Screening

PubMed Central

Diiulio, Julie B.; Borders, Morgan R.; Sushereba, Christen E.; Saleem, Jason J.; Haverkamp, Donald; Imperiale, Thomas F.

2017-01-01

Summary Background There is a need for health information technology evaluation that goes beyond randomized controlled trials to include consideration of usability, cognition, feedback from representative users, and impact on efficiency, data quality, and clinical workflow. This article presents an evaluation illustrating one approach to this need using the Decision-Centered Design framework. Objective To evaluate, through a Decision-Centered Design framework, the ability of the Screening and Surveillance App to support primary care clinicians in tracking and managing colorectal cancer testing. Methods We leveraged two evaluation formats, online and in-person, to obtain feedback from a range primary care clinicians and obtain comparative data. Both the online and in-person evaluations used mock patient data to simulate challenging patient scenarios. Primary care clinicians responded to a series of colorectal cancer-related questions about each patient and made recommendations for screening. We collected data on performance, perceived workload, and usability. Key elements of Decision-Centered Design include evaluation in the context of realistic, challenging scenarios and measures designed to explore impact on cognitive performance. Results Comparison of means revealed increases in accuracy, efficiency, and usability and decreases in perceived mental effort and workload when using the Screening and Surveillance App. Conclusion The results speak to the benefits of using the Decision-Centered Design approach in the analysis, design, and evaluation of Health Information Technology. Furthermore, the Screening and Surveillance App shows promise for filling decision support gaps in current electronic health records. PMID:28197619

Towards active image-guidance: tracking of a fiducial in the thorax during respiration under X-ray fluoroscopy

NASA Astrophysics Data System (ADS)

Siddique, Sami; Jaffray, David

2007-03-01

A central purpose of image-guidance is to assist the interventionalist with feedback of geometric performance in the direction of therapy delivery. Tradeoffs exist between accuracy, precision and the constraints imposed by parameters used in the generation of images. A framework that uses geometric performance as feedback to control these parameters can balance such tradeoffs in order to maintain the requisite localization precision for a given clinical procedure. We refer to this principle as Active Image-Guidance (AIG). This framework requires estimates of the uncertainty in the estimated location of the object of interest. In this study, a simple fiducial marker detected under X-ray fluoroscopy is considered and it is shown that a relation exists between the applied imaging dose and the uncertainty in localization for a given observer. A robust estimator of the location of a fiducial in the thorax during respiration under X-ray fluoroscopy is demonstrated using a particle filter based approach that outputs estimates of the location and the associated spatial uncertainty. This approach gives an rmse of 1.3mm and the uncertainty estimates are found to be correlated with the error in the estimates. Furthermore, the particle filtering approach is employed to output location estimates and the associated uncertainty not only at instances of pulsed exposure but also between exposures. Such a system has applications in image-guided interventions (surgery, radiotherapy, interventional radiology) where there are latencies between the moment of imaging and the act of intervention.

The control system of the multi-strip ionization chamber for the HIMM

NASA Astrophysics Data System (ADS)

Li, Min; Yuan, Y. J.; Mao, R. S.; Xu, Z. G.; Li, Peng; Zhao, T. C.; Zhao, Z. L.; Zhang, Nong

2015-03-01

Heavy Ion Medical Machine (HIMM) is a carbon ion cancer treatment facility which is being built by the Institute of Modern Physics (IMP) in China. In this facility, transverse profile and intensity of the beam at the treatment terminals will be measured by the multi-strip ionization chamber. In order to fulfill the requirement of the beam position feedback to accomplish the beam automatic commissioning, less than 1 ms reaction time of the Data Acquisition (DAQ) of this detector must be achieved. Therefore, the control system and software framework for DAQ have been redesigned and developed with National Instruments Compact Reconfigurable Input/Output (CompactRIO) instead of PXI 6133. The software is Labview-based and developed following the producer-consumer pattern with message mechanism and queue technology. The newly designed control system has been tested with carbon beam at the Heavy Ion Research Facility at Lanzhou-Cooler Storage Ring (HIRFL-CSR) and it has provided one single beam profile measurement in less than 1 ms with 1 mm beam position resolution. The fast reaction time and high precision data processing during the beam test have verified the usability and maintainability of the software framework. Furthermore, such software architecture is easy-fitting to applications with different detectors such as wire scanner detector.

The Preschool Classroom as a Context for Cognitive Development: Type of Teacher Feedback and Children's Metacognitive Control (El aula Preescolar como espacio de desarrollo cognitivo: tipo de feedback docente y control metacognitivo en los niños)

ERIC Educational Resources Information Center

Muñoz, Liz; Cruz, Josefina Santa

2016-01-01

Introduction: The aim of this work was to determine whether the type of feedback given by the preschool teacher during class impacts the children's metacognitive control. For this purpose, the children's behavior was analyzed while teachers provided feedback during collaborative learning sessions. Method: A quasi-experimental, cross-sectional…

Optimal control of nonlinear continuous-time systems in strict-feedback form.

PubMed

Zargarzadeh, Hassan; Dierks, Travis; Jagannathan, Sarangapani

2015-10-01

This paper proposes a novel optimal tracking control scheme for nonlinear continuous-time systems in strict-feedback form with uncertain dynamics. The optimal tracking problem is transformed into an equivalent optimal regulation problem through a feedforward adaptive control input that is generated by modifying the standard backstepping technique. Subsequently, a neural network-based optimal control scheme is introduced to estimate the cost, or value function, over an infinite horizon for the resulting nonlinear continuous-time systems in affine form when the internal dynamics are unknown. The estimated cost function is then used to obtain the optimal feedback control input; therefore, the overall optimal control input for the nonlinear continuous-time system in strict-feedback form includes the feedforward plus the optimal feedback terms. It is shown that the estimated cost function minimizes the Hamilton-Jacobi-Bellman estimation error in a forward-in-time manner without using any value or policy iterations. Finally, optimal output feedback control is introduced through the design of a suitable observer. Lyapunov theory is utilized to show the overall stability of the proposed schemes without requiring an initial admissible controller. Simulation examples are provided to validate the theoretical results.

Effect of visuomotor-map uncertainty on visuomotor adaptation.

PubMed

Saijo, Naoki; Gomi, Hiroaki

2012-03-01

Vision and proprioception contribute to generating hand movement. If a conflict between the visual and proprioceptive feedback of hand position is given, reaching movement is disturbed initially but recovers after training. Although previous studies have predominantly investigated the adaptive change in the motor output, it is unclear whether the contributions of visual and proprioceptive feedback controls to the reaching movement are modified by visuomotor adaptation. To investigate this, we focused on the change in proprioceptive feedback control associated with visuomotor adaptation. After the adaptation to gradually introduce visuomotor rotation, the hand reached the shifted position of the visual target to move the cursor to the visual target correctly. When the cursor feedback was occasionally eliminated (probe trial), the end point of the hand movement was biased in the visual-target direction, while the movement was initiated in the adapted direction, suggesting the incomplete adaptation of proprioceptive feedback control. Moreover, after the learning of uncertain visuomotor rotation, in which the rotation angle was randomly fluctuated on a trial-by-trial basis, the end-point bias in the probe trial increased, but the initial movement direction was not affected, suggesting a reduction in the adaptation level of proprioceptive feedback control. These results suggest that the change in the relative contribution of visual and proprioceptive feedback controls to the reaching movement in response to the visuomotor-map uncertainty is involved in visuomotor adaptation, whereas feedforward control might adapt in a manner different from that of the feedback control.

Development of a peer-review framework for cancer multidisciplinary meetings.

PubMed

Johnson, Claire E; Slavova-Azmanova, Neli; Saunders, Christobel

2017-05-01

There is no mechanism in place for monitoring or quality improvement of cancer multidisciplinary meetings (MDM) in Australia. To develop a peer-review process for quality improvement of MDM. This project involved three phases: (i) development of a draft peer-review framework, supporting documents and peer-review process; (ii) consultation with key stakeholders; (iii) refinement of the framework, documents and processes following a pilot study with three MDM. Feedback indicated that specific standards included in the framework needed to allow the peer reviewers to be flexible relative to the circumstances of the individual MDM. Conversely, feedback identified the need for clear, evidence-based clinical practice guidelines for the conduct of MDM, with accepted standards and objective measures of performance. MDM members were divided about the need to employ peer reviewers from the tumour stream of the MDM under review but agreed that closer involvement of the team under review to support the implementation of recommendations is warranted. We developed an adaptable peer-review framework and process using the current available evidence and guidance. While further research is needed to establish what constitutes best practice in MDM and which processes contribute to improved patient outcomes, the structured peer-review process we describe, when modified using the disease-relevant evidence, could be utilised more broadly as a quality improvement tool. © 2017 Royal Australasian College of Physicians.

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

Liu, Jianguo; Hull, Vanessa; Batistella, Mateus

Interactions between distant places are increasingly widespread and influential, often leading to unexpected outcomes with profound implications for sustainability. Numerous sustainability studies have been conducted within a particular place with little attention to the impacts of distant interactions on sustainability in multiple places. Although distant forces have been studied, they are usually treated as exogenous variables and feedbacks have been rarely considered. To understand and integrate various distant interactions better, we propose an integrated framework based on telecoupling – an umbrella concept that refers to socioeconomic and environmental interactions over distances. The concept of telecoupling is a logical extension ofmore » research on coupled human and natural systems, in which human and natural systems interact within particular places. The telecoupling framework contains five major interrelated components (coupled human and natural systems, agents, flows, causes, and effects). We illustrate the framework using two examples of distant interactions, highlight the implications of the framework, and discuss research needs and approaches to move research on telecouplings forward. The framework can help better analyze system components and their interrelationships, identify research gaps, detect hidden costs and untapped benefits, provide a useful means to incorporate feedbacks as well as trade-offs and synergies across multiple places (sending, receiving, and spillover systems), and improve the understanding of distant interactions and the effectiveness of policies for socioeconomic and environmental sustainability from local to global levels.« less

Relative importance of competition and plant-soil feedback, their synergy, context dependency and implications for coexistence.

PubMed

Lekberg, Ylva; Bever, James D; Bunn, Rebecca A; Callaway, Ragan M; Hart, Miranda M; Kivlin, Stephanie N; Klironomos, John; Larkin, Beau G; Maron, John L; Reinhart, Kurt O; Remke, Michael; van der Putten, Wim H

2018-06-12

Plants interact simultaneously with each other and with soil biota, yet the relative importance of competition vs. plant-soil feedback (PSF) on plant performance is poorly understood. Using a meta-analysis of 38 published studies and 150 plant species, we show that effects of interspecific competition (either growing plants with a competitor or singly, or comparing inter- vs. intraspecific competition) and PSF (comparing home vs. away soil, live vs. sterile soil, or control vs. fungicide-treated soil) depended on treatments but were predominantly negative, broadly comparable in magnitude, and additive or synergistic. Stronger competitors experienced more negative PSF than weaker competitors when controlling for density (inter- to intraspecific competition), suggesting that PSF could prevent competitive dominance and promote coexistence. When competition was measured against plants growing singly, the strength of competition overwhelmed PSF, indicating that the relative importance of PSF may depend not only on neighbour identity but also density. We evaluate how competition and PSFs might interact across resource gradients; PSF will likely strengthen competitive interactions in high resource environments and enhance facilitative interactions in low-resource environments. Finally, we provide a framework for filling key knowledge gaps and advancing our understanding of how these biotic interactions influence community structure. © 2018 John Wiley & Sons Ltd/CNRS.

The Challenge of Cardiovascular Diseases and Diabetes to Public Health: A Study Based on Qualitative Systemic Approach

PubMed Central

Carvalho, Marilia Sá; Coeli, Claudia Medina; Chor, Dóra; Pinheiro, Rejane Sobrino; da Fonseca, Maria de Jesus Mendes; de Sá Carvalho, Luiz Carlos

2015-01-01

The most common modeling approaches to understanding incidence, prevalence and control of chronic diseases in populations, such as statistical regression models, are limited when it comes to dealing with the complexity of those problems. Those complex adaptive systems have characteristics such as emerging properties, self-organization and feedbacks, which structure the system stability and resistance to changes. Recently, system science approaches have been proposed to deal with the range, complexity, and multifactor nature of those public health problems. In this paper we applied a multilevel systemic approach to create an integrated, coherent, and increasingly precise conceptual framework, capable of aggregating different partial or specialized studies, based on the challenges of the Longitudinal Study of Adult Health – ELSA-Brasil. The failure to control blood pressure found in several of the study's subjects was discussed, based on the proposed model, analyzing different loops, time lags, and feedback that influence this outcome in a population with high educational level, with reasonably good health services access. We were able to identify the internal circularities and cycles that generate the system’s resistance to change. We believe that this study can contribute to propose some new possibilities of the research agenda and to the discussion of integrated actions in the field of public health. PMID:26171854

Monitoring and control of amygdala neurofeedback involves distributed information processing in the human brain.

PubMed

Paret, Christian; Zähringer, Jenny; Ruf, Matthias; Gerchen, Martin Fungisai; Mall, Stephanie; Hendler, Talma; Schmahl, Christian; Ende, Gabriele

2018-03-30

Brain-computer interfaces provide conscious access to neural activity by means of brain-derived feedback ("neurofeedback"). An individual's abilities to monitor and control feedback are two necessary processes for effective neurofeedback therapy, yet their underlying functional neuroanatomy is still being debated. In this study, healthy subjects received visual feedback from their amygdala response to negative pictures. Activation and functional connectivity were analyzed to disentangle the role of brain regions in different processes. Feedback monitoring was mapped to the thalamus, ventromedial prefrontal cortex (vmPFC), ventral striatum (VS), and rostral PFC. The VS responded to feedback corresponding to instructions while rPFC activity differentiated between conditions and predicted amygdala regulation. Control involved the lateral PFC, anterior cingulate, and insula. Monitoring and control activity overlapped in the VS and thalamus. Extending current neural models of neurofeedback, this study introduces monitoring and control of feedback as anatomically dissociated processes, and suggests their important role in voluntary neuromodulation. © 2018 Wiley Periodicals, Inc.

Rapid feedback control and stabilization of an optical tweezers with a budget microcontroller

NASA Astrophysics Data System (ADS)

Nino, Daniel; Wang, Haowei; Milstein, Joshua N.

2014-09-01

Laboratories ranging the scientific disciplines employ feedback control to regulate variables within their experiments, from the flow of liquids within a microfluidic device to the temperature within a cell incubator. We have built an inexpensive, yet fast and rapidly deployed, feedback control system that is straightforward and flexible to implement from a commercially available Arduino Due microcontroller. This is in comparison with the complex, time-consuming and often expensive electronics that are commonly implemented. As an example of its utility, we apply our feedback controller to the task of stabilizing the main trapping laser of an optical tweezers. The feedback controller, which is inexpensive yet fast and rapidly deployed, was implemented from hacking an open source Arduino Due microcontroller. Our microcontroller based feedback system can stabilize the laser intensity to a few tenths of a per cent at 200 kHz, which is an order of magnitude better than the laser's base specifications, illustrating the utility of these devices.

The inhibitory microcircuit of the substantia nigra provides feedback gain control of the basal ganglia output

PubMed Central

Brown, Jennifer; Pan, Wei-Xing; Dudman, Joshua Tate

2014-01-01

Dysfunction of the basal ganglia produces severe deficits in the timing, initiation, and vigor of movement. These diverse impairments suggest a control system gone awry. In engineered systems, feedback is critical for control. By contrast, models of the basal ganglia highlight feedforward circuitry and ignore intrinsic feedback circuits. In this study, we show that feedback via axon collaterals of substantia nigra projection neurons control the gain of the basal ganglia output. Through a combination of physiology, optogenetics, anatomy, and circuit mapping, we elaborate a general circuit mechanism for gain control in a microcircuit lacking interneurons. Our data suggest that diverse tonic firing rates, weak unitary connections and a spatially diffuse collateral circuit with distinct topography and kinetics from feedforward input is sufficient to implement divisive feedback inhibition. The importance of feedback for engineered systems implies that the intranigral microcircuit, despite its absence from canonical models, could be essential to basal ganglia function. DOI: http://dx.doi.org/10.7554/eLife.02397.001 PMID:24849626

Stability analysis of dynamic collaboration model with control signals on two lanes

NASA Astrophysics Data System (ADS)

Li, Zhipeng; Zhang, Run; Xu, Shangzhi; Qian, Yeqing; Xu, Juan

2014-12-01

In this paper, the influence of control signals on the stability of two-lane traffic flow is mainly studied by applying control theory with lane changing behaviors. We present the two-lane dynamic collaboration model with lateral friction and the expressions of feedback control signals. What is more, utilizing the delayed feedback control theory to the two-lane dynamic collaboration model with control signals, we investigate the stability of traffic flow theoretically and the stability conditions for both lanes are derived with finding that the forward and lateral feedback signals can improve the stability of traffic flow while the backward feedback signals cannot achieve it. Besides, direct simulations are conducted to verify the results of theoretical analysis, which shows that the feedback signals have a significant effect on the running state of two vehicle groups, and the results are same with the theoretical analysis.

Self-controlled concurrent feedback facilitates the learning of the final approach phase in a fixed-base flight simulator.

PubMed

Huet, Michaël; Jacobs, David M; Camachon, Cyril; Goulon, Cedric; Montagne, Gilles

2009-12-01

This study (a) compares the effectiveness of different types of feedback for novices who learn to land a virtual aircraft in a fixed-base flight simulator and (b) analyzes the informational variables that learners come to use after practice. An extensive body of research exists concerning the informational variables that allow successful landing. In contrast, few studies have examined how the attention of pilots can be directed toward these sources of information. In this study, 15 participants were asked to land a virtual Cessna 172 on 245 trials while trying to follow the glide-slope area as accurately as possible. Three groups of participants practiced under different feedback conditions: with self-controlled concurrent feedback (the self-controlled group), with imposed concurrent feedback (the yoked group), or without concurrent feedback (the control group). The self-controlled group outperformed the yoked group, which in turn outperformed the control group. Removing or manipulating specific sources of information during transfer tests had different effects for different individuals. However, removing the cockpit from the visual scene had a detrimental effect on the performance of the majority of the participants. Self-controlled concurrent feedback helps learners to more quickly attune to the informational variables that allow them to control the aircraft during the approach phase. Knowledge concerning feedback schedules can be used for the design of optimal practice methods for student pilots, and knowledge about the informational variables used by expert performers has implications for the design of cockpits and runways that facilitate the detection of these variables.

Effects of interactive visual feedback training on post-stroke pusher syndrome: a pilot randomized controlled study.

PubMed

Yang, Yea-Ru; Chen, Yi-Hua; Chang, Heng-Chih; Chan, Rai-Chi; Wei, Shun-Hwa; Wang, Ray-Yau

2015-10-01

We investigated the effects of a computer-generated interactive visual feedback training program on the recovery from pusher syndrome in stroke patients. Assessor-blinded, pilot randomized controlled study. A total of 12 stroke patients with pusher syndrome were randomly assigned to either the experimental group (N = 7, computer-generated interactive visual feedback training) or control group (N = 5, mirror visual feedback training). The scale for contraversive pushing for severity of pusher syndrome, the Berg Balance Scale for balance performance, and the Fugl-Meyer assessment scale for motor control were the outcome measures. Patients were assessed pre- and posttraining. A comparison of pre- and posttraining assessment results revealed that both training programs led to the following significant changes: decreased severity of pusher syndrome scores (decreases of 4.0 ± 1.1 and 1.4 ± 1.0 in the experimental and control groups, respectively); improved balance scores (increases of 14.7 ± 4.3 and 7.2 ± 1.6 in the experimental and control groups, respectively); and higher scores for lower extremity motor control (increases of 8.4 ± 2.2 and 5.6 ± 3.3 in the experimental and control groups, respectively). Furthermore, the computer-generated interactive visual feedback training program produced significantly better outcomes in the improvement of pusher syndrome (p < 0.01) and balance (p < 0.05) compared with the mirror visual feedback training program. Although both training programs were beneficial, the computer-generated interactive visual feedback training program more effectively aided recovery from pusher syndrome compared with mirror visual feedback training. © The Author(s) 2014.

Mental models of audit and feedback in primary care settings.

PubMed

Hysong, Sylvia J; Smitham, Kristen; SoRelle, Richard; Amspoker, Amber; Hughes, Ashley M; Haidet, Paul

2018-05-30

Audit and feedback has been shown to be instrumental in improving quality of care, particularly in outpatient settings. The mental model individuals and organizations hold regarding audit and feedback can moderate its effectiveness, yet this has received limited study in the quality improvement literature. In this study we sought to uncover patterns in mental models of current feedback practices within high- and low-performing healthcare facilities. We purposively sampled 16 geographically dispersed VA hospitals based on high and low performance on a set of chronic and preventive care measures. We interviewed up to 4 personnel from each location (n = 48) to determine the facility's receptivity to audit and feedback practices. Interview transcripts were analyzed via content and framework analysis to identify emergent themes. We found high variability in the mental models of audit and feedback, which we organized into positive and negative themes. We were unable to associate mental models of audit and feedback with clinical performance due to high variance in facility performance over time. Positive mental models exhibit perceived utility of audit and feedback practices in improving performance; whereas, negative mental models did not. Results speak to the variability of mental models of feedback, highlighting how facilities perceive current audit and feedback practices. Findings are consistent with prior research  in that variability in feedback mental models is associated with lower performance.; Future research should seek to empirically link mental models revealed in this paper to high and low levels of clinical performance.

What do we know about how to do audit and feedback? Pitfalls in applying evidence from a systematic review

PubMed Central

Foy, R; Eccles, MP; Jamtvedt, G; Young, J; Grimshaw, JM; Baker, R

2005-01-01

Background Improving the quality of health care requires a range of evidence-based activities. Audit and feedback is commonly used as a quality improvement tool in the UK National Health Service [NHS]. We set out to assess whether current guidance and systematic review evidence can sufficiently inform practical decisions about how to use audit and feedback to improve quality of care. Methods We selected an important chronic disease encountered in primary care: diabetes mellitus. We identified recommendations from National Institute for Clinical Excellence (NICE) guidance on conducting audit and generated questions which would be relevant to any attempt to operationalise audit and feedback in a healthcare service setting. We explored the extent to which a systematic review of audit and feedback could provide practical guidance about whether audit and feedback should be used to improve quality of diabetes care and, if so, how audit and feedback could be optimised. Results National guidance suggests the importance of securing the right organisational conditions and processes. Review evidence suggests that audit and feedback can be effective in changing healthcare professional practice. However, the available evidence says relatively little about the detail of how to use audit and feedback most efficiently. Conclusion Audit and feedback will continue to be an unreliable approach to quality improvement until we learn how and when it works best. Conceptualising audit and feedback within a theoretical framework offers a way forward. PMID:16011811

Translating evidence-based guidelines to improve feedback practices: the interACT case study.

PubMed

Barton, Karen L; Schofield, Susie J; McAleer, Sean; Ajjawi, Rola

2016-02-09

There has been a substantial body of research examining feedback practices, yet the assessment and feedback landscape in higher education is described as 'stubbornly resistant to change'. The aim of this paper is to present a case study demonstrating how an entire programme's assessment and feedback practices were re-engineered and evaluated in line with evidence from the literature in the interACT (Interaction and Collaboration via Technology) project. Informed by action research the project conducted two cycles of planning, action, evaluation and reflection. Four key pedagogical principles informed the re-design of the assessment and feedback practices. Evaluation activities included document analysis, interviews with staff (n = 10) and students (n = 7), and student questionnaires (n = 54). Descriptive statistics were used to analyse the questionnaire data. Framework thematic analysis was used to develop themes across the interview data. InterACT was reported by students and staff to promote self-evaluation, engagement with feedback and feedback dialogue. Streamlining the process after the first cycle of action research was crucial for improving engagement of students and staff. The interACT process of promoting self-evaluation, reflection on feedback, feedback dialogue and longitudinal perspectives of feedback has clear benefits and should be transferable to other contexts. InterACT has involved comprehensive re-engineering of the assessment and feedback processes using educational principles to guide the design taking into account stakeholder perspectives. These principles and the strategies to enact them should be transferable to other contexts.

Balanced bridge feedback control system

NASA Technical Reports Server (NTRS)

Lurie, Boris J. (Inventor)

1990-01-01

In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.

Disease ecology, health and the environment: a framework to account for ecological and socio-economic drivers in the control of neglected tropical diseases.

PubMed

Garchitorena, A; Sokolow, S H; Roche, B; Ngonghala, C N; Jocque, M; Lund, A; Barry, M; Mordecai, E A; Daily, G C; Jones, J H; Andrews, J R; Bendavid, E; Luby, S P; LaBeaud, A D; Seetah, K; Guégan, J F; Bonds, M H; De Leo, G A

2017-06-05

Reducing the burden of neglected tropical diseases (NTDs) is one of the key strategic targets advanced by the Sustainable Development Goals. Despite the unprecedented effort deployed for NTD elimination in the past decade, their control, mainly through drug administration, remains particularly challenging: persistent poverty and repeated exposure to pathogens embedded in the environment limit the efficacy of strategies focused exclusively on human treatment or medical care. Here, we present a simple modelling framework to illustrate the relative role of ecological and socio-economic drivers of environmentally transmitted parasites and pathogens. Through the analysis of system dynamics, we show that periodic drug treatments that lead to the elimination of directly transmitted diseases may fail to do so in the case of human pathogens with an environmental reservoir. Control of environmentally transmitted diseases can be more effective when human treatment is complemented with interventions targeting the environmental reservoir of the pathogen. We present mechanisms through which the environment can influence the dynamics of poverty via disease feedbacks. For illustration, we present the case studies of Buruli ulcer and schistosomiasis, two devastating waterborne NTDs for which control is particularly challenging.This article is part of the themed issue 'Conservation, biodiversity and infectious disease: scientific evidence and policy implications'. © 2017 The Author(s).

Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

PubMed Central

Svečko, Rajko

2014-01-01

This paper describes the use of a multiobjective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with nonnegativity conditions. Regional pole placement method is presented with the aims of controllers' structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multiobjective function is composed of different unrelated criteria such as robust stability, controllers' stability, and time-performance indexes of closed loops. The design of controllers and multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm—differential evolution. PMID:24987749

Study on real-time force feedback for a master-slave interventional surgical robotic system.

PubMed

Guo, Shuxiang; Wang, Yuan; Xiao, Nan; Li, Youxiang; Jiang, Yuhua

2018-04-13

In robot-assisted catheterization, haptic feedback is important, but is currently lacking. In addition, conventional interventional surgical robotic systems typically employ a master-slave architecture with an open-loop force feedback, which results in inaccurate control. We develop herein a novel real-time master-slave (RTMS) interventional surgical robotic system with a closed-loop force feedback that allows a surgeon to sense the true force during remote operation, provide adequate haptic feedback, and improve control accuracy in robot-assisted catheterization. As part of this system, we also design a unique master control handle that measures the true force felt by a surgeon, providing the basis for the closed-loop control of the entire system. We use theoretical and empirical methods to demonstrate that the proposed RTMS system provides a surgeon (using the master control handle) with a more accurate and realistic force sensation, which subsequently improves the precision of the master-slave manipulation. The experimental results show a substantial increase in the control accuracy of the force feedback and an increase in operational efficiency during surgery.

Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

DTIC Science & Technology

2005-01-01

C. Hughes, Spacecraft Attitude Dynamics, New York, NY: Wiley, 1994. [8] H. K. Khalil, “Adaptive Output Feedback Control of Non- linear Systems...Closed-Loop Manipulator Control Using Quaternion Feedback ”, IEEE Trans. Robotics and Automation, Vol. 4, No. 4, pp. 434-440, (1988). [23] E...full-state feedback quaternion based controller de- veloped in [5] and focuses on the design of a general sub-task controller. This sub-task controller

Acoustic emission feedback control for control of boiling in a microwave oven

DOEpatents

White, Terry L.

1991-01-01

An acoustic emission based feedback system for controlling the boiling level of a liquid medium in a microwave oven is provided. The acoustic emissions from the medium correlated with surface boiling is used to generate a feedback control signal proportional to the level of boiling of the medium. This signal is applied to a power controller to automatically and continuoulsly vary the power applied to the oven to control the boiling at a selected level.

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing

PubMed Central

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy. PMID:27148031

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing.

PubMed

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy.

Active Nonlinear Feedback Control for Aerospace Systems. Processor

DTIC Science & Technology

1990-12-01

relating to the role of nonlinearities in feedback control. These area include Lyapunov function theory, chaotic controllers, statistical energy analysis , phase robustness, and optimal nonlinear control theory.

Social is special: A normative framework for teaching with and learning from evaluative feedback.

PubMed

Ho, Mark K; MacGlashan, James; Littman, Michael L; Cushman, Fiery

2017-10-01

Humans often attempt to influence one another's behavior using rewards and punishments. How does this work? Psychologists have often assumed that "evaluative feedback" influences behavior via standard learning mechanisms that learn from environmental contingencies. On this view, teaching with evaluative feedback involves leveraging learning systems designed to maximize an organism's positive outcomes. Yet, despite its parsimony, programs of research predicated on this assumption, such as ones in developmental psychology, animal behavior, and human-robot interaction, have had limited success. We offer an explanation by analyzing the logic of evaluative feedback and show that specialized learning mechanisms are uniquely favored in the case of evaluative feedback from a social partner. Specifically, evaluative feedback works best when it is treated as communicating information about the value of an action rather than as a form of reward to be maximized. This account suggests that human learning from evaluative feedback depends on inferences about communicative intent, goals and other mental states-much like learning from other sources, such as demonstration, observation and instruction. Because these abilities are especially developed in humans, the present account also explains why evaluative feedback is far more widespread in humans than non-human animals. Copyright © 2017 Elsevier B.V. All rights reserved.

Towards a three-dimensional framework of centrally regulated and goal-directed exercise behaviour: a narrative review.

PubMed

Venhorst, Andreas; Micklewright, Dominic; Noakes, Timothy D

2017-08-23

The Central Governor Model (CGM) ignited a paradigm shift from concepts of catastrophic failure towards central regulation of exercise performance. However, the CGM has focused on the central integration of afferent feedback in homeostatic control. Accordingly, it neglected the important role of volitional self-regulatory control and the integration of affective components inherently attached to all physiological cues. Another limitation is the large reliance on the Gestalt phenomenon of perceived exertion. Thus, progress towards a comprehensive multidimensional model of perceived fatigability and exercise regulation is needed. Drawing on Gate Control Theory of pain, we propose a three-dimensional framework of centrally regulated and goal-directed exercise behaviour, which differentiates between sensory, affective and cognitive processes shaping the perceptual milieu during exercise. We propose that: (A) perceived mental strain and perceived physical strain are primary determinants of pacing behaviour reflecting sensory-discriminatory processes necessary to align planned behaviour with current physiological state, (B) core affect plays a primary and mediatory role in exercise and performance regulation, and its underlying two dimensions hedonicity and arousal reflect affective-motivational processes triggering approach and avoidance behaviour, and (C) the mindset-shift associated with an action crisis plays a primary role in volitional self-regulatory control reflecting cognitive-evaluative processes between further goal-pursuit and goal-disengagement. The proposed framework has the potential to enrich theory development in centrally regulated and goal-directed exercise behaviour by emphasising the multidimensional dynamic processes underpinning perceived fatigability and provides a practical outline for investigating the complex interplay between the psychophysiological determinants of pacing and performance during prolonged endurance exercise. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2017. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

Towards a framework for analyzing determinants of performance of community health workers in malaria prevention and control: a systematic review.

PubMed

Chipukuma, Helen Mwiinga; Zulu, Joseph Mumba; Jacobs, Choolwe; Chongwe, Gershom; Chola, Mumbi; Halwiindi, Hikabasa; Zgambo, Jessy; Michelo, Charles

2018-05-08

Community health workers (CHWs) are an important human resource in improving coverage of and success to interventions aimed at reducing malaria incidence. Evidence suggests that the performance of CHWs in malaria programs varies in different contexts. However, comprehensive frameworks, based on systematic reviews, to guide the analysis of determinants of performance of CHWs in malaria prevention and control programs are lacking. We systematically searched Google Scholar, Science Direct, and PubMed including reference lists that had English language publications. We included 16 full text articles that evaluated CHW performance in malaria control. Search terms were used and studies that had performance as an outcome of interest attributed to community-based interventions done by CHWs were included. Sixteen studies were included in the final review and were mostly on malaria Rapid Diagnosis and Treatment, as well as adherence to referral guidelines. Factors determining performance and effective implementation of CHW malaria programs included health system factors such as nature of training of CHWs; type of supervision including feedback process; availability of stocks, supplies, and job aids; nature of work environment and reporting systems; availability of financial resources and transport systems; types of remuneration; health staff confidence in CHWs; and workload. In addition, community dynamics such as nature of community connectedness and support from the community and utilization of services by the community also influenced performance. Furthermore, community health worker characteristics such marital status, sex, and CHW confidence levels also shaped CHW performance. Effectively analyzing and promoting the performance of CHWs in malaria prevention and control programs may require adopting a framework that considers health systems and community factors as well as community health worker characteristics.

Minimal-Inversion Feedforward-And-Feedback Control System

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1990-01-01

Recent developments in theory of control systems support concept of minimal-inversion feedforward-and feedback control system consisting of three independently designable control subsystems. Applicable to the control of linear, time-invariant plant.

Advanced feedback control methods in EXTRAP T2R reversed field pinch

NASA Astrophysics Data System (ADS)

Yadikin, D.; Brunsell, P. R.; Paccagnella, R.

2006-07-01

Previous experiments in the EXTRAP T2R reversed field pinch device have shown the possibility of suppression of multiple resistive wall modes (RWM). A feedback system has been installed in EXTRAP T2R having 100% coverage of the toroidal surface by the active coil array. Predictions based on theory and the previous experimental results show that the number of active coils should be sufficient for independent stabilization of all unstable RWMs in the EXTRAP T2R. Experiments using different feedback schemes are performed, comparing the intelligent shell, the fake rotating shell, and the mode control with complex feedback gains. Stabilization of all unstable RWMs throughout the discharge duration of td≈10τw is seen using the intelligent shell feedback scheme. Mode rotation and the control of selected Fourier harmonics is obtained simultaneously using the mode control scheme with complex gains. Different sensor signals are studied. A feedback system with toroidal magnetic field sensors could have an advantage of lower feedback gain needed for the RWM suppression compared to the system with radial magnetic field sensors. In this study, RWM suppression is demonstrated, using also the toroidal field component as a sensor signal in the feedback system.

Adaptive management for ecosystem services (j/a) | Science ...

EPA Pesticide Factsheets

Management of natural resources for the production of ecosystem services, which are vital for human well-being, is necessary even when there is uncertainty regarding system response to management action. This uncertainty is the result of incomplete controllability, complex internal feedbacks, and non-linearity that often interferes with desired management outcomes, and insufficient understanding of nature and people. Adaptive management was developed to reduce such uncertainty. We present a framework for the application of adaptive management for ecosystem services that explicitly accounts for cross-scale tradeoffs in the production of ecosystem services. Our framework focuses on identifying key spatiotemporal scales (plot, patch, ecosystem, landscape, and region) that encompass dominant structures and processes in the system, and includes within- and cross-scale dynamics, ecosystem service tradeoffs, and management controllability within and across scales. Resilience theory recognizes that a limited set of ecological processes in a given system regulate ecosystem services, yet our understanding of these processes is poorly understood. If management actions erode or remove these processes, the system may shift into an alternative state unlikely to support the production of desired services. Adaptive management provides a process to assess the underlying within and cross-scale tradeoffs associated with production of ecosystem services while proceeding with manage

When Optimal Feedback Control Is Not Enough: Feedforward Strategies Are Required for Optimal Control with Active Sensing.

PubMed

Yeo, Sang-Hoon; Franklin, David W; Wolpert, Daniel M

2016-12-01

Movement planning is thought to be primarily determined by motor costs such as inaccuracy and effort. Solving for the optimal plan that minimizes these costs typically leads to specifying a time-varying feedback controller which both generates the movement and can optimally correct for errors that arise within a movement. However, the quality of the sensory feedback during a movement can depend substantially on the generated movement. We show that by incorporating such state-dependent sensory feedback, the optimal solution incorporates active sensing and is no longer a pure feedback process but includes a significant feedforward component. To examine whether people take into account such state-dependency in sensory feedback we asked people to make movements in which we controlled the reliability of sensory feedback. We made the visibility of the hand state-dependent, such that the visibility was proportional to the component of hand velocity in a particular direction. Subjects gradually adapted to such a sensory perturbation by making curved hand movements. In particular, they appeared to control the late visibility of the movement matching predictions of the optimal controller with state-dependent sensory noise. Our results show that trajectory planning is not only sensitive to motor costs but takes sensory costs into account and argues for optimal control of movement in which feedforward commands can play a significant role.

Spacecraft stability and control using new techniques for periodic and time-delayed systems

NASA Astrophysics Data System (ADS)

NAzari, Morad

This dissertation addresses various problems in spacecraft stability and control using specialized theoretical and numerical techniques for time-periodic and time-delayed systems. First, the effects of energy dissipation are considered in the dual-spin spacecraft, where the damper masses in the platform (?) and the rotor (?) cause energy loss in the system. Floquet theory is employed to obtain stability charts for different relative spin rates of the subsystem [special characters omitted] with respect to the subsystem [special characters omitted]. Further, the stability and bifurcation of delayed feedback spin stabilization of a rigid spacecraft is investigated. The spin is stabilized about the principal axis of the intermediate moment of inertia using a simple delayed feedback control law. In particular, linear stability is analyzed via the exponential-polynomial characteristic equations and then the method of multiple scales is used to obtain the normal form of the Hopf bifurcation. Next, the dynamics of a rigid spacecraft with nonlinear delayed multi-actuator feedback control are studied, where a nonlinear feedback controller using an inverse dynamics approach is sought for the controlled system to have the desired linear delayed closed-loop dynamics (CLD). Later, three linear state feedback control strategies based on Chebyshev spectral collocation and the Lyapunov Floquet transformation (LFT) are explored for regulation control of linear periodic time delayed systems. First , a delayed feedback control law with discrete delay is implemented and the stability of the closed-loop response is investigated in the parameter space of available control gains using infinite-dimensional Floquet theory. Second, the delay differential equation (DDE) is discretized into a large set of ordinary differential equations (ODEs) using the Chebyshev spectral continuous time approximation (CSCTA) and delayed feedback with distributed delay is applied. The third strategy involves use of both CSCTA and the reduced Lyapunov Floquet transformation (RLFT) in order to design a non-delayed feedback control law. The delayed Mathieu equation is used as an illustrative example in which the closed-loop response and control effort are compared for all three control strategies. Finally, three example applications of control of time-periodic astrodynamic systems, i.e. formation flying control for an elliptic Keplerian chief orbit, body-fixed hovering control over a tumbling asteroid, and stationkeeping in Earth-Moon L1 halo orbits, are shown using versions of the control strategies introduced above. These applications employ a mixture of feedforward and non-delayed periodic-gain state feedback for tracking control of natural and non-natural motions in these systems. A major conclusion is that control effort is minimized by employing periodic-gain (rather than constant-gain) feedback control in such systems.

CROSS-DISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY: Information Feedback Strategies in a Signal Controlled Network with Overlapped Routes

NASA Astrophysics Data System (ADS)

Tian, Li-Jun; Huang, Hai-Jun; Liu, Tian-Liang

2009-07-01

We investigate the effects of four different information feedback strategies on the dynamics of traffic, travelers' route choice and the resultant system performance in a signal controlled network with overlapped routes. Simulation results given by the cellular automaton model show that the system purpose-based mean velocity feedback strategy and the congestion coefficient feedback strategy have more advantages in improving network utilization efficiency and reducing travelers' travel times. The travel time feedback strategy and the individual purposed-based mean velocity feedback strategy behave slightly better to ensure user equity.

Fundamental Principles of Coherent-Feedback Quantum Control

DTIC Science & Technology

2014-12-08

in metrology (acceleration sensing, vibrometry, gravity wave detection) and in quantum information processing (continuous-variables quantum ...AFRL-OSR-VA-TR-2015-0009 FUNDAMENTAL PRINCIPLES OF COHERENT-FEEDBACK QUANTUM CONTROL Hideo Mabuchi LELAND STANFORD JUNIOR UNIV CA Final Report 12/08...foundations and potential applications of coherent-feedback quantum control. We have focused on potential applications in quantum -enhanced metrology and

Dynamic Data-Driven UAV Network for Plume Characterization

DTIC Science & Technology

2016-05-23

data collection where simulations and measurements become a symbiotic feedback control system where simulations inform measurement locations and the...and measurements become a symbiotic feedback control system where simulations inform measurement locations and the measured data augments simulations...data analysis techniques with mobile sensor data collection where simulations and measurements become a symbiotic feedback control system where

A Generic Framework for Real-Time Multi-Channel Neuronal Signal Analysis, Telemetry Control, and Sub-Millisecond Latency Feedback Generation

PubMed Central

Zrenner, Christoph; Eytan, Danny; Wallach, Avner; Thier, Peter; Marom, Shimon

2010-01-01

Distinct modules of the neural circuitry interact with each other and (through the motor-sensory loop) with the environment, forming a complex dynamic system. Neuro-prosthetic devices seeking to modulate or restore CNS function need to interact with the information flow at the level of neural modules electrically, bi-directionally and in real-time. A set of freely available generic tools is presented that allow computationally demanding multi-channel short-latency bi-directional interactions to be realized in in vivo and in vitro preparations using standard PC data acquisition and processing hardware and software (Mathworks Matlab and Simulink). A commercially available 60-channel extracellular multi-electrode recording and stimulation set-up connected to an ex vivo developing cortical neuronal culture is used as a model system to validate the method. We demonstrate how complex high-bandwidth (>10 MBit/s) neural recording data can be analyzed in real-time while simultaneously generating specific complex electrical stimulation feedback with deterministically timed responses at sub-millisecond resolution. PMID:21060803

Information-theoretic approach to interactive learning

NASA Astrophysics Data System (ADS)

Still, S.

2009-01-01

The principles of statistical mechanics and information theory play an important role in learning and have inspired both theory and the design of numerous machine learning algorithms. The new aspect in this paper is a focus on integrating feedback from the learner. A quantitative approach to interactive learning and adaptive behavior is proposed, integrating model- and decision-making into one theoretical framework. This paper follows simple principles by requiring that the observer's world model and action policy should result in maximal predictive power at minimal complexity. Classes of optimal action policies and of optimal models are derived from an objective function that reflects this trade-off between prediction and complexity. The resulting optimal models then summarize, at different levels of abstraction, the process's causal organization in the presence of the learner's actions. A fundamental consequence of the proposed principle is that the learner's optimal action policies balance exploration and control as an emerging property. Interestingly, the explorative component is present in the absence of policy randomness, i.e. in the optimal deterministic behavior. This is a direct result of requiring maximal predictive power in the presence of feedback.

Integrated Control Using the SOFFT Control Structure

NASA Technical Reports Server (NTRS)

Halyo, Nesim

1996-01-01

The need for integrated/constrained control systems has become clearer as advanced aircraft introduced new coupled subsystems such as new propulsion subsystems with thrust vectoring and new aerodynamic designs. In this study, we develop an integrated control design methodology which accomodates constraints among subsystem variables while using the Stochastic Optimal Feedforward/Feedback Control Technique (SOFFT) thus maintaining all the advantages of the SOFFT approach. The Integrated SOFFT Control methodology uses a centralized feedforward control and a constrained feedback control law. The control thus takes advantage of the known coupling among the subsystems while maintaining the identity of subsystems for validation purposes and the simplicity of the feedback law to understand the system response in complicated nonlinear scenarios. The Variable-Gain Output Feedback Control methodology (including constant gain output feedback) is extended to accommodate equality constraints. A gain computation algorithm is developed. The designer can set the cross-gains between two variables or subsystems to zero or another value and optimize the remaining gains subject to the constraint. An integrated control law is designed for a modified F-15 SMTD aircraft model with coupled airframe and propulsion subsystems using the Integrated SOFFT Control methodology to produce a set of desired flying qualities.

Design and evaluation of a Stochastic Optimal Feed-forward and Feedback Technology (SOFFT) flight control architecture

NASA Technical Reports Server (NTRS)

Ostroff, Aaron J.; Proffitt, Melissa S.

1994-01-01

This paper describes the design and evaluation of a stochastic optimal feed-forward and feedback technology (SOFFT) control architecture with emphasis on the feed-forward controller design. The SOFFT approach allows the designer to independently design the feed-forward and feedback controllers to meet separate objectives and then integrate the two controllers. The feed-forward controller has been integrated with an existing high-angle-of-attack (high-alpha) feedback controller. The feed-forward controller includes a variable command model with parameters selected to satisfy level 1 flying qualities with a high-alpha adjustment to achieve desired agility guidelines, a nonlinear interpolation approach that scales entire matrices for approximation of the plant model, and equations for calculating feed-forward gains developed for perfect plant-model tracking. The SOFFT design was applied to a nonlinear batch simulation model of an F/A-18 aircraft modified for thrust vectoring. Simulation results show that agility guidelines are met and that the SOFFT controller filters undesired pilot-induced frequencies more effectively during a tracking task than a flight controller that has the same feedback control law but does not have the SOFFT feed-forward control.

Sensing qualitative events to control manipulation

NASA Astrophysics Data System (ADS)

Pook, Polly K.; Ballard, Dana H.

1992-11-01

Dexterous robotic hands have numerous sensors distributed over a flexible high-degree-of- freedom framework. Control of these hands often relies on a detailed task description that is either specified a priori or computed on-line from sensory feedback. Such controllers are complex and may use unnecessary precision. In contrast, one can incorporate plan cues that provide a contextual backdrop in order to simplify the control task. To demonstrate, a Utah/MIT dexterous hand mounted on a Puma 760 arm flips a plastic egg, using the finger tendon tensions as the sole control signal. The completion of each subtask, such as picking up the spatula, finding the pan, and sliding the spatula under the egg, is detected by sensing tension states. The strategy depends on the task context but does not require precise positioning knowledge. We term this qualitative manipulation to draw a parallel with qualitative vision strategies. The approach is to design closed-loop programs that detect significant events to control manipulation but ignore inessential details. The strategy is generalized by analyzing the robot state dynamics during teleoperated hand actions to reveal the essential features that control each action.

A conceptual framework for predicting temperate ecosystem sensitivity to human impacts on fire regimes

Treesearch

D. B. McWethy; P. E. Higuera; C. Whitlock; T. T. Veblen; D. M. J. S. Bowman; G. J. Cary; S. G. Haberle; R. E. Keane; B. D. Maxwell; M. S. McGlone; G. L. W. Perry; J. M. Wilmshurst

2013-01-01

The increased incidence of large fires around much of the world in recent decades raises questions about human and non-human drivers of fire and the likelihood of increased fire activity in the future. The purpose of this paper is to outline a conceptual framework for examining where human-set fires and feedbacks are likely to be most pronounced in temperate forests...

Participative versus assigned production standard setting in a repetitive industrial task: a strategy for improving worker productivity.

PubMed

Das, B; Shikdar, A A

1999-01-01

The participative standard with feedback condition was superior to the assigned difficult (140% of normal) standard with feedback condition in terms of worker productivity. The percentage increase in worker productivity with the participative standard and feedback condition was 46%, whereas the increase in the assigned difficult standard with feedback was 23%, compared to the control group (no standard, no feedback). Worker productivity also improved significantly as a result of assigning a normal (100%) production standard with feedback, compared to the control group, and the increase was 12%. The participative standard with feedback condition emerges as the optimum strategy for improving worker productivity in a repetitive industrial production task.

Integrating Human and Ecosystem Health Through Ecosystem Services Frameworks.

PubMed

Ford, Adriana E S; Graham, Hilary; White, Piran C L

2015-12-01

The pace and scale of environmental change is undermining the conditions for human health. Yet the environment and human health remain poorly integrated within research, policy and practice. The ecosystem services (ES) approach provides a way of promoting integration via the frameworks used to represent relationships between environment and society in simple visual forms. To assess this potential, we undertook a scoping review of ES frameworks and assessed how each represented seven key dimensions, including ecosystem and human health. Of the 84 ES frameworks identified, the majority did not include human health (62%) or include feedback mechanisms between ecosystems and human health (75%). While ecosystem drivers of human health are included in some ES frameworks, more comprehensive frameworks are required to drive forward research and policy on environmental change and human health.

Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

PubMed

Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang

2010-09-01

This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.

Output transformations and separation results for feedback linearisable delay systems

NASA Astrophysics Data System (ADS)

Cacace, F.; Conte, F.; Germani, A.

2018-04-01

The class of strict-feedback systems enjoys special properties that make it similar to linear systems. This paper proves that such a class is equivalent, under a change of coordinates, to the wider class of feedback linearisable systems with multiplicative input, when the multiplicative terms are functions of the measured variables only. We apply this result to the control problem of feedback linearisable nonlinear MIMO systems with input and/or output delays. In this way, we provide sufficient conditions under which a separation result holds for output feedback control and moreover a predictor-based controller exists. When these conditions are satisfied, we obtain that the existence of stabilising controllers for arbitrarily large delays in the input and/or the output can be proved for a wider class of systems than previously known.

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.

The dynamics of motivated perception: Effects of control and status on the perception of ambivalent stimuli.

PubMed

Voss, Andreas; Schwieren, Christiane

2015-01-01

Previous studies on attentional biases often show contradictory results. This suggests that important moderating variables have been neglected so far. We suggest that (1) control over potential consequences and (2) satisfaction with the current status are important factors that need to be considered. We explored the influence of these variables using a colour classification task, where colours are associated with financial gains and losses. Data were analysed with hierarchical logistic regression models and with stochastic diffusion models. The latter approach has the special advantage that it allows separating perceptual and judgemental biases. Results show an overall positive judgemental bias. In the absence of control, this positivity bias increases with the amount of money that has been gained, whereas the opposite pattern is present when dangers can be controlled. In the second experiment, no general feedback was given, which led to an increasing negativity bias. Results are discussed within an action theoretic framework.

Spatiotemporal neuromodulation therapies engaging muscle synergies improve motor control after spinal cord injury

PubMed Central

Wenger, Nikolaus; Moraud, Eduardo Martin; Gandar, Jerome; Musienko, Pavel; Capogrosso, Marco; Baud, Laetitia; Le Goff, Camille G.; Barraud, Quentin; Pavlova, Natalia; Dominici, Nadia; Minev, Ivan R.; Asboth, Leonie; Hirsch, Arthur; Duis, Simone; Kreider, Julie; Mortera, Andrea; Haverbeck, Oliver; Kraus, Silvio; Schmitz, Felix; DiGiovanna, Jack; van den Brand, Rubia; Bloch, Jocelyne; Detemple, Peter; Lacour, Stéphanie P.; Bézard, Erwan; Micera, Silvestro; Courtine, Grégoire

2016-01-01

Electrical neuromodulation of lumbar segments improves motor control after spinal cord injury in animal models and humans. However, the physiological principles underlying the effect of this intervention remain poorly understood, which has limited this therapeutic approach to continuous stimulation applied to restricted spinal cord locations. Here, we developed novel stimulation protocols that reproduce the natural dynamics of motoneuron activation during locomotion. For this, we computed the spatiotemporal activation pattern of muscle synergies during locomotion in healthy rats. Computer simulations identified optimal electrode locations to target each synergy through the recruitment of proprioceptive feedback circuits. This framework steered the design of spatially selective spinal implants and real–time control software that modulate extensor versus flexor synergies with precise temporal resolution. Spatiotemporal neuromodulation therapies improved gait quality, weight–bearing capacities, endurance and skilled locomotion in multiple rodent models of spinal cord injury. These new concepts are directly translatable to strategies to improve motor control in humans. PMID:26779815

System-based strategies for p53 recovery.

PubMed

Azam, Muhammad Rizwan; Fazal, Sahar; Ullah, Mukhtar; Bhatti, Aamer I

2018-06-01

The authors have proposed a systems theory-based novel drug design approach for the p53 pathway. The pathway is taken as a dynamic system represented by ordinary differential equations-based mathematical model. Using control engineering practices, the system analysis and subsequent controller design is performed for the re-activation of wild-type p53. p53 revival is discussed for both modes of operation, i.e. the sustained and oscillatory. To define the problem in control system paradigm, modification in the existing mathematical model is performed to incorporate the effect of Nutlin. Attractor point analysis is carried out to select the suitable domain of attraction. A two-loop negative feedback control strategy is devised to drag the system trajectories to the attractor point and to regulate cellular concentration of Nutlin, respectively. An integrated framework is constituted to incorporate the pharmacokinetic effects of Nutlin in the cancerous cells. Bifurcation analysis is also performed on the p53 model to see the conditions for p53 oscillation.

[The mirror neuron system in motor and sensory rehabilitation].

PubMed

Oouchida, Yutaka; Izumi, Shinichi

2014-06-01

The discovery of the mirror neuron system has dramatically changed the study of motor control in neuroscience. The mirror neuron system provides a conceptual framework covering the aspects of motor as well as sensory functions in motor control. Previous studies of motor control can be classified as studies of motor or sensory functions, and these two classes of studies appear to have advanced independently. In rehabilitation requiring motor learning, such as relearning movement after limb paresis, however, sensory information of feedback for motor output as well as motor command are essential. During rehabilitation from chronic pain, motor exercise is one of the most effective treatments for pain caused by dysfunction in the sensory system. In rehabilitation where total intervention unifying the motor and sensory aspects of motor control is important, learning through imitation, which is associated with the mirror neuron system can be effective and suitable. In this paper, we introduce the clinical applications of imitated movement in rehabilitation from motor impairment after brain damage and phantom limb pain after limb amputation.

Acceleration feedback improves balancing against reflex delay

PubMed Central

Insperger, Tamás; Milton, John; Stépán, Gábor

2013-01-01

A model for human postural balance is considered in which the time-delayed feedback depends on position, velocity and acceleration (proportional–derivative–acceleration (PDA) feedback). It is shown that a PDA controller is equivalent to a predictive controller, in which the prediction is based on the most recent information of the state, but the control input is not involved into the prediction. A PDA controller is superior to the corresponding proportional–derivative controller in the sense that the PDA controller can stabilize systems with approximately 40 per cent larger feedback delays. The addition of a sensory dead zone to account for the finite thresholds for detection by sensory receptors results in highly intermittent, complex oscillations that are a typical feature of human postural sway. PMID:23173196

Bistability of mangrove forests and competition with freshwater plants

USGS Publications Warehouse

Jiang, Jiang; Fuller, Douglas O; Teh, Su Yean; Zhai, Lu; Koh, Hock Lye; DeAngelis, Donald L.; Sternberg, L.D.S.L.

2015-01-01

Halophytic communities such as mangrove forests and buttonwood hammocks tend to border freshwater plant communities as sharp ecotones. Most studies attribute this purely to underlying physical templates, such as groundwater salinity gradients caused by tidal flux and topography. However, a few recent studies hypothesize that self-reinforcing feedback between vegetation and vadose zone salinity are also involved and create a bistable situation in which either halophytic dominated habitat or freshwater plant communities may dominate as alternative stable states. Here, we revisit the bistability hypothesis and demonstrate the mechanisms that result in bistability. We demonstrate with remote sensing imagery the sharp boundaries between freshwater hardwood hammock communities in southern Florida and halophytic communities such as buttonwood hammocks and mangroves. We further document from the literature how transpiration of mangroves and freshwater plants respond differently to vadose zone salinity, thus altering the salinity through feedback. Using mathematical models, we show how the self-reinforcing feedback, together with physical template, controls the ecotones between halophytic and freshwater communities. Regions of bistability along environmental gradients of salinity have the potential for large-scale vegetation shifts following pulse disturbances such as hurricane tidal surges in Florida, or tsunamis in other regions. The size of the region of bistability can be large for low-lying coastal habitat due to the saline water table, which extends inland due to salinity intrusion. We suggest coupling ecological and hydrologic processes as a framework for future studies.

Lyapunov optimal feedback control of a nonlinear inverted pendulum

NASA Technical Reports Server (NTRS)

Grantham, W. J.; Anderson, M. J.

1989-01-01

Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

Measure accurately, Act rapidly, and Partner with patients: An intuitive and practical three-part framework to guide efforts to improve hypertension control.

PubMed

Boonyasai, Romsai T; Rakotz, Michael K; Lubomski, Lisa H; Daniel, Donna M; Marsteller, Jill A; Taylor, Kathryn S; Cooper, Lisa A; Hasan, Omar; Wynia, Matthew K

2017-07-01

Hypertension is the leading cause of cardiovascular disease in the United States and worldwide. It also provides a useful model for team-based chronic disease management. This article describes the M.A.P. checklists: a framework to help practice teams summarize best practices for providing coordinated, evidence-based care to patients with hypertension. Consisting of three domains-Measure Accurately; Act Rapidly; and Partner With Patients, Families, and Communities-the checklists were developed by a team of clinicians, hypertension experts, and quality improvement experts through a multistep process that combined literature review, iterative feedback from a panel of internationally recognized experts, and pilot testing among a convenience sample of primary care practices in two states. In contrast to many guidelines, the M.A.P. checklists specifically target practice teams, instead of individual clinicians, and are designed to be brief, cognitively easy to consume and recall, and accessible to healthcare workers from a range of professional backgrounds. ©2017 Wiley Periodicals, Inc.

Synergistic Effects on the Elderly People's Motor Control by Wearable Skin-Stretch Device Combined with Haptic Joystick

PubMed Central

Yoon, Han U.; Anil Kumar, Namita; Hur, Pilwon

2017-01-01

Cutaneous sensory feedback can be used to provide additional sensory cues to a person performing a motor task where vision is a dominant feedback signal. A haptic joystick has been widely used to guide a user by providing force feedback. However, the benefit of providing force feedback is still debatable due to performance dependency on factors such as the user's skill-level, task difficulty. Meanwhile, recent studies have shown the feasibility of improving a motor task performance by providing skin-stretch feedback. Therefore, a combination of two aforementioned feedback types is deemed to be promising to promote synergistic effects to consistently improve the person's motor performance. In this study, we aimed at identifying the effect of the combined haptic and skin-stretch feedbacks on the aged person's driving motor performance. For the experiment, 15 healthy elderly subjects (age 72.8 ± 6.6 years) were recruited and were instructed to drive a virtual power-wheelchair through four different courses with obstacles. Four augmented sensory feedback conditions were tested: no feedback, force feedback, skin-stretch feedback, and a combination of both force and skin-stretch feedbacks. While the haptic force was provided to the hand by the joystick, the skin-stretch was provided to the steering forearm by a custom-designed wearable skin-stretch device. We tested two hypotheses: (i) an elderly individual's motor control would benefit from receiving information about a desired trajectory from multiple sensory feedback sources, and (ii) the benefit does not depend on task difficulty. Various metrics related to skills and safety were used to evaluate the control performance. Repeated measure ANOVA was performed for those metrics with two factors: task scenario and the type of the augmented sensory feedback. The results revealed that elderly subjects' control performance significantly improved when the combined feedback of both haptic force and skin-stretch feedback was applied. The proposed approach suggest the feasibility to improve people's task performance by the synergistic effects of multiple augmented sensory feedback modalities. PMID:28690514

A New Feedback-Based Method for Parameter Adaptation in Image Processing Routines.

PubMed

Khan, Arif Ul Maula; Mikut, Ralf; Reischl, Markus

2016-01-01

The parametrization of automatic image processing routines is time-consuming if a lot of image processing parameters are involved. An expert can tune parameters sequentially to get desired results. This may not be productive for applications with difficult image analysis tasks, e.g. when high noise and shading levels in an image are present or images vary in their characteristics due to different acquisition conditions. Parameters are required to be tuned simultaneously. We propose a framework to improve standard image segmentation methods by using feedback-based automatic parameter adaptation. Moreover, we compare algorithms by implementing them in a feedforward fashion and then adapting their parameters. This comparison is proposed to be evaluated by a benchmark data set that contains challenging image distortions in an increasing fashion. This promptly enables us to compare different standard image segmentation algorithms in a feedback vs. feedforward implementation by evaluating their segmentation quality and robustness. We also propose an efficient way of performing automatic image analysis when only abstract ground truth is present. Such a framework evaluates robustness of different image processing pipelines using a graded data set. This is useful for both end-users and experts.

Leveraging Conceptual Frameworks to Improve Students' Mental Organization of Astronomy Understanding

NASA Astrophysics Data System (ADS)

Slater, Timothy F.; Lee, K. M.

2006-06-01

Many different types of schematic diagrams are useful in helping students organize and internalize their developing understanding in introductory astronomy courses. These include Venn Diagrams, Flowcharts, Concept Maps, among others, which illustrate the relationships between astronomical objects and dynamic concepts. These conceptual framework diagrams have been incorporated into the NSF-funded ClassAction project. ClassAction is a collection of electronic materials designed to enhance the metacognitive skills of college and university introductory astronomy survey students by promoting interactive engagement and providing rapid feedback in a highly visual setting. The main effort is targeted at creating dynamic think-pair-share questions supported by simulations, animations, and visualizations to be projected in the lecture classroom. The infrastructure allows instructors to recast these questions into alternative forms based on their own pedagogical preferences and feedback from the class. The recourses can be easily selected from a FLASH computer database and are accompanied by outlines, graphics, and numerous simulations which the instructor can use to provide student feedback and, when necessary, remediation. ClassAction materials are publicly available online at URL: http://astro.unl.edu and is funded by NSF Grant #0404988.

The development of an instrument for evaluating clinical teachers: involving stakeholders to determine content validity.

PubMed

Stalmeijer, Renée E; Dolmans, Diana H J M; Wolfhagen, Ineke H A P; Muijtjens, Arno M M; Scherpbier, Albert J J A

2008-01-01

Research indicates that the quality of supervision strongly influences the learning of medical students in clinical practice. Clinical teachers need feedback to improve their supervisory skills. The available instruments either lack a clear theoretical framework or are not suitable for providing feedback to individual teachers. We developed an evaluation instrument based on the 'cognitive apprenticeship model'. The aim was to estimate the content validity of the developed instrument. Item relevance was rated on a five-point scale (1 = highly irrelevant, 5 = highly relevant) by three groups of stakeholders in undergraduate clinical teaching: educationalists (N = 12), doctors (N = 16) and students (N = 12). Additionally, stakeholders commented on content, wording and omission of items. The items were generally rated as very relevant (Mean = 4.3, SD = 0.38, response = 95%) and any differences between the stakeholder groups were small. The results led to elimination of 4 items, rewording of 13 items and addition of 1 item. The cognitive apprenticeship model appears to offer a useful framework for the development of an evaluation instrument aimed at providing feedback to individual clinical teachers on the quality of student supervision. Further studies in larger populations will have to establish the instrument's statistical validity and generalizability.

A New Feedback-Based Method for Parameter Adaptation in Image Processing Routines

PubMed Central

Mikut, Ralf; Reischl, Markus

2016-01-01

The parametrization of automatic image processing routines is time-consuming if a lot of image processing parameters are involved. An expert can tune parameters sequentially to get desired results. This may not be productive for applications with difficult image analysis tasks, e.g. when high noise and shading levels in an image are present or images vary in their characteristics due to different acquisition conditions. Parameters are required to be tuned simultaneously. We propose a framework to improve standard image segmentation methods by using feedback-based automatic parameter adaptation. Moreover, we compare algorithms by implementing them in a feedforward fashion and then adapting their parameters. This comparison is proposed to be evaluated by a benchmark data set that contains challenging image distortions in an increasing fashion. This promptly enables us to compare different standard image segmentation algorithms in a feedback vs. feedforward implementation by evaluating their segmentation quality and robustness. We also propose an efficient way of performing automatic image analysis when only abstract ground truth is present. Such a framework evaluates robustness of different image processing pipelines using a graded data set. This is useful for both end-users and experts. PMID:27764213

Software for MR image overlay guided needle insertions: the clinical translation process

NASA Astrophysics Data System (ADS)

Ungi, Tamas; U-Thainual, Paweena; Fritz, Jan; Iordachita, Iulian I.; Flammang, Aaron J.; Carrino, John A.; Fichtinger, Gabor

2013-03-01

PURPOSE: Needle guidance software using augmented reality image overlay was translated from the experimental phase to support preclinical and clinical studies. Major functional and structural changes were needed to meet clinical requirements. We present the process applied to fulfill these requirements, and selected features that may be applied in the translational phase of other image-guided surgical navigation systems. METHODS: We used an agile software development process for rapid adaptation to unforeseen clinical requests. The process is based on iterations of operating room test sessions, feedback discussions, and software development sprints. The open-source application framework of 3D Slicer and the NA-MIC kit provided sufficient flexibility and stable software foundations for this work. RESULTS: All requirements were addressed in a process with 19 operating room test iterations. Most features developed in this phase were related to workflow simplification and operator feedback. CONCLUSION: Efficient and affordable modifications were facilitated by an open source application framework and frequent clinical feedback sessions. Results of cadaver experiments show that software requirements were successfully solved after a limited number of operating room tests.

Position Control of Tendon-Driven Fingers

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E.; Platt, Robert, Jr.; Hargrave, B.; Pementer, Frank

2011-01-01

Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I

Verifying detailed fluctuation relations for discrete feedback-controlled quantum dynamics

NASA Astrophysics Data System (ADS)

Camati, Patrice A.; Serra, Roberto M.

2018-04-01

Discrete quantum feedback control consists of a managed dynamics according to the information acquired by a previous measurement. Energy fluctuations along such dynamics satisfy generalized fluctuation relations, which are useful tools to study the thermodynamics of systems far away from equilibrium. Due to the practical challenge to assess energy fluctuations in the quantum scenario, the experimental verification of detailed fluctuation relations in the presence of feedback control remains elusive. We present a feasible method to experimentally verify detailed fluctuation relations for discrete feedback control quantum dynamics. Two detailed fluctuation relations are developed and employed. The method is based on a quantum interferometric strategy that allows the verification of fluctuation relations in the presence of feedback control. An analytical example to illustrate the applicability of the method is discussed. The comprehensive technique introduced here can be experimentally implemented at a microscale with the current technology in a variety of experimental platforms.