Stability of Hand Force Production: II. Ascending and Descending Synergies.

PubMed

Reschechtko, Sasha; Latash, Mark L

2018-06-06

We combined the theory of neural control of movement with referent coordinates and the uncontrolled manifold hypothesis to investigate multi-finger coordination. We tested hypotheses related to stabilization of performance by co-varying control variables, translated into apparent stiffness and referent coordinate, at different levels of an assumed hierarchy of control. Subjects produced an accurate combination of total force and total moment of force with the four fingers under visual feedback on both variables and after feedback was partly or completely removed. The "inverse piano" device was used to estimate control variables. We observed strong synergies in the space of hypothetical control variables which stabilized total force and moment of force, as well as weaker synergies stabilizing individual finger forces; while the former were attenuated by alteration of visual feedback, the latter were much less affected. In addition, we investigated the organization of "ascending synergies" stabilizing task-level control variables by co-varied adjustments of finger-level control variables. We observed inter-trial co-variation of individual fingers' referent coordinates stabilizing hand-level referent coordinate, but observed no such co-variation for apparent stiffness. The observations suggest the existence of both descending and ascending synergies in a hierarchical control system. They confirm a trade-off between synergies at different levels of control and corroborate the hypothesis on specialization of different fingers for the control of force and moment. The results provide strong evidence for the importance of central back-coupling loops in ensuring stability of action.

Comparative study of flare control laws. [optimal control of b-737 aircraft approach and landing

NASA Technical Reports Server (NTRS)

Nadkarni, A. A.; Breedlove, W. J., Jr.

1979-01-01

A digital 3-D automatic control law was developed to achieve an optimal transition of a B-737 aircraft between various initial glid slope conditions and the desired final touchdown condition. A discrete, time-invariant, optimal, closed-loop control law presented for a linear regulator problem, was extended to include a system being acted upon by a constant disturbance. Two forms of control laws were derived to solve this problem. One method utilized the feedback of integral states defined appropriately and augmented with the original system equations. The second method formulated the problem as a control variable constraint, and the control variables were augmented with the original system. The control variable constraint control law yielded a better performance compared to feedback control law for the integral states chosen.

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.

Output Feedback Distributed Containment Control for High-Order Nonlinear Multiagent Systems.

PubMed

Li, Yafeng; Hua, Changchun; Wu, Shuangshuang; Guan, Xinping

2017-01-31

In this paper, we study the problem of output feedback distributed containment control for a class of high-order nonlinear multiagent systems under a fixed undirected graph and a fixed directed graph, respectively. Only the output signals of the systems can be measured. The novel reduced order dynamic gain observer is constructed to estimate the unmeasured state variables of the system with the less conservative condition on nonlinear terms than traditional Lipschitz one. Via the backstepping method, output feedback distributed nonlinear controllers for the followers are designed. By means of the novel first virtual controllers, we separate the estimated state variables of different agents from each other. Consequently, the designed controllers show independence on the estimated state variables of neighbors except outputs information, and the dynamics of each agent can be greatly different, which make the design method have a wider class of applications. Finally, a numerical simulation is presented to illustrate the effectiveness of the proposed method.

Computer-generated tailored feedback letters for smoking cessation: theoretical and empirical variability of tailoring.

PubMed

Schumann, Anja; John, Ulrich; Ulbricht, Sabina; Rüge, Jeannette; Bischof, Gallus; Meyer, Christian

2008-11-01

This study examines tailored feedback letters of a smoking cessation intervention that is conceptually based on the transtheoretical model, from a content-based perspective. Data of 2 population-based intervention studies, both randomized controlled trials, with total N=1044 were used. The procedure of the intervention, the tailoring principle for the feedback letters, and the content of the intervention materials are described in detail. Theoretical and empirical frequencies of unique feedback letters are presented. The intervention system was able to generate a total of 1040 unique letters with normative feedback only, and almost half a million unique letters with normative and ipsative feedback. Almost every single smoker in contemplation, preparation, action, and maintenance had an empirically unique combination of tailoring variables and received a unique letter. In contrast, many smokers in precontemplation shared a combination of tailoring variables and received identical letters. The transtheoretical model provides an enormous theoretical and empirical variability of tailoring. However, tailoring for a major subgroup of smokers, i.e. those who do not intend to quit, needs improvement. Conceptual ideas for additional tailoring variables are discussed.

Framing of feedback impacts student's satisfaction, self-efficacy and performance.

PubMed

van de Ridder, J M Monica; Peters, Claudia M M; Stokking, Karel M; de Ru, J Alexander; Ten Cate, Olle Th J

2015-08-01

Feedback is considered important to acquire clinical skills. Research evidence shows that feedback does not always improve learning and its effects may be small. In many studies, a variety of variables involved in feedback provision may mask either one of their effects. E.g., there is reason to believe that the way oral feedback is framed may affect its effect if other variables are held constant. In a randomised controlled trial we investigated the effect of positively and negatively framed feedback messages on satisfaction, self-efficacy, and performance. A single blind randomised controlled between-subject design was used, with framing of the feedback message (positively-negatively) as independent variable and examination of hearing abilities as the task. First year medical students' (n = 59) satisfaction, self-efficacy, and performance were the dependent variables and were measured both directly after the intervention and after a 2 weeks delay. Students in the positively framed feedback condition were significantly more satisfied and showed significantly higher self-efficacy measured directly after the performance. Effect sizes found were large, i.e., partial η (2) = 0.43 and η (2) = 0.32 respectively. They showed a better performance throughout the whole study. Significant performance differences were found both at the initial performance and when measured 2 weeks after the intervention: effects were of medium size, respectively r = -.31 and r = -.32. Over time in both conditions performance and self-efficacy decreased. Framing the feedback message in either a positive or negative manner affects students' satisfaction and self-efficacy directly after the intervention be it that these effects seem to fade out over time. Performance may be enhanced by positive framing, but additional studies need to confirm this. We recommend using a positive frame when giving feedback on clinical skills.

Improvements in force variability and structure from vision- to memory-guided submaximal isometric knee extension in subacute stroke.

PubMed

Chow, John W; Stokic, Dobrivoje S

2018-03-01

We examined changes in variability, accuracy, frequency composition, and temporal regularity of force signal from vision-guided to memory-guided force-matching tasks in 17 subacute stroke and 17 age-matched healthy subjects. Subjects performed a unilateral isometric knee extension at 10, 30, and 50% of peak torque [maximum voluntary contraction (MVC)] for 10 s (3 trials each). Visual feedback was removed at the 5-s mark in the first two trials (feedback withdrawal), and 30 s after the second trial the subjects were asked to produce the target force without visual feedback (force recall). The coefficient of variation and constant error were used to quantify force variability and accuracy. Force structure was assessed by the median frequency, relative spectral power in the 0-3-Hz band, and sample entropy of the force signal. At 10% MVC, the force signal in subacute stroke subjects became steadier, more broadband, and temporally more irregular after the withdrawal of visual feedback, with progressively larger error at higher contraction levels. Also, the lack of modulation in the spectral frequency at higher force levels with visual feedback persisted in both the withdrawal and recall conditions. In terms of changes from the visual feedback condition, the feedback withdrawal produced a greater difference between the paretic, nonparetic, and control legs than the force recall. The overall results suggest improvements in force variability and structure from vision- to memory-guided force control in subacute stroke despite decreased accuracy. Different sensory-motor memory retrieval mechanisms seem to be involved in the feedback withdrawal and force recall conditions, which deserves further study. NEW & NOTEWORTHY We demonstrate that in the subacute phase of stroke, force signals during a low-level isometric knee extension become steadier, more broadband in spectral power, and more complex after removal of visual feedback. Larger force errors are produced when recalling target forces than immediately after withdrawing visual feedback. Although visual feedback offers better accuracy, it worsens force variability and structure in subacute stroke. The feedback withdrawal and force recall conditions seem to involve different memory retrieval mechanisms.

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.

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.

Optimal output fast feedback in two-time scale control of flexible arms

NASA Technical Reports Server (NTRS)

Siciliano, B.; Calise, A. J.; Jonnalagadda, V. R. P.

1986-01-01

Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.

An exact algebraic solution of the infimum in H-infinity optimization with output feedback

NASA Technical Reports Server (NTRS)

Chen, Ben M.; Saberi, Ali; Ly, Uy-Loi

1991-01-01

This paper presents a simple and noniterative procedure for the computation of the exact value of the infimum in the standard H-infinity-optimal control with output feedback. The problem formulation is general and does not place any restrictions on the direct feedthrough terms between the control input and the controlled output variables, and between the disturbance input and the measurement output variables. The method is applicable to systems that satisfy (1) the transfer function from the control input to the controlled output is right-invertible and has no invariant zeros on the j(w) axis and, (2) the transfer function from the disturbance to the measurement output is left-invertible and has no invariant zeros on the j(w) axis. A set of necessary and sufficient conditions for the solvability of H-infinity-almost disturbance decoupling problem via measurement feedback with internal stability is also given.

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.

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.

Cardinal features of involuntary force variability can arise from the closed-loop control of viscoelastic afferented muscles

PubMed Central

Laine, Christopher M.; Valero-Cuevas, Francisco J.

2018-01-01

Involuntary force variability below 15 Hz arises from, and is influenced by, many factors including descending neural drive, proprioceptive feedback, and mechanical properties of muscles and tendons. However, their potential interactions that give rise to the well-structured spectrum of involuntary force variability are not well understood due to a lack of experimental techniques. Here, we investigated the generation, modulation, and interactions among different sources of force variability using a physiologically-grounded closed-loop simulation of an afferented muscle model. The closed-loop simulation included a musculotendon model, muscle spindle, Golgi tendon organ (GTO), and a tracking controller which enabled target-guided force tracking. We demonstrate that closed-loop control of an afferented musculotendon suffices to replicate and explain surprisingly many cardinal features of involuntary force variability. Specifically, we present 1) a potential origin of low-frequency force variability associated with co-modulation of motor unit firing rates (i.e.,‘common drive’), 2) an in-depth characterization of how proprioceptive feedback pathways suffice to generate 5-12 Hz physiological tremor, and 3) evidence that modulation of those feedback pathways (i.e., presynaptic inhibition of Ia and Ib afferents, and spindle sensitivity via fusimotor drive) influence the full spectrum of force variability. These results highlight the previously underestimated importance of closed-loop neuromechanical interactions in explaining involuntary force variability during voluntary ‘isometric’ force control. Furthermore, these results provide the basis for a unifying theory that relates spinal circuitry to various manifestations of altered involuntary force variability in fatigue, aging and neurological disease. PMID:29309405

Cardinal features of involuntary force variability can arise from the closed-loop control of viscoelastic afferented muscles.

PubMed

Nagamori, Akira; Laine, Christopher M; Valero-Cuevas, Francisco J

2018-01-01

Involuntary force variability below 15 Hz arises from, and is influenced by, many factors including descending neural drive, proprioceptive feedback, and mechanical properties of muscles and tendons. However, their potential interactions that give rise to the well-structured spectrum of involuntary force variability are not well understood due to a lack of experimental techniques. Here, we investigated the generation, modulation, and interactions among different sources of force variability using a physiologically-grounded closed-loop simulation of an afferented muscle model. The closed-loop simulation included a musculotendon model, muscle spindle, Golgi tendon organ (GTO), and a tracking controller which enabled target-guided force tracking. We demonstrate that closed-loop control of an afferented musculotendon suffices to replicate and explain surprisingly many cardinal features of involuntary force variability. Specifically, we present 1) a potential origin of low-frequency force variability associated with co-modulation of motor unit firing rates (i.e.,'common drive'), 2) an in-depth characterization of how proprioceptive feedback pathways suffice to generate 5-12 Hz physiological tremor, and 3) evidence that modulation of those feedback pathways (i.e., presynaptic inhibition of Ia and Ib afferents, and spindle sensitivity via fusimotor drive) influence the full spectrum of force variability. These results highlight the previously underestimated importance of closed-loop neuromechanical interactions in explaining involuntary force variability during voluntary 'isometric' force control. Furthermore, these results provide the basis for a unifying theory that relates spinal circuitry to various manifestations of altered involuntary force variability in fatigue, aging and neurological disease.

Effect of Integrated Feedback on Classroom Climate of Secondary School Teachers

ERIC Educational Resources Information Center

Patel, Nilesh Kumar

2018-01-01

This study aimed at finding out the effect of Integrated feedback on Classroom climate of secondary school teachers. This research is experimental in nature. Non-equivalent control group design suggested by Stanley and Campbell (1963) was used for the experiment. Integrated feedback was treatment and independent variable, Classroom climate was…

Design of state-feedback controllers including sensitivity reduction, with applications to precision pointing

NASA Technical Reports Server (NTRS)

Hadass, Z.

1974-01-01

The design procedure of feedback controllers was described and the considerations for the selection of the design parameters were given. The frequency domain properties of single-input single-output systems using state feedback controllers are analyzed, and desirable phase and gain margin properties are demonstrated. Special consideration is given to the design of controllers for tracking systems, especially those designed to track polynomial commands. As an example, a controller was designed for a tracking telescope with a polynomial tracking requirement and some special features such as actuator saturation and multiple measurements, one of which is sampled. The resulting system has a tracking performance comparing favorably with a much more complicated digital aided tracker. The parameter sensitivity reduction was treated by considering the variable parameters as random variables. A performance index is defined as a weighted sum of the state and control convariances that sum from both the random system disturbances and the parameter uncertainties, and is minimized numerically by adjusting a set of free parameters.

Longitudinal-control design approach for high-angle-of-attack aircraft

NASA Technical Reports Server (NTRS)

Ostroff, Aaron J.; Proffitt, Melissa S.

1993-01-01

This paper describes a control synthesis methodology that emphasizes a variable-gain output feedback technique that is applied to the longitudinal channel of a high-angle-of-attack aircraft. The aircraft is a modified F/A-18 aircraft with thrust-vectored controls. The flight regime covers a range up to a Mach number of 0.7; an altitude range from 15,000 to 35,000 ft; and an angle-of-attack (alpha) range up to 70 deg, which is deep into the poststall region. A brief overview is given of the variable-gain mathematical formulation as well as a description of the discrete control structure used for the feedback controller. This paper also presents an approximate design procedure with relationships for the optimal weights for the selected feedback control structure. These weights are selected to meet control design guidelines for high-alpha flight controls. Those guidelines that apply to the longitudinal-control design are also summarized. A unique approach is presented for the feed-forward command generator to obtain smooth transitions between load factor and alpha commands. Finally, representative linear analysis results and nonlinear batch simulation results are provided.

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.

Variable structure control of nonlinear systems through simplified uncertain models

NASA Technical Reports Server (NTRS)

Sira-Ramirez, Hebertt

1986-01-01

A variable structure control approach is presented for the robust stabilization of feedback equivalent nonlinear systems whose proposed model lies in the same structural orbit of a linear system in Brunovsky's canonical form. An attempt to linearize exactly the nonlinear plant on the basis of the feedback control law derived for the available model results in a nonlinearly perturbed canonical system for the expanded class of possible equivalent control functions. Conservatism tends to grow as modeling errors become larger. In order to preserve the internal controllability structure of the plant, it is proposed that model simplification be carried out on the open-loop-transformed system. As an example, a controller is developed for a single link manipulator with an elastic joint.

Dynamics of the Coupled Human-climate System Resulting from Closed-loop Control of Solar Geoengineering

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

MacMartin, Douglas; Kravitz, Benjamin S.; Keith, David

2014-07-08

If solar radiation management (SRM) were ever implemented, feedback of the observed climate state might be used to adjust the radiative forcing of SRM, in order to compensate for uncertainty in either the forcing or the climate response; this would also compensate for unexpected changes in the system, e.g. a nonlinear change in climate sensitivity. This feedback creates an emergent coupled human-climate system, with entirely new dynamics. In addition to the intended response to greenhouse-gas induced changes, the use of feedback would also result in a geoengineering response to natural climate variability. We use a simple box-diffusion dynamic model tomore » understand how changing feedback-control parameters and time delay affect the behavior of this coupled natural-human system, and verify these predictions using the HadCM3L general circulation model. In particular, some amplification of natural variability is unavoidable; any time delay (e.g., to average out natural variability, or due to decision-making) exacerbates this amplification, with oscillatory behavior possible if there is a desire for rapid correction (high feedback gain), but a delayed response needed for decision making. Conversely, the need for feedback to compensate for uncertainty, combined with a desire to avoid excessive amplification, results in a limit on how rapidly SRM could respond to uncertain changes.« less

Delay compensation in integrated communication and control systems. I - Conceptual development and analysis

NASA Technical Reports Server (NTRS)

Luck, Rogelio; Ray, Asok

1990-01-01

A procedure for compensating for the effects of distributed network-induced delays in integrated communication and control systems (ICCS) is proposed. The problem of analyzing systems with time-varying and possibly stochastic delays could be circumvented by use of a deterministic observer which is designed to perform under certain restrictive but realistic assumptions. The proposed delay-compensation algorithm is based on a deterministic state estimator and a linear state-variable-feedback control law. The deterministic observer can be replaced by a stochastic observer without any structural modifications of the delay compensation algorithm. However, if a feedforward-feedback control law is chosen instead of the state-variable feedback control law, the observer must be modified as a conventional nondelayed system would be. Under these circumstances, the delay compensation algorithm would be accordingly changed. The separation principle of the classical Luenberger observer holds true for the proposed delay compensator. The algorithm is suitable for ICCS in advanced aircraft, spacecraft, manufacturing automation, and chemical process applications.

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.

Tactile feedback is an effective instrument for the training of grasping with a prosthesis at low- and medium-force levels.

PubMed

De Nunzio, Alessandro Marco; Dosen, Strahinja; Lemling, Sabrina; Markovic, Marko; Schweisfurth, Meike Annika; Ge, Nan; Graimann, Bernhard; Falla, Deborah; Farina, Dario

2017-08-01

Grasping is a complex task routinely performed in an anticipatory (feedforward) manner, where sensory feedback is responsible for learning and updating the internal model of grasp dynamics. This study aims at evaluating whether providing a proportional tactile force feedback during the myoelectric control of a prosthesis facilitates learning a stable internal model of the prosthesis force control. Ten able-bodied subjects controlled a sensorized myoelectric prosthesis performing four blocks of consecutive grasps at three levels of target force (30, 50, and 70%), repeatedly closing the fully opened hand. In the first and third block, the subjects received tactile and visual feedback, respectively, while during the second and fourth block, the feedback was removed. The subjects also performed an additional block with no feedback 1 day after the training (Retest). The median and interquartile range of the generated forces was computed to assess the accuracy and precision of force control. The results demonstrated that the feedback was indeed an effective instrument for the training of prosthesis control. After the training, the subjects were still able to accurately generate the desired force for the low and medium target (30 and 50% of maximum force available in a prosthesis), despite the feedback being removed within the session and during the retest (low target force). However, the training was substantially less successful for high forces (70% of prosthesis maximum force), where subjects exhibited a substantial loss of accuracy as soon as the feedback was removed. The precision of control decreased with higher forces and it was consistent across conditions, determined by an intrinsic variability of repeated myoelectric grasping. This study demonstrated that the subject could rely on the tactile feedback to adjust the motor command to the prosthesis across trials. The subjects adjusted the mean level of muscle activation (accuracy), whereas the precision could not be modulated as it depends on the intrinsic myoelectric variability. They were also able to maintain the feedforward command even after the feedback was removed, demonstrating thereby a stable learning, but the retention depended on the level of the target force. This is an important insight into the role of feedback as an instrument for learning of anticipatory prosthesis force control.

Output Feedback Stabilization for a Class of Multi-Variable Bilinear Stochastic Systems with Stochastic Coupling Attenuation

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

Zhang, Qichun; Zhou, Jinglin; Wang, Hong

In this paper, stochastic coupling attenuation is investigated for a class of multi-variable bilinear stochastic systems and a novel output feedback m-block backstepping controller with linear estimator is designed, where gradient descent optimization is used to tune the design parameters of the controller. It has been shown that the trajectories of the closed-loop stochastic systems are bounded in probability sense and the stochastic coupling of the system outputs can be effectively attenuated by the proposed control algorithm. Moreover, the stability of the stochastic systems is analyzed and the effectiveness of the proposed method has been demonstrated using a simulated example.

Feedforward and feedback control in apraxia of speech: effects of noise masking on vowel production.

PubMed

Maas, Edwin; Mailend, Marja-Liisa; Guenther, Frank H

2015-04-01

This study was designed to test two hypotheses about apraxia of speech (AOS) derived from the Directions Into Velocities of Articulators (DIVA) model (Guenther et al., 2006): the feedforward system deficit hypothesis and the feedback system deficit hypothesis. The authors used noise masking to minimize auditory feedback during speech. Six speakers with AOS and aphasia, 4 with aphasia without AOS, and 2 groups of speakers without impairment (younger and older adults) participated. Acoustic measures of vowel contrast, variability, and duration were analyzed. Younger, but not older, speakers without impairment showed significantly reduced vowel contrast with noise masking. Relative to older controls, the AOS group showed longer vowel durations overall (regardless of masking condition) and a greater reduction in vowel contrast under masking conditions. There were no significant differences in variability. Three of the 6 speakers with AOS demonstrated the group pattern. Speakers with aphasia without AOS did not differ from controls in contrast, duration, or variability. The greater reduction in vowel contrast with masking noise for the AOS group is consistent with the feedforward system deficit hypothesis but not with the feedback system deficit hypothesis; however, effects were small and not present in all individual speakers with AOS. Theoretical implications and alternative interpretations of these findings are discussed.

Feedforward and Feedback Control in Apraxia of Speech: Effects of Noise Masking on Vowel Production

PubMed Central

Mailend, Marja-Liisa; Guenther, Frank H.

2015-01-01

Purpose This study was designed to test two hypotheses about apraxia of speech (AOS) derived from the Directions Into Velocities of Articulators (DIVA) model (Guenther et al., 2006): the feedforward system deficit hypothesis and the feedback system deficit hypothesis. Method The authors used noise masking to minimize auditory feedback during speech. Six speakers with AOS and aphasia, 4 with aphasia without AOS, and 2 groups of speakers without impairment (younger and older adults) participated. Acoustic measures of vowel contrast, variability, and duration were analyzed. Results Younger, but not older, speakers without impairment showed significantly reduced vowel contrast with noise masking. Relative to older controls, the AOS group showed longer vowel durations overall (regardless of masking condition) and a greater reduction in vowel contrast under masking conditions. There were no significant differences in variability. Three of the 6 speakers with AOS demonstrated the group pattern. Speakers with aphasia without AOS did not differ from controls in contrast, duration, or variability. Conclusion The greater reduction in vowel contrast with masking noise for the AOS group is consistent with the feedforward system deficit hypothesis but not with the feedback system deficit hypothesis; however, effects were small and not present in all individual speakers with AOS. Theoretical implications and alternative interpretations of these findings are discussed. PMID:25565143

Adaptive Neural Output Feedback Control for Nonstrict-Feedback Stochastic Nonlinear Systems With Unknown Backlash-Like Hysteresis and Unknown Control Directions.

PubMed

Yu, Zhaoxu; Li, Shugang; Yu, Zhaosheng; Li, Fangfei

2018-04-01

This paper investigates the problem of output feedback adaptive stabilization for a class of nonstrict-feedback stochastic nonlinear systems with both unknown backlashlike hysteresis and unknown control directions. A new linear state transformation is applied to the original system, and then, control design for the new system becomes feasible. By combining the neural network's (NN's) parameterization, variable separation technique, and Nussbaum gain function method, an input-driven observer-based adaptive NN control scheme, which involves only one parameter to be updated, is developed for such systems. All closed-loop signals are bounded in probability and the error signals remain semiglobally bounded in the fourth moment (or mean square). Finally, the effectiveness and the applicability of the proposed control design are verified by two simulation examples.

Adaptive NN control for discrete-time pure-feedback systems with unknown control direction under amplitude and rate actuator constraints.

PubMed

Chen, Weisheng

2009-07-01

This paper focuses on the problem of adaptive neural network tracking control for a class of discrete-time pure-feedback systems with unknown control direction under amplitude and rate actuator constraints. Two novel state-feedback and output-feedback dynamic control laws are established where the function tanh(.) is employed to solve the saturation constraint problem. Implicit function theorem and mean value theorem are exploited to deal with non-affine variables that are used as actual control. Radial basis function neural networks are used to approximate the desired input function. Discrete Nussbaum gain is used to estimate the unknown sign of control gain. The uniform boundedness of all closed-loop signals is guaranteed. The tracking error is proved to converge to a small residual set around the origin. A simulation example is provided to illustrate the effectiveness of control schemes proposed in this paper.

The interaction of respiration and visual feedback on the control of force and neural activation of the agonist muscle

PubMed Central

Baweja, Harsimran S.; Patel, Bhavini K.; Neto, Osmar P.; Christou, Evangelos A.

2011-01-01

The purpose of this study was to compare force variability and the neural activation of the agonist muscle during constant isometric contractions at different force levels when the amplitude of respiration and visual feedback were varied. Twenty young adults (20–32 years, 10 men and 10 women) were instructed to accurately match a target force at 15 and 50% of their maximal voluntary contraction (MVC) with abduction of the index finger while controlling their respiration at different amplitudes (85, 100 and 125% normal) in the presence and absence of visual feedback. Each trial lasted 22 s and visual feedback was removed from 8–12 to 16–20 s. Each subject performed 3 trials with each respiratory condition at each force level. Force variability was quantified as the standard deviation of the detrended force data. The neural activation of the first dorsal interosseus (FDI) was measured with bipolar surface electrodes placed distal to the innervation zone. Relative to normal respiration, force variability increased significantly only during high-amplitude respiration (~63%). The increase in force variability from normal- to high-amplitude respiration was strongly associated with amplified force oscillations from 0–3 Hz (R2 ranged from .68 – .84; p < .001). Furthermore, the increase in force variability was exacerbated in the presence of visual feedback at 50% MVC (vision vs. no-vision: .97 vs. .87 N) and was strongly associated with amplified force oscillations from 0–1 Hz (R2 = .82) and weakly associated with greater power from 12–30 Hz (R2 = .24) in the EMG of the agonist muscle. Our findings demonstrate that high-amplitude respiration and visual feedback of force interact and amplify force variability in young adults during moderate levels of effort. PMID:21546109

Study to eliminate ground resonance using active controls

NASA Technical Reports Server (NTRS)

Straub, F. K.

1984-01-01

The effectiveness of active control blade feathering in increasing rotor body damping and the possibility to eliminate ground resonance instabilities were investigated. An analytical model representing rotor flapping and lead-lag degrees of freedom and body pitch, roll, longitudinal and lateral motion is developed. Active control blade feathering is implemented as state variable feedback through a conventional swashplate. The influence of various feedback states, feedback gain, and weighting between the cyclic controls is studied through stability and response analyses. It is shown that blade cyclic inplane motion, roll rate and roll acceleration feedback can add considerable damping to the system and eliminate ground resonance instabilities, which the feedback phase is also a powerful parameter, if chosen properly, it maximizes augmentation of the inherent regressing lag mode damping. It is shown that rotor configuration parameters, like blade root hinge offset, flapping stiffness, and precone considerably influence the control effectiveness. It is found that active control is particularly powerful for hingeless and bearingless rotor systems.

Impedance hand controllers for increasing efficiency in teleoperations

NASA Technical Reports Server (NTRS)

Carignan, C.; Tarrant, J.

1989-01-01

An impedance hand controller with direct force feedback is examined as an alternative to bilateral force reflection in teleoperations involving force contact. Experimentation revealed an operator preference for direct force feedback which provided a better feel of contact with the environment. The advantages of variable arm impedance were also made clear in tracking tests where subjects preferred the larger hand controller inertias made possible by the acceleration feedback loop in the master arm. The ability to decouple the hand controller impedance from the slave arm dynamics is expected to be even more significant when the inertial properties of various payloads in the slave arm are considered.

Closed-loop control of anesthesia: a primer for anesthesiologists.

PubMed

Dumont, Guy A; Ansermino, J Mark

2013-11-01

Feedback control is ubiquitous in nature and engineering and has revolutionized safety in fields from space travel to the automobile. In anesthesia, automated feedback control holds the promise of limiting the effects on performance of individual patient variability, optimizing the workload of the anesthesiologist, increasing the time spent in a more desirable clinical state, and ultimately improving the safety and quality of anesthesia care. The benefits of control systems will not be realized without widespread support from the health care team in close collaboration with industrial partners. In this review, we provide an introduction to the established field of control systems research for the everyday anesthesiologist. We introduce important concepts such as feedback and modeling specific to control problems and provide insight into design requirements for guaranteeing the safety and performance of feedback control systems. We focus our discussion on the optimization of anesthetic drug administration.

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.

Adaptive neural network output feedback control for stochastic nonlinear systems with unknown dead-zone and unmodeled dynamics.

PubMed

Tong, Shaocheng; Wang, Tong; Li, Yongming; Zhang, Huaguang

2014-06-01

This paper discusses the problem of adaptive neural network output feedback control for a class of stochastic nonlinear strict-feedback systems. The concerned systems have certain characteristics, such as unknown nonlinear uncertainties, unknown dead-zones, unmodeled dynamics and without the direct measurements of state variables. In this paper, the neural networks (NNs) are employed to approximate the unknown nonlinear uncertainties, and then by representing the dead-zone as a time-varying system with a bounded disturbance. An NN state observer is designed to estimate the unmeasured states. Based on both backstepping design technique and a stochastic small-gain theorem, a robust adaptive NN output feedback control scheme is developed. It is proved that all the variables involved in the closed-loop system are input-state-practically stable in probability, and also have robustness to the unmodeled dynamics. Meanwhile, the observer errors and the output of the system can be regulated to a small neighborhood of the origin by selecting appropriate design parameters. Simulation examples are also provided to illustrate the effectiveness of the proposed approach.

Adaptive neural output-feedback control for nonstrict-feedback time-delay fractional-order systems with output constraints and actuator nonlinearities.

PubMed

Zouari, Farouk; Ibeas, Asier; Boulkroune, Abdesselem; Cao, Jinde; Mehdi Arefi, Mohammad

2018-06-01

This study addresses the issue of the adaptive output tracking control for a category of uncertain nonstrict-feedback delayed incommensurate fractional-order systems in the presence of nonaffine structures, unmeasured pseudo-states, unknown control directions, unknown actuator nonlinearities and output constraints. Firstly, the mean value theorem and the Gaussian error function are introduced to eliminate the difficulties that arise from the nonaffine structures and the unknown actuator nonlinearities, respectively. Secondly, the immeasurable tracking error variables are suitably estimated by constructing a fractional-order linear observer. Thirdly, the neural network, the Razumikhin Lemma, the variable separation approach, and the smooth Nussbaum-type function are used to deal with the uncertain nonlinear dynamics, the unknown time-varying delays, the nonstrict feedback and the unknown control directions, respectively. Fourthly, asymmetric barrier Lyapunov functions are employed to overcome the violation of the output constraints and to tune online the parameters of the adaptive neural controller. Through rigorous analysis, it is proved that the boundedness of all variables in the closed-loop system and the semi global asymptotic tracking are ensured without transgression of the constraints. The principal contributions of this study can be summarized as follows: (1) based on Caputo's definitions and new lemmas, methods concerning the controllability, observability and stability analysis of integer-order systems are extended to fractional-order ones, (2) the output tracking objective for a relatively large class of uncertain systems is achieved with a simple controller and less tuning parameters. Finally, computer-simulation studies from the robotic field are given to demonstrate the effectiveness of the proposed controller. Copyright © 2018 Elsevier Ltd. All rights reserved.

Flight-test experience in digital control of a remotely piloted vehicle.

NASA Technical Reports Server (NTRS)

Edwards, J. W.

1972-01-01

The development of a remotely piloted vehicle system consisting of a remote pilot cockpit and a ground-based digital computer coupled to the aircraft through telemetry data links is described. The feedback control laws are implemented in a FORTRAN program. Flight-test experience involving high feedback gain limits for attitude and attitude rate feedback variables, filtering of sampled data, and system operation during intermittent telemetry data link loss is discussed. Comparisons of closed-loop flight tests with analytical calculations, and pilot comments on system operation are included.

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.

Application of variable-gain output feedback for high-alpha control

NASA Technical Reports Server (NTRS)

Ostroff, Aaron J.

1990-01-01

A variable-gain, optimal, discrete, output feedback design approach that is applied to a nonlinear flight regime is described. The flight regime covers a wide angle-of-attack range that includes stall and post stall. The paper includes brief descriptions of the variable-gain formulation, the discrete-control structure and flight equations used to apply the design approach, and the high performance airplane model used in the application. Both linear and nonlinear analysis are shown for a longitudinal four-model design case with angles of attack of 5, 15, 35, and 60 deg. Linear and nonlinear simulations are compared for a single-point longitudinal design at 60 deg angle of attack. Nonlinear simulations for the four-model, multi-mode, variable-gain design include a longitudinal pitch-up and pitch-down maneuver and high angle-of-attack regulation during a lateral maneuver.

Differential effects of absent visual feedback control on gait variability during different locomotion speeds.

PubMed

Wuehr, M; Schniepp, R; Pradhan, C; Ilmberger, J; Strupp, M; Brandt, T; Jahn, K

2013-01-01

Healthy persons exhibit relatively small temporal and spatial gait variability when walking unimpeded. In contrast, patients with a sensory deficit (e.g., polyneuropathy) show an increased gait variability that depends on speed and is associated with an increased fall risk. The purpose of this study was to investigate the role of vision in gait stabilization by determining the effects of withdrawing visual information (eyes closed) on gait variability at different locomotion speeds. Ten healthy subjects (32.2 ± 7.9 years, 5 women) walked on a treadmill for 5-min periods at their preferred walking speed and at 20, 40, 70, and 80 % of maximal walking speed during the conditions of walking with eyes open (EO) and with eyes closed (EC). The coefficient of variation (CV) and fractal dimension (α) of the fluctuations in stride time, stride length, and base width were computed and analyzed. Withdrawing visual information increased the base width CV for all walking velocities (p < 0.001). The effects of absent visual information on CV and α of stride time and stride length were most pronounced during slow locomotion (p < 0.001) and declined during fast walking speeds. The results indicate that visual feedback control is used to stabilize the medio-lateral (i.e., base width) gait parameters at all speed sections. In contrast, sensory feedback control in the fore-aft direction (i.e., stride time and stride length) depends on speed. Sensory feedback contributes most to fore-aft gait stabilization during slow locomotion, whereas passive biomechanical mechanisms and an automated central pattern generation appear to control fast locomotion.

Software feedback for monochromator tuning at UNICAT (abstract)

NASA Astrophysics Data System (ADS)

Jemian, Pete R.

2002-03-01

Automatic tuning of double-crystal monochromators presents an interesting challenge in software. The goal is to either maximize, or hold constant, the throughput of the monochromator. An additional goal of the software feedback is to disable itself when there is no beam and then, at the user's discretion, re-enable itself when the beam returns. These and other routine goals, such as adherence to limits of travel for positioners, are maintained by software controls. Many solutions exist to lock in and maintain a fixed throughput. Among these include a hardware solution involving a wave form generator, and a lock-in amplifier to autocorrelate the movement of a piezoelectric transducer (PZT) providing fine adjustment of the second crystal Bragg angle. This solution does not work when the positioner is a slow acting device such as a stepping motor. Proportional integral differential (PID) loops have been used to provide feedback through software but additional controls must be provided to maximize the monochromator throughput. Presented here is a software variation of the PID loop which meets the above goals. By using two floating point variables as inputs, representing the intensity of x rays measured before and after the monochromator, it attempts to maximize (or hold constant) the ratio of these two inputs by adjusting an output floating point variable. These floating point variables are connected to hardware channels corresponding to detectors and positioners. When the inputs go out of range, the software will stop making adjustments to the control output. Not limited to monochromator feedback, the software could be used, with beam steering positioners, to maintain a measure of beam position. Advantages of this software feedback are the flexibility of its various components. It has been used with stepping motors and PZTs as positioners. Various devices such as ion chambers, scintillation counters, photodiodes, and photoelectron collectors have been used as detectors. The software provides significant cost savings over hardware feedback methods. Presently implemented in EPICS, the software is sufficiently general to any automated instrument control system.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2016-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

Stabilizing detached Bridgman melt crystal growth: Proportional-integral feedback control

NASA Astrophysics Data System (ADS)

Yeckel, Andrew; Daoutidis, Prodromos; Derby, Jeffrey J.

2012-10-01

The dynamics, operability limits, and tuning of a proportional-integral feedback controller to stabilize detached vertical Bridgman crystal growth are analyzed using a capillary model of shape stability. The manipulated variable is the pressure difference between upper and lower vapor spaces, and the controlled variable is the gap width at the triple-phase line. Open and closed loop dynamics of step changes in these state variables are analyzed under both shape stable and shape unstable growth conditions. Effects of step changes in static contact angle and growth angle are also studied. Proportional and proportional-integral control can stabilize unstable growth, but only within tight operability limits imposed by the narrow range of allowed meniscus shapes. These limits are used to establish safe operating ranges of controller gain. Strong nonlinearity of the capillary model restricts the range of perturbations that can be stabilized, and under some circumstances, stabilizes a spurious operating state far from the set point. Stabilizing detachment at low growth angle proves difficult and becomes impossible at zero growth angle.

Control Augmented Structural Synthesis

NASA Technical Reports Server (NTRS)

Lust, Robert V.; Schmit, Lucien A.

1988-01-01

A methodology for control augmented structural synthesis is proposed for a class of structures which can be modeled as an assemblage of frame and/or truss elements. It is assumed that both the plant (structure) and the active control system dynamics can be adequately represented with a linear model. The structural sizing variables, active control system feedback gains and nonstructural lumped masses are treated simultaneously as independent design variables. Design constraints are imposed on static and dynamic displacements, static stresses, actuator forces and natural frequencies to ensure acceptable system behavior. Multiple static and dynamic loading conditions are considered. Side constraints imposed on the design variables protect against the generation of unrealizable designs. While the proposed approach is fundamentally more general, here the methodology is developed and demonstrated for the case where: (1) the dynamic loading is harmonic and thus the steady state response is of primary interest; (2) direct output feedback is used for the control system model; and (3) the actuators and sensors are collocated.

Control systems for platform landings cushioned by air bags

NASA Astrophysics Data System (ADS)

Ross, Edward W.

1987-07-01

This report presents an exploratory mathematical study of control systems for airdrop platform landings cushioned by airbags. The basic theory of airbags is reviewed and solutions to special cases are noted. A computer program is presented, which calculates the time-dependence of the principal variables during a landing under the action of various control systems. Two existing control systems of open-loop type are compared with a conceptual feedback (closed-loop) system for a fairly typical set of landing conditions. The feedback controller is shown to have performance much superior to the other systems. The feedback system undergoes an interesting oscillation not present in the other systems, the source of which is investigated. Recommendations for future work are included.

A nonlinear Kalman filtering approach to embedded control of turbocharged diesel engines

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Siano, Pierluigi; Arsie, Ivan

2014-10-01

The development of efficient embedded control for turbocharged Diesel engines, requires the programming of elaborated nonlinear control and filtering methods. To this end, in this paper nonlinear control for turbocharged Diesel engines is developed with the use of Differential flatness theory and the Derivative-free nonlinear Kalman Filter. It is shown that the dynamic model of the turbocharged Diesel engine is differentially flat and admits dynamic feedback linearization. It is also shown that the dynamic model can be written in the linear Brunovsky canonical form for which a state feedback controller can be easily designed. To compensate for modeling errors and external disturbances the Derivative-free nonlinear Kalman Filter is used and redesigned as a disturbance observer. The filter consists of the Kalman Filter recursion on the linearized equivalent of the Diesel engine model and of an inverse transformation based on differential flatness theory which enables to obtain estimates for the state variables of the initial nonlinear model. Once the disturbances variables are identified it is possible to compensate them by including an additional control term in the feedback loop. The efficiency of the proposed control method is tested through simulation experiments.

Evidence for a Time-Invariant Phase Variable in Human Ankle Control

PubMed Central

Gregg, Robert D.; Rouse, Elliott J.; Hargrove, Levi J.; Sensinger, Jonathon W.

2014-01-01

Human locomotion is a rhythmic task in which patterns of muscle activity are modulated by state-dependent feedback to accommodate perturbations. Two popular theories have been proposed for the underlying embodiment of phase in the human pattern generator: a time-dependent internal representation or a time-invariant feedback representation (i.e., reflex mechanisms). In either case the neuromuscular system must update or represent the phase of locomotor patterns based on the system state, which can include measurements of hundreds of variables. However, a much simpler representation of phase has emerged in recent designs for legged robots, which control joint patterns as functions of a single monotonic mechanical variable, termed a phase variable. We propose that human joint patterns may similarly depend on a physical phase variable, specifically the heel-to-toe movement of the Center of Pressure under the foot. We found that when the ankle is unexpectedly rotated to a position it would have encountered later in the step, the Center of Pressure also shifts forward to the corresponding later position, and the remaining portion of the gait pattern ensues. This phase shift suggests that the progression of the stance ankle is controlled by a biomechanical phase variable, motivating future investigations of phase variables in human locomotor control. PMID:24558485

Which Measures of Online Control Are Least Sensitive to Offline Processes?

PubMed

de Grosbois, John; Tremblay, Luc

2018-02-28

A major challenge to the measurement of online control is the contamination by offline, planning-based processes. The current study examined the sensitivity of four measures of online control to offline changes in reaching performance induced by prism adaptation and terminal feedback. These measures included the squared Z scores (Z 2 ) of correlations of limb position at 75% movement time versus movement end, variable error, time after peak velocity, and a frequency-domain analysis (pPower). The results indicated that variable error and time after peak velocity were sensitive to the prism adaptation. Furthermore, only the Z 2 values were biased by the terminal feedback. Ultimately, the current study has demonstrated the sensitivity of limb kinematic measures to offline control processes and that pPower analyses may yield the most suitable measure of online control.

Large space structures control algorithm characterization

NASA Technical Reports Server (NTRS)

Fogel, E.

1983-01-01

Feedback control algorithms are developed for sensor/actuator pairs on large space systems. These algorithms have been sized in terms of (1) floating point operation (FLOP) demands; (2) storage for variables; and (3) input/output data flow. FLOP sizing (per control cycle) was done as a function of the number of control states and the number of sensor/actuator pairs. Storage for variables and I/O sizing was done for specific structure examples.

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

Real-time control systems: feedback, scheduling and robustness

NASA Astrophysics Data System (ADS)

Simon, Daniel; Seuret, Alexandre; Sename, Olivier

2017-08-01

The efficient control of real-time distributed systems, where continuous components are governed through digital devices and communication networks, needs a careful examination of the constraints arising from the different involved domains inside co-design approaches. Thanks to the robustness of feedback control, both new control methodologies and slackened real-time scheduling schemes are proposed beyond the frontiers between these traditionally separated fields. A methodology to design robust aperiodic controllers is provided, where the sampling interval is considered as a control variable of the system. Promising experimental results are provided to show the feasibility and robustness of the approach.

Children with Heavy Prenatal Alcohol Exposure have Different Frequency Domain Signal Characteristics when Producing Isometric Force

PubMed Central

Nguyen, Tanya T.; Ashrafi, Ashkan; Thomas, Jennifer D.; Riley, Edward P.; Simmons, Roger W.

2013-01-01

To extend our current understanding of the teratogenic effects of prenatal alcohol exposure on the control of isometric force, the present study investigated the signal characteristics of power spectral density functions resulting from sustained control of isometric force by children with and without heavy prenatal exposure to alcohol. It was predicted that the functions associated with the force signals would be fundamentally different for the two groups. Twenty-five children aged between 7 and 17 years with heavy prenatal alcohol exposure and 21 non-alcohol exposed control children attempted to duplicate a visually represented target force by pressing on a load cell. The level of target force (5 and 20% of maximum voluntary contraction) and the time interval between visual feedback (20ms, 320ms and 740ms) were manipulated. A multivariate spectral estimation method with sinusoidal windows was applied to individual isometric force-time signals. Analysis of the resulting power spectral density functions revealed that the alcohol-exposed children had a lower mean frequency, less spectral variability, greater peak power and a lower frequency at which peak power occurred. Furthermore, mean frequency and spectral variability produced by the alcohol-exposed group remained constant across target load and visual feedback interval, suggesting that these children were limited to making long-time scale corrections to the force signal. In contrast, the control group produced decreased mean frequency and spectral variability as target force and the interval between visual feedback increased, indicating that when feedback was frequently presented these children used the information to make short-time scale adjustments to the ongoing force signal. Knowledge of these differences could facilitate the design of motor rehabilitation exercises that specifically target isometric force control deficits in alcohol-exposed children. PMID:23238099

Reduced-order dynamic output feedback control of uncertain discrete-time Markov jump linear systems

NASA Astrophysics Data System (ADS)

Morais, Cecília F.; Braga, Márcio F.; Oliveira, Ricardo C. L. F.; Peres, Pedro L. D.

2017-11-01

This paper deals with the problem of designing reduced-order robust dynamic output feedback controllers for discrete-time Markov jump linear systems (MJLS) with polytopic state space matrices and uncertain transition probabilities. Starting from a full order, mode-dependent and polynomially parameter-dependent dynamic output feedback controller, sufficient linear matrix inequality based conditions are provided for the existence of a robust reduced-order dynamic output feedback stabilising controller with complete, partial or none mode dependency assuring an upper bound to the ? or the ? norm of the closed-loop system. The main advantage of the proposed method when compared to the existing approaches is the fact that the dynamic controllers are exclusively expressed in terms of the decision variables of the problem. In other words, the matrices that define the controller realisation do not depend explicitly on the state space matrices associated with the modes of the MJLS. As a consequence, the method is specially suitable to handle order reduction or cluster availability constraints in the context of ? or ? dynamic output feedback control of discrete-time MJLS. Additionally, as illustrated by means of numerical examples, the proposed approach can provide less conservative results than other conditions in the literature.

Spatial climate patterns explain negligible variation in strength of compensatory density feedbacks in birds and mammals.

PubMed

Herrando-Pérez, Salvador; Delean, Steven; Brook, Barry W; Cassey, Phillip; Bradshaw, Corey J A

2014-01-01

The use of long-term population data to separate the demographic role of climate from density-modified demographic processes has become a major topic of ecological investigation over the last two decades. Although the ecological and evolutionary mechanisms that determine the strength of density feedbacks are now well understood, the degree to which climate gradients shape those processes across taxa and broad spatial scales remains unclear. Intuitively, harsh or highly variable environmental conditions should weaken compensatory density feedbacks because populations are hypothetically unable to achieve or maintain densities at which social and trophic interactions (e.g., competition, parasitism, predation, disease) might systematically reduce population growth. Here we investigate variation in the strength of compensatory density feedback, from long-term time series of abundance over 146 species of birds and mammals, in response to spatial gradients of broad-scale temperature precipitation variables covering 97 localities in 28 countries. We use information-theoretic metrics to rank phylogenetic generalized least-squares regression models that control for sample size (time-series length) and phylogenetic non-independence. Climatic factors explained < 1% of the remaining variation in density-feedback strength across species, with the highest non-control, model-averaged effect sizes related to extreme precipitation variables. We could not link our results directly to other published studies, because ecologists use contrasting responses, predictors and statistical approaches to correlate density feedback and climate--at the expense of comparability in a macroecological context. Censuses of multiple populations within a given species, and a priori knowledge of the spatial scales at which density feedbacks interact with climate, seem to be necessary to determine cross-taxa variation in this phenomenon. Despite the availability of robust modelling tools, the appropriate data have not yet been gathered for most species, meaning that we cannot yet make any robust generalisations about how demographic feedbacks interact with climate.

Spatial Climate Patterns Explain Negligible Variation in Strength of Compensatory Density Feedbacks in Birds and Mammals

PubMed Central

Herrando-Pérez, Salvador; Delean, Steven; Brook, Barry W.; Cassey, Phillip; Bradshaw, Corey J. A.

2014-01-01

The use of long-term population data to separate the demographic role of climate from density-modified demographic processes has become a major topic of ecological investigation over the last two decades. Although the ecological and evolutionary mechanisms that determine the strength of density feedbacks are now well understood, the degree to which climate gradients shape those processes across taxa and broad spatial scales remains unclear. Intuitively, harsh or highly variable environmental conditions should weaken compensatory density feedbacks because populations are hypothetically unable to achieve or maintain densities at which social and trophic interactions (e.g., competition, parasitism, predation, disease) might systematically reduce population growth. Here we investigate variation in the strength of compensatory density feedback, from long-term time series of abundance over 146 species of birds and mammals, in response to spatial gradients of broad-scale temperature precipitation variables covering 97 localities in 28 countries. We use information-theoretic metrics to rank phylogenetic generalized least-squares regression models that control for sample size (time-series length) and phylogenetic non-independence. Climatic factors explained < 1% of the remaining variation in density-feedback strength across species, with the highest non-control, model-averaged effect sizes related to extreme precipitation variables. We could not link our results directly to other published studies, because ecologists use contrasting responses, predictors and statistical approaches to correlate density feedback and climate – at the expense of comparability in a macroecological context. Censuses of multiple populations within a given species, and a priori knowledge of the spatial scales at which density feedbacks interact with climate, seem to be necessary to determine cross-taxa variation in this phenomenon. Despite the availability of robust modelling tools, the appropriate data have not yet been gathered for most species, meaning that we cannot yet make any robust generalisations about how demographic feedbacks interact with climate. PMID:24618822

The damaging effect of confirming feedback on the relation between eyewitness certainty and identification accuracy.

PubMed

Bradfield, Amy L; Wells, Gary L; Olson, Elizabeth A

2002-02-01

The authors investigated eyewitnesses' retrospective certainty (see G. L. Wells & A. L. Bradfield, 1999). The authors hypothesized that extemal influence from the lineup administrator would damage the certainty-accuracy relation by inflating the retrospective certainty of inaccurate eyewitnesses more than that of accurate eyewitnesses (N = 245). Two variables were manipulated: eyewitness accuracy (through the presence or absence of the culprit in the lineup) and feedback (confirming vs. control). Confirming feedback inflated retrospective certainty more for inaccurate eyewitnesses than for accurate eyewitnesses, significantly reducing the certainty-accuracy relation (from r = .58 in the control condition to r = .37 in the confirming feedback condition). Double-blind testing is recommended for lineups to prevent these external influences on eyewitnesses.

Digital adaptive control of a VTOL aircraft

NASA Technical Reports Server (NTRS)

Reid, G. F.

1976-01-01

A technique has been developed for calculating feedback and feedforward gain matrices that stabilize a VTOL aircraft while enabling it to track input commands of forward and vertical velocity. Leverrier's algorithm is used in a procedure for determining a set of state variable, feedback gains that force the closed loop poles and zeroes of one pilot input transfer function to be at preselected positions in the s plane. This set of feedback gains is then used to calculate the feedback and feedforward gains for the velocity command controller. The method is computationally attractive since the gains are determined by solving systems of linear, simultaneous equations. Responses obtained using a digital simulation of the longitudinal dynamics of the CH-47 helicopter are presented.

Differential Flatness and Cooperative Tracking in the Lorenz System

NASA Technical Reports Server (NTRS)

Crespo, Luis G.

2002-01-01

In this paper the control of the Lorenz system for both stabilization and tracking problems is studied via feedback linearization and differential flatness. By using the Rayleigh number as the control, only variable physically tunable, a barrier in the controllability of the system is incidentally imposed. This is reflected in the appearance of a singularity in the state transformation. Composite controllers that overcome this difficulty are designed and evaluated. The transition through the manifold defined by such a singularity is achieved by inducing a chaotic response within a boundary layer that contains it. Outside this region, a conventional feedback nonlinear control is applied. In this fashion, the authority of the control is enlarged to the whole. state space and the need for high control efforts is mitigated. In addition, the differential parametrization of the problem is used to track nonlinear functions of one state variable (single tracking) as well as several state variables (cooperative tracking). Control tasks that lead to integrable and non-integrable differential equations for the nominal flat output in steady-state are considered. In particular, a novel numerical strategy to deal with the non-integrable case is proposed. Numerical results validate very well the control design.

Feedback enhanced plasma spray tool

DOEpatents

Gevelber, Michael Alan; Wroblewski, Donald Edward; Fincke, James Russell; Swank, William David; Haggard, Delon C.; Bewley, Randy Lee

2005-11-22

An improved automatic feedback control scheme enhances plasma spraying of powdered material through reduction of process variability and providing better ability to engineer coating structure. The present inventors discovered that controlling centroid position of the spatial distribution along with other output parameters, such as particle temperature, particle velocity, and molten mass flux rate, vastly increases control over the sprayed coating structure, including vertical and horizontal cracks, voids, and porosity. It also allows improved control over graded layers or compositionally varying layers of material, reduces variations, including variation in coating thickness, and allows increasing deposition rate. Various measurement and system control schemes are provided.

Structural Damage Detection Using Virtual Passive Controllers

NASA Technical Reports Server (NTRS)

Lew, Jiann-Shiun; Juang, Jer-Nan

2001-01-01

This paper presents novel approaches for structural damage detection which uses the virtual passive controllers attached to structures, where passive controllers are energy dissipative devices and thus guarantee the closed-loop stability. The use of the identified parameters of various closed-loop systems can solve the problem that reliable identified parameters, such as natural frequencies of the open-loop system may not provide enough information for damage detection. Only a small number of sensors are required for the proposed approaches. The identified natural frequencies, which are generally much less sensitive to noise and more reliable than the identified natural frequencies, are used for damage detection. Two damage detection techniques are presented. One technique is based on the structures with direct output feedback controllers while the other technique uses the second-order dynamic feedback controllers. A least-squares technique, which is based on the sensitivity of natural frequencies to damage variables, is used for accurately identifying the damage variables.

Variations in Static Force Control and Motor Unit Behavior with Error Amplification Feedback in the Elderly.

PubMed

Chen, Yi-Ching; Lin, Linda L; Lin, Yen-Ting; Hu, Chia-Ling; Hwang, Ing-Shiou

2017-01-01

Error amplification (EA) feedback is a promising approach to advance visuomotor skill. As error detection and visuomotor processing at short time scales decline with age, this study examined whether older adults could benefit from EA feedback that included higher-frequency information to guide a force-tracking task. Fourteen young and 14 older adults performed low-level static isometric force-tracking with visual guidance of typical visual feedback and EA feedback containing augmented high-frequency errors. Stabilogram diffusion analysis was used to characterize force fluctuation dynamics. Also, the discharge behaviors of motor units and pooled motor unit coherence were assessed following the decomposition of multi-channel surface electromyography (EMG). EA produced different behavioral and neurophysiological impacts on young and older adults. Older adults exhibited inferior task accuracy with EA feedback than with typical visual feedback, but not young adults. Although stabilogram diffusion analysis revealed that EA led to a significant decrease in critical time points for both groups, EA potentiated the critical point of force fluctuations [Formula: see text], short-term effective diffusion coefficients (Ds), and short-term exponent scaling only for the older adults. Moreover, in older adults, EA added to the size of discharge variability of motor units and discharge regularity of cumulative discharge rate, but suppressed the pooled motor unit coherence in the 13-35 Hz band. Virtual EA alters the strategic balance between open-loop and closed-loop controls for force-tracking. Contrary to expectations, the prevailing use of closed-loop control with EA that contained high-frequency error information enhanced the motor unit discharge variability and undermined the force steadiness in the older group, concerning declines in physiological complexity in the neurobehavioral system and the common drive to the motoneuronal pool against force destabilization.

Variations in Static Force Control and Motor Unit Behavior with Error Amplification Feedback in the Elderly

PubMed Central

Chen, Yi-Ching; Lin, Linda L.; Lin, Yen-Ting; Hu, Chia-Ling; Hwang, Ing-Shiou

2017-01-01

Error amplification (EA) feedback is a promising approach to advance visuomotor skill. As error detection and visuomotor processing at short time scales decline with age, this study examined whether older adults could benefit from EA feedback that included higher-frequency information to guide a force-tracking task. Fourteen young and 14 older adults performed low-level static isometric force-tracking with visual guidance of typical visual feedback and EA feedback containing augmented high-frequency errors. Stabilogram diffusion analysis was used to characterize force fluctuation dynamics. Also, the discharge behaviors of motor units and pooled motor unit coherence were assessed following the decomposition of multi-channel surface electromyography (EMG). EA produced different behavioral and neurophysiological impacts on young and older adults. Older adults exhibited inferior task accuracy with EA feedback than with typical visual feedback, but not young adults. Although stabilogram diffusion analysis revealed that EA led to a significant decrease in critical time points for both groups, EA potentiated the critical point of force fluctuations <ΔFc2>, short-term effective diffusion coefficients (Ds), and short-term exponent scaling only for the older adults. Moreover, in older adults, EA added to the size of discharge variability of motor units and discharge regularity of cumulative discharge rate, but suppressed the pooled motor unit coherence in the 13–35 Hz band. Virtual EA alters the strategic balance between open-loop and closed-loop controls for force-tracking. Contrary to expectations, the prevailing use of closed-loop control with EA that contained high-frequency error information enhanced the motor unit discharge variability and undermined the force steadiness in the older group, concerning declines in physiological complexity in the neurobehavioral system and the common drive to the motoneuronal pool against force destabilization. PMID:29167637

Evaluation of feedforward and feedback contributions to hand stiffness and variability in multijoint arm control.

PubMed

He, Xin; Du, Yu-Fan; Lan, Ning

2013-07-01

The purpose of this study is to validate a neuromechanical model of the virtual arm (VA) by comparing emerging behaviors of the model to those of experimental observations. Hand stiffness of the VA model was obtained by either theoretical computation or simulated perturbations. Variability in hand position of the VA was generated by adding signal dependent noise (SDN) to the motoneuron pools of muscles. Reflex circuits of Ia, Ib and Renshaw cells were included to regulate the motoneuron pool outputs. Evaluation of hand stiffness and variability was conducted in simulations with and without afferent feedback under different patterns of muscle activations during postural maintenance. The simulated hand stiffness and variability ellipses captured the experimentally observed features in shape, magnitude and orientation. Steady state afferent feedback contributed significantly to the increase in hand stiffness by 35.75±16.99% in area, 18.37±7.80% and 16.15±7.15% in major and minor axes; and to the reduction of hand variability by 49.41±21.19% in area, 36.89±12.78% and 18.87±23.32% in major and minor axes. The VA model reproduced the neuromechanical behaviors that were consistent with experimental data, and it could be a useful tool for study of neural control of posture and movement, as well as for application to rehabilitation.

Model reference, sliding mode adaptive control for flexible structures

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

Neural-network-based state feedback control of a nonlinear discrete-time system in nonstrict feedback form.

PubMed

Jagannathan, Sarangapani; He, Pingan

2008-12-01

In this paper, a suite of adaptive neural network (NN) controllers is designed to deliver a desired tracking performance for the control of an unknown, second-order, nonlinear discrete-time system expressed in nonstrict feedback form. In the first approach, two feedforward NNs are employed in the controller with tracking error as the feedback variable whereas in the adaptive critic NN architecture, three feedforward NNs are used. In the adaptive critic architecture, two action NNs produce virtual and actual control inputs, respectively, whereas the third critic NN approximates certain strategic utility function and its output is employed for tuning action NN weights in order to attain the near-optimal control action. Both the NN control methods present a well-defined controller design and the noncausal problem in discrete-time backstepping design is avoided via NN approximation. A comparison between the controller methodologies is highlighted. The stability analysis of the closed-loop control schemes is demonstrated. The NN controller schemes do not require an offline learning phase and the NN weights can be initialized at zero or random. Results show that the performance of the proposed controller schemes is highly satisfactory while meeting the closed-loop stability.

A model for helicopter guidance on spiral trajectories

NASA Technical Reports Server (NTRS)

Mendenhall, S.; Slater, G. L.

1980-01-01

A point mass model is developed for helicopter guidance on spiral trajectories. A fully coupled set of state equations is developed and perturbation equations suitable for 3-D and 4-D guidance are derived and shown to be amenable to conventional state variable feedback methods. Control variables are chosen to be the magnitude and orientation of the net rotor thrust. Using these variables reference controls for nonlevel accelerating trajectories are easily determined. The effects of constant wind are shown to require significant feedforward correction to some of the reference controls and to the time. Although not easily measured themselves, the controls variables chosen are shown to be easily related to the physical variables available in the cockpit.

Substantial large-scale feedbacks between natural aerosols and climate

NASA Astrophysics Data System (ADS)

Scott, C. E.; Arnold, S. R.; Monks, S. A.; Asmi, A.; Paasonen, P.; Spracklen, D. V.

2018-01-01

The terrestrial biosphere is an important source of natural aerosol. Natural aerosol sources alter climate, but are also strongly controlled by climate, leading to the potential for natural aerosol-climate feedbacks. Here we use a global aerosol model to make an assessment of terrestrial natural aerosol-climate feedbacks, constrained by observations of aerosol number. We find that warmer-than-average temperatures are associated with higher-than-average number concentrations of large (>100 nm diameter) particles, particularly during the summer. This relationship is well reproduced by the model and is driven by both meteorological variability and variability in natural aerosol from biogenic and landscape fire sources. We find that the calculated extratropical annual mean aerosol radiative effect (both direct and indirect) is negatively related to the observed global temperature anomaly, and is driven by a positive relationship between temperature and the emission of natural aerosol. The extratropical aerosol-climate feedback is estimated to be -0.14 W m-2 K-1 for landscape fire aerosol, greater than the -0.03 W m-2 K-1 estimated for biogenic secondary organic aerosol. These feedbacks are comparable in magnitude to other biogeochemical feedbacks, highlighting the need for natural aerosol feedbacks to be included in climate simulations.

Determinants of cell-to-cell variability in protein kinase signaling.

PubMed

Jeschke, Matthias; Baumgärtner, Stephan; Legewie, Stefan

2013-01-01

Cells reliably sense environmental changes despite internal and external fluctuations, but the mechanisms underlying robustness remain unclear. We analyzed how fluctuations in signaling protein concentrations give rise to cell-to-cell variability in protein kinase signaling using analytical theory and numerical simulations. We characterized the dose-response behavior of signaling cascades by calculating the stimulus level at which a pathway responds ('pathway sensitivity') and the maximal activation level upon strong stimulation. Minimal kinase cascades with gradual dose-response behavior show strong variability, because the pathway sensitivity and the maximal activation level cannot be simultaneously invariant. Negative feedback regulation resolves this trade-off and coordinately reduces fluctuations in the pathway sensitivity and maximal activation. Feedbacks acting at different levels in the cascade control different aspects of the dose-response curve, thereby synergistically reducing the variability. We also investigated more complex, ultrasensitive signaling cascades capable of switch-like decision making, and found that these can be inherently robust to protein concentration fluctuations. We describe how the cell-to-cell variability of ultrasensitive signaling systems can be actively regulated, e.g., by altering the expression of phosphatase(s) or by feedback/feedforward loops. Our calculations reveal that slow transcriptional negative feedback loops allow for variability suppression while maintaining switch-like decision making. Taken together, we describe design principles of signaling cascades that promote robustness. Our results may explain why certain signaling cascades like the yeast pheromone pathway show switch-like decision making with little cell-to-cell variability.

ZAG-Otolith: Modification of Otolith-Ocular Reflexes, Motion Perception and Manual Control during Variable Radius Centrifugation Following Space Flight

NASA Technical Reports Server (NTRS)

Wood, S. J.; Clarke, A. H.; Rupert, A. H.; Harm, D. L.; Clement, G. R.

2009-01-01

Two joint ESA-NASA studies are examining changes in otolith-ocular reflexes and motion perception following short duration space flights, and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. METHODS. Data is currently being collected on astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation is utilized to elicit otolith reflexes in the lateral plane without concordant roll canal cues. Unilateral centrifugation (400 deg/s, 3.5 cm radius) stimulates one otolith positioned off-axis while the opposite side is centered over the axis of rotation. During this paradigm, roll-tilt perception is measured using a subjective visual vertical task and ocular counter-rolling is obtained using binocular video-oculography. During a second paradigm (216 deg/s, <20 cm radius), the effects of stimulus frequency (0.15 - 0.6 Hz) are examined on eye movements and motion perception. A closed-loop nulling task is also performed with and without vibrotactile display feedback of chair radial position. PRELIMINARY RESULTS. Data collection is currently ongoing. Results to date suggest there is a trend for perceived tilt and translation amplitudes to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. DISCUSSION. One result of this study will be to characterize the variability (gain, asymmetry) in both otolithocular responses and motion perception during variable radius centrifugation, and measure the time course of postflight recovery. This study will also address how adaptive changes in otolith-mediated reflexes correspond to one's ability to perform closed-loop nulling tasks following G-transitions, and whether manual control performance can be improved with vibrotactile feedback of orientation.

Modification of Otolith-Ocular Reflexes, Motion Perception and Manual Control During Variable Radius Centrifugation Following Space Flight

NASA Technical Reports Server (NTRS)

Wood, Scott J.; Clarke, A. H.; Rupert, A. H.; Harm, D. L.; Clement, G. R.

2009-01-01

Two joint ESA-NASA studies are examining changes in otolith-ocular reflexes and motion perception following short duration space flights, and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. Data is currently being collected on astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation is utilized to elicit otolith reflexes in the lateral plane without concordant roll canal cues. Unilateral centrifugation (400 deg/s, 3.5 cm radius) stimulates one otolith positioned off-axis while the opposite side is centered over the axis of rotation. During this paradigm, roll-tilt perception is measured using a subjective visual vertical task and ocular counter-rolling is obtained using binocular video-oculography. During a second paradigm (216 deg/s, less than 20 cm radius), the effects of stimulus frequency (0.15 - 0.6 Hz) are examined on eye movements and motion perception. A closed-loop nulling task is also performed with and without vibrotactile display feedback of chair radial position. Data collection is currently ongoing. Results to date suggest there is a trend for perceived tilt and translation amplitudes to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. One result of this study will be to characterize the variability (gain, asymmetry) in both otolith-ocular responses and motion perception during variable radius centrifugation, and measure the time course of post-flight recovery. This study will also address how adaptive changes in otolith-mediated reflexes correspond to one's ability to perform closed-loop nulling tasks following G-transitions, and whether manual control performance can be improved with vibrotactile feedback of orientation.

Systems and methods for controlling energy use during a demand limiting period

DOEpatents

Wenzel, Michael J.; Drees, Kirk H.

2016-04-26

Systems and methods for limiting power consumption by a heating, ventilation, and air conditioning (HVAC) subsystem of a building are shown and described. A feedback controller is used to generate a manipulated variable based on an energy use setpoint and a measured energy use. The manipulated variable may be used for adjusting the operation of an HVAC device.

Control logic to track the outputs of a command generator or randomly forced target

NASA Technical Reports Server (NTRS)

Trankle, T. L.; Bryson, A. E., Jr.

1977-01-01

A procedure is presented for synthesizing time-invariant control logic to cause the outputs of a linear plant to track the outputs of an unforced (or randomly forced) linear dynamic system. The control logic uses feed-forward of the reference system state variables and feedback of the plant state variables. The feed-forward gains are obtained from the solution of a linear algebraic matrix equation of the Liapunov type. The feedback gains are the usual regulator gains, determined to stabilize (or augment the stability of) the plant, possibly including integral control. The method is applied here to the design of control logic for a second-order servomechanism to follow a linearly increasing (ramp) signal, an unstable third-order system with two controls to track two separate ramp signals, and a sixth-order system with two controls to track a constant signal and an exponentially decreasing signal (aircraft landing-flare or glide-slope-capture with constant velocity).

Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments with Transfemoral Amputees.

PubMed

Gregg, Robert D; Lenzi, Tommaso; Hargrove, Levi J; Sensinger, Jonathon W

2014-12-01

Recent powered (or robotic) prosthetic legs independently control different joints and time periods of the gait cycle, resulting in control parameters and switching rules that can be difficult to tune by clinicians. This challenge might be addressed by a unifying control model used by recent bipedal robots, in which virtual constraints define joint patterns as functions of a monotonic variable that continuously represents the gait cycle phase. In the first application of virtual constraints to amputee locomotion, this paper derives exact and approximate control laws for a partial feedback linearization to enforce virtual constraints on a prosthetic leg. We then encode a human-inspired invariance property called effective shape into virtual constraints for the stance period. After simulating the robustness of the partial feedback linearization to clinically meaningful conditions, we experimentally implement this control strategy on a powered transfemoral leg. We report the results of three amputee subjects walking overground and at variable cadences on a treadmill, demonstrating the clinical viability of this novel control approach.

Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments with Transfemoral Amputees

PubMed Central

Lenzi, Tommaso; Hargrove, Levi J.; Sensinger, Jonathon W.

2014-01-01

Recent powered (or robotic) prosthetic legs independently control different joints and time periods of the gait cycle, resulting in control parameters and switching rules that can be difficult to tune by clinicians. This challenge might be addressed by a unifying control model used by recent bipedal robots, in which virtual constraints define joint patterns as functions of a monotonic variable that continuously represents the gait cycle phase. In the first application of virtual constraints to amputee locomotion, this paper derives exact and approximate control laws for a partial feedback linearization to enforce virtual constraints on a prosthetic leg. We then encode a human-inspired invariance property called effective shape into virtual constraints for the stance period. After simulating the robustness of the partial feedback linearization to clinically meaningful conditions, we experimentally implement this control strategy on a powered transfemoral leg. We report the results of three amputee subjects walking overground and at variable cadences on a treadmill, demonstrating the clinical viability of this novel control approach. PMID:25558185

Risk-Sensitivity in Sensorimotor Control

PubMed Central

Braun, Daniel A.; Nagengast, Arne J.; Wolpert, Daniel M.

2011-01-01

Recent advances in theoretical neuroscience suggest that motor control can be considered as a continuous decision-making process in which uncertainty plays a key role. Decision-makers can be risk-sensitive with respect to this uncertainty in that they may not only consider the average payoff of an outcome, but also consider the variability of the payoffs. Although such risk-sensitivity is a well-established phenomenon in psychology and economics, it has been much less studied in motor control. In fact, leading theories of motor control, such as optimal feedback control, assume that motor behaviors can be explained as the optimization of a given expected payoff or cost. Here we review evidence that humans exhibit risk-sensitivity in their motor behaviors, thereby demonstrating sensitivity to the variability of “motor costs.” Furthermore, we discuss how risk-sensitivity can be incorporated into optimal feedback control models of motor control. We conclude that risk-sensitivity is an important concept in understanding individual motor behavior under uncertainty. PMID:21283556

Operating wind turbines in strong wind conditions by using feedforward-feedback control

NASA Astrophysics Data System (ADS)

Feng, Ju; Sheng, Wen Zhong

2014-12-01

Due to the increasing penetration of wind energy into power systems, it becomes critical to reduce the impact of wind energy on the stability and reliability of the overall power system. In precedent works, Shen and his co-workers developed a re-designed operation schema to run wind turbines in strong wind conditions based on optimization method and standard PI feedback control, which can prevent the typical shutdowns of wind turbines when reaching the cut-out wind speed. In this paper, a new control strategy combing the standard PI feedback control with feedforward controls using the optimization results is investigated for the operation of variable-speed pitch-regulated wind turbines in strong wind conditions. It is shown that the developed control strategy is capable of smoothening the power output of wind turbine and avoiding its sudden showdown at high wind speeds without worsening the loads on rotor and blades.

Flatness-based control and Kalman filtering for a continuous-time macroeconomic model

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Ghosh, T.; Busawon, K.; Binns, R.

2017-11-01

The article proposes flatness-based control for a nonlinear macro-economic model of the UK economy. The differential flatness properties of the model are proven. This enables to introduce a transformation (diffeomorphism) of the system's state variables and to express the state-space description of the model in the linear canonical (Brunowsky) form in which both the feedback control and the state estimation problem can be solved. For the linearized equivalent model of the macroeconomic system, stabilizing feedback control can be achieved using pole placement methods. Moreover, to implement stabilizing feedback control of the system by measuring only a subset of its state vector elements the Derivative-free nonlinear Kalman Filter is used. This consists of the Kalman Filter recursion applied on the linearized equivalent model of the financial system and of an inverse transformation that is based again on differential flatness theory. The asymptotic stability properties of the control scheme are confirmed.

Who wants feedback? An investigation of the variables influencing residents' feedback-seeking behavior in relation to night shifts.

PubMed

Teunissen, Pim W; Stapel, Diederik A; van der Vleuten, Cees; Scherpbier, Albert; Boor, Klarke; Scheele, Fedde

2009-07-01

The literature on feedback in clinical medical education has predominantly treated trainees as passive recipients. Past research has focused on how clinical supervisors can use feedback to improve a trainee's performance. On the basis of research in social and organizational psychology, the authors reconceptualized residents as active seekers of feedback. They investigated what individual and situational variables influence residents' feedback-seeking behavior on night shifts. Early in 2008, the authors sent obstetrics-gynecology residents in the Netherlands--both those in their first two years of graduate training and those gaining experience between undergraduate and graduate training--a questionnaire that assessed four predictor variables (learning and performance goal orientation, and instrumental and supportive leadership), two mediator variables (perceived feedback benefits and costs), and two outcome variables (frequency of feedback inquiry and monitoring). They used structural equation modeling software to test a hypothesized model of relationships between variables. The response rate was 76.5%. Results showed that residents who perceive more feedback benefits report a higher frequency of feedback inquiry and monitoring. More perceived feedback costs result mainly in more feedback monitoring. Residents with a higher learning goal orientation perceive more feedback benefits and fewer costs. Residents with a higher performance goal orientation perceive more feedback costs. Supportive physicians lead residents to perceive more feedback benefits and fewer costs. This study showed that some residents actively seek feedback. Residents' feedback-seeking behavior partially depends on attending physicians' supervisory style. Residents' goal orientations influence their perceptions of the benefits and costs of feedback-seeking.

Use of Accelerometer-Based Feedback of Walking Activity for Appraising Progress With Walking-Related Goals in Inpatient Stroke Rehabilitation: A Randomized Controlled Trial.

PubMed

Mansfield, Avril; Wong, Jennifer S; Bryce, Jessica; Brunton, Karen; Inness, Elizabeth L; Knorr, Svetlana; Jones, Simon; Taati, Babak; McIlroy, William E

2015-10-01

Regaining independent ambulation is important to those with stroke. Increased walking practice during "down time" in rehabilitation could improve walking function for individuals with stroke. To determine the effect of providing physiotherapists with accelerometer-based feedback on patient activity and walking-related goals during inpatient stroke rehabilitation. Participants with stroke wore accelerometers around both ankles every weekday during inpatient rehabilitation. Participants were randomly assigned to receive daily feedback about walking activity via their physiotherapists (n = 29) or to receive no feedback (n = 28). Changes in measures of daily walking (walking time, number of steps, average cadence, longest bout duration, and number of "long" walking bouts) and changes in gait control and function assessed in-laboratory were compared between groups. There was no significant increase in walking time, number of steps, longest bout duration, or number of long walking bouts for the feedback group compared with the control group (P values > .20). However, individuals who received feedback significantly increased cadence of daily walking more than the control group (P = .013). From the in-laboratory gait assessment, individuals who received feedback had a greater increase in walking speed and decrease in step time variability than the control group (P values < .030). Feedback did not increase the amount of walking completed by individuals with stroke. However, there was a significant increase in cadence, indicating that intensity of daily walking was greater for those who received feedback than the control group. Additionally, more intense daily walking activity appeared to translate to greater improvements in walking speed. © The Author(s) 2015.

Dynamic control of remelting processes

DOEpatents

Bertram, Lee A.; Williamson, Rodney L.; Melgaard, David K.; Beaman, Joseph J.; Evans, David G.

2000-01-01

An apparatus and method of controlling a remelting process by providing measured process variable values to a process controller; estimating process variable values using a process model of a remelting process; and outputting estimated process variable values from the process controller. Feedback and feedforward control devices receive the estimated process variable values and adjust inputs to the remelting process. Electrode weight, electrode mass, electrode gap, process current, process voltage, electrode position, electrode temperature, electrode thermal boundary layer thickness, electrode velocity, electrode acceleration, slag temperature, melting efficiency, cooling water temperature, cooling water flow rate, crucible temperature profile, slag skin temperature, and/or drip short events are employed, as are parameters representing physical constraints of electroslag remelting or vacuum arc remelting, as applicable.

A stochastic optimal feedforward and feedback control methodology for superagility

NASA Technical Reports Server (NTRS)

Halyo, Nesim; Direskeneli, Haldun; Taylor, Deborah B.

1992-01-01

A new control design methodology is developed: Stochastic Optimal Feedforward and Feedback Technology (SOFFT). Traditional design techniques optimize a single cost function (which expresses the design objectives) to obtain both the feedforward and feedback control laws. This approach places conflicting demands on the control law such as fast tracking versus noise atttenuation/disturbance rejection. In the SOFFT approach, two cost functions are defined. The feedforward control law is designed to optimize one cost function, the feedback optimizes the other. By separating the design objectives and decoupling the feedforward and feedback design processes, both objectives can be achieved fully. A new measure of command tracking performance, Z-plots, is also developed. By analyzing these plots at off-nominal conditions, the sensitivity or robustness of the system in tracking commands can be predicted. Z-plots provide an important tool for designing robust control systems. The Variable-Gain SOFFT methodology was used to design a flight control system for the F/A-18 aircraft. It is shown that SOFFT can be used to expand the operating regime and provide greater performance (flying/handling qualities) throughout the extended flight regime. This work was performed under the NASA SBIR program. ICS plans to market the software developed as a new module in its commercial CACSD software package: ACET.

Decoupled and linear quadratic regulator control of a large, flexible space antenna with an observer in the control loop

NASA Technical Reports Server (NTRS)

Hamer, H. A.; Johnson, K. G.; Young, J. W.

1985-01-01

An analysis is performed to compare decoupled and linear quadratic regulator (LQR) procedures for the control of a large, flexible space antenna. Control objectives involve: (1) commanding changes in the rigid-body modes, (2) nulling initial disturbances in the rigid-body modes, or (3) nulling initial disturbances in the first three flexible modes. Control is achieved with two three-axis control-moment gyros located on the antenna column. Results are presented to illustrate various effects on control requirements for the two procedures. These effects include errors in the initial estimates of state variables, variations in the type, number, and location of sensors, and deletions of state-variable estimates for certain flexible modes after control activation. The advantages of incorporating a time lag in the control feedback are also illustrated. In addition, the effects of inoperative-control situations are analyzed with regard to control requirements and resultant modal responses. Comparisons are included which show the effects of perfect state feedback with no residual modes (ideal case). Time-history responses are presented to illustrate the various effects on the control procedures.

Effects of visual feedback-induced variability on motor learning of handrim wheelchair propulsion.

PubMed

Leving, Marika T; Vegter, Riemer J K; Hartog, Johanneke; Lamoth, Claudine J C; de Groot, Sonja; van der Woude, Lucas H V

2015-01-01

It has been suggested that a higher intra-individual variability benefits the motor learning of wheelchair propulsion. The present study evaluated whether feedback-induced variability on wheelchair propulsion technique variables would also enhance the motor learning process. Learning was operationalized as an improvement in mechanical efficiency and propulsion technique, which are thought to be closely related during the learning process. 17 Participants received visual feedback-based practice (feedback group) and 15 participants received regular practice (natural learning group). Both groups received equal practice dose of 80 min, over 3 weeks, at 0.24 W/kg at a treadmill speed of 1.11 m/s. To compare both groups the pre- and post-test were performed without feedback. The feedback group received real-time visual feedback on seven propulsion variables with instruction to manipulate the presented variable to achieve the highest possible variability (1st 4-min block) and optimize it in the prescribed direction (2nd 4-min block). To increase motor exploration the participants were unaware of the exact variable they received feedback on. Energy consumption and the propulsion technique variables with their respective coefficient of variation were calculated to evaluate the amount of intra-individual variability. The feedback group, which practiced with higher intra-individual variability, improved the propulsion technique between pre- and post-test to the same extent as the natural learning group. Mechanical efficiency improved between pre- and post-test in the natural learning group but remained unchanged in the feedback group. These results suggest that feedback-induced variability inhibited the improvement in mechanical efficiency. Moreover, since both groups improved propulsion technique but only the natural learning group improved mechanical efficiency, it can be concluded that the improvement in mechanical efficiency and propulsion technique do not always appear simultaneously during the motor learning process. Their relationship is most likely modified by other factors such as the amount of the intra-individual variability.

Effects of Visual Feedback-Induced Variability on Motor Learning of Handrim Wheelchair Propulsion

PubMed Central

Leving, Marika T.; Vegter, Riemer J. K.; Hartog, Johanneke; Lamoth, Claudine J. C.; de Groot, Sonja; van der Woude, Lucas H. V.

2015-01-01

Background It has been suggested that a higher intra-individual variability benefits the motor learning of wheelchair propulsion. The present study evaluated whether feedback-induced variability on wheelchair propulsion technique variables would also enhance the motor learning process. Learning was operationalized as an improvement in mechanical efficiency and propulsion technique, which are thought to be closely related during the learning process. Methods 17 Participants received visual feedback-based practice (feedback group) and 15 participants received regular practice (natural learning group). Both groups received equal practice dose of 80 min, over 3 weeks, at 0.24 W/kg at a treadmill speed of 1.11 m/s. To compare both groups the pre- and post-test were performed without feedback. The feedback group received real-time visual feedback on seven propulsion variables with instruction to manipulate the presented variable to achieve the highest possible variability (1st 4-min block) and optimize it in the prescribed direction (2nd 4-min block). To increase motor exploration the participants were unaware of the exact variable they received feedback on. Energy consumption and the propulsion technique variables with their respective coefficient of variation were calculated to evaluate the amount of intra-individual variability. Results The feedback group, which practiced with higher intra-individual variability, improved the propulsion technique between pre- and post-test to the same extent as the natural learning group. Mechanical efficiency improved between pre- and post-test in the natural learning group but remained unchanged in the feedback group. Conclusion These results suggest that feedback-induced variability inhibited the improvement in mechanical efficiency. Moreover, since both groups improved propulsion technique but only the natural learning group improved mechanical efficiency, it can be concluded that the improvement in mechanical efficiency and propulsion technique do not always appear simultaneously during the motor learning process. Their relationship is most likely modified by other factors such as the amount of the intra-individual variability. PMID:25992626

Overview of rocket engine control

NASA Technical Reports Server (NTRS)

Lorenzo, Carl F.; Musgrave, Jeffrey L.

1991-01-01

The issues of Chemical Rocket Engine Control are broadly covered. The basic feedback information and control variables used in expendable and reusable rocket engines, such as Space Shuttle Main Engine, are discussed. The deficiencies of current approaches are considered and a brief introduction to Intelligent Control Systems for rocket engines (and vehicles) is presented.

Idling speed control system of an internal combustion engine

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

Miyazaki, M.; Ishii, M.; Kako, H.

1986-09-16

This patent describes an idling speed control system of an internal combustion engine comprising: a valve device which controls the amount of intake air for the engine; an actuator which includes an electric motor for variably controlling the opening of the value device; rotation speed detector means for detecting the rotation speed of the engine; idling condition detector means for detecting the idling condition of the engine; feedback control means responsive to the detected output of the idling condition detector means for generating feedback control pulses to intermittently drive the electric motor so that the detected rotation speed of themore » engine under the idling condition may converge into a target idling rotation speed; and control means responsive to the output of detector means that detects an abnormally low rotation speed of the engine detected by the rotation speed detector means for generating control pulses that do not overlap the feedback control pulses to drive the electric motor in a predetermined direction.« less

Perturbed cooperative-state feedback strategy for model predictive networked control of interconnected systems.

PubMed

Tran, Tri; Ha, Q P

2018-01-01

A perturbed cooperative-state feedback (PSF) strategy is presented for the control of interconnected systems in this paper. The subsystems of an interconnected system can exchange data via the communication network that has multiple connection topologies. The PSF strategy can resolve both issues, the sensor data losses and the communication network breaks, thanks to the two components of the control including a cooperative-state feedback and a perturbation variable, e.g., u i =K ij x j +w i . The PSF is implemented in a decentralized model predictive control scheme with a stability constraint and a non-monotonic storage function (ΔV(x(k))≥0), derived from the dissipative systems theory. Numerical simulation for the automatic generation control problem in power systems is studied to illustrate the effectiveness of the presented PSF strategy. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive Fuzzy Tracking Control for a Class of MIMO Nonlinear Systems in Nonstrict-Feedback Form.

PubMed

Chen, Bing; Lin, Chong; Liu, Xiaoping; Liu, Kefu

2015-12-01

This paper focuses on the problem of fuzzy adaptive control for a class of multiinput and multioutput (MIMO) nonlinear systems in nonstrict-feedback form, which contains the strict-feedback form as a special case. By the condition of variable partition, a new fuzzy adaptive backstepping is proposed for such a class of nonlinear MIMO systems. The suggested fuzzy adaptive controller guarantees that the proposed control scheme can guarantee that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking errors eventually converge to a small neighborhood around the origin. The main advantage of this paper is that a control approach is systematically derived for nonlinear systems with strong interconnected terms which are the functions of all states of the whole system. Simulation results further illustrate the effectiveness of the suggested approach.

Systems and methods for controlling energy use in a building management system using energy budgets

DOEpatents

Wenzel, Michael J; Drees, Kirk H

2014-09-23

Systems and methods for limiting power consumption by a heating, ventilation, and air conditioning (HVAC) subsystem of a building are shown and described. A feedback controller is used to generate a manipulated variable based on an energy use setpoint and a measured energy use. The manipulated variable may be used for adjusting the operation of an HVAC device.

Variable-Displacement Hydraulic Drive Unit

NASA Technical Reports Server (NTRS)

Lang, D. J.; Linton, D. J.; Markunas, A.

1986-01-01

Hydraulic power controlled through multiple feedback loops. In hydraulic drive unit, power closely matched to demand, thereby saving energy. Hydraulic flow to and from motor adjusted by motor-control valve connected to wobbler. Wobbler angle determines motor-control-valve position, which in turn determines motor displacement. Concept applicable to machine tools, aircraft controls, and marine controls.

Analytical and flight investigation of the influence of rotor and other high-order dynamics on helicopter flight-control system bandwidth

NASA Technical Reports Server (NTRS)

Chen, R. T. N.; Hindson, W. S.

1985-01-01

The increasing use of highly augmented digital flight-control systems in modern military helicopters prompted an examination of the influence of rotor dynamics and other high-order dynamics on control-system performance. A study was conducted at NASA Ames Research Center to correlate theoretical predictions of feedback gain limits in the roll axis with experimental test data obtained from a variable-stability research helicopter. Feedback gains, the break frequency of the presampling sensor filter, and the computational frame time of the flight computer were systematically varied. The results, which showed excellent theoretical and experimental correlation, indicate that the rotor-dynamics, sensor-filter, and digital-data processing delays can severely limit the usable values of the roll-rate and roll-attitude feedback gains.

An optical-density-based feedback feeding method for ammonium concentration control in Spirulina platensis cultivation.

PubMed

Bao, Yilu; Wen, Shumei; Cong, Wei; Wu, Xia; Ning, Zhengxiang

2012-07-01

Cultivation of Spirulina platensis using ammonium salts or wastewater containing ammonium as alternative nitrogen sources is considered as a commercial way to reduce the production cost. In this research, by analyzing the relationship between biomass production and ammonium- N consumption in the fed-batch culture of Spirulina platensis using ammonium bicarbonate as a nitrogen nutrient source, an online adaptive control strategy based on optical density (OD) measurements for controlling ammonium feeding was presented. The ammonium concentration was successfully controlled between the cell growth inhibitory and limiting concentrations using this OD-based feedback feeding method. As a result, the maximum biomass concentration (2.98 g/l), productivity (0.237 g/l·d), nitrogen-to-cell conversion factor (7.32 gX/gN), and contents of protein (64.1%) and chlorophyll (13.4 mg/g) obtained by using the OD-based feedback feeding method were higher than those using the constant and variable feeding methods. The OD-based feedback feeding method could be recognized as an applicable way to control ammonium feeding and a benefit for Spirulina platensis cultivations.

An optimal output feedback gain variation scheme for the control of plants exhibiting gross parameter changes

NASA Technical Reports Server (NTRS)

Moerder, Daniel D.

1987-01-01

A concept for optimally designing output feedback controllers for plants whose dynamics exhibit gross changes over their operating regimes was developed. This was to formulate the design problem in such a way that the implemented feedback gains vary as the output of a dynamical system whose independent variable is a scalar parameterization of the plant operating point. The results of this effort include derivation of necessary conditions for optimality for the general problem formulation, and for several simplified cases. The question of existence of a solution to the design problem was also examined, and it was shown that the class of gain variation schemes developed are capable of achieving gain variation histories which are arbitrarily close to the unconstrained gain solution for each point in the plant operating range. The theory was implemented in a feedback design algorithm, which was exercised in a numerical example. The results are applicable to the design of practical high-performance feedback controllers for plants whose dynamics vary significanly during operation. Many aerospace systems fall into this category.

Physical constraints on biological integral control design for homeostasis and sensory adaptation.

PubMed

Ang, Jordan; McMillen, David R

2013-01-22

Synthetic biology includes an effort to use design-based approaches to create novel controllers, biological systems aimed at regulating the output of other biological processes. The design of such controllers can be guided by results from control theory, including the strategy of integral feedback control, which is central to regulation, sensory adaptation, and long-term robustness. Realization of integral control in a synthetic network is an attractive prospect, but the nature of biochemical networks can make the implementation of even basic control structures challenging. Here we present a study of the general challenges and important constraints that will arise in efforts to engineer biological integral feedback controllers or to analyze existing natural systems. Constraints arise from the need to identify target output values that the combined process-plus-controller system can reach, and to ensure that the controller implements a good approximation of integral feedback control. These constraints depend on mild assumptions about the shape of input-output relationships in the biological components, and thus will apply to a variety of biochemical systems. We summarize our results as a set of variable constraints intended to provide guidance for the design or analysis of a working biological integral feedback controller. Copyright © 2013 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Suppression of chaos via control of energy flow

NASA Astrophysics Data System (ADS)

Guo, Shengli; Ma, Jun; Alsaedi, Ahmed

2018-03-01

Continuous energy supply is critical and important to support oscillating behaviour; otherwise, the oscillator will die. For nonlinear and chaotic circuits, enough energy supply is also important to keep electric devices working. In this paper, Hamilton energy is calculated for dimensionless dynamical system (e.g., the chaotic Lorenz system) using Helmholtz's theorem. The Hamilton energy is considered as a new variable and then the dynamical system is controlled by using the scheme of energy feedback. It is found that chaos can be suppressed even when intermittent feedback scheme is applied. This scheme is effective to control chaos and to stabilise other dynamical systems.

Application of the MNA design method to a nonlinear turbofan engine. [multivariable Nyquist array method

NASA Technical Reports Server (NTRS)

Leininger, G. G.

1981-01-01

Using nonlinear digital simulation as a representative model of the dynamic operation of the QCSEE turbofan engine, a feedback control system is designed by variable frequency design techniques. Transfer functions are generated for each of five power level settings covering the range of operation from approach power to full throttle (62.5% to 100% full power). These transfer functions are then used by an interactive control system design synthesis program to provide a closed loop feedback control using the multivariable Nyquist array and extensions to multivariable Bode diagrams and Nichols charts.

A systematic review of the use of theory in randomized controlled trials of audit and feedback

PubMed Central

2013-01-01

Background Audit and feedback is one of the most widely used and promising interventions in implementation research, yet also one of the most variably effective. Understanding this variability has been limited in part by lack of attention to the theoretical and conceptual basis underlying audit and feedback. Examining the extent of theory use in studies of audit and feedback will yield better understanding of the causal pathways of audit and feedback effectiveness and inform efforts to optimize this important intervention. Methods A total of 140 studies in the 2012 Cochrane update on audit and feedback interventions were independently reviewed by two investigators. Variables were extracted related to theory use in the study design, measurement, implementation or interpretation. Theory name, associated reference, and the location of theory use as reported in the study were extracted. Theories were organized by type (e.g., education, diffusion, organization, psychology), and theory utilization was classified into seven categories (justification, intervention design, pilot testing, evaluation, predictions, post hoc, other). Results A total of 20 studies (14%) reported use of theory in any aspect of the study design, measurement, implementation or interpretation. In only 13 studies (9%) was a theory reportedly used to inform development of the intervention. A total of 18 different theories across educational, psychological, organizational and diffusion of innovation perspectives were identified. Rogers’ Diffusion of Innovations and Bandura’s Social Cognitive Theory were the most widely used (3.6% and 3%, respectively). Conclusions The explicit use of theory in studies of audit and feedback was rare. A range of theories was found, but not consistency of theory use. Advancing our understanding of audit and feedback will require more attention to theoretically informed studies and intervention design. PMID:23759034

A systematic review of the use of theory in randomized controlled trials of audit and feedback.

PubMed

Colquhoun, Heather L; Brehaut, Jamie C; Sales, Anne; Ivers, Noah; Grimshaw, Jeremy; Michie, Susan; Carroll, Kelly; Chalifoux, Mathieu; Eva, Kevin W

2013-06-10

Audit and feedback is one of the most widely used and promising interventions in implementation research, yet also one of the most variably effective. Understanding this variability has been limited in part by lack of attention to the theoretical and conceptual basis underlying audit and feedback. Examining the extent of theory use in studies of audit and feedback will yield better understanding of the causal pathways of audit and feedback effectiveness and inform efforts to optimize this important intervention. A total of 140 studies in the 2012 Cochrane update on audit and feedback interventions were independently reviewed by two investigators. Variables were extracted related to theory use in the study design, measurement, implementation or interpretation. Theory name, associated reference, and the location of theory use as reported in the study were extracted. Theories were organized by type (e.g., education, diffusion, organization, psychology), and theory utilization was classified into seven categories (justification, intervention design, pilot testing, evaluation, predictions, post hoc, other). A total of 20 studies (14%) reported use of theory in any aspect of the study design, measurement, implementation or interpretation. In only 13 studies (9%) was a theory reportedly used to inform development of the intervention. A total of 18 different theories across educational, psychological, organizational and diffusion of innovation perspectives were identified. Rogers' Diffusion of Innovations and Bandura's Social Cognitive Theory were the most widely used (3.6% and 3%, respectively). The explicit use of theory in studies of audit and feedback was rare. A range of theories was found, but not consistency of theory use. Advancing our understanding of audit and feedback will require more attention to theoretically informed studies and intervention design.

SOS based robust H(∞) fuzzy dynamic output feedback control of nonlinear networked control systems.

PubMed

Chae, Seunghwan; Nguang, Sing Kiong

2014-07-01

In this paper, a methodology for designing a fuzzy dynamic output feedback controller for discrete-time nonlinear networked control systems is presented where the nonlinear plant is modelled by a Takagi-Sugeno fuzzy model and the network-induced delays by a finite state Markov process. The transition probability matrix for the Markov process is allowed to be partially known, providing a more practical consideration of the real world. Furthermore, the fuzzy controller's membership functions and premise variables are not assumed to be the same as the plant's membership functions and premise variables, that is, the proposed approach can handle the case, when the premise of the plant are not measurable or delayed. The membership functions of the plant and the controller are approximated as polynomial functions, then incorporated into the controller design. Sufficient conditions for the existence of the controller are derived in terms of sum of square inequalities, which are then solved by YALMIP. Finally, a numerical example is used to demonstrate the validity of the proposed methodology.

Adaptive neural control of MIMO nonlinear systems with a block-triangular pure-feedback control structure.

PubMed

Chen, Zhenfeng; Ge, Shuzhi Sam; Zhang, Yun; Li, Yanan

2014-11-01

This paper presents adaptive neural tracking control for a class of uncertain multiinput-multioutput (MIMO) nonlinear systems in block-triangular form. All subsystems within these MIMO nonlinear systems are of completely nonaffine pure-feedback form and allowed to have different orders. To deal with the nonaffine appearance of the control variables, the mean value theorem is employed to transform the systems into a block-triangular strict-feedback form with control coefficients being couplings among various inputs and outputs. A systematic procedure is proposed for the design of a new singularity-free adaptive neural tracking control strategy. Such a design procedure can remove the couplings among subsystems and hence avoids the possible circular control construction problem. As a consequence, all the signals in the closed-loop system are guaranteed to be semiglobally uniformly ultimately bounded. Moreover, the outputs of the systems are ensured to converge to a small neighborhood of the desired trajectories. Simulation studies verify the theoretical findings revealed in this paper.

Impedance modulation and feedback corrections in tracking targets of variable size and frequency.

PubMed

Selen, Luc P J; van Dieën, Jaap H; Beek, Peter J

2006-11-01

Humans are able to adjust the accuracy of their movements to the demands posed by the task at hand. The variability in task execution caused by the inherent noisiness of the neuromuscular system can be tuned to task demands by both feedforward (e.g., impedance modulation) and feedback mechanisms. In this experiment, we studied both mechanisms, using mechanical perturbations to estimate stiffness and damping as indices of impedance modulation and submovement scaling as an index of feedback driven corrections. Eight subjects tracked three differently sized targets (0.0135, 0.0270, and 0.0405 rad) moving at three different frequencies (0.20, 0.25, and 0.33 Hz). Movement variability decreased with both decreasing target size and movement frequency, whereas stiffness and damping increased with decreasing target size, independent of movement frequency. These results are consistent with the theory that mechanical impedance acts as a filter of noisy neuromuscular signals but challenge stochastic theories of motor control that do not account for impedance modulation and only partially for feedback control. Submovements during unperturbed cycles were quantified in terms of their gain, i.e., the slope between their duration and amplitude in the speed profile. Submovement gain decreased with decreasing movement frequency and increasing target size. The results were interpreted to imply that submovement gain is related to observed tracking errors and that those tracking errors are expressed in units of target size. We conclude that impedance and submovement gain modulation contribute additively to tracking accuracy.

Regulating task-monitoring systems in response to variable reward contingencies and outcomes in cocaine addicts.

PubMed

Morie, Kristen P; De Sanctis, Pierfilippo; Garavan, Hugh; Foxe, John J

2016-03-01

We investigated anticipatory and consummatory reward processing in cocaine addiction. In addition, we set out to assess whether task-monitoring systems were appropriately recalibrated in light of variable reward schedules. We also examined neural measures of task-monitoring and reward processing as a function of hedonic tone, since anhedonia is a vulnerability marker for addiction that is obviously germane in the context of reward processing. High-density event-related potentials were recorded while participants performed a speeded response task that systematically varied anticipated probabilities of reward receipt. The paradigm dissociated feedback regarding task success (or failure) from feedback regarding the value of reward (or loss), so that task-monitoring and reward processing could be examined in partial isolation. Twenty-three active cocaine abusers and 23 age-matched healthy controls participated. Cocaine abusers showed amplified anticipatory responses to reward predictive cues, but crucially, these responses were not as strongly modulated by reward probability as in controls. Cocaine users also showed blunted responses to feedback about task success or failure and did not use this information to update predictions about reward. In turn, they showed clearly blunted responses to reward feedback. In controls and users, measures of anhedonia were associated with reward motivation. In cocaine users, anhedonia was also associated with diminished monitoring and reward feedback responses. Findings imply that reward anticipation and monitoring deficiencies in addiction are associated with increased responsiveness to reward cues but impaired ability to predict reward in light of task contingencies, compounded by deficits in responding to actual reward outcomes.

Task-level feedback can explain temporal recruitment of spatially fixed muscle synergies throughout postural perturbations

PubMed Central

Safavynia, Seyed A.

2012-01-01

Recent evidence suggests that complex spatiotemporal patterns of muscle activity can be explained with a low-dimensional set of muscle synergies or M-modes. While it is clear that both spatial and temporal aspects of muscle coordination may be low dimensional, constraints on spatial versus temporal features of muscle coordination likely involve different neural control mechanisms. We hypothesized that the low-dimensional spatial and temporal features of muscle coordination are independent of each other. We further hypothesized that in reactive feedback tasks, spatially fixed muscle coordination patterns—or muscle synergies—are hierarchically recruited via time-varying neural commands based on delayed task-level feedback. We explicitly compared the ability of spatially fixed (SF) versus temporally fixed (TF) muscle synergies to reconstruct the entire time course of muscle activity during postural responses to anterior-posterior support-surface translations. While both SF and TF muscle synergies could account for EMG variability in a postural task, SF muscle synergies produced more consistent and physiologically interpretable results than TF muscle synergies during postural responses to perturbations. Moreover, a majority of SF muscle synergies were consistent in structure when extracted from epochs throughout postural responses. Temporal patterns of SF muscle synergy recruitment were well-reconstructed by delayed feedback of center of mass (CoM) kinematics and reproduced EMG activity of multiple muscles. Consistent with the idea that independent and hierarchical low-dimensional neural control structures define spatial and temporal patterns of muscle activity, our results suggest that CoM kinematics are a task variable used to recruit SF muscle synergies for feedback control of balance. PMID:21957219

Summer U.S. Surface Air Temperature Variability: Controlling Factors and AMIP Simulation Biases

NASA Astrophysics Data System (ADS)

Merrifield, A.; Xie, S. P.

2016-02-01

This study documents and investigates biases in simulating summer surface air temperature (SAT) variability over the continental U.S. in the Coupled Model Intercomparison Project (CMIP5) Atmospheric Model Intercomparison Project (AMIP). Empirical orthogonal function (EOF) and multivariate regression analyses are used to assess the relative importance of circulation and the land surface feedback at setting summer SAT over a 30-year period (1979-2008). In observations, regions of high SAT variability are closely associated with midtropospheric highs and subsidence, consistent with adiabatic theory (Meehl and Tebaldi 2004, Lau and Nath 2012). Preliminary analysis shows the majority of the AMIP models feature high SAT variability over the central U.S., displaced south and/or west of observed centers of action (COAs). SAT COAs in models tend to be concomitant with regions of high sensible heat flux variability, suggesting an excessive land surface feedback in these models modulate U.S. summer SAT. Additionally, tropical sea surface temperatures (SSTs) play a role in forcing the leading EOF mode for summer SAT, in concert with internal atmospheric variability. There is evidence that models respond to different SST patterns than observed. Addressing issues with the bulk land surface feedback and the SST-forced component of atmospheric variability may be key to improving model skill in simulating summer SAT variability over the U.S.

A variable-gain output feedback control design approach

NASA Technical Reports Server (NTRS)

Haylo, Nesim

1989-01-01

A multi-model design technique to find a variable-gain control law defined over the whole operating range is proposed. The design is formulated as an optimal control problem which minimizes a cost function weighing the performance at many operating points. The solution is obtained by embedding into the Multi-Configuration Control (MCC) problem, a multi-model robust control design technique. In contrast to conventional gain scheduling which uses a curve fit of single model designs, the optimal variable-gain control law stabilizes the plant at every operating point included in the design. An iterative algorithm to compute the optimal control gains is presented. The methodology has been successfully applied to reconfigurable aircraft flight control and to nonlinear flight control systems.

Further Results on Sufficient LMI Conditions for H∞ Static Output Feedback Control of Discrete-Time Systems

NASA Astrophysics Data System (ADS)

Feng, Zhi-Yong; Xu, Li; Matsushita, Shin-Ya; Wu, Min

Further results on sufficient LMI conditions for H∞ static output feedback (SOF) control of discrete-time systems are presented in this paper, which provide some new insights into this issue. First, by introducing a slack variable with block-triangular structure and choosing the coordinate transformation matrix properly, the conservativeness of one kind of existing sufficient LMI condition is further reduced. Then, by introducing a slack variable with linear matrix equality constraint, another kind of sufficient LMI condition is proposed. Furthermore, the relation of these two kinds of LMI conditions are revealed for the first time through analyzing the effect of different choices of coordinate transformation matrices. Finally, a numerical example is provided to demonstrate the effectiveness and merits of the proposed methods.

Probing the independence of formant control using altered auditory feedback

PubMed Central

MacDonald, Ewen N.; Purcell, David W.; Munhall, Kevin G.

2011-01-01

Two auditory feedback perturbation experiments were conducted to examine the nature of control of the first two formants in vowels. In the first experiment, talkers heard their auditory feedback with either F1 or F2 shifted in frequency. Talkers altered production of the perturbed formant by changing its frequency in the opposite direction to the perturbation but did not produce a correlated alteration of the unperturbed formant. Thus, the motor control system is capable of fine-grained independent control of F1 and F2. In the second experiment, a large meta-analysis was conducted on data from talkers who received feedback where both F1 and F2 had been perturbed. A moderate correlation was found between individual compensations in F1 and F2 suggesting that the control of F1 and F2 is processed in a common manner at some level. While a wide range of individual compensation magnitudes were observed, no significant correlations were found between individuals’ compensations and vowel space differences. Similarly, no significant correlations were found between individuals’ compensations and variability in normal vowel production. Further, when receiving normal auditory feedback, most of the population exhibited no significant correlation between the natural variation in production of F1 and F2. PMID:21361452

Observed-Based Adaptive Fuzzy Tracking Control for Switched Nonlinear Systems With Dead-Zone.

PubMed

Tong, Shaocheng; Sui, Shuai; Li, Yongming

2015-12-01

In this paper, the problem of adaptive fuzzy output-feedback control is investigated for a class of uncertain switched nonlinear systems in strict-feedback form. The considered switched systems contain unknown nonlinearities, dead-zone, and immeasurable states. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, a switched fuzzy state observer is designed and thus the immeasurable states are obtained by it. By applying the adaptive backstepping design principle and the average dwell time method, an adaptive fuzzy output-feedback tracking control approach is developed. It is proved that the proposed control approach can guarantee that all the variables in the closed-loop system are bounded under a class of switching signals with average dwell time, and also that the system output can track a given reference signal as closely as possible. The simulation results are given to check the effectiveness of the proposed approach.

Feedback control methods for drug dosage optimisation. Concepts, classification and clinical application.

PubMed

Vozeh, S; Steimer, J L

1985-01-01

The concept of feedback control methods for drug dosage optimisation is described from the viewpoint of control theory. The control system consists of 5 parts: (a) patient (the controlled process); (b) response (the measured feedback); (c) model (the mathematical description of the process); (d) adaptor (to update the parameters); and (e) controller (to determine optimum dosing strategy). In addition to the conventional distinction between open-loop and closed-loop control systems, a classification is proposed for dosage optimisation techniques which distinguishes between tight-loop and loose-loop methods depending on whether physician's interaction is absent or included as part of the control step. Unlike engineering problems where the process can usually be controlled by fully automated devices, therapeutic situations often require that the physician be included in the decision-making process to determine the 'optimal' dosing strategy. Tight-loop and loose-loop methods can be further divided into adaptive and non-adaptive, depending on the presence of the adaptor. The main application areas of tight-loop feedback control methods are general anaesthesia, control of blood pressure, and insulin delivery devices. Loose-loop feedback methods have been used for oral anticoagulation and in therapeutic drug monitoring. The methodology, advantages and limitations of the different approaches are reviewed. A general feature common to all application areas could be observed: to perform well under routine clinical conditions, which are characterised by large interpatient variability and sometimes also intrapatient changes, control systems should be adaptive. Apart from application in routine drug treatment, feedback control methods represent an important research tool. They can be applied for the investigation of pathophysiological and pharmacodynamic processes. A most promising application is the evaluation of the relationship between an intermediate response (e.g. drug level), which is often used as feedback for dosage adjustment, and the final therapeutic goal.

Physics-model-based nonlinear actuator trajectory optimization and safety factor profile feedback control for advanced scenario development in DIII-D

DOE PAGES

Barton, Justin E.; Boyer, Mark D.; Shi, Wenyu; ...

2015-07-30

DIII-D experimental results are reported to demonstrate the potential of physics-model-based safety factor profile control for robust and reproducible sustainment of advanced scenarios. In the absence of feedback control, variability in wall conditions and plasma impurities, as well as drifts due to external disturbances, can limit the reproducibility of discharges with simple pre-programmed scenario trajectories. The control architecture utilized is a feedforward + feedback scheme where the feedforward commands are computed off-line and the feedback commands are computed on-line. In this work, firstly a first-principles-driven (FPD), physics-based model of the q profile and normalized beta (β N) dynamics is embeddedmore » into a numerical optimization algorithm to design feedforward actuator trajectories that sheer the plasma through the tokamak operating space to reach a desired stationary target state that is characterized by the achieved q profile and β N. Good agreement between experimental results and simulations demonstrates the accuracy of the models employed for physics-model-based control design. Secondly, a feedback algorithm for q profile control is designed following a FPD approach, and the ability of the controller to achieve and maintain a target q profile evolution is tested in DIII-D high confinement (H-mode) experiments. The controller is shown to be able to effectively control the q profile when β N is relatively close to the target, indicating the need for integrated q profile and β N control to further enhance the ability to achieve robust scenario execution. Furthermore, the ability of an integrated q profile + β N feedback controller to track a desired target is demonstrated through simulation.« less

Observations of Local Positive Low Cloud Feedback Patterns and Their Role in Internal Variability and Climate Sensitivity

NASA Astrophysics Data System (ADS)

Yuan, Tianle; Oreopoulos, Lazaros; Platnick, Steven E.; Meyer, Kerry

2018-05-01

Modeling studies have shown that cloud feedbacks are sensitive to the spatial pattern of sea surface temperature (SST) anomalies, while cloud feedbacks themselves strongly influence the magnitude of SST anomalies. Observational counterparts to such patterned interactions are still needed. Here we show that distinct large-scale patterns of SST and low-cloud cover (LCC) emerge naturally from objective analyses of observations and demonstrate their close coupling in a positive local SST-LCC feedback loop that may be important for both internal variability and climate change. The two patterns that explain the maximum amount of covariance between SST and LCC correspond to the Interdecadal Pacific Oscillation and the Atlantic Multidecadal Oscillation, leading modes of multidecadal internal variability. Spatial patterns and time series of SST and LCC anomalies associated with both modes point to a strong positive local SST-LCC feedback. In many current climate models, our analyses suggest that SST-LCC feedback strength is too weak compared to observations. Modeled local SST-LCC feedback strength affects simulated internal variability so that stronger feedback produces more intense and more realistic patterns of internal variability. To the extent that the physics of the local positive SST-LCC feedback inferred from observed climate variability applies to future greenhouse warming, we anticipate significant amount of delayed warming because of SST-LCC feedback when anthropogenic SST warming eventually overwhelm the effects of internal variability that may mute anthropogenic warming over parts of the ocean. We postulate that many climate models may be underestimating both future warming and the magnitude of modeled internal variability because of their weak SST-LCC feedback.

A fast feedback method to design easy-molding freeform optical system with uniform illuminance and high light control efficiency.

PubMed

Hongtao, Li; Shichao, Chen; Yanjun, Han; Yi, Luo

2013-01-14

A feedback method combined with fitting technique based on variable separation mapping is proposed to design freeform optical systems for an extended LED source with prescribed illumination patterns, especially with uniform illuminance distribution. Feedback process performs well with extended sources, while fitting technique contributes not only to the decrease of pieces of sub-surfaces in discontinuous freeform lenses which may cause loss in manufacture, but also the reduction in the number of feedback iterations. It is proved that light control efficiency can be improved by 5%, while keeping a high uniformity of 82%, with only two feedback iterations and one fitting operation can improve. Furthermore, the polar angle θ and azimuthal angle φ is used to specify the light direction from the light source, and the (θ,φ)-(x,y) based mapping and feedback strategy makes sure that even few discontinuous sections along the equi-φ plane exist in the system, they are perpendicular to the base plane, making it eligible for manufacturing the surfaces using injection molding.

Effects of head movement and proprioceptive feedback in training of sound localization

PubMed Central

Honda, Akio; Shibata, Hiroshi; Hidaka, Souta; Gyoba, Jiro; Iwaya, Yukio; Suzuki, Yôiti

2013-01-01

We investigated the effects of listeners' head movements and proprioceptive feedback during sound localization practice on the subsequent accuracy of sound localization performance. The effects were examined under both restricted and unrestricted head movement conditions in the practice stage. In both cases, the participants were divided into two groups: a feedback group performed a sound localization drill with accurate proprioceptive feedback; a control group conducted it without the feedback. Results showed that (1) sound localization practice, while allowing for free head movement, led to improvement in sound localization performance and decreased actual angular errors along the horizontal plane, and that (2) proprioceptive feedback during practice decreased actual angular errors in the vertical plane. Our findings suggest that unrestricted head movement and proprioceptive feedback during sound localization training enhance perceptual motor learning by enabling listeners to use variable auditory cues and proprioceptive information. PMID:24349686

Fuzzy Adaptive Decentralized Optimal Control for Strict Feedback Nonlinear Large-Scale Systems.

PubMed

Sun, Kangkang; Sui, Shuai; Tong, Shaocheng

2018-04-01

This paper considers the optimal decentralized fuzzy adaptive control design problem for a class of interconnected large-scale nonlinear systems in strict feedback form and with unknown nonlinear functions. The fuzzy logic systems are introduced to learn the unknown dynamics and cost functions, respectively, and a state estimator is developed. By applying the state estimator and the backstepping recursive design algorithm, a decentralized feedforward controller is established. By using the backstepping decentralized feedforward control scheme, the considered interconnected large-scale nonlinear system in strict feedback form is changed into an equivalent affine large-scale nonlinear system. Subsequently, an optimal decentralized fuzzy adaptive control scheme is constructed. The whole optimal decentralized fuzzy adaptive controller is composed of a decentralized feedforward control and an optimal decentralized control. It is proved that the developed optimal decentralized controller can ensure that all the variables of the control system are uniformly ultimately bounded, and the cost functions are the smallest. Two simulation examples are provided to illustrate the validity of the developed optimal decentralized fuzzy adaptive control scheme.

A feedback control for the advanced launch system

NASA Technical Reports Server (NTRS)

Seywald, Hans; Cliff, Eugene M.

1991-01-01

A robust feedback algorithm is presented for a near-minimum-fuel ascent of a two-stage launch vehicle operating in the equatorial plane. The development of the algorithm is based on the ideas of neighboring optimal control and can be derived into three phases. In phase 1, the formalism of optimal control is employed to calculate fuel-optimal ascent trajectories for a simple point-mass model. In phase 2, these trajectories are used to numerically calculate gain functions of time for the control(s), the total flight time, and possibly, for other variables of interest. In phase 3, these gains are used to determine feedback expressions for the controls associated with a more realistic model of a launch vehicle. With the Advanced Launch System in mind, all calculations are performed on a two-stage vehicle with fixed thrust history, but this restriction is by no means important for the approach taken. Performance and robustness of the algorithm is found to be excellent.

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.

Comparing the Degree of Land-Atmosphere Interaction in Four Atmospheric General Circulation Models

NASA Technical Reports Server (NTRS)

Koster, Randal D.; Dirmeyer, Paul A.; Hahmann, Andrea N.; Ijpelaar, Ruben; Tyahla, Lori; Cox, Peter; Suarez, Max J.; Houser, Paul R. (Technical Monitor)

2001-01-01

Land-atmosphere feedback, by which (for example) precipitation-induced moisture anomalies at the land surface affect the overlying atmosphere and thereby the subsequent generation of precipitation, has been examined and quantified with many atmospheric general circulation models (AGCMs). Generally missing from such studies, however, is an indication of the extent to which the simulated feedback strength is model dependent. Four modeling groups have recently performed a highly controlled numerical experiment that allows an objective inter-model comparison of land-atmosphere feedback strength. The experiment essentially consists of an ensemble of simulations in which each member simulation artificially maintains the same time series of surface prognostic variables. Differences in atmospheric behavior between the ensemble members then indicates the degree to which the state of the land surface controls atmospheric processes in that model. A comparison of the four sets of experimental results shows that feedback strength does indeed vary significantly between the AGCMs.

Visual Reliance for Balance Control in Older Adults Persists When Visual Information Is Disrupted by Artificial Feedback Delays

PubMed Central

Balasubramaniam, Ramesh

2014-01-01

Sensory information from our eyes, skin and muscles helps guide and correct balance. Less appreciated, however, is that delays in the transmission of sensory information between our eyes, limbs and central nervous system can exceed several 10s of milliseconds. Investigating how these time-delayed sensory signals influence balance control is central to understanding the postural system. Here, we investigate how delayed visual feedback and cognitive performance influence postural control in healthy young and older adults. The task required that participants position their center of pressure (COP) in a fixed target as accurately as possible without visual feedback about their COP location (eyes-open balance), or with artificial time delays imposed on visual COP feedback. On selected trials, the participants also performed a silent arithmetic task (cognitive dual task). We separated COP time series into distinct frequency components using low and high-pass filtering routines. Visual feedback delays affected low frequency postural corrections in young and older adults, with larger increases in postural sway noted for the group of older adults. In comparison, cognitive performance reduced the variability of rapid center of pressure displacements in young adults, but did not alter postural sway in the group of older adults. Our results demonstrate that older adults prioritize vision to control posture. This visual reliance persists even when feedback about the task is delayed by several hundreds of milliseconds. PMID:24614576

Multidisciplinary optimization of a controlled space structure using 150 design variables

NASA Technical Reports Server (NTRS)

James, Benjamin B.

1993-01-01

A controls-structures interaction design method is presented. The method coordinates standard finite-element structural analysis, multivariable controls, and nonlinear programming codes and allows simultaneous optimization of the structure and control system of a spacecraft. Global sensitivity equations are used to account for coupling between the disciplines. Use of global sensitivity equations helps solve optimization problems that have a large number of design variables and a high degree of coupling between disciplines. The preliminary design of a generic geostationary platform is used to demonstrate the multidisciplinary optimization method. Design problems using 15, 63, and 150 design variables to optimize truss member sizes and feedback gain values are solved and the results are presented. The goal is to reduce the total mass of the structure and the vibration control system while satisfying constraints on vibration decay rate. Incorporation of the nonnegligible mass of actuators causes an essential coupling between structural design variables and control design variables.

Vegetation-rainfall feedbacks across the Sahel: a combined observational and modeling study

NASA Astrophysics Data System (ADS)

Yu, Y.; Notaro, M.; Wang, F.; Mao, J.; Shi, X.; Wei, Y.

2016-12-01

The Sahel rainfall is characterized by large interannual variability. Past modeling studies have concluded that the Sahel rainfall variability is primarily driven by oceanic forcings and amplified by land-atmosphere interactions. However, the relative importance of oceanic versus terrestrial drivers has never been assessed from observations. The current understanding of vegetation's impacts on climate, i.e. positive vegetation-rainfall feedback through the albedo, moisture, and momentum mechanisms, comes from untested models. Neither the positive vegetation-rainfall feedback, nor the underlying mechanisms, has been fully resolved in observations. The current study fills the knowledge gap about the observed vegetation-rainfall feedbacks, through the application of the multivariate statistical method Generalized Equilibrium Feedback Assessment (GEFA) to observational data. According to GEFA, the observed oceanic impacts dominate over terrestrial impacts on Sahel rainfall, except in the post-monsoon period. Positive leaf area index (LAI) anomalies favor an extended, wetter monsoon across the Sahel, largely due to moisture recycling. The albedo mechanism is not responsible for this positive vegetation feedback on the seasonal-interannual time scale, which is too short for a grass-desert transition. A low-level stabilization and subsidence is observed in response to increased LAI - potentially responsible for a negative vegetation-rainfall feedback. However, the positive moisture feedback overwhelms the negative momentum feedback, resulting in an observed positive vegetation-rainfall feedback. We further applied GEFA to a fully-coupled Community Earth System Model (CESM) control run, as an example of evaluating climate models against the GEFA-based observational benchmark. In contrast to the observed positive vegetation-rainfall feedbacks, CESM simulates a negative vegetation-rainfall feedback across Sahel, peaking in the pre-monsoon season. The simulated negative feedback is largely due to the low-level stabilization caused by increased LAI. Positive moisture feedback is present in the CESM simulation, but an order weaker than the observed and weaker than the negative momentum feedback, thereby leading to the simulated negative vegetation-rainfall feedbacks.

Treatment dismantling pilot study to identify the active ingredients in personalized feedback interventions for hazardous alcohol use: randomized controlled trial.

PubMed

Cunningham, John A; Murphy, Michelle; Hendershot, Christian S

2014-12-10

There is a considerable body of evidence supporting the effectiveness of personalized feedback interventions for hazardous alcohol use-whether delivered face-to-face, by postal mail, or over the Internet (probably now the primary mode of delivery). The Check Your Drinking Screener (CYD; see www.CheckYourDrinking.net) is one such intervention. The current treatment dismantling study assessed which components of personalized feedback interventions were effective in motivating change in drinking. Specifically, the major objective of this project was to conduct a randomized controlled trial (RCT) comparing the impact of the normative feedback and other personalized feedback components of the CYD intervention in the general population. Participants were recruited to take part in an RCT and received either the complete CYD final report, just the normative feedback sections of the CYD, just the personalized feedback components of the CYD, or were assigned to a no-intervention control group. Participants were followed-up at 3 months to assess changes in alcohol consumption. A total of 741 hazardous drinking participants were recruited for the trial, of which 73 percent provided follow-up data. Analyses using an intent-to-treat approach found some evidence for the impact of the personalized feedback components of the CYD in reducing alcohol consumption on the variables, number of drinks in a week and AUDIT-C (p = .028 and .047 respectively; no impact on highest number of drinks on one occasion; p = .594). However, there was no significant evidence of the impact of the normative feedback components (all p > .3). Personalized feedback elements alone could provide an active intervention for hazardous drinkers, particularly in situations where normative feedback information was not available. ClinicalTrials.gov NCT01608763.

Terminal shock position and restart control of a Mach 2.7, two-dimensional, twin duct mixed compression inlet

NASA Technical Reports Server (NTRS)

Cole, G. L.; Neiner, G. H.; Baumbick, R. J.

1973-01-01

Experimental results of terminal shock and restart control system tests of a two-dimensional, twin-duct mixed compression inlet are presented. High-response (110-Hz bandwidth) overboard bypass doors were used, both as the variable to control shock position and as the means of disturbing the inlet airflow. An inherent instability in inlet shock position resulted in noisy feedback signals and thus restricted the terminal shock position control performance that was achieved. Proportional-plus-integral type controllers using either throat exit static pressure or shock position sensor feedback gave adequate low-frequency control. The inlet restart control system kept the terminal shock control loop closed throughout the unstart-restart transient. The capability to restart the inlet was non limited by the inlet instability.

Operator control systems and methods for swing-free gantry-style cranes

DOEpatents

Feddema, J.T.; Petterson, B.J.; Robinett, R.D. III

1998-07-28

A system and method are disclosed for eliminating swing motions in gantry-style cranes while subject to operator control. The present invention comprises an infinite impulse response (IIR) filter and a proportional-integral (PI) feedback controller. The IIR filter receives input signals (commanded velocity or acceleration) from an operator input device and transforms them into output signals in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder. The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor. The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload. 10 figs.

Operator control systems and methods for swing-free gantry-style cranes

DOEpatents

Feddema, John T.; Petterson, Ben J.; Robinett, III, Rush D.

1998-01-01

A system and method for eliminating swing motions in gantry-style cranes while subject to operator control is presented. The present invention comprises an infinite impulse response ("IIR") filter and a proportional-integral ("PI") feedback controller (50). The IIR filter receives input signals (46) (commanded velocity or acceleration) from an operator input device (45) and transforms them into output signals (47) in such a fashion that the resulting motion is swing free (i.e., end-point swinging prevented). The parameters of the IIR filter are updated in real time using measurements from a hoist cable length encoder (25). The PI feedback controller compensates for modeling errors and external disturbances, such as wind or perturbations caused by collision with objects. The PI feedback controller operates on cable swing angle measurements provided by a cable angle sensor (27). The present invention adjusts acceleration and deceleration to eliminate oscillations. An especially important feature of the present invention is that it compensates for variable-length cable motions from multiple cables attached to a suspended payload.

Optogenetic feedback control of neural activity

PubMed Central

Newman, Jonathan P; Fong, Ming-fai; Millard, Daniel C; Whitmire, Clarissa J; Stanley, Garrett B; Potter, Steve M

2015-01-01

Optogenetic techniques enable precise excitation and inhibition of firing in specified neuronal populations and artifact-free recording of firing activity. Several studies have suggested that optical stimulation provides the precision and dynamic range requisite for closed-loop neuronal control, but no approach yet permits feedback control of neuronal firing. Here we present the ‘optoclamp’, a feedback control technology that provides continuous, real-time adjustments of bidirectional optical stimulation in order to lock spiking activity at specified targets over timescales ranging from seconds to days. We demonstrate how this system can be used to decouple neuronal firing levels from ongoing changes in network excitability due to multi-hour periods of glutamatergic or GABAergic neurotransmission blockade in vitro as well as impinging vibrissal sensory drive in vivo. This technology enables continuous, precise optical control of firing in neuronal populations in order to disentangle causally related variables of circuit activation in a physiologically and ethologically relevant manner. DOI: http://dx.doi.org/10.7554/eLife.07192.001 PMID:26140329

Consistency of handwriting movements in dementia of the Alzheimer's type: a comparison with Huntington's and Parkinson's diseases.

PubMed

Slavin, M J; Phillips, J G; Bradshaw, J L; Hall, K A; Presnell, I

1999-01-01

Patients with dementia of the Alzheimer's type (DAT) and their matched controls wrote, on a computer graphics tablet, 4 consecutive, cursive letter 'l's, with varying levels of visual feedback: noninking pen and blank paper so that only the hand movements could be seen, noninking pen and lined paper to constrain their writing, goggles to occlude the lower visual field and eliminate all relevant visual feedback, and inking pen with full vision. The kinematic measures of stroke length, duration, and peak velocity were expressed in terms of consistency via a signal-to-noise ratio (M value of each parameter divided by its SD). Irrespective of medication or severity, DAT patients had writing strokes of significantly less consistent lengths than controls', and were disproportionately impaired by reduced visual feedback. Again irrespective of medication or severity, patients' strokes were of significantly less consistent duration, and significantly less consistent peak velocity than controls', independent of feedback conditions. Patients, unlike controls, frequently perseverated, producing more than 4 'l's, or multiple sets of responses, which was not differentially affected by level of visual feedback. The more variable performance of patients supports a degradation of the base motor program, and resembles that of Huntington's rather than Parkinson's disease patients. It may indeed reflect frontal rather than basal ganglia dysfunction.

Adaptive Feedback in Local Coordinates for Real-time Vision-Based Motion Control Over Long Distances

NASA Astrophysics Data System (ADS)

Aref, M. M.; Astola, P.; Vihonen, J.; Tabus, I.; Ghabcheloo, R.; Mattila, J.

2018-03-01

We studied the differences in noise-effects, depth-correlated behavior of sensors, and errors caused by mapping between coordinate systems in robotic applications of machine vision. In particular, the highly range-dependent noise densities for semi-unknown object detection were considered. An equation is proposed to adapt estimation rules to dramatic changes of noise over longer distances. This algorithm also benefits the smooth feedback of wheels to overcome variable latencies of visual perception feedback. Experimental evaluation of the integrated system is presented with/without the algorithm to highlight its effectiveness.

A direct method for synthesizing low-order optimal feedback control laws with application to flutter suppression

NASA Technical Reports Server (NTRS)

Mukhopadhyay, V.; Newsom, J. R.; Abel, I.

1980-01-01

A direct method of synthesizing a low-order optimal feedback control law for a high order system is presented. A nonlinear programming algorithm is employed to search for the control law design variables that minimize a performance index defined by a weighted sum of mean square steady state responses and control inputs. The controller is shown to be equivalent to a partial state estimator. The method is applied to the problem of active flutter suppression. Numerical results are presented for a 20th order system representing an aeroelastic wind-tunnel wing model. Low-order controllers (fourth and sixth order) are compared with a full order (20th order) optimal controller and found to provide near optimal performance with adequate stability margins.

Dynamic processes in regulation and some implications for biofeedback and biobehavioral interventions.

PubMed

Lehrer, Paul; Eddie, David

2013-06-01

Systems theory has long been used in psychology, biology, and sociology. This paper applies newer methods of control systems modeling for assessing system stability in health and disease. Control systems can be characterized as open or closed systems with feedback loops. Feedback produces oscillatory activity, and the complexity of naturally occurring oscillatory patterns reflects the multiplicity of feedback mechanisms, such that many mechanisms operate simultaneously to control the system. Unstable systems, often associated with poor health, are characterized by absence of oscillation, random noise, or a very simple pattern of oscillation. This modeling approach can be applied to a diverse range of phenomena, including cardiovascular and brain activity, mood and thermal regulation, and social system stability. External system stressors such as disease, psychological stress, injury, or interpersonal conflict may perturb a system, yet simultaneously stimulate oscillatory processes and exercise control mechanisms. Resonance can occur in systems with negative feedback loops, causing high-amplitude oscillations at a single frequency. Resonance effects can be used to strengthen modulatory oscillations, but may obscure other information and control mechanisms, and weaken system stability. Positive as well as negative feedback loops are important for system function and stability. Examples are presented of oscillatory processes in heart rate variability, and regulation of autonomic, thermal, pancreatic and central nervous system processes, as well as in social/organizational systems such as marriages and business organizations. Resonance in negative feedback loops can help stimulate oscillations and exercise control reflexes, but also can deprive the system of important information. Empirical hypotheses derived from this approach are presented, including that moderate stress may enhance health and functioning.

Augmented feedback of COM and COP modulates the regulation of quiet human standing relative to the stability boundary.

PubMed

Kilby, Melissa C; Slobounov, Semyon M; Newell, Karl M

2016-06-01

The experiment manipulated real-time kinematic feedback of the motion of the whole body center of mass (COM) and center of pressure (COP) in anterior-posterior (AP) and medial-lateral (ML) directions to investigate the variables actively controlled in quiet standing of young adults. The feedback reflected the current 2D postural positions within the 2D functional stability boundary that was scaled to 75%, 30% and 12% of its original size. The findings showed that the distance of both COP and COM to the respective stability boundary was greater during the feedback trials compared to a no feedback condition. However, the temporal safety margin of the COP, that is, the virtual time-to-contact (VTC), was higher without feedback. The coupling relation of COP-COM showed stable in-phase synchronization over all of the feedback conditions for frequencies below 1Hz. For higher frequencies (up to 5Hz), there was progressive reduction of COP-COM synchronization and local adaptation under the presence of augmented feedback. The findings show that the augmented feedback of COM and COP motion differentially and adaptively influences spatial and temporal properties of postural motion relative to the stability boundary while preserving the organization of the COM-COP coupling in postural control. Copyright © 2016. Published by Elsevier B.V.

Greenland ice sheet albedo variability and feedback: 2000-2015

NASA Astrophysics Data System (ADS)

Box, J. E.; van As, D.; Fausto, R. S.; Mottram, R.; Langen, P. P.; Steffen, K.

2015-12-01

Absorbed solar irradiance represents the dominant source of surface melt energy for Greenland ice. Surface melting has increased as part of a positive feedback amplifier due to surface darkening. The 16 most recent summers of observations from the NASA MODIS sensor indicate a darkening exceeding 6% in July when most melting occurs. Without the darkening, the increase in surface melting would be roughly half as large. A minority of the albedo decline signal may be from sensor degradation. So, in this study, MOD10A1 and MCD43 albedo products from MODIS are evaluated for sensor degradation and anisotropic reflectance errors. Errors are minimized through calibration to GC-Net and PROMICE Greenland snow and ice ground control data. The seasonal and spatial variability in Greenland snow and ice albedo over a 16 year period is presented, including quantifying changing absorbed solar irradiance and melt enhancement due to albedo feedback using the DMI HIRHAM5 5 km model.

Effects of body lean and visual information on the equilibrium maintenance during stance.

PubMed

Duarte, Marcos; Zatsiorsky, Vladimir M

2002-09-01

Maintenance of equilibrium was tested in conditions when humans assume different leaning postures during upright standing. Subjects ( n=11) stood in 13 different body postures specified by visual center of pressure (COP) targets within their base of support (BOS). Different types of visual information were tested: continuous presentation of visual target, no vision after target presentation, and with simultaneous visual feedback of the COP. The following variables were used to describe the equilibrium maintenance: the mean of the COP position, the area of the ellipse covering the COP sway, and the resultant median frequency of the power spectral density of the COP displacement. The variability of the COP displacement, quantified by the COP area variable, increased when subjects occupied leaning postures, irrespective of the kind of visual information provided. This variability also increased when vision was removed in relation to when vision was present. Without vision, drifts in the COP data were observed which were larger for COP targets farther away from the neutral position. When COP feedback was given in addition to the visual target, the postural control system did not control stance better than in the condition with only visual information. These results indicate that the visual information is used by the postural control system at both short and long time scales.

Ammonia-based feedforward and feedback aeration control in activated sludge processes.

PubMed

Rieger, Leiv; Jones, Richard M; Dold, Peter L; Bott, Charles B

2014-01-01

Aeration control at wastewater treatment plants based on ammonia as the controlled variable is applied for one of two reasons: (1) to reduce aeration costs, or (2) to reduce peaks in effluent ammonia. Aeration limitation has proven to result in significant energy savings, may reduce external carbon addition, and can improve denitrification and biological phosphorus (bio-P) performance. Ammonia control for limiting aeration has been based mainly on feedback control to constrain complete nitrification by maintaining approximately one to two milligrams of nitrogen per liter of ammonia in the effluent. Increased attention has been given to feedforward ammonia control, where aeration control is based on monitoring influent ammonia load. Typically, the intent is to anticipate the impact of sudden load changes, and thereby reduce effluent ammonia peaks. This paper evaluates the fundamentals of ammonia control with a primary focus on feedforward control concepts. A case study discussion is presented that reviews different ammonia-based control approaches. In most instances, feedback control meets the objectives for both aeration limitation and containment of effluent ammonia peaks. Feedforward control, applied specifically for switching aeration on or off in swing zones, can be beneficial when the plant encounters particularly unusual influent disturbances.

The effects of driver identity on driving safety in a retrospective feedback system.

PubMed

Zhao, Guozhen; Wu, Changxu

2012-03-01

Retrospective feedback that provides detailed information on a driver's performance in critical driving situations at the end of a trip enhances his/her driving behaviors and safe driving habits. Although this has been demonstrated by a previous study, retrospective feedback can be further improved and applied to non-critical driving situations, which is needed for transportation safety. To propose a new retrospective feedback system that uses driver identity (i.e., a driver's name) and to experimentally study its effects on measures of driving performance and safety in a driving simulator. We conducted a behavioral experimental study with 30 participants. "Feedback type" was a between-subject variable with three conditions: no feedback (control group), feedback without driver identity, and feedback with driver identity. We measured multiple aspects of participants' driving behavior. To control for potential confounds, factors that were significantly correlated with driving behavior (e.g., age and driving experience) were all entered as covariates into a multivariate analysis of variance. To examine the effects of speeding on collision severity in driving simulation studies, we also developed a new index - momentum of potential collision - with a set of equations. Subjects who used a feedback system with driver identity had the fewest speeding violations and central-line crossings, spent the least amount of time speeding and crossing the central line, had the lowest speeding and central-line crossing magnitude, ran the fewest red lights, and had the smallest momentum of potential collision compared to the groups with feedback without driver identity and without feedback (control group). The new retrospective feedback system with driver identity has the potential to enhance a person's driving safety (e.g., speeding, central-line crossing, momentum of potential collision), which is an indication of the valence of one's name in a feedback system design. Copyright © 2011 Elsevier Ltd. All rights reserved.

Shock and Vibration Control of a Golf-Swing Robot at Impacting the Ball

NASA Astrophysics Data System (ADS)

Hoshino, Yohei; Kobayashi, Yukinori

A golf swing robot is a kind of fast motion manipulator with a flexible link. A robot manipulator is greatly affected by Corioli's and centrifugal forces during fast motion. Nonlinearity due to these forces can have an adverse effect on the performance of feedback control. In the same way, ordinary state observers of a linear system cannot accurately estimate the states of nonlinear systems. This paper uses a state observer that considers disturbances to improve the performance of state estimation and feedback control. A mathematical model of the golf robot is derived by Hamilton's principle. A linear quadratic regulator (LQR) that considers the vibration of the club shaft is used to stop the robot during the follow-through action. The state observer that considers disturbances estimates accurate state variables when the disturbances due to Corioli's and centrifugal forces, and impact forces work on the robot. As a result, the performance of the state feedback control is improved. The study compares the results of the numerical simulations with experimental results.

A study of the application of singular perturbation theory. [development of a real time algorithm for optimal three dimensional aircraft maneuvers

NASA Technical Reports Server (NTRS)

Mehra, R. K.; Washburn, R. B.; Sajan, S.; Carroll, J. V.

1979-01-01

A hierarchical real time algorithm for optimal three dimensional control of aircraft is described. Systematic methods are developed for real time computation of nonlinear feedback controls by means of singular perturbation theory. The results are applied to a six state, three control variable, point mass model of an F-4 aircraft. Nonlinear feedback laws are presented for computing the optimal control of throttle, bank angle, and angle of attack. Real Time capability is assessed on a TI 9900 microcomputer. The breakdown of the singular perturbation approximation near the terminal point is examined Continuation methods are examined to obtain exact optimal trajectories starting from the singular perturbation solutions.

Regional robust stabilisation and domain-of-attraction estimation for MIMO uncertain nonlinear systems with input saturation

NASA Astrophysics Data System (ADS)

Azizi, S.; Torres, L. A. B.; Palhares, R. M.

2018-01-01

The regional robust stabilisation by means of linear time-invariant state feedback control for a class of uncertain MIMO nonlinear systems with parametric uncertainties and control input saturation is investigated. The nonlinear systems are described in a differential algebraic representation and the regional stability is handled considering the largest ellipsoidal domain-of-attraction (DOA) inside a given polytopic region in the state space. A novel set of sufficient Linear Matrix Inequality (LMI) conditions with new auxiliary decision variables are developed aiming to design less conservative linear state feedback controllers with corresponding larger DOAs, by considering the polytopic description of the saturated inputs. A few examples are presented showing favourable comparisons with recently published similar control design methodologies.

Application of modern control theory to the design of optimum aircraft controllers

NASA Technical Reports Server (NTRS)

Power, L. J.

1973-01-01

The synthesis procedure presented is based on the solution of the output regulator problem of linear optimal control theory for time-invariant systems. By this technique, solution of the matrix Riccati equation leads to a constant linear feedback control law for an output regulator which will maintain a plant in a particular equilibrium condition in the presence of impulse disturbances. Two simple algorithms are presented that can be used in an automatic synthesis procedure for the design of maneuverable output regulators requiring only selected state variables for feedback. The first algorithm is for the construction of optimal feedforward control laws that can be superimposed upon a Kalman output regulator and that will drive the output of a plant to a desired constant value on command. The second algorithm is for the construction of optimal Luenberger observers that can be used to obtain feedback control laws for the output regulator requiring measurement of only part of the state vector. This algorithm constructs observers which have minimum response time under the constraint that the magnitude of the gains in the observer filter be less than some arbitrary limit.

Adaptive Neural Output-Feedback Control for a Class of Nonlower Triangular Nonlinear Systems With Unmodeled Dynamics.

PubMed

Wang, Huanqing; Liu, Peter Xiaoping; Li, Shuai; Wang, Ding

2017-08-29

This paper presents the development of an adaptive neural controller for a class of nonlinear systems with unmodeled dynamics and immeasurable states. An observer is designed to estimate system states. The structure consistency of virtual control signals and the variable partition technique are combined to overcome the difficulties appearing in a nonlower triangular form. An adaptive neural output-feedback controller is developed based on the backstepping technique and the universal approximation property of the radial basis function (RBF) neural networks. By using the Lyapunov stability analysis, the semiglobally and uniformly ultimate boundedness of all signals within the closed-loop system is guaranteed. The simulation results show that the controlled system converges quickly, and all the signals are bounded. This paper is novel at least in the two aspects: 1) an output-feedback control strategy is developed for a class of nonlower triangular nonlinear systems with unmodeled dynamics and 2) the nonlinear disturbances and their bounds are the functions of all states, which is in a more general form than existing results.

A technique for pole-zero placement for dual-input control systems. [computer simulation of CH-47 helicopter longitudinal dynamics

NASA Technical Reports Server (NTRS)

Reid, G. F.

1976-01-01

A technique is presented for determining state variable feedback gains that will place both the poles and zeros of a selected transfer function of a dual-input control system at pre-determined locations in the s-plane. Leverrier's algorithm is used to determine the numerator and denominator coefficients of the closed-loop transfer function as functions of the feedback gains. The values of gain that match these coefficients to those of a pre-selected model are found by solving two systems of linear simultaneous equations. The algorithm has been used in a computer simulation of the CH-47 helicopter to control longitudinal dynamics.

Circuit for Driving Piezoelectric Transducers

NASA Technical Reports Server (NTRS)

Randall, David P.; Chapsky, Jacob

2009-01-01

The figure schematically depicts an oscillator circuit for driving a piezoelectric transducer to excite vibrations in a mechanical structure. The circuit was designed and built to satisfy application-specific requirements to drive a selected one of 16 such transducers at a regulated amplitude and frequency chosen to optimize the amount of work performed by the transducer and to compensate for both (1) temporal variations of the resonance frequency and damping time of each transducer and (2) initially unknown differences among the resonance frequencies and damping times of different transducers. In other words, the circuit is designed to adjust itself to optimize the performance of whichever transducer is selected at any given time. The basic design concept may be adaptable to other applications that involve the use of piezoelectric transducers in ultrasonic cleaners and other apparatuses in which high-frequency mechanical drives are utilized. This circuit includes three resistor-capacitor networks that, together with the selected piezoelectric transducer, constitute a band-pass filter having a peak response at a frequency of about 2 kHz, which is approximately the resonance frequency of the piezoelectric transducers. Gain for generating oscillations is provided by a power hybrid operational amplifier (U1). A junction field-effect transistor (Q1) in combination with a resistor (R4) is used as a voltage-variable resistor to control the magnitude of the oscillation. The voltage-variable resistor is part of a feedback control loop: Part of the output of the oscillator is rectified and filtered for use as a slow negative feedback to the gate of Q1 to keep the output amplitude constant. The response of this control loop is much slower than 2 kHz and, therefore, does not introduce significant distortion of the oscillator output, which is a fairly clean sine wave. The positive AC feedback needed to sustain oscillations is derived from sampling the current through the piezoelectric transducer. This positive AC feedback, in combination with the slow feedback to the voltage-variable resistors, causes the overall loop gain to be just large enough to keep the oscillator running. The positive feedback loop includes two 16-channel multiplexers, which are not shown in the figure. One multiplexer is used to select the desired piezoelectric transducer. The other multiplexer, which is provided for use in the event that there are significant differences among the damping times of the 16 piezoelectric transducers, facilitates changing the value of one of the resistors in the positive-feedback loop to accommodate the damping time of the selected transducer.

Advanced control of dissolved oxygen concentration in fed batch cultures during recombinant protein production.

PubMed

Kuprijanov, A; Gnoth, S; Simutis, R; Lübbert, A

2009-02-01

Design and experimental validation of advanced pO(2) controllers for fermentation processes operated in the fed-batch mode are described. In most situations, the presented controllers are able to keep the pO(2) in fermentations for recombinant protein productions exactly on the desired value. The controllers are based on the gain-scheduling approach to parameter-adaptive proportional-integral controllers. In order to cope with the most often appearing distortions, the basic gain-scheduling feedback controller was complemented with a feedforward control component. This feedforward/feedback controller significantly improved pO(2) control. By means of numerical simulations, the controller behavior was tested and its parameters were determined. Validation runs were performed with three Escherichia coli strains producing different recombinant proteins. It is finally shown that the new controller leads to significant improvements in the signal-to-noise ratio of other key process variables and, thus, to a higher process quality.

Interresponse Time Structures in Variable-Ratio and Variable-Interval Schedules

ERIC Educational Resources Information Center

Bowers, Matthew T.; Hill, Jade; Palya, William L.

2008-01-01

The interresponse-time structures of pigeon key pecking were examined under variable-ratio, variable-interval, and variable-interval plus linear feedback schedules. Whereas the variable-ratio and variable-interval plus linear feedback schedules generally resulted in a distinct group of short interresponse times and a broad distribution of longer…

Wrist Camera Orientation for Effective Telerobotic Orbital Replaceable Unit (ORU) Changeout

NASA Technical Reports Server (NTRS)

Jones, Sharon Monica; Aldridge, Hal A.; Vazquez, Sixto L.

1997-01-01

The Hydraulic Manipulator Testbed (HMTB) is the kinematic replica of the Flight Telerobotic Servicer (FTS). One use of the HMTB is to evaluate advanced control techniques for accomplishing robotic maintenance tasks on board the Space Station. Most maintenance tasks involve the direct manipulation of the robot by a human operator when high-quality visual feedback is important for precise control. An experiment was conducted in the Systems Integration Branch at the Langley Research Center to compare several configurations of the manipulator wrist camera for providing visual feedback during an Orbital Replaceable Unit changeout task. Several variables were considered such as wrist camera angle, camera focal length, target location, lighting. Each study participant performed the maintenance task by using eight combinations of the variables based on a Latin square design. The results of this experiment and conclusions based on data collected are presented.

Investigation of control system of traction electric drive with feedbacks on load

NASA Astrophysics Data System (ADS)

Kuznetsov, N. K.; Iov, I. A.; Iov, A. A.

2018-03-01

In the article, by the example of a walking excavator, the results of a study of a control system of traction electric drive with a rigid and flexible feedback on the load are mentioned. Based on the analysis of known works, the calculation scheme has been chosen; the equations of motion of the electromechanical system have been obtained, taking into account the elasticity of the rope and feedbacks on the load in the elastic element. A simulation model of this system has been developed and mathematical modeling of the transient processes to evaluate the influence of feedback on the dynamic characteristics of the mechanism and its efficiency of work was carried out. It is shown that the use of rigid and flexible feedbacks makes it possible to reduce dynamic loads in the traction mechanism and to limit the elastic oscillation of the executive mechanism in transient operating modes in comparison with the standard control system; however, there is some decrease in productivity. It has been also established that the sign-variable of the loading of the electric drive, connected with the opening of the backlashes in the gearbox due to the action of feedbacks on the load in the elastic element, under certain conditions, can lead to undesirable phenomena in the operation of the drive and a decrease in the reliability of its operation.

Feedforward and Feedback Motor Control Abnormalities Implicate Cerebellar Dysfunctions in Autism Spectrum Disorder

PubMed Central

Mohanty, Suman; Greene, Rachel K.; Cook, Edwin H.; Vaillancourt, David E.; Sweeney, John A.

2015-01-01

Sensorimotor abnormalities are common in autism spectrum disorder (ASD) and among the earliest manifestations of the disorder. They have been studied far less than the social-communication and cognitive deficits that define ASD, but a mechanistic understanding of sensorimotor abnormalities in ASD may provide key insights into the neural underpinnings of the disorder. In this human study, we examined rapid, precision grip force contractions to determine whether feedforward mechanisms supporting initial motor output before sensory feedback can be processed are disrupted in ASD. Sustained force contractions also were examined to determine whether reactive adjustments to ongoing motor behavior based on visual feedback are altered. Sustained force was studied across multiple force levels and visual gains to assess motor and visuomotor mechanisms, respectively. Primary force contractions of individuals with ASD showed greater peak rate of force increases and large transient overshoots. Individuals with ASD also showed increased sustained force variability that scaled with force level and was more severe when visual gain was highly amplified or highly degraded. When sustaining a constant force level, their reactive adjustments were more periodic than controls, and they showed increased reliance on slower feedback mechanisms. Feedforward and feedback mechanism alterations each were associated with more severe social-communication impairments in ASD. These findings implicate anterior cerebellar circuits involved in feedforward motor control and posterior cerebellar circuits involved in transforming visual feedback into precise motor adjustments in ASD. PMID:25653359

The Education of Attention as Explanation of Variability of Practice Effects : Learning the Final Approach Phase in a Flight Simulator

ERIC Educational Resources Information Center

Huet, Michael; Jacobs, David M.; Camachon, Cyril; Missenard, Olivier; Gray, Rob; Montagne, Gilles

2011-01-01

The present study reports two experiments in which a total of 20 participants without prior flight experience practiced the final approach phase in a fixed-base simulator. All participants received self-controlled concurrent feedback during 180 practice trials. Experiment 1 shows that participants learn more quickly under variable practice…

Control of Nonlinear Systems

DTIC Science & Technology

2004-01-01

variables reinforce each other (positive feedback) as well as certain more general systems in which each pair of variables may affect each other in...characteristics, and applied to presented small-gain theorems guaranteeing the lack of oscillatory or more complicated behavior in a large class of Lotka ... Volterra systems with predator-prey interactions as well as chemostats, which describe the interaction between microbial species which are competing

Reality Monitoring and Feedback Control of Speech Production Are Related Through Self-Agency.

PubMed

Subramaniam, Karuna; Kothare, Hardik; Mizuiri, Danielle; Nagarajan, Srikantan S; Houde, John F

2018-01-01

Self-agency is the experience of being the agent of one's own thoughts and motor actions. The intact experience of self-agency is necessary for successful interactions with the outside world (i.e., reality monitoring) and for responding to sensory feedback of our motor actions (e.g., speech feedback control). Reality monitoring is the ability to distinguish internally self-generated information from outside reality (externally-derived information). In the present study, we examined the relationship of self-agency between lower-level speech feedback monitoring (i.e., monitoring what we hear ourselves say) and a higher-level cognitive reality monitoring task. In particular, we examined whether speech feedback monitoring and reality monitoring were driven by the capacity to experience self-agency-the ability to make reliable predictions about the outcomes of self-generated actions. During the reality monitoring task, subjects made judgments as to whether information was previously self-generated (self-agency judgments) or externally derived (external-agency judgments). During speech feedback monitoring, we assessed self-agency by altering environmental auditory feedback so that subjects listened to a perturbed version of their own speech. When subjects heard minimal perturbations in their auditory feedback while speaking, they made corrective responses, indicating that they judged the perturbations as errors in their speech output. We found that self-agency judgments in the reality-monitoring task were higher in people who had smaller corrective responses ( p = 0.05) and smaller inter-trial variability ( p = 0.03) during minimal pitch perturbations of their auditory feedback. These results provide support for a unitary process for the experience of self-agency governing low-level speech control and higher level reality monitoring.

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

NASA Technical Reports Server (NTRS)

Wood, S. J.; Rupert, A. H.; Vanya, R. D.; Esteves, J. T.; Clement, G.

2011-01-01

We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, <20 cm radius) in a darkened room is utilized to elicit otolith reflexes in the lateral plane without concordant canal or visual cues. A Tilt-Translation Sled (TTS) is capable of synchronizing pitch tilt with fore-aft translation to align the resultant gravitoinertial vector with the longitudinal body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.

Dynamic Processes in Regulation and Some Implications for Biofeedback and Biobehavioral Interventions

PubMed Central

Lehrer, Paul; Eddie, David

2013-01-01

Systems theory has long been applied in psychology, biology, and sociology. This paper applies newer methods of control systems modeling to the assessment of system stability in health and disease. Control systems can be characterized as open or closed systems with feedback loops. Feedback produces oscillatory activity, and the complexity of naturally occurring oscillatory patterns reflects the multiplicity of feedback mechanisms, such that many mechanisms operate simultaneously to control the system. Unstable systems, often associated with poor health, are characterized by absence of oscillation, random noise, or a very simple pattern of oscillation. This modeling approach can be applied to a diverse range of phenomena, including cardiovascular and brain activity, mood and thermal regulation, and social system stability. External system stressors such as disease, psychological stress, injury, or interpersonal conflict may perturb a system, yet simultaneously stimulate oscillatory processes and exercise control mechanisms. Resonance can occur in systems with negative feedback loops, causing high-amplitude oscillations at a single frequency. Resonance effects can be used to strengthen modulatory oscillations, but may obscure other information and control mechanisms, and weaken system stability. Positive as well as negative feedback loops are important for system function and stability. Examples are presented of oscillatory processes in heart rate variability, and regulation of autonomic, thermal, pancreatic and central nervous system processes, as well as in social/organizational systems such as marriages and business organizations. Resonance in negative feedback loops can help stimulate oscillations and exercise control reflexes, but also can deprive the system of important information. Empirical hypotheses derived from this approach are presented, including that moderate stress may enhance health and functioning. PMID:23572244

Letter to the editor concerning the article "Effects of acoustic feedback training in elite-standard Para-Rowing" by Schaffert and Mattes (2015).

PubMed

Hill, Holger

2015-01-01

In a case study, Schaffert and Mattes reported the application of acoustic feedback (sonification) to optimise the time course of boat acceleration. The authors attributed an increased boat speed in the feedback condition to an optimised boat acceleration (mainly during the recovery phase). However, in rowing it is biomechanically impossible to increase the boat speed significantly by reducing the fluctuations in boat acceleration during the rowing cycle. To assess such a, potentially small, optimising effect experimentally, the confounding variables must be controlled very accurately (that is especially the propulsive forces must be kept constant between experimental conditions or the differences in propulsive forces between conditions must be much smaller than the effects on boat speed resulting from an optimised movement pattern). However, this was not controlled adequately by the authors. Instead, the presented boat acceleration data show that the increased boat speed under acoustic feedback was due to increased propulsive forces.

Influence of Emotion on the Control of Low-Level Force Production

ERIC Educational Resources Information Center

Naugle, Kelly M.; Coombes, Stephen A.; Cauraugh, James H.; Janelle, Christopher M.

2012-01-01

The accuracy and variability of a sustained low-level force contraction (2% of maximum voluntary contraction) was measured while participants viewed unpleasant, pleasant, and neutral images during a feedback occluded force control task. Exposure to pleasant and unpleasant images led to a relative increase in force production but did not alter the…

Design, evaluation and test of an electronic, multivariable control for the F100 turbofan engine

NASA Technical Reports Server (NTRS)

Skira, C. A.; Dehoff, R. L.; Hall, W. E., Jr.

1980-01-01

A digital, multivariable control design procedure for the F100 turbofan engine is described. The controller is based on locally linear synthesis techniques using linear, quadratic regulator design methods. The control structure uses an explicit model reference form with proportional and integral feedback near a nominal trajectory. Modeling issues, design procedures for the control law and the estimation of poorly measured variables are presented.

Online kinematic regulation by visual feedback for grasp versus transport during reach-to-pinch

PubMed Central

Nataraj, Raviraj; Pasluosta, Cristian; Li, Zong-Ming

2014-01-01

Purpose This study investigated novel kinematic performance parameters to understand regulation by visual feedback (VF) of the reaching hand on the grasp and transport components during the reach-to-pinch maneuver. Conventional metrics often signify discrete movement features to postulate sensory-based control effects (e.g., time for maximum velocity to signify feedback delay). The presented metrics of this study were devised to characterize relative vision-based control of the sub-movements across the entire maneuver. Methods Movement performance was assessed according to reduced variability and increased efficiency of kinematic trajectories. Variability was calculated as the standard deviation about the observed mean trajectory for a given subject and VF condition across kinematic derivatives for sub-movements of inter-pad grasp (distance between thumb and index finger-pads; relative orientation of finger-pads) and transport (distance traversed by wrist). A Markov analysis then examined the probabilistic effect of VF on which movement component exhibited higher variability over phases of the complete maneuver. Jerk-based metrics of smoothness (minimal jerk) and energy (integrated jerk-squared) were applied to indicate total movement efficiency with VF. Results/Discussion The reductions in grasp variability metrics with VF were significantly greater (p<0.05) compared to transport for velocity, acceleration, and jerk, suggesting separate control pathways for each component. The Markov analysis indicated that VF preferentially regulates grasp over transport when continuous control is modeled probabilistically during the movement. Efficiency measures demonstrated VF to be more integral for early motor planning of grasp than transport in producing greater increases in smoothness and trajectory adjustments (i.e., jerk-energy) early compared to late in the movement cycle. Conclusions These findings demonstrate the greater regulation by VF on kinematic performance of grasp compared to transport and how particular features of this relativistic control occur continually over the maneuver. Utilizing the advanced performance metrics presented in this study facilitated characterization of VF effects continuously across the entire movement in corroborating the notion of separate control pathways for each component. PMID:24968371

Ultrasonics and Optics Would Control Shot Size

NASA Technical Reports Server (NTRS)

Morrison, A. D.

1983-01-01

Feedback system assures production of silicon shot of uniform size. Breakup of silicon stream into drops is controlled, in part, by varying frequency of vibrations imparted to stream by ultrasonic transducer. Drop size monitored by photodetector. Control method particularly advantageous in that constant size is maintained even while other process variables are changed deliberately or inadvertently. Applicable to materials other than silicon.

A cognitive stressor for event-related potential studies: the Portland arithmetic stress task.

PubMed

Atchley, Rachel; Ellingson, Roger; Klee, Daniel; Memmott, Tabatha; Oken, Barry

2017-05-01

In this experiment, we developed and evaluated the Portland Arithmetic Stress Task (PAST) as a cognitive stressor to evaluate acute and sustained stress reactivity for event-related potential (ERP) studies. The PAST is a titrated arithmetic task adapted from the Montreal Imaging Stress Task (MIST), with added experimental control over presentation parameters, improved and synchronized acoustic feedback and generation of timing markers needed for physiological analyzes of real-time brain activity. Thirty-one older adults (M = 60 years) completed the PAST. EEG was recorded to assess feedback-related negativity (FRN) and the magnitude of the stress response through autonomic nervous system activity and salivary cortisol. Physiological measures other than EEG included heart rate, respiration rate, heart rate variability, blood pressure and salivary cortisol. These measures were collected at several time points throughout the task. Feedback-related negativity evoked-potential responses were elicited and they significantly differed depending on whether positive or negative feedback was received. The PAST also increased systolic blood pressure, heart rate variability and respiration rates compared to a control condition attentional task. These preliminary results suggest that the PAST is an effective cognitive stressor. Successful measurement of the feedback-related negativity suggests that the PAST is conducive to EEG and time-sensitive ERP experiments. Moreover, the physiological findings support the PAST as a potent method for inducing stress in older adult participants. Further research is needed to confirm these results, but the PAST shows promise as a tool for cognitive stress induction for time-locked event-related potential experiments.

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.

The human factors of workstation telepresence

NASA Technical Reports Server (NTRS)

Smith, Thomas J.; Smith, Karl U.

1990-01-01

The term workstation telepresence has been introduced to describe human-telerobot compliance, which enables the human operator to effectively project his/her body image and behavioral skills to control of the telerobot itself. Major human-factors considerations for establishing high fidelity workstation telepresence during human-telerobot operation are discussed. Telerobot workstation telepresence is defined by the proficiency and skill with which the operator is able to control sensory feedback from direct interaction with the workstation itself, and from workstation-mediated interaction with the telerobot. Numerous conditions influencing such control have been identified. This raises the question as to what specific factors most critically influence the realization of high fidelity workstation telepresence. The thesis advanced here is that perturbations in sensory feedback represent a major source of variability in human performance during interactive telerobot operation. Perturbed sensory feedback research over the past three decades has established that spatial transformations or temporal delays in sensory feedback engender substantial decrements in interactive task performance, which training does not completely overcome. A recently developed social cybernetic model of human-computer interaction can be used to guide this approach, based on computer-mediated tracking and control of sensory feedback. How the social cybernetic model can be employed for evaluating the various modes, patterns, and integrations of interpersonal, team, and human-computer interactions which play a central role is workstation telepresence are discussed.

Event-Triggered Distributed Approximate Optimal State and Output Control of Affine Nonlinear Interconnected Systems.

PubMed

Narayanan, Vignesh; Jagannathan, Sarangapani

2017-06-08

This paper presents an approximate optimal distributed control scheme for a known interconnected system composed of input affine nonlinear subsystems using event-triggered state and output feedback via a novel hybrid learning scheme. First, the cost function for the overall system is redefined as the sum of cost functions of individual subsystems. A distributed optimal control policy for the interconnected system is developed using the optimal value function of each subsystem. To generate the optimal control policy, forward-in-time, neural networks are employed to reconstruct the unknown optimal value function at each subsystem online. In order to retain the advantages of event-triggered feedback for an adaptive optimal controller, a novel hybrid learning scheme is proposed to reduce the convergence time for the learning algorithm. The development is based on the observation that, in the event-triggered feedback, the sampling instants are dynamic and results in variable interevent time. To relax the requirement of entire state measurements, an extended nonlinear observer is designed at each subsystem to recover the system internal states from the measurable feedback. Using a Lyapunov-based analysis, it is demonstrated that the system states and the observer errors remain locally uniformly ultimately bounded and the control policy converges to a neighborhood of the optimal policy. Simulation results are presented to demonstrate the performance of the developed controller.

Flying Drosophila stabilize their vision-based velocity controller by sensing wind with their antennae

PubMed Central

Fuller, Sawyer Buckminster; Straw, Andrew D.; Peek, Martin Y.; Murray, Richard M.; Dickinson, Michael H.

2014-01-01

Flies and other insects use vision to regulate their groundspeed in flight, enabling them to fly in varying wind conditions. Compared with mechanosensory modalities, however, vision requires a long processing delay (~100 ms) that might introduce instability if operated at high gain. Flies also sense air motion with their antennae, but how this is used in flight control is unknown. We manipulated the antennal function of fruit flies by ablating their aristae, forcing them to rely on vision alone to regulate groundspeed. Arista-ablated flies in flight exhibited significantly greater groundspeed variability than intact flies. We then subjected them to a series of controlled impulsive wind gusts delivered by an air piston and experimentally manipulated antennae and visual feedback. The results show that an antenna-mediated response alters wing motion to cause flies to accelerate in the same direction as the gust. This response opposes flying into a headwind, but flies regularly fly upwind. To resolve this discrepancy, we obtained a dynamic model of the fly’s velocity regulator by fitting parameters of candidate models to our experimental data. The model suggests that the groundspeed variability of arista-ablated flies is the result of unstable feedback oscillations caused by the delay and high gain of visual feedback. The antenna response drives active damping with a shorter delay (~20 ms) to stabilize this regulator, in exchange for increasing the effect of rapid wind disturbances. This provides insight into flies’ multimodal sensory feedback architecture and constitutes a previously unknown role for the antennae. PMID:24639532

Control of cardiac alternans by mechanical and electrical feedback.

PubMed

Yapari, Felicia; Deshpande, Dipen; Belhamadia, Youssef; Dubljevic, Stevan

2014-07-01

A persistent alternation in the cardiac action potential duration has been linked to the onset of ventricular arrhythmia, which may lead to sudden cardiac death. A coupling between these cardiac alternans and the intracellular calcium dynamics has also been identified in previous studies. In this paper, the system of PDEs describing the small amplitude of alternans and the alternation of peak intracellular Ca(2+) are stabilized by optimal boundary and spatially distributed actuation. A simulation study demonstrating the successful annihilation of both alternans on a one-dimensional cable of cardiac cells by utilizing the full-state feedback controller is presented. Complimentary to these studies, a three variable Nash-Panfilov model is used to investigate alternans annihilation via mechanical (or stretch) perturbations. The coupled model includes the active stress which defines the mechanical properties of the tissue and is utilized in the feedback algorithm as an independent input from the pacing based controller realization in alternans annihilation. Simulation studies of both control methods demonstrate that the proposed methods can successfully annihilate alternans in cables that are significantly longer than 1 cm, thus overcoming the limitations of earlier control efforts.

Intelligent robust tracking control for a class of uncertain strict-feedback nonlinear systems.

PubMed

Chang, Yeong-Chan

2009-02-01

This paper addresses the problem of designing robust tracking controls for a large class of strict-feedback nonlinear systems involving plant uncertainties and external disturbances. The input and virtual input weighting matrices are perturbed by bounded time-varying uncertainties. An adaptive fuzzy-based (or neural-network-based) dynamic feedback tracking controller will be developed such that all the states and signals of the closed-loop system are bounded and the trajectory tracking error should be as small as possible. First, the adaptive approximators with linearly parameterized models are designed, and a partitioned procedure with respect to the developed adaptive approximators is proposed such that the implementation of the fuzzy (or neural network) basis functions depends only on the state variables but does not depend on the tuning approximation parameters. Furthermore, we extend to design the nonlinearly parameterized adaptive approximators. Consequently, the intelligent robust tracking control schemes developed in this paper possess the properties of computational simplicity and easy implementation. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed control algorithms.

Using Instructive Feedback to Increase Response Variability During Intraverbal Training for Children with Autism Spectrum Disorder.

PubMed

Carroll, Regina A; Kodak, Tiffany

2015-10-01

We evaluated the effects of instructive feedback on the variability of intraverbal responses for two children with autism spectrum disorder. Specifically, we used an adapted alternating treatments design to compare participants' novel responses and response combinations during an intraverbal category program across conditions with and without instructive feedback. During instructive feedback, secondary targets were presented during the consequence event of the learning trial and consisted of a therapist's model of response variability. The results showed that participants engaged in more novel response combinations during instructive feedback conditions. We discussed the clinical implications of these results as well as areas for future research.

Analysis And Control System For Automated Welding

NASA Technical Reports Server (NTRS)

Powell, Bradley W.; Burroughs, Ivan A.; Kennedy, Larry Z.; Rodgers, Michael H.; Goode, K. Wayne

1994-01-01

Automated variable-polarity plasma arc (VPPA) welding apparatus operates under electronic supervision by welding analysis and control system. System performs all major monitoring and controlling functions. It acquires, analyzes, and displays weld-quality data in real time and adjusts process parameters accordingly. Also records pertinent data for use in post-weld analysis and documentation of quality. System includes optoelectronic sensors and data processors that provide feedback control of welding process.

Development of a two-dimensional skin friction balance nulling circuit using multivariable control theory

NASA Technical Reports Server (NTRS)

Tripp, John S.; Patek, Stephen D.

1988-01-01

Measurement of planar skin friction forces in aerodynamic testing currently requires installation of two perpendicularly mounted, single-axis balances; consequently, force components must be sensed at two distinct locations. A two-axis instrument developed at the Langley Research Center to overcome this disadvantage allows measurement of a two-dimensional force at one location. This paper describes a feedback-controlled nulling circuit developed for the NASA two-axis balance which, without external compensation, is inherently unstable because of its low friction mechanical design. Linear multivariable control theory is applied to an experimentally validated mathematical model of the balance to synthesize a state-variable feedback control law. Pole placement techniques and computer simulation studies are employed to select eigenvalues which provide ideal transient response with decoupled sensing dynamics.

Push-Pull and Feedback Mechanisms Can Align Signaling System Outputs with Inputs.

PubMed

Andrews, Steven S; Peria, William J; Yu, Richard C; Colman-Lerner, Alejandro; Brent, Roger

2016-11-23

Many cell signaling systems, including the yeast pheromone response system, exhibit "dose-response alignment" (DoRA), in which output of one or more downstream steps closely matches the fraction of occupied receptors. DoRA can improve the fidelity of transmitted dose information. Here, we searched systematically for biochemical network topologies that produced DoRA. Most networks, including many containing feedback and feedforward loops, could not produce DoRA. However, networks including "push-pull" mechanisms, in which the active form of a signaling species stimulates downstream activity and the nominally inactive form reduces downstream activity, enabled perfect DoRA. Networks containing feedbacks enabled DoRA, but only if they also compared feedback to input and adjusted output to match. Our results establish push-pull as a non-feedback mechanism to align output with variable input and maximize information transfer in signaling systems. They also suggest genetic approaches to determine whether particular signaling systems use feedback or push-pull control. Copyright © 2016 Elsevier Inc. All rights reserved.

The use of singular value gradients and optimization techniques to design robust controllers for multiloop systems

NASA Technical Reports Server (NTRS)

Newsom, J. R.; Mukhopadhyay, V.

1983-01-01

A method for designing robust feedback controllers for multiloop systems is presented. Robustness is characterized in terms of the minimum singular value of the system return difference matrix at the plant input. Analytical gradients of the singular values with respect to design variables in the controller are derived. A cumulative measure of the singular values and their gradients with respect to the design variables is used with a numerical optimization technique to increase the system's robustness. Both unconstrained and constrained optimization techniques are evaluated. Numerical results are presented for a two-input/two-output drone flight control system.

The use of singular value gradients and optimization techniques to design robust controllers for multiloop systems

NASA Technical Reports Server (NTRS)

Newsom, J. R.; Mukhopadhyay, V.

1983-01-01

A method for designing robust feedback controllers for multiloop systems is presented. Robustness is characterized in terms of the minimum singular value of the system return difference matrix at the plant input. Analytical gradients of the singular values with respect to design variables in the controller are derived. A cumulative measure of the singular values and their gradients with respect to the design variables is used with a numerical optimization technique to increase the system's robustness. Both unconstrained and constrained optimization techniques are evaluated. Numerical results are presented for a two output drone flight control system.

Fail-fixed servovalve with positive fluid feedback

NASA Technical Reports Server (NTRS)

Kast, Howard B. (Inventor)

1984-01-01

The servovalve includes a primary jet of fluid. A variable control signal is adapted to vary the angular position of the primary jet from its maximum recovery position. A first fluid path is adapted to supply fluid to a servopiston at a variable pressure determined at least in part by the control signal. A second fluid path is adapted to receive a predetermined portion of the primary jet fluid when the control signal reaches a predetermined value. The second fluid path terminates in the vicinity of the primary jet and is adapted to direct a secondary jet of fluid at the primary jet to deflect the primary jet toward the input orifice of the second fluid path. The resultant positive fluid feedback in the second fluid path causes the primary jet to latch in a first angular position relative to the maximum recovery position when the control signal reaches a predetermined value. The servovalve may further include a means to discharge the fluid and a means to block the first fluid path to the servopiston when the control signal falls below a second predetermined value. A method of operating a fail-fixed servovalve is also described.

Do state-of-the-art CMIP5 ESMs accurately represent observed vegetation-rainfall feedbacks? Focus on the Sahel

NASA Astrophysics Data System (ADS)

Notaro, M.; Wang, F.; Yu, Y.; Mao, J.; Shi, X.; Wei, Y.

2017-12-01

The semi-arid Sahel ecoregion is an established hotspot of land-atmosphere coupling. Ocean-land-atmosphere interactions received considerable attention by modeling studies in response to the devastating 1970s-90s Sahel drought, which models suggest was driven by sea-surface temperature (SST) anomalies and amplified by local vegetation-atmosphere feedbacks. Vegetation affects the atmosphere through biophysical feedbacks by altering the albedo, roughness, and transpiration and thereby modifying exchanges of energy, momentum, and moisture with the atmosphere. The current understanding of these potentially competing processes is primarily based on modeling studies, with biophysical feedbacks serving as a key uncertainty source in regional climate change projections among Earth System Models (ESMs). In order to reduce this uncertainty, it is critical to rigorously evaluate the representation of vegetation feedbacks in ESMs against an observational benchmark in order to diagnose systematic biases and their sources. However, it is challenging to successfully isolate vegetation's feedbacks on the atmosphere, since the atmospheric control on vegetation growth dominates the atmospheric feedback response to vegetation anomalies and the atmosphere is simultaneously influenced by oceanic and terrestrial anomalies. In response to this challenge, a model-validated multivariate statistical method, Stepwise Generalized Equilibrium Feedback Assessment (SGEFA), is developed, which extracts the forcing of a slowly-evolving environmental variable [e.g. SST or leaf area index (LAI)] on the rapidly-evolving atmosphere. By applying SGEFA to observational and remotely-sensed data, an observational benchmark is established for Sahel vegetation feedbacks. In this work, the simulated responses in key atmospheric variables, including evapotranspiration, albedo, wind speed, vertical motion, temperature, stability, and rainfall, to Sahel LAI anomalies are statistically assessed in Coupled Model Intercomparison Project Phase 5 (CMIP5) ESMs through SGEFA. The dominant mechanism, such as albedo feedback, moisture recycling, or momentum feedback, in each ESM is evaluated against the observed benchmark. SGEFA facilitates a systematic assessment of model biases in land-atmosphere interactions.

The predictability of frequency-altered auditory feedback changes the weighting of feedback and feedforward input for speech motor control.

PubMed

Scheerer, Nichole E; Jones, Jeffery A

2014-12-01

Speech production requires the combined effort of a feedback control system driven by sensory feedback, and a feedforward control system driven by internal models. However, the factors that dictate the relative weighting of these feedback and feedforward control systems are unclear. In this event-related potential (ERP) study, participants produced vocalisations while being exposed to blocks of frequency-altered feedback (FAF) perturbations that were either predictable in magnitude (consistently either 50 or 100 cents) or unpredictable in magnitude (50- and 100-cent perturbations varying randomly within each vocalisation). Vocal and P1-N1-P2 ERP responses revealed decreases in the magnitude and trial-to-trial variability of vocal responses, smaller N1 amplitudes, and shorter vocal, P1 and N1 response latencies following predictable FAF perturbation magnitudes. In addition, vocal response magnitudes correlated with N1 amplitudes, vocal response latencies, and P2 latencies. This pattern of results suggests that after repeated exposure to predictable FAF perturbations, the contribution of the feedforward control system increases. Examination of the presentation order of the FAF perturbations revealed smaller compensatory responses, smaller P1 and P2 amplitudes, and shorter N1 latencies when the block of predictable 100-cent perturbations occurred prior to the block of predictable 50-cent perturbations. These results suggest that exposure to large perturbations modulates responses to subsequent perturbations of equal or smaller size. Similarly, exposure to a 100-cent perturbation prior to a 50-cent perturbation within a vocalisation decreased the magnitude of vocal and N1 responses, but increased P1 and P2 latencies. Thus, exposure to a single perturbation can affect responses to subsequent perturbations. © 2014 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Real-Time Performance Feedback for the Manual Control of Spacecraft

NASA Astrophysics Data System (ADS)

Karasinski, John Austin

Real-time performance metrics were developed to quantify workload, situational awareness, and manual task performance for use as visual feedback to pilots of aerospace vehicles. Results from prior lunar lander experiments with variable levels of automation were replicated and extended to provide insights for the development of real-time metrics. Increased levels of automation resulted in increased flight performance, lower workload, and increased situational awareness. Automated Speech Recognition (ASR) was employed to detect verbal callouts as a limited measure of subjects' situational awareness. A one-dimensional manual tracking task and simple instructor-model visual feedback scheme was developed. This feedback was indicated to the operator by changing the color of a guidance element on the primary flight display, similar to how a flight instructor points out elements of a display to a student pilot. Experiments showed that for this low-complexity task, visual feedback did not change subject performance, but did increase the subjects' measured workload. Insights gained from these experiments were applied to a Simplified Aid for EVA Rescue (SAFER) inspection task. The effects of variations of an instructor-model performance-feedback strategy on human performance in a novel SAFER inspection task were investigated. Real-time feedback was found to have a statistically significant effect of improving subject performance and decreasing workload in this complicated four degree of freedom manual control task with two secondary tasks.

Equicontrollability and the model following problem

NASA Technical Reports Server (NTRS)

Curran, R. T.

1971-01-01

Equicontrollability and its application to the linear time-invariant model-following problem are discussed. The problem is presented in the form of two systems, the plant and the model. The requirement is to find a controller to apply to the plant so that the resultant compensated plant behaves, in an input-output sense, the same as the model. All systems are assumed to be linear and time-invariant. The basic approach is to find suitable equicontrollable realizations of the plant and model and to utilize feedback so as to produce a controller of minimal state dimension. The concept of equicontrollability is a generalization of control canonical (phase variable) form applied to multivariable systems. It allows one to visualize clearly the effects of feedback and to pinpoint the parameters of a multivariable system which are invariant under feedback. The basic contributions are the development of equicontrollable form; solution of the model-following problem in an entirely algorithmic way, suitable for computer programming; and resolution of questions on system decoupling.

The SpeechEasy device in stuttering and nonstuttering adults: fluency effects while speaking and reading.

PubMed

Foundas, Anne L; Mock, Jeffrey R; Corey, David M; Golob, Edward J; Conture, Edward G

2013-08-01

The SpeechEasy is an electronic device designed to alleviate stuttering by manipulating auditory feedback via time delays and frequency shifts. Device settings (control, default, custom), ear-placement (left, right), speaking task, and cognitive variables were examined in people who stutter (PWS) (n=14) compared to controls (n=10). Among the PWS there was a significantly greater reduction in stuttering (compared to baseline) with custom device settings compared to the non-altered feedback (control) condition. Stuttering was reduced the most during reading, followed by narrative and conversation. For the conversation task, stuttering was reduced more when the device was worn in the left ear. Those individuals with a more severe stuttering rate at baseline had a greater benefit from the use of the device compared to individuals with less severe stuttering. Our results support the view that overt stuttering is associated with defective speech-language monitoring that can be influenced by manipulating auditory feedback. Copyright © 2013 Elsevier Inc. All rights reserved.

Different auditory feedback control for echolocation and communication in horseshoe bats.

PubMed

Liu, Ying; Feng, Jiang; Metzner, Walter

2013-01-01

Auditory feedback from the animal's own voice is essential during bat echolocation: to optimize signal detection, bats continuously adjust various call parameters in response to changing echo signals. Auditory feedback seems also necessary for controlling many bat communication calls, although it remains unclear how auditory feedback control differs in echolocation and communication. We tackled this question by analyzing echolocation and communication in greater horseshoe bats, whose echolocation pulses are dominated by a constant frequency component that matches the frequency range they hear best. To maintain echoes within this "auditory fovea", horseshoe bats constantly adjust their echolocation call frequency depending on the frequency of the returning echo signal. This Doppler-shift compensation (DSC) behavior represents one of the most precise forms of sensory-motor feedback known. We examined the variability of echolocation pulses emitted at rest (resting frequencies, RFs) and one type of communication signal which resembles an echolocation pulse but is much shorter (short constant frequency communication calls, SCFs) and produced only during social interactions. We found that while RFs varied from day to day, corroborating earlier studies in other constant frequency bats, SCF-frequencies remained unchanged. In addition, RFs overlapped for some bats whereas SCF-frequencies were always distinctly different. This indicates that auditory feedback during echolocation changed with varying RFs but remained constant or may have been absent during emission of SCF calls for communication. This fundamentally different feedback mechanism for echolocation and communication may have enabled these bats to use SCF calls for individual recognition whereas they adjusted RF calls to accommodate the daily shifts of their auditory fovea.

Different Auditory Feedback Control for Echolocation and Communication in Horseshoe Bats

PubMed Central

Liu, Ying; Feng, Jiang; Metzner, Walter

2013-01-01

Auditory feedback from the animal's own voice is essential during bat echolocation: to optimize signal detection, bats continuously adjust various call parameters in response to changing echo signals. Auditory feedback seems also necessary for controlling many bat communication calls, although it remains unclear how auditory feedback control differs in echolocation and communication. We tackled this question by analyzing echolocation and communication in greater horseshoe bats, whose echolocation pulses are dominated by a constant frequency component that matches the frequency range they hear best. To maintain echoes within this “auditory fovea”, horseshoe bats constantly adjust their echolocation call frequency depending on the frequency of the returning echo signal. This Doppler-shift compensation (DSC) behavior represents one of the most precise forms of sensory-motor feedback known. We examined the variability of echolocation pulses emitted at rest (resting frequencies, RFs) and one type of communication signal which resembles an echolocation pulse but is much shorter (short constant frequency communication calls, SCFs) and produced only during social interactions. We found that while RFs varied from day to day, corroborating earlier studies in other constant frequency bats, SCF-frequencies remained unchanged. In addition, RFs overlapped for some bats whereas SCF-frequencies were always distinctly different. This indicates that auditory feedback during echolocation changed with varying RFs but remained constant or may have been absent during emission of SCF calls for communication. This fundamentally different feedback mechanism for echolocation and communication may have enabled these bats to use SCF calls for individual recognition whereas they adjusted RF calls to accommodate the daily shifts of their auditory fovea. PMID:23638137

Non-linear feedback control of the p53 protein-mdm2 inhibitor system using the derivative-free non-linear Kalman filter.

PubMed

Rigatos, Gerasimos G

2016-06-01

It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered.

Multidisciplinary optimization of controlled space structures with global sensitivity equations

NASA Technical Reports Server (NTRS)

Padula, Sharon L.; James, Benjamin B.; Graves, Philip C.; Woodard, Stanley E.

1991-01-01

A new method for the preliminary design of controlled space structures is presented. The method coordinates standard finite element structural analysis, multivariable controls, and nonlinear programming codes and allows simultaneous optimization of the structures and control systems of a spacecraft. Global sensitivity equations are a key feature of this method. The preliminary design of a generic geostationary platform is used to demonstrate the multidisciplinary optimization method. Fifteen design variables are used to optimize truss member sizes and feedback gain values. The goal is to reduce the total mass of the structure and the vibration control system while satisfying constraints on vibration decay rate. Incorporating the nonnegligible mass of actuators causes an essential coupling between structural design variables and control design variables. The solution of the demonstration problem is an important step toward a comprehensive preliminary design capability for structures and control systems. Use of global sensitivity equations helps solve optimization problems that have a large number of design variables and a high degree of coupling between disciplines.

Synthesis of hover autopilots for rotary-wing VTOL aircraft

NASA Technical Reports Server (NTRS)

Hall, W. E.; Bryson, A. E., Jr.

1972-01-01

The practical situation is considered where imperfect information on only a few rotor and fuselage state variables is available. Filters are designed to estimate all the state variables from noisy measurements of fuselage pitch/roll angles and from noisy measurements of both fuselage and rotor pitch/roll angles. The mean square response of the vehicle to a very gusty, random wind is computed using various filter/controllers and is found to be quite satisfactory although, of course, not so good as when one has perfect information (idealized case). The second part of the report considers precision hover over a point on the ground. A vehicle model without rotor dynamics is used and feedback signals in position and integral of position error are added. The mean square response of the vehicle to a very gusty, random wind is computed, assuming perfect information feedback, and is found to be excellent. The integral error feedback gives zero position error for a steady wind, and smaller position error for a random wind.

Inertial sensors as real-time feedback improve learning posterior-anterior thoracic manipulation: a randomized controlled trial.

PubMed

Cuesta-Vargas, Antonio I; González-Sánchez, Manuel; Lenfant, Yves

2015-01-01

The purpose of this study was to analyze the effect of real-time feedback on the learning process for posterior-anterior thoracic manipulation (PATM) comparing 2 undergraduate physiotherapy student groups. The study design was a randomized controlled trial in an educational setting. Sixty-one undergraduate physiotherapy students were divided randomly into 2 groups, G1 (n = 31; group without feedback in real time) and G2 (n = 30; group with real-time feedback) participated in this randomized controlled trial. Two groups of physiotherapy students learned PATM, one using a traditional method and the other using real-time feedback (inertial sensor). Measures were obtained preintervention and postintervention. Intragroup preintervention and postintervention and intergroup postintervention scores were calculated. An analysis of the measures' stability was developed through an interclass correlation index. Time, displacement and velocity, and improvement (only between groups) to reach maximum peak and to reach minimum peak from maximum peak, total manipulation time, and stability of all outcome measures were the outcome measures. Statistically significant differences were found in all variables analyzed (intragroup and intergroup) in favor of G2. The values of interclass correlation ranged from 0.627 to 0.706 (G1) and between 0.881 and 0.997 (G2). This study found that the learning process for PATM is facilitated when the student receives real-time feedback. Copyright © 2015 National University of Health Sciences. Published by Elsevier Inc. All rights reserved.

Feedforward and feedback motor control abnormalities implicate cerebellar dysfunctions in autism spectrum disorder.

PubMed

Mosconi, Matthew W; Mohanty, Suman; Greene, Rachel K; Cook, Edwin H; Vaillancourt, David E; Sweeney, John A

2015-02-04

Sensorimotor abnormalities are common in autism spectrum disorder (ASD) and among the earliest manifestations of the disorder. They have been studied far less than the social-communication and cognitive deficits that define ASD, but a mechanistic understanding of sensorimotor abnormalities in ASD may provide key insights into the neural underpinnings of the disorder. In this human study, we examined rapid, precision grip force contractions to determine whether feedforward mechanisms supporting initial motor output before sensory feedback can be processed are disrupted in ASD. Sustained force contractions also were examined to determine whether reactive adjustments to ongoing motor behavior based on visual feedback are altered. Sustained force was studied across multiple force levels and visual gains to assess motor and visuomotor mechanisms, respectively. Primary force contractions of individuals with ASD showed greater peak rate of force increases and large transient overshoots. Individuals with ASD also showed increased sustained force variability that scaled with force level and was more severe when visual gain was highly amplified or highly degraded. When sustaining a constant force level, their reactive adjustments were more periodic than controls, and they showed increased reliance on slower feedback mechanisms. Feedforward and feedback mechanism alterations each were associated with more severe social-communication impairments in ASD. These findings implicate anterior cerebellar circuits involved in feedforward motor control and posterior cerebellar circuits involved in transforming visual feedback into precise motor adjustments in ASD. Copyright © 2015 the authors 0270-6474/15/352015-11$15.00/0.

Is video review of patient encounters an effective tool for medical student learning? A review of the literature

PubMed Central

Hammoud, Maya M; Morgan, Helen K; Edwards, Mary E; Lyon, Jennifer A; White, Casey

2012-01-01

Purpose To determine if video review of student performance during patient encounters is an effective tool for medical student learning. Methods Multiple bibliographic databases that include medical, general health care, education, psychology, and behavioral science literature were searched for the following terms: medical students, medical education, undergraduate medical education, education, self-assessment, self-evaluation, self-appraisal, feedback, videotape, video recording, televised, and DVD. The authors examined all abstracts resulting from this search and reviewed the full text of the relevant articles as well as additional articles identified in the reference lists of the relevant articles. Studies were classified by year of student (preclinical or clinical) and study design (controlled or non-controlled). Results A total of 67 articles met the final search criteria and were fully reviewed. Most studies were non-controlled and performed in the clinical years. Although the studies were quite variable in quality, design, and outcomes, in general video recording of performance and subsequent review by students with expert feedback had positive outcomes in improving feedback and ultimate performance. Video review with self-assessment alone was not found to be generally effective, but when linked with expert feedback it was superior to traditional feedback alone. Conclusion There are many methods for integrating effective use of video-captured performance into a program of learning. We recommend combining student self-assessment with feedback from faculty or other trained individuals for maximum effectiveness. We also recommend additional research in this area. PMID:23761999

Differential flatness properties and multivariable adaptive control of ovarian system dynamics

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos

2016-12-01

The ovarian system exhibits nonlinear dynamics which is modeled by a set of coupled nonlinear differential equations. The paper proposes adaptive fuzzy control based on differential flatness theory for the complex dynamics of the ovarian system. It is proven that the dynamic model of the ovarian system, having as state variables the LH and the FSH hormones and their derivatives, is a differentially flat one. This means that all its state variables and its control inputs can be described as differential functions of the flat output. By exploiting differential flatness properties the system's dynamic model is written in the multivariable linear canonical (Brunovsky) form, for which the design of a state feedback controller becomes possible. After this transformation, the new control inputs of the system contain unknown nonlinear parts, which are identified with the use of neurofuzzy approximators. The learning procedure for these estimators is determined by the requirement the first derivative of the closed-loop's Lyapunov function to be a negative one. Moreover, Lyapunov stability analysis shows that H-infinity tracking performance is succeeded for the feedback control loop and this assures improved robustness to the aforementioned model uncertainty as well as to external perturbations. The efficiency of the proposed adaptive fuzzy control scheme is confirmed through simulation experiments.

Frontal Alpha Oscillations and Attentional Control: A Virtual Reality Neurofeedback Study.

PubMed

Berger, Anna M; Davelaar, Eddy J

2018-05-15

Two competing views about alpha oscillations suggest that cortical alpha reflect either cortical inactivity or cortical processing efficiency. We investigated the role of alpha oscillations in attentional control, as measured with a Stroop task. We used neurofeedback to train 22 participants to increase their level of alpha amplitude. Based on the conflict/control loop theory, we selected to train prefrontal alpha and focus on the Gratton effect as an index of deployment of attentional control. We expected an increase or a decrease in the Gratton effect with increase in neural learning depending on whether frontal alpha oscillations reflect cortical idling or enhanced processing efficiency, respectively. In order to induce variability in neural learning beyond natural occurring individual differences, we provided half of the participants with feedback on alpha amplitude in a 3-dimensional (3D) virtual reality environment and the other half received feedback in a 2D environment. Our results showed variable neural learning rates, with larger rates in the 3D compared to the 2D group, corroborating prior evidence of individual differences in EEG-based learning and the influence of a virtual environment. Regression analyses revealed a significant association between the learning rate and changes on deployment of attentional control, with larger learning rates being associated with larger decreases in the Gratton effect. This association was not modulated by feedback medium. The study supports the view of frontal alpha oscillations being associated with efficient neurocognitive processing and demonstrates the utility of neurofeedback training in addressing theoretical questions in the non-neurofeedback literature. Copyright © 2017 IBRO. Published by Elsevier Ltd. All rights reserved.

Effects of practice on variability in an isochronous serial interval production task: asymptotical levels of tapping variability after training are similar to those of musicians.

PubMed

Madison, Guy; Karampela, Olympia; Ullén, Fredrik; Holm, Linus

2013-05-01

Timing permeates everyday activities such as walking, dancing and music, yet the effect of short-term practice in this ubiquitous activity is largely unknown. In two training experiments involving sessions spread across several days, we examined short-term practice effects on timing variability in a sequential interval production task. In Experiment 1, we varied the mode of response (e.g., drumstick and finger tapping) and the level of sensory feedback. In Experiment 2 we varied the interval in 18 levels ranging from 500 ms to 1624 ms. Both experiments showed a substantial decrease in variability within the first hour of practice, but little thereafter. This effect was similar across mode of response, amount of feedback, and interval duration, and was manifested as a reduction in both local variability (between neighboring intervals) and drift (fluctuation across multiple intervals). The results suggest mainly effects on motor implementation rather than on cognitive timing processes, and have methodological implications for timing studies that have not controlled for practice. Copyright © 2013 Elsevier B.V. All rights reserved.

Differential flatness properties and adaptive control of the hypothalamic-pituitary-adrenal axis model

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos

2016-12-01

It is shown that the model of the hypothalamic-pituitary-adrenal gland axis is a differentially flat one and this permits to transform it to the so-called linear canonical form. For the new description of the system's dynamics the transformed control inputs contain unknown terms which depend on the system's parameters. To identify these terms an adaptive fuzzy approximator is used in the control loop. Thus an adaptive fuzzy control scheme is implemented in which the unknown or unmodeled system dynamics is approximated by neurofuzzy networks and next this information is used by a feedback controller that makes the state variables (CRH - corticotropin releasing hormone, adenocortocotropic hormone - ACTH, cortisol) of the hypothalamic-pituitary-adrenal gland axis model converge to the desirable levels (setpoints). This adaptive control scheme is exclusively implemented with the use of output feedback, while the state vector elements which are not directly measured are estimated with the use of a state observer that operates in the control loop. The learning rate of the adaptive fuzzy system is suitably computed from Lyapunov analysis, so as to assure that both the learning procedure for the unknown system's parameters, the dynamics of the observer and the dynamics of the control loop will remain stable. The performed Lyapunov stability analysis depends on two Riccati equations, one associated with the feedback controller and one associated with the state observer. Finally, it is proven that for the control scheme that comprises the feedback controller, the state observer and the neurofuzzy approximator, an H-infinity tracking performance can be succeeded.

Consensus positive position feedback control for vibration attenuation of smart structures

NASA Astrophysics Data System (ADS)

Omidi, Ehsan; Nima Mahmoodi, S.

2015-04-01

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

The effect of autogenic training and biofeedback on motion sickness tolerance.

PubMed

Jozsvai, E E; Pigeau, R A

1996-10-01

Motion sickness is characterized by symptoms of vomiting, drowsiness, fatigue and idiosyncratic changes in autonomic nervous system (ANS) responses such as heart rate (HR) and skin temperature (ST). Previous studies found that symptoms of motion sickness are controllable through self-regulation of ANS responses and the best method to teach such control is autogenic-feedback (biofeedback) training. Recent experiments indicated that biofeedback training is ineffective in reducing symptoms of motion sickness or in increasing tolerance to motion. If biofeedback facilitates learning of ANS self-regulation then autogenic training with true feedback (TFB) should lead to better control over ANS responses and better motion tolerance than autogenic training with false feedback (FFB). If there is a relationship between ANS self-regulation and coping with motion stress, a significant correlation should be found between amounts of control over ANS responses and measures of motion tolerance and/or symptoms of motion sickness. There were 3 groups of 6 subjects exposed for 6 weeks to weekly sessions of Coriolis stimulation to induce motion sickness. Between the first and second Coriolis sessions, subjects in the experimental groups received five episodes of autogenic training with either true (group TFB) or false (group FFB) feedback on their HR and ST. The control group (CTL) received no treatment. Subjects learned to control their HR and ST independent of whether they received true or false feedback. Learned control of ST and HR was not related to severity of motion sickness or subject's ability to withstand Coriolis stimulation following treatment. A lack of significant correlation between these variables suggested that subjects were not able to apply their skills of ANS self-regulation in the motion environment, and/ or such skills had little value in reducing symptoms of motion sickness or enhancing their ability to withstand rotations.

Fuzzy logic feedback control for fed-batch enzymatic hydrolysis of lignocellulosic biomass.

PubMed

Tai, Chao; Voltan, Diego S; Keshwani, Deepak R; Meyer, George E; Kuhar, Pankaj S

2016-06-01

A fuzzy logic feedback control system was developed for process monitoring and feeding control in fed-batch enzymatic hydrolysis of a lignocellulosic biomass, dilute acid-pretreated corn stover. Digested glucose from hydrolysis reaction was assigned as input while doser feeding time and speed of pretreated biomass were responses from fuzzy logic control system. Membership functions for these three variables and rule-base were created based on batch hydrolysis data. The system response was first tested in LabVIEW environment then the performance was evaluated through real-time hydrolysis reaction. The feeding operations were determined timely by fuzzy logic control system and efficient responses were shown to plateau phases during hydrolysis. Feeding of proper amount of cellulose and maintaining solids content was well balanced. Fuzzy logic proved to be a robust and effective online feeding control tool for fed-batch enzymatic hydrolysis.

Feedback controlled optics with wavefront compensation

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Learning from adaptive neural dynamic surface control of strict-feedback systems.

PubMed

Wang, Min; Wang, Cong

2015-06-01

Learning plays an essential role in autonomous control systems. However, how to achieve learning in the nonstationary environment for nonlinear systems is a challenging problem. In this paper, we present learning method for a class of n th-order strict-feedback systems by adaptive dynamic surface control (DSC) technology, which achieves the human-like ability of learning by doing and doing with learned knowledge. To achieve the learning, this paper first proposes stable adaptive DSC with auxiliary first-order filters, which ensures the boundedness of all the signals in the closed-loop system and the convergence of tracking errors in a finite time. With the help of DSC, the derivative of the filter output variable is used as the neural network (NN) input instead of traditional intermediate variables. As a result, the proposed adaptive DSC method reduces greatly the dimension of NN inputs, especially for high-order systems. After the stable DSC design, we decompose the stable closed-loop system into a series of linear time-varying perturbed subsystems. Using a recursive design, the recurrent property of NN input variables is easily verified since the complexity is overcome using DSC. Subsequently, the partial persistent excitation condition of the radial basis function NN is satisfied. By combining a state transformation, accurate approximations of the closed-loop system dynamics are recursively achieved in a local region along recurrent orbits. Then, the learning control method using the learned knowledge is proposed to achieve the closed-loop stability and the improved control performance. Simulation studies are performed to demonstrate the proposed scheme can not only reuse the learned knowledge to achieve the better control performance with the faster tracking convergence rate and the smaller tracking error but also greatly alleviate the computational burden because of reducing the number and complexity of NN input variables.

Unsteady steady-states: Central causes of unintentional force drift

PubMed Central

Ambike, Satyajit; Mattos, Daniela; Zatsiorsky, Vladimir M.; Latash, Mark L.

2016-01-01

We applied the theory of synergies to analyze the processes that lead to unintentional decline in isometric fingertip force when visual feedback of the produced force is removed. We tracked the changes in hypothetical control variables involved in single fingertip force production based on the equilibrium-point hypothesis, namely, the fingertip referent coordinate (RFT) and its apparent stiffness (CFT). The system's state is defined by a point in the {RFT; CFT} space. We tested the hypothesis that, after visual feedback removal, this point (1) moves along directions leading to drop in the output fingertip force, and (2) has even greater motion along directions that leaves the force unchanged. Subjects produced a prescribed fingertip force using visual feedback, and attempted to maintain this force for 15 s after the feedback was removed. We used the “inverse piano” apparatus to apply small and smooth positional perturbations to fingers at various times after visual feedback removal. The time courses of RFT and CFT showed that force drop was mostly due to a drift in RFT towards the actual fingertip position. Three analysis techniques, namely, hyperbolic regression, surrogate data analysis, and computation of motor-equivalent and non-motor-equivalent motions, suggested strong co-variation in RFT and CFT stabilizing the force magnitude. Finally, the changes in the two hypothetical control variables {RFT; CFT} relative to their average trends also displayed covariation. On the whole the findings suggest that unintentional force drop is associated with (a) a slow drift of the referent coordinate that pulls the system towards a low-energy state, and (b) a faster synergic motion of RFT and CFT that tends to stabilize the output fingertip force about the slowly-drifting equilibrium point. PMID:27540726

Unsteady steady-states: central causes of unintentional force drift.

PubMed

Ambike, Satyajit; Mattos, Daniela; Zatsiorsky, Vladimir M; Latash, Mark L

2016-12-01

We applied the theory of synergies to analyze the processes that lead to unintentional decline in isometric fingertip force when visual feedback of the produced force is removed. We tracked the changes in hypothetical control variables involved in single fingertip force production based on the equilibrium-point hypothesis, namely the fingertip referent coordinate (R FT ) and its apparent stiffness (C FT ). The system's state is defined by a point in the {R FT ; C FT } space. We tested the hypothesis that, after visual feedback removal, this point (1) moves along directions leading to drop in the output fingertip force, and (2) has even greater motion along directions that leaves the force unchanged. Subjects produced a prescribed fingertip force using visual feedback and attempted to maintain this force for 15 s after the feedback was removed. We used the "inverse piano" apparatus to apply small and smooth positional perturbations to fingers at various times after visual feedback removal. The time courses of R FT and C FT showed that force drop was mostly due to a drift in R FT toward the actual fingertip position. Three analysis techniques, namely hyperbolic regression, surrogate data analysis, and computation of motor-equivalent and non-motor-equivalent motions, suggested strong covariation in R FT and C FT stabilizing the force magnitude. Finally, the changes in the two hypothetical control variables {R FT ; C FT } relative to their average trends also displayed covariation. On the whole, the findings suggest that unintentional force drop is associated with (a) a slow drift of the referent coordinate that pulls the system toward a low-energy state and (b) a faster synergic motion of R FT and C FT that tends to stabilize the output fingertip force about the slowly drifting equilibrium point.

Ecohydrologic processes and soil thickness feedbacks control limestone-weathering rates in a karst landscape

DOE PAGES

Dong, Xiaoli; Cohen, Matthew J.; Martin, Jonathan B.; ...

2018-05-18

Here, chemical weathering of bedrock plays an essential role in the formation and evolution of Earth's critical zone. Over geologic time, the negative feedback between temperature and chemical weathering rates contributes to the regulation of Earth climate. The challenge of understanding weathering rates and the resulting evolution of critical zone structures lies in complicated interactions and feedbacks among environmental variables, local ecohydrologic processes, and soil thickness, the relative importance of which remains unresolved. We investigate these interactions using a reactive-transport kinetics model, focusing on a low-relief, wetland-dominated karst landscape (Big Cypress National Preserve, South Florida, USA) as a case study.more » Across a broad range of environmental variables, model simulations highlight primary controls of climate and soil biological respiration, where soil thickness both supplies and limits transport of biologically derived acidity. Consequently, the weathering rate maximum occurs at intermediate soil thickness. The value of the maximum weathering rate and the precise soil thickness at which it occurs depend on several environmental variables, including precipitation regime, soil inundation, vegetation characteristics, and rate of groundwater drainage. Simulations for environmental conditions specific to Big Cypress suggest that wetland depressions in this landscape began to form around beginning of the Holocene with gradual dissolution of limestone bedrock and attendant soil development, highlighting large influence of age-varying soil thickness on weathering rates and consequent landscape development. While climatic variables are often considered most important for chemical weathering, our results indicate that soil thickness and biotic activity are equally important. Weathering rates reflect complex interactions among soil thickness, climate, and local hydrologic and biotic processes, which jointly shape the supply and delivery of chemical reactants, and the resulting trajectories of critical zone and karst landscape development.« less

Ecohydrologic processes and soil thickness feedbacks control limestone-weathering rates in a karst landscape

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

Dong, Xiaoli; Cohen, Matthew J.; Martin, Jonathan B.

Here, chemical weathering of bedrock plays an essential role in the formation and evolution of Earth's critical zone. Over geologic time, the negative feedback between temperature and chemical weathering rates contributes to the regulation of Earth climate. The challenge of understanding weathering rates and the resulting evolution of critical zone structures lies in complicated interactions and feedbacks among environmental variables, local ecohydrologic processes, and soil thickness, the relative importance of which remains unresolved. We investigate these interactions using a reactive-transport kinetics model, focusing on a low-relief, wetland-dominated karst landscape (Big Cypress National Preserve, South Florida, USA) as a case study.more » Across a broad range of environmental variables, model simulations highlight primary controls of climate and soil biological respiration, where soil thickness both supplies and limits transport of biologically derived acidity. Consequently, the weathering rate maximum occurs at intermediate soil thickness. The value of the maximum weathering rate and the precise soil thickness at which it occurs depend on several environmental variables, including precipitation regime, soil inundation, vegetation characteristics, and rate of groundwater drainage. Simulations for environmental conditions specific to Big Cypress suggest that wetland depressions in this landscape began to form around beginning of the Holocene with gradual dissolution of limestone bedrock and attendant soil development, highlighting large influence of age-varying soil thickness on weathering rates and consequent landscape development. While climatic variables are often considered most important for chemical weathering, our results indicate that soil thickness and biotic activity are equally important. Weathering rates reflect complex interactions among soil thickness, climate, and local hydrologic and biotic processes, which jointly shape the supply and delivery of chemical reactants, and the resulting trajectories of critical zone and karst landscape development.« less

Symmetric voltage-controlled variable resistance

NASA Technical Reports Server (NTRS)

Vanelli, J. C.

1978-01-01

Feedback network makes resistance of field-effect transistor (FET) same for current flowing in either direction. It combines control voltage with source and load voltages to give symmetric current/voltage characteristics. Since circuit produces same magnitude output voltage for current flowing in either direction, it introduces no offset in presense of altering polarity signals. It is therefore ideal for sensor and effector circuits in servocontrol systems.

Process-based quality for thermal spray via feedback control

NASA Astrophysics Data System (ADS)

Dykhuizen, R. C.; Neiser, R. A.

2006-09-01

Quality control of a thermal spray system manufacturing process is difficult due to the many input variables that need to be controlled. Great care must be taken to ensure that the process remains constant to obtain a consistent quality of the parts. Control is greatly complicated by the fact that measurement of particle velocities and temperatures is a noisy stochastic process. This article illustrates the application of quality control concepts to a wire flame spray process. A central feature of the real-time control system is an automatic feedback control scheme that provides fine adjustments to ensure that uncontrolled variations are accommodated. It is shown how the control vectors can be constructed from simple process maps to independently control particle velocity and temperature. This control scheme is shown to perform well in a real production environment. We also demonstrate that slight variations in the feed wire curvature can greatly influence the process. Finally, the geometry of the spray system and sensor must remain constant for the best reproducibility.

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.

Inertial sensor real-time feedback enhances the learning of cervical spine manipulation: a prospective study

PubMed Central

2014-01-01

Background Cervical Spinal Manipulation (CSM) is considered a high-level skill of the central nervous system because it requires bimanual coordinated rhythmical movements therefore necessitating training to achieve proficiency. The objective of the present study was to investigate the effect of real-time feedback on the performance of CSM. Methods Six postgraduate physiotherapy students attending a training workshop on Cervical Spine Manipulation Technique (CSMT) using inertial sensor derived real-time feedback participated in this study. The key variables were pre-manipulative position, angular displacement of the thrust and angular velocity of the thrust. Differences between variables before and after training were investigated using t-tests. Results There were no significant differences after training for the pre-manipulative position (rotation p = 0.549; side bending p = 0.312) or for thrust displacement (rotation p = 0.247; side bending p = 0.314). Thrust angular velocity demonstrated a significant difference following training for rotation (pre-training mean (sd) 48.9°/s (35.1); post-training mean (sd) 96.9°/s (53.9); p = 0.027) but not for side bending (p = 0.521). Conclusion Real-time feedback using an inertial sensor may be valuable in the development of specific manipulative skill. Future studies investigating manipulation could consider a randomized controlled trial using inertial sensor real time feedback compared to traditional training. PMID:24942483

Instruction and jump-landing kinematics in college-aged female athletes over time.

PubMed

Etnoyer, Jena; Cortes, Nelson; Ringleb, Stacie I; Van Lunen, Bonnie L; Onate, James A

2013-01-01

Instruction can be used to alter the biomechanical movement patterns associated with anterior cruciate ligament (ACL) injuries. To determine the effects of instruction through combination (self and expert) feedback or self-feedback on lower extremity kinematics during the box-drop-jump task, running-stop-jump task, and sidestep-cutting maneuver over time in college-aged female athletes. Randomized controlled clinical trial. Laboratory. Forty-three physically active women (age = 21.47 ± 1.55 years, height = 1.65 ± 0.08 m, mass = 63.78 ± 12.00 kg) with no history of ACL or lower extremity injuries or surgery in the 2 months before the study were assigned randomly to 3 groups: self-feedback (SE), combination feedback (CB), or control (CT). Participants performed a box-drop-jump task for the pretest and then received feedback about their landing mechanics. After the intervention, they performed an immediate posttest of the box-drop-jump task and a running-stop-jump transfer test. Participants returned 1 month later for a retention test of each task and a sidestep-cutting maneuver. Kinematic data were collected with an 8-camera system sampled at 500 Hz. The independent variables were feedback group (3), test time (3), and task (3). The dependent variables were knee- and hip-flexion, knee-valgus, and hip- abduction kinematics at initial contact and at peak knee flexion. For the box-drop-jump task, knee- and hip-flexion angles at initial contact were greater at the posttest than at the retention test (P < .001). At peak knee flexion, hip flexion was greater at the posttest than at the pretest (P = .003) and was greater at the retention test than at the pretest (P = .04); knee valgus was greater at the retention test than at the pretest (P = .03) and posttest (P = .02). Peak knee flexion was greater for the CB than the SE group (P = .03) during the box-drop-jump task at posttest. For the running-stop-jump task at the posttest, the CB group had greater peak knee flexion than the SE and CT (P ≤ .05). Our results suggest that feedback involving a combination of self-feedback and expert video feedback with oral instruction effectively improved lower extremity kinematics during jump-landing tasks.

The Effect Of Different Corrective Feedback Methods on the Outcome and Self Confidence of Young Athletes

PubMed Central

Tzetzis, George; Votsis, Evandros; Kourtessis, Thomas

2008-01-01

This experiment investigated the effects of three corrective feedback methods, using different combinations of correction, or error cues and positive feedback for learning two badminton skills with different difficulty (forehand clear - low difficulty, backhand clear - high difficulty). Outcome and self-confidence scores were used as dependent variables. The 48 participants were randomly assigned into four groups. Group A received correction cues and positive feedback. Group B received cues on errors of execution. Group C received positive feedback, correction cues and error cues. Group D was the control group. A pre, post and a retention test was conducted. A three way analysis of variance ANOVA (4 groups X 2 task difficulty X 3 measures) with repeated measures on the last factor revealed significant interactions for each depended variable. All the corrective feedback methods groups, increased their outcome scores over time for the easy skill, but only groups A and C for the difficult skill. Groups A and B had significantly better outcome scores than group C and the control group for the easy skill on the retention test. However, for the difficult skill, group C was better than groups A, B and D. The self confidence scores of groups A and C improved over time for the easy skill but not for group B and D. Again, for the difficult skill, only group C improved over time. Finally a regression analysis depicted that the improvement in performance predicted a proportion of the improvement in self confidence for both the easy and the difficult skill. It was concluded that when young athletes are taught skills of different difficulty, different type of instruction, might be more appropriate in order to improve outcome and self confidence. A more integrated approach on teaching will assist coaches or physical education teachers to be more efficient and effective. Key pointsThe type of the skill is a critical factor in determining the effectiveness of the feedback types.Different instructional methods of corrective feedback could have beneficial effects in the outcome and self-confidence of young athletesInstructions focusing on the correct cues or errors increase performance of easy skills.Positive feedback or correction cues increase self-confidence of easy skills but only the combination of error and correction cues increase self confidence and outcome scores of difficult skills. PMID:24149905

Instruction and Jump-Landing Kinematics in College-Aged Female Athletes Over Time

PubMed Central

Etnoyer, Jena; Cortes, Nelson; Ringleb, Stacie I.; Van Lunen, Bonnie L.; Onate, James A.

2013-01-01

Context: Instruction can be used to alter the biomechanical movement patterns associated with anterior cruciate ligament (ACL) injuries. Objective: To determine the effects of instruction through combination (self and expert) feedback or self-feedback on lower extremity kinematics during the box–drop-jump task, running–stop-jump task, and sidestep-cutting maneuver over time in college-aged female athletes. Design: Randomized controlled clinical trial. Setting: Laboratory. Patients or Other Participants: Forty-three physically active women (age = 21.47 ± 1.55 years, height = 1.65 ± 0.08 m, mass = 63.78 ± 12.00 kg) with no history of ACL or lower extremity injuries or surgery in the 2 months before the study were assigned randomly to 3 groups: self-feedback (SE), combination feedback (CB), or control (CT). Intervention(s): Participants performed a box–drop-jump task for the pretest and then received feedback about their landing mechanics. After the intervention, they performed an immediate posttest of the box–drop-jump task and a running–stop-jump transfer test. Participants returned 1 month later for a retention test of each task and a sidestep-cutting maneuver. Kinematic data were collected with an 8-camera system sampled at 500 Hz. Main Outcome Measure(s): The independent variables were feedback group (3), test time (3), and task (3). The dependent variables were knee- and hip-flexion, knee-valgus, and hip- abduction kinematics at initial contact and at peak knee flexion. Results: For the box–drop-jump task, knee- and hip-flexion angles at initial contact were greater at the posttest than at the retention test (P < .001). At peak knee flexion, hip flexion was greater at the posttest than at the pretest (P = .003) and was greater at the retention test than at the pretest (P = .04); knee valgus was greater at the retention test than at the pretest (P = .03) and posttest (P = .02). Peak knee flexion was greater for the CB than the SE group (P = .03) during the box–drop-jump task at posttest. For the running–stop-jump task at the posttest, the CB group had greater peak knee flexion than the SE and CT (P ≤ .05). Conclusions: Our results suggest that feedback involving a combination of self-feedback and expert video feedback with oral instruction effectively improved lower extremity kinematics during jump-landing tasks. PMID:23672380

Advanced multivariable control of a turboexpander plant

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

Altena, D.; Howard, M.; Bullin, K.

1998-12-31

This paper describes an application of advanced multivariable control on a natural gas plant and compares its performance to the previous conventional feed-back control. This control algorithm utilizes simple models from existing plant data and/or plant tests to hold the process at the desired operating point in the presence of disturbances and changes in operating conditions. The control software is able to accomplish this due to effective handling of process variable interaction, constraint avoidance and feed-forward of measured disturbances. The economic benefit of improved control lies in operating closer to the process constraints while avoiding significant violations. The South Texasmore » facility where this controller was implemented experienced reduced variability in process conditions which increased liquids recovery because the plant was able to operate much closer to the customer specified impurity constraint. An additional benefit of this implementation of multivariable control is the ability to set performance criteria beyond simple setpoints, including process variable constraints, relative variable merit and optimizing use of manipulated variables. The paper also details the control scheme applied to the complex turboexpander process and some of the safety features included to improve reliability.« less

Optimal feedback strategies for pursuit-evasion and interception in a plane

NASA Technical Reports Server (NTRS)

Rajan, N.; Ardema, M. D.

1983-01-01

Variable-speed pursuit-evasion and interception for two aircraft moving in a horizontal plane are analyzed in terms of a coordinate frame fixed in the plane at termination. Each participant's optimal motion can be represented by extremal trajectory maps. These maps are used to discuss sub-optimal approximations that are independent of the other participant. A method of constructing sections of the barrier, dispersal, and control-level surfaces and thus determining feedback strategies is described. Some examples are shown for pursuit-evasion and the minimum-time interception of a straight-flying target.

EMG Versus Torque Control of Human-Machine Systems: Equalizing Control Signal Variability Does not Equalize Error or Uncertainty.

PubMed

Johnson, Reva E; Kording, Konrad P; Hargrove, Levi J; Sensinger, Jonathon W

2017-06-01

In this paper we asked the question: if we artificially raise the variability of torque control signals to match that of EMG, do subjects make similar errors and have similar uncertainty about their movements? We answered this question using two experiments in which subjects used three different control signals: torque, torque+noise, and EMG. First, we measured error on a simple target-hitting task in which subjects received visual feedback only at the end of their movements. We found that even when the signal-to-noise ratio was equal across EMG and torque+noise control signals, EMG resulted in larger errors. Second, we quantified uncertainty by measuring the just-noticeable difference of a visual perturbation. We found that for equal errors, EMG resulted in higher movement uncertainty than both torque and torque+noise. The differences suggest that performance and confidence are influenced by more than just the noisiness of the control signal, and suggest that other factors, such as the user's ability to incorporate feedback and develop accurate internal models, also have significant impacts on the performance and confidence of a person's actions. We theorize that users have difficulty distinguishing between random and systematic errors for EMG control, and future work should examine in more detail the types of errors made with EMG control.

Load controller and method to enhance effective capacity of a photovotaic power supply using a dynamically determined expected peak loading

DOEpatents

Perez, Richard

2003-04-01

A load controller and method are provided for maximizing effective capacity of a non-controllable, renewable power supply coupled to a variable electrical load also coupled to a conventional power grid. Effective capacity is enhanced by monitoring power output of the renewable supply and loading, and comparing the loading against the power output and a load adjustment threshold determined from an expected peak loading. A value for a load adjustment parameter is calculated by subtracting the renewable supply output and the load adjustment parameter from the current load. This value is then employed to control the variable load in an amount proportional to the value of the load control parameter when the parameter is within a predefined range. By so controlling the load, the effective capacity of the non-controllable, renewable power supply is increased without any attempt at operational feedback control of the renewable supply. The expected peak loading of the variable load can be dynamically determined within a defined time interval with reference to variations in the variable load.

Self-Management of Patient Body Position, Pose, and Motion Using Wide-Field, Real-Time Optical Measurement Feedback: Results of a Volunteer Study

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

Parkhurst, James M.; Price, Gareth J., E-mail: gareth.price@christie.nhs.uk; Faculty of Medical and Human Sciences, Manchester Academic Health Sciences Centre, University of Manchester, Manchester

2013-12-01

Purpose: We present the results of a clinical feasibility study, performed in 10 healthy volunteers undergoing a simulated treatment over 3 sessions, to investigate the use of a wide-field visual feedback technique intended to help patients control their pose while reducing motion during radiation therapy treatment. Methods and Materials: An optical surface sensor is used to capture wide-area measurements of a subject's body surface with visualizations of these data displayed back to them in real time. In this study we hypothesize that this active feedback mechanism will enable patients to control their motion and help them maintain their setup posemore » and position. A capability hierarchy of 3 different level-of-detail abstractions of the measured surface data is systematically compared. Results: Use of the device enabled volunteers to increase their conformance to a reference surface, as measured by decreased variability across their body surfaces. The use of visual feedback also enabled volunteers to reduce their respiratory motion amplitude to 1.7 ± 0.6 mm compared with 2.7 ± 1.4 mm without visual feedback. Conclusions: The use of live feedback of their optically measured body surfaces enabled a set of volunteers to better manage their pose and motion when compared with free breathing. The method is suitable to be taken forward to patient studies.« less

Toward a Generative Model of the Teaching-Learning Process.

ERIC Educational Resources Information Center

McMullen, David W.

Until the rise of cognitive psychology, models of the teaching-learning process (TLP) stressed external rather than internal variables. Models remained general descriptions until control theory introduced explicit system analyses. Cybernetic models emphasize feedback and adaptivity but give little attention to creativity. Research on artificial…

A numerical algorithm for optimal feedback gains in high dimensional linear quadratic regulator problems

NASA Technical Reports Server (NTRS)

Banks, H. T.; Ito, K.

1991-01-01

A hybrid method for computing the feedback gains in linear quadratic regulator problem is proposed. The method, which combines use of a Chandrasekhar type system with an iteration of the Newton-Kleinman form with variable acceleration parameter Smith schemes, is formulated to efficiently compute directly the feedback gains rather than solutions of an associated Riccati equation. The hybrid method is particularly appropriate when used with large dimensional systems such as those arising in approximating infinite-dimensional (distributed parameter) control systems (e.g., those governed by delay-differential and partial differential equations). Computational advantages of the proposed algorithm over the standard eigenvector (Potter, Laub-Schur) based techniques are discussed, and numerical evidence of the efficacy of these ideas is presented.

A numerical algorithm for optimal feedback gains in high dimensional LQR problems

NASA Technical Reports Server (NTRS)

Banks, H. T.; Ito, K.

1986-01-01

A hybrid method for computing the feedback gains in linear quadratic regulator problems is proposed. The method, which combines the use of a Chandrasekhar type system with an iteration of the Newton-Kleinman form with variable acceleration parameter Smith schemes, is formulated so as to efficiently compute directly the feedback gains rather than solutions of an associated Riccati equation. The hybrid method is particularly appropriate when used with large dimensional systems such as those arising in approximating infinite dimensional (distributed parameter) control systems (e.g., those governed by delay-differential and partial differential equations). Computational advantage of the proposed algorithm over the standard eigenvector (Potter, Laub-Schur) based techniques are discussed and numerical evidence of the efficacy of our ideas presented.

Stabilizing detached Bridgman melt crystal growth: Model-based nonlinear feedback control

NASA Astrophysics Data System (ADS)

Yeckel, Andrew; Daoutidis, Prodromos; Derby, Jeffrey J.

2012-12-01

The dynamics and operability limits of a nonlinear-proportional-integral controller designed to stabilize detached vertical Bridgman crystal growth are studied. The manipulated variable is the pressure difference between upper and lower vapor spaces, and the controlled variable is the gap width at the triple-phase line. The controller consists of a model-based nonlinear component coupled with a standard proportional-integral controller. The nonlinear component is based on a capillary model of shape stability. Perturbations to gap width, pressure difference, wetting angle, and growth angle are studied under both shape stable and shape unstable conditions. The nonlinear-PI controller allows a wider operating range of gain than a standard PI controller used alone, is easier to tune, and eliminates solution multiplicity from closed-loop operation.

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).

The Role of Soil Water and Land Feedbacks in Decadal Drought in Western North America

NASA Astrophysics Data System (ADS)

Langford, S.; Chikamoto, Y.; Noone, D. C.

2013-12-01

Western North America is susceptible to severe impacts of megadroughts, as evidenced by tree-core or lake sediment records. Future predictions suggest that this region will become more arid, with further consequences for water resources. Understanding the mechanisms of drought variability and persistence in western North America is critical for the eventual development of effective forecasting methods. The ocean is expected to be the main source of decadal memory in the system as the atmosphere varies on a much shorter timescale. The ocean's role in driving the low-frequency variability of the system is potentially predictable. However, low-frequency precipitation anomalies in western North America can occur in the absence of ocean feedbacks. Sea surface temperature anomalies in the north Pacific Ocean only account for around 20 per cent of the low-frequency winter precipitation in California in the CMIP5 historical runs. This is not sufficient to use the skill of global coupled models in predicting ocean conditions ahead of time to successfully forecast the possibility of long-term drought in western North America. Megadroughts therefore may be generated by unpredictable atmospheric noise, or persisted by other sources of low-frequency variability such as land processes and feedbacks. Snowpack in western North America is a crucial water resource for the surrounding communities, storing the winter precipitation for use later in the year. Likewise, soil moisture integrates the precipitation signal; the time scale depends on the depth and characteristics of the soil. Water storage and related variables are more predictable on longer timescales than precipitation, as measured by anomaly correlation for hindcasts compared to a 'perfect model' control run with CESM1.0.3. The importance of antecedent land conditions in persisting megadroughts in western North America is explored with ensemble simulations of CESM1.0.3, where the atmosphere is perturbed at the initiation and peak of a megadrought in the control run. Numerical experiments are used to test land-atmosphere feedbacks or memory sources, highlighting the sensitivity of megadrought initiation, persistence and termination to these antecedent conditions. The model results confirm the importance of land processes in projections of future decadal hydroclimate.

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.

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2017-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and [Formula: see text] robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Robust Stabilization of Periodic Orbits of Hybrid Systems: Application to Bipedal Walking

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially and robustly stabilize periodic orbits for hybrid dynamical systems against possible uncertainties in discrete-time phases. The algorithm assumes a family of parameterized and decentralized nonlinear controllers to coordinate interconnected hybrid subsystems based on a common phasing variable. The exponential and H2 robust stabilization problems of periodic orbits are translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities. By investigating the properties of the Poincaré map, some sufficient conditions for the convergence of the iterative algorithm are presented. The power of the algorithm is finally demonstrated through designing a set of robust stabilizing local nonlinear controllers for walking of an underactuated 3D autonomous bipedal robot with 9 degrees of freedom, impact model uncertainties, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:28959117

Torque ripple reduction of brushless DC motor based on adaptive input-output feedback linearization.

PubMed

Shirvani Boroujeni, M; Markadeh, G R Arab; Soltani, J

2017-09-01

Torque ripple reduction of Brushless DC Motors (BLDCs) is an interesting subject in variable speed AC drives. In this paper at first, a mathematical expression for torque ripple harmonics is obtained. Then for a non-ideal BLDC motor with known harmonic contents of back-EMF, calculation of desired reference current amplitudes, which are required to eliminate some selected harmonics of torque ripple, are reviewed. In order to inject the reference harmonic currents to the motor windings, an Adaptive Input-Output Feedback Linearization (AIOFBL) control is proposed, which generates the reference voltages for three phases voltage source inverter in stationary reference frame. Experimental results are presented to show the capability and validity of the proposed control method and are compared with the vector control in Multi-Reference Frame (MRF) and Pseudo-Vector Control (P-VC) method results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Approximation-based adaptive tracking control of pure-feedback nonlinear systems with multiple unknown time-varying delays.

PubMed

Wang, Min; Ge, Shuzhi Sam; Hong, Keum-Shik

2010-11-01

This paper presents adaptive neural tracking control for a class of non-affine pure-feedback systems with multiple unknown state time-varying delays. To overcome the design difficulty from non-affine structure of pure-feedback system, mean value theorem is exploited to deduce affine appearance of state variables x(i) as virtual controls α(i), and of the actual control u. The separation technique is introduced to decompose unknown functions of all time-varying delayed states into a series of continuous functions of each delayed state. The novel Lyapunov-Krasovskii functionals are employed to compensate for the unknown functions of current delayed state, which is effectively free from any restriction on unknown time-delay functions and overcomes the circular construction of controller caused by the neural approximation of a function of u and [Formula: see text] . Novel continuous functions are introduced to overcome the design difficulty deduced from the use of one adaptive parameter. To achieve uniformly ultimate boundedness of all the signals in the closed-loop system and tracking performance, control gains are effectively modified as a dynamic form with a class of even function, which makes stability analysis be carried out at the present of multiple time-varying delays. Simulation studies are provided to demonstrate the effectiveness of the proposed scheme.

Attitude Control for an Aero-Vehicle Using Vector Thrusting and Variable Speed Control Moment Gyros

NASA Technical Reports Server (NTRS)

Shin, Jong-Yeob; Lim, K. B.; Moerder, D. D.

2005-01-01

Stabilization of passively unstable thrust-levitated vehicles can require significant control inputs. Although thrust vectoring is a straightforward choice for realizing these inputs, this may lead to difficulties discussed in the paper. This paper examines supplementing thrust vectoring with Variable-Speed Control Moment Gyroscopes (VSCMGs). The paper describes how to allocate VSCMGs and the vectored thrust mechanism for attitude stabilization in frequency domain and also shows trade-off between vectored thrust and VSCMGs. Using an H2 control synthesis methodology in LMI optimization, a feedback control law is designed for a thrust-levitated research vehicle and is simulated with the full nonlinear model. It is demonstrated that VSCMGs can reduce the use of vectored thrust variation for stabilizing the hovering platform in the presence of strong wind gusts.

QFT Multi-Input, Multi-Output Design with Non-Diagonal, Non-Square Compensation Matrices

NASA Technical Reports Server (NTRS)

Hess, R. A.; Henderson, D. K.

1996-01-01

A technique for obtaining a non-diagonal compensator for the control of a multi-input, multi-output plant is presented. The technique, which uses Quantitative Feedback Theory, provides guaranteed stability and performance robustness in the presence of parametric uncertainty. An example is given involving the lateral-directional control of an uncertain model of a high-performance fighter aircraft in which redundant control effectors are in evidence, i.e. more control effectors than output variables are used.

Cardiopulmonary exercise testing early after stroke using feedback-controlled robotics-assisted treadmill exercise: test-retest reliability and repeatability.

PubMed

Stoller, Oliver; de Bruin, Eling D; Schindelholz, Matthias; Schuster-Amft, Corina; de Bie, Rob A; Hunt, Kenneth J

2014-10-11

Exercise capacity is seriously reduced after stroke. While cardiopulmonary assessment and intervention strategies have been validated for the mildly and moderately impaired populations post-stroke, there is a lack of effective concepts for stroke survivors suffering from severe motor limitations. This study investigated the test-retest reliability and repeatability of cardiopulmonary exercise testing (CPET) using feedback-controlled robotics-assisted treadmill exercise (FC-RATE) in severely motor impaired individuals early after stroke. 20 subjects (age 44-84 years, <6 month post-stroke) with severe motor limitations (Functional Ambulatory Classification 0-2) were selected for consecutive constant load testing (CLT) and incremental exercise testing (IET) within a powered exoskeleton, synchronised with a treadmill and a body weight support system. A manual human-in-the-loop feedback system was used to guide individual work rate levels. Outcome variables focussed on standard cardiopulmonary performance parameters. Relative and absolute test-retest reliability were assessed by intraclass correlation coefficients (ICC), standard error of the measurement (SEM), and minimal detectable change (MDC). Mean difference, limits of agreement, and coefficient of variation (CoV) were estimated to assess repeatability. Peak performance parameters during IET yielded good to excellent relative reliability: absolute peak oxygen uptake (ICC =0.82), relative peak oxygen uptake (ICC =0.72), peak work rate (ICC =0.91), peak heart rate (ICC =0.80), absolute gas exchange threshold (ICC =0.91), relative gas exchange threshold (ICC =0.88), oxygen cost of work (ICC =0.87), oxygen pulse at peak oxygen uptake (ICC =0.92), ventilation rate versus carbon dioxide output slope (ICC =0.78). For these variables, SEM was 4-13%, MDC 12-36%, and CoV 0.10-0.36. CLT revealed high mean differences and insufficient test-retest reliability for all variables studied. This study presents first evidence on reliability and repeatability for CPET in severely motor impaired individuals early after stroke using a feedback-controlled robotics-assisted treadmill. The results demonstrate good to excellent test-retest reliability and appropriate repeatability for the most important peak cardiopulmonary performance parameters. These findings have important implications for the design and implementation of cardiovascular exercise interventions in severely impaired populations. Future research needs to develop advanced control strategies to enable the true limit of functional exercise capacity to be reached and to further assess test-retest reliability and repeatability in larger samples.

Practice reduces task relevant variance modulation and forms nominal trajectory

NASA Astrophysics Data System (ADS)

Osu, Rieko; Morishige, Ken-Ichi; Nakanishi, Jun; Miyamoto, Hiroyuki; Kawato, Mitsuo

2015-12-01

Humans are capable of achieving complex tasks with redundant degrees of freedom. Much attention has been paid to task relevant variance modulation as an indication of online feedback control strategies to cope with motor variability. Meanwhile, it has been discussed that the brain learns internal models of environments to realize feedforward control with nominal trajectories. Here we examined trajectory variance in both spatial and temporal domains to elucidate the relative contribution of these control schemas. We asked subjects to learn reaching movements with multiple via-points, and found that hand trajectories converged to stereotyped trajectories with the reduction of task relevant variance modulation as learning proceeded. Furthermore, variance reduction was not always associated with task constraints but was highly correlated with the velocity profile. A model assuming noise both on the nominal trajectory and motor command was able to reproduce the observed variance modulation, supporting an expression of nominal trajectories in the brain. The learning-related decrease in task-relevant modulation revealed a reduction in the influence of optimal feedback around the task constraints. After practice, the major part of computation seems to be taken over by the feedforward controller around the nominal trajectory with feedback added only when it becomes necessary.

Adaptive feedback synchronisation of complex dynamical network with discrete-time communications and delayed nodes

NASA Astrophysics Data System (ADS)

Wang, Tong; Ding, Yongsheng; Zhang, Lei; Hao, Kuangrong

2016-08-01

This paper considered the synchronisation of continuous complex dynamical networks with discrete-time communications and delayed nodes. The nodes in the dynamical networks act in the continuous manner, while the communications between nodes are discrete-time; that is, they communicate with others only at discrete time instants. The communication intervals in communication period can be uncertain and variable. By using a piecewise Lyapunov-Krasovskii function to govern the characteristics of the discrete communication instants, we investigate the adaptive feedback synchronisation and a criterion is derived to guarantee the existence of the desired controllers. The globally exponential synchronisation can be achieved by the controllers under the updating laws. Finally, two numerical examples including globally coupled network and nearest-neighbour coupled networks are presented to demonstrate the validity and effectiveness of the proposed control scheme.

RF power recovery feedback circulator

DOEpatents

Sharamentov, Sergey I [Bolingbrook, IL

2011-03-29

A device and method for improving the efficiency of RF systems having a Reflective Load. In the preferred embodiment, Reflected Energy from a superconducting resonator of a particle accelerator is reintroduced to the resonator after the phase of the Reflected Energy is aligned with the phase of the Supply Energy from a RF Energy Source. In one embodiment, a Circulator is used to transfer Reflected Energy from the Reflective Load into a Phase Adjuster which aligns the phase of the Reflected Energy with that of the Supply Energy. The phase-aligned energy is then combined with the Supply Energy, and reintroduced into the Reflective Load. In systems having a constant phase shift, the Phase Adjuster may be designed to shift the phase of the Reflected Energy by a constant amount using a Phase Shifter. In systems having a variety (variable) phase shifts, a Phase Shifter controlled by a phase feedback loop comprising a Phase Detector and a Feedback Controller to account for the various phase shifts is preferable.

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

PubMed

Li, Yongming; Tong, Shaocheng

2017-06-28

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

Levels of steering control: Reproduction of steering-wheel movements

NASA Technical Reports Server (NTRS)

Godthelp, H.

1982-01-01

A schematic description of the steering control process is presented. It is shown that this process can be described in terms of levels of control. Level of control will depend on driver's skill in making use of 'clever' strategies which may be related to knowledge about the path to follow (input) and/or the vehicle under control. This knowledge may be referred to as an internal model of a particular task element. Internal information, as derived from these internal models will probably be used together with proprioceptive feedback. It is hypothesized that the efficiency of the higher levels of control will be dependent on the accuracy of both the internal and proprioceptive information. Based on this research philosophy a series of experiments is carried out. Two primary experiments were done in order to analyse subjects' ability to reproduce steering-wheel positions and movements without visual feedback. Steering-wheel angle amplitude, steering force and movement frequency were involved as independent variables.

Reward-Dependent Modulation of Movement Variability

PubMed Central

Izawa, Jun; Shadmehr, Reza

2015-01-01

Movement variability is often considered an unwanted byproduct of a noisy nervous system. However, variability can signal a form of implicit exploration, indicating that the nervous system is intentionally varying the motor commands in search of actions that yield the greatest success. Here, we investigated the role of the human basal ganglia in controlling reward-dependent motor variability as measured by trial-to-trial changes in performance during a reaching task. We designed an experiment in which the only performance feedback was success or failure and quantified how reach variability was modulated as a function of the probability of reward. In healthy controls, reach variability increased as the probability of reward decreased. Control of variability depended on the history of past rewards, with the largest trial-to-trial changes occurring immediately after an unrewarded trial. In contrast, in participants with Parkinson's disease, a known example of basal ganglia dysfunction, reward was a poor modulator of variability; that is, the patients showed an impaired ability to increase variability in response to decreases in the probability of reward. This was despite the fact that, after rewarded trials, reach variability in the patients was comparable to healthy controls. In summary, we found that movement variability is partially a form of exploration driven by the recent history of rewards. When the function of the human basal ganglia is compromised, the reward-dependent control of movement variability is impaired, particularly affecting the ability to increase variability after unsuccessful outcomes. PMID:25740529

Sources of Intermodel Spread in the Lapse Rate and Water Vapor Feedbacks

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

Po-Chedley, Stephen; Armour, Kyle C.; Bitz, Cecilia M.

Sources of intermodel differences in the global lapse rate (LR) and water vapor (WV) feedbacks are assessed using CO 2 forcing simulations from 28 general circulation models. Tropical surface warming leads to significant warming and moistening in the tropical and extratropical upper troposphere, signifying a nonlocal, tropical influence on extratropical radiation and feedbacks. Model spread in the locally defined LR and WV feedbacks is pronounced in the Southern Ocean because of large-scale ocean upwelling, which reduces surface warming and decouples the surface from the tropospheric response. The magnitude of local extratropical feedbacks across models and over time is well characterizedmore » using the ratio of tropical to extratropical surface warming. It is shown that model differences in locally defined LR and WV feedbacks, particularly over the southern extratropics, drive model variability in the global feedbacks. The cross-model correlation between the global LR and WV feedbacks therefore does not arise from their covariation in the tropics, but rather from the pattern of warming exerting a common control on extratropical feedback responses. Because local feedbacks over the Southern Hemisphere are an important contributor to the global feedback, the partitioning of surface warming between the tropics and the southern extratropics is a key determinant of the spread in the global LR and WV feedbacks. It is also shown that model Antarctic sea ice climatology influences sea ice area changes and southern extratropical surface warming. In conclusion, as a result, model discrepancies in climatological Antarctic sea ice area have a significant impact on the intermodel spread of the global LR and WV feedbacks.« less

Sources of Intermodel Spread in the Lapse Rate and Water Vapor Feedbacks

DOE PAGES

Po-Chedley, Stephen; Armour, Kyle C.; Bitz, Cecilia M.; ...

2018-03-23

Sources of intermodel differences in the global lapse rate (LR) and water vapor (WV) feedbacks are assessed using CO 2 forcing simulations from 28 general circulation models. Tropical surface warming leads to significant warming and moistening in the tropical and extratropical upper troposphere, signifying a nonlocal, tropical influence on extratropical radiation and feedbacks. Model spread in the locally defined LR and WV feedbacks is pronounced in the Southern Ocean because of large-scale ocean upwelling, which reduces surface warming and decouples the surface from the tropospheric response. The magnitude of local extratropical feedbacks across models and over time is well characterizedmore » using the ratio of tropical to extratropical surface warming. It is shown that model differences in locally defined LR and WV feedbacks, particularly over the southern extratropics, drive model variability in the global feedbacks. The cross-model correlation between the global LR and WV feedbacks therefore does not arise from their covariation in the tropics, but rather from the pattern of warming exerting a common control on extratropical feedback responses. Because local feedbacks over the Southern Hemisphere are an important contributor to the global feedback, the partitioning of surface warming between the tropics and the southern extratropics is a key determinant of the spread in the global LR and WV feedbacks. It is also shown that model Antarctic sea ice climatology influences sea ice area changes and southern extratropical surface warming. In conclusion, as a result, model discrepancies in climatological Antarctic sea ice area have a significant impact on the intermodel spread of the global LR and WV feedbacks.« less

Landscape fires dominate terrestrial natural aerosol - climate feedbacks

NASA Astrophysics Data System (ADS)

Scott, C.; Arnold, S.; Monks, S. A.; Asmi, A.; Paasonen, P.; Spracklen, D. V.

2017-12-01

The terrestrial biosphere is an important source of natural aerosol including landscape fire emissions and secondary organic aerosol (SOA) formed from biogenic volatile organic compounds (BVOCs). Atmospheric aerosol alters the Earth's climate by absorbing and scattering radiation (direct radiative effect; DRE) and by perturbing the properties of clouds (aerosol indirect effect; AIE). Natural aerosol sources are strongly controlled by, and can influence, climate; giving rise to potential natural aerosol-climate feedbacks. Earth System Models (ESMs) include a description of some of these natural aerosol-climate feedbacks, predicting substantial changes in natural aerosol over the coming century with associated radiative perturbations. Despite this, the sensitivity of natural aerosols simulated by ESMs to changes in climate or emissions has not been robustly tested against observations. Here we combine long-term observations of aerosol number and a global aerosol microphysics model to assess terrestrial natural aerosol-climate feedbacks. We find a strong positive relationship between the summertime anomaly in observed concentration of particles greater than 100 nm diameter and the anomaly in local air temperature. This relationship is reproduced by the model and driven by variability in dynamics and meteorology, as well as natural sources of aerosol. We use an offline radiative transfer model to determine radiative effects due to changes in two natural aerosol sources: landscape fire and biogenic SOA. We find that interannual variability in the simulated global natural aerosol radiative effect (RE) is negatively related to the global temperature anomaly. The magnitude of global aerosol-climate feedback (sum of DRE and AIE) is estimated to be -0.15 Wm-2 K-1 for landscape fire aerosol and -0.06 Wm-2 K-1 for biogenic SOA. These feedbacks are comparable in magnitude, but opposite in sign to the snow albedo feedback, highlighting the need for natural aerosol feedbacks to be included in climate simulations.

Age Effects in Postural Control Analyzed via a Principal Component Analysis of Kinematic Data and Interpreted in Relation to Predictions of the Optimal Feedback Control Theory

PubMed Central

Haid, Thomas H.; Doix, Aude-Clémence M.; Nigg, Benno M.; Federolf, Peter A.

2018-01-01

Optimal feedback control theory suggests that control of movement is focused on movement dimensions that are important for the task's success. The current study tested the hypotheses that age effects would emerge in the control of only specific movement components and that these components would be linked to the task relevance. Fifty healthy volunteers, 25 young and 25 older adults, performed a 80s-tandem stance while their postural movements were recorded using a standard motion capture system. The postural movements were decomposed by a principal component analysis into one-dimensional movement components, PMk, whose control was assessed through two variables, Nk and σk, which characterized the tightness and the regularity of the neuro-muscular control, respectively. The older volunteers showed less tight and more irregular control in PM2 (N2: −9.2%, p = 0.007; σ2: +14.3.0%, p = 0.017) but tighter control in PM8 and PM9 (N8: +4.7%, p = 0.020; N9: +2.5%, p = 0.043; σ9: −8.8%, p = 0.025). These results suggest that aging effects alter the postural control system not as a whole, but emerge in specific, task relevant components. The findings of the current study thus support the hypothesis that the minimal intervention principle, as described in the context of optimal feedback control (OFC), may be relevant when assessing aging effects on postural control. PMID:29459826

fMRI characterisation of widespread brain networks relevant for behavioural variability in fine hand motor control with and without visual feedback.

PubMed

Mayhew, Stephen D; Porcaro, Camillo; Tecchio, Franca; Bagshaw, Andrew P

2017-03-01

A bilateral visuo-parietal-motor network is responsible for fine control of hand movements. However, the sub-regions which are devoted to maintenance of contraction stability and how these processes fluctuate with trial-quality of task execution and in the presence/absence of visual feedback remains unclear. We addressed this by integrating behavioural and fMRI measurements during right-hand isometric compression of a compliant rubber bulb, at 10% and 30% of maximum voluntary contraction, both with and without visual feedback of the applied force. We quantified single-trial behavioural performance during 1) the whole task period and 2) stable contraction maintenance, and regressed these metrics against the fMRI data to identify the brain activity most relevant to trial-by-trial fluctuations in performance during specific task phases. fMRI-behaviour correlations in a bilateral network of visual, premotor, primary motor, parietal and inferior frontal cortical regions emerged during performance of the entire feedback task, but only in premotor, parietal cortex and thalamus during the stable contraction period. The trials with the best task performance showed increased bilaterality and amplitude of fMRI responses. With feedback, stronger BOLD-behaviour coupling was found during 10% compared to 30% contractions. Only a small subset of regions in this network were weakly correlated with behaviour without feedback, despite wider network activated during this task than in the presence of feedback. These findings reflect a more focused network strongly coupled to behavioural fluctuations when providing visual feedback, whereas without it the task recruited widespread brain activity almost uncoupled from behavioural performance. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

Stiffness control of magnetorheological gels for adaptive tunable vibration absorber

NASA Astrophysics Data System (ADS)

Kim, Hyun Kee; Kim, Hye Shin; Kim, Young-Keun

2017-01-01

In this study, a stiffness feedback control system for magnetorheological (MR) gel—a smart material of variable stiffness—is proposed, toward the design of a tunable vibration absorber that can adaptively tune to a time varying disturbance in real time. A PID controller was designed to track the required stiffness of the MR gel by controlling the magnitude of the target external magnetic field pervading the MR gel. This paper proposes a novel magnetic field generator that could produce a variable magnetic field with low energy consumption. The performance of the MR gel stiffness control was validated through experiments that showed the MR gel absorber system could be automatically tuned from 56 Hz to 67 Hz under a field of 100 mT to minimize the vibration of the primary system.

Guidance strategies and analysis for low thrust navigation

NASA Technical Reports Server (NTRS)

Jacobson, R. A.

1973-01-01

A low-thrust guidance algorithm suitable for operational use was formulated. A constrained linear feedback control law was obtained using a minimum terminal miss criterion and restricting control corrections to constant changes for specified time periods. Both fixed- and variable-time-of-arrival guidance were considered. The performance of the guidance law was evaluated by applying it to the approach phase of the 1980 rendezvous mission with the comet Encke.

Quality of HIV Testing Data Before and After the Implementation of a National Data Quality Assessment and Feedback System.

PubMed

Beltrami, John; Wang, Guoshen; Usman, Hussain R; Lin, Lillian S

In 2010, the Centers for Disease Control and Prevention (CDC) implemented a national data quality assessment and feedback system for CDC-funded HIV testing program data. Our objective was to analyze data quality before and after feedback. Coinciding with required quarterly data submissions to CDC, each health department received data quality feedback reports and a call with CDC to discuss the reports. Data from 2008 to 2011 were analyzed. Fifty-nine state and local health departments that were funded for comprehensive HIV prevention services. Data collected by a service provider in conjunction with a client receiving HIV testing. National data quality assessment and feedback system. Before and after intervention implementation, quality was assessed through the number of new test records reported and the percentage of data values that were neither missing nor invalid. Generalized estimating equations were used to assess the effect of feedback in improving the completeness of variables. Data were included from 44 health departments. The average number of new records per submission period increased from 197 907 before feedback implementation to 497 753 afterward. Completeness was high before and after feedback for race/ethnicity (99.3% vs 99.3%), current test results (99.1% vs 99.7%), prior testing and results (97.4% vs 97.7%), and receipt of results (91.4% vs 91.2%). Completeness improved for HIV risk (83.6% vs 89.5%), linkage to HIV care (56.0% vs 64.0%), referral to HIV partner services (58.9% vs 62.8%), and referral to HIV prevention services (55.3% vs 63.9%). Calls as part of feedback were associated with improved completeness for HIV risk (adjusted odds ratio [AOR] = 2.28; 95% confidence interval [CI], 1.75-2.96), linkage to HIV care (AOR = 1.60; 95% CI, 1.31-1.96), referral to HIV partner services (AOR = 1.73; 95% CI, 1.43-2.09), and referral to HIV prevention services (AOR = 1.74; 95% CI, 1.43-2.10). Feedback contributed to increased data quality. CDC and health departments should continue monitoring the data and implement measures to improve variables of low completeness.

Nonlinear feedback guidance law for aero-assisted orbit transfer maneuvers

NASA Technical Reports Server (NTRS)

Menon, P. K. A.

1992-01-01

Aero-assisted orbit transfer vehicles have the potential for significantly reducing the fuel requirements in certain classes of orbit transfer operations. Development of a nonlinear feedback guidance law for performing aero-assisted maneuvers that accomplish simultaneous change of all the orbital elements with least vehicle acceleration magnitude is discussed. The analysis is based on a sixth order nonlinear point-mass vehicle model with lift, bank angle, thrust and drag modulation as the control variables. The guidance law uses detailed vehicle aerodynamic and the atmosphere models in the feedback loop. Higher-order gravitational harmonics, planetary atmosphere rotation and ambient winds are included in the formulation. Due to modest computational requirements, the guidance law is implementable on-board an orbit transfer vehicle. The guidance performance is illustrated for three sets of boundary conditions.

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.

Information and reward in voluntary heart rate control.

PubMed

Bouchard, M A; Granger, L

1980-10-01

Two studies are reported which examined the relative effects of the pressence and absence of monetary incentives and instructions in a heart rate (HR) regulation task. Twelve male undergraduates were offered seven sessions of feedback assisted voluntary HR control training. In Experiment 1 six S s attempted to increase their HR with the aid of a "success," or positive binary visual signal. In Experiment 2 six S s were instructed to decrease their HR and were assisted by a "failure," or negative binary visual signal. In both studies the presence or absence of E's specific instructions to control HR was systematically varied from sessions 4 to 7. S s were paid on only half of the feedback trials of each session. These variables were thus systematically varied in a within-subject design. The main results suggest that (a) the instructions and monetary incentives significantly facilitated HR acceleration while showing no effects on HR deceleration; (b) in the no-instructions, no-incentive condition, HR control was minimal. The general hypothesis that Estes' interpretation of information and reward apply to human voluntary HR control received some support. It would appear that contrary to a traditional view, the exteroceptive feedback per se does not necessarily act as a reinforcer of the behavior, as witnessed for instance in the no-instructions, no-incentive conditions.

Reinforcement learning for partially observable dynamic processes: adaptive dynamic programming using measured output data.

PubMed

Lewis, F L; Vamvoudakis, Kyriakos G

2011-02-01

Approximate dynamic programming (ADP) is a class of reinforcement learning methods that have shown their importance in a variety of applications, including feedback control of dynamical systems. ADP generally requires full information about the system internal states, which is usually not available in practical situations. In this paper, we show how to implement ADP methods using only measured input/output data from the system. Linear dynamical systems with deterministic behavior are considered herein, which are systems of great interest in the control system community. In control system theory, these types of methods are referred to as output feedback (OPFB). The stochastic equivalent of the systems dealt with in this paper is a class of partially observable Markov decision processes. We develop both policy iteration and value iteration algorithms that converge to an optimal controller that requires only OPFB. It is shown that, similar to Q -learning, the new methods have the important advantage that knowledge of the system dynamics is not needed for the implementation of these learning algorithms or for the OPFB control. Only the order of the system, as well as an upper bound on its "observability index," must be known. The learned OPFB controller is in the form of a polynomial autoregressive moving-average controller that has equivalent performance with the optimal state variable feedback gain.

Effect of shrinkage on isothermal drying behavior of 2-phase olive mill waste

USDA-ARS?s Scientific Manuscript database

The objective of this study was to determine the drying behavior of 2-phase olive mill waste (2POMW) under isothermal microwave-convection drying conditions. 2POMW samples were dried in a thin layer in a variable-power pilot microwave oven with impinging air, using a feedback controller to maintain...

Identifying Mentors' Observations for Providing Feedback

ERIC Educational Resources Information Center

Hudson, Peter

2016-01-01

Mentors' feedback can assist preservice teachers' development; yet feedback tends to be variable from one mentor to the next. What do mentors observe for providing feedback? In this study, 24 mentors observed a final-year preservice teacher through a professionally video-recorded lesson and provided written notes for feedback. They observed the…

Feedback of Client-Relevant Information and Clinical Practice

ERIC Educational Resources Information Center

Dana, Richard H.; Graham, E. Diane

1976-01-01

The literature suggests that how one reacts to feedback is influenced by kind of feedback, conditions under which feedback is presented, and a variety of relevant subject variables. The most frequent design has resulted in acceptance of false feedback by college students leading to derogation of instruments and assessors. (Author/MV)

Erratum: Correction to: On the relative strength of radiative feedbacks under climate variability and change

NASA Astrophysics Data System (ADS)

Colman, Robert; Hanson, Lawson

2018-06-01

Two errors were discovered in the calculation of decadal feedbacks under RCP8.5: (i) cloud short wave (SW) and total feedbacks were miscalculated; and (ii) surface albedo and SW water vapour feedbacks were swapped when calculating regressions with climate change feedbacks.

Three nested randomized controlled trials of peer-only or multiple stakeholder group feedback within Delphi surveys during core outcome and information set development.

PubMed

Brookes, Sara T; Macefield, Rhiannon C; Williamson, Paula R; McNair, Angus G; Potter, Shelley; Blencowe, Natalie S; Strong, Sean; Blazeby, Jane M

2016-08-17

Methods for developing a core outcome or information set require involvement of key stakeholders to prioritise many items and achieve agreement as to the core set. The Delphi technique requires participants to rate the importance of items in sequential questionnaires (or rounds) with feedback provided in each subsequent round such that participants are able to consider the views of others. This study examines the impact of receiving feedback from different stakeholder groups, on the subsequent rating of items and the level of agreement between stakeholders. Randomized controlled trials were nested within the development of three core sets each including a Delphi process with two rounds of questionnaires, completed by patients and health professionals. Participants rated items from 1 (not essential) to 9 (absolutely essential). For round 2, participants were randomized to receive feedback from their peer stakeholder group only (peer) or both stakeholder groups separately (multiple). Decisions as to which items to retain following each round were determined by pre-specified criteria. Whilst type of feedback did not impact on the percentage of items for which a participant subsequently changed their rating, or the magnitude of change, it did impact on items retained at the end of round 2. Each core set contained discordant items retained by one feedback group but not the other (3-22 % discordant items). Consensus between patients and professionals in items to retain was greater amongst those receiving multiple group feedback in each core set (65-82 % agreement for peer-only feedback versus 74-94 % for multiple feedback). In addition, differences in round 2 scores were smaller between stakeholder groups receiving multiple feedback than between those receiving peer group feedback only. Variability in item scores across stakeholders was reduced following any feedback but this reduction was consistently greater amongst the multiple feedback group. In the development of a core outcome or information set, providing feedback within Delphi questionnaires from all stakeholder groups separately may influence the final core set and improve consensus between the groups. Further work is needed to better understand how participants rate and re-rate items within a Delphi process. The three randomized controlled trials reported here were each nested within the development of a core information or outcome set to investigate processes in core outcome and information set development. Outcomes were not health-related and therefore trial registration was not applicable.

Improving the effectiveness of performance feedback by considering personality traits and task demands

PubMed Central

Peterson, Jordan B.

2018-01-01

Although performance feedback is widely employed as a means to improve motivation, the efficacy and reliability of performance feedback is often obscured by individual differences and situational variables. The joint role of these moderating variables remains unknown. Accordingly, we investigate how the motivational impact of feedback is moderated by personality and task-difficulty. Utilizing three samples (total N = 916), we explore how Big Five personality traits moderate the motivational impact of false positive and negative feedback on playful, neutral, and frustrating puzzle tasks, respectively. Conscientious and Neurotic individuals together appear particularly sensitive to task difficulty, becoming significantly more motivated by negative feedback on playful tasks and demotivated by negative feedback on frustrating tasks. Results are discussed in terms of Goal-Setting and Self Determination Theory. Implications for industry and education are considered. PMID:29787593

The Galileo scan platform pointing control system - A modern control theoretic viewpoint

NASA Technical Reports Server (NTRS)

Sevaston, G. E.; Macala, G. A.; Man, G. K.

1985-01-01

The current Galileo scan platform pointing control system (SPPCS) is described, and ways in which modern control concepts could serve to enhance it are considered. Of particular interest are: the multi-variable design model and overall control system architecture, command input filtering, feedback compensator and command input design, stability robustness constraint for both continuous time control systems and for sampled data control systems, and digital implementation of the control system. The proposed approach leads to the design of a system that is similar to current Galileo SPPCS configuration, but promises to be more systematic.

Adaptive Control Based Harvesting Strategy for a Predator-Prey Dynamical System.

PubMed

Sen, Moitri; Simha, Ashutosh; Raha, Soumyendu

2018-04-23

This paper deals with designing a harvesting control strategy for a predator-prey dynamical system, with parametric uncertainties and exogenous disturbances. A feedback control law for the harvesting rate of the predator is formulated such that the population dynamics is asymptotically stabilized at a positive operating point, while maintaining a positive, steady state harvesting rate. The hierarchical block strict feedback structure of the dynamics is exploited in designing a backstepping control law, based on Lyapunov theory. In order to account for unknown parameters, an adaptive control strategy has been proposed in which the control law depends on an adaptive variable which tracks the unknown parameter. Further, a switching component has been incorporated to robustify the control performance against bounded disturbances. Proofs have been provided to show that the proposed adaptive control strategy ensures asymptotic stability of the dynamics at a desired operating point, as well as exact parameter learning in the disturbance-free case and learning with bounded error in the disturbance prone case. The dynamics, with uncertainty in the death rate of the predator, subjected to a bounded disturbance has been simulated with the proposed control strategy.

Canonical formalism for modelling and control of rigid body dynamics.

PubMed

Gurfil, P

2005-12-01

This paper develops a new paradigm for stabilization of rigid-body dynamics. The state-space model is formulated using canonical elements, known as the Serret-Andoyer (SA) variables, thus far scarcely used for engineering applications. The main feature of the SA formalism is the reduction of the dynamics via the underlying symmetry stemming from conservation of angular momentum and rotational kinetic energy. The controllability of the system model is examined using the notion of accessibility, and is shown to be accessible from all points. Based on the accessibility proof, two nonlinear asymptotic feedback stabilizers are developed: a damping feedback is designed based on the Jurdjevic-Quinn method, and a Hamiltonian controller is derived by using the Hamiltonian as a natural Lyapunov function for the closed-loop dynamics. It is shown that the Hamiltonian control is both passive and inverse optimal with respect to a meaningful performance index. The performance of the new controllers is examined and compared using simulations of realistic scenarios from the satellite attitude dynamics field.

Developing effective feedback on quality of anaesthetic care: what are its most valuable characteristics from a clinical perspective?

PubMed

D'Lima, Danielle M; Moore, Joanna; Bottle, Alex; Brett, Stephen J; Arnold, Glenn M; Benn, Jonathan

2015-01-01

Research suggests that better feedback from quality and safety indicators leads to enhanced capability of clinicians and departments to improve care and change behaviour. The aim of the current study was to investigate the characteristics of feedback perceived by clinicians to be of most value. Data were collected using a survey designed as part of a wider evaluation of a data feedback initiative in anaesthesia. Eighty-nine consultant anaesthetists from two English NHS acute Trusts completed the survey. Multiple linear regression with hierarchical variable entry was used to investigate which characteristics of feedback predict its perceived usefulness for monitoring variation and improving care. The final model demonstrated that the relevance of the quality indicators to the specific service area (β=0.64, p=0.01) and the credibility of the data as coming from a trustworthy, unbiased source (β=0.55, p=0.01) were the significant predictors, having controlled for all other covariates. For clinicians to engage with effective quality monitoring and feedback, the perceived local relevance of indicators and trust in the credibility of the resulting data are paramount. © The Author(s) 2014 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav.

Electrotactile EMG feedback improves the control of prosthesis grasping force

NASA Astrophysics Data System (ADS)

Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

2016-10-01

Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for predictive control, as the subjects used the feedback to adjust the desired force even before the prosthesis contacted the object. In conclusion, the online emgFB was superior to the classic forceFB in realistic conditions that included electrotactile stimulation, limited feedback resolution (8 levels), cognitive processing delay, and time constraints (fast grasping).

Variable frequency inverter for ac induction motors with torque, speed and braking control

NASA Technical Reports Server (NTRS)

Nola, F. J. (Inventor)

1975-01-01

A variable frequency inverter was designed for driving an ac induction motor which varies the frequency and voltage to the motor windings in response to varying torque requirements for the motor so that the applied voltage amplitude and frequency are of optimal value for any motor load and speed requirement. The slip frequency of the motor is caused to vary proportionally to the torque and feedback is provided so that the most efficient operating voltage is applied to the motor. Winding current surge is limited and a controlled negative slip causes motor braking and return of load energy to a dc power source.

Trends and Controls of inter-annual Variability in the Carbon Budget of Terrestrial Ecosystems

NASA Astrophysics Data System (ADS)

Cescatti, A.; Marcolla, B.

2014-12-01

The climate sensitivity of the terrestrial carbon budget will substantially affect the sign and strength of the land-climate feedbacks and the future climate trajectories. Current trends in the inter-annual variability of terrestrial carbon fluxes (IAV) may contribute to clarify the relative role of physical and biological controls of ecosystem responses to climate change. For this purpose we investigated how recent climate variability has impacted the carbon fluxes at long-term FLUXNET sites. Using a novel method, the IAV has been factored out in climate induced variability (physical control), variability due to changes in ecosystem functioning (biological control) and the interaction of the two terms. The relative control of the main climatic drivers (temperature, water availability) on the physical and biological sources of IAV has been investigated using both site level fluxes and global gridded products generated from the up-scaling of flux data. Results of this analysis highlight the fundamental role of precipitation trends on the pattern of IAV in the last 30 years. Our findings on the spatial/temporal trends of IAV have been finally confirmed using the signal derived from the global network of atmospheric CO2 concentrations measurements.

Control of AUVs using differential flatness theory and the derivative-free nonlinear Kalman Filter

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Raffo, Guilerme

2015-12-01

The paper proposes nonlinear control and filtering for Autonomous Underwater Vessels (AUVs) based on differential flatness theory and on the use of the Derivative-free nonlinear Kalman Filter. First, it is shown that the 6-DOF dynamic model of the AUV is a differentially flat one. This enables its transformation into the linear canonical (Brunovsky) form and facilitates the design of a state feedback controller. A problem that has to be dealt with is the uncertainty about the parameters of the AUV's dynamic model, as well the external perturbations which affect its motion. To cope with this, it is proposed to use a disturbance observer which is based on the Derivative-free nonlinear Kalman Filter. The considered filtering method consists of the standard Kalman Filter recursion applied on the linearized model of the vessel and of an inverse transformation based on differential flatness theory, which enables to obtain estimates of the state variables of the initial nonlinear model of the vessel. The Kalman Filter-based disturbance observer performs simultaneous estimation of the non-measurable state variables of the AUV and of the perturbation terms that affect its dynamics. By estimating such disturbances, their compensation is also succeeded through suitable modification of the feedback control input. The efficiency of the proposed AUV control and estimation scheme is confirmed through simulation experiments.

High frequency inductive lamp and power oscillator

DOEpatents

Kirkpatrick, Douglas A.; Gitsevich, Aleksandr

2005-09-27

An oscillator includes an amplifier having an input and an output, a feedback network connected between the input of the amplifier and the output of the amplifier, the feedback network being configured to provide suitable positive feedback from the output of the amplifier to the input of the amplifier to initiate and sustain an oscillating condition, and a tuning circuit connected to the input of the amplifier, wherein the tuning circuit is continuously variable and consists of solid state electrical components with no mechanically adjustable devices including a pair of diodes connected to each other at their respective cathodes with a control voltage connected at the junction of the diodes. Another oscillator includes an amplifier having an input and an output, a feedback network connected between the input of the amplifier and the output of the amplifier, the feedback network being configured to provide suitable positive feedback from the output of the amplifier to the input of the amplifier to initiate and sustain an oscillating condition, and transmission lines connected to the input of the amplifier with an input pad and a perpendicular transmission line extending from the input pad and forming a leg of a resonant "T", and wherein the feedback network is coupled to the leg of the resonant "T".

Augmented kinematic feedback from haptic virtual reality for dental skill acquisition.

PubMed

Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Jittimanee, Pannapa; Viratket, Piyanuch

2010-12-01

We have developed a haptic virtual reality system for dental skill training. In this study we examined several kinds of kinematic information about the movement provided by the system supplement knowledge of results (KR) in dental skill acquisition. The kinematic variables examined involved force utilization (F) and mirror view (M). This created three experimental conditions that received augmented kinematic feedback (F, M, FM) and one control condition that did not (KR-only). Thirty-two dental students were randomly assigned to four groups. Their task was to perform access opening on the upper first molar with the haptic virtual reality system. An acquisition session consisted of two days of ten trials of practice in which augmented kinematic feedback was provided for the appropriate experimental conditions after each trial. One week after, a retention test consisting of two trials without augmented feedback was completed. The results showed that the augmented kinematic feedback groups had larger mean performance scores than the KR-only group in Day 1 of the acquisition and retention sessions (ANOVA, p<0.05). The apparent differences among feedback groups were not significant in Day 2 of the acquisition session (ANOVA, p>0.05). The trends in acquisition and retention sessions suggest that the augmented kinematic feedback can enhance the performance earlier in the skill acquisition and retention sessions.

Variables in Human Consequation/Feedback.

DTIC Science & Technology

1979-07-31

that make consequators effective , in each case listed according to the aspects that characterize them and their relationships with consequators ; another...category consists of the purposes and effects of consequated actions. The compilation draws variables from both cognitive research in information...This report presents salient variables in consequation or feedback processes that affect human behavior. As comprehensive a compilation has not been

Data-Driven User Feedback: An Improved Neurofeedback Strategy considering the Interindividual Variability of EEG Features.

PubMed

Han, Chang-Hee; Lim, Jeong-Hwan; Lee, Jun-Hak; Kim, Kangsan; Im, Chang-Hwan

2016-01-01

It has frequently been reported that some users of conventional neurofeedback systems can experience only a small portion of the total feedback range due to the large interindividual variability of EEG features. In this study, we proposed a data-driven neurofeedback strategy considering the individual variability of electroencephalography (EEG) features to permit users of the neurofeedback system to experience a wider range of auditory or visual feedback without a customization process. The main idea of the proposed strategy is to adjust the ranges of each feedback level using the density in the offline EEG database acquired from a group of individuals. Twenty-two healthy subjects participated in offline experiments to construct an EEG database, and five subjects participated in online experiments to validate the performance of the proposed data-driven user feedback strategy. Using the optimized bin sizes, the number of feedback levels that each individual experienced was significantly increased to 139% and 144% of the original results with uniform bin sizes in the offline and online experiments, respectively. Our results demonstrated that the use of our data-driven neurofeedback strategy could effectively increase the overall range of feedback levels that each individual experienced during neurofeedback training.

Data-Driven User Feedback: An Improved Neurofeedback Strategy considering the Interindividual Variability of EEG Features

PubMed Central

Lim, Jeong-Hwan; Lee, Jun-Hak; Kim, Kangsan

2016-01-01

It has frequently been reported that some users of conventional neurofeedback systems can experience only a small portion of the total feedback range due to the large interindividual variability of EEG features. In this study, we proposed a data-driven neurofeedback strategy considering the individual variability of electroencephalography (EEG) features to permit users of the neurofeedback system to experience a wider range of auditory or visual feedback without a customization process. The main idea of the proposed strategy is to adjust the ranges of each feedback level using the density in the offline EEG database acquired from a group of individuals. Twenty-two healthy subjects participated in offline experiments to construct an EEG database, and five subjects participated in online experiments to validate the performance of the proposed data-driven user feedback strategy. Using the optimized bin sizes, the number of feedback levels that each individual experienced was significantly increased to 139% and 144% of the original results with uniform bin sizes in the offline and online experiments, respectively. Our results demonstrated that the use of our data-driven neurofeedback strategy could effectively increase the overall range of feedback levels that each individual experienced during neurofeedback training. PMID:27631005

Climate effects and feedback structure determining weed population dynamics in a long-term experiment.

PubMed

Lima, Mauricio; Navarrete, Luis; González-Andujar, José Luis

2012-01-01

Pest control is one of the areas in which population dynamic theory has been successfully applied to solve practical problems. However, the links between population dynamic theory and model construction have been less emphasized in the management and control of weed populations. Most management models of weed population dynamics have emphasized the role of the endogenous process, but the role of exogenous variables such as climate have been ignored in the study of weed populations and their management. Here, we use long-term data (22 years) on two annual weed species from a locality in Central Spain to determine the importance of endogenous and exogenous processes (local and large-scale climate factors). Our modeling study determined two different feedback structures and climate effects in the two weed species analyzed. While Descurainia sophia exhibited a second-order feedback and low climate influence, Veronica hederifolia was characterized by a first-order feedback structure and important effects from temperature and rainfall. Our results strongly suggest the importance of theoretical population dynamics in understanding plant population systems. Moreover, the use of this approach, discerning between the effect of exogenous and endogenous factors, can be fundamental to applying weed management practices in agricultural systems and to controlling invasive weedy species. This is a radical change from most approaches currently used to guide weed and invasive weedy species managements.

Climate Effects and Feedback Structure Determining Weed Population Dynamics in a Long-Term Experiment

PubMed Central

Lima, Mauricio; Navarrete, Luis; González-Andujar, José Luis

2012-01-01

Pest control is one of the areas in which population dynamic theory has been successfully applied to solve practical problems. However, the links between population dynamic theory and model construction have been less emphasized in the management and control of weed populations. Most management models of weed population dynamics have emphasized the role of the endogenous process, but the role of exogenous variables such as climate have been ignored in the study of weed populations and their management. Here, we use long-term data (22 years) on two annual weed species from a locality in Central Spain to determine the importance of endogenous and exogenous processes (local and large-scale climate factors). Our modeling study determined two different feedback structures and climate effects in the two weed species analyzed. While Descurainia sophia exhibited a second-order feedback and low climate influence, Veronica hederifolia was characterized by a first-order feedback structure and important effects from temperature and rainfall. Our results strongly suggest the importance of theoretical population dynamics in understanding plant population systems. Moreover, the use of this approach, discerning between the effect of exogenous and endogenous factors, can be fundamental to applying weed management practices in agricultural systems and to controlling invasive weedy species. This is a radical change from most approaches currently used to guide weed and invasive weedy species managements. PMID:22272362

Load controller and method to enhance effective capacity of a photovoltaic power supply using a dynamically determined expected peak loading

DOEpatents

Perez, Richard

2005-05-03

A load controller and method are provided for maximizing effective capacity of a non-controllable, renewable power supply coupled to a variable electrical load also coupled to a conventional power grid. Effective capacity is enhanced by monitoring power output of the renewable supply and loading, and comparing the loading against the power output and a load adjustment threshold determined from an expected peak loading. A value for a load adjustment parameter is calculated by subtracting the renewable supply output and the load adjustment parameter from the current load. This value is then employed to control the variable load in an amount proportional to the value of the load control parameter when the parameter is within a predefined range. By so controlling the load, the effective capacity of the non-controllable, renewable power supply is increased without any attempt at operational feedback control of the renewable supply.

Optimal haptic feedback control of artificial muscles

NASA Astrophysics Data System (ADS)

Chen, Daniel; Besier, Thor; Anderson, Iain; McKay, Thomas

2014-03-01

As our population ages, and trends in obesity continue to grow, joint degenerative diseases like osteoarthritis (OA) are becoming increasingly prevalent. With no cure currently in sight, the only effective treatments for OA are orthopaedic surgery and prolonged rehabilitation, neither of which is guaranteed to succeed. Gait retraining has tremendous potential to alter the contact forces in the joints due to walking, reducing the risk of one developing hip and knee OA. Dielectric Elastomer Actuators (DEAs) are being explored as a potential way of applying intuitive haptic feedback to alter a patient's walking gait. The main challenge with the use of DEAs in this application is producing large enough forces and strains to induce sensation when coupled to a patient's skin. A novel controller has been proposed to solve this issue. The controller uses simultaneous capacitive self-sensing and actuation which will optimally apply a haptic sensation to the patient's skin independent of variability in DEAs and patient geometries.

Wind turbine power tracking using an improved multimodel quadratic approach.

PubMed

Khezami, Nadhira; Benhadj Braiek, Naceur; Guillaud, Xavier

2010-07-01

In this paper, an improved multimodel optimal quadratic control structure for variable speed, pitch regulated wind turbines (operating at high wind speeds) is proposed in order to integrate high levels of wind power to actively provide a primary reserve for frequency control. On the basis of the nonlinear model of the studied plant, and taking into account the wind speed fluctuations, and the electrical power variation, a multimodel linear description is derived for the wind turbine, and is used for the synthesis of an optimal control law involving a state feedback, an integral action and an output reference model. This new control structure allows a rapid transition of the wind turbine generated power between different desired set values. This electrical power tracking is ensured with a high-performance behavior for all other state variables: turbine and generator rotational speeds and mechanical shaft torque; and smooth and adequate evolution of the control variables. 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Homeostasis: Beyond Curt Richter1

PubMed Central

Woods, Stephen C.; Ramsay, Douglas S.

2007-01-01

Curt Richter introduced behavioral control into the concept of homeostasis, thereby opening entire fields of research. The prevailing dogma, and the techniques he used, conspired to lead Richter and others to interpret regulation in strict negative feedback terms. Although this point of view continues to be embraced by many contemporary biologists, we believe that prevailing sentiment favors a broader view in which organisms integrate anticipatory pre-emptive control over regulated variables whenever possible. PMID:17524521

A cluster-randomised quality improvement study to improve two inpatient stroke quality indicators.

PubMed

Williams, Linda; Daggett, Virginia; Slaven, James E; Yu, Zhangsheng; Sager, Danielle; Myers, Jennifer; Plue, Laurie; Woodward-Hagg, Heather; Damush, Teresa M

2016-04-01

Quality indicator collection and feedback improves stroke care. We sought to determine whether quality improvement training plus indicator feedback was more effective than indicator feedback alone in improving inpatient stroke indicators. We conducted a cluster-randomised quality improvement trial, randomising hospitals to quality improvement training plus indicator feedback versus indicator feedback alone to improve deep vein thrombosis (DVT) prophylaxis and dysphagia screening. Intervention sites received collaborative-based quality improvement training, external facilitation and indicator feedback. Control sites received only indicator feedback. We compared indicators pre-implementation (pre-I) to active implementation (active-I) and post-implementation (post-I) periods. We constructed mixed-effect logistic models of the two indicators with a random intercept for hospital effect, adjusting for patient, time, intervention and hospital variables. Patients at intervention sites (1147 admissions), had similar race, gender and National Institutes of Health Stroke Scale scores to control sites (1017 admissions). DVT prophylaxis improved more in intervention sites during active-I period (ratio of ORs 4.90, p<0.001), but did not differ in post-I period. Dysphagia screening improved similarly in both groups during active-I, but control sites improved more in post-I period (ratio of ORs 0.67, p=0.04). In logistic models, the intervention was independently positively associated with DVT performance during active-I period, and negatively associated with dysphagia performance post-I period. Quality improvement training was associated with early DVT improvement, but the effect was not sustained over time and was not seen with dysphagia screening. External quality improvement programmes may quickly boost performance but their effect may vary by indicator and may not sustain over time. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/

Instruction of jump-landing technique using videotape feedback: altering lower extremity motion patterns.

PubMed

Oñate, James A; Guskiewicz, Kevin M; Marshall, Stephen W; Giuliani, Carol; Yu, Bing; Garrett, William E

2005-06-01

Anterior cruciate ligament injury prevention programs have used videotapes of jump-landing technique as a key instructional component to improve landing performance. All videotape feedback model groups will increase knee flexion angles at initial contact and overall knee flexion motion and decrease peak vertical ground reaction forces and peak proximal anterior tibial shear forces to a greater extent than will a nonfeedback group. The secondary hypothesis is that the videotape feedback using the combination of the expert and self models will create the greatest change in each variable. Controlled laboratory study. Knee kinematics and kinetics of college-aged recreational athletes randomly placed in 3 different videotape feedback model groups (expert only, self only, combination of expert and self) and a nonfeedback group were collected while participants performed a basketball jump-landing task on 3 testing occasions. All feedback groups significantly increased knee angular displacement flexion angles [F(6,70) = 8.03, P = .001] and decreased peak vertical ground reaction forces [F(6,78) = 2.68, P = .021] during performance and retention tests. The self and combination groups significantly increased knee angular displacement flexion angles more than the control group did; the expert model group did not change significantly more than the control group did. All feedback groups and the nonfeedback group significantly reduced peak vertical forces across performance and retention tests. There were no statistically significant changes in knee flexion angle at initial ground contact (P = .111) and peak proximal anterior tibial shear forces (P = .509) for both testing sessions for each group. The use of self or combination videotape feedback is most useful for increasing knee angular displacement flexion angles and reducing peak vertical forces during landing. The use of self or combination modeling is more effective than is expert-only modeling for the implementation of instructional programs aimed at reducing the risk of jump-landing anterior cruciate ligament injuries.

Role of the Soil Thermal Inertia in the short term variability of the surface temperature and consequences for the soil-moisture temperature feedback

NASA Astrophysics Data System (ADS)

Cheruy, Frederique; Dufresne, Jean-Louis; Ait Mesbah, Sonia; Grandpeix, Jean-Yves; Wang, Fuxing

2017-04-01

A simple model based on the surface energy budget at equilibrium is developed to compute the sensitivity of the climatological mean daily temperature and diurnal amplitude to the soil thermal inertia. It gives a conceptual framework to quantity the role of the atmospheric and land surface processes in the surface temperature variability and relies on the diurnal amplitude of the net surface radiation, the sensitivity of the turbulent fluxes to the surface temperature and the thermal inertia. The performances of the model are first evaluated with 3D numerical simulations performed with the atmospheric (LMDZ) and land surface (ORCHIDEE) modules of the Institut Pierre Simon Laplace (IPSL) climate model. A nudging approach is adopted, it prevents from using time-consuming long-term simulations required to account for the natural variability of the climate and allow to draw conclusion based on short-term (several years) simulations. In the moist regions the diurnal amplitude and the mean surface temperature are controlled by the latent heat flux. In the dry areas, the relevant role of the stability of the boundary layer and of the soil thermal inertia is demonstrated. In these regions, the sensitivity of the surface temperature to the thermal inertia is high, due to the high contribution of the thermal flux to the energy budget. At high latitudes, when the sensitivity of turbulent fluxes is dominated by the day-time sensitivity of the sensible heat flux to the surface temperature and when this later is comparable to the thermal inertia term of the sensitivity equation, the surface temperature is also partially controlled by the thermal inertia which can rely on the snow properties; In the regions where the latent heat flux exhibits a high day-to-day variability, such as transition regions, the thermal inertia has also significant impact on the surface temperature variability . In these not too wet (energy limited) and not too dry (moisture-limited) soil moisture (SM) ''hot spots'', it is generally admitted that the variability of the surface temperature is explained by the soil moisture trough its control on the evaporation. This work suggests that the impact of the soil moisture on the temperature through its impact on the thermal inertia can be as important as its direct impact on the evaporation. Contrarily to the evaporation related soil-moisture temperature negative feedback, the thermal inertia soil-moisture related feedback newly identified by this work is a positive feedback which limits the cooling when the soil moisture increases. These results suggest that uncertainties in the representation of the soil and snow thermal properties can be responsible of significant biases in numerical simulations and emphasize the need to carefully document and evaluate these quantities in the Land Surface Modules implemented in the climate models.

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

Elliott, Elizabeth J.; Yu, Sungduk; Kooperman, Gabriel J.

The sensitivities of simulated mesoscale convective systems (MCSs) in the central U.S. to microphysics and grid configuration are evaluated here in a global climate model (GCM) that also permits global-scale feedbacks and variability. Since conventional GCMs do not simulate MCSs, studying their sensitivities in a global framework useful for climate change simulations has not previously been possible. To date, MCS sensitivity experiments have relied on controlled cloud resolving model (CRM) studies with limited domains, which avoid internal variability and neglect feedbacks between local convection and larger-scale dynamics. However, recent work with superparameterized (SP) GCMs has shown that eastward propagating MCS-likemore » events are captured when embedded CRMs replace convective parameterizations. This study uses a SP version of the Community Atmosphere Model version 5 (SP-CAM5) to evaluate MCS sensitivities, applying an objective empirical orthogonal function algorithm to identify MCS-like events, and harmonizing composite storms to account for seasonal and spatial heterogeneity. A five-summer control simulation is used to assess the magnitude of internal and interannual variability relative to 10 sensitivity experiments with varied CRM parameters, including ice fall speed, one-moment and two-moment microphysics, and grid spacing. MCS sensitivities were found to be subtle with respect to internal variability, and indicate that ensembles of over 100 storms may be necessary to detect robust differences in SP-GCMs. Furthermore, these results emphasize that the properties of MCSs can vary widely across individual events, and improving their representation in global simulations with significant internal variability may require comparison to long (multidecadal) time series of observed events rather than single season field campaigns.« less

System-wide hybrid MPC-PID control of a continuous pharmaceutical tablet manufacturing process via direct compaction.

PubMed

Singh, Ravendra; Ierapetritou, Marianthi; Ramachandran, Rohit

2013-11-01

The next generation of QbD based pharmaceutical products will be manufactured through continuous processing. This will allow the integration of online/inline monitoring tools, coupled with an efficient advanced model-based feedback control systems, to achieve precise control of process variables, so that the predefined product quality can be achieved consistently. The direct compaction process considered in this study is highly interactive and involves time delays for a number of process variables due to sensor placements, process equipment dimensions, and the flow characteristics of the solid material. A simple feedback regulatory control system (e.g., PI(D)) by itself may not be sufficient to achieve the tight process control that is mandated by regulatory authorities. The process presented herein comprises of coupled dynamics involving slow and fast responses, indicating the requirement of a hybrid control scheme such as a combined MPC-PID control scheme. In this manuscript, an efficient system-wide hybrid control strategy for an integrated continuous pharmaceutical tablet manufacturing process via direct compaction has been designed. The designed control system is a hybrid scheme of MPC-PID control. An effective controller parameter tuning strategy involving an ITAE method coupled with an optimization strategy has been used for tuning of both MPC and PID parameters. The designed hybrid control system has been implemented in a first-principles model-based flowsheet that was simulated in gPROMS (Process System Enterprise). Results demonstrate enhanced performance of critical quality attributes (CQAs) under the hybrid control scheme compared to only PID or MPC control schemes, illustrating the potential of a hybrid control scheme in improving pharmaceutical manufacturing operations. Copyright © 2013 Elsevier B.V. All rights reserved.

Effect of metrology time delay on overlay APC

NASA Astrophysics Data System (ADS)

Carlson, Alan; DiBiase, Debra

2002-07-01

The run-to-run control strategy of lithography APC is primarily composed of a feedback loop as shown in the diagram below. It is known that the insertion of a time delay in a feedback loop can cause degradation in control performance and could even cause a stable system to become unstable, if the time delay becomes sufficiently large. Many proponents of integrated metrology methods have cited the damage caused by metrology time delays as the primary justification for moving from a stand-alone to integrated metrology. While there is little dispute over the qualitative form of this argument, there has been very light published about the quantitative effects under real fab conditions - precisely how much control is lost due to these time delays. Another issue regarding time delays is that the length of these delays is not typically fixed - they vary from lot to lot and in some cases this variance can be large - from one hour on the short side to over 32 hours on the long side. Concern has been expressed that the variability in metrology time delays can cause undesirable dynamics in feedback loops that make it difficult to optimize feedback filters and gains and at worst could drive a system unstable. By using data from numerous fabs, spanning many sizes and styles of operation, we have conducted a quantitative study of the time delay effect on overlay run- to-run control. Our analysis resulted in the following conclusions: (1) There is a significant and material relationship between metrology time delay and overlay control under a variety of real world production conditions. (2) The run-to-run controller can be configured to minimize sensitivity to time delay variations. (3) The value of moving to integrated metrology can be quantified.

Role of Cell-to-Cell Variability in Activating a Positive Feedback Antiviral Response in Human Dendritic Cells

PubMed Central

Hu, Jianzhong; Nudelman, German; Shimoni, Yishai; Kumar, Madhu; Ding, Yaomei; López, Carolina; Hayot, Fernand; Wetmur, James G.; Sealfon, Stuart C.

2011-01-01

In the first few hours following Newcastle disease viral infection of human monocyte-derived dendritic cells, the induction of IFNB1 is extremely low and the secreted type I interferon response is below the limits of ELISA assay. However, many interferon-induced genes are activated at this time, for example DDX58 (RIGI), which in response to viral RNA induces IFNB1. We investigated whether the early induction of IFNBI in only a small percentage of infected cells leads to low level IFN secretion that then induces IFN-responsive genes in all cells. We developed an agent-based mathematical model to explore the IFNBI and DDX58 temporal dynamics. Simulations showed that a small number of early responder cells provide a mechanism for efficient and controlled activation of the DDX58-IFNBI positive feedback loop. The model predicted distributions of single cell responses that were confirmed by single cell mRNA measurements. The results suggest that large cell-to-cell variation plays an important role in the early innate immune response, and that the variability is essential for the efficient activation of the IFNB1 based feedback loop. PMID:21347441

Emerald Ash Borer Threat Reveals Ecohydrologic Feedbacks in Northern U.S. Black Ash Wetlands

NASA Astrophysics Data System (ADS)

Diamond, J.; Mclaughlin, D. L.; Slesak, R.

2016-12-01

Hydrology is a primary driver of wetland structure and process that can be modified by abiotic and biotic feedbacks, leading to self-organization of wetland systems. Large-scale disturbance to these feedbacks, such as loss of vegetation, can thus be expected to impact wetland hydrology. The Emerald Ash Borer is an invasive beetle that is expected to cause widespread-loss of ash trees throughout the northern U.S. and Canada. To predict ecosystem response to this threat of vegetation loss, we ask if and how Black Ash (Fraxinus nigra), a ubiquitous facultative-wetland ash species, actively controls wetland hydrology to determine if Black Ash creates favorable hydrologic regimes for growth (i.e., evidence for ecohydrologic feedbacks). We do this by taking advantage of plot-level tree removal experiments in Black Ash-dominated (75-100% basal area) wetlands in the Chippewa National Forest, Minnesota. The monospecies dominance in these systems minimizes variation associated with species-specific effects, allowing for clearer interpretation of results regarding ecohydrologic feedbacks. Here, we present an analysis of six years of water table and soil moisture time series in experimental plots with the following treatments: 1) clear cut, 2) girdling, 3) group-selection thinning, and 4) control. We also present evapotranspiration (ET) time series estimates for each experimental plot using analysis of diel water level variation. Results show elevated water tables in treatment plots relative to control plots for all treatments for several years after treatments were applied, with differences as great as 50 cm. Some recovery of water table to pre-treatment levels was observed over time, but only the group-selection thinning treatment showed near-complete recovery to pre-treatment levels, and clear-cut treatments indicate sustained elevated water tables over five years. Differences among treatments are directly attributed to variably reduced ET relative to controls. Results also indicate changes to the ET vs. water table relationship among treatments, with implications for ET feedbacks to favorable hydrologic regimes for growth. Finally, we present a conceptual model for these ecosystems and discuss how the model will be used to explore ecohydrologic feedbacks in upcoming years.

Sub-optimal control of fuzzy linear dynamical systems under granular differentiability concept.

PubMed

Mazandarani, Mehran; Pariz, Naser

2018-05-01

This paper deals with sub-optimal control of a fuzzy linear dynamical system. The aim is to keep the state variables of the fuzzy linear dynamical system close to zero in an optimal manner. In the fuzzy dynamical system, the fuzzy derivative is considered as the granular derivative; and all the coefficients and initial conditions can be uncertain. The criterion for assessing the optimality is regarded as a granular integral whose integrand is a quadratic function of the state variables and control inputs. Using the relative-distance-measure (RDM) fuzzy interval arithmetic and calculus of variations, the optimal control law is presented as the fuzzy state variables feedback. Since the optimal feedback gains are obtained as fuzzy functions, they need to be defuzzified. This will result in the sub-optimal control law. This paper also sheds light on the restrictions imposed by the approaches which are based on fuzzy standard interval arithmetic (FSIA), and use strongly generalized Hukuhara and generalized Hukuhara differentiability concepts for obtaining the optimal control law. The granular eigenvalues notion is also defined. Using an RLC circuit mathematical model, it is shown that, due to their unnatural behavior in the modeling phenomenon, the FSIA-based approaches may obtain some eigenvalues sets that might be different from the inherent eigenvalues set of the fuzzy dynamical system. This is, however, not the case with the approach proposed in this study. The notions of granular controllability and granular stabilizability of the fuzzy linear dynamical system are also presented in this paper. Moreover, a sub-optimal control for regulating a Boeing 747 in longitudinal direction with uncertain initial conditions and parameters is gained. In addition, an uncertain suspension system of one of the four wheels of a bus is regulated using the sub-optimal control introduced in this paper. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

RATIO COMPUTER

DOEpatents

Post, R.F.

1958-11-11

An electronic computer circuit is described for producing an output voltage proportional to the product or quotient of tbe voltages of a pair of input signals. ln essence, the disclosed invention provides a computer having two channels adapted to receive separate input signals and each having amplifiers with like fixed amplification factors and like negatlve feedback amplifiers. One of the channels receives a constant signal for comparison purposes, whereby a difference signal is produced to control the amplification factors of the variable feedback amplifiers. The output of the other channel is thereby proportional to the product or quotient of input signals depending upon the relation of input to fixed signals in the first mentioned channel.

The Anticipatory Struggle Hypothesis: Implications of Research on the Variability of Stuttering

ERIC Educational Resources Information Center

Bloodstein, Oliver

1972-01-01

The hypothesis that a person stutters because he believes in the difficulty of speech, anticipates failure, and struggles to avoid it, is said to be consistent with experimental findings on the metronome effect, the adaptation effect, the effects of white noise and delayed auditory feedback, and operant control of stuttering. (Author/GW)

The synergic control of multi-finger force production: Stability of explicit and implicit task components

PubMed Central

Reschechtko, Sasha; Zatsiorsky, Vladimir M.; Latash, Mark L.

2016-01-01

Manipulating objects with the hands requires the accurate production of resultant forces including shear forces; effective control of these shear forces also requires the production of internal forces normal to the surface of the object(s) being manipulated. In the present study, we investigated multi-finger synergies stabilizing shear and normal components of force, as well as drifts in both components of force, during isometric pressing tasks requiring a specific magnitude of shear force production. We hypothesized that shear and normal forces would evolve similarly in time, and also show similar stability properties as assessed by the decomposition of inter-trial variance within the uncontrolled manifold hypothesis. Healthy subjects were required to accurately produce total shear and total normal forces with four fingers of the hand during a steady-state force task (with and without visual feedback) and a self-paced force pulse task. The two force components showed similar time profiles during both shear force pulse production and unintentional drift induced by turning the visual feedback off. Only the explicitly instructed components of force, however, were stabilized with multi-finger synergies. No force-stabilizing synergies and no anticipatory synergy adjustments were seen for the normal force in shear force production trials. These unexpected qualitative differences in the control of the two force components – which are produced by some of the same muscles and show high degree of temporal coupling – are interpreted within the theory of control with referent coordinates for salient variables. These observations suggest the existence of two classes of neural variables: one that translates into shifts of referent coordinates and defines changes in magnitude of salient variables, and the other controlling gains in back-coupling loops that define stability of the salient variables. Only the former are shared between the explicit and implicit task components. PMID:27601252

Framing of Feedback Impacts Student's Satisfaction, Self-Efficacy and Performance

ERIC Educational Resources Information Center

van de Ridder, J. M. Monica; Peters, Claudia M. M.; Stokking, Karel M.; de Ru, J. Alexander; ten Cate, Olle Th. J.

2015-01-01

Feedback is considered important to acquire clinical skills. Research evidence shows that feedback does not always improve learning and its effects may be small. In many studies, a variety of variables involved in feedback provision may mask either one of their effects. E.g., there is reason to believe that the way oral feedback is framed may…

The control of the controller: molecular mechanisms for robust perfect adaptation and temperature compensation.

PubMed

Ni, Xiao Yu; Drengstig, Tormod; Ruoff, Peter

2009-09-02

Organisms have the property to adapt to a changing environment and keep certain components within a cell regulated at the same level (homeostasis). "Perfect adaptation" describes an organism's response to an external stepwise perturbation by regulating some of its variables/components precisely to their original preperturbation values. Numerous examples of perfect adaptation/homeostasis have been found, as for example, in bacterial chemotaxis, photoreceptor responses, MAP kinase activities, or in metal-ion homeostasis. Two concepts have evolved to explain how perfect adaptation may be understood: In one approach (robust perfect adaptation), the adaptation is a network property, which is mostly, but not entirely, independent of rate constant values; in the other approach (nonrobust perfect adaptation), a fine-tuning of rate constant values is needed. Here we identify two classes of robust molecular homeostatic mechanisms, which compensate for environmental variations in a controlled variable's inflow or outflow fluxes, and allow for the presence of robust temperature compensation. These two classes of homeostatic mechanisms arise due to the fact that concentrations must have positive values. We show that the concept of integral control (or integral feedback), which leads to robust homeostasis, is associated with a control species that has to work under zero-order flux conditions and does not necessarily require the presence of a physico-chemical feedback structure. There are interesting links between the two identified classes of homeostatic mechanisms and molecular mechanisms found in mammalian iron and calcium homeostasis, indicating that homeostatic mechanisms may underlie similar molecular control structures.

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.

Path following control of planar snake robots using virtual holonomic constraints: theory and experiments.

PubMed

Rezapour, Ehsan; Pettersen, Kristin Y; Liljebäck, Pål; Gravdahl, Jan T; Kelasidi, Eleni

This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual holonomic constraints. These appropriately defined constraints shape the geometry of a constraint manifold for the system, which is a submanifold of the configuration space of the robot. Furthermore, we show that the constraint manifold can be made invariant by a suitable choice of feedback. In particular, we analytically design a smooth feedback control law to exponentially stabilize the constraint manifold. We show that enforcing the appropriately defined virtual holonomic constraints for the configuration variables implies that the robot converges to and follows a desired geometric path. Numerical simulations and experimental results are presented to validate the theoretical approach.

The role of feedback information for calibration and attunement in perceiving length by dynamic touch.

PubMed

Withagen, Rob; Michaels, Claire F

2005-12-01

Two processes have been hypothesized to underlie improvement in perception: attunement and calibration. These processes were examined in a dynamic touch paradigm in which participants were asked to report the lengths of unseen, wielded rods differing in length, diameter, and material. Two experiments addressed whether feedback informs about the need for reattunement and recalibration. Feedback indicating actual length induced both recalibration and reattunement. Recalibration did not occur when feedback indicated only whether 2 rods were of the same length or of different lengths. Such feedback, however, did induce reattunement. These results suggest that attunement and calibration are dissociable processes and that feedback informs which is needed. The observed change in variable use has implications also for research on what mechanical variables underlie length perception by dynamic touch. (c) 2005 APA, all rights reserved.

Positive Feedback Keeps Duration of Mitosis Temporally Insulated from Upstream Cell-Cycle Events.

PubMed

Araujo, Ana Rita; Gelens, Lendert; Sheriff, Rahuman S M; Santos, Silvia D M

2016-10-20

Cell division is characterized by a sequence of events by which a cell gives rise to two daughter cells. Quantitative measurements of cell-cycle dynamics in single cells showed that despite variability in G1-, S-, and G2 phases, duration of mitosis is short and remarkably constant. Surprisingly, there is no correlation between cell-cycle length and mitotic duration, suggesting that mitosis is temporally insulated from variability in earlier cell-cycle phases. By combining live cell imaging and computational modeling, we showed that positive feedback is the molecular mechanism underlying the temporal insulation of mitosis. Perturbing positive feedback gave rise to a sluggish, variable entry and progression through mitosis and uncoupled duration of mitosis from variability in cell cycle length. We show that positive feedback is important to keep mitosis short, constant, and temporally insulated and anticipate it might be a commonly used regulatory strategy to create modularity in other biological systems. Copyright © 2016 The Authors. Published by Elsevier Inc. All rights reserved.

Distinguishing the roles of meteorology, emission control measures, regional transport, and co-benefits of reduced aerosol feedbacks in ;APEC Blue;

NASA Astrophysics Data System (ADS)

Gao, Meng; Liu, Zirui; Wang, Yuesi; Lu, Xiao; Ji, Dongsheng; Wang, Lili; Li, Meng; Wang, Zifa; Zhang, Qiang; Carmichael, Gregory R.

2017-10-01

Air quality are strongly influenced by both emissions and meteorological conditions. During the Asia Pacific Economic Cooperation (APEC) week (November 5-11, 2014), the Chinese government implemented unprecedented strict emission control measures in Beijing and surrounding provinces, and then a phenomenon referred to as ;APEC Blue; (rare blue sky) occurred. It is challenging to quantify the effectiveness of the implemented strict control measures solely based on observations. In this study, we use the WRF-Chem model to distinguish the roles of meteorology, emission control measures, regional transport, and co-benefits of reduced aerosol feedbacks during APEC week. In general, meteorological variables, PM2.5 concentrations and PM2.5 chemical compositions are well reproduced in Beijing. Positive weather conditions (lower temperature, lower relative humidity, higher wind speeds and enhanced boundary layer heights) play important roles in ;APEC Blue;. Applying strict emission control measures in Beijing and five surrounding provinces can only explain an average decrease of 17.7 μg/m3 (-21.8%) decreases in PM2.5 concentrations, roughly more than half of which is caused by emission controls that implemented in the five surrounding provinces (12.5 μg/m3). During the APEC week, non-local emissions contributed to 41.3% to PM2.5 concentrations in Beijing, and the effectiveness of implementing emission control measures hinges on dominant pathways and transport speeds. Besides, we also quantified the contribution of reduced aerosol feedbacks due to strict emission control measures in this study. During daytime, co-benefits of reduced aerosol feedbacks account for about 10.9% of the total decreases in PM2.5 concentrations in urban Beijing. The separation of contributions from aerosol absorption and scattering restates the importance of controlling BC to accelerate the effectiveness of aerosol pollution control.

Improved approximations for control augmented structural synthesis

NASA Technical Reports Server (NTRS)

Thomas, H. L.; Schmit, L. A.

1990-01-01

A methodology for control-augmented structural synthesis is presented for structure-control systems which can be modeled as an assemblage of beam, truss, and nonstructural mass elements augmented by a noncollocated direct output feedback control system. Truss areas, beam cross sectional dimensions, nonstructural masses and rotary inertias, and controller position and velocity gains are treated simultaneously as design variables. The structural mass and a control-system performance index can be minimized simultaneously, with design constraints placed on static stresses and displacements, dynamic harmonic displacements and forces, structural frequencies, and closed-loop eigenvalues and damping ratios. Intermediate design-variable and response-quantity concepts are used to generate new approximations for displacements and actuator forces under harmonic dynamic loads and for system complex eigenvalues. This improves the overall efficiency of the procedure by reducing the number of complete analyses required for convergence. Numerical results which illustrate the effectiveness of the method are given.

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.

Reliability of performance velocity for jump squats under feedback and nonfeedback conditions.

PubMed

Randell, Aaron D; Cronin, John B; Keogh, Justin Wl; Gill, Nicholas D; Pedersen, Murray C

2011-12-01

Randell, AD, Cronin, JB, Keogh, JWL, Gill, ND, and Pedersen, MC. Reliability of performance velocity for jump squats under feedback and nonfeedback conditions. J Strength Cond Res 25(12): 3514-3518, 2011-Advancements in the monitoring of kinematic and kinetic variables during resistance training have resulted in the ability to continuously monitor performance and provide feedback during training. If equipment and software can provide reliable instantaneous feedback related to the variable of interest during training, it is thought that this may result in goal-oriented movement tasks that increase the likelihood of transference to on-field performance or at the very least improve the mechanical variable of interest. The purpose of this study was to determine the reliability of performance velocity for jump squats under feedback and nonfeedback conditions over 3 consecutive training sessions. Twenty subjects were randomly allocated to a feedback or nonfeedback group, and each group performed a total of 3 "jump squat" training sessions with the velocity of each repetition measured using a linear position transducer. There was less change in mean velocities between sessions 1-2 and sessions 2-3 (0.07 and 0.02 vs. 0.13 and -0.04 m·s), less random variation (TE = 0.06 and 0.06 vs. 0.10 and 0.07 m·s) and greater consistency (intraclass correlation coefficient = 0.83 and 0.87 vs. 0.53 and 0.74) between sessions for the feedback condition as compared to the nonfeedback condition. It was concluded that there is approximately a 50-50 probability that the provision of feedback was beneficial to the performance in the squat jump over multiple sessions. It is suggested that this has the potential for increasing transference to on-field performance or at the very least improving the mechanical variable of interest.

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

NASA Technical Reports Server (NTRS)

Hill, R. E.

1987-01-01

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

Fitts' Law in the Control of Isometric Grip Force With Naturalistic Targets.

PubMed

Thumser, Zachary C; Slifkin, Andrew B; Beckler, Dylan T; Marasco, Paul D

2018-01-01

Fitts' law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts' law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts' law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task). Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task). Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback). This provided an opportunity to see if Fitts' law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback). Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets) to the more naturalistic and intuitive target forces implied by images of objects (implicit targets). With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts' law (average r 2 = 0.82). Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces without the visualized force meter. In sum, population means were well-described by Fitts' law for explicit targets with vision ( r 2 = 0.96) and implicit targets ( r 2 = 0.89), but not as well-described for explicit targets without vision ( r 2 = 0.54). Implicit targets should provide a realistic see-object-squeeze-object test using Fitts' law to quantify the relative speed-accuracy relationship of any given grasper.

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

Gait ataxia in humans: vestibular and cerebellar control of dynamic stability.

PubMed

Schniepp, Roman; Möhwald, Ken; Wuehr, Max

2017-10-01

During human locomotion, vestibular feedback control is fundamental for maintaining dynamic stability and adapting the gait pattern to external circumstances. Within the supraspinal locomotor network, the cerebellum represents the key site for the integration of vestibular feedback information. The cerebellum is further important for the fine-tuning and coordination of limb movements during walking. The aim of this review article is to highlight the shared structural and functional sensorimotor principles in vestibular and cerebellar locomotion control. Vestibular feedback for the maintenance of dynamic stability is integrated into the locomotor pattern via midline, caudal cerebellar structures (vermis, flocculonodular lobe). Hemispheric regions of the cerebellum facilitate feed-forward control of multi-joint coordination and higher locomotor functions. Characteristic features of the gait disorder in patients with vestibular deficits or cerebellar ataxia are increased levels of spatiotemporal gait variability in the fore-aft and the medio-lateral gait dimension. In the fore-aft dimension, pathologic increases of gait fluctuations critically depend on the locomotion speed and predominantly manifest during slow walking velocities. This feature is associated with an increased risk of falls in both patients with vestibular hypofunction as well as patients with cerebellar ataxia. Pharmacological approaches for the treatment of vestibular or cerebellar gait ataxia are currently not available. However, new promising options are currently tested in randomized, controlled trials (fampridine/FACEG; acetyl-DL-leucine/ALCAT).

Change in the magnitude and mechanisms of global temperature variability with warming.

PubMed

Brown, Patrick T; Ming, Yi; Li, Wenhong; Hill, Spencer A

2017-01-01

Natural unforced variability in global mean surface air temperature (GMST) can mask or exaggerate human-caused global warming, and thus a complete understanding of this variability is highly desirable. Significant progress has been made in elucidating the magnitude and physical origins of present-day unforced GMST variability, but it has remained unclear how such variability may change as the climate warms. Here we present modeling evidence that indicates that the magnitude of low-frequency GMST variability is likely to decline in a warmer climate and that its generating mechanisms may be fundamentally altered. In particular, a warmer climate results in lower albedo at high latitudes, which yields a weaker albedo feedback on unforced GMST variability. These results imply that unforced GMST variability is dependent on the background climatological conditions, and thus climate model control simulations run under perpetual preindustrial conditions may have only limited relevance for understanding the unforced GMST variability of the future.

Change in the Magnitude and Mechanisms of Global Temperature Variability with Warming

NASA Astrophysics Data System (ADS)

Brown, P. T.; Ming, Y.; Li, W.; Hill, S. A.

2017-12-01

Natural unforced variability in global mean surface air temperature (GMST) can mask or exaggerate human-caused global warming, and thus a complete understanding of this variability is highly desirable. Significant progress has been made in elucidating the magnitude and physical origins of present-day unforced GMST variability, but it has remained unclear how such variability may change as the climate warms. Here we present modeling evidence that indicates that the magnitude of low-frequency GMST variability is likely to decline in a warmer climate and that its generating mechanisms may be fundamentally altered. In particular, a warmer climate results in lower albedo at high latitudes, which yields a weaker albedo feedback on unforced GMST variability. These results imply that unforced GMST variability is dependent on the background climatological conditions, and thus climate model control simulations run under perpetual preindustrial conditions may have only limited relevance for understanding the unforced GMST variability of the future.

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

Stability analysis of multiple-robot control systems

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

Indirect adaptive output feedback control of a biorobotic AUV using pectoral-like mechanical fins.

PubMed

Naik, Mugdha S; Singh, Sahjendra N; Mittal, Rajat

2009-06-01

This paper treats the question of servoregulation of autonomous underwater vehicles (AUVs) in the yaw plane using pectoral-like mechanical fins. The fins attached to the vehicle have oscillatory swaying and yawing motion. The bias angle of the angular motion of the fin is used for the purpose of control. Of course, the design approach considered here is applicable to AUVs for other choices of oscillation patterns of the fins, which produce periodic forces and moments. It is assumed that the vehicle parameters, hydrodynamic coefficients, as well the fin forces and moments are unknown. For the trajectory control of the yaw angle, a sampled-data indirect adaptive control system using output (yaw angle) feedback is derived. The control system has a modular structure, which includes a parameter identifier and a stabilizer. For the control law derivation, an internal model of the exosignals (reference signal (constant or ramp) and constant disturbance) is included. Unlike the direct adaptive control scheme, the derived control law is applicable to minimum as well as nonminimum phase biorobotic AUVs (BAUVs). This is important, because for most of the fin locations on the vehicle, the model is a nonminimum phase. In the closed-loop system, the yaw angle trajectory tracking error converges to zero and the remaining state variables remain bounded. Simulation results are presented which show that the derived modular control system accomplishes precise set point yaw angle control and turning maneuvers in spite of the uncertainties in the system parameters using only yaw angle feedback.

Adaptive Time Stepping for Transient Network Flow Simulation in Rocket Propulsion Systems

NASA Technical Reports Server (NTRS)

Majumdar, Alok K.; Ravindran, S. S.

2017-01-01

Fluid and thermal transients found in rocket propulsion systems such as propellant feedline system is a complex process involving fast phases followed by slow phases. Therefore their time accurate computation requires use of short time step initially followed by the use of much larger time step. Yet there are instances that involve fast-slow-fast phases. In this paper, we present a feedback control based adaptive time stepping algorithm, and discuss its use in network flow simulation of fluid and thermal transients. The time step is automatically controlled during the simulation by monitoring changes in certain key variables and by feedback. In order to demonstrate the viability of time adaptivity for engineering problems, we applied it to simulate water hammer and cryogenic chill down in pipelines. Our comparison and validation demonstrate the accuracy and efficiency of this adaptive strategy.

Control of Industrial Safety Based on Dynamic Characteristics of a Safety Budget-Industrial Accident Rate Model in Republic of Korea.

PubMed

Choi, Gi Heung; Loh, Byoung Gook

2017-06-01

Despite the recent efforts to prevent industrial accidents in the Republic of Korea, the industrial accident rate has not improved much. Industrial safety policies and safety management are also known to be inefficient. This study focused on dynamic characteristics of industrial safety systems and their effects on safety performance in the Republic of Korea. Such dynamic characteristics are particularly important for restructuring of the industrial safety system. The effects of damping and elastic characteristics of the industrial safety system model on safety performance were examined and feedback control performance was explained in view of cost and benefit. The implications on safety policies of restructuring the industrial safety system were also explored. A strong correlation between the safety budget and the industrial accident rate enabled modeling of an industrial safety system with these variables as the input and the output, respectively. A more effective and efficient industrial safety system could be realized by having weaker elastic characteristics and stronger damping characteristics in it. A substantial decrease in total social cost is expected as the industrial safety system is restructured accordingly. A simple feedback control with proportional-integral action is effective in prevention of industrial accidents. Securing a lower level of elastic industrial accident-driving energy appears to have dominant effects on the control performance compared with the damping effort to dissipate such energy. More attention needs to be directed towards physical and social feedbacks that have prolonged cumulative effects. Suggestions for further improvement of the safety system including physical and social feedbacks are also made.

Spatially explicit simulation of hydrologically controlled carbon and nitrogen cycles and associated feedback mechanisms in a boreal ecosystem

NASA Astrophysics Data System (ADS)

Govind, Ajit; Chen, Jing Ming; Ju, Weimin

2009-06-01

Ecosystem models that simulate biogeochemical processes usually ignore hydrological controls that govern them. It is quite possible that topographically driven water fluxes significantly influence the spatial distribution of C sources and sinks because of their large contribution to the local water balance. To investigate this, we simulated biogeochemical processes along with the associated feedback mechanisms in a boreal ecosystem using a spatially explicit hydroecological model, boreal ecosystem productivity simulator (BEPS)-TerrainLab V2.0, that has a tight coupling of ecophysiological, hydrological, and biogeochemical processes. First, the simulated dynamics of snowpack, soil temperature, net ecosystem productivity (NEP), and total ecosystem respiration (TER) were validated with high-frequency measurements for 2 years. The model was able to explain 80% of the variability in NEP and 84% of the variability in TER. Further, we investigated the influence of topographically driven subsurface base flow on soil C and N cycling and on the spatiotemporal patterns of C sources and sinks using three hydrological modeling scenarios that differed in hydrological conceptualizations. In general, the scenarios that had nonexplicit hydrological representation overestimated NEP, as opposed to the scenario that had an explicit (realistic) representation. The key processes controlling the NEP differences were attributed to the combined effects of variations in photosynthesis (due to changes in stomatal conductance and nitrogen (N) availability), heterotrophic respiration, and autotrophic respiration, all of which occur simultaneously affecting NEP. Feedback relationships were also found to exacerbate the differences. We identified six types of NEP differences (biases), of which the most commonly found was due to an underestimation of the existing C sources, highlighting the vulnerability of regional-scale ecosystem models that ignore hydrological processes.

Children with Heavy Prenatal Alcohol Exposure Experience Reduced Control of Isotonic Force

PubMed Central

Nguyen, Tanya T.; Levy, Susan S.; Riley, Edward P.; Thomas, Jennifer D.; Simmons, Roger W.

2013-01-01

Background Heavy prenatal alcohol exposure can result in diverse and extensive damage to the central nervous system, including the cerebellum, basal ganglia, and cerebral cortex. Given that these brain regions are involved in the generation and maintenance of motor force, we predicted that prenatal alcohol exposure would adversely affect this parameter of motor control. We previously reported that children with gestational alcohol exposure experience significant deficits in regulating isometric (i.e., constant) force. The purpose of the present study was to determine if these children exhibit similar deficits when producing isotonic (i.e., graded) force. Methods Children with heavy prenatal alcohol exposure and typically developing children completed a series of isotonic force contractions by exerting force on a load cell to match a criterion target force displayed on a computer monitor. Two levels of target force (5% or 20% of maximum voluntary force) were investigated in combination with varying levels of visual feedback. Results Compared to controls, children with heavy prenatal alcohol exposure generated isotonic force signals that were less accurate, more variable, and less complex in the time domain compared to control children. Specifically, interactions were found between group and visual feedback for response accuracy and signal complexity, suggesting that these children have greater difficulty altering their motor output when visual feedback is low. Conclusions These data suggest that prenatal alcohol exposure produces deficits in regulating isotonic force, which presumably result from alcohol-related damage to developing brain regions involved in motor control. These children will most likely experience difficulty performing basic motor skills and daily functional skills that require coordination of finely graded force. Therapeutic strategies designed to increase feedback and, consequently, facilitate visual-motor integration could improve isotonic force production in these children. PMID:22834891

Motion Perception and Manual Control Performance During Passive Tilt and Translation Following Space Flight

NASA Technical Reports Server (NTRS)

Clement, Gilles; Wood, Scott J.

2010-01-01

This joint ESA-NASA study is examining changes in motion perception following Space Shuttle flights and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. METHODS. Data has been collected on 5 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s) combined with body translation (12-22 cm, peak-to-peak) is utilized to elicit roll-tilt perception (equivalent to 20 deg, peak-to-peak). A forward-backward moving sled (24-390 cm, peak-to-peak) with or without chair tilting in pitch is utilized to elicit pitch tilt perception (equivalent to 20 deg, peak-to-peak). These combinations are elicited at 0.15, 0.3, and 0.6 Hz for evaluating the effect of motion frequency on tilt-translation ambiguity. In both devices, a closed-loop nulling task is also performed during pseudorandom motion with and without vibrotactile feedback of tilt. All tests are performed in complete darkness. PRELIMINARY RESULTS. Data collection is currently ongoing. Results to date suggest there is a trend for translation motion perception to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. DISCUSSION. The results of this study indicate that post-flight recovery of motion perception and manual control performance is complete within 8 days following short-duration space missions. Vibrotactile feedback of tilt improves manual control performance both before and after flight.

Integrated Controls-Structures Design Methodology: Redesign of an Evolutionary Test Structure

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Gupta, Sandeep; Elliot, Kenny B.; Joshi, Suresh M.

1997-01-01

An optimization-based integrated controls-structures design methodology for a class of flexible space structures is described, and the phase-0 Controls-Structures-Integration evolutionary model, a laboratory testbed at NASA Langley, is redesigned using this integrated design methodology. The integrated controls-structures design is posed as a nonlinear programming problem to minimize the control effort required to maintain a specified line-of-sight pointing performance, under persistent white noise disturbance. Static and dynamic dissipative control strategies are employed for feedback control, and parameters of these controllers are considered as the control design variables. Sizes of strut elements in various sections of the CEM are used as the structural design variables. Design guides for the struts are developed and employed in the integrated design process, to ensure that the redesigned structure can be effectively fabricated. The superiority of the integrated design methodology over the conventional design approach is demonstrated analytically by observing a significant reduction in the average control power needed to maintain specified pointing performance with the integrated design approach.

Variables affecting athletes' retention of coaches' feedback.

PubMed

Januário, Nuno M S; Rosado, Antonio F; Mesquita, Isabel

2013-10-01

Athletes' retention of information conveyed in coaches' feedback during training was examined, considering the nature of the information transmitted by each coach (extensions, total number of ideas transmitted, and total number of repeated ideas), athletes' characteristics, (ages, genders, school levels, and practice levels), and athletes' perceptions (relevance and acceptance of coaches' information, task motivational levels, and athletes' attention levels). Participants were 193 athletes (79 boys, 114 girls; 9 to 13 years of age) and 6 coaches. Feedback was both audio and video recorded and all athletes were interviewed. All coaches' feedback and athletes' recollections were subjected to content analysis. Information was completely retained in 31.60% of feedback episodes. Athletes' mean per-episode information retention was 63.0%. Three variables appeared to b e predictiveathletes' retention: athletes' practice levels (p = -.25), attention to coaches' provision of feedback (P = .17), and the number of different ideas transmitted by each coach (P = -.90).

Individuals with autism spectrum disorder show abnormalities during initial and subsequent phases of precision gripping

PubMed Central

Magnon, Grant C.; White, Stormi P.; Greene, Rachel K.; Vaillancourt, David E.

2014-01-01

Sensorimotor impairments are common in autism spectrum disorder (ASD), but they are not well understood. Here we examined force control during initial pulses and the subsequent rise, sustained, and relaxation phases of precision gripping in 34 individuals with ASD and 25 healthy control subjects. Participants pressed on opposing load cells with their thumb and index finger while receiving visual feedback regarding their performance. They completed 2- and 8-s trials during which they pressed at 15%, 45%, or 85% of their maximum force. Initial pulses guided by feedforward control mechanisms, sustained force output controlled by visual feedback processes, and force relaxation rates all were examined. Control subjects favored an initial pulse strategy characterized by a rapid increase in and then relaxation of force when the target force was low (Type 1). When the target force level or duration of trials was increased, control subjects transitioned to a strategy in which they more gradually increased their force, paused, and then increased their force again. Individuals with ASD showed a more persistent bias toward the Type 1 strategy at higher force levels and during longer trials, and their initial force output was less accurate than that of control subjects. Patients showed increased force variability compared with control subjects when attempting to sustain a constant force level. During the relaxation phase, they showed reduced rates of force decrease. These findings suggest that both feedforward and feedback motor control mechanisms are compromised in ASD and these deficits may contribute to the dyspraxia and sensorimotor abnormalities often seen in this disorder. PMID:25552638

Speaker compensation for local perturbation of fricative acoustic feedback.

PubMed

Casserly, Elizabeth D

2011-04-01

Feedback perturbation studies of speech acoustics have revealed a great deal about how speakers monitor and control their productions of segmental (e.g., formant frequencies) and non-segmental (e.g., pitch) linguistic elements. The majority of previous work, however, overlooks the role of acoustic feedback in consonant production and makes use of acoustic manipulations that effect either entire utterances or the entire acoustic signal, rather than more temporally and phonetically restricted alterations. This study, therefore, seeks to expand the feedback perturbation literature by examining perturbation of consonant acoustics that is applied in a time-restricted and phonetically specific manner. The spectral center of the alveopalatal fricative [∫] produced in vowel-fricative-vowel nonwords was incrementally raised until it reached the potential for [s]-like frequencies, but the characteristics of high-frequency energy outside the target fricative remained unaltered. An "offline," more widely accessible signal processing method was developed to perform this manipulation. The local feedback perturbation resulted in changes to speakers' fricative production that were more variable, idiosyncratic, and restricted than the compensation seen in more global acoustic manipulations reported in the literature. Implications and interpretations of the results, as well as future directions for research based on the findings, are discussed.

Sea surface temperature anomalies, planetary waves, and air-sea feedback in the middle latitudes

NASA Technical Reports Server (NTRS)

Frankignoul, C.

1985-01-01

Current analytical models for large-scale air-sea interactions in the middle latitudes are reviewed in terms of known sea-surface temperature (SST) anomalies. The scales and strength of different atmospheric forcing mechanisms are discussed, along with the damping and feedback processes controlling the evolution of the SST. Difficulties with effective SST modeling are described in terms of the techniques and results of case studies, numerical simulations of mixed-layer variability and statistical modeling. The relationship between SST and diabatic heating anomalies is considered and a linear model is developed for the response of the stationary atmosphere to the air-sea feedback. The results obtained with linear wave models are compared with the linear model results. Finally, sample data are presented from experiments with general circulation models into which specific SST anomaly data for the middle latitudes were introduced.

Focused Feedback With Video Tape As An Aid In Counseling Underachieving College Freshmen. Final Report.

ERIC Educational Resources Information Center

Valine, Warren J.

This study examines the relative effectiveness of 3 group counseling techniques and a control group in counseling with underachieving college freshmen. The effectiveness of each method was determined through comparison of grade point averages (GPA) as well as by pre- and post-test scores on selected self concept variables of the Tennessee Self…

Quantifying the Relative Contributions of Divisive and Subtractive Feedback to Rhythm Generation

PubMed Central

Tabak, Joël; Rinzel, John; Bertram, Richard

2011-01-01

Biological systems are characterized by a high number of interacting components. Determining the role of each component is difficult, addressed here in the context of biological oscillations. Rhythmic behavior can result from the interplay of positive feedback that promotes bistability between high and low activity, and slow negative feedback that switches the system between the high and low activity states. Many biological oscillators include two types of negative feedback processes: divisive (decreases the gain of the positive feedback loop) and subtractive (increases the input threshold) that both contribute to slowly move the system between the high- and low-activity states. Can we determine the relative contribution of each type of negative feedback process to the rhythmic activity? Does one dominate? Do they control the active and silent phase equally? To answer these questions we use a neural network model with excitatory coupling, regulated by synaptic depression (divisive) and cellular adaptation (subtractive feedback). We first attempt to apply standard experimental methodologies: either passive observation to correlate the variations of a variable of interest to system behavior, or deletion of a component to establish whether a component is critical for the system. We find that these two strategies can lead to contradictory conclusions, and at best their interpretive power is limited. We instead develop a computational measure of the contribution of a process, by evaluating the sensitivity of the active (high activity) and silent (low activity) phase durations to the time constant of the process. The measure shows that both processes control the active phase, in proportion to their speed and relative weight. However, only the subtractive process plays a major role in setting the duration of the silent phase. This computational method can be used to analyze the role of negative feedback processes in a wide range of biological rhythms. PMID:21533065

Uncovering noisy social signals: Using optimization methods from experimental physics to study social phenomena.

PubMed

Kaptein, Maurits; van Emden, Robin; Iannuzzi, Davide

2017-01-01

Due to the ubiquitous presence of treatment heterogeneity, measurement error, and contextual confounders, numerous social phenomena are hard to study. Precise control of treatment variables and possible confounders is often key to the success of studies in the social sciences, yet often proves out of the realm of control of the experimenter. To amend this situation we propose a novel approach coined "lock-in feedback" which is based on a method that is routinely used in high-precision physics experiments to extract small signals out of a noisy environment. Here, we adapt the method to noisy social signals in multiple dimensions and evaluate it by studying an inherently noisy topic: the perception of (subjective) beauty. We show that the lock-in feedback approach allows one to select optimal treatment levels despite the presence of considerable noise. Furthermore, through the introduction of an external contextual shock we demonstrate that we can find relationships between noisy variables that were hitherto unknown. We therefore argue that lock-in methods may provide a valuable addition to the social scientist's experimental toolbox and we explicitly discuss a number of future applications.

Prosthetic Leg Control in the Nullspace of Human Interaction.

PubMed

Gregg, Robert D; Martin, Anne E

2016-07-01

Recent work has extended the control method of virtual constraints, originally developed for autonomous walking robots, to powered prosthetic legs for lower-limb amputees. Virtual constraints define desired joint patterns as functions of a mechanical phasing variable, which are typically enforced by torque control laws that linearize the output dynamics associated with the virtual constraints. However, the output dynamics of a powered prosthetic leg generally depend on the human interaction forces, which must be measured and canceled by the feedback linearizing control law. This feedback requires expensive multi-axis load cells, and actively canceling the interaction forces may minimize the human's influence over the prosthesis. To address these limitations, this paper proposes a method for projecting virtual constraints into the nullspace of the human interaction terms in the output dynamics. The projected virtual constraints naturally render the output dynamics invariant with respect to the human interaction forces, which instead enter into the internal dynamics of the partially linearized prosthetic system. This method is illustrated with simulations of a transfemoral amputee model walking with a powered knee-ankle prosthesis that is controlled via virtual constraints with and without the proposed projection.

The patient reporting and action for a safe environment (PRASE) intervention: a feasibility study.

PubMed

O'Hara, Jane K; Lawton, Rebecca J; Armitage, Gerry; Sheard, Laura; Marsh, Claire; Cocks, Kim; McEachan, Rosie R C; Reynolds, Caroline; Watt, Ian; Wright, John

2016-11-28

There is growing interest in the role of patients in improving patient safety. One such role is providing feedback on the safety of their care. Here we describe the development and feasibility testing of an intervention that collects patient feedback on patient safety, brings together staff to consider this feedback and to plan improvement strategies. We address two research questions: i) to explore the feasibility of the process of systematically collecting feedback from patients about the safety of care as part of the PRASE intervention; and, ii) to explore the feasibility and acceptability of the PRASE intervention for staff, and to understand more about how staff use the patient feedback for service improvement. We conducted a feasibility study using a wait-list controlled design across six wards within an acute teaching hospital. Intervention wards were asked to participate in two cycles of the PRASE (Patient Reporting & Action for a Safe Environment) intervention across a six-month period. Participants were patients on participating wards. To explore the acceptability of the intervention for staff, observations of action planning meetings, interviews with a lead person for the intervention on each ward and recorded researcher reflections were analysed thematically and synthesised. Recruitment of patients using computer tablets at their bedside was straightforward, with the majority of patients willing and able to provide feedback. Randomisation of the intervention was acceptable to staff, with no evidence of differential response rates between intervention and control groups. In general, ward staff were positive about the use of patient feedback for service improvement and were able to use the feedback as a basis for action planning, although engagement with the process was variable. Gathering a multidisciplinary team together for action planning was found to be challenging, and implementing action plans was sometimes hindered by the need to co-ordinate action across multiple services. The PRASE intervention was found to be acceptable to staff and patients. However, before proceeding to a full cluster randomised controlled trial, the intervention requires adaptation to account for the difficulties in implementing action plans within three months, the need for a facilitator to support the action planning meetings, and the provision of training and senior management support for participating ward teams. The PRASE intervention represents a promising method for the systematic collection of patient feedback about the safety of hospital care.

Sensitivity of summer ensembles of fledgling superparameterized U.S. mesoscale convective systems to cloud resolving model microphysics and grid configuration

DOE PAGES

Elliott, Elizabeth J.; Yu, Sungduk; Kooperman, Gabriel J.; ...

2016-05-01

The sensitivities of simulated mesoscale convective systems (MCSs) in the central U.S. to microphysics and grid configuration are evaluated here in a global climate model (GCM) that also permits global-scale feedbacks and variability. Since conventional GCMs do not simulate MCSs, studying their sensitivities in a global framework useful for climate change simulations has not previously been possible. To date, MCS sensitivity experiments have relied on controlled cloud resolving model (CRM) studies with limited domains, which avoid internal variability and neglect feedbacks between local convection and larger-scale dynamics. However, recent work with superparameterized (SP) GCMs has shown that eastward propagating MCS-likemore » events are captured when embedded CRMs replace convective parameterizations. This study uses a SP version of the Community Atmosphere Model version 5 (SP-CAM5) to evaluate MCS sensitivities, applying an objective empirical orthogonal function algorithm to identify MCS-like events, and harmonizing composite storms to account for seasonal and spatial heterogeneity. A five-summer control simulation is used to assess the magnitude of internal and interannual variability relative to 10 sensitivity experiments with varied CRM parameters, including ice fall speed, one-moment and two-moment microphysics, and grid spacing. MCS sensitivities were found to be subtle with respect to internal variability, and indicate that ensembles of over 100 storms may be necessary to detect robust differences in SP-GCMs. Furthermore, these results emphasize that the properties of MCSs can vary widely across individual events, and improving their representation in global simulations with significant internal variability may require comparison to long (multidecadal) time series of observed events rather than single season field campaigns.« less

Attitude estimation of earth orbiting satellites by decomposed linear recursive filters

NASA Technical Reports Server (NTRS)

Kou, S. R.

1975-01-01

Attitude estimation of earth orbiting satellites (including Large Space Telescope) subjected to environmental disturbances and noises was investigated. Modern control and estimation theory is used as a tool to design an efficient estimator for attitude estimation. Decomposed linear recursive filters for both continuous-time systems and discrete-time systems are derived. By using this accurate estimation of the attitude of spacecrafts, state variable feedback controller may be designed to achieve (or satisfy) high requirements of system performance.

Robust stability of second-order systems

NASA Technical Reports Server (NTRS)

Chuang, C.-H.

1993-01-01

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base.

Calibration of visually guided reaching is driven by error-corrective learning and internal dynamics.

PubMed

Cheng, Sen; Sabes, Philip N

2007-04-01

The sensorimotor calibration of visually guided reaching changes on a trial-to-trial basis in response to random shifts in the visual feedback of the hand. We show that a simple linear dynamical system is sufficient to model the dynamics of this adaptive process. In this model, an internal variable represents the current state of sensorimotor calibration. Changes in this state are driven by error feedback signals, which consist of the visually perceived reach error, the artificial shift in visual feedback, or both. Subjects correct for > or =20% of the error observed on each movement, despite being unaware of the visual shift. The state of adaptation is also driven by internal dynamics, consisting of a decay back to a baseline state and a "state noise" process. State noise includes any source of variability that directly affects the state of adaptation, such as variability in sensory feedback processing, the computations that drive learning, or the maintenance of the state. This noise is accumulated in the state across trials, creating temporal correlations in the sequence of reach errors. These correlations allow us to distinguish state noise from sensorimotor performance noise, which arises independently on each trial from random fluctuations in the sensorimotor pathway. We show that these two noise sources contribute comparably to the overall magnitude of movement variability. Finally, the dynamics of adaptation measured with random feedback shifts generalizes to the case of constant feedback shifts, allowing for a direct comparison of our results with more traditional blocked-exposure experiments.

Silicon photonic dynamic optical channel leveler with external feedback loop.

PubMed

Doylend, J K; Jessop, P E; Knights, A P

2010-06-21

We demonstrate a dynamic optical channel leveler composed of a variable optical attenuator (VOA) integrated monolithically with a defect-mediated photodiode in a silicon photonic waveguide device. An external feedback loop mimics an analog circuit such that the photodiode directly controls the VOA to provide blind channel leveling within +/-1 dB across a 7-10 dB dynamic range for wavelengths from 1530 nm to 1570 nm. The device consumes approximately 50 mW electrical power and occupies a 6 mm x 0.1 mm footprint per channel. Dynamic leveling is accomplished without tapping optical power from the output path to the photodiode and thus the loss penalty is minimized.

The spectral details of observed and simulated short-term water vapor feedbacks of El Niño-Southern Oscillation

NASA Astrophysics Data System (ADS)

Pan, F.; Huang, X.; Chen, X.

2015-12-01

Radiative kernel method has been validated and widely used in the study of climate feedbacks. This study uses spectrally resolved longwave radiative kernels to examine the short-term water vapor feedbacks associated with the ENSO cycles. Using a 500-year GFDL CM3 and a 100-year NCAR CCSM4 pre-industry control simulation, we have constructed two sets of longwave spectral radiative kernels. We then composite El Niño, La Niña and ENSO-neutral states and estimate the water vapor feedbacks associated with the El Niño and La Niña phases of ENSO cycles in both simulations. Similar analysis is also applied to 35-year (1979-2014) ECMWF ERA-interim reanalysis data, which is deemed as observational results here. When modeled and observed broadband feedbacks are compared to each other, they show similar geographic patterns but with noticeable discrepancies in the contrast between the tropics and extra-tropics. Especially, in El Niño phase, the feedback estimated from reanalysis is much greater than those from the model simulations. Considering the observational data span, we carry out a sensitivity test to explore the variability of feedback-deriving using 35-year data. To do so, we calculate the water vapor feedback within every 35-year segment of the GFDL CM3 control run by two methods: one is to composite El Nino or La Nina phases as mentioned above and the other is to regressing the TOA flux perturbation caused by water vapor change (δR_H­2O) against the global-mean surface temperature a­­­­nomaly. We find that the short-term feedback strengths derived from composite method can change considerably from one segment to another segment, while the feedbacks by regression method are less sensitive to the choice of segment and their strengths are also much smaller than those from composite analysis. This study suggests that caution is warranted in order to infer long-term feedbacks from a few decades of observations. When spectral details of the global-mean feedbacks are examined, more inconsistencies can be revealed in many spectral bands, especially H2O continuum absorption bands and window regions. These discrepancies can be attributed back to differences in observed and modeled water vapor profiles in responses to tropical SST.

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.

Load controller and method to enhance effective capacity of a photovoltaic power supply

DOEpatents

Perez, Richard

2000-01-01

A load controller and method are provided for maximizing effective capacity of a non-controllable, renewable power supply coupled to a variable electrical load also coupled to a conventional power grid. Effective capacity is enhanced by monitoring power output of the renewable supply and loading, and comparing the loading against the power output and a load adjustment threshold determined from an expected peak loading. A value for a load adjustment parameter is calculated by subtracting the renewable supply output and the load adjustment parameter from the current load. This value is then employed to control the variable load in an amount proportional to the value of the load control parameter when the parameter is within a predefined range. By so controlling the load, the effective capacity of the non-controllable, renewable power supply is increased without any attempt at operational feedback control of the renewable supply. The renewable supply may comprise, for example, a photovoltaic power supply or a wind-based power supply.

How will wind and water erosion change in drylands in the future?

NASA Astrophysics Data System (ADS)

Okin, G. S.; Sala, O.; Vivoni, E. R.

2017-12-01

Drylands are characterized as much by high spatial and temporal variability as they are by low precipitation. Cover that is patchy at multiple scales allows connectivity for wind and water transport. Vegetation dynamics at interannual scales occurs in the context of community change (including woody encroachment) at decadal scales. Periods of drought alternate with relatively wet periods. Future predictions for the world's drylands are that many will become more arid, but near all will experience greater climate variability. This work explores how future variability will affect transport by wind and water, both of which are crucial elements of biotic-abiotic feedbacks that control community change in drylands. This work is based on long-term observations from the Jornada Long Term Ecological Research (LTER), but with lessons that are applicable elsewhere. We find strong relationships between vegetation community, precipitation and aeolian transport related to changes in connectivity. We further identify strong, scale-dependent relationships between precipitation and runoff. Thus, aeolian transport decreases with increasing annual precipitation and transport by water increases with annual precipitation, with the combined effect that increased variability in annual precipitation is likely to increase both water and wind transport. The consequence of this is that feedbacks associated with community change are likely to strengthen in the future.

Dose response relationship in anti-stress gene regulatory networks.

PubMed

Zhang, Qiang; Andersen, Melvin E

2007-03-02

To maintain a stable intracellular environment, cells utilize complex and specialized defense systems against a variety of external perturbations, such as electrophilic stress, heat shock, and hypoxia, etc. Irrespective of the type of stress, many adaptive mechanisms contributing to cellular homeostasis appear to operate through gene regulatory networks that are organized into negative feedback loops. In general, the degree of deviation of the controlled variables, such as electrophiles, misfolded proteins, and O2, is first detected by specialized sensor molecules, then the signal is transduced to specific transcription factors. Transcription factors can regulate the expression of a suite of anti-stress genes, many of which encode enzymes functioning to counteract the perturbed variables. The objective of this study was to explore, using control theory and computational approaches, the theoretical basis that underlies the steady-state dose response relationship between cellular stressors and intracellular biochemical species (controlled variables, transcription factors, and gene products) in these gene regulatory networks. Our work indicated that the shape of dose response curves (linear, superlinear, or sublinear) depends on changes in the specific values of local response coefficients (gains) distributed in the feedback loop. Multimerization of anti-stress enzymes and transcription factors into homodimers, homotrimers, or even higher-order multimers, play a significant role in maintaining robust homeostasis. Moreover, our simulation noted that dose response curves for the controlled variables can transition sequentially through four distinct phases as stressor level increases: initial superlinear with lesser control, superlinear more highly controlled, linear uncontrolled, and sublinear catastrophic. Each phase relies on specific gain-changing events that come into play as stressor level increases. The low-dose region is intrinsically nonlinear, and depending on the level of local gains, presence of gain-changing events, and degree of feedforward gene activation, this region can appear as superlinear, sublinear, or even J-shaped. The general dose response transition proposed here was further examined in a complex anti-electrophilic stress pathway, which involves multiple genes, enzymes, and metabolic reactions. This work would help biologists and especially toxicologists to better assess and predict the cellular impact brought about by biological stressors.

Promoting Increased Pitch Variation in Oral Presentations with Transient Visual Feedback

ERIC Educational Resources Information Center

Hincks, Rebecca; Edlund, Jens

2009-01-01

This paper investigates learner response to a novel kind of intonation feedback generated from speech analysis. Instead of displays of pitch curves, our feedback is flashing lights that show how much pitch variation the speaker has produced. The variable used to generate the feedback is the standard deviation of fundamental frequency as measured…

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

Soil Moisture Controls on Rainfall and Temperature Variability: A Modeler Searches Through Observational Data

NASA Technical Reports Server (NTRS)

Koster, Randal

2010-01-01

The degree to which atmospheric processes respond to variations in soil moisture - a potentially important but largely untapped element of subseasonal to seasonal prediction - can be determined easily and directly for an atmospheric model but cannot be determined directly for nature through an analysis of observations. In atmospheric models) directions of causality can be artificially manipulated; we can avoid difficulties associated with the fact that atmospheric variations have a much larger impact on land state variations than vice-versa. In nature) on the other hand) the dominant direction of causality (the atmosphere forcing the ground) cannot be artificially "turned off") and the statistics associated with this dominant direction overwhelm those of the feedback signal. Observational data) however) do allow a number of indirect measures of landatmosphere feedback. This seminar reports on a series of joint analyses of observational and model data designed to illuminate the degree of land-atmosphere feedback present in the real world. The indirect measures do in fact suggest that feedback in nature, though small) is significant - enough to warrant the development of realistic land initialization strategies for subseasonal and seasonal forecasts.

A flatness-based control approach to drug infusion for cardiac function regulation

NASA Astrophysics Data System (ADS)

Rigatos, Gerasimos; Zervos, Nikolaos; Melkikh, Alexey

2016-12-01

A new control method based on differential flatness theory is developed in this article, aiming at solving the problem of regulation of haemodynamic parameters, Actually control of the cardiac output (volume of blood pumped out by heart per unit of time) and of the arterial blood pressure is achieved through the administered infusion of cardiovascular drugs, such as dopamine and sodium nitroprusside. Time delays between the control inputs and the system's outputs are taken into account. Using the principle of dynamic extension, which means that by considering certain control inputs and their derivatives as additional state variables, a state-space description for the heart's function is obtained. It is proven that the dynamic model of the heart is a differentially flat one. This enables its transformation into a linear canonical and decoupled form, for which the design of a stabilizing feedback controller becomes possible. The proposed feedback controller is of proven stability and assures fast and accurate tracking of the reference setpoints by the outputs of the heart's dynamic model. Moreover, by using a Kalman Filter-based disturbances' estimator, it becomes possible to estimate in real-time and compensate for the model uncertainty and external perturbation inputs that affect the heart's model.

Self-organization in irregular landscapes: Detecting autogenic interactions from field data using descriptive statistics and dynamical systems theory

NASA Astrophysics Data System (ADS)

Larsen, L.; Watts, D.; Khurana, A.; Anderson, J. L.; Xu, C.; Merritts, D. J.

2015-12-01

The classic signal of self-organization in nature is pattern formation. However, the interactions and feedbacks that organize depositional landscapes do not always result in regular or fractal patterns. How might we detect their existence and effects in these "irregular" landscapes? Emergent landscapes such as newly forming deltaic marshes or some restoration sites provide opportunities to study the autogenic processes that organize landscapes and their physical signatures. Here we describe a quest to understand autogenic vs. allogenic controls on landscape evolution in Big Spring Run, PA, a landscape undergoing restoration from bare-soil conditions to a target wet meadow landscape. The contemporary motivation for asking questions about autogenic vs. allogenic controls is to evaluate how important initial conditions or environmental controls may be for the attainment of management objectives. However, these questions can also inform interpretation of the sedimentary record by enabling researchers to separate signals that may have arisen through self-organization processes from those resulting from environmental perturbations. Over three years at Big Spring Run, we mapped the dynamic evolution of floodplain vegetation communities and distributions of abiotic variables and topography. We used principal component analysis and transition probability analysis to detect associative interactions between vegetation and geomorphic variables and convergent cross-mapping on lidar data to detect causal interactions between biomass and topography. Exploratory statistics revealed that plant communities with distinct morphologies exerted control on landscape evolution through stress divergence (i.e., channel initiation) and promoting the accumulation of fine sediment in channels. Together, these communities participated in a negative feedback that maintains low energy and multiple channels. Because of the spatially explicit nature of this feedback, causal interactions could not be uncovered from convergent cross-mapping with this limited dataset, serving as a reminder that spatially explicit approaches for revealing causality are needed to reconstruct self-organizing mechanisms from data.

Validity of a new feedback method for the VEMP test.

PubMed

Vanspauwen, R; Wuyts, F L; Van De Heyning, P H

2006-08-01

We used a feedback method, based on a blood pressure manometer with inflatable cuff, to control the sternocleidomastoid muscle (SCM) contraction. To obtain comparable left-right VEMP responses, it is necessary (1) to determine which cuff pressures on both sides yield identical mean rectified voltage (MRV) values of the SCM contraction and (2) to apply these cuff pressures during the VEMP test. To investigate the effect of the SCM muscle contraction variability on the VEMP variables when applying the feedback method. Subjects pushed with their jaw against the hand-held inflated cuff to generate cuff pressures of subsequently 30, 40 and 50 mmHg during a MRV and VEMP measurement. When analyzing the relationship between the applied cuff pressures and the MRV values/VEMP amplitudes, we showed that (1) there was a linear relationship, (2) there was no side effect and (3) there was an interaction effect between 'side' and 'subject'. There was neither a side effect, nor an effect of the applied cuff pressure when considering the p13 latencies. As for the n23 values, there was no side effect but there was a significant difference when comparing the n23 latencies at cuff pressures of 30 vs 40 mmHg/50 mmHg.

The NASA Lewis integrated propulsion and flight control simulator

NASA Technical Reports Server (NTRS)

Bright, Michelle M.; Simon, Donald L.

1991-01-01

A new flight simulation facility has been developed at NASA Lewis to allow integrated propulsion-control and flight-control algorithm development and evaluation in real time. As a preliminary check of the simulator facility and the correct integration of its components, the control design and physics models for an STOVL fighter aircraft model have been demonstrated, with their associated system integration and architecture, pilot vehicle interfaces, and display symbology. The results show that this fixed-based flight simulator can provide real-time feedback and display of both airframe and propulsion variables for validation of integrated systems and testing of control design methodologies and cockpit mechanizations.

Neuromechanical tuning of nonlinear postural control dynamics

NASA Astrophysics Data System (ADS)

Ting, Lena H.; van Antwerp, Keith W.; Scrivens, Jevin E.; McKay, J. Lucas; Welch, Torrence D. J.; Bingham, Jeffrey T.; DeWeerth, Stephen P.

2009-06-01

Postural control may be an ideal physiological motor task for elucidating general questions about the organization, diversity, flexibility, and variability of biological motor behaviors using nonlinear dynamical analysis techniques. Rather than presenting "problems" to the nervous system, the redundancy of biological systems and variability in their behaviors may actually be exploited to allow for the flexible achievement of multiple and concurrent task-level goals associated with movement. Such variability may reflect the constant "tuning" of neuromechanical elements and their interactions for movement control. The problem faced by researchers is that there is no one-to-one mapping between the task goal and the coordination of the underlying elements. We review recent and ongoing research in postural control with the goal of identifying common mechanisms underlying variability in postural control, coordination of multiple postural strategies, and transitions between them. We present a delayed-feedback model used to characterize the variability observed in muscle coordination patterns during postural responses to perturbation. We emphasize the significance of delays in physiological postural systems, requiring the modulation and coordination of both the instantaneous, "passive" response to perturbations as well as the delayed, "active" responses to perturbations. The challenge for future research lies in understanding the mechanisms and principles underlying neuromechanical tuning of and transitions between the diversity of postural behaviors. Here we describe some of our recent and ongoing studies aimed at understanding variability in postural control using physical robotic systems, human experiments, dimensional analysis, and computational models that could be enhanced from a nonlinear dynamics approach.

Variable force and visual feedback effects on teleoperator man/machine performance

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Sheridan, Thomas B.

1989-01-01

An experimental study was conducted to determine the effects of various forms of visual and force feedback on human performance for several telemanipulation tasks. Experiments were conducted with varying frame rates and subtended visual angles, with and without force feedback.

Seasonal-to-Interannual Precipitation Variability and Predictability in a Coupled Land-Atmosphere System

NASA Technical Reports Server (NTRS)

Koster, Randal D.; Suarez, M. J.; Heiser, M.

1998-01-01

In an earlier GCM study, we showed that interactive land surface processes generally contribute more to continental precipitation variance than do variable sea surface temperatures (SSTs). A new study extends this result through an analysis of 16-member ensembles of multi-decade GCM simulations. We can now show that in many regions, although land processes determine the amplitude of the interannual precipitation anomalies, variable SSTs nevertheless control their timing. The GCM data can be processed into indices that describe geographical variations in (1) the potential for seasonal-to-interannual prediction, and (2) the extent to which the predictability relies on the proper representation of land-atmosphere feedback.

A robust rotorcraft flight control system design methodology utilizing quantitative feedback theory

NASA Technical Reports Server (NTRS)

Gorder, Peter James

1993-01-01

Rotorcraft flight control systems present design challenges which often exceed those associated with fixed-wing aircraft. First, large variations in the response characteristics of the rotorcraft result from the wide range of airspeeds of typical operation (hover to over 100 kts). Second, the assumption of vehicle rigidity often employed in the design of fixed-wing flight control systems is rarely justified in rotorcraft where rotor degrees of freedom can have a significant impact on the system performance and stability. This research was intended to develop a methodology for the design of robust rotorcraft flight control systems. Quantitative Feedback Theory (QFT) was chosen as the basis for the investigation. Quantitative Feedback Theory is a technique which accounts for variability in the dynamic response of the controlled element in the design robust control systems. It was developed to address a Multiple-Input Single-Output (MISO) design problem, and utilizes two degrees of freedom to satisfy the design criteria. Two techniques were examined for extending the QFT MISO technique to the design of a Multiple-Input-Multiple-Output (MIMO) flight control system (FCS) for a UH-60 Black Hawk Helicopter. In the first, a set of MISO systems, mathematically equivalent to the MIMO system, was determined. QFT was applied to each member of the set simultaneously. In the second, the same set of equivalent MISO systems were analyzed sequentially, with closed loop response information from each loop utilized in subsequent MISO designs. The results of each technique were compared, and the advantages of the second, termed Sequential Loop Closure, were clearly evident.

Leadership Identity Development Through Reflection and Feedback in Team-Based Learning Medical Student Teams.

PubMed

Alizadeh, Maryam; Mirzazadeh, Azim; Parmelee, Dean X; Peyton, Elizabeth; Mehrdad, Neda; Janani, Leila; Shahsavari, Hooman

2018-01-01

Studies on leadership identity development through reflection with Team-Based Learning (TBL) in medical student education are rare. We assumed that reflection and feedback on the team leadership process would advance the progression through leadership identity development stages in medical students within the context of classes using TBL. This study is a quasi-experimental design with pretest-posttest control group. The pretest and posttest were reflection papers of medical students about their experience of leadership during their TBL sessions. In the intervention group, TBL and a team-based, guided reflection and feedback on the team leadership process were performed at the end of all TBL sessions. In the other group, only TBL was used. The Stata 12 software was used. Leadership Identity was treated both as a categorical and quantitative variable to control for differences in baseline and gender variables. Chi-square, t tests, and linear regression analysis were performed. The population was a cohort of 2015-2016 medical students in a TBL setting at Tehran University of Medical Sciences, School of Medicine. Teams of four to seven students were formed by random sorting at the beginning of the academic year (intervention group n = 20 teams, control group n = 19 teams). At baseline, most students in both groups were categorized in the Awareness and Exploration stage of leadership identity: 51 (52%) in the intervention group and 59 (55%) in the control group: uncorrected χ 2 (3) = 15.6, design-based F(2.83, 108) = 4.87, p = .003. In the posttest intervention group, 36 (36%) were in exploration, 33 (33%) were in L-identified, 20 (20%) were in Leadership Differentiated, and 10 (10%) were in the Generativity. None were in the Awareness or Integration stages. In the control group, 3 (20%) were in Awareness, 56 (53%) were in Exploration, 35 (33%) were in Leader Identified, 13 (12%) were in Leadership Differentiated. None were in the Generativity and Integration stages. Our hypothesis was supported by the data: uncorrected χ 2 (4) = 18.6, design-based F(3.77, 143) = 4.46, p = .002. The mean of the leadership identity in the pretest, intervention group equaled 1.93 (SD = 0.85) and the pretest, control group mean was 2.36 (SD = 0.86), p = .004. The mean of the posttest, intervention group was 3.04 (SD = 0.98) and posttest, control group mean was 2.54 (SD = 0.74), T = -4.00, design df = 38, p < .001, and adjusted on baseline and gender T = -8.97, design df = 38, p < .001. Reflection and feedback on the team leadership process in TBL advances the progression in stages of leadership identity development in medical students. Although the TBL strategy itself could have an impact on leadership identity development, this study demonstrates that when a reflection and feedback on leadership intervention are added, there is much greater impact.

Modeling and control of non-square MIMO system using relay feedback.

PubMed

Kalpana, D; Thyagarajan, T; Gokulraj, N

2015-11-01

This paper proposes a systematic approach for the modeling and control of non-square MIMO systems in time domain using relay feedback. Conventionally, modeling, selection of the control configuration and controller design of non-square MIMO systems are performed using input/output information of direct loop, while the output of undesired responses that bears valuable information on interaction among the loops are not considered. However, in this paper, the undesired response obtained from relay feedback test is also taken into consideration to extract the information about the interaction between the loops. The studies are performed on an Air Path Scheme of Turbocharged Diesel Engine (APSTDE) model, which is a typical non-square MIMO system, with input and output variables being 3 and 2 respectively. From the relay test response, the generalized analytical expressions are derived and these analytical expressions are used to estimate unknown system parameters and also to evaluate interaction measures. The interaction is analyzed by using Block Relative Gain (BRG) method. The model thus identified is later used to design appropriate controller to carry out closed loop studies. Closed loop simulation studies were performed for both servo and regulatory operations. Integral of Squared Error (ISE) performance criterion is employed to quantitatively evaluate performance of the proposed scheme. The usefulness of the proposed method is demonstrated on a lab-scale Two-Tank Cylindrical Interacting System (TTCIS), which is configured as a non-square system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Maintenance and operation procedure, and feedback controls of the J-PARC RF-driven H{sup −} ion source

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

Ueno, A., E-mail: akira.ueno@j-parc.jp; Ohkoshi, K.; Ikegami, K.

2015-04-08

In order to satisfy the Japan Proton Accelerator Research Complex (J-PARC) second stage requirements of an H{sup −} ion beam of 60mA within normalized emittances of 1.5πmm•mrad both horizontally and vertically, a flat top beam duty factor of 1.25% (500μs×25Hz) and a life-time of longer than 1month, the J-PARC cesiated RF-driven H{sup −} ion source was developed by using an internal-antenna developed at the Spallation Neutron Source (SNS). The maintenance and operation procedure to minimize the plasma chamber (PCH) replacement time on the beam line, which is very important to maximize the J-PARC beam time especially for an antenna failure,more » is presented in this paper. The PCH preserved by filling argon (Ar) gas inside after pre-conditioning including pre-cesiation to produce the required beam at a test-stand successfully produced the required beam on the beam line with slight addition of cesium (Cs). The methods of the feedback controls of a 2MHz-RF-matching, an H{sup −} ion beam intensity and the addition of Cs are also presented. The RF-matching feedback by using two vacuum variable capacitors (VVCs) and RF-frequency shift produced the almost perfect matching with negligibly small reflected RF-power. The H{sup −} ion beam intensity was controlled within errors of ±0.1mA by the RF-power feedback. The amount of Cs was also controlled by remotely opening a Cs-valve to keep the RF-power lower than a settled value.« less

The Relation of College Student Self-Efficacy toward Writing and Writing Self-Regulation Aptitude: Writing Feedback Perceptions as a Mediating Variable

ERIC Educational Resources Information Center

Ekholm, Eric; Zumbrunn, Sharon; Conklin, Sarah

2015-01-01

Despite the powerful effect feedback often has on student writing success more research is needed on how students emotionally react to the feedback they receive. This study tested the predictive and mediational roles of college student writing self-efficacy beliefs and feedback perceptions on writing self-regulation aptitude. Results suggested…

Development of kinesthetic-motor and auditory-motor representations in school-aged children.

PubMed

Kagerer, Florian A; Clark, Jane E

2015-07-01

In two experiments using a center-out task, we investigated kinesthetic-motor and auditory-motor integrations in 5- to 12-year-old children and young adults. In experiment 1, participants moved a pen on a digitizing tablet from a starting position to one of three targets (visuo-motor condition), and then to one of four targets without visual feedback of the movement. In both conditions, we found that with increasing age, the children moved faster and straighter, and became less variable in their feedforward control. Higher control demands for movements toward the contralateral side were reflected in longer movement times and decreased spatial accuracy across all age groups. When feedforward control relies predominantly on kinesthesia, 7- to 10-year-old children were more variable, indicating difficulties in switching between feedforward and feedback control efficiently during that age. An inverse age progression was found for directional endpoint error; larger errors increasing with age likely reflect stronger functional lateralization for the dominant hand. In experiment 2, the same visuo-motor condition was followed by an auditory-motor condition in which participants had to move to acoustic targets (either white band or one-third octave noise). Since in the latter directional cues come exclusively from transcallosally mediated interaural time differences, we hypothesized that auditory-motor representations would show age effects. The results did not show a clear age effect, suggesting that corpus callosum functionality is sufficient in children to allow them to form accurate auditory-motor maps already at a young age.

Development of kinesthetic-motor and auditory-motor representations in school-aged children

PubMed Central

Clark, Jane E.

2015-01-01

In two experiments using a center-out task, we investigated kinesthetic-motor and auditory-motor integrations in 5- to 12-year-old children and young adults. In experiment 1, participants moved a pen on a digitizing tablet from a starting position to one of three targets (visuo-motor condition), and then to one of four targets without visual feedback of the movement. In both conditions, we found that with increasing age, the children moved faster and straighter, and became less variable in their feedforward control. Higher control demands for movements toward the contralateral side were reflected in longer movement times and decreased spatial accuracy across all age groups. When feedforward control relies predominantly on kinesthesia, 7- to 10-year-old children were more variable, indicating difficulties in switching between feedforward and feedback control efficiently during that age. An inverse age progression was found for directional endpoint error; larger errors increasing with age likely reflect stronger functional lateralization for the dominant hand. In experiment 2, the same visuo-motor condition was followed by an auditory-motor condition in which participants had to move to acoustic targets (either white band or one-third octave noise). Since in the latter directional cues come exclusively from transcallosally mediated interaural time differences, we hypothesized that auditory-motor representations would show age effects. The results did not show a clear age effect, suggesting that corpus callosum functionality is sufficient in children to allow them to form accurate auditory-motor maps already at a young age. PMID:25912609

Incorporation of feedback during beat synchronization is an index of neural maturation and reading skills.

PubMed

Woodruff Carr, Kali; Fitzroy, Ahren B; Tierney, Adam; White-Schwoch, Travis; Kraus, Nina

2017-01-01

Speech communication involves integration and coordination of sensory perception and motor production, requiring precise temporal coupling. Beat synchronization, the coordination of movement with a pacing sound, can be used as an index of this sensorimotor timing. We assessed adolescents' synchronization and capacity to correct asynchronies when given online visual feedback. Variability of synchronization while receiving feedback predicted phonological memory and reading sub-skills, as well as maturation of cortical auditory processing; less variable synchronization during the presence of feedback tracked with maturation of cortical processing of sound onsets and resting gamma activity. We suggest the ability to incorporate feedback during synchronization is an index of intentional, multimodal timing-based integration in the maturing adolescent brain. Precision of temporal coding across modalities is important for speech processing and literacy skills that rely on dynamic interactions with sound. Synchronization employing feedback may prove useful as a remedial strategy for individuals who struggle with timing-based language learning impairments. Copyright © 2016 Elsevier Inc. All rights reserved.

Decision making with uncertain reinforcement in children with attention deficit/hyperactivity disorder (ADHD).

PubMed

Drechsler, Renate; Rizzo, Patrizia; Steinhausen, Hans-Christoph

2010-01-01

Reward-related processes are impaired in children with ADHD. Whether these deficits can be ascribed to an aversion to delay or to an altered responsiveness to magnitude, frequency, valence, or the probability of rewards still needs to be explored. In the present study, children with ADHD and normal controls aged 7 to 10 years performed a simple probabilistic discounting task. They had to choose between alternatives where the magnitude of rewards was inversely related to the probability of outcomes. As a result, children with ADHD opted more frequently for less likely but larger rewards than normal controls. Shifts of the response category after positive or negative feedback, however, occurred as often in children with ADHD as in control children. In children with ADHD, the frequency of risky choices was correlated with neuropsychological measures of response time variability but unrelated to measures of inhibitory control. It is concluded that the tendency to select less likely but larger rewards possibly represents a separate facet of dysfunctional reward processing, independent of delay aversion or altered responsiveness to feedback.

Final Technical Report: The effects of climate, forest age, and disturbance history on carbon and water processes at AmeriFlux sites across gradients in Pacific Northwest forests

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

Law, Beverly E.

Investigate the effects of disturbance and climate variables on processes controlling carbon and water processes at AmeriFlux cluster sites in semi-arid and mesic forests in Oregon. The observations were made at three existing and productive AmeriFlux research sites that represent climate and disturbance gradients as a natural experiment of the influence of climatic and hydrologic variability on carbon sequestration and resulting atmospheric CO 2 feedback that includes anomalies during the warm/ dry phase of the Pacific Decadal Oscillation.

Depression screening with patient-targeted feedback in cardiology: The cost-effectiveness of DEPSCREEN-INFO.

PubMed

Brettschneider, Christian; Kohlmann, Sebastian; Gierk, Benjamin; Löwe, Bernd; König, Hans-Helmut

2017-01-01

Although depression is common in patients with heart disease, screening for depression is much debated. DEPSCREEN-INFO showed that a patient-targeted feedback in addition to screening results in lower depression level six months after screening. The purpose of this analysis was to perform a cost-effectiveness analysis of DEPSCREEN-INFO. Patients with coronary heart disease or arterial hypertension were included. Participants in both groups were screened for depression. Participants in the intervention group additionally received a patient-targeted feedback of their result and recommended treatment options. A cost-utility analysis using quality-adjusted life years (QALY) based on the EQ-5D was performed. The time horizon was 6 months. Resource utilization was assessed by a telephone interview. Multiple imputation using chained equations was used. Net-benefit regressions controlled for prognostic variables at baseline were performed to construct cost-effectiveness acceptability curves. Different sensitivity analyses were performed. 375 participants (intervention group: 155; control group: 220) were included at baseline. After 6 months, in the intervention group adjusted total costs were lower (-€2,098; SE: €1,717) and more QALY were gained (0.0067; SD: 0.0133); yet differences were not statistically significant. The probability of cost-effectiveness was around 80% independent of the willingness-to-pay (range: €0/QALY-€130,000/QALY). The results were robust. A patient-targeted feedback in addition to depression screening in cardiology is cost-effective with a high probability. This underpins the use of the patient-targeted feedbacks and the PHQ-9 that are both freely available and easy to implement in routine care.

The Strength of Cloud Feedbacks and the Structure of Tropical Climate Change - A CESM Sensitivity Study

NASA Astrophysics Data System (ADS)

Erfani, E.; Burls, N.

2017-12-01

The nature of local coupled ocean-atmosphere interactions within the tropics is determined by background conditions such as the depth of the equatorial thermocline, the water vapor content of the tropical atmosphere, and the radiative forcing of tropical clouds. These factors are set not only by the coupled tropical variability itself but also by extra-tropical conditions. For example, the strength of the cold tongue is ultimately controlled by the temperature of waters subducted in the extra-tropics and transported to the equator by the ocean subtropical cells (STCs). Similarly, inter-hemispheric asymmetries in extra-tropical atmospheric heating are communicated to the tropics affecting cross-equatorial heat transport and ITCZ position. Acknowledging from a fully coupled perspective the influence of both tropical and extra-tropical conditions, we are performing a suite of CESM experiments across which we systematically alter the strength of convective and stratus cloud feedbacks. By systematically exploring the sensitivity of the tropical coupled system to imposed changes in the strength of tropical and extra-tropical cloud feedbacks to CO2-induced warming this work aims to formalize our understanding of cloud controls on tropical climate.

The magnitude and colour of noise in genetic negative feedback systems.

PubMed

Voliotis, Margaritis; Bowsher, Clive G

2012-08-01

The comparative ability of transcriptional and small RNA-mediated negative feedback to control fluctuations or 'noise' in gene expression remains unexplored. Both autoregulatory mechanisms usually suppress the average (mean) of the protein level and its variability across cells. The variance of the number of proteins per molecule of mean expression is also typically reduced compared with the unregulated system, but is almost never below the value of one. This relative variance often substantially exceeds a recently obtained, theoretical lower limit for biochemical feedback systems. Adding the transcriptional or small RNA-mediated control has different effects. Transcriptional autorepression robustly reduces both the relative variance and persistence (lifetime) of fluctuations. Both benefits combine to reduce noise in downstream gene expression. Autorepression via small RNA can achieve more extreme noise reduction and typically has less effect on the mean expression level. However, it is often more costly to implement and is more sensitive to rate parameters. Theoretical lower limits on the relative variance are known to decrease slowly as a measure of the cost per molecule of mean expression increases. However, the proportional increase in cost to achieve substantial noise suppression can be different away from the optimal frontier-for transcriptional autorepression, it is frequently negligible.

Study of dynamics of X-14B VTOL aircraft

NASA Technical Reports Server (NTRS)

Loscutoff, W. V.; Mitchiner, J. L.; Roesener, R. A.; Seevers, J. A.

1973-01-01

Research was initiated to investigate certain facets of modern control theory and their integration with a digital computer to provide a tractable flight control system for a VTOL aircraft. Since the hover mode is the most demanding phase in the operation of a VTOL aircraft, the research efforts were concentrated in this mode of aircraft operation. Research work on three different aspects of the operation of the X-14B VTOL aircraft is discussed. A general theory for optimal, prespecified, closed-loop control is developed. The ultimate goal was optimal decoupling of the modes of the VTOL aircraft to simplify the pilot's task of handling the aircraft. Modern control theory is used to design deterministic state estimators which provide state variables not measured directly, but which are needed for state variable feedback control. The effect of atmospheric turbulence on the X-14B is investigated. A maximum magnitude gust envelope within which the aircraft could operate stably with the available control power is determined.

Fitts’ Law in the Control of Isometric Grip Force With Naturalistic Targets

PubMed Central

Thumser, Zachary C.; Slifkin, Andrew B.; Beckler, Dylan T.; Marasco, Paul D.

2018-01-01

Fitts’ law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts’ law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts’ law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task). Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task). Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback). This provided an opportunity to see if Fitts’ law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback). Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets) to the more naturalistic and intuitive target forces implied by images of objects (implicit targets). With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts’ law (average r2 = 0.82). Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces without the visualized force meter. In sum, population means were well-described by Fitts’ law for explicit targets with vision (r2 = 0.96) and implicit targets (r2 = 0.89), but not as well-described for explicit targets without vision (r2 = 0.54). Implicit targets should provide a realistic see-object-squeeze-object test using Fitts’ law to quantify the relative speed-accuracy relationship of any given grasper. PMID:29773999

A Survey of Phase Variable Candidates of Human Locomotion

PubMed Central

Villarreal, Dario J.; Gregg, Robert D.

2014-01-01

Studies show that the human nervous system is able to parameterize gait cycle phase using sensory feedback. In the field of bipedal robots, the concept of a phase variable has been successfully used to mimic this behavior by parameterizing the gait cycle in a time-independent manner. This approach has been applied to control a powered transfemoral prosthetic leg, but the proposed phase variable was limited to the stance period of the prosthesis only. In order to achieve a more robust controller, we attempt to find a new phase variable that fully parameterizes the gait cycle of a prosthetic leg. The angle with respect to a global reference frame at the hip is able to monotonically parameterize both the stance and swing periods of the gait cycle. This survey looks at multiple phase variable candidates involving the hip angle with respect to a global reference frame across multiple tasks including level-ground walking, running, and stair negotiation. In particular, we propose a novel phase variable candidate that monotonically parameterizes the whole gait cycle across all tasks, and does so particularly well across level-ground walking. In addition to furthering the design of robust robotic prosthetic leg controllers, this survey could help neuroscientists and physicians study human locomotion across tasks from a time-independent perspective. PMID:25570873

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.

Change in the magnitude and mechanisms of global temperature variability with warming

PubMed Central

Brown, Patrick T.; Ming, Yi; Li, Wenhong; Hill, Spencer A.

2017-01-01

Natural unforced variability in global mean surface air temperature (GMST) can mask or exaggerate human-caused global warming, and thus a complete understanding of this variability is highly desirable. Significant progress has been made in elucidating the magnitude and physical origins of present-day unforced GMST variability, but it has remained unclear how such variability may change as the climate warms. Here we present modeling evidence that indicates that the magnitude of low-frequency GMST variability is likely to decline in a warmer climate and that its generating mechanisms may be fundamentally altered. In particular, a warmer climate results in lower albedo at high latitudes, which yields a weaker albedo feedback on unforced GMST variability. These results imply that unforced GMST variability is dependent on the background climatological conditions, and thus climate model control simulations run under perpetual preindustrial conditions may have only limited relevance for understanding the unforced GMST variability of the future. PMID:29391875

Review article: closed-loop systems in anesthesia: is there a potential for closed-loop fluid management and hemodynamic optimization?

PubMed

Rinehart, Joseph; Liu, Ngai; Alexander, Brenton; Cannesson, Maxime

2012-01-01

Closed-loop (automated) controllers are encountered in all aspects of modern life in applications ranging from air-conditioning to spaceflight. Although these systems are virtually ubiquitous, they are infrequently used in anesthesiology because of the complexity of physiologic systems and the difficulty in obtaining reliable and valid feedback data from the patient. Despite these challenges, closed-loop systems are being increasingly studied and improved for medical use. Two recent developments have made fluid administration a candidate for closed-loop control. First, the further description and development of dynamic predictors of fluid responsiveness provides a strong parameter for use as a control variable to guide fluid administration. Second, rapid advances in noninvasive monitoring of cardiac output and other hemodynamic variables make goal-directed therapy applicable for a wide range of patients in a variety of clinical care settings. In this article, we review the history of closed-loop controllers in clinical care, discuss the current understanding and limitations of the dynamic predictors of fluid responsiveness, and examine how these variables might be incorporated into a closed-loop fluid administration system.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

NASA Astrophysics Data System (ADS)

Bayram, Atilla

2017-03-01

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

Locomotor sensory organization test: a novel paradigm for the assessment of sensory contributions in gait.

PubMed

Chien, Jung Hung; Eikema, Diderik-Jan Anthony; Mukherjee, Mukul; Stergiou, Nicholas

2014-12-01

Feedback based balance control requires the integration of visual, proprioceptive and vestibular input to detect the body's movement within the environment. When the accuracy of sensory signals is compromised, the system reorganizes the relative contributions through a process of sensory recalibration, for upright postural stability to be maintained. Whereas this process has been studied extensively in standing using the Sensory Organization Test (SOT), less is known about these processes in more dynamic tasks such as locomotion. In the present study, ten healthy young adults performed the six conditions of the traditional SOT to quantify standing postural control when exposed to sensory conflict. The same subjects performed these six conditions using a novel experimental paradigm, the Locomotor SOT (LSOT), to study dynamic postural control during walking under similar types of sensory conflict. To quantify postural control during walking, the net Center of Pressure sway variability was used. This corresponds to the Performance Index of the center of pressure trajectory, which is used to quantify postural control during standing. Our results indicate that dynamic balance control during locomotion in healthy individuals is affected by the systematic manipulation of multisensory inputs. The sway variability patterns observed during locomotion reflect similar balance performance with standing posture, indicating that similar feedback processes may be involved. However, the contribution of visual input is significantly increased during locomotion, compared to standing in similar sensory conflict conditions. The increased visual gain in the LSOT conditions reflects the importance of visual input for the control of locomotion. Since balance perturbations tend to occur in dynamic tasks and in response to environmental constraints not present during the SOT, the LSOT may provide additional information for clinical evaluation on healthy and deficient sensory processing.

Improving the Acquisition of Basic Technical Surgical Skills with VR-Based Simulation Coupled with Computer-Based Video Instruction.

PubMed

Rojas, David; Kapralos, Bill; Dubrowski, Adam

2016-01-01

Next to practice, feedback is the most important variable in skill acquisition. Feedback can vary in content and the way that it is used for delivery. Health professions education research has extensively examined the different effects provided by the different feedback methodologies. In this paper we compared two different types of knowledge of performance (KP) feedback. The first type was video-based KP feedback while the second type consisted of computer generated KP feedback. Results of this study showed that computer generated performance feedback is more effective than video based performance feedback. The combination of the two feedback methodologies provides trainees with a better understanding.

EKF-Based Enhanced Performance Controller Design for Nonlinear Stochastic Systems

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

Zhou, Yuyang; Zhang, Qichun; Wang, Hong

In this paper, a novel control algorithm is presented to enhance the performance of tracking property for a class of non-linear dynamic stochastic systems with unmeasurable variables. To minimize the entropy of tracking errors without changing the existing closed loop with PI controller, the enhanced performance loop is constructed based on the state estimation by extended Kalman Filter and the new controller is designed by full state feedback following this presented control algorithm. Besides, the conditions are obtained for the stability analysis in the mean square sense. In the end, the comparative simulation results are given to illustrate the effectivenessmore » of proposed control algorithm.« less

Digital flight control systems

NASA Technical Reports Server (NTRS)

Caglayan, A. K.; Vanlandingham, H. F.

1977-01-01

The design of stable feedback control laws for sampled-data systems with variable rate sampling was investigated. These types of sampled-data systems arise naturally in digital flight control systems which use digital actuators where it is desirable to decrease the number of control computer output commands in order to save wear and tear of the associated equipment. The design of aircraft control systems which are optimally tolerant of sensor and actuator failures was also studied. Detection of the failed sensor or actuator must be resolved and if the estimate of the state is used in the control law, then it is also desirable to have an estimator which will give the optimal state estimate even under the failed conditions.

Photovoltaic Powering And Control System For Electrochromic Windows

DOEpatents

Schulz, Stephen C.; Michalski, Lech A.; Volltrauer, Hermann N.; Van Dine, John E.

2000-04-25

A sealed insulated glass unit is provided with an electrochromic device for modulating light passing through the unit. The electrochromic device is controlled from outside the unit by a remote control electrically unconnected to the device. Circuitry within the unit may be magnetically controlled from outside. The electrochromic device is powered by a photovoltaic cells. The photovoltaic cells may be positioned so that at least a part of the light incident on the cell passes through the electrochromic device, providing a form of feedback control. A variable resistance placed in parallel with the electrochromic element is used to control the response of the electrochromic element to changes in output of the photovoltaic cell.

Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms

PubMed Central

Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

2016-01-01

The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the “UCM reference feedback control.” To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change, the variance components, and the index of synergy as well as the human subjects. We concluded that UCM reference feedback control can reproduce human-like joint coordination. The inference for motor control of the human central nervous system based on the proposed method was discussed. PMID:27462215

The Effects of Physical Activity Feedback on Behavior and Awareness in Employees: Study Protocol for a Randomized Controlled Trial

PubMed Central

Van Hoye, Karen; Boen, Filip; Lefevre, Johan

2012-01-01

Purpose. The SenseWear Armband (SWA) is a multisensor activity monitor that can be used in daily life to assess an individual's physical activity level (PAL). The primary goal of this study was to analyze the impact of different types of feedback on the PAL of Flemish employees. Methods/Design. We recruited 320 sedentary employees (age, 41.0 ± 10.7 years; BMI, 26.2 ± 4.2 kg/m2) to participate in the 12-month study. Participants were randomized into one of four intervention groups after being measured for 7 days and nights by means of the SWA: (1) a minimal intervention group received no feedback (MIG, n = 56); (2) a pedometer group was provided only information on their daily step count (PG, n = 57); (3) a display group received feedback on calories burned, steps taken, and minutes of physical activity by means of the SWA display (DG, n = 57); (4) a coaching group also received the display and had weekly meetings with a Personal Coach (CoachG, n = 57). We hypothesize that participants receiving feedback (SG, DG, and CoachG) will have a greater increase in physical activity outcome variables compared to participants of the minimal intervention group. PMID:23056040

Using bioimpedance spectroscopy parameters as real-time feedback during tDCS.

PubMed

Nejadgholi, Isar; Caytak, Herschel; Bolic, Miodrag

2016-08-01

An exploratory analysis is carried out to investigate the feasibility of using BioImpedance Spectroscopy (BIS) parameters, measured on scalp, as real-time feedback during Transcranial Direct Current Stimulation (tDCS). TDCS is shown to be a potential treatment for neurological disorders. However, this technique is not considered as a reliable clinical treatment, due to the lack of a measurable indicator of treatment efficacy. Although the voltage that is applied on the head is very simple to measure during a tDCS session, changes of voltage are difficult to interpret in terms of variables that affect clinical outcome. BIS parameters are considered as potential feedback parameters, because: 1) they are shown to be associated with the DC voltage applied on the head, 2) they are interpretable in terms of conductive and capacitive properties of head tissues, 3) physical interpretation of BIS measurements makes them prone to be adjusted by clinically controllable variables, 4) BIS parameters are measurable in a cost-effective and safe way and do not interfere with DC stimulation. This research indicates that a quadratic regression model can predict the DC voltage between anode and cathode based on parameters extracted from BIS measurements. These parameters are extracted by fitting the measured BIS spectra to an equivalent electrical circuit model. The effect of clinical tDCS variables on BIS parameters needs to be investigated in future works. This work suggests that BIS is a potential method to be used for monitoring a tDCS session in order to adjust, tailor, or personalize tDCS treatment protocols.

The Effect of Feedback Delay and Feedback Type on Perceptual Category Learning: The Limits of Multiple Systems

ERIC Educational Resources Information Center

Dunn, John C.; Newell, Ben R.; Kalish, Michael L.

2012-01-01

Evidence that learning rule-based (RB) and information-integration (II) category structures can be dissociated across different experimental variables has been used to support the view that such learning is supported by multiple learning systems. Across 4 experiments, we examined the effects of 2 variables, the delay between response and feedback…

Feedback linearization of singularly perturbed systems based on canonical similarity transformations

NASA Astrophysics Data System (ADS)

Kabanov, A. A.

2018-05-01

This paper discusses the problem of feedback linearization of a singularly perturbed system in a state-dependent coefficient form. The result is based on the introduction of a canonical similarity transformation. The transformation matrix is constructed from separate blocks for fast and slow part of an original singularly perturbed system. The transformed singular perturbed system has a linear canonical form that significantly simplifies a control design problem. Proposed similarity transformation allows accomplishing linearization of the system without considering the virtual output (as it is needed for normal form method), a technique of a transition from phase coordinates of the transformed system to state variables of the original system is simpler. The application of the proposed approach is illustrated through example.

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.

Strong feedback limit of the Goodwin circadian oscillator

NASA Astrophysics Data System (ADS)

Woller, Aurore; Gonze, Didier; Erneux, Thomas

2013-03-01

The three-variable Goodwin model constitutes a prototypical oscillator based on a negative feedback loop. It was used as a minimal model for circadian oscillations. Other core models for circadian clocks are variants of the Goodwin model. The Goodwin oscillator also appears in many studies of coupled oscillator networks because of its relative simplicity compared to other biophysical models involving a large number of variables and parameters. Because the synchronization properties of Goodwin oscillators still remain difficult to explore mathematically, further simplifications of the Goodwin model have been sought. In this paper, we investigate the strong negative feedback limit of Goodwin equations by using asymptotic techniques. We find that Goodwin oscillations approach a sequence of decaying exponentials that can be described in terms of a single-variable leaky integrated-and-fire model.

Linking playa surface dust emission potential to feedbacks between surface moisture and salt crust expansion through high resolution terrestrial laser scanning measurements

NASA Astrophysics Data System (ADS)

Nield, J. M.; King, J.; Wiggs, G.

2012-12-01

The dust emissivity of salt pans (or playas) can be significant but is controlled by interactions between wind erosivity, surface moisture, salt chemistry and crust morphology. These surface properties influence the aeolian transport threshold and can be highly variable over both short temporal and spatial scales. In the past, field studies have been hampered by practical difficulties in accurately measuring properties controlling sediment availability at the surface in high resolution. Studies typically therefore, have investigated large scale monthly or seasonal change using remote sensing and assume a homogeneous surface when predicting dust emissivity. Here we present the first high resolution measurements (sub-cm) of salt crust expansion related to changes in diurnal moisture over daily and weekly time periods using terrestrial laser scanning (TLS, ground-based LiDAR) on Sua Pan, Botswana. The TLS measures both elevation and relative surface moisture change simultaneously, without disturbing the surface. Measurement sequences enable the variability in aeolian sediment availability to be quantified along with temporal feedbacks associated with crust degradation. On crusts with well-developed polygon ridges (high aerodynamic and surface roughness), daily surface expansion was greater than 30mm. The greatest surface change occurred overnight on the upper, exposed sections of the ridges, particularly when surface temperatures dropping below 10°C. These areas also experienced the greatest moisture variation and became increasingly moist overnight in response to an increase in relative humidity. In contrast, during daylight hours, the ridge areas were drier than the lower lying inter-ridge areas. Positive feedbacks between surface topography and moisture reinforced the maximum diurnal moisture variation at ridge peaks, encouraging crust thrusting due to overnight salt hydration, further enhancing the surface, and therefore, aerodynamic roughness. These feedbacks between surface roughness and moisture have implications for dust emissivity because crust expansion increases fluff production which is one of the main dust source materials. Further, increased roughness can locally increase wind erosivity and the potential evaporation of ridge areas. Crust thrusting also weakens the ridge peaks, developing cracked surfaces and exposing the sediment supply source below. These fast acting processes can have a major influence on wind erosion variability and dust emissivity from key dust source regions.; a-d) Elevation change overnight. e-f) Elevation change over 6 days.

Apparatus Tests Peeling Of Bonded Rubbery Material

NASA Technical Reports Server (NTRS)

Crook, Russell A.; Graham, Robert

1996-01-01

Instrumented hydraulic constrained blister-peel apparatus obtains data on degree of bonding between specimen of rubbery material and rigid plate. Growth of blister tracked by video camera, digital clock, pressure transducer, and piston-displacement sensor. Cylinder pressure controlled by hydraulic actuator system. Linear variable-differential transformer (LVDT) and float provide second, independent measure of change in blister volume used as more precise volume feedback in low-growth-rate test.

ENGINEERING APPLICATIONS OF ANALOG COMPUTERS

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

Bryant, L.T.; Janicke, M.J.; Just, L.C.

1961-02-01

Six examples are given of the application of analog computers in the fields of reactor engineering, heat transfer, and dynamics: deceleration of a reactor control rod by dashpot, pressure variations through a packed bed, reactor kinetics over many decades with thermal feedback (simulation of a TREAT transient), vibrating system with two degrees of freedom, temperature distribution in a radiating fin, and temperature distribution in an irfinite slab with variable thermal properties. (D.L.C.)

[Individual characteristics of correction of the cosmonauts' vegetative status with a method of adaptive biofeedback

NASA Technical Reports Server (NTRS)

Kornilova, L. N.; Cowings, P.; Arlashchenko, N. I.; Korneev, D. Iu; Sagalovich, S. V.; Sarantseva, A. V.; Toscano, W.; Kozlovskaia, I. B.

2003-01-01

The ability of 4 cosmonauts to voluntarily control their physiological parameters during the standing test was evaluated following a series of the adaptive feedback (AF) training sessions. Vegetative status of the cosmonauts during voluntary "relaxation" and "straining" was different when compared with its indices determined before these sessions. In addition, there was a considerable individual variability in the intensity and direction of the AF effects, and the range of parameters responding to AF. It was GCR which was the easiest one for the AF control.

Reasoning and Action: Implementation of a Decision-Making Program in Sport.

PubMed

Gil-Arias, Alexander; Moreno, M Perla; García-Mas, Alex; Moreno, Alberto; García-González, Luíz; Del Villar, Fernando

2016-09-20

The objective of this study was to apply a decision training programme, based on the use of video-feedback and questioning, in real game time, in order to improve decision-making in volleyball attack actions. A three-phase quasi-experimental design was implemented: Phase A (pre-test), Phase B (Intervention) and Phase C (Retention). The sample was made up of 8 female Under-16 volleyball players, who were divided into two groups: experimental group (n = 4) and control group (n = 4). The independent variable was the decision training program, which was applied for 11 weeks in a training context, more specifically in a 6x6 game situation. The player had to analyze the reasons and causes of the decision taken. The dependent variable was decision-making, which was assessed based on systematic observation, using the "Game Performance Assessment Instrument" (GPAI) (Oslin, Mitchell, & Griffin, 1998). Results showed that, after applying the decision training program, the experimental group showed a significantly higher average percentage of successful decisions than the control group F(1, 6) = 11.26; p = .015; η2 p = .652; 95% CI [056, 360]. These results highlight the need to complement the training process with cognitive tools such as video-feedback and questioning in order to improve athletes' decision-making.

A Stochastic Model of the Yeast Cell Cycle Reveals Roles for Feedback Regulation in Limiting Cellular Variability.

PubMed

Barik, Debashis; Ball, David A; Peccoud, Jean; Tyson, John J

2016-12-01

The cell division cycle of eukaryotes is governed by a complex network of cyclin-dependent protein kinases (CDKs) and auxiliary proteins that govern CDK activities. The control system must function reliably in the context of molecular noise that is inevitable in tiny yeast cells, because mistakes in sequencing cell cycle events are detrimental or fatal to the cell or its progeny. To assess the effects of noise on cell cycle progression requires not only extensive, quantitative, experimental measurements of cellular heterogeneity but also comprehensive, accurate, mathematical models of stochastic fluctuations in the CDK control system. In this paper we provide a stochastic model of the budding yeast cell cycle that accurately accounts for the variable phenotypes of wild-type cells and more than 20 mutant yeast strains simulated in different growth conditions. We specifically tested the role of feedback regulations mediated by G1- and SG2M-phase cyclins to minimize the noise in cell cycle progression. Details of the model are informed and tested by quantitative measurements (by fluorescence in situ hybridization) of the joint distributions of mRNA populations in yeast cells. We use the model to predict the phenotypes of ~30 mutant yeast strains that have not yet been characterized experimentally.

Parallel arrangements of positive feedback loops limit cell-to-cell variability in differentiation.

PubMed

Dey, Anupam; Barik, Debashis

2017-01-01

Cellular differentiations are often regulated by bistable switches resulting from specific arrangements of multiple positive feedback loops (PFL) fused to one another. Although bistability generates digital responses at the cellular level, stochasticity in chemical reactions causes population heterogeneity in terms of its differentiated states. We hypothesized that the specific arrangements of PFLs may have evolved to minimize the cellular heterogeneity in differentiation. In order to test this we investigated variability in cellular differentiation controlled either by parallel or serial arrangements of multiple PFLs having similar average properties under extrinsic and intrinsic noises. We find that motifs with PFLs fused in parallel to one another around a central regulator are less susceptible to noise as compared to the motifs with PFLs arranged serially. Our calculations suggest that the increased resistance to noise in parallel motifs originate from the less sensitivity of bifurcation points to the extrinsic noise. Whereas estimation of mean residence times indicate that stable branches of bifurcations are robust to intrinsic noise in parallel motifs as compared to serial motifs. Model conclusions are consistent both in AND- and OR-gate input signal configurations and also with two different modeling strategies. Our investigations provide some insight into recent findings that differentiation of preadipocyte to mature adipocyte is controlled by network of parallel PFLs.

A Stochastic Model of the Yeast Cell Cycle Reveals Roles for Feedback Regulation in Limiting Cellular Variability

PubMed Central

Ball, David A.

2016-01-01

The cell division cycle of eukaryotes is governed by a complex network of cyclin-dependent protein kinases (CDKs) and auxiliary proteins that govern CDK activities. The control system must function reliably in the context of molecular noise that is inevitable in tiny yeast cells, because mistakes in sequencing cell cycle events are detrimental or fatal to the cell or its progeny. To assess the effects of noise on cell cycle progression requires not only extensive, quantitative, experimental measurements of cellular heterogeneity but also comprehensive, accurate, mathematical models of stochastic fluctuations in the CDK control system. In this paper we provide a stochastic model of the budding yeast cell cycle that accurately accounts for the variable phenotypes of wild-type cells and more than 20 mutant yeast strains simulated in different growth conditions. We specifically tested the role of feedback regulations mediated by G1- and SG2M-phase cyclins to minimize the noise in cell cycle progression. Details of the model are informed and tested by quantitative measurements (by fluorescence in situ hybridization) of the joint distributions of mRNA populations in yeast cells. We use the model to predict the phenotypes of ~30 mutant yeast strains that have not yet been characterized experimentally. PMID:27935947

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.

Practical limits on muscle synergy identification by non-negative matrix factorization in systems with mechanical constraints.

PubMed

Burkholder, Thomas J; van Antwerp, Keith W

2013-02-01

Statistical decomposition, including non-negative matrix factorization (NMF), is a convenient tool for identifying patterns of structured variability within behavioral motor programs, but it is unclear how the resolved factors relate to actual neural structures. Factors can be extracted from a uniformly sampled, low-dimension command space. In practical application, the command space is limited, either to those activations that perform some task(s) successfully or to activations induced in response to specific perturbations. NMF was applied to muscle activation patterns synthesized from low dimensional, synergy-like control modules mimicking simple task performance or feedback activation from proprioceptive signals. In the task-constrained paradigm, the accuracy of control module recovery was highly dependent on the sampled volume of control space, such that sampling even 50% of control space produced a substantial degradation in factor accuracy. In the feedback paradigm, NMF was not capable of extracting more than four control modules, even in a mechanical model with seven internal degrees of freedom. Reduced access to the low-dimensional control space imposed by physical constraints may result in substantial distortion of an existing low dimensional controller, such that neither the dimensionality nor the composition of the recovered/extracted factors match the original controller.

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.

A method for obtaining reduced-order control laws for high-order systems using optimization techniques

NASA Technical Reports Server (NTRS)

Mukhopadhyay, V.; Newsom, J. R.; Abel, I.

1981-01-01

A method of synthesizing reduced-order optimal feedback control laws for a high-order system is developed. A nonlinear programming algorithm is employed to search for the control law design variables that minimize a performance index defined by a weighted sum of mean-square steady-state responses and control inputs. An analogy with the linear quadractic Gaussian solution is utilized to select a set of design variables and their initial values. To improve the stability margins of the system, an input-noise adjustment procedure is used in the design algorithm. The method is applied to the synthesis of an active flutter-suppression control law for a wind tunnel model of an aeroelastic wing. The reduced-order controller is compared with the corresponding full-order controller and found to provide nearly optimal performance. The performance of the present method appeared to be superior to that of two other control law order-reduction methods. It is concluded that by using the present algorithm, nearly optimal low-order control laws with good stability margins can be synthesized.

LMI-based adaptive reliable H∞ static output feedback control against switched actuator failures

NASA Astrophysics Data System (ADS)

An, Liwei; Zhai, Ding; Dong, Jiuxiang; Zhang, Qingling

2017-08-01

This paper investigates the H∞ static output feedback (SOF) control problem for switched linear system under arbitrary switching, where the actuator failure models are considered to depend on switching signal. An active reliable control scheme is developed by combination of linear matrix inequality (LMI) method and adaptive mechanism. First, by exploiting variable substitution and Finsler's lemma, new LMI conditions are given for designing the SOF controller. Compared to the existing results, the proposed design conditions are more relaxed and can be applied to a wider class of no-fault linear systems. Then a novel adaptive mechanism is established, where the inverses of switched failure scaling factors are estimated online to accommodate the effects of actuator failure on systems. Two main difficulties arise: first is how to design the switched adaptive laws to prevent the missing of estimating information due to switching; second is how to construct a common Lyapunov function based on a switched estimate error term. It is shown that the new method can give less conservative results than that for the traditional control design with fixed gain matrices. Finally, simulation results on the HiMAT aircraft are given to show the effectiveness of the proposed approaches.

Realizing actual feedback control of complex network

NASA Astrophysics Data System (ADS)

Tu, Chengyi; Cheng, Yuhua

2014-06-01

In this paper, we present the concept of feedbackability and how to identify the Minimum Feedbackability Set of an arbitrary complex directed network. Furthermore, we design an estimator and a feedback controller accessing one MFS to realize actual feedback control, i.e. control the system to our desired state according to the estimated system internal state from the output of estimator. Last but not least, we perform numerical simulations of a small linear time-invariant dynamics network and a real simple food network to verify the theoretical results. The framework presented here could make an arbitrary complex directed network realize actual feedback control and deepen our understanding of complex systems.

Digital current regulator for proportional electro-hydraulic valves with unknown disturbance rejection.

PubMed

Canuto, Enrico; Acuña-Bravo, Wilber; Agostani, Marco; Bonadei, Marco

2014-07-01

Solenoid current regulation is well-known and standard in any proportional electro-hydraulic valve. The goal is to provide a wide-band transfer function from the reference to the measured current, thus making the solenoid a fast and ideal force actuator within the limits of the power supplier. The power supplier is usually a Pulse Width Modulation (PWM) amplifier fixing the voltage bound and the Nyquist frequency of the regulator. Typical analog regulators include three main terms: a feedforward channel, a proportional feedback channel and the electromotive force compensation. The latter compensation may be accomplished by integrative feedback. Here the problem is faced through a model-based design (Embedded Model Control), on the basis of a wide-band embedded model of the solenoid which includes the effect of eddy currents. To this end model parameters must be identified. The embedded model includes a stochastic disturbance dynamics capable of estimating and correcting the electromotive contribution together with parametric uncertainty, variability and state dependence. The embedded model which is fed by the measured current and the supplied voltage becomes a state predictor of the controllable and disturbance dynamics. The control law combines reference generator, state feedback and disturbance rejection to dispatch the PWM amplifier with the appropriate duty cycle. Modeling, identification and control design are outlined together with experimental result. Comparison with an existing analog regulator is also provided. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Robust control of accelerators

NASA Astrophysics Data System (ADS)

Joel, W.; Johnson, D.; Chaouki, Abdallah T.

1991-07-01

The problem of controlling the variations in the rf power system can be effectively cast as an application of modern control theory. Two components of this theory are obtaining a model and a feedback structure. The model inaccuracies influence the choice of a particular controller structure. Because of the modelling uncertainty, one has to design either a variable, adaptive controller or a fixed, robust controller to achieve the desired objective. The adaptive control scheme usually results in very complex hardware; and, therefore, shall not be pursued in this research. In contrast, the robust control method leads to simpler hardware. However, robust control requires a more accurate mathematical model of the physical process than is required by adaptive control. Our research at the Los Alamos National Laboratory (LANL) and the University of New Mexico (UNM) has led to the development and implementation of a new robust rf power feedback system. In this article, we report on our research progress. In section 1, the robust control problem for the rf power system and the philosophy adopted for the beginning phase of our research is presented. In section 2, the results of our proof-of-principle experiments are presented. In section 3, we describe the actual controller configuration that is used in LANL FEL physics experiments. The novelty of our approach is that the control hardware is implemented directly in rf. without demodulating, compensating, and then remodulating.

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

Invited Article: Generation of one-million-mode continuous-variable cluster state by unlimited time-domain multiplexing

NASA Astrophysics Data System (ADS)

Yoshikawa, Jun-ichi; Yokoyama, Shota; Kaji, Toshiyuki; Sornphiphatphong, Chanond; Shiozawa, Yu; Makino, Kenzo; Furusawa, Akira

2016-09-01

In recent quantum optical continuous-variable experiments, the number of fully inseparable light modes has drastically increased by introducing a multiplexing scheme either in the time domain or in the frequency domain. Here, modifying the time-domain multiplexing experiment reported in the work of Yokoyama et al. [Nat. Photonics 7, 982 (2013)], we demonstrate the successive generation of fully inseparable light modes for more than one million modes. The resulting multi-mode state is useful as a dual-rail continuous variable cluster state. We circumvent the previous problem of optical phase drifts, which has limited the number of fully inseparable light modes to around ten thousands, by continuous feedback control of the optical system.

Corticothalamic feedback enhances stimulus response precision in the visual system

PubMed Central

Andolina, Ian M.; Jones, Helen E.; Wang, Wei; Sillito, Adam M.

2007-01-01

There is a tightly coupled bidirectional interaction between visual cortex and visual thalamus [lateral geniculate nucleus (LGN)]. Using drifting sinusoidal grating stimuli, we compared the response of cells in the LGN with and without feedback from the visual cortex. Raster plots revealed a striking difference in the response pattern of cells with and without feedback. This difference was reflected in the results from computing vector sum plots and the ratio of zero harmonic to the fundamental harmonic of the fast Fourier transform (FFT) for these responses. The variability of responses assessed by using the Fano factor was also different for the two groups, with the cells without feedback showing higher variability. We examined the covariance of these measures between pairs of simultaneously recorded cells with and without feedback, and they were much more strongly positively correlated with feedback. We constructed orientation tuning curves from the central 5 ms in the raw cross-correlograms of the outputs of pairs of LGN cells, and these curves revealed much sharper tuning with feedback. We discuss the significance of these data for cortical function and suggest that the precision in stimulus-linked firing in the LGN appears as an emergent factor from the corticothalamic interaction. PMID:17237220

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 learning controller for nonrepetitive robotic operation

NASA Technical Reports Server (NTRS)

Miller, W. T., III

1987-01-01

A practical learning control system is described which is applicable to complex robotic and telerobotic systems involving multiple feedback sensors and multiple command variables. In the controller, the learning algorithm is used to learn to reproduce the nonlinear relationship between the sensor outputs and the system command variables over particular regions of the system state space, rather than learning the actuator commands required to perform a specific task. The learned information is used to predict the command signals required to produce desired changes in the sensor outputs. The desired sensor output changes may result from automatic trajectory planning or may be derived from interactive input from a human operator. The learning controller requires no a priori knowledge of the relationships between the sensor outputs and the command variables. The algorithm is well suited for real time implementation, requiring only fixed point addition and logical operations. The results of learning experiments using a General Electric P-5 manipulator interfaced to a VAX-11/730 computer are presented. These experiments involved interactive operator control, via joysticks, of the position and orientation of an object in the field of view of a video camera mounted on the end of the robot arm.

Loss-of-Control-Inhibitor Systems for Aircraft

NASA Technical Reports Server (NTRS)

AHarrah, Ralph C.

2007-01-01

Systems to provide improved tactile feedback to aircraft pilots are being developed to help the pilots maintain harmony between their control actions and the positions of aircraft control surfaces, thereby helping to prevent loss of control. A system of this type, denoted a loss-of-control-inhibitor system (LOCIS) can be implemented as a relatively simple addition to almost any pre-existing flight-control system. The LOCIS concept offers at least a partial solution to the problem of (1) keeping a pilot aware of the state of the control system and the aircraft and (2) maintaining sufficient control under conditions that, as described below, have been known to lead to loss of control. Current commercial aircraft exhibit uneven responses of primary flight-control surfaces to aggressive pilot control commands, leading to deterioration of pilots ability to control their aircraft. In severe cases, this phenomenon can result in loss of control and consequent loss of aircraft. For an older aircraft equipped with a purely mechanical control system, the loss of harmony between a pilot s command action and the control- surface response can be attributed to compliance in the control system (caused, for example, by stretching of control cables, flexing of push rods, or servo-valve distortion). In a newer aircraft equipped with a fly-by-wire control system, the major contributions to loss of harmony between the pilot and the control surfaces are delays attributable to computer cycle time, control shaping, filtering, aliasing, servo-valve distortion, and actuator rate limiting. In addition, a fly-by-wire control system provides no tactile feedback that would enable the pilot to sense such features of the control state as surface flutter, surface jam, position limiting, actuator rate limiting, and control limiting imposed by the aircraft operational envelope. Hence, for example, when a pilot is involved in aggressive closed-loop maneuvering, as when encountering a wake-vortex upset on final landing approach, the control-surface delay can lead to loss of control. Aggressive piloting can be triggered and exacerbated by control-system anomalies, which the pilot cannot diagnose because of the lack of symptoms caused by the absence of feedback through the controls. The purpose served by a LOCIS is to counteract these adverse effects by providing real-time feedback that notifies the pilot that the aircraft is tending to lag the pilot s commands. A LOCIS (see figure) includes cockpit control input-position sensors, control-surface output-position sensors, variable dampers (for example, shock absorbers containing magneto-rheological fluids such that the damping forces can be varied within times of the order of milliseconds by varying applied magnetic fields) attached to the cockpit control levers, electromagnet coils to apply the magnetic fields, and feedback control circuits to drive the electromagnet coils. The feedback control gains are chosen so that the current applied to each electromagnet coil results in a damping force that increases in a suitable nonlinear manner (e.g., exponentially) with the difference between the actual and commanded positions of the affected control surface. The increasing damping force both alerts the pilot to the onset of a potentially dangerous situation and resists the pilot s effort to command a control surface to change position at an excessive rate

A qualitative study of the variable effects of audit and feedback in the ICU.

PubMed

Sinuff, Tasnim; Muscedere, John; Rozmovits, Linda; Dale, Craig M; Scales, Damon C

2015-06-01

Audit and feedback is integral to performance improvement and behaviour change in the intensive care unit (ICU). However, there remain large gaps in our understanding of the social experience of audit and feedback and the mechanisms whereby it can be optimised as a quality improvement strategy in the ICU setting. We conducted a modified grounded theory qualitative study. Seventy-two clinicians from five academic and five community ICUs in Ontario, Canada, were interviewed. Team members reviewed interview transcripts independently. Data analysis used constant comparative methods. Clinicians interviewed experienced audit and feedback as fragmented and variable in its effectiveness. Moreover, clinicians felt disconnected from the process. The audit process was perceived as being insufficiently transparent. Feedback was often untimely, incomplete and not actionable. Specific groups such as respiratory therapists and night-shift clinicians felt marginalised. Suggestions for improvement included improving information sharing about the rationale for change and the audit process, tools and metrics; implementing peer-to-peer quality discussions to avoid a top-down approach (eg, incorporating feedback into discussions at daily rounds); providing effective feedback which contains specific, transparent and actionable information; delivering timely feedback (ie, balancing feedback proximate to events with trends over time) and increasing engagement by senior management. ICU clinicians experience audit and feedback as fragmented communication with feedback being especially problematic. Attention to improving communication, integration of the process into daily clinical activities and making feedback timely, specific and actionable may increase the effectiveness of audit and feedback to affect desired change. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Reducing wait time in a hospital pharmacy to promote customer service.

PubMed

Slowiak, Julie M; Huitema, Bradley E; Dickinson, Alyce M

2008-01-01

The purpose of this study was to compare the effects of 2 different interventions on wait times at a hospital outpatient pharmacy: (1) giving feedback to employees about customer satisfaction with wait times and (2) giving a combined intervention package that included giving more specific feedback about actual wait times and goal setting for wait time reduction in addition to the customer satisfaction feedback. The relationship between customer satisfaction ratings and wait times was examined to determine whether wait times affected customer service satisfaction. Participants were 10 employees (4 pharmacists and 6 technicians) of an outpatient pharmacy. Wait times and customer satisfaction ratings were collected for "waiting customers." An ABCBA' within-subjects design was used to assess the effects of the interventions on both wait time and customer satisfaction, where A was the baseline (no feedback and no goal setting); B was the customer satisfaction feedback; C was the customer satisfaction feedback, the wait time feedback, and the goal setting for wait time reduction; and A' was a follow-up condition that was similar to the original baseline condition. Wait times were reduced by approximately 20%, and there was concomitant increased shift in levels of customer satisfaction, as indicated by the correlation between these variables (r = -0.57 and P < .05). Given the current prescription-filling process, we do not expect that major, additional reductions in wait times could be produced. Many variables may account for the variability in any individual customer's wait time. Data from this study may provide useful preliminary benchmarking data for standard pharmacy wait times.

A planar comparison of actuators for vibration control of flexible structures

NASA Technical Reports Server (NTRS)

Clark, William W.; Robertshaw, Harry H.; Warrington, Thomas J.

1989-01-01

The methods and results of an analytical study comparing the effectiveness of four actuators in damping the vibrations of a planar clamped-free beam are presented. The actuators studied are two inertia-type actuators, the proof mass and reaction wheel, and two variable geometry trusses, the planar truss and the planar truss proof mass (a combination variable geometry truss/inertia-type actuator). Actuator parameters used in the models were chosen based on the results of a parametric study. A full-state, LQR optimal feedback control law was used for control in each system. Numerical simulations of each beam/actuator system were performed in response to initial condition inputs. These simulations provided information such as time response of the closed-loop system and damping provided to the beam. This information can be used to determine the 'best' actuator for a given purpose.

The Mediating Role of Affective Commitment in the Relation of the Feedback Environment to Work Outcomes

ERIC Educational Resources Information Center

Norris-Watts, Christina; Levy, Paul E.

2004-01-01

The Feedback Environment, as opposed to the formal performance appraisal process, is comprised of the daily interactions between members of an organization (Steelman, Levy, & Snell, in press). Relations between the feedback environment and work outcome variables such as Organizational Citizenship Behavior (OCB) were examined through the mediating…

Motivated or Paralyzed? Individuals' Beliefs about Intelligence Influence Performance Outcome of Expecting Rapid Feedback

ERIC Educational Resources Information Center

Zhao, Qin; Zhang, Jie; Vance, Kaleigh

2013-01-01

The current research examines whether and how beliefs about intelligence moderate the effects of expecting rapid feedback on exam performance. Thirty-six undergraduates participated in a field experiment with two between-subjects independent variables: anticipated feedback proximity and beliefs about intelligence. The results show that expecting…

Effect of Animated Graphic Annotations and Immediate Visual Feedback in Aiding Japanese Pronunciation Learning: A Comparative Study

ERIC Educational Resources Information Center

Hew, Soon-Hin; Ohki, Mitsuru

2004-01-01

This study examines the effectiveness of imagery and electronic visual feedback in facilitating students' acquisition of Japanese pronunciation skills. The independent variables, animated graphic annotation (AGA) and immediate visual feedback (IVF) were integrated into a Japanese computer-assisted language learning (JCALL) program focused on the…

SST Patterns, Atmospheric Variability, and Inferred Sensitivities in the CMIP5 Model Archive

NASA Astrophysics Data System (ADS)

Marvel, K.; Pincus, R.; Schmidt, G. A.

2017-12-01

An emerging consensus suggests that global mean feedbacks to increasing temperature are not constant in time. If feedbacks become more positive in the future, the equilibrium climate sensitivity (ECS) inferred from recent observed global energy budget constraints is likely to be biased low. Time-varying feedbacks are largely tied to evolving sea-surface temperature patterns. In particular, recent anomalously cool conditions in the tropical Pacific may have triggered feedbacks that are not reproduced in equilibrium simulations where the tropical Pacific and Southern Ocean have had time to warm. Here, we use AMIP and CMIP5 historical simulations to explore the ECS that may be inferred over the recent historical period. We find that in all but one CMIP5 model, the feedbacks triggered by observed SST patterns are significantly less positive than those arising from historical simulations in which SST patterns are allowed to evolve unconstrained. However, there are substantial variations in feedbacks even when the SST pattern is held fixed, suggesting that atmospheric and land variability contribute to uncertainty in the estimates of ECS obtained from recent observations of the global energy budget.

The magnetosphere as system

NASA Astrophysics Data System (ADS)

Siscoe, G. L.

2012-12-01

What is a system? A group of elements interacting with each other so as to create feedback loops. A system gets complex as the number of feedback loops increases and as the feedback loops exhibit time delays. Positive and negative feedback loops with time delays can give a system intrinsic time dependence and emergent properties. A system generally has input and output flows of something (matter, energy, money), which, if time variable, add an extrinsic component to its behavior. The magnetosphere is a group of elements interacting through feedback loops, some with time delays, driven by energy and mass inflow from a variable solar wind and outflow into the atmosphere and solar wind. The magnetosphere is a complex system. With no solar wind, there is no behavior. With solar wind, there is behavior from intrinsic and extrinsic causes. As a contribution to taking a macroscopic view of magnetospheric dynamics, to treating the magnetosphere as a globally integrated, complex entity, I will discus the magnetosphere as a system, its feedback loops, time delays, emergent behavior, and intrinsic and extrinsic behavior modes.

Confounding factors in determining causal soil moisture-precipitation feedback

NASA Astrophysics Data System (ADS)

Tuttle, Samuel E.; Salvucci, Guido D.

2017-07-01

Identification of causal links in the land-atmosphere system is important for construction and testing of land surface and general circulation models. However, the land and atmosphere are highly coupled and linked by a vast number of complex, interdependent processes. Statistical methods, such as Granger causality, can help to identify feedbacks from observational data, independent of the different parameterizations of physical processes and spatiotemporal resolution effects that influence feedbacks in models. However, statistical causal identification methods can easily be misapplied, leading to erroneous conclusions about feedback strength and sign. Here, we discuss three factors that must be accounted for in determination of causal soil moisture-precipitation feedback in observations and model output: seasonal and interannual variability, precipitation persistence, and endogeneity. The effect of neglecting these factors is demonstrated in simulated and observational data. The results show that long-timescale variability and precipitation persistence can have a substantial effect on detected soil moisture-precipitation feedback strength, while endogeneity has a smaller effect that is often masked by measurement error and thus is more likely to be an issue when analyzing model data or highly accurate observational data.

Smoothing Control of Wind Farm Output by Using Kinetic Energy of Variable Speed Wind Power Generators

NASA Astrophysics Data System (ADS)

Sato, Daiki; Saitoh, Hiroumi

This paper proposes a new control method for reducing fluctuation of power system frequency through smoothing active power output of wind farm. The proposal is based on the modulation of rotaional kinetic energy of variable speed wind power generators through power converters between permanent magnet synchronous generators (PMSG) and transmission lines. In this paper, the proposed control is called Fluctuation Absorption by Flywheel Characteristics control (FAFC). The FAFC can be easily implemented by adding wind farm output signal to Maximum Power Point Tracking control signal through a feedback control loop. In order to verify the effectiveness of the FAFC control, a simulation study was carried out. In the study, it was assumed that the wind farm consisting of PMSG type wind power generator and induction machine type wind power generaotors is connected with a power sysem. The results of the study show that the FAFC control is a useful method for reducing the impacts of wind farm output fluctuation on system frequency without additional devices such as secondary battery.

Digital robust active control law synthesis for large order systems using constrained optimization

NASA Technical Reports Server (NTRS)

Mukhopadhyay, Vivek

1987-01-01

This paper presents a direct digital control law synthesis procedure for a large order, sampled data, linear feedback system using constrained optimization techniques to meet multiple design requirements. A linear quadratic Gaussian type cost function is minimized while satisfying a set of constraints on the design loads and responses. General expressions for gradients of the cost function and constraints, with respect to the digital control law design variables are derived analytically and computed by solving a set of discrete Liapunov equations. The designer can choose the structure of the control law and the design variables, hence a stable classical control law as well as an estimator-based full or reduced order control law can be used as an initial starting point. Selected design responses can be treated as constraints instead of lumping them into the cost function. This feature can be used to modify a control law, to meet individual root mean square response limitations as well as minimum single value restrictions. Low order, robust digital control laws were synthesized for gust load alleviation of a flexible remotely piloted drone aircraft.

Decentralized control experiments on NASA's flexible grid

NASA Technical Reports Server (NTRS)

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

1986-01-01

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

Patient training in respiratory-gated radiotherapy

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

Kini, Vijay R.; Vedam, Subrahmanya S.; Keall, Paul J.

2003-03-31

Respiratory gating is used to counter the effects of organ motion during radiotherapy for chest tumors. The effects of variations in patient breathing patterns during a single treatment and from day to day are unknown. We evaluated the feasibility of using patient training tools and their effect on the breathing cycle regularity and reproducibility during respiratory-gated radiotherapy. To monitor respiratory patterns, we used a component of a commercially available respiratory-gated radiotherapy system (Real Time Position Management (RPM) System, Varian Oncology Systems, Palo Alto, CA 94304). This passive marker video tracking system consists of reflective markers placed on the patient's chestmore » or abdomen, which are detected by a wall-mounted video camera. Software installed on a PC interfaced to this camera detects the marker motion digitally and records it. The marker position as a function of time serves as the motion signal that may be used to trigger imaging or treatment. The training tools used were audio prompting and visual feedback, with free breathing as a control. The audio prompting method used instructions to 'breathe in' or 'breathe out' at periodic intervals deduced from patients' own breathing patterns. In the visual feedback method, patients were shown a real-time trace of their abdominal wall motion due to breathing. Using this, they were asked to maintain a constant amplitude of motion. Motion traces of the abdominal wall were recorded for each patient for various maneuvers. Free breathing showed a variable amplitude and frequency. Audio prompting resulted in a reproducible frequency; however, the variability and the magnitude of amplitude increased. Visual feedback gave a better control over the amplitude but showed minor variations in frequency. We concluded that training improves the reproducibility of amplitude and frequency of patient breathing cycles. This may increase the accuracy of respiratory-gated radiation therapy.« less

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

Conservation of protein abundance patterns reveals the regulatory architecture of the EGFR-MAPK pathway

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

Shi, T.; Niepel, M.; McDermott, J. E.

It is not known whether cancer cells generally show quantitative differences in the expression of signaling pathway proteins that could dysregulate signal transduction. To explore this issue, we first defined the primary components of the EGF-MAPK pathway in normal human mammary epithelial cells, identifying 16 core proteins and 10 feedback regulators. We then quantified their absolute abundance across a panel of normal and cancer cell lines. We found that core pathway proteins were expressed at very similar levels across all cell types. In contrast, the EGFR and transcriptionally controlled feedback regulators were expressed at highly variable levels. The absolute abundancemore » of most core pathway proteins was between 50,000- 70,000 copies per cell, but the adaptors SOS1, SOS2, and GAB1 were found at far lower levels (2,000-5,000 per cell). MAPK signaling showed saturation in all cells between 3,000-10,000 occupied EGFR, consistent with the idea that low adaptor levels limit signaling. Our results suggest that the core MAPK pathway is essentially invariant across different cell types, with cell- specific differences in signaling likely due to variable levels of feedback regulators. The low abundance of adaptors relative to the EGFR could be responsible for previous observation of saturable signaling, endocytosis, and high affinity EGFR.« less

When money is not enough: awareness, success, and variability in motor learning.

PubMed

Manley, Harry; Dayan, Peter; Diedrichsen, Jörn

2014-01-01

When performing a skill such as throwing a dart, many different combinations of joint motions suffice to hit the target. The motor system adapts rapidly to reduce bias in the desired outcome (i.e., the first-order moment of the error); however, the essence of skill is to produce movements with less variability (i.e., to reduce the second-order moment). It is easy to see how feedback about success or failure could sculpt performance to achieve this aim. However, it is unclear whether the dimensions responsible for success or failure need to be known explicitly by the subjects, or whether learning can proceed without explicit awareness of the movement parameters that need to change. Here, we designed a redundant, two-dimensional reaching task in which we could selectively manipulate task success and the variability of action outcomes, whilst also manipulating awareness of the dimension along which performance could be improved. Variability was manipulated either by amplifying natural errors, leaving the correlation between the executed movement and the visual feedback intact, or by adding extrinsic noise, decorrelating movement and feedback. We found that explicit, binary, feedback about success or failure was only sufficient for learning when participants were aware of the dimension along which motor behavior had to change. Without such awareness, learning was only present when extrinsic noise was added to the feedback, but not when task success or variability was manipulated in isolation; learning was also much slower. Our results highlight the importance of conscious awareness of the relevant dimension during motor learning, and suggest that higher-order moments of outcome signals are likely to play a significant role in skill learning in complex tasks.

Collaborative Research: Process-resolving Decomposition of the Global Temperature Response to Modes of Low Frequency Variability in a Changing Climate

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

Cai, Ming; Deng, Yi

2015-02-06

El Niño-Southern Oscillation (ENSO) and Annular Modes (AMs) represent respectively the most important modes of low frequency variability in the tropical and extratropical circulations. The future projection of the ENSO and AM variability, however, remains highly uncertain with the state-of-the-art coupled general circulation models. A comprehensive understanding of the factors responsible for the inter-model discrepancies in projecting future changes in the ENSO and AM variability, in terms of multiple feedback processes involved, has yet to be achieved. The proposed research aims to identify sources of such uncertainty and establish a set of process-resolving quantitative evaluations of the existing predictions ofmore » the future ENSO and AM variability. The proposed process-resolving evaluations are based on a feedback analysis method formulated in Lu and Cai (2009), which is capable of partitioning 3D temperature anomalies/perturbations into components linked to 1) radiation-related thermodynamic processes such as cloud and water vapor feedbacks, 2) local dynamical processes including convection and turbulent/diffusive energy transfer and 3) non-local dynamical processes such as the horizontal energy transport in the oceans and atmosphere. Taking advantage of the high-resolution, multi-model ensemble products from the Coupled Model Intercomparison Project Phase 5 (CMIP5) soon to be available at the Lawrence Livermore National Lab, we will conduct a process-resolving decomposition of the global three-dimensional (3D) temperature (including SST) response to the ENSO and AM variability in the preindustrial, historical and future climate simulated by these models. Specific research tasks include 1) identifying the model-observation discrepancies in the global temperature response to ENSO and AM variability and attributing such discrepancies to specific feedback processes, 2) delineating the influence of anthropogenic radiative forcing on the key feedback processes operating on ENSO and AM variability and quantifying their relative contributions to the changes in the temperature anomalies associated with different phases of ENSO and AMs, and 3) investigating the linkages between model feedback processes that lead to inter-model differences in time-mean temperature projection and model feedback processes that cause inter-model differences in the simulated ENSO and AM temperature response. Through a thorough model-observation and inter-model comparison of the multiple energetic processes associated with ENSO and AM variability, the proposed research serves to identify key uncertainties in model representation of ENSO and AM variability, and investigate how the model uncertainty in predicting time-mean response is related to the uncertainty in predicting response of the low-frequency modes. The proposal is thus a direct response to the first topical area of the solicitation: Interaction of Climate Change and Low Frequency Modes of Natural Climate Variability. It ultimately supports the accomplishment of the BER climate science activity Long Term Measure (LTM): "Deliver improved scientific data and models about the potential response of the Earth's climate and terrestrial biosphere to increased greenhouse gas levels for policy makers to determine safe levels of greenhouse gases in the atmosphere."« less

Learning climate and feedback as predictors of dental students' self-determined motivation: The mediating role of basic psychological needs satisfaction.

PubMed

Orsini, C; Binnie, V; Wilson, S; Villegas, M J

2018-05-01

The aim of this study was to test the mediating role of the satisfaction of dental students' basic psychological needs of autonomy, competence and relatedness on the association between learning climate, feedback and student motivation. The latter was based on the self-determination theory's concepts of differentiation of autonomous motivation, controlled motivation and amotivation. A cross-sectional correlational study was conducted where 924 students completed self-reported questionnaires measuring motivation, perception of the learning climate, feedback and basic psychological needs satisfaction. Descriptive statistics, Cronbach's alpha scores and bivariate correlations were computed. Mediation of basic needs on each predictor-outcome association was tested based on a series of regression analyses. Finally, all variables were integrated into one structural equation model, controlling for the effects of age, gender and year of study. Cronbach's alpha scores were acceptable (.655 to .905). Correlation analyses showed positive and significant associations between both an autonomy-supportive learning climate and the quantity and quality of feedback received, and students' autonomous motivation, which decreased and became negative when correlated with controlled motivation and amotivation, respectively. Regression analyses revealed that these associations were indirect and mediated by how these predictors satisfied students' basic psychological needs. These results were corroborated by the structural equation analysis, in which data fit the model well and regression paths were in the expected direction. An autonomy-supportive learning climate and the quantity and quality of feedback were positive predictors of students' autonomous motivation and negative predictors of amotivation. However, this was an indirect association mediated by the satisfaction of students' basic psychological needs. Consequently, supporting students' needs of autonomy, competence and relatedness might lead to optimal types of motivation, which has an important influence on dental education. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Youth fitness testing: the effect of percentile-based evaluative feedback on intrinsic motivation.

PubMed

Whitehead, J R; Corbin, C B

1991-06-01

This study was a test of Deci and Ryan's (1985) cognitive evaluation theory in a fitness testing situation. More specifically, it was a test of Proposition 2 of that theory, which posits that external events that increase or decrease perceived competence will increase or decrease intrinsic motivation. Seventh and eighth grade schoolchildren (N = 105) volunteered for an experiment that was ostensibly to collect data on a new youth fitness test (the Illinois Agility Run). After two untimed practice runs, a specially adapted version of the Intrinsic Motivation Inventory (IMI) was administered as a pretest of intrinsic motivation. Two weeks later when subjects ran again, they were apparently electronically timed. In reality, the subjects were given bogus feedback. Subjects in a positive feedback condition were told their scores were above the 80th percentile, while those in a negative feedback condition were told their scores were below the 20th percentile. Those in a control condition received no feedback. The IMI was again administered to the subjects after their runs. Multivariate and subsequent univariate tests were significant for all four subscale dependent variables (perceived interest-enjoyment, competence, effort, and pressure-tension). Positive feedback enhanced all aspects of intrinsic motivation, whereas negative feedback decreased them. In a further test of cognitive evaluation theory, path analysis results supported the prediction that perceived competence would mediate changes in the other IMI subscales. Taken together, these results clearly support cognitive evaluation theory and also may have important implications regarding motivation for those who administer youth fitness tests.

The variability of the force produced by the plantar flexor muscles does not associate with postural sway in older adults during upright standing.

PubMed

Barbosa, Roberto N; Silva, Nilson R S; Santos, Daniel P R; Moraes, Renato; Gomes, Matheus M

2018-05-31

The force variability of the plantar flexor muscles (PFM) appears to be directly related to the control of upright standing. Nevertheless, this association is still uncertain in older adults. This study aimed to evaluate the relationship between PFM force variability and postural sway in the upright standing in older women. Forty older women performed submaximal plantar flexion movements measured by force transducers coupled to an experimental chair. They performed this task during three sets of 20 s at 5% and 10% of their maximum voluntary isometric contraction with and without the aid of visual feedback of the force produced. The volunteers then stood barefoot, with eyes closed and feet parallel on a force platform, which allowed the measurement of the center of pressure displacement in the anteroposterior direction. The results did not indicate a significant association between force variability of the PFMs and postural sway in older women. It can be inferred that the force variability of the PFM does not play an important role in controlling the posture in this population, suggesting that other factors may influence the functioning of the postural control system in older adults. Copyright © 2018. Published by Elsevier B.V.

Controlling Force and Depth in Friction Stir Welding

NASA Technical Reports Server (NTRS)

Adams, Glynn; Loftus, Zachary; McCormac, Nathan; Venable, Richard

2005-01-01

Feedback control of the penetration force applied to a pin tool in friction stir welding has been found to be a robust and reliable means for controlling the depth of penetration of the tool. This discovery has made it possible to simplify depth control and to weld with greater repeatability, even on workpieces with long weld joints. Prior to this discovery, depths of penetration in friction stir welding were controlled by hard-tooled roller assemblies or by depth actuators controlled by feedback from such external sensors as linear variable-differential transformers or laser-based devices. These means of control are limited: A hard-tooled roller assembly confines a pin tool to a preset depth that cannot be changed easily during the welding process. A measurement by an external sensor is only an indirect indicative of the depth of penetration, and computations to correlate such a measurement with a depth of penetration are vulnerable to error. The present force-feedback approach exploits the proportionality between the depth and the force of penetration Unlike a depth measurement taken by an external sensor, a force measurement can be direct because it can be taken by a sensor coupled directly to the pin tool. The reading can be processed through a modern electronic servo control system to control an actuator to keep the applied penetration force at the desired level. In comparison with the older depth-control methods described above, this method offers greater sensitivity to plasticizing of the workpiece metal and is less sensitive to process noise, resulting in a more consistent process. In an experiment, a tapered panel was friction stir welded while controlling the force of penetration according to this method. The figure is a plot of measurements taken during the experiment, showing that force was controlled with a variation of 200 lb (890 N), resulting in control of the depth of penetration with a variation of 0.004 in. (0.1 mm).

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

ENSO Modulations due to Interannual Variability of Freshwater Forcing and Ocean Biology-induced Heating in the Tropical Pacific

PubMed Central

Zhang, Rong-Hua; Gao, Chuan; Kang, Xianbiao; Zhi, Hai; Wang, Zhanggui; Feng, Licheng

2015-01-01

Recent studies have identified clear climate feedbacks associated with interannual variations in freshwater forcing (FWF) and ocean biology-induced heating (OBH) in the tropical Pacific. The interrelationships among the related anomaly fields are analyzed using hybrid coupled model (HCM) simulations to illustrate their combined roles in modulating the El Niño-Southern Oscillation (ENSO). The HCM-based supporting experiments are performed to isolate the related feedbacks, with interannually varying FWF and OBH being represented individually or collectively, which allows their effects to be examined in a clear way. It is demonstrated that the interannual freshwater forcing enhances ENSO variability and slightly prolongs the simulated ENSO period, while the interannual OBH reduces ENSO variability and slightly shortens the ENSO period, with their feedback effects tending to counteract each other. PMID:26678931

Depression screening with patient-targeted feedback in cardiology: The cost-effectiveness of DEPSCREEN-INFO

PubMed Central

Kohlmann, Sebastian; Gierk, Benjamin

2017-01-01

Background Although depression is common in patients with heart disease, screening for depression is much debated. DEPSCREEN-INFO showed that a patient-targeted feedback in addition to screening results in lower depression level six months after screening. The purpose of this analysis was to perform a cost-effectiveness analysis of DEPSCREEN-INFO. Methods Patients with coronary heart disease or arterial hypertension were included. Participants in both groups were screened for depression. Participants in the intervention group additionally received a patient-targeted feedback of their result and recommended treatment options. A cost-utility analysis using quality-adjusted life years (QALY) based on the EQ-5D was performed. The time horizon was 6 months. Resource utilization was assessed by a telephone interview. Multiple imputation using chained equations was used. Net-benefit regressions controlled for prognostic variables at baseline were performed to construct cost-effectiveness acceptability curves. Different sensitivity analyses were performed. Results 375 participants (intervention group: 155; control group: 220) were included at baseline. After 6 months, in the intervention group adjusted total costs were lower (-€2,098; SE: €1,717) and more QALY were gained (0.0067; SD: 0.0133); yet differences were not statistically significant. The probability of cost-effectiveness was around 80% independent of the willingness-to-pay (range: €0/QALY–€130,000/QALY). The results were robust. Conclusions A patient-targeted feedback in addition to depression screening in cardiology is cost-effective with a high probability. This underpins the use of the patient-targeted feedbacks and the PHQ-9 that are both freely available and easy to implement in routine care. PMID:28806775

Chaos and multi-scroll attractors in RCL-shunted junction coupled Jerk circuit connected by memristor

PubMed Central

Zhou, Ping; Ahmad, Bashir; Ren, Guodong; Wang, Chunni

2018-01-01

In this paper, a new four-variable dynamical system is proposed to set chaotic circuit composed of memristor and Josephson junction, and the dependence of chaotic behaviors on nonlinearity is investigated. A magnetic flux-controlled memristor is used to couple with the RCL-shunted junction circuit, and the dynamical behaviors can be modulated by changing the coupling intensity between the memristor and the RCL-shunted junction. Bifurcation diagram and Lyapunov exponent are calculated to confirm the emergence of chaos in the improved dynamical system. The outputs and dynamical behaviors can be controlled by the initial setting and external stimulus as well. As a result, chaos can be suppressed and spiking occurs in the sampled outputs under negative feedback, while applying positive feedback type via memristor can be effective to trigger chaos. Furthermore, it is found that the number of multi-attractors in the Jerk circuit can be modulated when memristor coupling is applied on the circuit. These results indicate that memristor coupling can be effective to control chaotic circuits and it is also useful to reproduce dynamical behaviors for neuronal activities. PMID:29342178

Chaos and multi-scroll attractors in RCL-shunted junction coupled Jerk circuit connected by memristor.

PubMed

Ma, Jun; Zhou, Ping; Ahmad, Bashir; Ren, Guodong; Wang, Chunni

2018-01-01

In this paper, a new four-variable dynamical system is proposed to set chaotic circuit composed of memristor and Josephson junction, and the dependence of chaotic behaviors on nonlinearity is investigated. A magnetic flux-controlled memristor is used to couple with the RCL-shunted junction circuit, and the dynamical behaviors can be modulated by changing the coupling intensity between the memristor and the RCL-shunted junction. Bifurcation diagram and Lyapunov exponent are calculated to confirm the emergence of chaos in the improved dynamical system. The outputs and dynamical behaviors can be controlled by the initial setting and external stimulus as well. As a result, chaos can be suppressed and spiking occurs in the sampled outputs under negative feedback, while applying positive feedback type via memristor can be effective to trigger chaos. Furthermore, it is found that the number of multi-attractors in the Jerk circuit can be modulated when memristor coupling is applied on the circuit. These results indicate that memristor coupling can be effective to control chaotic circuits and it is also useful to reproduce dynamical behaviors for neuronal activities.

Assisted closed-loop optimization of SSVEP-BCI efficiency

PubMed Central

Fernandez-Vargas, Jacobo; Pfaff, Hanns U.; Rodríguez, Francisco B.; Varona, Pablo

2012-01-01

We designed a novel assisted closed-loop optimization protocol to improve the efficiency of brain-computer interfaces (BCI) based on steady state visually evoked potentials (SSVEP). In traditional paradigms, the control over the BCI-performance completely depends on the subjects' ability to learn from the given feedback cues. By contrast, in the proposed protocol both the subject and the machine share information and control over the BCI goal. Generally, the innovative assistance consists in the delivery of online information together with the online adaptation of BCI stimuli properties. In our case, this adaptive optimization process is realized by (1) a closed-loop search for the best set of SSVEP flicker frequencies and (2) feedback of actual SSVEP magnitudes to both the subject and the machine. These closed-loop interactions between subject and machine are evaluated in real-time by continuous measurement of their efficiencies, which are used as online criteria to adapt the BCI control parameters. The proposed protocol aims to compensate for variability in possibly unknown subjects' state and trait dimensions. In a study with N = 18 subjects, we found significant evidence that our protocol outperformed classic SSVEP-BCI control paradigms. Evidence is presented that it takes indeed into account interindividual variabilities: e.g., under the new protocol, baseline resting state EEG measures predict subjects' BCI performances. This paper illustrates the promising potential of assisted closed-loop protocols in BCI systems. Probably their applicability might be expanded to innovative uses, e.g., as possible new diagnostic/therapeutic tools for clinical contexts and as new paradigms for basic research. PMID:23443214

Assisted closed-loop optimization of SSVEP-BCI efficiency.

PubMed

Fernandez-Vargas, Jacobo; Pfaff, Hanns U; Rodríguez, Francisco B; Varona, Pablo

2013-01-01

We designed a novel assisted closed-loop optimization protocol to improve the efficiency of brain-computer interfaces (BCI) based on steady state visually evoked potentials (SSVEP). In traditional paradigms, the control over the BCI-performance completely depends on the subjects' ability to learn from the given feedback cues. By contrast, in the proposed protocol both the subject and the machine share information and control over the BCI goal. Generally, the innovative assistance consists in the delivery of online information together with the online adaptation of BCI stimuli properties. In our case, this adaptive optimization process is realized by (1) a closed-loop search for the best set of SSVEP flicker frequencies and (2) feedback of actual SSVEP magnitudes to both the subject and the machine. These closed-loop interactions between subject and machine are evaluated in real-time by continuous measurement of their efficiencies, which are used as online criteria to adapt the BCI control parameters. The proposed protocol aims to compensate for variability in possibly unknown subjects' state and trait dimensions. In a study with N = 18 subjects, we found significant evidence that our protocol outperformed classic SSVEP-BCI control paradigms. Evidence is presented that it takes indeed into account interindividual variabilities: e.g., under the new protocol, baseline resting state EEG measures predict subjects' BCI performances. This paper illustrates the promising potential of assisted closed-loop protocols in BCI systems. Probably their applicability might be expanded to innovative uses, e.g., as possible new diagnostic/therapeutic tools for clinical contexts and as new paradigms for basic research.

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.

Influence of tibial shock feedback training on impact loading and running economy.

PubMed

Clansey, Adam Charles; Hanlon, Michael; Wallace, Eric S; Nevill, Alan; Lake, Mark J

2014-01-01

The purpose of this study was to determine whether real-time feedback (RTF) training would reduce impact loading variables previously linked with tibial stress fracture risk and whether these adaptations would influence running economy. Twenty-two male runners were randomly assigned to RTF (n = 12) and control (n = 10) groups. The RTF group received feedback based on their peak tibial axial accelerations (PTA) during six 20-min treadmill runs for 3 wk, whereas the control group adhered to the same training but without feedback. Unilateral three-dimensional kinematic and kinetic analysis and running economy measurements were conducted before, after, and at 1 month posttraining. The RTF group had significant reductions (P < 0.01) in PTA and average and instantaneous vertical force loading rates after training as compared with no changes in the control group. These modifications in impact loads were only maintained in PTA 1 month after the training. A significant increase (P = 0.0033) in ankle plantarflexion at initial contact and a significant change (P = 0.030) in foot strike pattern from a rearfoot to midfoot strike pattern and a significant decrease (P = 0.008) in heel vertical velocity at initial contact appeared to be the primary mechanical strategies adopted by runners to reduce impact loading after RTF training. Despite these gait adaptations, running economy was unaffected. The results of this study suggest that gait retraining using RTF is an effective means of eliciting reductions in impact loading without negatively affecting running economy. However, with loading rate reductions not being maintained 1 month posttraining, further research is required to determine how these reductions in impact severity can be retained long term.

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.

Psychophysiological Control of Acognitive Task Using Adaptive Automation

NASA Technical Reports Server (NTRS)

Freeman, Frederick; Pope, Alan T. (Technical Monitor)

2001-01-01

The major focus of the present proposal was to examine psychophysiological variables related to hazardous states of awareness induced by monitoring automated systems. With the increased use of automation in today's work environment, people's roles in the work place are being redefined from that of active participant to one of passive monitor. Although the introduction of automated systems has a number of benefits, there are also a number of disadvantages regarding worker performance. Byrne and Parasuraman have argued for the use of psychophysiological measures in the development and the implementation of adaptive automation. While both performance based and model based adaptive automation have been studied, the use of psychophysiological measures, especially EEG, offers the advantage of real time evaluation of the state of the subject. The current study used the closed-loop system, developed at NASA-Langley Research Center, to control the state of awareness of subjects while they performed a cognitive vigilance task. Previous research in our laboratory, supported by NASA, has demonstrated that, in an adaptive automation, closed-loop environment, subjects perform a tracking task better under a negative than a positive, feedback condition. In addition, this condition produces less subjective workload and larger P300 event related potentials to auditory stimuli presented in a concurrent oddball task. We have also recently shown that the closed-loop system used to control the level of automation in a tracking task can also be used to control the event rate of stimuli in a vigilance monitoring task. By changing the event rate based on the subject's index of arousal, we have been able to produce improved monitoring, relative to various control groups. We have demonstrated in our initial closed-loop experiments with the the vigilance paradigm that using a negative feedback contingency (i.e. increasing event rates when the EEG index is low and decreasing event rates when the EEG index is high) results in a marked decrease of the vigilance decrement over a 40 minute session. This effect is in direct contrast to performance of a positive feedback group, as well as a number of other control groups which demonstrated the typical vigilance decrement. Interestingly, however, the negative feedback group performed at virtually the same level as a yoked control group. The yoked control group received the same order of changes in event rate that were generated by the negative feedback subjects using the closed-loop system. Thus it would appear to be possible to optimize vigilance performance by controlling the stimuli which subjects are asked to process.

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.

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.

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.

Commande de vol non lineaire d'un drone a voilure fixe par la methode du backstepping

NASA Astrophysics Data System (ADS)

Finoki, Edouard

This thesis describes the design of a non-linear controller for a UAV using the backstepping method. It is a fixed-wing UAV, the NexSTAR ARF from HobbicoRTM. The aim is to find the expressions of the aileron, the elevator, and the rudder deflection in order to command the flight path angle, the heading angle and the sideslip angle. Controlling the flight path angle allows a steady, climb or descent flight, controlling the heading cap allows to choose the heading and annul the sideslip angle allows an efficient flight. A good technical control has to ensure the stability of the system and provide optimal performances. Backstepping interlaces the choice of a Lyapunov function with the design of feedback control. This control technique works with the true non-linear model without any approximation. The procedure is to transform intermediate state variables into virtual inputs which will control other state variables. Advantages of this technique are its recursivity, its minimum control effort and its cascaded structure that allows dividing a high order system into several simpler lower order systems. To design this non-linear controller, a non-linear model of the UAV was used. Equations of motion are very accurate, aerodynamic coefficients result from interpolations between several essential variables in flight. The controller has been implemented in Matlab/Simulink and FlightGear.

The Effects of Field Experience on Delivery of Feedback

ERIC Educational Resources Information Center

Ramos, Adolfo R.; Esslinger, Kerry; Pyle, Elizabeth

2015-01-01

The purpose of this study was to examine pre-service teachers' (PTs) ability to deliver feedback, which has been used as a process variable in identifying teacher-effectiveness and an established NASPE standard for beginning teachers. These questions guided the study: 1. Will overall feedback interactions delivered by PTs reach 45 per video? 2.…

Luck and Learning: Feedback Contingencies and Initial Success in Verbal Discrimination Learning.

ERIC Educational Resources Information Center

Schneider, H. G.; Ferrante, A. P.

1983-01-01

A total of 90 undergraduate volunteers learned a 12-pair, low-frequency verbal discrimination list. Independent variables were feedback (positive only, negative only, or both) and initial success (17, 50, or 83 percent correct on the first trial). While the main effect of feedback was not significant, that of initial success was. (Author/RH)

Sensorless Load Torque Estimation and Passivity Based Control of Buck Converter Fed DC Motor

PubMed Central

Kumar, S. Ganesh; Thilagar, S. Hosimin

2015-01-01

Passivity based control of DC motor in sensorless configuration is proposed in this paper. Exact tracking error dynamics passive output feedback control is used for stabilizing the speed of Buck converter fed DC motor under various load torques such as constant type, fan type, propeller type, and unknown load torques. Under load conditions, sensorless online algebraic approach is proposed, and it is compared with sensorless reduced order observer approach. The former produces better response in estimating the load torque. Sensitivity analysis is also performed to select the appropriate control variables. Simulation and experimental results fully confirm the superiority of the proposed approach suggested in this paper. PMID:25893208

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.

Neurofeedback in children with attention-deficit/hyperactivity disorder (ADHD)--a controlled multicenter study of a non-pharmacological treatment approach.

PubMed

Holtmann, Martin; Pniewski, Benjamin; Wachtlin, Daniel; Wörz, Sonja; Strehl, Ute

2014-08-13

Attention-deficit/hyperactivity disorder (ADHD) is the most common neurobehavioral disorder of childhood and has often a chronic course persisting into adulthood. However, up to 30% of children treated with stimulants either fail to show an improvement or suffer adverse side effects, including decreased appetite, insomnia and irritability and there is no evidence of long term efficacy of stimulants for ADHD. A series of studies has shown that neurofeedback is an effective additional or alternative treatment for children with ADHD, leading to e.g. significant and stable improvement in behavior, attention and IQ. Significant treatment effects of neurofeedback have also been verified in meta-analyses. Most of the trials, however, have been criticized for methodological difficulties, particularly lacking appropriate control conditions and number of patients included. This randomized study examines the efficacy of slow cortical potentials (SCP) -neurofeedback, controlling unspecific effects of the setting by comparing two active treatment modalities. A total of 144 patients with ADHD, older than six and younger than ten years, in some cases with additional pharmacological treatment, are included in this trial. In five trial centres patients are treated either with SCP-feedback or electromyographic (EMG) -feedback in 25 sessions within 3 months. A comprehensive test battery is conducted before and after treatment and at follow-up 6 month later, to assess core symptoms of ADHD, general psychopathology, attentional performance, comorbid symptoms, intelligence, quality of life and cortical arousal. The efficacy of SCP-feedback training for children with ADHD is evaluated in this randomized controlled study. In addition to behavior ratings and psychometric tests neurophysiological parameters serve as dependent variables. Further, the choice of EMG-biofeedback as an active control condition is debated. Current Controlled Trials ISRCTN76187185. Registered 5 February 2009.

Temporal Lobe Epilepsy Alters Auditory-motor Integration For Voice Control

PubMed Central

Li, Weifeng; Chen, Ziyi; Yan, Nan; Jones, Jeffery A.; Guo, Zhiqiang; Huang, Xiyan; Chen, Shaozhen; Liu, Peng; Liu, Hanjun

2016-01-01

Temporal lobe epilepsy (TLE) is the most common drug-refractory focal epilepsy in adults. Previous research has shown that patients with TLE exhibit decreased performance in listening to speech sounds and deficits in the cortical processing of auditory information. Whether TLE compromises auditory-motor integration for voice control, however, remains largely unknown. To address this question, event-related potentials (ERPs) and vocal responses to vocal pitch errors (1/2 or 2 semitones upward) heard in auditory feedback were compared across 28 patients with TLE and 28 healthy controls. Patients with TLE produced significantly larger vocal responses but smaller P2 responses than healthy controls. Moreover, patients with TLE exhibited a positive correlation between vocal response magnitude and baseline voice variability and a negative correlation between P2 amplitude and disease duration. Graphical network analyses revealed a disrupted neuronal network for patients with TLE with a significant increase of clustering coefficients and path lengths as compared to healthy controls. These findings provide strong evidence that TLE is associated with an atypical integration of the auditory and motor systems for vocal pitch regulation, and that the functional networks that support the auditory-motor processing of pitch feedback errors differ between patients with TLE and healthy controls. PMID:27356768

Adaptive Control via Neural Output Feedback for a Class of Nonlinear Discrete-Time Systems in a Nested Interconnected Form.

PubMed

Li, Dong-Juan; Li, Da-Peng

2017-09-14

In this paper, an adaptive output feedback control is framed for uncertain nonlinear discrete-time systems. The considered systems are a class of multi-input multioutput nonaffine nonlinear systems, and they are in the nested lower triangular form. Furthermore, the unknown dead-zone inputs are nonlinearly embedded into the systems. These properties of the systems will make it very difficult and challenging to construct a stable controller. By introducing a new diffeomorphism coordinate transformation, the controlled system is first transformed into a state-output model. By introducing a group of new variables, an input-output model is finally obtained. Based on the transformed model, the implicit function theorem is used to determine the existence of the ideal controllers and the approximators are employed to approximate the ideal controllers. By using the mean value theorem, the nonaffine functions of systems can become an affine structure but nonaffine terms still exist. The adaptation auxiliary terms are skillfully designed to cancel the effect of the dead-zone input. Based on the Lyapunov difference theorem, the boundedness of all the signals in the closed-loop system can be ensured and the tracking errors are kept in a bounded compact set. The effectiveness of the proposed technique is checked by a simulation study.

Adaptive servo control for umbilical mating

NASA Technical Reports Server (NTRS)

Zia, Omar

1988-01-01

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

Quantification of root gravitropic response using a constant stimulus feedback system.

PubMed

Wolverton, Chris

2015-01-01

Numerous software packages now exist for quantifying root growth responses, most of which analyze a time resolved sequence of images ex post facto. However, few allow for the real-time analysis of growth responses. The system in routine use in our lab allows for real-time growth analysis and couples this to positional feedback to control the stimulus experienced by the responding root. This combination allows us to overcome one of the confounding variables in studies of root gravity response. Seedlings are grown on standard petri plates attached to a vertical rotating stage and imaged using infrared illumination. The angle of a particular region of the root is determined by image analysis, compared to the prescribed angle, and any corrections in positioning are made by controlling a stepper motor. The system allows for the long-term stimulation of a root at a constant angle and yields insights into the gravity perception and transduction machinery not possible with other approaches.

Capacitive Sensors for Feedback Control of Microfluidic Devices

NASA Astrophysics Data System (ADS)

Chen, J. Z.; Darhuber, A. A.; Troian, S. M.; Wagner, S.

2003-11-01

Automation of microfluidic devices based on thermocapillary flow [1] requires feedback control and detection techniques for monitoring the location, and ideally also composition and volume of liquid droplets. For this purpose we have developed a co-planar capacitance technique with a sensitivity of 0.07 pF at a frequency of 370 kHz. The variation in capacitance due to the presence of a droplet is monitored by the output frequency of an RC relaxation oscillator consisting of two inverters, one resistor and one capacitor. We discuss the performance of this coplanar sensor as a function of the electrode dimensions and geometry. These geometric variables determine the electric field penetration depth within the liquid, which in our studies ranged from 30 to 450 microns. Numerical solutions for the capacitance corresponding to the exact fabricated geometry agree very well with experimental data. An approximate analytic solution, which ignores fringe field effects, provides a simple but excellent guide for design development. [1] A. A. Darhuber et al., Appl. Phys. Lett. 82, 657 (2003).

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.

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.

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.

An Examination of Strategy Implementation During Abstract Nonlinguistic Category Learning in Aphasia.

PubMed

Vallila-Rohter, Sofia; Kiran, Swathi

2015-08-01

Our purpose was to study strategy use during nonlinguistic category learning in aphasia. Twelve control participants without aphasia and 53 participants with aphasia (PWA) completed a computerized feedback-based category learning task consisting of training and testing phases. Accuracy rates of categorization in testing phases were calculated. To evaluate strategy use, strategy analyses were conducted over training and testing phases. Participant data were compared with model data that simulated complex multi-cue, single feature, and random pattern strategies. Learning success and strategy use were evaluated within the context of standardized cognitive-linguistic assessments. Categorization accuracy was higher among control participants than among PWA. The majority of control participants implemented suboptimal or optimal multi-cue and single-feature strategies by testing phases of the experiment. In contrast, a large subgroup of PWA implemented random patterns, or no strategy, during both training and testing phases of the experiment. Person-to-person variability arises not only in category learning ability but also in the strategies implemented to complete category learning tasks. PWA less frequently developed effective strategies during category learning tasks than control participants. Certain PWA may have impairments of strategy development or feedback processing not captured by language and currently probed cognitive abilities.

Energy management of three-dimensional minimum-time intercept. [for aircraft flight optimization

NASA Technical Reports Server (NTRS)

Kelley, H. J.; Cliff, E. M.; Visser, H. G.

1985-01-01

A real-time computer algorithm to control and optimize aircraft flight profiles is described and applied to a three-dimensional minimum-time intercept mission. The proposed scheme has roots in two well known techniques: singular perturbations and neighboring-optimal guidance. Use of singular-perturbation ideas is made in terms of the assumed trajectory-family structure. A heading/energy family of prestored point-mass-model state-Euler solutions is used as the baseline in this scheme. The next step is to generate a near-optimal guidance law that will transfer the aircraft to the vicinity of this reference family. The control commands fed to the autopilot (bank angle and load factor) consist of the reference controls plus correction terms which are linear combinations of the altitude and path-angle deviations from reference values, weighted by a set of precalculated gains. In this respect the proposed scheme resembles neighboring-optimal guidance. However, in contrast to the neighboring-optimal guidance scheme, the reference control and state variables as well as the feedback gains are stored as functions of energy and heading in the present approach. Some numerical results comparing open-loop optimal and approximate feedback solutions are presented.

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

Hypocortisolemic clamp unmasks jointly feedforward- and feedback-dependent control of overnight ACTH secretion

PubMed Central

Iranmanesh, Ali; Veldhuis, Johannes D

2009-01-01

Background ACTH secretion is under hypothalamic stimulatory (feedforward) and adrenal inhibitory (feedback) control. Hypothesis Assessment of overnight ACTH secretion during a hypocortisolemic clamp will permit the estimation of changing feedforward and feedback. Subjects Seven healthy men. Interventions An oral dose of placebo (PLAC), metyrapone (METY, 3 g), or ketoconazole (KTCZ, 1.2 g) was given at midnight (MN) to block glucocorticoid synthesis. Plasma ACTH was sampled every 10 min (MN to 0800 h). Analysis Variable-waveform deconvolution analysis of ACTH secretion and approximate entropy (ApEn) analysis of pattern regularity. Results Compared with PLAC, administration of METY and KTCZ reduced morning cortisol concentrations by ≥77 and 54% respectively (P<0.001). Hypocortisolemia elevated pulsatile ACTH secretion by 8.2- (METY) and 5.3-fold (KTCZ; both P<0.001). Basal ACTH secretion rose by 3.4-fold under METY-induced cortisol depletion (P = 0.020). ACTH secretory-burst shape and half-life were stable. ApEn of ACTH release declined overnight (P = 0.021) and with the drug (P = 0.001), denoting enhanced feedforward coordination. Conclusion The combined data predict overnight amplification and coordination of hypothalamic feedforward drive onto ACTH release. Therefore, disruption of either mechanism might contribute to clinical pathophysiology, such as late-day elevations of cortisol output in fasting, alcoholism, depression, or aging. PMID:18713842

The magnitude and colour of noise in genetic negative feedback systems

PubMed Central

Voliotis, Margaritis; Bowsher, Clive G.

2012-01-01

The comparative ability of transcriptional and small RNA-mediated negative feedback to control fluctuations or ‘noise’ in gene expression remains unexplored. Both autoregulatory mechanisms usually suppress the average (mean) of the protein level and its variability across cells. The variance of the number of proteins per molecule of mean expression is also typically reduced compared with the unregulated system, but is almost never below the value of one. This relative variance often substantially exceeds a recently obtained, theoretical lower limit for biochemical feedback systems. Adding the transcriptional or small RNA-mediated control has different effects. Transcriptional autorepression robustly reduces both the relative variance and persistence (lifetime) of fluctuations. Both benefits combine to reduce noise in downstream gene expression. Autorepression via small RNA can achieve more extreme noise reduction and typically has less effect on the mean expression level. However, it is often more costly to implement and is more sensitive to rate parameters. Theoretical lower limits on the relative variance are known to decrease slowly as a measure of the cost per molecule of mean expression increases. However, the proportional increase in cost to achieve substantial noise suppression can be different away from the optimal frontier—for transcriptional autorepression, it is frequently negligible. PMID:22581772

Hypocortisolemic clamp unmasks jointly feedforward- and feedback-dependent control of overnight ACTH secretion.

PubMed

Iranmanesh, Ali; Veldhuis, Johannes D

2008-11-01

ACTH secretion is under hypothalamic stimulatory (feedforward) and adrenal inhibitory (feedback) control. Assessment of overnight ACTH secretion during a hypocortisolemic clamp will permit the estimation of changing feedforward and feedback. Seven healthy men. An oral dose of placebo (PLAC), metyrapone (METY, 3 g), or ketoconazole (KTCZ, 1.2 g) was given at midnight (MN) to block glucocorticoid synthesis. Plasma ACTH was sampled every 10 min (MN to 0800 h). Variable-waveform deconvolution analysis of ACTH secretion and approximate entropy (ApEn) analysis of pattern regularity. Compared with PLAC, administration of METY and KTCZ reduced morning cortisol concentrations by >or=77 and 54% respectively (P<0.001). Hypocortisolemia elevated pulsatile ACTH secretion by 8.2- (METY) and 5.3-fold (KTCZ; both P<0.001). Basal ACTH secretion rose by 3.4-fold under METY-induced cortisol depletion (P=0.020). ACTH secretory-burst shape and half-life were stable. ApEn of ACTH release declined overnight (P=0.021) and with the drug (P=0.001), denoting enhanced feedforward coordination. The combined data predict overnight amplification and coordination of hypothalamic feedforward drive onto ACTH release. Therefore, disruption of either mechanism might contribute to clinical pathophysiology, such as late-day elevations of cortisol output in fasting, alcoholism, depression, or aging.

Sensor-based balance training with motion feedback in people with mild cognitive impairment.

PubMed

Schwenk, Michael; Sabbagh, Marwan; Lin, Ivy; Morgan, Pharah; Grewal, Gurtej S; Mohler, Jane; Coon, David W; Najafi, Bijan

2016-01-01

Some individuals with mild cognitive impairment (MCI) experience not only cognitive deficits but also a decline in motor function, including postural balance. This pilot study sought to estimate the feasibility, user experience, and effects of a novel sensor-based balance training program. Patients with amnestic MCI (mean age 78.2 yr) were randomized to an intervention group (IG, n = 12) or control group (CG, n = 10). The IG underwent balance training (4 wk, twice a week) that included weight shifting and virtual obstacle crossing. Real-time visual/audio lower-limb motion feedback was provided from wearable sensors. The CG received no training. User experience was measured by a questionnaire. Postintervention effects on balance (center of mass sway during standing with eyes open [EO] and eyes closed), gait (speed, variability), cognition, and fear of falling were measured. Eleven participants (92%) completed the training and expressed fun, safety, and helpfulness of sensor feedback. Sway (EO, p = 0.04) and fear of falling (p = 0.02) were reduced in the IG compared to the CG. Changes in other measures were nonsignificant. Results suggest that the sensor-based training paradigm is well accepted in the target population and beneficial for improving postural control. Future studies should evaluate the added value of the sensor-based training compared to traditional training.

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.

Interannual-to-decadal air-sea interactions in the tropical Atlantic region

NASA Astrophysics Data System (ADS)

Ruiz-Barradas, Alfredo

2001-09-01

The present research identifies modes of atmosphere-ocean interaction in the tropical Atlantic region and the mechanisms by which air-sea interactions influence the regional climate. Novelties of the present work are (1)the use of relevant ocean and atmosphere variables important to identity coupled variability in the system. (2)The use of new data sets, including realistic diabatic heating. (3)The study of interactions between ocean and atmosphere relevant at interannual-to-decadal time scales. Two tropical modes of variability are identified during the period 1958-1993, the Atlantic Niño mode and the Interhemispheric mode. Those modes have defined structures in both ocean and atmosphere. Anomalous sea surface temperatures and winds are associated to anomalous placement of the Intertropical Convergence Zone (ITCZ). They develop maximum amplitude during boreal summer and spring, respectively. The anomalous positioning of the ITCZ produces anomalous precipitation in some places like Nordeste, Brazil and the Caribbean region. Through the use of a diagnostic primitive equation model, it is found that the most important terms controlling local anomalous surface winds over the ocean are boundary layer temperature gradients and diabatic heating anomalies at low levels (below 780 mb). The latter is of particular importance in the deep tropics in producing the anomalous meridional response to the surface circulation. Simulated latent heat anomalies indicate that a thermodynamic feedback establishes positive feedbacks at both sides of the equator and west of 20°W in the deep tropics and a negative feedback in front of the north west coast of Africa for the Interhemispheric mode. This thermodynamic feedback only establishes negative feedbacks for the Atlantic Niño mode. Transients establish some connection between the tropical Atlantic and other basins. Interhemispheric gradients of surface temperature in the tropical Atlantic influence winds in the midlatitude North Atlantic but winds and heating of the midlatitude North Atlantic have little impact on the deep tropics. The remote influence of El Niño-Southern Oscillation in the tropical Atlantic, similar to the Interhemispheric mode, is the result of two mechanisms triggered by anomalous warming in the central and eastern tropical Pacific: enhancement of the Atlantic Walker circulation, and coupled intrusion of negative 200 mb geopotential height anomalies and negative sea level pressure anomalies that induce southwesterly surface wind anomalies in the northern tropical Atlantic.

Extraction of Lateral-Directional Stability and Control Derivatives for the Basic F-18 Aircraft at High Angles of Attack

NASA Technical Reports Server (NTRS)

Iliff, Kenneth W.; Wang, Kon-Sheng Charles

1997-01-01

The results of parameter identification to determine the lateral-directional stability and control derivatives of an F-18 research aircraft in its basic hardware and software configuration are presented. The derivatives are estimated from dynamic flight data using a specialized identification program developed at NASA Dryden Flight Research Center. The formulation uses the linearized aircraft equations of motions in their continuous/discrete form and a maximum likelihood estimator that accounts for both state and measurement noise. State noise is used to model the uncommanded forcing function caused by unsteady aerodynamics, such as separated and vortical flows, over the aircraft. The derivatives are plotted as functions of angle of attack between 3 deg and 47 deg and compared with wind-tunnel predictions. The quality of the derivative estimates obtained by parameter identification is somewhat degraded because the maneuvers were flown with the aircraft's control augmentation system engaged, which introduced relatively high correlations between the control variables and response variables as a result of control motions from the feedback 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, 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.

Theory of mind, inhibitory control, and preschool-age children's suggestibility in different interviewing contexts.

PubMed

Scullin, Matthew H; Bonner, Karri

2006-02-01

The current study examined the relations among 3- to 5-year-olds' theory of mind, inhibitory control, and three measures of suggestibility: yielding to suggestive questions (yield), shifting answers in response to negative feedback (shift), and accuracy in response to misleading questions during a pressured interview about a live event. Theory of mind aided in the prediction of suggestibility about the live event, and inhibitory control was a moderator variable affecting the consistency of children's sensitivity to social pressure across situations. The findings indicate that theory of mind and inhibitory control predict children's suggestibility about a live event above and beyond yield, shift, and age and that the construct validity of shift may improve as children's inhibitory control develops.

A time domain inverse dynamic method for the end point tracking control of a flexible manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo; Book, Wayne J.

1991-01-01

The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.

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

PubMed Central

Hahnloser, Richard H. R.

2017-01-01

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

Unregulated provider perceptions of audit and feedback reports in long-term care: cross-sectional survey findings from a quality improvement intervention.

PubMed

Fraser, Kimberly D; O'Rourke, Hannah M; Baylon, Melba Andrea B; Boström, Anne-Marie; Sales, Anne E

2013-02-13

Audit with feedback is a moderately effective approach for improving professional practice in other health care settings. Although unregulated caregivers give the majority of direct care in long-term care settings, little is known about how they understand and perceive feedback reports because unregulated providers have not been directly targeted to receive audit with feedback in quality improvement interventions in long-term care. The purpose of this paper is to describe unregulated care providers' perceptions of usefulness of a feedback report in four Canadian long-term care facilities. We delivered monthly feedback reports to unregulated care providers for 13 months in 2009-2010. The feedback reports described a unit's performance in relation to falls, depression, and pain as compared to eight other units in the study. Follow-up surveys captured participant perceptions of the feedback report. We conducted descriptive analyses of the variables related to participant perceptions and multivariable logistic regression to assess the association between perceived usefulness of the feedback report and a set of independent variables. The vast majority (80%) of unregulated care providers (n = 171) who responded said they understood the reports. Those who discussed the report with others and were interested in other forms of data were more likely to find the feedback report useful for making changes in resident care. This work suggests that unregulated care providers can understand and feel positively about using audit with feedback reports to make changes to resident care. Further research should explore ways to promote fuller engagement of unregulated care providers in decision-making to improve quality of care in long-term care settings.

Unregulated provider perceptions of audit and feedback reports in long-term care: cross-sectional survey findings from a quality improvement intervention

PubMed Central

2013-01-01

Background Audit with feedback is a moderately effective approach for improving professional practice in other health care settings. Although unregulated caregivers give the majority of direct care in long-term care settings, little is known about how they understand and perceive feedback reports because unregulated providers have not been directly targeted to receive audit with feedback in quality improvement interventions in long-term care. The purpose of this paper is to describe unregulated care providers’ perceptions of usefulness of a feedback report in four Canadian long-term care facilities. Methods We delivered monthly feedback reports to unregulated care providers for 13 months in 2009–2010. The feedback reports described a unit’s performance in relation to falls, depression, and pain as compared to eight other units in the study. Follow-up surveys captured participant perceptions of the feedback report. We conducted descriptive analyses of the variables related to participant perceptions and multivariable logistic regression to assess the association between perceived usefulness of the feedback report and a set of independent variables. Results The vast majority (80%) of unregulated care providers (n = 171) who responded said they understood the reports. Those who discussed the report with others and were interested in other forms of data were more likely to find the feedback report useful for making changes in resident care. Conclusions This work suggests that unregulated care providers can understand and feel positively about using audit with feedback reports to make changes to resident care. Further research should explore ways to promote fuller engagement of unregulated care providers in decision-making to improve quality of care in long-term care settings. PMID:23402382

Sensorimotor learning in children and adults: Exposure to frequency-altered auditory feedback during speech production.

PubMed

Scheerer, N E; Jacobson, D S; Jones, J A

2016-02-09

Auditory feedback plays an important role in the acquisition of fluent speech; however, this role may change once speech is acquired and individuals no longer experience persistent developmental changes to the brain and vocal tract. For this reason, we investigated whether the role of auditory feedback in sensorimotor learning differs across children and adult speakers. Participants produced vocalizations while they heard their vocal pitch predictably or unpredictably shifted downward one semitone. The participants' vocal pitches were measured at the beginning of each vocalization, before auditory feedback was available, to assess the extent to which the deviant auditory feedback modified subsequent speech motor commands. Sensorimotor learning was observed in both children and adults, with participants' initial vocal pitch increasing following trials where they were exposed to predictable, but not unpredictable, frequency-altered feedback. Participants' vocal pitch was also measured across each vocalization, to index the extent to which the deviant auditory feedback was used to modify ongoing vocalizations. While both children and adults were found to increase their vocal pitch following predictable and unpredictable changes to their auditory feedback, adults produced larger compensatory responses. The results of the current study demonstrate that both children and adults rapidly integrate information derived from their auditory feedback to modify subsequent speech motor commands. However, these results also demonstrate that children and adults differ in their ability to use auditory feedback to generate compensatory vocal responses during ongoing vocalization. Since vocal variability also differed across the children and adult groups, these results also suggest that compensatory vocal responses to frequency-altered feedback manipulations initiated at vocalization onset may be modulated by vocal variability. Copyright © 2015 IBRO. Published by Elsevier Ltd. All rights reserved.

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...

Position control system for use with micromechanical actuators

DOEpatents

Guckel, Henry; Stiers, Eric W.

2000-01-01

A positioning system adapted for use with micromechanical actuators provides feedback control of the position of the movable element of the actuator utilizing a low Q sensing coil. The effective inductance of the sensing coil changes with position of the movable element to change the frequency of oscillation of a variable oscillator. The output of the variable oscillator is compared in a phase detector to a reference oscillator signal. The phase detector provides a pulsed output having a pulse duty cycle related to the phase or frequency difference between the oscillator signals. The output of the phase detector is provided to a drive coil which applies a magnetic force to the movable element which balances the force of a spring. The movable element can be displaced to a new position by changing the frequency of the reference oscillator.

Implementation of a self-controlling heater

NASA Technical Reports Server (NTRS)

Strange, M. G.

1973-01-01

Temperature control of radiation sensors, targets, and other critical components is a common requirement in modern scientific instruments. Conventional control systems use a heater and a temperature sensor mounted on the body to be controlled. For proportional control, the sensor provides feedback to circuitry which drives the heater with an amount of power proportional to the temperature error. It is impractical or undesirable to mount both a heater and a sensor on certain components such as ultra-small parts or thin filaments. In principle, a variable current through the element is used for heating, and the change in voltage drop due to the element's temperature coefficient is separated and used to monitor or control its own temperature. Since there are no thermal propagation delays between heater and sensor, such control systems are exceptionally stable.

Computational alternatives to obtain time optimal jet engine control. M.S. Thesis

NASA Technical Reports Server (NTRS)

Basso, R. J.; Leake, R. J.

1976-01-01

Two computational methods to determine an open loop time optimal control sequence for a simple single spool turbojet engine are described by a set of nonlinear differential equations. Both methods are modifications of widely accepted algorithms which can solve fixed time unconstrained optimal control problems with a free right end. Constrained problems to be considered have fixed right ends and free time. Dynamic programming is defined on a standard problem and it yields a successive approximation solution to the time optimal problem of interest. A feedback control law is obtained and it is then used to determine the corresponding open loop control sequence. The Fletcher-Reeves conjugate gradient method has been selected for adaptation to solve a nonlinear optimal control problem with state variable and control constraints.

PID feedback controller used as a tactical asset allocation technique: The G.A.M. model

NASA Astrophysics Data System (ADS)

Gandolfi, G.; Sabatini, A.; Rossolini, M.

2007-09-01

The objective of this paper is to illustrate a tactical asset allocation technique utilizing the PID controller. The proportional-integral-derivative (PID) controller is widely applied in most industrial processes; it has been successfully used for over 50 years and it is used by more than 95% of the plants processes. It is a robust and easily understood algorithm that can provide excellent control performance in spite of the diverse dynamic characteristics of the process plant. In finance, the process plant, controlled by the PID controller, can be represented by financial market assets forming a portfolio. More specifically, in the present work, the plant is represented by a risk-adjusted return variable. Money and portfolio managers’ main target is to achieve a relevant risk-adjusted return in their managing activities. In literature and in the financial industry business, numerous kinds of return/risk ratios are commonly studied and used. The aim of this work is to perform a tactical asset allocation technique consisting in the optimization of risk adjusted return by means of asset allocation methodologies based on the PID model-free feedback control modeling procedure. The process plant does not need to be mathematically modeled: the PID control action lies in altering the portfolio asset weights, according to the PID algorithm and its parameters, Ziegler-and-Nichols-tuned, in order to approach the desired portfolio risk-adjusted return efficiently.

A vision-based end-point control for a two-link flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Obergfell, Klaus

1991-01-01

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

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.

Unifying Views of Autism Spectrum Disorders: A Consideration of Autoregulatory Feedback Loops

PubMed Central

Mullins, Caitlin; Fishell, Gord

2017-01-01

Understanding the mechanisms underlying autism spectrum disorders (ASD) is a challenging goal. Here we review recent progress on several fronts, including genetics, proteomics, biochemistry and electrophysiology, that raise motivation for forming a viable pathophysiological hypothesis. In place of a traditionally unidirectional progression, we put forward a framework that extends homeostatic hypotheses by explicitly emphasizing autoregulatory feedback loops and known synaptic biology. The regulated biological feature can be neuronal electrical activity, the collective strength of synapses onto a dendritic branch, the local concentration of a signaling molecule, or the relative strengths of synaptic excitation and inhibition. The sensor of the biological variable (which we have termed the homeostat) engages mechanisms that operate as negative feedback elements to keep the biological variable tightly confined. We categorize known ASD-associated gene products according to their roles in such feedback loops, and provide detailed commentary for exemplar genes within each module. PMID:26985722

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.

Closed-form solutions for a class of optimal quadratic regulator problems with terminal constraints

NASA Technical Reports Server (NTRS)

Juang, J.-N.; Turner, J. D.; Chun, H. M.

1984-01-01

Closed-form solutions are derived for coupled Riccati-like matrix differential equations describing the solution of a class of optimal finite time quadratic regulator problems with terminal constraints. Analytical solutions are obtained for the feedback gains and the closed-loop response trajectory. A computational procedure is presented which introduces new variables for efficient computation of the terminal control law. Two examples are given to illustrate the validity and usefulness of the theory.

Flexible Manufacturing System Handbook. Volume II. Description of the Technology

DTIC Science & Technology

1983-02-01

hubs, or wheels with considerable 4 FM5 Handbook, Volume II milling, drilling and/or tapping, are usually candidates for inclusion in a prismatic...0.06 inch) to transfer pallets to a machine or unload station. Wheel encoders can be used as less precise feedback for the drive system and its...must be used to control pallet transfer. The Cincinnati Milacron Variable Mission System uses this type of MHS, specifically the Eaton-Kenway Robo

Consolidated fuel reprossing program: The implications of force reflection for teleoperation in space

NASA Technical Reports Server (NTRS)

Draper, John V.; Herndon, Joseph N.; Moore, Wendy E.

1987-01-01

Previous research on teleoperator force feedback is reviewed and results of a testing program which assessed the impact of force reflection on teleoperator task performance are reported. Force relection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to tasks components, and variability in forces applied to components during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force relection than they did without it. These data support the hypothesis that force reflection provides useful information for teleoperator users. The earlier literature and the results of the experiment are discussed in terms of their implications for space based teleoperator systems. The discussion described the impact of force reflection on task completion performance and task strategies, as suggested by the literature. It is important to understand the trade-offs involved in using telerobotic systems with and without force reflection.

Remembrance of ecohydrologic extremes past

NASA Astrophysics Data System (ADS)

Band, L. E.; Hwang, T.

2013-12-01

Ecohydrological systems operate at time scales that span several orders of magnitude. Significant processes and feedbacks range from subdaily physiologic response to meteorological drivers, to soil forming and geomorphic processes ranging up through 10^3-10^4 years. While much attention in ecohydrology has focused on ecosystem optimization paradigms, these systems can show significant transience in structure and function, with apparent memory of hydroclimate extremes and regime shifts. While optimization feedbacks can be reconciled with system transience, a better understanding of the time scales and mechanisms of adjustment to increased hydroclimate variability and to specific events is required to understand and predict dynamics and vulnerability of ecosystems. Under certain circumstances of slowly varying hydroclimate, we hypothesize that ecosystems can remain adjusted to changing climate regimes, without displaying apparent system memory. Alternatively, rapid changes in hydroclimate and increased hydroclimate variability, amplified with well expressed non-linearity in the processes controlling feedbacks between water, carbon and nutrients, can move ecosystems far from adjusted states. The Coweeta Hydrological Laboratory is typical of humid, broadleaf forests in eastern North America, with a range of forest biomes from northern hardwoods at higher elevations, to oak-pine assemblages at lower elevations. The site provides almost 80 years of rainfall-runoff records for a set of watersheds under different management, along with multi-decadal forest plot structural information, soil moisture conditions and stream chemistry. An initial period of multi-decadal cooling, was followed by three decades of warming and increased hydroclimate variability. While mean temperature has risen over this time period, precipitation shows no long term trends in the mean, but has had a significant rise in variability with repeated extreme drought and wet periods. Over this latter period, intra and interannual shifts of canopy structure and phenology are discernable, along with long term canopy adjustment. We use a combination of field observations, long term remote sensing records and distributed ecohydrological modeling to investigate transient behavior, apparent memory and mechanisms of ecosystem adjustment to hydroclimate variability and change over the range of biomes in the watershed.

Alterations in Neural Control of Constant Isometric Contraction with the Size of Error Feedback

PubMed Central

Hwang, Ing-Shiou; Lin, Yen-Ting; Huang, Wei-Min; Yang, Zong-Ru; Hu, Chia-Ling; Chen, Yi-Ching

2017-01-01

Discharge patterns from a population of motor units (MUs) were estimated with multi-channel surface electromyogram and signal processing techniques to investigate parametric differences in low-frequency force fluctuations, MU discharges, and force-discharge relation during static force-tracking with varying sizes of execution error presented via visual feedback. Fourteen healthy adults produced isometric force at 10% of maximal voluntary contraction through index abduction under three visual conditions that scaled execution errors with different amplification factors. Error-augmentation feedback that used a high amplification factor (HAF) to potentiate visualized error size resulted in higher sample entropy, mean frequency, ratio of high-frequency components, and spectral dispersion of force fluctuations than those of error-reducing feedback using a low amplification factor (LAF). In the HAF condition, MUs with relatively high recruitment thresholds in the dorsal interosseous muscle exhibited a larger coefficient of variation for inter-spike intervals and a greater spectral peak of the pooled MU coherence at 13–35 Hz than did those in the LAF condition. Manipulation of the size of error feedback altered the force-discharge relation, which was characterized with non-linear approaches such as mutual information and cross sample entropy. The association of force fluctuations and global discharge trace decreased with increasing error amplification factor. Our findings provide direct neurophysiological evidence that favors motor training using error-augmentation feedback. Amplification of the visualized error size of visual feedback could enrich force gradation strategies during static force-tracking, pertaining to selective increases in the discharge variability of higher-threshold MUs that receive greater common oscillatory inputs in the β-band. PMID:28125658

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.

Reducing aeration energy consumption in a large-scale membrane bioreactor: Process simulation and engineering application.

PubMed

Sun, Jianyu; Liang, Peng; Yan, Xiaoxu; Zuo, Kuichang; Xiao, Kang; Xia, Junlin; Qiu, Yong; Wu, Qing; Wu, Shijia; Huang, Xia; Qi, Meng; Wen, Xianghua

2016-04-15

Reducing the energy consumption of membrane bioreactors (MBRs) is highly important for their wider application in wastewater treatment engineering. Of particular significance is reducing aeration in aerobic tanks to reduce the overall energy consumption. This study proposed an in situ ammonia-N-based feedback control strategy for aeration in aerobic tanks; this was tested via model simulation and through a large-scale (50,000 m(3)/d) engineering application. A full-scale MBR model was developed based on the activated sludge model (ASM) and was calibrated to the actual MBR. The aeration control strategy took the form of a two-step cascaded proportion-integration (PI) feedback algorithm. Algorithmic parameters were optimized via model simulation. The strategy achieved real-time adjustment of aeration amounts based on feedback from effluent quality (i.e., ammonia-N). The effectiveness of the strategy was evaluated through both the model platform and the full-scale engineering application. In the former, the aeration flow rate was reduced by 15-20%. In the engineering application, the aeration flow rate was reduced by 20%, and overall specific energy consumption correspondingly reduced by 4% to 0.45 kWh/m(3)-effluent, using the present practice of regulating the angle of guide vanes of fixed-frequency blowers. Potential energy savings are expected to be higher for MBRs with variable-frequency blowers. This study indicated that the ammonia-N-based aeration control strategy holds promise for application in full-scale MBRs. Copyright © 2016 Elsevier Ltd. All rights reserved.

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.

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.