Vision-Based Haptic Feedback for Remote Micromanipulation in-SEM Environment

NASA Astrophysics Data System (ADS)

Bolopion, Aude; Dahmen, Christian; Stolle, Christian; Haliyo, Sinan; Régnier, Stéphane; Fatikow, Sergej

2012-07-01

This article presents an intuitive environment for remote micromanipulation composed of both haptic feedback and virtual reconstruction of the scene. To enable nonexpert users to perform complex teleoperated micromanipulation tasks, it is of utmost importance to provide them with information about the 3-D relative positions of the objects and the tools. Haptic feedback is an intuitive way to transmit such information. Since position sensors are not available at this scale, visual feedback is used to derive information about the scene. In this work, three different techniques are implemented, evaluated, and compared to derive the object positions from scanning electron microscope images. The modified correlation matching with generated template algorithm is accurate and provides reliable detection of objects. To track the tool, a marker-based approach is chosen since fast detection is required for stable haptic feedback. Information derived from these algorithms is used to propose an intuitive remote manipulation system that enables users situated in geographically distant sites to benefit from specific equipments, such as SEMs. Stability of the haptic feedback is ensured by the minimization of the delays, the computational efficiency of vision algorithms, and the proper tuning of the haptic coupling. Virtual guides are proposed to avoid any involuntary collisions between the tool and the objects. This approach is validated by a teleoperation involving melamine microspheres with a diameter of less than 2 μ m between Paris, France and Oldenburg, Germany.

Thrust control system design of ducted rockets

NASA Astrophysics Data System (ADS)

Chang, Juntao; Li, Bin; Bao, Wen; Niu, Wenyu; Yu, Daren

2011-07-01

The investigation of the thrust control system is aroused by the need for propulsion system of ducted rockets. Firstly the dynamic mathematical models of gas flow regulating system, pneumatic servo system and ducted rocket engine were established and analyzed. Then, to conquer the discussed problems of thrust control, the idea of information fusion was proposed to construct a new feedback variable. With this fused feedback variable, the thrust control system was designed. According to the simulation results, the introduction of the new fused feedback variable is valid in eliminating the contradiction between rapid response and stability for the thrust control system of ducted rockets.

Learning and Control Model of the Arm for Loading

NASA Astrophysics Data System (ADS)

Kim, Kyoungsik; Kambara, Hiroyuki; Shin, Duk; Koike, Yasuharu

We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

Acceleration feedback improves balancing against reflex delay

PubMed Central

Insperger, Tamás; Milton, John; Stépán, Gábor

2013-01-01

A model for human postural balance is considered in which the time-delayed feedback depends on position, velocity and acceleration (proportional–derivative–acceleration (PDA) feedback). It is shown that a PDA controller is equivalent to a predictive controller, in which the prediction is based on the most recent information of the state, but the control input is not involved into the prediction. A PDA controller is superior to the corresponding proportional–derivative controller in the sense that the PDA controller can stabilize systems with approximately 40 per cent larger feedback delays. The addition of a sensory dead zone to account for the finite thresholds for detection by sensory receptors results in highly intermittent, complex oscillations that are a typical feature of human postural sway. PMID:23173196

Stability analysis of dynamic collaboration model with control signals on two lanes

NASA Astrophysics Data System (ADS)

Li, Zhipeng; Zhang, Run; Xu, Shangzhi; Qian, Yeqing; Xu, Juan

2014-12-01

In this paper, the influence of control signals on the stability of two-lane traffic flow is mainly studied by applying control theory with lane changing behaviors. We present the two-lane dynamic collaboration model with lateral friction and the expressions of feedback control signals. What is more, utilizing the delayed feedback control theory to the two-lane dynamic collaboration model with control signals, we investigate the stability of traffic flow theoretically and the stability conditions for both lanes are derived with finding that the forward and lateral feedback signals can improve the stability of traffic flow while the backward feedback signals cannot achieve it. Besides, direct simulations are conducted to verify the results of theoretical analysis, which shows that the feedback signals have a significant effect on the running state of two vehicle groups, and the results are same with the theoretical analysis.

Linear motor drive system for continuous-path closed-loop position control of an object

DOEpatents

Barkman, William E.

1980-01-01

A precision numerical controlled servo-positioning system is provided for continuous closed-loop position control of a machine slide or platform driven by a linear-induction motor. The system utilizes filtered velocity feedback to provide system stability required to operate with a system gain of 100 inches/minute/0.001 inch of following error. The filtered velocity feedback signal is derived from the position output signals of a laser interferometer utilized to monitor the movement of the slide. Air-bearing slides mounted to a stable support are utilized to minimize friction and small irregularities in the slideway which would tend to introduce positioning errors. A microprocessor is programmed to read command and feedback information and converts this information into the system following error signal. This error signal is summed with the negative filtered velocity feedback signal at the input of a servo amplifier whose output serves as the drive power signal to the linear motor position control coil.

The effects of feedback format, and egocentric & allocentric relative phase on coordination stability.

PubMed

Pickavance, John; Azmoodeh, Arianne; Wilson, Andrew D

2018-06-01

The stability of coordinated rhythmic movement is primarily affected by the required mean relative phase. In general, symmetrical coordination is more stable than asymmetrical coordination; however, there are two ways to define relative phase and the associated symmetries. The first is in an egocentric frame of reference, with symmetry defined relative to the sagittal plane down the midline of the body. The second is in an allocentric frame of reference, with symmetry defined in terms of the relative direction of motion. Experiments designed to separate these constraints have shown that both egocentric and allocentric constraints contribute to overall coordination stability, with the former typically showing larger effects. However, separating these constraints has meant comparing movements made either in different planes of motion, or by limbs in different postures. In addition, allocentric information about the coordination is either in the form of the actual limb motion, or a transformed, Lissajous feedback display. These factors limit both the comparisons that can be made and the interpretations of these comparisons. The current study examined the effects of egocentric relative phase, allocentric relative phase, and allocentric feedback format on coordination stability in a single task. We found that while all three independently contributed to stability, the egocentric constraint dominated. This supports previous work. We examine the evidence underpinning theoretical explanations for the egocentric constraint, and describe how it may reflect the haptic perception of relative phase. Copyright © 2018 Elsevier B.V. All rights reserved.

Stability of hand force production. I. Hand level control variables and multifinger synergies.

PubMed

Reschechtko, Sasha; Latash, Mark L

2017-12-01

We combined the theory of neural control of movement with referent coordinates and the uncontrolled manifold hypothesis to explore synergies stabilizing the hand action in accurate four-finger pressing tasks. In particular, we tested a hypothesis on two classes of synergies, those among the four fingers and those within a pair of control variables, stabilizing hand action under visual feedback and disappearing without visual feedback. Subjects performed four-finger total force and moment production tasks under visual feedback; the feedback was later partially or completely removed. The "inverse piano" device was used to lift and lower the fingers smoothly at the beginning and at the end of each trial. These data were used to compute pairs of hypothetical control variables. Intertrial analysis of variance within the finger force space was used to quantify multifinger synergies stabilizing both force and moment. A data permutation method was used to quantify synergies among control variables. Under visual feedback, synergies in the spaces of finger forces and hypothetical control variables were found to stabilize total force. Without visual feedback, the subjects showed a force drift to lower magnitudes and a moment drift toward pronation. This was accompanied by disappearance of the four-finger synergies and strong attenuation of the control variable synergies. The indexes of the two types of synergies correlated with each other. The findings are interpreted within the scheme with multiple levels of abundant variables. NEW & NOTEWORTHY We extended the idea of hierarchical control with referent spatial coordinates for the effectors and explored two types of synergies stabilizing multifinger force production tasks. We observed synergies among finger forces and synergies between hypothetical control variables that stabilized performance under visual feedback but failed to stabilize it after visual feedback had been removed. Indexes of two types of synergies correlated with each other. The data suggest the existence of multiple mechanisms stabilizing motor actions. Copyright © 2017 the American Physiological Society.

Can vibratory feedback be used to improve postural stability in persons with transtibial limb loss?

PubMed

Rusaw, David; Hagberg, Kerstin; Nolan, Lee; Ramstrand, Nerrolyn

2012-01-01

The use of vibration as a feedback modality to convey motion of the body has been shown to improve measures of postural stability in some groups of patients. Because individuals using transtibial prostheses lack sensation distal to the amputation, vibratory feedback could possibly be used to improve their postural stability. The current investigation provided transtibial prosthesis users (n = 24, mean age 48 yr) with vibratory feedback proportional to the signal received from force transducers located under the prosthetic foot. Postural stability was evaluated by measuring center of pressure (CoP) movement, limits of stability, and rhythmic weight shift while participants stood on a force platform capable of rotations in the pitch plane (toes up/toes down). The results showed that the vibratory feedback increased the mediolateral displacement amplitude of CoP in standing balance and reduced the response time to rapid voluntary movements of the center of gravity. The results suggest that the use of vibratory feedback in an experimental setting leads to improvements in fast open-loop mechanisms of postural control in transtibial prosthesis users.

Understanding the role of ecohydrological feedbacks in ecosystem state change in drylands

USGS Publications Warehouse

Turnbull, L.; Wilcox, B.P.; Belnap, J.; Ravi, S.; D'Odorico, P.; Childers, D.; Gwenzi, W.; Okin, G.; Wainwright, J.; Caylor, K.K.; Sankey, T.

2012-01-01

Ecohydrological feedbacks are likely to be critical for understanding the mechanisms by which changes in exogenous forces result in ecosystem state change. We propose that in drylands, the dynamics of ecosystem state change are determined by changes in the type (stabilizing vs amplifying) and strength of ecohydrological feedbacks following a change in exogenous forces. Using a selection of five case studies from drylands, we explore the characteristics of ecohydrological feedbacks and resulting dynamics of ecosystem state change. We surmise that stabilizing feedbacks are critical for the provision of plant-essential resources in drylands. Exogenous forces that break these stabilizing feedbacks can alter the state of the system, although such changes are potentially reversible if strong amplifying ecohydrological feedbacks do not develop. The case studies indicate that if amplifying ecohydrological feedbacks do develop, they are typically associated with abiotic processes such as runoff, erosion (by wind and water), and fire. These amplifying ecohydrological feedbacks progressively modify the system in ways that are long-lasting and possibly irreversible on human timescales.

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.

Stabilization and robustness of non-linear unity-feedback system - Factorization approach

NASA Technical Reports Server (NTRS)

Desoer, C. A.; Kabuli, M. G.

1988-01-01

The paper is a self-contained discussion of a right factorization approach in the stability analysis of the nonlinear continuous-time or discrete-time, time-invariant or time-varying, well-posed unity-feedback system S1(P, C). It is shown that a well-posed stable feedback system S1(P, C) implies that P and C have right factorizations. In the case where C is stable, P has a normalized right-coprime factorization. The factorization approach is used in stabilization and simultaneous stabilization results.

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

NASA Technical Reports Server (NTRS)

Krishnan, Hariharan

1993-01-01

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

Analysis of a dc bus system with a nonlinear constant power load and its delayed feedback control.

PubMed

Konishi, Keiji; Sugitani, Yoshiki; Hara, Naoyuki

2014-02-01

This paper tackles a destabilizing problem of a direct-current (dc) bus system with constant power loads, which can be considered a fundamental problem of dc power grid networks. The present paper clarifies scenarios of the destabilization and applies the well-known delayed-feedback control to the stabilization of the destabilized bus system on the basis of nonlinear science. Further, we propose a systematic procedure for designing the delayed feedback controller. This controller can converge the bus voltage exactly on an unstable operating point without accurate information and can track it using tiny control energy even when a system parameter, such as the power consumption of the load, is slowly varied. These features demonstrate that delayed feedback control can be considered a strong candidate for solving the destabilizing problem.

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.

Exploratory behavior during stance persists with visual feedback.

PubMed

Murnaghan, C D; Horslen, B C; Inglis, J T; Carpenter, M G

2011-11-10

Recent evidence showing center of pressure (COP) displacements increase following an external stabilization of the center of mass (COM) supports the theory that postural sway may be exploratory and serve as a means of acquiring sensory information. The aim of the current study was to further test this theory and rule out potential confounding effects of sensory illusions or motor drift on prior observations. Participants stood as still as possible in an apparatus which allowed movements of the COM to be stabilized ("locked") without subject awareness, and they were provided real-time visual feedback of their COM or COP throughout the trial. If there was an influence of sensory illusions or motor drift, we hypothesized that the change in COP displacement with locking would be reduced when participants were provided visual confirmation of COM stabilization (COM feedback), or when they were aware of the position of the COP throughout the trial (COP feedback). Confirming our previous results, increases in COP displacement were observed when movements of the COM were stabilized. In addition, our results showed that increases in COP displacement could not be explained by the presence of sensory illusions or motor drift, since increases in COP were observed despite being provided convincing evidence that the COM had been stabilized, and when participants were aware of their COP position throughout the trial. These results provide further support for an exploratory role of postural sway. The theoretical basis of current clinical practices designed to deal with balance control deficits due to age or disease is typically based on the opinion that increases in sway are a consequence of a failing balance control system. Our results suggest that this may not be the case, and if sway is in fact exploratory, a serious re-evaluation of current clinical practices may be warranted. Copyright © 2011 IBRO. Published by Elsevier Ltd. All rights reserved.

R-parametrization and its role in classification of linear multivariable feedback systems

NASA Technical Reports Server (NTRS)

Chen, Robert T. N.

1988-01-01

A classification of all the compensators that stabilize a given general plant in a linear, time-invariant multi-input, multi-output feedback system is developed. This classification, along with the associated necessary and sufficient conditions for stability of the feedback system, is achieved through the introduction of a new parameterization, referred to as R-Parameterization, which is a dual of the familiar Q-Parameterization. The classification is made to the stability conditions of the compensators and the plant by themselves; and necessary and sufficient conditions are based on the stability of Q and R themselves.

On the stabilization of decentralized control systems.

NASA Technical Reports Server (NTRS)

Wang, S.-H.; Davison, E. J.

1973-01-01

This paper considers the problem of stabilizing a linear time-variant multivariable system by using several local feedback control laws. Each local feedback control law depends only on partial system outputs. A necessary and sufficient condition for the existence of local control laws with dynamic compensation to stabilize a given system is derived. This condition is stated in terms of a new notion, called fixed modes, which is a natural generalization of the well-known concept of uncontrollable modes and unobservable modes that occur in centralized control system problems. A procedure that constructs a set of stabilizing feedback control laws is given.

Missile Interceptor Guidance System Technology (La Technologie Pour Les Systemes De Guidage Des Missiles Intercepteurs (DE Missiles Ou D’Aeronefs)

DTIC Science & Technology

1990-01-01

robustness of feedback systems with structured uncertainty. Theorem: Robust Stability Fu(G,A) stable V AA iff suP (Gll(JW))Sl. Theorem: Robust ...through a gain KR. The addition of other dynamics and feedback paths creates stabilization problems for this simple roll attitude feedback control...characteristics are most useful to the designer when examined in the frequency domain. Both relative stability and robustness can be determined from an

Feedback control of plasma instabilities with charged particle beams and study of plasma turbulence

NASA Technical Reports Server (NTRS)

Tham, Philip Kin-Wah

1994-01-01

A new non-perturbing technique for feedback control of plasma instabilities has been developed in the Columbia Linear Machine (CLM). The feedback control scheme involves the injection of a feedback modulated ion beam as a remote suppressor. The ion beam was obtained from a compact ion beam source which was developed for this purpose. A Langmuir probe was used as the feedback sensor. The feedback controller consisted of a phase-shifter and amplifiers. This technique was demonstrated by stabilizing various plasma instabilities to the background noise level, like the trapped particle instability, the ExB instability and the ion-temperature-gradient (ITG) driven instability. An important feature of this scheme is that the injected ion beam is non-perturbing to the plasma equilibrium parameters. The robustness of this feedback stabilization scheme was also investigated. The principal result is that the scheme is fairly robust, tolerating about 100% variation about the nominal parameter values. Next, this scheme is extended to the unsolved general problem of controlling multimode plasma instabilities simultaneously with a single sensor-suppressor pair. A single sensor-suppressor pair of feedback probes is desirable to reduce the perturbation caused by the probes. Two plasma instabilities the ExB and the ITG modes, were simultaneously stabilized. A simple 'state' feedback type method was used where more state information was generated from the single sensor Langmuir probe by appropriate signal processing, in this case, by differentiation. This proof-of-principle experiment demonstrated for the first time that by designing a more sophisticated electronic feedback controller, many plasma instabilities may be simultaneously controlled. Simple theoretical models showed generally good agreement with the feedback experimental results. On a parallel research front, a better understanding of the saturated state of a plasma instability was sought partly with the help of feedback. A plasma instability is usually observed in its saturated state and appears as a single feature in the frequency spectrum with a single azimuthal and parallel wavenumbers. The physics of the non-zero spectral width was investigated in detail because the finite spectral width can cause "turbulent" transport. One aspect of the "turbulence" was investigated by obtaining the scaling of the linear growth rate of the instabilities with the fluctuation levels. The linear growth rates were measured with the established gated feedback technique. The research showed that the ExB instability evolves into a quasi-coherent state when the fluctuation level is high. The coherent aspects were studied with a bispectral analysis. Moreover, the single spectral feature was discovered to be actually composed of a few radial harmonics. The radial harmonics play a role in the nonlinear saturation of the instability via three-wave coupling.

Nonlinear power flow feedback control for improved stability and performance of airfoil sections

DOEpatents

Wilson, David G.; Robinett, III, Rush D.

2013-09-03

A computer-implemented method of determining the pitch stability of an airfoil system, comprising using a computer to numerically integrate a differential equation of motion that includes terms describing PID controller action. In one model, the differential equation characterizes the time-dependent response of the airfoil's pitch angle, .alpha.. The computer model calculates limit-cycles of the model, which represent the stability boundaries of the airfoil system. Once the stability boundary is known, feedback control can be implemented, by using, for example, a PID controller to control a feedback actuator. The method allows the PID controller gain constants, K.sub.I, K.sub.p, and K.sub.d, to be optimized. This permits operation closer to the stability boundaries, while preventing the physical apparatus from unintentionally crossing the stability boundaries. Operating closer to the stability boundaries permits greater power efficiencies to be extracted from the airfoil system.

Rapid change in articulatory lip movement induced by preceding auditory feedback during production of bilabial plosives.

PubMed

Mochida, Takemi; Gomi, Hiroaki; Kashino, Makio

2010-11-08

There has been plentiful evidence of kinesthetically induced rapid compensation for unanticipated perturbation in speech articulatory movements. However, the role of auditory information in stabilizing articulation has been little studied except for the control of voice fundamental frequency, voice amplitude and vowel formant frequencies. Although the influence of auditory information on the articulatory control process is evident in unintended speech errors caused by delayed auditory feedback, the direct and immediate effect of auditory alteration on the movements of articulators has not been clarified. This work examined whether temporal changes in the auditory feedback of bilabial plosives immediately affects the subsequent lip movement. We conducted experiments with an auditory feedback alteration system that enabled us to replace or block speech sounds in real time. Participants were asked to produce the syllable /pa/ repeatedly at a constant rate. During the repetition, normal auditory feedback was interrupted, and one of three pre-recorded syllables /pa/, /Φa/, or /pi/, spoken by the same participant, was presented once at a different timing from the anticipated production onset, while no feedback was presented for subsequent repetitions. Comparisons of the labial distance trajectories under altered and normal feedback conditions indicated that the movement quickened during the short period immediately after the alteration onset, when /pa/ was presented 50 ms before the expected timing. Such change was not significant under other feedback conditions we tested. The earlier articulation rapidly induced by the progressive auditory input suggests that a compensatory mechanism helps to maintain a constant speech rate by detecting errors between the internally predicted and actually provided auditory information associated with self movement. The timing- and context-dependent effects of feedback alteration suggest that the sensory error detection works in a temporally asymmetric window where acoustic features of the syllable to be produced may be coded.

A lattice hydrodynamic model based on delayed feedback control considering the effect of flow rate difference

NASA Astrophysics Data System (ADS)

Wang, Yunong; Cheng, Rongjun; Ge, Hongxia

2017-08-01

In this paper, a lattice hydrodynamic model is derived considering not only the effect of flow rate difference but also the delayed feedback control signal which including more comprehensive information. The control method is used to analyze the stability of the model. Furthermore, the critical condition for the linear steady traffic flow is deduced and the numerical simulation is carried out to investigate the advantage of the proposed model with and without the effect of flow rate difference and the control signal. The results are consistent with the theoretical analysis correspondingly.

Adaptive Disturbance Tracking Theory with State Estimation and State Feedback for Region II Control of Large Wind Turbines

NASA Technical Reports Server (NTRS)

Balas, Mark J.; Thapa Magar, Kaman S.; Frost, Susan A.

2013-01-01

A theory called Adaptive Disturbance Tracking Control (ADTC) is introduced and used to track the Tip Speed Ratio (TSR) of 5 MW Horizontal Axis Wind Turbine (HAWT). Since ADTC theory requires wind speed information, a wind disturbance generator model is combined with lower order plant model to estimate the wind speed as well as partial states of the wind turbine. In this paper, we present a proof of stability and convergence of ADTC theory with lower order estimator and show that the state feedback can be adaptive.

Rotation in a reversed field pinch with active feedback stabilization of resistive wall modes

NASA Astrophysics Data System (ADS)

Cecconello, M.; Menmuir, S.; Brunsell, P. R.; Kuldkepp, M.

2006-09-01

Active feedback stabilization of multiple resistive wall modes (RWMs) has been successfully proven in the EXTRAP T2R reversed field pinch. One of the features of plasma discharges operated with active feedback stabilization, in addition to the prolongation of the plasma discharge, is the sustainment of the plasma rotation. Sustained rotation is observed both for the internally resonant tearing modes (TMs) and the intrinsic impurity oxygen ions. Good quantitative agreement between the toroidal rotation velocities of both is found: the toroidal rotation is characterized by an acceleration phase followed, after one wall time, by a deceleration phase that is slower than in standard discharges. The TMs and the impurity ions rotate in the same poloidal direction with also similar velocities. Poloidal and toroidal velocities have comparable amplitudes and a simple model of their radial profile reproduces the main features of the helical angular phase velocity. RWMs feedback does not qualitatively change the TMs behaviour and typical phenomena such as the dynamo and the 'slinky' are still observed. The improved sustainment of the plasma and TMs rotation occurs also when feedback only acts on internally non-resonant RWMs. This may be due to an indirect positive effect, through non-linear coupling between TMs and RWMs, of feedback on the TMs or to a reduced plasma-wall interaction affecting the plasma flow rotation. Electromagnetic torque calculations show that with active feedback stabilization the TMs amplitude remains well below the locking threshold condition for a thick shell. Finally, it is suggested that active feedback stabilization of RWMs and current profile control techniques can be employed simultaneously thus improving both the plasma duration and its confinement properties.

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

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).

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.

Stabilization of Large Generalized Lotka-Volterra Foodwebs By Evolutionary Feedback

NASA Astrophysics Data System (ADS)

Ackland, G. J.; Gallagher, I. D.

2004-10-01

Conventional ecological models show that complexity destabilizes foodwebs, suggesting that foodwebs should have neither large numbers of species nor a large number of interactions. However, in nature the opposite appears to be the case. Here we show that if the interactions between species are allowed to evolve within a generalized Lotka-Volterra model such stabilizing feedbacks and weak interactions emerge automatically. Moreover, we show that trophic levels also emerge spontaneously from the evolutionary approach, and the efficiency of the unperturbed ecosystem increases with time. The key to stability in large foodwebs appears to arise not from complexity perse but from evolution at the level of the ecosystem which favors stabilizing (negative) feedbacks.

Stabilization of large generalized Lotka-Volterra foodwebs by evolutionary feedback.

PubMed

Ackland, G J; Gallagher, I D

2004-10-08

Conventional ecological models show that complexity destabilizes foodwebs, suggesting that foodwebs should have neither large numbers of species nor a large number of interactions. However, in nature the opposite appears to be the case. Here we show that if the interactions between species are allowed to evolve within a generalized Lotka-Volterra model such stabilizing feedbacks and weak interactions emerge automatically. Moreover, we show that trophic levels also emerge spontaneously from the evolutionary approach, and the efficiency of the unperturbed ecosystem increases with time. The key to stability in large foodwebs appears to arise not from complexity per se but from evolution at the level of the ecosystem which favors stabilizing (negative) feedbacks.

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing

PubMed Central

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy. PMID:27148031

Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing.

PubMed

Yoshikawa, Naoya; Suzuki, Yasuyuki; Kiyono, Ken; Nomura, Taishin

2016-01-01

The stabilization of an inverted pendulum on a manually controlled cart (cart-inverted-pendulum; CIP) in an upright position, which is analogous to balancing a stick on a fingertip, is considered in order to investigate how the human central nervous system (CNS) stabilizes unstable dynamics due to mechanical instability and time delays in neural feedback control. We explore the possibility that a type of intermittent time-delayed feedback control, which has been proposed for human postural control during quiet standing, is also a promising strategy for the CIP task and stick balancing on a fingertip. Such a strategy hypothesizes that the CNS exploits transient contracting dynamics along a stable manifold of a saddle-type unstable upright equilibrium of the inverted pendulum in the absence of control by inactivating neural feedback control intermittently for compensating delay-induced instability. To this end, the motions of a CIP stabilized by human subjects were experimentally acquired, and computational models of the system were employed to characterize the experimental behaviors. We first confirmed fat-tailed non-Gaussian temporal fluctuation in the acceleration distribution of the pendulum, as well as the power-law distributions of corrective cart movements for skilled subjects, which was previously reported for stick balancing. We then showed that the experimental behaviors could be better described by the models with an intermittent delayed feedback controller than by those with the conventional continuous delayed feedback controller, suggesting that the human CNS stabilizes the upright posture of the pendulum by utilizing the intermittent delayed feedback-control strategy.

Quantization improves stabilization of dynamical systems with delayed feedback

NASA Astrophysics Data System (ADS)

Stepan, Gabor; Milton, John G.; Insperger, Tamas

2017-11-01

We show that an unstable scalar dynamical system with time-delayed feedback can be stabilized by quantizing the feedback. The discrete time model corresponds to a previously unrecognized case of the microchaotic map in which the fixed point is both locally and globally repelling. In the continuous-time model, stabilization by quantization is possible when the fixed point in the absence of feedback is an unstable node, and in the presence of feedback, it is an unstable focus (spiral). The results are illustrated with numerical simulation of the unstable Hayes equation. The solutions of the quantized Hayes equation take the form of oscillations in which the amplitude is a function of the size of the quantization step. If the quantization step is sufficiently small, the amplitude of the oscillations can be small enough to practically approximate the dynamics around a stable fixed point.

Spacecraft stability and control using new techniques for periodic and time-delayed systems

NASA Astrophysics Data System (ADS)

NAzari, Morad

This dissertation addresses various problems in spacecraft stability and control using specialized theoretical and numerical techniques for time-periodic and time-delayed systems. First, the effects of energy dissipation are considered in the dual-spin spacecraft, where the damper masses in the platform (?) and the rotor (?) cause energy loss in the system. Floquet theory is employed to obtain stability charts for different relative spin rates of the subsystem [special characters omitted] with respect to the subsystem [special characters omitted]. Further, the stability and bifurcation of delayed feedback spin stabilization of a rigid spacecraft is investigated. The spin is stabilized about the principal axis of the intermediate moment of inertia using a simple delayed feedback control law. In particular, linear stability is analyzed via the exponential-polynomial characteristic equations and then the method of multiple scales is used to obtain the normal form of the Hopf bifurcation. Next, the dynamics of a rigid spacecraft with nonlinear delayed multi-actuator feedback control are studied, where a nonlinear feedback controller using an inverse dynamics approach is sought for the controlled system to have the desired linear delayed closed-loop dynamics (CLD). Later, three linear state feedback control strategies based on Chebyshev spectral collocation and the Lyapunov Floquet transformation (LFT) are explored for regulation control of linear periodic time delayed systems. First , a delayed feedback control law with discrete delay is implemented and the stability of the closed-loop response is investigated in the parameter space of available control gains using infinite-dimensional Floquet theory. Second, the delay differential equation (DDE) is discretized into a large set of ordinary differential equations (ODEs) using the Chebyshev spectral continuous time approximation (CSCTA) and delayed feedback with distributed delay is applied. The third strategy involves use of both CSCTA and the reduced Lyapunov Floquet transformation (RLFT) in order to design a non-delayed feedback control law. The delayed Mathieu equation is used as an illustrative example in which the closed-loop response and control effort are compared for all three control strategies. Finally, three example applications of control of time-periodic astrodynamic systems, i.e. formation flying control for an elliptic Keplerian chief orbit, body-fixed hovering control over a tumbling asteroid, and stationkeeping in Earth-Moon L1 halo orbits, are shown using versions of the control strategies introduced above. These applications employ a mixture of feedforward and non-delayed periodic-gain state feedback for tracking control of natural and non-natural motions in these systems. A major conclusion is that control effort is minimized by employing periodic-gain (rather than constant-gain) feedback control in such systems.

Finite-time output feedback stabilization of high-order uncertain nonlinear systems

NASA Astrophysics Data System (ADS)

Jiang, Meng-Meng; Xie, Xue-Jun; Zhang, Kemei

2018-06-01

This paper studies the problem of finite-time output feedback stabilization for a class of high-order nonlinear systems with the unknown output function and control coefficients. Under the weaker assumption that output function is only continuous, by using homogeneous domination method together with adding a power integrator method, introducing a new analysis method, the maximal open sector Ω of output function is given. As long as output function belongs to any closed sector included in Ω, an output feedback controller can be developed to guarantee global finite-time stability of the closed-loop system.

Fine Pointing of Military Spacecraft

DTIC Science & Technology

2007-03-01

estimate is high. But feedback controls are attempting to fix the attitude at the next time step with error based on the previous time step without using ...52 a. Stability Analysis Consider not using the reference trajectory in the feedback signal. The previous stability proof (Refs.[43],[46]) are no... robust steering law and quaternion feedback control [52]. TASS2 has center-of-gravity offset disturbance that must be countered by the three CMG

A proposal for climate stability on H2-greenhouse planets

NASA Astrophysics Data System (ADS)

Abbot, D. S.

2015-12-01

A terrestrial planet in an orbit far outside of the standard habitable zone could maintain surface liquid water as a result of H2-H2 collision-induced absorption by a thick H2 atmosphere. Without a stabilizing climate feedback, however, habitability would be accidental and likely brief. We propose a stabilizing climate feedback for such a planet that requires only biological production of H2 to balance net loss to space that has some optimal temperature, and operates less efficiently at higher temperatures. A stable feedback is possible on such a planet through which a perturbation increasing temperature decreases H2 production, which decreases H2 greenhouse warming and therefore temperature. The potential of such a feedback makes H2-warmed planets more attractive astrobiological targets.

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

PubMed

Börsch, Anastasiya; Schaber, Jörg

2016-08-24

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

Smith predictor-based multiple periodic disturbance compensation for long dead-time processes

NASA Astrophysics Data System (ADS)

Tan, Fang; Li, Han-Xiong; Shen, Ping

2018-05-01

Many disturbance rejection methods have been proposed for processes with dead-time, while these existing methods may not work well under multiple periodic disturbances. In this paper, a multiple periodic disturbance rejection is proposed under the Smith predictor configuration for processes with long dead-time. One feedback loop is added to compensate periodic disturbance while retaining the advantage of the Smith predictor. With information of the disturbance spectrum, the added feedback loop can remove multiple periodic disturbances effectively. The robust stability can be easily maintained through the rigorous analysis. Finally, simulation examples demonstrate the effectiveness and robustness of the proposed method for processes with long dead-time.

Microwave oscillator with reduced phase noise by negative feedback incorporating microwave signals with suppressed carrier

NASA Technical Reports Server (NTRS)

Dick, G. J.; Saunders, J.

1989-01-01

Oscillator configurations which reduce the effect of 1/f noise sources for both direct feedback and stabilized local oscillator (STALO) circuits are developed and analyzed. By appropriate use of carrier suppression, a small signal is generated which suffers no loss of loop phase information or signal-to-noise ratio. This small signal can be amplified without degradation by multiplicative amplifier noise, and can be detected without saturation of the detector. Together with recent advances in microwave resonator Qs, these circuit improvements will make possible lower phase noise than can be presently achieved without the use of cryogenic devices.

Dim star fringe stabilization demonstration using pathlength feed-forward on the SIM testbed 3 (STB3)

NASA Astrophysics Data System (ADS)

Goullioud, Renaud; Alvarez-Salazar, Oscar S.; Nemati, Bijan

2003-02-01

Future space-based optical interferometers such as the Space Interferometer Mission require fringe stabilization to the level of nanometers in order to produce astrometric data at the micro-arc-second level. Even the best attitude control system available to date will not be able to stabilize the attitude of a several thousand pound spacecraft to a few milli-arc-seconds. Active pathlength control is usually implemented to compensate for attitude drift of the spacecraft. This issue has been addressed in previous experiments while tracking bright stars. In the case of dim stars, as the sensor bandwidth falls below one hertz, feedback control will not provide sufficient rejection. However, stabilization of the fringes from a dim-star down to the nanometer level can be done open loop using information from additional interferometers looking at bright guide stars. The STB3 testbed developed at the Jet Propulsion Laboratory features three optical interferometers sharing a common baseline, dynamically representative to the SIM interferometer. An artificial star feeding the interferometers is installed on a separate optics bench. Voice coils are used to simulate the attitude motion of the spacecraft by moving the entire bench. Data measured on STB3 show that fringe motion of a dim star due to spacecraft attitude changes can be attenuated by 80 dB at 0.1Hz without feedback control, using only information from two guide stars. This paper describes the STB3 setup, the pathlength feed-forward architecture, implementation issues and data collected with the system.

Feedback stabilization of resistive wall modes in a reversed-field pinch

NASA Astrophysics Data System (ADS)

Brunsell, P. R.; Yadikin, D.; Gregoratto, D.; Paccagnella, R.; Liu, Y. Q.; Cecconello, M.; Drake, J. R.; Manduchi, G.; Marchiori, G.

2005-09-01

An array of saddle coils having Nc=16 equally spaced positions along the toroidal direction has been installed for feedback control of resistive wall modes (RWMs) on the EXTRAP T2R reversed-field pinch [P. R. Brunsell, H. Bergsaker, M. Cecconello et al., Plasma Phys. Controlled Fusion 43, 1457 (2001)]. Using feedback, multiple nonresonant RWMs are simultaneously suppressed for three to four wall times. Feedback stabilization of RWMs results in a significant prolongation of the discharge duration. This is linked to a better sustainment of the plasma and tearing mode toroidal rotation with feedback. Due to the limited number of coils in the toroidal direction, pairs of modes with toroidal mode numbers n ,n' that fulfill the condition ∣n-n'∣=Nc are coupled by the feedback action from the discrete coil array. With only one unstable mode in a pair of coupled modes, the suppression of the unstable mode is successful. If two modes are unstable in a coupled pair, two possibilities exist: partial suppression of both modes or, alternatively, complete stabilization of one target mode while the other is left unstable.

A Post-Transcriptional Feedback Mechanism for Noise Suppression and Fate Stabilization

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

Hansen, Maike M. K.; Wen, Winnie Y.; Ingerman, Elena

Diverse biological systems utilize fluctuations (“noise”) in gene expression to drive lineage-commitment decisions. However, once a commitment is made, noise becomes detrimental to reliable function, and the mechanisms enabling post-commitment noise suppression are unclear. Here, we find that architectural constraints on noise suppression are overcome to stabilize fate commitment. Using single-molecule and time-lapse imaging, we find that—after a noise-driven event—human immunodeficiency virus (HIV) strongly attenuates expression noise through a non-transcriptional negative-feedback circuit. Feedback is established through a serial cascade of post-transcriptional splicing, whereby proteins generated from spliced mRNAs auto-deplete their own precursor unspliced mRNAs. Strikingly, this auto-depletion circuitry minimizes noisemore » to stabilize HIV’s commitment decision, and a noise-suppression molecule promotes stabilization. Lastly, this feedback mechanism for noise suppression suggests a functional role for delayed splicing in other systems and may represent a generalizable architecture of diverse homeostatic signaling circuits.« less

A Post-Transcriptional Feedback Mechanism for Noise Suppression and Fate Stabilization

DOE PAGES

Hansen, Maike M. K.; Wen, Winnie Y.; Ingerman, Elena; ...

2018-05-10

Diverse biological systems utilize fluctuations (“noise”) in gene expression to drive lineage-commitment decisions. However, once a commitment is made, noise becomes detrimental to reliable function, and the mechanisms enabling post-commitment noise suppression are unclear. Here, we find that architectural constraints on noise suppression are overcome to stabilize fate commitment. Using single-molecule and time-lapse imaging, we find that—after a noise-driven event—human immunodeficiency virus (HIV) strongly attenuates expression noise through a non-transcriptional negative-feedback circuit. Feedback is established through a serial cascade of post-transcriptional splicing, whereby proteins generated from spliced mRNAs auto-deplete their own precursor unspliced mRNAs. Strikingly, this auto-depletion circuitry minimizes noisemore » to stabilize HIV’s commitment decision, and a noise-suppression molecule promotes stabilization. Lastly, this feedback mechanism for noise suppression suggests a functional role for delayed splicing in other systems and may represent a generalizable architecture of diverse homeostatic signaling circuits.« less

Clustering in Cell Cycle Dynamics with General Response/Signaling Feedback

PubMed Central

Young, Todd R.; Fernandez, Bastien; Buckalew, Richard; Moses, Gregory; Boczko, Erik M.

2011-01-01

Motivated by experimental and theoretical work on autonomous oscillations in yeast, we analyze ordinary differential equations models of large populations of cells with cell-cycle dependent feedback. We assume a particular type of feedback that we call Responsive/Signaling (RS), but do not specify a functional form of the feedback. We study the dynamics and emergent behaviour of solutions, particularly temporal clustering and stability of clustered solutions. We establish the existence of certain periodic clustered solutions as well as “uniform” solutions and add to the evidence that cell-cycle dependent feedback robustly leads to cell-cycle clustering. We highlight the fundamental differences in dynamics between systems with negative and positive feedback. For positive feedback systems the most important mechanism seems to be the stability of individual isolated clusters. On the other hand we find that in negative feedback systems, clusters must interact with each other to reinforce coherence. We conclude from various details of the mathematical analysis that negative feedback is most consistent with observations in yeast experiments. PMID:22001733

Can we bet on negative emissions to achieve the 2°C target even under strong carbon cycle feedbacks?

NASA Astrophysics Data System (ADS)

Tanaka, K.; Yamagata, Y.; Yokohata, T.; Emori, S.; Hanaoka, T.

2015-12-01

Negative emission technologies such as Bioenergy with Carbon dioxide Capture and Storage (BioCCS) play an ever more crucial role in meeting the 2°C stabilization target. However, such technologies are currently at their infancy and their future penetrations may fall short of the scale required to stabilize the warming. Furthermore, the overshoot in the mid-century prior to a full realization of negative emissions would give rise to a risk because such a temporal but excessive warming above 2°C might amplify itself by strengthening climate-carbon cycle feedbacks. It has not been extensively assessed yet how carbon cycle feedbacks might play out during the overshoot in the context of negative emissions. This study explores how 2°C stabilization pathways, in particular those which undergo overshoot, can be influenced by carbon cycle feedbacks and asks their climatic and economic consequences. We compute 2°C stabilization emissions scenarios under a cost-effectiveness principle, in which the total abatement costs are minimized such that the global warming is capped at 2°C. We employ a reduced-complexity model, the Aggregated Carbon Cycle, Atmospheric Chemistry, and Climate model (ACC2), which comprises a box model of the global carbon cycle, simple parameterizations of the atmospheric chemistry, and a land-ocean energy balance model. The total abatement costs are estimated from the marginal abatement cost functions for CO2, CH4, N2O, and BC.Our preliminary results show that, if carbon cycle feedbacks turn out to be stronger than what is known today, it would incur substantial abatement costs to keep up with the 2°C stabilization goal. Our results also suggest that it would be less expensive in the long run to plan for a 2°C stabilization pathway by considering strong carbon cycle feedbacks because it would cost more if we correct the emission pathway in the mid-century to adjust for unexpectedly large carbon cycle feedbacks during overshoot. Furthermore, our tentative results point to a key policy message: do not rely on negative emissions to achieve the 2°C target. It would make more sense to gear climate mitigation actions toward the stabilization target without betting on negative emissions because negative emissions might create large overshoot in case of strong feedbacks.

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

PubMed

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

2016-08-01

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

Resistive instabilities in tokamaks

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

Rutherford, P.H.

1985-10-01

Low-m tearing modes constitute the dominant instability problem in present-day tokamaks. In this lecture, the stability criteria for representative current profiles with q(0)-values slightly less than unit are reviewed; ''sawtooth'' reconnection to q(0)-values just at, or slightly exceeding, unity is generally destabilizing to the m = 2, n = 1 and m = 3, n = 2 modes, and severely limits the range of stable profile shapes. Feedback stabilization of m greater than or equal to 2 modes by rf heating or current drive, applied locally at the magnetic islands, appears feasible; feedback by island current drive is much moremore » efficient, in terms of the radio-frequency power required, then feedback by island heating. Feedback stabilization of the m = 1 mode - although yielding particularly beneficial effects for resistive-tearing and high-beta stability by allowing q(0)-values substantially below unity - is more problematical, unless the m = 1 ideal-MHD mode can be made positively stable by strong triangular shaping of the central flux surfaces. Feedback techniques require a detectable, rotating MHD-like signal; the slowing of mode rotation - or the excitation of non-rotating modes - by an imperfectly conducting wall is also discussed.« less

Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements.

PubMed

Hu, Qinglei; Zhang, Jian

2015-01-01

This paper investigates finite-time relative position coordinated tracking problem by output feedback for spacecraft formation flying without velocity measurement. By employing homogeneous system theory, a finite-time relative position coordinated tracking controller by state feedback is firstly developed, where the desired time-varying trajectory given in advance can be tracked by the formation. Then, to address the problem of lack of velocity measurements, a finite-time output feedback controller is proposed by involving a novel filter to recover unknown velocity information in a finite time. Rigorous proof shows that the proposed control law ensures global stability and guarantees the position of spacecraft formation to track a time-varying reference in finite time. Finally, simulation results are presented to illustrate the performance of the proposed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Global finite-time attitude stabilization for rigid spacecraft in the exponential coordinates

NASA Astrophysics Data System (ADS)

Shi, Xiao-Ning; Zhou, Zhi-Gang; Zhou, Di

2018-06-01

This paper addresses the global finite-time attitude stabilisation problem on the special orthogonal group (SO(3)) for a rigid spacecraft via homogeneous feedback approach. Considering the topological and geometric properties of SO(3), the logarithm map is utilised to transform the stabilisation problem on SO(3) into the one on its associated Lie algebra (?). A model-independent discontinuous state feedback plus dynamics compensation scheme is constructed to achieve the global finite-time attitude stabilisation in a coordinate-invariant way. In addition, to address the absence of angular velocity measurements, a sliding mode observer is proposed to reconstruct the unknown angular velocity information within finite time. Then, an observer-based finite-time output feedback control strategy is obtained. Numerical simulations are finally performed to demonstrate the effectiveness of the proposed finite-time controllers.

Design of the RWM Feedback Control System for NSTX

NASA Astrophysics Data System (ADS)

Bialek, James; Sabbagh, Steven; Paoletti, Franco

2002-11-01

The National Spherical Torus Experiment ( NSTX ) has been designed to investigate the physics of global mode stabilization at low aspect ratio. Present experiments are now probing performance limits determined by machine configuration and passive stabilization. For example, the ideal no-wall normalized beta limit has already been exceeded by greater than 20stabilized by a nearby perfectly conducting wall are observed to grow at a rate determined by nearby resistive structure. Sustained performance improvements may be obtained by using active feedback to suppress such long wavelength pressure driven instabilities, known as resistive wall modes (RWM). We report on the performance of several design options for an NSTX - RWM feedback control system. The VALEN feedback analysis code has been used to evaluate the performance of these configurations. We explicitly model the vacuum vessel, center stack casing, the 48 copper passive plates, their mounts, active feedback coils and sensor arrays. The highest performance system has both control coils and sensors inside the vacuum vessel. In this case it is possible to reach 94beta limit.

Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator

NASA Astrophysics Data System (ADS)

Shao, Xingling; Liu, Jun; Wang, Honglun

2018-05-01

In this paper, a robust back-stepping output feedback trajectory tracking controller is proposed for quadrotors subject to parametric uncertainties and external disturbances. Based on the hierarchical control principle, the quadrotor dynamics is decomposed into translational and rotational subsystems to facilitate the back-stepping control design. With given model information incorporated into observer design, a high-order extended state observer (ESO) that relies only on position measurements is developed to estimate the remaining unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To overcome the problem of "explosion of complexity" in the back-stepping design, the sigmoid tracking differentiator (STD) is introduced to compute the derivative of virtual control laws. The advantage is that the proposed controller via output-feedback scheme not only can ensure good tracking performance using very limited information of quadrotors, but also has the ability of handling the undesired uncertainties. The stability analysis is established using the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed control scheme in achieving a guaranteed tracking performance with respect to an 8-shaped reference trajectory.

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

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

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

Xu, Kuan-Man; Cheng, Anning

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

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

DOE PAGES

Xu, Kuan-Man; Cheng, Anning

2016-11-15

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

Enhancing synchronization stability in a multi-area power grid

PubMed Central

Wang, Bing; Suzuki, Hideyuki; Aihara, Kazuyuki

2016-01-01

Maintaining a synchronous state of generators is of central importance to the normal operation of power grids, in which many networks are generally interconnected. In order to understand the condition under which the stability can be optimized, it is important to relate network stability with feedback control strategies as well as network structure. Here, we present a stability analysis on a multi-area power grid by relating it with several control strategies and topological design of network structure. We clarify the minimal feedback gain in the self-feedback control, and build the optimal communication network for the local and global control strategies. Finally, we consider relationship between the interconnection pattern and the synchronization stability; by optimizing the network interlinks, the obtained network shows better synchronization stability than the original network does, in particular, at a high power demand. Our analysis shows that interlinks between spatially distant nodes will improve the synchronization stability. The results seem unfeasible to be implemented in real systems but provide a potential guide for the design of stable power systems. PMID:27225708

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

PubMed

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

2017-09-25

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

Evolution of Biological Image Stabilization.

PubMed

Hardcastle, Ben J; Krapp, Holger G

2016-10-24

The use of vision to coordinate behavior requires an efficient control design that stabilizes the world on the retina or directs the gaze towards salient features in the surroundings. With a level gaze, visual processing tasks are simplified and behaviorally relevant features from the visual environment can be extracted. No matter how simple or sophisticated the eye design, mechanisms have evolved across phyla to stabilize gaze. In this review, we describe functional similarities in eyes and gaze stabilization reflexes, emphasizing their fundamental role in transforming sensory information into motor commands that support postural and locomotor control. We then focus on gaze stabilization design in flying insects and detail some of the underlying principles. Systems analysis reveals that gaze stabilization often involves several sensory modalities, including vision itself, and makes use of feedback as well as feedforward signals. Independent of phylogenetic distance, the physical interaction between an animal and its natural environment - its available senses and how it moves - appears to shape the adaptation of all aspects of gaze stabilization. Copyright © 2016 Elsevier Ltd. All rights reserved.

The Influence of Feedback on the Aeroelastic Behavior of Tilt Proprotor Aircraft Including the Effects of Fuselage Motion

NASA Technical Reports Server (NTRS)

Curtiss, H. C., Jr.; Komatsuzaki, T.; Traybar, J. J.

1979-01-01

The influence of single loop feedbacks to improve the stability of the system are considered. Reduced order dynamic models are employed where appropriate to promote physical insight. The influence of fuselage freedom on the aeroelastic stability, and the influence of the airframe flexibility on the low frequency modes of motion relevant to the stability and control characteristics of the vehicle were examined.

Stability and Bifurcation Analysis in a Maglev System with Multiple Delays

NASA Astrophysics Data System (ADS)

Zhang, Lingling; Huang, Jianhua; Huang, Lihong; Zhang, Zhizhou

This paper considers the time-delayed feedback control for Maglev system with two discrete time delays. We determine constraints on the feedback time delays which ensure the stability of the Maglev system. An algorithm is developed for drawing a two-parametric bifurcation diagram with respect to two delays τ1 and τ2. Direction and stability of periodic solutions are also determined using the normal form method and center manifold theory by Hassard. The complex dynamical behavior of the Maglev system near the domain of stability is confirmed by exhaustive numerical simulation.

Active flutter suppression using optical output feedback digital controllers

NASA Technical Reports Server (NTRS)

1982-01-01

A method for synthesizing digital active flutter suppression controllers using the concept of optimal output feedback is presented. A convergent algorithm is employed to determine constrained control law parameters that minimize an infinite time discrete quadratic performance index. Low order compensator dynamics are included in the control law and the compensator parameters are computed along with the output feedback gain as part of the optimization process. An input noise adjustment procedure is used to improve the stability margins of the digital active flutter controller. Sample rate variation, prefilter pole variation, control structure variation and gain scheduling are discussed. A digital control law which accommodates computation delay can stabilize the wing with reasonable rms performance and adequate stability margins.

Attitude stabilization of a rigid spacecraft using two momentum wheel actuators

NASA Technical Reports Server (NTRS)

Krishnan, Hariharan; Mcclamroch, N. Harris; Reyhanoglu, Mahmut

1993-01-01

It is well known that three momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished using smooth feedback. If failure of one of the momentum wheel actuators occurs, it is demonstrated that two momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished. Although the complete spacecraft equations are not controllable, the spacecraft equations are small time locally controllable in a reduced nonlinear sense. The reduced spacecraft dynamics cannot be asymptotically stabilized to any equilibrium attitude using a time-variant continuous feedback control law, but discontinuous feedback control strategies are constructed which stabilize any equilibrium attitude of the spacecraft in finite time. Consequently, reorientation of the spacecraft can be accomplished using discontinuous feedback control.

Global Output-Feedback Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robots

NASA Astrophysics Data System (ADS)

Chang, J.; Zhang, L. J.; Xue, D.

A time-varying global output-feedback controller is presented that solves both tracking and stabilization for wheeled mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov direct method and backstepping technique. The performance of the proposed controller is demonstrated by simulation.

On fully three-dimensional resistive wall mode and feedback stabilization computationsa)

NASA Astrophysics Data System (ADS)

Strumberger, E.; Merkel, P.; Sempf, M.; Günter, S.

2008-05-01

Resistive walls, located close to the plasma boundary, reduce the growth rates of external kink modes to resistive time scales. For such slowly growing resistive wall modes, the stabilization by an active feedback system becomes feasible. The fully three-dimensional stability code STARWALL, and the feedback optimization code OPTIM have been developed [P. Merkel and M. Sempf, 21st IAEA Fusion Energy Conference 2006, Chengdu, China (International Atomic Energy Agency, Vienna, 2006, paper TH/P3-8] to compute the growth rates of resistive wall modes in the presence of nonaxisymmetric, multiply connected wall structures and to model the active feedback stabilization of these modes. In order to demonstrate the capabilities of the codes and to study the effect of the toroidal mode coupling caused by multiply connected wall structures, the codes are applied to test equilibria using the resistive wall structures currently under debate for ITER [M. Shimada et al., Nucl. Fusion 47, S1 (2007)] and ASDEX Upgrade [W. Köppendörfer et al., Proceedings of the 16th Symposium on Fusion Technology, London, 1990 (Elsevier, Amsterdam, 1991), Vol. 1, p. 208].

On fully three-dimensional resistive wall mode and feedback stabilization computations

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

Strumberger, E.; Merkel, P.; Sempf, M.

2008-05-15

Resistive walls, located close to the plasma boundary, reduce the growth rates of external kink modes to resistive time scales. For such slowly growing resistive wall modes, the stabilization by an active feedback system becomes feasible. The fully three-dimensional stability code STARWALL, and the feedback optimization code OPTIM have been developed [P. Merkel and M. Sempf, 21st IAEA Fusion Energy Conference 2006, Chengdu, China (International Atomic Energy Agency, Vienna, 2006, paper TH/P3-8] to compute the growth rates of resistive wall modes in the presence of nonaxisymmetric, multiply connected wall structures and to model the active feedback stabilization of these modes.more » In order to demonstrate the capabilities of the codes and to study the effect of the toroidal mode coupling caused by multiply connected wall structures, the codes are applied to test equilibria using the resistive wall structures currently under debate for ITER [M. Shimada et al., Nucl. Fusion 47, S1 (2007)] and ASDEX Upgrade [W. Koeppendoerfer et al., Proceedings of the 16th Symposium on Fusion Technology, London, 1990 (Elsevier, Amsterdam, 1991), Vol. 1, p. 208].« less

Local and global stability for Lotka-Volterra systems with distributed delays and instantaneous negative feedbacks

NASA Astrophysics Data System (ADS)

Faria, Teresa; Oliveira, José J.

This paper addresses the local and global stability of n-dimensional Lotka-Volterra systems with distributed delays and instantaneous negative feedbacks. Necessary and sufficient conditions for local stability independent of the choice of the delay functions are given, by imposing a weak nondelayed diagonal dominance which cancels the delayed competition effect. The global asymptotic stability of positive equilibria is established under conditions slightly stronger than the ones required for the linear stability. For the case of monotone interactions, however, sharper conditions are presented. This paper generalizes known results for discrete delays to systems with distributed delays. Several applications illustrate the results.

Three-axis stabilization of spacecraft using parameter-independent nonlinear quaternion feedback

NASA Technical Reports Server (NTRS)

Joshi, Suresh M.; Kelkar, Atul G.

1994-01-01

This paper considers the problem of rigid spacecraft. A nonlinear control law which uses the feedback of the unit quaternion and the measured angular velocities is proposed and is shown to provide global asymptotic stability. The control law does not require the knowledge of the system parameters, and is therefore robust to modeling errors. The significance of the control law is that it can be used for large-angle maneuvers with guaranteed stability.

Improved methods in neural network-based adaptive output feedback control, with applications to flight control

NASA Astrophysics Data System (ADS)

Kim, Nakwan

Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.

A multiloop generalization of the circle criterion for stability margin analysis

NASA Technical Reports Server (NTRS)

Safonov, M. G.; Athans, M.

1979-01-01

In order to provide a theoretical tool suited for characterizing the stability margins of multiloop feedback systems, multiloop input-output stability results generalizing the circle stability criterion are considered. Generalized conic sectors with 'centers' and 'radii' determined by linear dynamical operators are employed to specify the stability margins as a frequency dependent convex set of modeling errors (including nonlinearities, gain variations and phase variations) which the system must be able to tolerate in each feedback loop without instability. The resulting stability criterion gives sufficient conditions for closed loop stability in the presence of frequency dependent modeling errors, even when the modeling errors occur simultaneously in all loops. The stability conditions yield an easily interpreted scalar measure of the amount by which a multiloop system exceeds, or falls short of, its stability margin specifications.

Stability analysis and compensation of a boost regulator with two-loop control

NASA Technical Reports Server (NTRS)

Wester, G. W.

1974-01-01

A useful stability measure has been demonstrated by Wester (1973) for switching regulators with a single feedback loop by applying the Nyquist criterion to the approximate loop gain determined by a time-averaging technique. This approach is extended and applied to the characterization, stability analysis, and compensation design of a switching regulator with two-loop control. The role and relative significance of each control loop is clarified on the basis of a description of circuit operation, and the major and minor loops are identified. In view of the inapplicability of linear feedback theory, describing functions of the feedback loops and power stage are derived, using small-signal analysis. Several phenomena revealed from an analysis of the major loop gain are discussed.

Generalized fast feedback system in the SLC

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

Hendrickson, L.; Allison, S.; Gromme, T.

A generalized fast feedback system has been developed to stabilize beams at various locations in the SLC. The system is designed to perform measurements and change actuator settings to control beam states such as position, angle and energy on a pulse to pulse basis. The software design is based on the state space formalism of digital control theory. The system is database-driven, facilitating the addition of new loops without requiring additional software. A communications system, KISNet, provides fast communications links between microprocessors for feedback loops which involve multiple micros. Feedback loops have been installed in seventeen locations throughout the SLCmore » and have proven to be invaluable in stabilizing the machine.« less

Prefrontal Neural Activity When Feedback Is Not Relevant to Adjust Performance

PubMed Central

Özyurt, Jale; Rietze, Mareike; Thiel, Christiane M.

2012-01-01

It has been shown that the rostral cingulate zone (RCZ) in humans uses both positive and negative feedback to evaluate performance and to flexibly adjust behaviour. Less is known on how the feedback types are processed by the RCZ and other prefrontal brain areas, when feedback can only be used to evaluate performance, but cannot be used to adjust behaviour. The present fMRI study aimed at investigating feedback that can only be used to evaluate performance in a word-learning paradigm. One group of volunteers (N = 17) received informative, performance-dependent positive or negative feedback after each trial. Since new words had to be learnt in each trial, the feedback could not be used for task-specific adaptations. The other group (N = 17) always received non-informative feedback, providing neither information about performance nor about possible task-specific adaptations. Effects of the informational value of feedback were assessed between-subjects, comparing trials with positive and negative informative feedback to non-informative feedback. Effects of feedback valence were assessed by comparing neural activity to positive and negative feedback within the informative-feedback group. Our results show that several prefrontal regions, including the pre-SMA, the inferior frontal cortex and the insula were sensitive to both, the informational value and the valence aspect of the feedback with stronger activations to informative as compared to non-informative feedback and to informative negative compared to informative positive feedback. The only exception was RCZ which was sensitive to the informational value of the feedback, but not to feedback valence. The findings indicate that outcome information per se is sufficient to activate prefrontal brain regions, with the RCZ being the only prefrontal brain region which is equally sensitive to positive and negative feedback. PMID:22615774

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

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

Stabilization of exact nonlinear Timoshenko beams in space by boundary feedback

NASA Astrophysics Data System (ADS)

Do, K. D.

2018-05-01

Boundary feedback controllers are designed to stabilize Timoshenko beams with large translational and rotational motions in space under external disturbances. The exact nonlinear partial differential equations governing motion of the beams are derived and used in the control design. The designed controllers guarantee globally practically asymptotically (and locally practically exponentially) stability of the beam motions at the reference state. The control design, well-posedness and stability analysis are based on various relationships between the earth-fixed and body-fixed coordinates, Sobolev embeddings, and a Lyapunov-type theorem developed to study well-posedness and stability for a class of evolution systems in Hilbert space. Simulation results are included to illustrate the effectiveness of the proposed control design.

Asymmetries in Climate Change Feedbacks: Why the Future may be Hotter Than you Think

NASA Astrophysics Data System (ADS)

Torn, M. S.; Harte, J.

2006-12-01

Feedbacks in the climate system are major sources of uncertainty, and climate predictions do not yet include one key set of feedbacks, namely biospheric greenhouse gas (GhG) feedbacks. Historical evidence shows that atmospheric GhG concentrations increase during periods of warming, implying a positive feedback to future climate change. We quantify this feedback for carbon dioxide (CO2) and methane (CH4) by combining the mathematics of feedback with both empirical ice-core information and general circulation model climate sensitivity. We find that a warming of 1.7-5.8°C predicted for the year 2100 is amplified to a warming commitment of 1.9-7.7°C, with the range deriving from different GCM simulations and paleo temperature records. Thus, anthropogenic emissions result in higher final GhG concentrations, and therefore more warming, than would be predicted in the absence of this feedback. Uncertainty in climate change predictions have been used as a rationale for inaction against the threat of global warming, based on a prevailing view that the uncertainties are symmetric, giving equal support to climate "optimists" (who think it will be a small problem) and "pessimists," (it will be a big problem). Our results show that even a symmetrical uncertainty in any component of feedback, whether positive or negative, produces an asymmetrical distribution of expected temperatures skewed towards higher temperature. For both reasons, the omission of key positive feedbacks and asymmetrical uncertainty from feedbacks, it is likely that the future will be hotter than we think, which implies more severe climate change impacts. Thus, these results suggest that a conservative policy approach would employ lower emission targets and tighter stabilization time horizons than would otherwise be required.

Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling

NASA Astrophysics Data System (ADS)

Kapania, Nitin R.; Gerdes, J. Christian

2015-12-01

This paper presents a feedback-feedforward steering controller that simultaneously maintains vehicle stability at the limits of handling while minimising lateral path tracking deviation. The design begins by considering the performance of a baseline controller with a lookahead feedback scheme and a feedforward algorithm based on a nonlinear vehicle handling diagram. While this initial design exhibits desirable stability properties at the limits of handling, the steady-state path deviation increases significantly at highway speeds. Results from both linear and nonlinear analyses indicate that lateral path tracking deviations are minimised when vehicle sideslip is held tangent to the desired path at all times. Analytical results show that directly incorporating this sideslip tangency condition into the steering feedback dramatically improves lateral path tracking, but at the expense of poor closed-loop stability margins. However, incorporating the desired sideslip behaviour into the feedforward loop creates a robust steering controller capable of accurate path tracking and oversteer correction at the physical limits of tyre friction. Experimental data collected from an Audi TTS test vehicle driving at the handling limits on a full length race circuit demonstrates the improved performance of the final controller design.

Core stabilization exercise with real-time feedback for chronic hemiparetic stroke: a pilot randomized controlled trials.

PubMed

Chung, Eunjung; Lee, Byoung-Hee; Hwang, Sujin

2014-01-01

The purpose of this study was to examine the feasibility of core stabilization exercise with real-time feedback on balance and gait function in patients with chronic hemiparetic stroke. Nineteen stroke subjects were enrolled in this study. The patients were randomly divided into the experimental (n = 10) and control groups (n = 9). Subjects in the experimental group performed core stabilization exercise with real-time feedback training for 30 minutes per day during a period of six weeks. Subjects in the control group performed core stabilization exercise during the same period. This study assessed the kinematic parameters using a portable walkway system, and timed up-and-go test. Gait velocity showed significantly greater improvement in the experimental group (7.3 ± 5.0 sec) than in the control group (-0.7 ± 10.6). Stride length showed significantly greater increase in the experimental group (13.2 ± 7.9 on the affected side and 12.6 ± 8.0 on the less affected side) than the control group (3.5 ± 8.7 on the affected side and 3.4 ± 8.5 on the less affected side). After training, change in results on the timed up and go test was significantly greater in the experimental group than in the control group. Core stabilization exercise using real-time feedback produces greater improvement in gait performance in chronic hemiparetic stroke patients than core stabilization exercise only.

Optical frequency stabilization in infrared region using improved dual feed-back loop

NASA Astrophysics Data System (ADS)

Ružička, B.; Číp, O.; Lazar, J.

2007-03-01

Modern technologies such as DWDM (Dense Wavelength Division Multiplex) need precise stability of laser frequencies. According to this fact, requirements of new etalons of optical frequencies in the telecommunication band is rapidly growing. Lasers working in near infrared telecommunication band (1500-1600 nm) can be stabilized to 12C IIH II or 13C IIH II (acetylene) gas absorption lines. The acetylene gas absorption has been widely studied and accepted by international bodies of standardization as a primary wavelength reference in the near infrared band around 1550 nm. Our aim was to design and develop a compact fibre optics laser system generating coherent light in near-IR band with high frequency stability (at least 1.10 -8). This system should become a base for realization of a primary frequency standard for optical communications in the Czech Republic. Such an etalon will be needed for calibration of wavelengthmeters and spectral analysers for DWDM communication systems. We are co-operating with CMI (Czech Metrology Institute) on this project. We present stabilized laser system based on a single frequency DFB (Distributed Feedback) laser diode with a narrow spectral profile. The laser is pre-stabilized by means of the FM-spectroscopy on a passive resonator. Thanks to a fast feed-back loop we are able to improve spectral characteristics of the laser. The laser frequency is locked by a relatively slow second feed-back loop on an absorption line of acetylene vapour which is sealed in a cell under the optimised pressure.

Simple Optoelectronic Feedback in Microwave Oscillators

NASA Technical Reports Server (NTRS)

Maleki, Lute; Iltchenko, Vladimir

2009-01-01

A proposed method of stabilizing microwave and millimeter-wave oscillators calls for the use of feedback in optoelectronic delay lines characterized by high values of the resonance quality factor (Q). The method would extend the applicability of optoelectronic feedback beyond the previously reported class of optoelectronic oscillators that comprise two-port electronic amplifiers in closed loops with high-Q feedback circuits.

Bifurcation analysis of a delay reaction-diffusion malware propagation model with feedback control

NASA Astrophysics Data System (ADS)

Zhu, Linhe; Zhao, Hongyong; Wang, Xiaoming

2015-05-01

With the rapid development of network information technology, information networks security has become a very critical issue in our work and daily life. This paper attempts to develop a delay reaction-diffusion model with a state feedback controller to describe the process of malware propagation in mobile wireless sensor networks (MWSNs). By analyzing the stability and Hopf bifurcation, we show that the state feedback method can successfully be used to control unstable steady states or periodic oscillations. Moreover, formulas for determining the properties of the bifurcating periodic oscillations are derived by applying the normal form method and center manifold theorem. Finally, we conduct extensive simulations on large-scale MWSNs to evaluate the proposed model. Numerical evidences show that the linear term of the controller is enough to delay the onset of the Hopf bifurcation and the properties of the bifurcation can be regulated to achieve some desirable behaviors by choosing the appropriate higher terms of the controller. Furthermore, we obtain that the spatial-temporal dynamic characteristics of malware propagation are closely related to the rate constant for nodes leaving the infective class for recovered class and the mobile behavior of nodes.

Finite-time stabilization of uncertain nonholonomic systems in feedforward-like form by output feedback.

PubMed

Gao, Fangzheng; Wu, Yuqiang; Zhang, Zhongcai

2015-11-01

This paper investigates the problem of finite-time stabilization by output feedback for a class of nonholonomic systems in chained form with uncertainties. Comparing with the existing relevant literature, a distinguishing feature of the systems under investigation is that the x-subsystem is a feedforward-like rather than feedback-like system. This renders the existing control methods inapplicable to the control problems of the systems. A constructive design procedure for output feedback control is given. The designed controller renders that the states of closed-loop system are regulated to zero in a finite time. Two simulation examples are provided to illustrate the effectiveness of the proposed approach. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Stabilizing operation point technique based on the tunable distributed feedback laser for interferometric sensors

NASA Astrophysics Data System (ADS)

Mao, Xuefeng; Zhou, Xinlei; Yu, Qingxu

2016-02-01

We describe a stabilizing operation point technique based on the tunable Distributed Feedback (DFB) laser for quadrature demodulation of interferometric sensors. By introducing automatic lock quadrature point and wavelength periodically tuning compensation into an interferometric system, the operation point of interferometric system is stabilized when the system suffers various environmental perturbations. To demonstrate the feasibility of this stabilizing operation point technique, experiments have been performed using a tunable-DFB-laser as light source to interrogate an extrinsic Fabry-Perot interferometric vibration sensor and a diaphragm-based acoustic sensor. Experimental results show that good tracing of Q-point was effectively realized.

Short- and longtime stability of therapeutic ultrasound reference sources for dosimetry and exposimetry purposes

NASA Astrophysics Data System (ADS)

Haller, J.; Wilkens, V.

2017-03-01

The objective of this work was to create highly stable therapeutic ultrasound fields with well-known exposimetry and dosimetry parameters that are reproducible and hence predictable with well-known uncertainties. Such well- known and reproducible fields would allow validation and secondary calibrations of different measuring capabilities, which is already a widely accepted strategy for diagnostic fields. For this purpose, a reference setup was established that comprises two therapeutic ultrasound sources (one High-Intensity Therapeutic Ultrasound (HITU) source and one physiotherapy-like source), standard rf electronics for signal creation, and computer-controlled feedback to stabilize the input voltage. The short- and longtime stability of the acoustic output were evaluated - for the former, measurements over typical laboratory measurement time periods (i.e. some seconds or minutes) of the input voltage stability with and without feedback control were performed. For the latter, measurements of typical acoustical exposimetry parameters were performed bimonthly over one year. The measurement results show that the short- and the longtime stability of the reference setup are very good and that it is especially significantly improved in comparison to a setup without any feedback control.

Feedback stabilization of quantum cascade laser beams for stand-off applications

NASA Astrophysics Data System (ADS)

Müller, Reik; Kendziora, Christopher A.; Furstenberg, Robert

2017-05-01

Techniques which apply tunable quantum cascade lasers (QCLs) for target illumination suffer from fluctuations of the laser beam direction. This manuscript describes a method to stabilize the beam direction by using an active feedback loop. This approach corrects and stabilizes the laser pointing direction using the signal from a 4-element photo sensor as input to control an active 2 dimensional Galvo mirror system. Results are presented for measurements using known perturbations as well as actual mode hops intrinsic to external cavity QCL during wavelength tuning.

Feedback and Acousto Optic Isolation Effects on Laser Stability.

DTIC Science & Technology

1977-03-01

This paper analyzes the effect of optical feedback on laser frequency stability and the acousto optic isolator concept, which was demonstrated...nonlinearity such as saturation in the laser medium. The analysis mathematically corroborates the initial acousto optic isolator concept and the...limited experimental data available. In the study of the acousto optic isolator, it was determined that an acceptable analytic expression for the

Development of a Comprehensive Digital Avionics Curriculum for the Aeronautical Engineer

DTIC Science & Technology

2006-03-01

able to analyze and design aircraft and missile guidance and control systems, including feedback stabilization schemes and stochastic processes, using ...Uncertainty modeling for robust control; Robust closed-loop stability and performance; Robust H- infinity control; Robustness check using mu-analysis...Controlled feedback (reduces noise) 3. Statistical group response (reduce pressure toward conformity) When used as a tool to study a complex problem

Applications of Nonlinear Control Using the State-Dependent Riccati Equation.

DTIC Science & Technology

1995-12-01

method, and do not address noise rejection or robustness issues. xi Applications of Nonlinear Control Using the State-Dependent Riccati Equation I...construct a stabilizing nonlinear feedback controller. This method will be referred to as nonlinear quadratic regulation (NQR). The original intention...involves nding a state-dependent coe- cient (SDC) linear structure for which a stabilizing nonlinear feedback controller can be constructed. The

Advanced feedback control methods in EXTRAP T2R reversed field pinch

NASA Astrophysics Data System (ADS)

Yadikin, D.; Brunsell, P. R.; Paccagnella, R.

2006-07-01

Previous experiments in the EXTRAP T2R reversed field pinch device have shown the possibility of suppression of multiple resistive wall modes (RWM). A feedback system has been installed in EXTRAP T2R having 100% coverage of the toroidal surface by the active coil array. Predictions based on theory and the previous experimental results show that the number of active coils should be sufficient for independent stabilization of all unstable RWMs in the EXTRAP T2R. Experiments using different feedback schemes are performed, comparing the intelligent shell, the fake rotating shell, and the mode control with complex feedback gains. Stabilization of all unstable RWMs throughout the discharge duration of td≈10τw is seen using the intelligent shell feedback scheme. Mode rotation and the control of selected Fourier harmonics is obtained simultaneously using the mode control scheme with complex gains. Different sensor signals are studied. A feedback system with toroidal magnetic field sensors could have an advantage of lower feedback gain needed for the RWM suppression compared to the system with radial magnetic field sensors. In this study, RWM suppression is demonstrated, using also the toroidal field component as a sensor signal in the feedback system.

Influences of arm proprioception and degrees of freedom on postural control with light touch feedback.

PubMed

Rabin, Ely; DiZio, Paul; Ventura, Joel; Lackner, James R

2008-02-01

Lightly touching a stable surface with one fingertip strongly stabilizes standing posture. The three main features of this phenomenon are fingertip contact forces maintained at levels too low to provide mechanical support, attenuation of postural sway relative to conditions without fingertip touch, and center of pressure (CP) lags changes in fingertip shear forces by approximately 250 ms. In the experiments presented here, we tested whether accurate arm proprioception and also whether the precision fingertip contact afforded by the arm's many degrees of freedom are necessary for postural stabilization by finger contact. In our first experiment, we perturbed arm proprioception and control with biceps brachii vibration (120-Hz, 2-mm amplitude). This degraded postural control, resulting in greater postural sway amplitudes. In a second study, we immobilized the touching arm with a splint. This prevented precision fingertip contact but had no effect on postural sway amplitude. In both experiments, the correlation and latency of fingertip contact forces to postural sway were unaffected. We conclude that postural control is executed based on information about arm orientation as well as tactile feedback from light touch, although precision fingertip contact is not essential. The consistent correlation and timing of CP movement and fingertip forces across conditions in which postural sway amplitude and fingertip contact are differentially disrupted suggests posture and the fingertip are controlled in parallel with feedback from the fingertip in this task.

Stability of Nonlinear Systems with Unknown Time-varying Feedback Delay

NASA Astrophysics Data System (ADS)

Chunodkar, Apurva A.; Akella, Maruthi R.

2013-12-01

This paper considers the problem of stabilizing a class of nonlinear systems with unknown bounded delayed feedback wherein the time-varying delay is 1) piecewise constant 2) continuous with a bounded rate. We also consider application of these results to the stabilization of rigid-body attitude dynamics. In the first case, the time-delay in feedback is modeled specifically as a switch among an arbitrarily large set of unknown constant values with a known strict upper bound. The feedback is a linear function of the delayed states. In the case of linear systems with switched delay feedback, a new sufficiency condition for average dwell time result is presented using a complete type Lyapunov-Krasovskii (L-K) functional approach. Further, the corresponding switched system with nonlinear perturbations is proven to be exponentially stable inside a well characterized region of attraction for an appropriately chosen average dwell time. In the second case, the concept of the complete type L-K functional is extended to a class of nonlinear time-delay systems with unknown time-varying time-delay. This extension ensures stability robustness to time-delay in the control design for all values of time-delay less than the known upper bound. Model-transformation is used in order to partition the nonlinear system into a nominal linear part that is exponentially stable with a bounded perturbation. We obtain sufficient conditions which ensure exponential stability inside a region of attraction estimate. A constructive method to evaluate the sufficient conditions is presented together with comparison with the corresponding constant and piecewise constant delay. Numerical simulations are performed to illustrate the theoretical results of this paper.

Role of ground ice dynamics and ecological feedbacks in recent ice wedge degradation and stabilization

USGS Publications Warehouse

Mark Torre Jorgenson,; Mikhail Kanevskiy,; Yuri Shur,; Natalia Moskalenko,; Dana Brown,; Wickland, Kimberly P.; Striegl, Robert G.; Koch, Joshua C.

2015-01-01

Ground ice is abundant in the upper permafrost throughout the Arctic and fundamentally affects terrain responses to climate warming. Ice wedges, which form near the surface and are the dominant type of massive ice in the Arctic, are particularly vulnerable to warming. Yet processes controlling ice wedge degradation and stabilization are poorly understood. Here we quantified ice wedge volume and degradation rates, compared ground ice characteristics and thermal regimes across a sequence of five degradation and stabilization stages and evaluated biophysical feedbacks controlling permafrost stability near Prudhoe Bay, Alaska. Mean ice wedge volume in the top 3 m of permafrost was 21%. Imagery from 1949 to 2012 showed thermokarst extent (area of water-filled troughs) was relatively small from 1949 (0.9%) to 1988 (1.5%), abruptly increased by 2004 (6.3%) and increased slightly by 2012 (7.5%). Mean annual surface temperatures varied by 4.9°C among degradation and stabilization stages and by 9.9°C from polygon center to deep lake bottom. Mean thicknesses of the active layer, ice-poor transient layer, ice-rich intermediate layer, thermokarst cave ice, and wedge ice varied substantially among stages. In early stages, thaw settlement caused water to impound in thermokarst troughs, creating positive feedbacks that increased net radiation, soil heat flux, and soil temperatures. Plant growth and organic matter accumulation in the degraded troughs provided negative feedbacks that allowed ground ice to aggrade and heave the surface, thus reducing surface water depth and soil temperatures in later stages. The ground ice dynamics and ecological feedbacks greatly complicate efforts to assess permafrost responses to climate change.

Role of ground ice dynamics and ecological feedbacks in recent ice wedge degradation and stabilization

NASA Astrophysics Data System (ADS)

Jorgenson, M. T.; Kanevskiy, M.; Shur, Y.; Moskalenko, N.; Brown, D. R. N.; Wickland, K.; Striegl, R.; Koch, J.

2015-11-01

Ground ice is abundant in the upper permafrost throughout the Arctic and fundamentally affects terrain responses to climate warming. Ice wedges, which form near the surface and are the dominant type of massive ice in the Arctic, are particularly vulnerable to warming. Yet processes controlling ice wedge degradation and stabilization are poorly understood. Here we quantified ice wedge volume and degradation rates, compared ground ice characteristics and thermal regimes across a sequence of five degradation and stabilization stages and evaluated biophysical feedbacks controlling permafrost stability near Prudhoe Bay, Alaska. Mean ice wedge volume in the top 3 m of permafrost was 21%. Imagery from 1949 to 2012 showed thermokarst extent (area of water-filled troughs) was relatively small from 1949 (0.9%) to 1988 (1.5%), abruptly increased by 2004 (6.3%) and increased slightly by 2012 (7.5%). Mean annual surface temperatures varied by 4.9°C among degradation and stabilization stages and by 9.9°C from polygon center to deep lake bottom. Mean thicknesses of the active layer, ice-poor transient layer, ice-rich intermediate layer, thermokarst cave ice, and wedge ice varied substantially among stages. In early stages, thaw settlement caused water to impound in thermokarst troughs, creating positive feedbacks that increased net radiation, soil heat flux, and soil temperatures. Plant growth and organic matter accumulation in the degraded troughs provided negative feedbacks that allowed ground ice to aggrade and heave the surface, thus reducing surface water depth and soil temperatures in later stages. The ground ice dynamics and ecological feedbacks greatly complicate efforts to assess permafrost responses to climate change.

The balance between keystone clustering and bed roughness in experimental step-pool stabilization

NASA Astrophysics Data System (ADS)

Johnson, J. P.

2016-12-01

Predicting how mountain channels will respond to environmental perturbations such as floods requires an improved quantitative understanding of morphodynamic feedbacks among bed topography, surface grain size and sediment sorting. In boulder-rich gravel streams, transport and sorting often lead to the development of step pool morphologies, which are expressed both in bed topography and coarse grain clustering. Bed stability is difficult to measure, and is sometimes inferred from the presence of step pools. I use scaled flume experiments to explore feedbacks among surface grain sizes, coarse grain clustering, bed roughness and hydraulic roughness during progressive bed stabilization and over a range of sediment transport rates. While grain clusters are sometimes identified by subjective interpretation, I quantify the degree of coarse surface grain clustering using spatial statistics, including a novel normalization of Ripley's K function. This approach is objective and provides information on the strength of clustering over a range of length scales. Flume experiments start with an initial bed surface with a broad grain size distribution and spatially random positions. Flow causes the bed surface to progressively stabilize in response to erosion, surface coarsening, roughening and grain reorganization. At 95% confidence, many but not all beds stabilized with coarse grains becoming more clustered than complete spatial randomness (CSR). I observe a tradeoff between topographic roughness and clustering. Beds that stabilized with higher degrees of coarse-grain clustering were topographically smoother, and vice-versa. Initial conditions influenced the degree of clustering at stability: Beds that happened to have fewer initial coarse grains had more coarse grain reorganization during stabilization, leading to more clustering. Finally, regressions demonstrate that clustering statistics actually predict hydraulic roughness significantly better than does D84 (the size at which 84% of grains are smaller). In the experimental data, the spatial organization of surface grains is a stronger control on flow characteristics than the size of surface grains.

Methods and apparatus for broadband frequency comb stabilization

DOEpatents

Cox, Jonathan A; Kaertner, Franz X

2015-03-17

Feedback loops can be used to shift and stabilize the carrier-envelope phase of a frequency comb from a mode-locked fibers laser or other optical source. Compared to other frequency shifting and stabilization techniques, feedback-based techniques provide a wideband closed-loop servo bandwidth without optical filtering, beam pointing errors, or group velocity dispersion. It also enables phase locking to a stable reference, such as a Ti:Sapphire laser, continuous-wave microwave or optical source, or self-referencing interferometer, e.g., to within 200 mrad rms from DC to 5 MHz. In addition, stabilized frequency combs can be coherently combined with other stable signals, including other stabilized frequency combs, to synthesize optical pulse trains with pulse durations of as little as a single optical cycle. Such a coherent combination can be achieved via orthogonal control, using balanced optical cross-correlation for timing stabilization and balanced homodyne detection for phase stabilization.

Audio-vocal system regulation in children with autism spectrum disorders.

PubMed

Russo, Nicole; Larson, Charles; Kraus, Nina

2008-06-01

Do children with autism spectrum disorders (ASD) respond similarly to perturbations in auditory feedback as typically developing (TD) children? Presentation of pitch-shifted voice auditory feedback to vocalizing participants reveals a close coupling between the processing of auditory feedback and vocal motor control. This paradigm was used to test the hypothesis that abnormalities in the audio-vocal system would negatively impact ASD compensatory responses to perturbed auditory feedback. Voice fundamental frequency (F(0)) was measured while children produced an /a/ sound into a microphone. The voice signal was fed back to the subjects in real time through headphones. During production, the feedback was pitch shifted (-100 cents, 200 ms) at random intervals for 80 trials. Averaged voice F(0) responses to pitch-shifted stimuli were calculated and correlated with both mental and language abilities as tested via standardized tests. A subset of children with ASD produced larger responses to perturbed auditory feedback than TD children, while the other children with ASD produced significantly lower response magnitudes. Furthermore, robust relationships between language ability, response magnitude and time of peak magnitude were identified. Because auditory feedback helps to stabilize voice F(0) (a major acoustic cue of prosody) and individuals with ASD have problems with prosody, this study identified potential mechanisms of dysfunction in the audio-vocal system for voice pitch regulation in some children with ASD. Objectively quantifying this deficit may inform both the assessment of a subgroup of ASD children with prosody deficits, as well as remediation strategies that incorporate pitch training.

Adaptive optimal stochastic state feedback control of resistive wall modes in tokamaks

NASA Astrophysics Data System (ADS)

Sun, Z.; Sen, A. K.; Longman, R. W.

2006-01-01

An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least-square method with exponential forgetting factor and covariance resetting is used to identify (experimentally determine) the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time-dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used.

Adaptive Optimal Stochastic State Feedback Control of Resistive Wall Modes in Tokamaks

NASA Astrophysics Data System (ADS)

Sun, Z.; Sen, A. K.; Longman, R. W.

2007-06-01

An adaptive optimal stochastic state feedback control is developed to stabilize the resistive wall mode (RWM) instability in tokamaks. The extended least square method with exponential forgetting factor and covariance resetting is used to identify the time-varying stochastic system model. A Kalman filter is used to estimate the system states. The estimated system states are passed on to an optimal state feedback controller to construct control inputs. The Kalman filter and the optimal state feedback controller are periodically redesigned online based on the identified system model. This adaptive controller can stabilize the time dependent RWM in a slowly evolving tokamak discharge. This is accomplished within a time delay of roughly four times the inverse of the growth rate for the time-invariant model used.

STABILIZED FEEDBACK AMPLIFIER

DOEpatents

Fishbine, H.L.; Sewell, C. Jr.

1957-08-01

Negative feedback amplifiers, and particularly a negative feedback circuit which is economical on amode power consumption, are described. Basically, the disclosed circuit comprises two tetrode tubes where the output of the first tube is capacitamce coupled to the grid of the second tube, which in turn has its plate coupled to the cathode of the first tube to form a degenerative feedback circuit. Operating potential for screen of the second tube is supplied by connecting the cathode resistor of the first tube to the screen, while the screen is by-passed to the cathode of its tube for the amplified frequencies. Also, the amplifier incorporates a circuit to stabilize the transconductance of the tubes by making the grid potential of each tube interdependent on anode currents of both lubes by voltage divider circuitry.

Hovering of a jellyfish-like flying machine

NASA Astrophysics Data System (ADS)

Ristroph, Leif; Childress, Stephen

2013-11-01

Ornithopters, or flapping-wing aircraft, offer an alternative to helicopters in achieving maneuverability at small scales, although stabilizing such aerial vehicles remains a key challenge. Here, we present a hovering machine that achieves self-righting flight using flapping wings alone, without relying on additional aerodynamic surfaces and without feedback control. We design, construct, and test-fly a prototype that opens and closes four wings, resembling the motions of swimming jellyfish more so than any insect or bird. Lift measurements and high-speed video of free-flight are used to inform an aerodynamic model that explains the stabilization mechanism. These results show the promise of flapping-flight strategies beyond those that directly mimic the wing motions of flying animals.

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

PubMed

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

2009-09-20

We report a double feedback loop for the improvement of the carrier-envelope phase stabilization of a chirped mirror based femtosecond laser oscillator. By combining the control of the Ti:sapphire crystal temperature and the modulation of the pump power, the carrier envelope offset frequency, fCEO, was locked for close to 20 h, which is much longer than the typical phase stabilization time with only pump power modulation.

Stability and chaotification of vibration isolation floating raft systems with time-delayed feedback control.

PubMed

Li, Y L; Xu, D L; Fu, Y M; Zhou, J X

2011-09-01

This paper presents a systematic study on the stability of a two-dimensional vibration isolation floating raft system with a time-delayed feedback control. Based on the generalized Sturm criterion, the critical control gain for the delay-independent stability region and critical time delays for the stability switches are derived. The critical conditions can provide a theoretical guidance of chaotification design for line spectra reduction. Numerical simulations verify the correctness of the approach. Bifurcation analyses reveal that chaotification is more likely to occur in unstable region defined by these critical conditions, and the stiffness of the floating raft and mass ratio are the sensitive parameters to reduce critical control gain.

Effects of visual feedback balance training on the balance and ankle instability in adult men with functional ankle instability.

PubMed

Nam, Seung-Min; Kim, Kyoung; Lee, Do Youn

2018-01-01

[Purpose] This study examined the effects of visual feedback balance training on the balance and ankle instability in adult men with functional ankle instability. [Subjects and Methods] Twenty eight adults with functional ankle instability, divided randomly into an experimental group, which performed visual feedback balance training for 20 minutes and ankle joint exercises for 10 minutes, and a control group, which performed ankle joint exercise for 30 minutes. Exercises were completed three times a week for 8 weeks. Bio rescue was used for balance ability. It measured limit of stability at one minute. For ankle instability was measured using Cumberland ankle instability tool (CAIT). This measure was performed before and after the experiments in each group. [Results] The experimental group had significant increase in the Limit of Stability and CAIT score. The control group had significant increase in CAIT score. While the Limit of Stability increased without significance. [Conclusion] In conclusion, visual feedback balance training can be recommended as a treatment method for patients with functional ankle instability.

Position-sensitive proportional counter with low-resistance metal-wire anode

DOEpatents

Kopp, Manfred K.

1980-01-01

A position-sensitive proportional counter circuit is provided which allows the use of a conventional (low-resistance, metal-wire anode) proportional counter for spatial resolution of an ionizing event along the anode of the counter. A pair of specially designed active-capacitance preamplifiers are used to terminate the anode ends wherein the anode is treated as an RC line. The preamplifiers act as stabilized active capacitance loads and each is composed of a series-feedback, low-noise amplifier, a unity-gain, shunt-feedback amplifier whose output is connected through a feedback capacitor to the series-feedback amplifier input. The stabilized capacitance loading of the anode allows distributed RC-line position encoding and subsequent time difference decoding by sensing the difference in rise times of pulses at the anode ends where the difference is primarily in response to the distributed capacitance along the anode. This allows the use of lower resistance wire anodes for spatial radiation detection which simplifies the counter construction and handling of the anodes, and stabilizes the anode resistivity at high count rates (>10.sup.6 counts/sec).

Act-and-wait time-delayed feedback control of autonomous systems

NASA Astrophysics Data System (ADS)

Pyragas, Viktoras; Pyragas, Kestutis

2018-02-01

Recently an act-and-wait modification of time-delayed feedback control has been proposed for the stabilization of unstable periodic orbits in nonautonomous dynamical systems (Pyragas and Pyragas, 2016 [30]). The modification implies a periodic switching of the feedback gain and makes the closed-loop system finite-dimensional. Here we extend this modification to autonomous systems. In order to keep constant the phase difference between the controlled orbit and the act-and-wait switching function an additional small-amplitude periodic perturbation is introduced. The algorithm can stabilize periodic orbits with an odd number of real unstable Floquet exponents using a simple single-input single-output constraint control.

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.

Stability and performance tradeoffs in bi-lateral telemanipulation

NASA Technical Reports Server (NTRS)

Hannaford, Blake

1989-01-01

Kinesthetic force feedback provides measurable increase in remote manipulation system performance. Intensive computation time requirements or operation under conditions of time delay can cause serious stability problems in control-system design. Here, a simplified linear analysis of this stability problem is presented for the forward-flow generalized architecture, applying the hybrid two-port representation to express the loop gain of the traditional master-slave architecture, which can be subjected to similar analysis. The hybrid two-port representation is also used to express the effects on the fidelity of manipulation or feel of one design approach used to stabilize the forward-flow architecture. The results suggest that, when local force feedback at the slave side is used to reduce manipulator stability problems, a price is paid in terms of telemanipulation fidelity.

Beam Stability R&D for the APS MBA Upgrade

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

Sereno, Nicholas S.; Arnold, Ned D.; Bui, Hanh D.

2015-01-01

Beam diagnostics required for the APS Multi-bend acromat (MBA) are driven by ambitious beam stability requirements. The major AC stability challenge is to correct rms beam motion to 10% the rms beam size at the insertion device source points from0.01 to 1000 Hz. The vertical plane represents the biggest challenge forAC stability, which is required to be 400 nm rms for a 4-micron vertical beam size. In addition to AC stability, long-term drift over a period of seven days is required to be 1 micron or less. Major diagnostics R&D components include improved rf beam position processing using commercially availablemore » FPGA-based BPM processors, new X-ray beam position monitors based on hard X-ray fluorescence from copper and Compton scattering off diamond, mechanical motion sensing to detect and correct long-term vacuum chamber drift, a new feedback system featuring a tenfold increase in sampling rate, and a several-fold increase in the number of fast correctors and BPMs in the feedback algorithm. Feedback system development represents a major effort, and we are pursuing development of a novel algorithm that integrates orbit correction for both slow and fast correctors down to DC simultaneously. Finally, a new data acquisition system (DAQ) is being developed to simultaneously acquire streaming data from all diagnostics as well as the feedback processors for commissioning and fault diagnosis. Results of studies and the design effort are reported.« less

A dynamical stabilizer in the climate system: a mechanism suggested by a simple model

NASA Astrophysics Data System (ADS)

Bates, J. R.

1999-05-01

A simple zonally averaged hemispheric model of the climate system is constructed, based on energy equations for two ocean basins separated at 30° latitude with the surface fluxes calculated explicitly. A combination of empirical input and theoretical calculation is used to determine an annual mean equilibrium climate for the model and to study its stability with respect to small perturbations. The insolation, the mean albedos and the equilibrium temperatures for the two model zones are prescribed from observation. The principal agent of interaction between the zones is the vertically integrated poleward transport of atmospheric angular momentum across their common boundary. This is parameterized using an empirical formula derived from a multiyear atmospheric data set. The surface winds are derived from the angular momentum transport assuming the atmosphere to be in a state of dynamic balance on the climatic timescales of interest. A further assumption that the air sea temperature difference and low level relative humidity remain fixed at their mean observed values then allows the surface fluxes of latent and sensible heat to be calculated. Results from a radiative model, which show a positive lower tropospheric water vapour/infrared radiative feedback on SST perturbations in both zones, are used to calculate the net upward infrared radiative fluxes at the surface. In the model's equilibrium climate, the principal processes balancing the solar radiation absorbed at the surface are evaporation in the tropical zone and net infrared radiation in the extratropical zone. The stability of small perturbations about the equilibrium is studied using a linearized form of the ocean energy equations. Ice-albedo and cloud feedbacks are omitted and attention is focussed on the competing effects of the water vapour/infrared radiative feedback and the turbulent surface flux and oceanic heat transport feedbacks associated with the angular momentum cycle. The perturbation equations involve inter-zone coupling and have coefficients dependent on the values of the equilibrium fluxes and the sensitivity of the angular momentum transport. Analytical solutions for the perturbations are obtained. These provide criteria for the stability of the equilibrium climate. If the evaporative feedback on SST perturbations is omitted, the equilibrium climate is unstable due to the influence of the water vapour/infrared radiative feedback, which dominates over the effects of the sensible heat and ocean heat transport feedbacks. The inclusion of evaporation gives a negative feedback which is of sufficient strength to stabilize the system. The stabilizing mechanism involves wind and humidity factors in the evaporative fluxes that are of comparable magnitude. Both factors involve the angular momentum transport. In including angular momentum and calculating the surface fluxes explicitly, the model presented here differs from the many simple climate models based on the Budyko Sellers formulation. In that formulation, an atmospheric energy balance equation is used to eliminate surface fluxes in favour of top-of-the-atmosphere radiative fluxes and meridional atmospheric energy transports. In the resulting models, infrared radiation appears as a stabilizing influence on SST perturbations and the dynamical stabilizing mechanism found here cannot be identified.

Ant Colony Optimization Analysis on Overall Stability of High Arch Dam Basis of Field Monitoring

PubMed Central

Liu, Xiaoli; Chen, Hong-Xin; Kim, Jinxie

2014-01-01

A dam ant colony optimization (D-ACO) analysis of the overall stability of high arch dams on complicated foundations is presented in this paper. A modified ant colony optimization (ACO) model is proposed for obtaining dam concrete and rock mechanical parameters. A typical dam parameter feedback problem is proposed for nonlinear back-analysis numerical model based on field monitoring deformation and ACO. The basic principle of the proposed model is the establishment of the objective function of optimizing real concrete and rock mechanical parameter. The feedback analysis is then implemented with a modified ant colony algorithm. The algorithm performance is satisfactory, and the accuracy is verified. The m groups of feedback parameters, used to run a nonlinear FEM code, and the displacement and stress distribution are discussed. A feedback analysis of the deformation of the Lijiaxia arch dam and based on the modified ant colony optimization method is also conducted. By considering various material parameters obtained using different analysis methods, comparative analyses were conducted on dam displacements, stress distribution characteristics, and overall dam stability. The comparison results show that the proposal model can effectively solve for feedback multiple parameters of dam concrete and rock material and basically satisfy assessment requirements for geotechnical structural engineering discipline. PMID:25025089

Feedback for reinforcement learning based brain-machine interfaces using confidence metrics.

PubMed

Prins, Noeline W; Sanchez, Justin C; Prasad, Abhishek

2017-06-01

For brain-machine interfaces (BMI) to be used in activities of daily living by paralyzed individuals, the BMI should be as autonomous as possible. One of the challenges is how the feedback is extracted and utilized in the BMI. Our long-term goal is to create autonomous BMIs that can utilize an evaluative feedback from the brain to update the decoding algorithm and use it intelligently in order to adapt the decoder. In this study, we show how to extract the necessary evaluative feedback from a biologically realistic (synthetic) source, use both the quantity and the quality of the feedback, and how that feedback information can be incorporated into a reinforcement learning (RL) controller architecture to maximize its performance. Motivated by the perception-action-reward cycle (PARC) in the brain which links reward for cognitive decision making and goal-directed behavior, we used a reward-based RL architecture named Actor-Critic RL as the model. Instead of using an error signal towards building an autonomous BMI, we envision to use a reward signal from the nucleus accumbens (NAcc) which plays a key role in the linking of reward to motor behaviors. To deal with the complexity and non-stationarity of biological reward signals, we used a confidence metric which was used to indicate the degree of feedback accuracy. This confidence was added to the Actor's weight update equation in the RL controller architecture. If the confidence was high (>0.2), the BMI decoder used this feedback to update its parameters. However, when the confidence was low, the BMI decoder ignored the feedback and did not update its parameters. The range between high confidence and low confidence was termed as the 'ambiguous' region. When the feedback was within this region, the BMI decoder updated its weight at a lower rate than when fully confident, which was decided by the confidence. We used two biologically realistic models to generate synthetic data for MI (Izhikevich model) and NAcc (Humphries model) to validate proposed controller architecture. In this work, we show how the overall performance of the BMI was improved by using a threshold close to the decision boundary to reject erroneous feedback. Additionally, we show the stability of the system improved when the feedback was used with a threshold. The result of this study is a step towards making BMIs autonomous. While our method is not fully autonomous, the results demonstrate that extensive training times necessary at the beginning of each BMI session can be significantly decreased. In our approach, decoder training time was only limited to 10 trials in the first BMI session. Subsequent sessions used previous session weights to initialize the decoder. We also present a method where the use of a threshold can be applied to any decoder with a feedback signal that is less than perfect so that erroneous feedback can be avoided and the stability of the system can be increased.

Feedback for reinforcement learning based brain-machine interfaces using confidence metrics

NASA Astrophysics Data System (ADS)

Prins, Noeline W.; Sanchez, Justin C.; Prasad, Abhishek

2017-06-01

Objective. For brain-machine interfaces (BMI) to be used in activities of daily living by paralyzed individuals, the BMI should be as autonomous as possible. One of the challenges is how the feedback is extracted and utilized in the BMI. Our long-term goal is to create autonomous BMIs that can utilize an evaluative feedback from the brain to update the decoding algorithm and use it intelligently in order to adapt the decoder. In this study, we show how to extract the necessary evaluative feedback from a biologically realistic (synthetic) source, use both the quantity and the quality of the feedback, and how that feedback information can be incorporated into a reinforcement learning (RL) controller architecture to maximize its performance. Approach. Motivated by the perception-action-reward cycle (PARC) in the brain which links reward for cognitive decision making and goal-directed behavior, we used a reward-based RL architecture named Actor-Critic RL as the model. Instead of using an error signal towards building an autonomous BMI, we envision to use a reward signal from the nucleus accumbens (NAcc) which plays a key role in the linking of reward to motor behaviors. To deal with the complexity and non-stationarity of biological reward signals, we used a confidence metric which was used to indicate the degree of feedback accuracy. This confidence was added to the Actor’s weight update equation in the RL controller architecture. If the confidence was high (>0.2), the BMI decoder used this feedback to update its parameters. However, when the confidence was low, the BMI decoder ignored the feedback and did not update its parameters. The range between high confidence and low confidence was termed as the ‘ambiguous’ region. When the feedback was within this region, the BMI decoder updated its weight at a lower rate than when fully confident, which was decided by the confidence. We used two biologically realistic models to generate synthetic data for MI (Izhikevich model) and NAcc (Humphries model) to validate proposed controller architecture. Main results. In this work, we show how the overall performance of the BMI was improved by using a threshold close to the decision boundary to reject erroneous feedback. Additionally, we show the stability of the system improved when the feedback was used with a threshold. Significance: The result of this study is a step towards making BMIs autonomous. While our method is not fully autonomous, the results demonstrate that extensive training times necessary at the beginning of each BMI session can be significantly decreased. In our approach, decoder training time was only limited to 10 trials in the first BMI session. Subsequent sessions used previous session weights to initialize the decoder. We also present a method where the use of a threshold can be applied to any decoder with a feedback signal that is less than perfect so that erroneous feedback can be avoided and the stability of the system can be increased.

Head control: volitional aspects of rehabilitation training in patients with multiple sclerosis compared with healthy subjects.

PubMed

Cattaneo, Davide; Ferrarin, Maurizio; Frasson, William; Casiraghi, Anna

2005-07-01

To investigate the role of voluntary mechanisms and motor learning in head stability and the impact of longitudinal biofeedback training in head control. Crossover trial and single-subject research design. Neurorehabilitation research institute. Head stability during treadmill gait was measured in healthy subjects and patients with multiple sclerosis (MS). The experimental condition in which subjects walked on the treadmill was compared with that in which the head was voluntarily stabilized. In another experimental condition, augmented feedback of head displacement was provided by means of a laser mounted on the head that projected a laser beam on a screen. The motor learning was investigated with biofeedback training sessions. Positional feedback was represented by the laser beam, with subjects having to stabilize the beam while walking on the treadmill. Head angular oscillation in the sagittal and frontal planes. Results showed that on verbal request, healthy subjects and patients further stabilized the head during gait, especially in the sagittal plane. Short-term feedback of head displacement was no better than self-stabilization at improving head control. Conversely, the motor learning was evident in the rehabilitation protocol: after 10 to 15 training sessions, patients with MS showed a clinically relevant decrease of head angular oscillations. Voluntary mechanisms play a role in head stabilization during gait. Augmented biofeedback of head displacement may be effective in reducing head oscillations.

New MHD feedback control schemes using the MARTe framework in RFX-mod

NASA Astrophysics Data System (ADS)

Piron, Chiara; Manduchi, Gabriele; Marrelli, Lionello; Piovesan, Paolo; Zanca, Paolo

2013-10-01

Real-time feedback control of MHD instabilities is a topic of major interest in magnetic thermonuclear fusion, since it allows to optimize a device performance even beyond its stability bounds. The stability properties of different magnetic configurations are important test benches for real-time control systems. RFX-mod, a Reversed Field Pinch experiment that can also operate as a tokamak, is a well suited device to investigate this topic. It is equipped with a sophisticated magnetic feedback system that controls MHD instabilities and error fields by means of 192 active coils and a corresponding grid of sensors. In addition, the RFX-mod control system has recently gained new potentialities thanks to the introduction of the MARTe framework and of a new CPU architecture. These capabilities allow to study new feedback algorithms relevant to both RFP and tokamak operation and to contribute to the debate on the optimal feedback strategy. This work focuses on the design of new feedback schemes. For this purpose new magnetic sensors have been explored, together with new algorithms that refine the de-aliasing computation of the radial sideband harmonics. The comparison of different sensor and feedback strategy performance is described in both RFP and tokamak experiments.

A Surface-Coupled Optical Trap with 1-bp Precision via Active Stabilization

PubMed Central

Okoniewski, Stephen R.; Carter, Ashley R.; Perkins, Thomas T.

2017-01-01

Optical traps can measure bead motions with Å-scale precision. However, using this level of precision to infer 1-bp motion of molecular motors along DNA is difficult, since a variety of noise sources degrade instrumental stability. In this chapter, we detail how to improve instrumental stability by (i) minimizing laser pointing, mode, polarization, and intensity noise using an acousto-optical-modulator mediated feedback loop and (ii) minimizing sample motion relative to the optical trap using a 3-axis piezo-electric-stage mediated feedback loop. These active techniques play a critical role in achieving a surface stability of 1 Å in 3D over tens of seconds and a 1-bp stability and precision in a surface-coupled optical trap over a broad bandwidth (Δf = 0.03–2 Hz) at low force (6 pN). These active stabilization techniques can also aid other biophysical assays that would benefit from improved laser stability and/or Å-scale sample stability, such as atomic force microscopy and super-resolution imaging. PMID:27844426

Controlling chaos faster.

PubMed

Bick, Christian; Kolodziejski, Christoph; Timme, Marc

2014-09-01

Predictive feedback control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive feedback control is severely limited because asymptotic convergence speed decreases with stronger instabilities which in turn are typical for larger target periods, rendering it harder to effectively stabilize periodic orbits of large period. Here, we study stalled chaos control, where the application of control is stalled to make use of the chaotic, uncontrolled dynamics, and introduce an adaptation paradigm to overcome this limitation and speed up convergence. This modified control scheme is not only capable of stabilizing more periodic orbits than the original predictive feedback control but also speeds up convergence for typical chaotic maps, as illustrated in both theory and application. The proposed adaptation scheme provides a way to tune parameters online, yielding a broadly applicable, fast chaos control that converges reliably, even for periodic orbits of large period.

Adaptive Fuzzy Output Feedback Control for Switched Nonlinear Systems With Unmodeled Dynamics.

PubMed

Tong, Shaocheng; Li, Yongming

2017-02-01

This paper investigates a robust adaptive fuzzy control stabilization problem for a class of uncertain nonlinear systems with arbitrary switching signals that use an observer-based output feedback scheme. The considered switched nonlinear systems possess the unstructured uncertainties, unmodeled dynamics, and without requiring the states being available for measurement. A state observer which is independent of switching signals is designed to solve the problem of unmeasured states. Fuzzy logic systems are used to identify unknown lumped nonlinear functions so that the problem of unstructured uncertainties can be solved. By combining adaptive backstepping design principle and small-gain approach, a novel robust adaptive fuzzy output feedback stabilization control approach is developed. The stability of the closed-loop system is proved via the common Lyapunov function theory and small-gain theorem. Finally, the simulation results are given to demonstrate the validity and performance of the proposed control strategy.

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.

What would you do? The effect of verbal persuasion on task choice.

PubMed

Lamarche, Larkin; Gionfriddo, Alicia M; Cline, Lindsay E; Gammage, Kimberley L; Adkin, Allan L

2014-01-01

Verbal persuasion has been shown to influence psychological and behavioral outcomes. The present study had two objectives: (1) to examine the effect of verbal persuasion on task choice in a balance setting and (2) to evaluate the use of verbal persuasion as an approach to experimentally induce mismatches between perceived and actual balance. Healthy young adults (N=68) completed an 8-m tandem walk task without vision and then were randomly assigned to a feedback group (good, control, or poor), regardless of actual balance. Following the feedback, participants chose to perform the task in one of three conditions differing in level of challenge and also were required to perform the task under the same pre-feedback conditions. Balance efficacy and perceived stability were rated before and after each pre- and post-feedback task, respectively. Balance performance measures were also collected. Following the feedback, participants in the good group were more likely to choose the most challenging task while those in the poor group were more likely to choose the least challenging task. Following the feedback, all groups showed improved balance performance. However, balance efficacy and perceived stability increased for the good and control groups but balance efficacy decreased and perceived stability was unchanged for the poor group. Thus, these findings demonstrate that verbal persuasion can influence task choice and may be used as an approach to experimentally create mismatches between perceived and actual balance. Copyright © 2013 Elsevier B.V. All rights reserved.

Leader-Follower Formation Control of UUVs with Model Uncertainties, Current Disturbances, and Unstable Communication

PubMed Central

Yan, Zheping; Xu, Da; Chen, Tao; Zhang, Wei; Liu, Yibo

2018-01-01

Unmanned underwater vehicles (UUVs) have rapidly developed as mobile sensor networks recently in the investigation, survey, and exploration of the underwater environment. The goal of this paper is to develop a practical and efficient formation control method to improve work efficiency of multi-UUV sensor networks. Distributed leader-follower formation controllers are designed based on a state feedback and consensus algorithm. Considering that each vehicle is subject to model uncertainties and current disturbances, a second-order integral UUV model with a nonlinear function is established using the state feedback linearized method under current disturbances. For unstable communication among UUVs, communication failure and acoustic link noise interference are considered. Two-layer random switching communication topologies are proposed to solve the problem of communication failure. For acoustic link noise interference, accurate representation of valid communication information and noise stripping when designing controllers is necessary. Effective communication topology weights are designed to represent the validity of communication information interfered by noise. Utilizing state feedback and noise stripping, sufficient conditions for design formation controllers are proposed to ensure UUV formation achieves consensus under model uncertainties, current disturbances, and unstable communication. The stability of formation controllers is proven by the Lyapunov-Razumikhin theorem, and the validity is verified by simulation results. PMID:29473919

On wave-CISK and the evaporation-wind feedback for the Madden-Julian oscillation

NASA Technical Reports Server (NTRS)

Kirtman, B.; Vernekar, A.

1993-01-01

The combined effects of Kelvin wave-CISK and the evaporation-wind (E-W) feedback are proposed as a possible mechanism for the Madden-Julian oscillation. A very simple single vertical mode model has been employed to examine the effects of both these processes on moist Kelvin waves. The effects of wave-induced moisture convergence is parameterized by reducing the moist static stability, and CISK occurs when the moist static stability becomes negative. The E-W feedback in the presence of mean easterlies leads to unstable Kelvin modes. The presence of mean westerlies leads to decaying Kelvin modes. When CISK and the E-W feedback work in concert, an unstable Kelvin mode develops that has phase speeds of propagation between 5 m/s and 10 m/s for a large range of parameter values. On the other hand, the E-W feedback mechanism alone, in the case when CISK is not operating, produces the phase speeds of the observed Madden-Julian oscillation for only a very limited range of parameter values.

Two time scale output feedback regulation for ill-conditioned systems

NASA Technical Reports Server (NTRS)

Calise, A. J.; Moerder, D. D.

1986-01-01

Issues pertaining to the well-posedness of a two time scale approach to the output feedback regulator design problem are examined. An approximate quadratic performance index which reflects a two time scale decomposition of the system dynamics is developed. It is shown that, under mild assumptions, minimization of this cost leads to feedback gains providing a second-order approximation of optimal full system performance. A simplified approach to two time scale feedback design is also developed, in which gains are separately calculated to stabilize the slow and fast subsystem models. By exploiting the notion of combined control and observation spillover suppression, conditions are derived assuring that these gains will stabilize the full-order system. A sequential numerical algorithm is described which obtains output feedback gains minimizing a broad class of performance indices, including the standard LQ case. It is shown that the algorithm converges to a local minimum under nonrestrictive assumptions. This procedure is adapted to and demonstrated for the two time scale design formulations.

Transverse beam stability measurement and analysis for the SNS accumulator ring

DOE PAGES

Xie, Zaipeng; Deibele, Craig; Schulte, Michael J.; ...

2015-07-01

In a Field-programmable gate array (FPGA) based transverse feedback damper system we implemented in the Spallation Neutron Source (SNS) accumulator ring with the intention to stabilize the electron-proton (e-p) instability in a frequency range from 1 MHz to 300 MHz. The transverse damper could also be used as a diagnostic tool by measuring the beam transfer function (BTF). An analysis of the BTF measurement provides the stability diagram for the production beam at SNS. Our paper describes the feedback damper system and its set-up as the BTF diagnostic tool. Experimental BTF results are presented and beam stability analysis is performedmore » based on the BTF measurements for the SNS accumulator ring.« less

Backstepping-based boundary control design for a fractional reaction diffusion system with a space-dependent diffusion coefficient.

PubMed

Chen, Juan; Cui, Baotong; Chen, YangQuan

2018-06-11

This paper presents a boundary feedback control design for a fractional reaction diffusion (FRD) system with a space-dependent (non-constant) diffusion coefficient via the backstepping method. The contribution of this paper is to generalize the results of backstepping-based boundary feedback control for a FRD system with a space-independent (constant) diffusion coefficient to the case of space-dependent diffusivity. For the boundary stabilization problem of this case, a designed integral transformation treats it as a problem of solving a hyperbolic partial differential equation (PDE) of transformation's kernel, then the well posedness of the kernel PDE is solved for the plant with non-constant diffusivity. Furthermore, by the fractional Lyapunov stability (Mittag-Leffler stability) theory and the backstepping-based boundary feedback controller, the Mittag-Leffler stability of the closed-loop FRD system with non-constant diffusivity is proved. Finally, an extensive numerical example for this closed-loop FRD system with non-constant diffusivity is presented to verify the effectiveness of our proposed controller. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

NASA/Howard University Large Space Structures Institute

NASA Technical Reports Server (NTRS)

Broome, T. H., Jr.

1984-01-01

Basic research on the engineering behavior of large space structures is presented. Methods of structural analysis, control, and optimization of large flexible systems are examined. Topics of investigation include the Load Correction Method (LCM) modeling technique, stabilization of flexible bodies by feedback control, mathematical refinement of analysis equations, optimization of the design of structural components, deployment dynamics, and the use of microprocessors in attitude and shape control of large space structures. Information on key personnel, budgeting, support plans and conferences is included.

Development of a sensitivity analysis technique for multiloop flight control systems

NASA Technical Reports Server (NTRS)

Vaillard, A. H.; Paduano, J.; Downing, D. R.

1985-01-01

This report presents the development and application of a sensitivity analysis technique for multiloop flight control systems. This analysis yields very useful information on the sensitivity of the relative-stability criteria of the control system, with variations or uncertainties in the system and controller elements. The sensitivity analysis technique developed is based on the computation of the singular values and singular-value gradients of a feedback-control system. The method is applicable to single-input/single-output as well as multiloop continuous-control systems. Application to sampled-data systems is also explored. The sensitivity analysis technique was applied to a continuous yaw/roll damper stability augmentation system of a typical business jet, and the results show that the analysis is very useful in determining the system elements which have the largest effect on the relative stability of the closed-loop system. As a secondary product of the research reported here, the relative stability criteria based on the concept of singular values were explored.

Laser frequency stabilization using a transfer interferometer

NASA Astrophysics Data System (ADS)

Jackson, Shira; Sawaoka, Hiromitsu; Bhatt, Nishant; Potnis, Shreyas; Vutha, Amar C.

2018-03-01

We present a laser frequency stabilization system that uses a transfer interferometer to stabilize slave lasers to a reference laser. Our implementation uses off-the-shelf optical components along with microcontroller-based digital feedback, and offers a simple, flexible, and robust way to stabilize multiple laser frequencies to better than 1 MHz.

Effects of Goal Line Feedback on Level, Slope, and Stability of Performance within Curriculum-Based Measurement.

ERIC Educational Resources Information Center

Fuchs, Lynn S.; And Others

1991-01-01

Nineteen special educators implemented Curriculum-Based Measurement with a total of 36 learning-disabled math pupils in grades 2-8 to examine the effects of goal line feedback. Results indicated comparable levels and slopes of student performance across treatment conditions, although goal line feedback was associated with greater performance…

STABILIZED OSCILLATOR

DOEpatents

Jessen, P.L.; Price, H.J.

1958-03-18

This patent relates to sine-wave generators and in particular describes a generator with a novel feedback circuit resulting in improved frequency stability. The generator comprises two triodes having a common cathode circuit connected to oscillate at a frequency and amplitude at which the loop galn of the circutt ls unity, and another pair of triodes having a common cathode circuit arranged as a conventional amplifier. A signal is conducted from the osciliator through a frequency selective network to the amplifier and fed back to the osciliator. The unique feature of the feedback circuit is the amplifier operates in the nonlinear portion of its tube characteristics thereby providing a relatively constant feedback voltage to the oscillator irrespective of the amplitude of its input signal.

Generation of flat-top pulsed magnetic fields with feedback control approach.

PubMed

Kohama, Yoshimitsu; Kindo, Koichi

2015-10-01

We describe the construction of a simple, compact, and cost-effective feedback system that produces flat-top field profiles in pulsed magnetic fields. This system is designed for use in conjunction with a typical capacitor-bank driven pulsed magnet and was tested using a 60-T pulsed magnet. With the developed feedback controller, we have demonstrated flat-top magnetic fields as high as 60.64 T with an excellent field stability of ±0.005 T. The result indicates that the flat-top pulsed magnetic field produced features high field stability and an accessible field strength. These features make this system useful for improving the resolution of data with signal averaging.

Generation of mechanical oscillation applicable to vibratory rate gyroscopes

NASA Technical Reports Server (NTRS)

Lemkin, Mark A. (Inventor); Juneau, Thor N. (Inventor); Clark, William A. (Inventor); Roessig, Allen W. (Inventor)

2001-01-01

To achieve a drive-axis oscillation with improved frequency and amplitude stability, additional feedback loops are used to adjust force-feedback loop parameters. An amplitude-control loop measures oscillation amplitude, compares this value to the desired level, and adjusts damping of the mechanical sense-element to grow or shrink oscillation amplitude as appropriate. A frequency-tuning loop measures the oscillation frequency, compares this value with a highly stable reference, and adjusts the gain in the force-feedback loop to keep the drive-axis oscillation frequency at the reference value. The combined topology simultaneously controls both amplitude and frequency. Advantages of the combined topology include improved stability, fast oscillation start-up, low power consumption, and excellent shock rejection.

Stability enhancement of high Prandtl number chaotic convection in an anisotropic porous layer with feedback control

NASA Astrophysics Data System (ADS)

Mahmud, M. N.

2018-04-01

The chaotic dynamical behaviour of thermal convection in an anisotropic porous layer subject to gravity, heated from below and cooled from above, is studied based on theory of dynamical system in the presence of feedback control. The extended Darcy model, which includes the time derivative has been employed in the momentum equation to derive a low dimensional Lorenz-like equation by using Galerkin-truncated approximation. The classical fourth-order Runge-Kutta method is used to obtain the numerical solution in order to exemplify the dynamics of the nonlinear autonomous system. The results show that stability enhancement of chaotic convection is feasible via feedback control.

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.

Robust Stabilization of Uncertain Systems Based on Energy Dissipation Concepts

NASA Technical Reports Server (NTRS)

Gupta, Sandeep

1996-01-01

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

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

NASA Astrophysics Data System (ADS)

Yu, Yanan; Chen, Jing

2016-11-01

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

Comparing joint kinematics and center of mass acceleration as feedback for control of standing balance by functional neuromuscular stimulation.

PubMed

Nataraj, Raviraj; Audu, Musa L; Triolo, Ronald J

2012-05-06

The purpose of this study was to determine the comparative effectiveness of feedback control systems for maintaining standing balance based on joint kinematics or total body center of mass (COM) acceleration, and assess their clinical practicality for standing neuroprostheses after spinal cord injury (SCI). In simulation, controller performance was measured according to the upper extremity effort required to stabilize a three-dimensional model of bipedal standing against a variety of postural disturbances. Three cases were investigated: proportional-derivative control based on joint kinematics alone, COM acceleration feedback alone, and combined joint kinematics and COM acceleration feedback. Additionally, pilot data was collected during external perturbations of an individual with SCI standing with functional neuromuscular stimulation (FNS), and the resulting joint kinematics and COM acceleration data was analyzed. Compared to the baseline case of maximal constant muscle excitations, the three control systems reduced the mean upper extremity loading by 51%, 43% and 56%, respectively against external force-pulse perturbations. Controller robustness was defined as the degradation in performance with increasing levels of input errors expected with clinical deployment of sensor-based feedback. At error levels typical for body-mounted inertial sensors, performance degradation due to sensor noise and placement were negligible. However, at typical tracking error levels, performance could degrade as much as 86% for joint kinematics feedback and 35% for COM acceleration feedback. Pilot data indicated that COM acceleration could be estimated with a few well-placed sensors and efficiently captures information related to movement synergies observed during perturbed bipedal standing following SCI. Overall, COM acceleration feedback may be a more feasible solution for control of standing with FNS given its superior robustness and small number of inputs required.

Comparing joint kinematics and center of mass acceleration as feedback for control of standing balance by functional neuromuscular stimulation

PubMed Central

2012-01-01

Background The purpose of this study was to determine the comparative effectiveness of feedback control systems for maintaining standing balance based on joint kinematics or total body center of mass (COM) acceleration, and assess their clinical practicality for standing neuroprostheses after spinal cord injury (SCI). Methods In simulation, controller performance was measured according to the upper extremity effort required to stabilize a three-dimensional model of bipedal standing against a variety of postural disturbances. Three cases were investigated: proportional-derivative control based on joint kinematics alone, COM acceleration feedback alone, and combined joint kinematics and COM acceleration feedback. Additionally, pilot data was collected during external perturbations of an individual with SCI standing with functional neuromuscular stimulation (FNS), and the resulting joint kinematics and COM acceleration data was analyzed. Results Compared to the baseline case of maximal constant muscle excitations, the three control systems reduced the mean upper extremity loading by 51%, 43% and 56%, respectively against external force-pulse perturbations. Controller robustness was defined as the degradation in performance with increasing levels of input errors expected with clinical deployment of sensor-based feedback. At error levels typical for body-mounted inertial sensors, performance degradation due to sensor noise and placement were negligible. However, at typical tracking error levels, performance could degrade as much as 86% for joint kinematics feedback and 35% for COM acceleration feedback. Pilot data indicated that COM acceleration could be estimated with a few well-placed sensors and efficiently captures information related to movement synergies observed during perturbed bipedal standing following SCI. Conclusions Overall, COM acceleration feedback may be a more feasible solution for control of standing with FNS given its superior robustness and small number of inputs required. PMID:22559852

Output Feedback Slewing Control of Flewible Spacecraft by

NASA Astrophysics Data System (ADS)

Kim, Daesik; Kim, Chun-Hwey; Bang, Hyochoong

1997-12-01

Slewing maneuver and vibration suppression control of flexible spacecraft model by Lyapunov stability theory are considered. The specific model considered in this paper consists of a rigid hub with an elastic appendage attached to the central hub and tip mass. Attitude control to point and stabilize single axis using reaction wheel type device is tested. To control all flexible modes is so critical to designing an active control law. We therefore considered an direct output feeback control design by using Lyapunov stability theory. It is shown that the ouput feedback control law design with proposed configuration gives satisfactory result in slewing performance and vibration suppression control.

A neural based intelligent flight control system for the NASA F-15 flight research aircraft

NASA Technical Reports Server (NTRS)

Urnes, James M.; Hoy, Stephen E.; Ladage, Robert N.; Stewart, James

1993-01-01

A flight control concept that can identify aircraft stability properties and continually optimize the aircraft flying qualities has been developed by McDonnell Aircraft Company under a contract with the NASA-Dryden Flight Research Facility. This flight concept, termed the Intelligent Flight Control System, utilizes Neural Network technology to identify the host aircraft stability and control properties during flight, and use this information to design on-line the control system feedback gains to provide continuous optimum flight response. This self-repairing capability can provide high performance flight maneuvering response throughout large flight envelopes, such as needed for the National Aerospace Plane. Moreover, achieving this response early in the vehicle's development schedule will save cost.

Stabilization of electrically conducting capillary bridges using feedback control of radial electrostatic stresses and the shapes of extended bridges

NASA Astrophysics Data System (ADS)

Marr-Lyon, Mark J.; Thiessen, David B.; Blonigen, Florian J.; Marston, Philip L.

2000-05-01

Electrically conducting, cylindrical liquid bridges in a density-matched, electrically insulating bath were stabilized beyond the Rayleigh-Plateau (RP) limit using electrostatic stresses applied by concentric ring electrodes. A circular liquid cylinder of length L and radius R in real or simulated zero gravity becomes unstable when the slenderness S=L/2R exceeds π. The initial instability involves the growth of the so-called (2, 0) mode of the bridge in which one side becomes thin and the other side rotund. A mode-sensing optical system detects the growth of the (2, 0) mode and an analog feedback system applies the appropriate voltages to a pair of concentric ring electrodes positioned near the ends of the bridge in order to counter the growth of the (2, 0) mode and prevent breakup of the bridge. The conducting bridge is formed between metal disks which are grounded. Three feedback algorithms were tested and each found capable of stabilizing a bridge well beyond the RP limit. All three algorithms stabilized bridges having S as great as 4.3 and the extended bridges broke immediately when feedback was terminated. One algorithm was suitable for stabilization approaching S=4.493… where the (3, 0) mode is predicted to become unstable for cylindrical bridges. For that algorithm the equilibrium shapes of bridges that were slightly under or over inflated corresponded to solutions of the Young-Laplace equation with negligible electrostatic stresses. The electrical conductivity of the bridge liquid need not be large. The conductivity was associated with salt added to the aqueous bridge liquid.

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.

Interactive Information Seeking and Retrieving: A Third Feedback Framework.

ERIC Educational Resources Information Center

Spink, Amanda

1996-01-01

Presents an overview of feedback within the cybernetics and social frameworks. These feedback concepts are then compared with the interactive feedback concept evolving within the framework of information seeking and retrieving, based on their conceptualization of the feedback loop and notion of information. (Author/AEF)

FIRST BEAM TESTS OF THE APS MBA UPGRADE ORBIT FEEDBACK CONTROLLER

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

Sereno, N. S.; Arnold, N.; Brill, A.

The new orbit feedback system required for the APS multi-bend acromat (MBA) ring must meet challenging beam stability requirements. The AC stability requirement is to correct rms beam motion to 10 % the rms beam size at the insertion device source points from 0.01 to 1000 Hz. The vertical plane represents the biggest challenge for AC stability which is required to be 400 nm rms for a 4 micron vertical beam size. In addition long term drift over a period of 7 days is required to be 1 micron or less at insertion de- vice BPMs and 2 microns formore » arc bpms. We present test re- sults of theMBA prototype orbit feedback controller (FBC) in the APS storage ring. In this test, four insertion device BPMs were configured to send data to the FBC for process- ing into four fast corrector setpoints. The configuration of four bpms and four fast correctors creates a 4-bump and the configuration of fast correctors is similar to what will be implemented in the MBA ring. We report on performance benefits of increasing the sampling rate by a factor of 15 to 22.6 kHz over the existing APS orbit feedback system, lim- itations due to existing storage ring hardware and extrapo- lation to theMBA orbit feedback design. FBC architecture, signal flow and processing design will also be discussed.« less

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.

Mid-infrared multiheterodyne spectroscopy with phase-locked quantum cascade lasers

NASA Astrophysics Data System (ADS)

Westberg, J.; Sterczewski, L. A.; Wysocki, G.

2017-04-01

Fabry-Pérot (FP) quantum cascade lasers (QCLs) provide purely electronically controlled monolithic sources for broadband mid-infrared (mid-IR) multiheterodyne spectroscopy (MHS), which benefits from the large gain bandwidth of the QCLs without sacrificing the narrowband properties commonly associated with the single mode distributed feedback variant. We demonstrate a FP-QCL based multiheterodyne spectrometer with a short-term noise-equivalent absorption of ˜3 × 10-4/ √{ H z } , a mid-IR spectral coverage of 25 cm-1, and very short acquisition time (10 μs) capability. The broadband potential is demonstrated by measuring the absorption spectra of ammonia and isobutane under atmospheric pressure conditions. The stability of the system is enhanced by a two-stage active frequency inter-locking procedure, where the two QCLs are pre-locked with a slow feedback loop based on an analog frequency discriminator, followed by a high bandwidth optical phase-locked loop. The locking system provides a relative frequency stability in the sub kHz range over seconds of integration time. The strength of the technique lies in the ability to acquire spectral information from all optical modes simultaneously and individually, which bodes for a versatile and cost effective spectrometer for mid-IR chemical gas sensing.

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.

In-situ high-resolution visualization of laser-induced periodic nanostructures driven by optical feedback.

PubMed

Aguilar, Alberto; Mauclair, Cyril; Faure, Nicolas; Colombier, Jean-Philippe; Stoian, Razvan

2017-11-28

Optical feedback is often evoked in laser-induced periodic nanostructures. Visualizing the coupling between surfaces and light requires highly-resolved imaging methods. We propose in-situ structured-illumination-microscopy to observe ultrafast-laser-induced nanostructures during fabrication on metallic glass surfaces. This resolves the pulse-to-pulse development of periodic structures on a single irradiation site and indicates the optical feedback on surface topographies. Firstly, the quasi-constancy of the ripples pattern and the reinforcement of the surface relief with the same spatial positioning indicates a phase-locking mechanism that stabilizes and amplifies the ordered corrugation. Secondly, on sites with uncorrelated initial corrugation, we observe ripple patterns spatially in-phase. These feedback aspects rely on the electromagnetic interplay between the laser pulse and the surface relief, stabilizing the pattern in period and position. They are critically dependent on the space-time coherence of the exciting pulse. This suggests a modulation of energy according to the topography of the surface with a pattern phase imposed by the driving pulse. A scattering and interference model for ripple formation on surfaces supports the experimental observations. This relies on self-phase-stabilized far-field interaction between surface scattered wavelets and the incoming pulse front.

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.

Feedbacks stablizing wetland geometry on a pattened landscape

NASA Astrophysics Data System (ADS)

Dong, X.; Heffernan, J. B.; Murray, A. B.

2017-12-01

Karst morphology is highly varied across different climatic and geologic regions of the world. Big Cypress National Preserve in SW Florida, features regularly distributed wetland depressions, located on exposed limestone bedrock. In this study, we explored the development of wetland depressions over the past 10kyrs of landscape formation. Specifically, we are interested in (1) whether the wetland depressions on the landscape have reached equilibrium size, and (2) if so, what are feedback mechanisms that contributed to stabilizing these depressions. We hypothesized three stabilizing feedback mechanisms. HYP1: increased size of depressions reduces landscape hydrological connectivity, which resulted in reduced landscape capacity to export dissolution products, hence lower weathering rate. HYP2: expansion of depression area increases tree biomass within the depression, which increased average evapotranspiration (ET) within the dome. The greater difference of ET rate between depression and upland leads to a lower water table in the depression. As a result, more subsurface water, carrying dissolved calcium, flows from catchment to depression. With lower export capacity and more calcium moving into the depression zones, rate of calcite precipitation increases, which lowers net weathering rate. HYP3: increasingly thicker sediment cover in the wetland depression over time decreases chemical transport capacity. This lowers both transport of CO2 from shallower soil to bedrock and transport of dissolution products from bedrock to surface. Both of these processes reduce bedrock-weathering rate. We built a 3-D numerical simulation model that partitioned the relative importance of different mechanisms. Preliminary results show that (1) there is an equilibrium size for wetland depressions for both radius and depth dimension; (2) current depressions are formed by coalescence of several nearby small depressions during development; (3) the soil cover feedback (HYP3) is the major feedback stabilizing depth of depressions, while reduced landscape connectivity (HYP1) and increased local exchange of dissolved calcium caused by differential ET between catchment and depression (HYP2) is the major radius stabilizing feedback.

Can a Rescuer or Simulated Patient Accurately Assess Motion During Cervical Spine Stabilization Practice Sessions?

PubMed Central

Shrier, Ian; Boissy, Patrick; Brière, Simon; Mellette, Jay; Fecteau, Luc; Matheson, Gordon O.; Garza, Daniel; Meeuwisse, Willem H.; Segal, Eli; Boulay, John; Steele, Russell J.

2012-01-01

Context: Health care providers must be prepared to manage all potential spine injuries as if they are unstable. Therefore, most sport teams devote resources to training for sideline cervical spine (C-spine) emergencies. Objective: To determine (1) how accurately rescuers and simulated patients can assess motion during C-spine stabilization practice and (2) whether providing performance feedback to rescuers influences their choice of stabilization technique. Design: Crossover study. Setting: Training studio. Patients or Other Participants: Athletic trainers, athletic therapists, and physiotherapists experienced at managing suspected C-spine injuries. Intervention(s): Twelve lead rescuers (at the patient's head) performed both the head-squeeze and trap-squeeze C-spine stabilization maneuvers during 4 test scenarios: lift-and-slide and log-roll placement on a spine board and confused patient trying to sit up or rotate the head. Main Outcome Measure(s): Interrater reliability between rescuer and simulated patient quality scores for subjective evaluation of C-spine stabilization during trials (0 = best, 10 = worst), correlation between rescuers' quality scores and objective measures of motion with inertial measurement units, and frequency of change in preference for the head-squeeze versus trap-squeeze maneuver. Results: Although the weighted κ value for interrater reliability was acceptable (0.71–0.74), scores varied by 2 points or more between rescuers and simulated patients for approximately 10% to 15% of trials. Rescuers' scores correlated with objective measures, but variability was large: 38% of trials scored as 0 or 1 by the rescuer involved more than 10° of motion in at least 1 direction. Feedback did not affect the preference for the lift-and-slide placement. For the log-roll placement, 6 of 8 participants who preferred the head squeeze at baseline preferred the trap squeeze after feedback. For the confused patient, 5 of 5 participants initially preferred the head squeeze but preferred the trap squeeze after feedback. Conclusions: Rescuers and simulated patients could not adequately assess performance during C-spine stabilization maneuvers without objective measures. Providing immediate feedback in this context is a promising tool for changing behavior preferences and improving training. PMID:22488229

Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

NASA Astrophysics Data System (ADS)

Bunderson, Nathan E.; Ting, Lena H.; Burkholder, Thomas J.

2007-09-01

Maintaining the postural configuration of a limb such as an arm or leg is a fundamental neural control task that involves the coordination of multiple linked body segments. Biological systems are known to use a complex network of inter- and intra-joint feedback mechanisms arising from muscles, spinal reflexes and higher neuronal structures to stabilize the limbs. While previous work has shown that a small amount of asymmetric heterogenic feedback contributes to the behavior of these systems, a satisfactory functional explanation for this non-conservative feedback structure has not been put forth. We hypothesized that an asymmetric multi-joint control strategy would confer both an energetic and stability advantage in maintaining endpoint position of a kinematically redundant system. We tested this hypothesis by using optimal control models incorporating symmetric versus asymmetric feedback with the goal of maintaining the endpoint location of a kinematically redundant, planar limb. Asymmetric feedback improved endpoint control performance of the limb by 16%, reduced energetic cost by 21% and increased interjoint coordination by 40% compared to the symmetric feedback system. The overall effect of the asymmetry was that proximal joint motion resulted in greater torque generation at distal joints than vice versa. The asymmetric organization is consistent with heterogenic stretch reflex gains measured experimentally. We conclude that asymmetric feedback has a functionally relevant role in coordinating redundant degrees of freedom to maintain the position of the hand or foot.

Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

PubMed Central

Bunderson, Nathan E.; Ting, Lena H.; Burkholder, Thomas J.

2008-01-01

Maintaining the postural configuration of a limb such as an arm or leg is a fundamental neural control task that involves the coordination of multiple linked body segments. Biological systems are known to use a complex network of inter- and intra-joint feedback mechanisms arising from muscles, spinal reflexes, and higher neuronal structures to stabilize the limbs. While previous work has shown that a small amount of asymmetric heterogenic feedback contributes to the behavior of these systems, a satisfactory functional explanation for this nonconservative feedback structure has not been put forth. We hypothesized that an asymmetric multi-joint control strategy would confer both an energetic and stability advantage in maintaining endpoint position of a kinematically redundant system. We tested this hypothesis by using optimal control models incorporating symmetric versus asymmetric feedback with the goal of maintaining the endpoint location of a kinematically redundant, planar limb. Asymmetric feedback improved endpoint control performance of the limb by 16%, reduced energetic cost by 21% and increased interjoint coordination by 40% compared to the symmetric feedback system. The overall effect of the asymmetry was that proximal joint motion resulted in greater torque generation at distal joints than vice versa. The asymmetric organization is consistent with heterogenic stretch reflex gains measured experimentally. We conclude that asymmetric feedback has a functionally relevant role in coordinating redundant degrees of freedom to maintain the position of the hand or foot. PMID:17873426

Stabilisation of time-varying linear systems via Lyapunov differential equations

NASA Astrophysics Data System (ADS)

Zhou, Bin; Cai, Guang-Bin; Duan, Guang-Ren

2013-02-01

This article studies stabilisation problem for time-varying linear systems via state feedback. Two types of controllers are designed by utilising solutions to Lyapunov differential equations. The first type of feedback controllers involves the unique positive-definite solution to a parametric Lyapunov differential equation, which can be solved when either the state transition matrix of the open-loop system is exactly known, or the future information of the system matrices are accessible in advance. Different from the first class of controllers which may be difficult to implement in practice, the second type of controllers can be easily implemented by solving a state-dependent Lyapunov differential equation with a given positive-definite initial condition. In both cases, explicit conditions are obtained to guarantee the exponentially asymptotic stability of the associated closed-loop systems. Numerical examples show the effectiveness of the proposed approaches.

Autonomous Quantum Error Correction with Application to Quantum Metrology

NASA Astrophysics Data System (ADS)

Reiter, Florentin; Sorensen, Anders S.; Zoller, Peter; Muschik, Christine A.

2017-04-01

We present a quantum error correction scheme that stabilizes a qubit by coupling it to an engineered environment which protects it against spin- or phase flips. Our scheme uses always-on couplings that run continuously in time and operates in a fully autonomous fashion without the need to perform measurements or feedback operations on the system. The correction of errors takes place entirely at the microscopic level through a build-in feedback mechanism. Our dissipative error correction scheme can be implemented in a system of trapped ions and can be used for improving high precision sensing. We show that the enhanced coherence time that results from the coupling to the engineered environment translates into a significantly enhanced precision for measuring weak fields. In a broader context, this work constitutes a stepping stone towards the paradigm of self-correcting quantum information processing.

Closed-loop control of a fragile network: application to seizure-like dynamics of an epilepsy model

PubMed Central

Ehrens, Daniel; Sritharan, Duluxan; Sarma, Sridevi V.

2015-01-01

It has recently been proposed that the epileptic cortex is fragile in the sense that seizures manifest through small perturbations in the synaptic connections that render the entire cortical network unstable. Closed-loop therapy could therefore entail detecting when the network goes unstable, and then stimulating with an exogenous current to stabilize the network. In this study, a non-linear stochastic model of a neuronal network was used to simulate both seizure and non-seizure activity. In particular, synaptic weights between neurons were chosen such that the network's fixed point is stable during non-seizure periods, and a subset of these connections (the most fragile) were perturbed to make the same fixed point unstable to model seizure events; and, the model randomly transitions between these two modes. The goal of this study was to measure spike train observations from this epileptic network and then apply a feedback controller that (i) detects when the network goes unstable, and then (ii) applies a state-feedback gain control input to the network to stabilize it. The stability detector is based on a 2-state (stable, unstable) hidden Markov model (HMM) of the network, and detects the transition from the stable mode to the unstable mode from using the firing rate of the most fragile node in the network (which is the output of the HMM). When the unstable mode is detected, a state-feedback gain is applied to generate a control input to the fragile node bringing the network back to the stable mode. Finally, when the network is detected as stable again, the feedback control input is switched off. High performance was achieved for the stability detector, and feedback control suppressed seizures within 2 s after onset. PMID:25784851

Some Properties and Stability Results for Sector-Bounded LTI Systems

NASA Technical Reports Server (NTRS)

Gupta, Sandeep; Joshi, Suresh M.

1994-01-01

This paper presents necessary and sufficient conditions for a linear, time-invariant (LTI) system to be inside sector (n, b) in terms of linear matrix inequalities in its state-space realization matrices, which represents a generalization of similar conditions for bounded H(sub infinity)-norm systems. Further, a weaker definition of LTI systems strictly inside closed sector (a, b) is proposed, and state-space characterization of such systems is presented. Sector conditions for stability of the negative feedback interconnection of two LTI systems and for stability of LTI systems with feedback nonlinearities are investigated using the Lyapunov function approach. It is shown that the proposed weaker conditions for an LTI system to be strictly inside a sector are sufficient to establish closed-loop stability of these systems.

A Surface-Coupled Optical Trap with 1-bp Precision via Active Stabilization.

PubMed

Okoniewski, Stephen R; Carter, Ashley R; Perkins, Thomas T

2017-01-01

Optical traps can measure bead motions with Å-scale precision. However, using this level of precision to infer 1-bp motion of molecular motors along DNA is difficult, since a variety of noise sources degrade instrumental stability. In this chapter, we detail how to improve instrumental stability by (1) minimizing laser pointing, mode, polarization, and intensity noise using an acousto-optical-modulator mediated feedback loop and (2) minimizing sample motion relative to the optical trap using a three-axis piezo-electric-stage mediated feedback loop. These active techniques play a critical role in achieving a surface stability of 1 Å in 3D over tens of seconds and a 1-bp stability and precision in a surface-coupled optical trap over a broad bandwidth (Δf = 0.03-2 Hz) at low force (6 pN). These active stabilization techniques can also aid other biophysical assays that would benefit from improved laser stability and/or Å-scale sample stability, such as atomic force microscopy and super-resolution imaging.

Stabilization strategies of a general nonlinear car-following model with varying reaction-time delay of the drivers.

PubMed

Li, Shukai; Yang, Lixing; Gao, Ziyou; Li, Keping

2014-11-01

In this paper, the stabilization strategies of a general nonlinear car-following model with reaction-time delay of the drivers are investigated. The reaction-time delay of the driver is time varying and bounded. By using the Lyapunov stability theory, the sufficient condition for the existence of the state feedback control strategy for the stability of the car-following model is given in the form of linear matrix inequality, under which the traffic jam can be well suppressed with respect to the varying reaction-time delay. Moreover, by considering the external disturbance for the running cars, the robust state feedback control strategy is designed, which ensures robust stability and a smaller prescribed H∞ disturbance attenuation level for the traffic flow. Numerical examples are given to illustrate the effectiveness of the proposed methods. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Cortical feedback signals generalise across different spatial frequencies of feedforward inputs.

PubMed

Revina, Yulia; Petro, Lucy S; Muckli, Lars

2017-09-22

Visual processing in cortex relies on feedback projections contextualising feedforward information flow. Primary visual cortex (V1) has small receptive fields and processes feedforward information at a fine-grained spatial scale, whereas higher visual areas have larger, spatially invariant receptive fields. Therefore, feedback could provide coarse information about the global scene structure or alternatively recover fine-grained structure by targeting small receptive fields in V1. We tested if feedback signals generalise across different spatial frequencies of feedforward inputs, or if they are tuned to the spatial scale of the visual scene. Using a partial occlusion paradigm, functional magnetic resonance imaging (fMRI) and multivoxel pattern analysis (MVPA) we investigated whether feedback to V1 contains coarse or fine-grained information by manipulating the spatial frequency of the scene surround outside an occluded image portion. We show that feedback transmits both coarse and fine-grained information as it carries information about both low (LSF) and high spatial frequencies (HSF). Further, feedback signals containing LSF information are similar to feedback signals containing HSF information, even without a large overlap in spatial frequency bands of the HSF and LSF scenes. Lastly, we found that feedback carries similar information about the spatial frequency band across different scenes. We conclude that cortical feedback signals contain information which generalises across different spatial frequencies of feedforward inputs. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback. M.S. Thesis

NASA Technical Reports Server (NTRS)

Gettman, Chang-Ching LO

1993-01-01

This thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.

Intermittent control with ankle, hip, and mixed strategies during quiet standing: a theoretical proposal based on a double inverted pendulum model.

PubMed

Suzuki, Yasuyuki; Nomura, Taishin; Casadio, Maura; Morasso, Pietro

2012-10-07

Human upright posture, as a mechanical system, is characterized by an instability of saddle type, involving both stable and unstable dynamic modes. The brain stabilizes such system by generating active joint torques, according to a time-delayed neural feedback control. What is still unsolved is a clear understanding of the control strategies and the control mechanisms that are used by the central nervous system in order to stabilize the unstable posture in a robust way while maintaining flexibility. Most studies in this direction have been limited to the single inverted pendulum model, which is useful for formalizing fundamental mechanical aspects but insufficient for addressing more general issues concerning neural control strategies. Here we consider a double inverted pendulum model in the sagittal plane with small passive viscoelasticity at the ankle and hip joints. Despite difficulties in stabilizing the double pendulum model in the presence of the large feedback delay, we show that robust and flexible stabilization of the upright posture can be established by an intermittent control mechanism that achieves the goal of stabilizing the body posture according to a "divide and conquer strategy", which switches among different controllers in different parts of the state space of the double inverted pendulum. Remarkably, it is shown that a global, robust stability is achieved even if the individual controllers are unstable and the information exploited for switching from one controller to another is severely delayed, as it happens in biological reality. Moreover, the intermittent controller can automatically resolve coordination among multiple active torques associated with the muscle synergy, leading to the emergence of distinct temporally coordinated active torque patterns, referred to as the intermittent ankle, hip, and mixed strategies during quiet standing, depending on the passive elasticity at the hip joint. Copyright © 2012 Elsevier Ltd. All rights reserved.

Delayed feedback control in quantum transport.

PubMed

Emary, Clive

2013-09-28

Feedback control in quantum transport has been predicted to give rise to several interesting effects, among them quantum state stabilization and the realization of a mesoscopic Maxwell's daemon. These results were derived under the assumption that control operations on the system are affected instantaneously after the measurement of electronic jumps through it. In this contribution, I describe how to include a delay between detection and control operation in the master equation theory of feedback-controlled quantum transport. I investigate the consequences of delay for the state stabilization and Maxwell's daemon schemes. Furthermore, I describe how delay can be used as a tool to probe coherent oscillations of electrons within a transport system and how this formalism can be used to model finite detector bandwidth.

Reduced-Order Model Based Feedback Control For Modified Hasegawa-Wakatani Model

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

Goumiri, I. R.; Rowley, C. W.; Ma, Z.

2013-01-28

In this work, the development of model-based feedback control that stabilizes an unstable equilibrium is obtained for the Modi ed Hasegawa-Wakatani (MHW) equations, a classic model in plasma turbulence. First, a balanced truncation (a model reduction technique that has proven successful in ow control design problems) is applied to obtain a low dimensional model of the linearized MHW equation. Then a modelbased feedback controller is designed for the reduced order model using linear quadratic regulators (LQR). Finally, a linear quadratic gaussian (LQG) controller, which is more resistant to disturbances is deduced. The controller is applied on the non-reduced, nonlinear MHWmore » equations to stabilize the equilibrium and suppress the transition to drift-wave induced turbulence.« less

The integration of temporally shifted visual feedback in a synchronization task: The role of perceptual stability in a visuo-proprioceptive conflict situation.

PubMed

Ceux, Tanja; Montagne, Gilles; Buekers, Martinus J

2010-12-01

The present study examined whether the beneficial role of coherently grouped visual motion structures for performing complex (interlimb) coordination patterns can be generalized to synchronization behavior in a visuo-proprioceptive conflict situation. To achieve this goal, 17 participants had to synchronize a self-moved circle, representing the arm movement, with a visual target signal corresponding to five temporally shifted visual feedback conditions (0%, 25%, 50%, 75%, and 100% of the target cycle duration) in three synchronization modes (in-phase, anti-phase, and intermediate). The results showed that the perception of a newly generated perceptual Gestalt between the visual feedback of the arm and the target signal facilitated the synchronization performance in the preferred in-phase synchronization mode in contrast to the less stable anti-phase and intermediate mode. Our findings suggest that the complexity of the synchronization mode defines to what extent the visual and/or proprioceptive information source affects the synchronization performance in the present unimanual synchronization task. Copyright © 2010 Elsevier B.V. All rights reserved.

Development and flight evaluation of an augmented stability active controls concept with a small tail

NASA Technical Reports Server (NTRS)

1980-01-01

Parasite drag reduction evaluation is composed of wind tunnel tests with a standard L-1011 tail and two reduced area tail configurations. Trim drag reduction is evaluated by rebalancing the airplane for relaxed static stability. This is accomplished by pumping water to tanks in the forward and aft of the airplane to acheive desired center of gravity location. Also, the L-1011 is modified to incorporate term and advanced augmented systems. By using advanced wings and aircraft relaxed static stability significant fuel savings can be realized. An airplane's dynamic stability becomes more sensitive for decreased tail size, relaxed static stability, and advanced wing configurations. Active control pitch augmentation will be used to acheive the required handling qualities. Flight tests will be performed to evaluate the pitch augmentation systems. The effect of elevator downrig on stabilizer/elevator hinge moments will be measured. For control system analysis, the normal acceleration feedback and pitch rate feedback are analyzed.

Sea-level feedback lowers projections of future Antarctic Ice-Sheet mass loss

PubMed Central

Gomez, Natalya; Pollard, David; Holland, David

2015-01-01

The stability of marine sectors of the Antarctic Ice Sheet (AIS) in a warming climate has been identified as the largest source of uncertainty in projections of future sea-level rise. Sea-level fall near the grounding line of a retreating marine ice sheet has a stabilizing influence on the ice sheets, and previous studies have established the importance of this feedback on ice age AIS evolution. Here we use a coupled ice sheet–sea-level model to investigate the impact of the feedback mechanism on future AIS retreat over centennial and millennial timescales for a range of emission scenarios. We show that the combination of bedrock uplift and sea-surface drop associated with ice-sheet retreat significantly reduces AIS mass loss relative to a simulation without these effects included. Sensitivity analyses show that the stabilization tends to be greatest for lower emission scenarios and Earth models characterized by a thin elastic lithosphere and low-viscosity upper mantle, as is the case for West Antarctica. PMID:26554381

Multiple-Try Feedback and Higher-Order Learning Outcomes

ERIC Educational Resources Information Center

Clariana, Roy B.; Koul, Ravinder

2005-01-01

Although feedback is an important component of computer-based instruction (CBI), the effects of feedback on higher-order learning outcomes are not well understood. Several meta-analyses provide two rules of thumb: any feedback is better than no feedback and feedback with more information is better than feedback with less information. …

Lp-stability (1 less than or equal to p less than or equal to infinity) of multivariable nonlinear time-varying feedback systems that are open-loop unstable. [noting unstable convolution subsystem forward control and time varying nonlinear feedback

NASA Technical Reports Server (NTRS)

Callier, F. M.; Desoer, C. A.

1973-01-01

A class of multivariable, nonlinear time-varying feedback systems with an unstable convolution subsystem as feedforward and a time-varying nonlinear gain as feedback was considered. The impulse response of the convolution subsystem is the sum of a finite number of increasing exponentials multiplied by nonnegative powers of the time t, a term that is absolutely integrable and an infinite series of delayed impulses. The main result is a theorem. It essentially states that if the unstable convolution subsystem can be stabilized by a constant feedback gain F and if incremental gain of the difference between the nonlinear gain function and F is sufficiently small, then the nonlinear system is L(p)-stable for any p between one and infinity. Furthermore, the solutions of the nonlinear system depend continuously on the inputs in any L(p)-norm. The fixed point theorem is crucial in deriving the above theorem.

STABILIZED TRANSISTOR AMPLIFIER

DOEpatents

Noe, J.B.

1963-05-01

A temperature stabilized transistor amplifier having a pair of transistors coupled in cascade relation that are capable of providing amplification through a temperature range of - 100 un. Concent 85% F to 400 un. Concent 85% F described. The stabilization of the amplifier is attained by coupling a feedback signal taken from the emitter of second transistor at a junction between two serially arranged biasing resistances in the circuit of the emitter of the second transistor to the base of the first transistor. Thus, a change in the emitter current of the second transistor is automatically corrected by the feedback adjustment of the base-emitter potential of the first transistor and by a corresponding change in the base-emitter potential of the second transistor. (AEC)

Stabilization and control of the carrier-envelope phase of high-power femtosecond laser pulses using the direct locking technique.

PubMed

Imran, Tayyab; Lee, Yong S; Nam, Chang H; Hong, Kyung-Han; Yu, Tae J; Sung, Jae H

2007-01-08

We have stabilized and electronically controlled the carrier-envelope phase (CEP) of high-power femtosecond laser pulses, generated in a grating-based chirped-pulse amplification kHz Ti:sapphire laser, using the direct locking technique [Opt. Express 13, 2969 (2005)] combined with a slow feedback loop. An f-2f spectral interferometer has shown the CEP stabilities of 1.2 rad with the direct locking loop applied to the oscillator and of 180 mrad with an additional slow feedback loop, respectively. The electronic CEP modulations that can be easily realized in the direct locking loop are also demonstrated with the amplified pulses.

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.

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

PubMed

Blumthaler, Ingrid; Oberst, Ulrich

2012-03-01

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

Decentralization, stabilization, and estimation of large-scale linear systems

NASA Technical Reports Server (NTRS)

Siljak, D. D.; Vukcevic, M. B.

1976-01-01

In this short paper we consider three closely related aspects of large-scale systems: decentralization, stabilization, and estimation. A method is proposed to decompose a large linear system into a number of interconnected subsystems with decentralized (scalar) inputs or outputs. The procedure is preliminary to the hierarchic stabilization and estimation of linear systems and is performed on the subsystem level. A multilevel control scheme based upon the decomposition-aggregation method is developed for stabilization of input-decentralized linear systems Local linear feedback controllers are used to stabilize each decoupled subsystem, while global linear feedback controllers are utilized to minimize the coupling effect among the subsystems. Systems stabilized by the method have a tolerance to a wide class of nonlinearities in subsystem coupling and high reliability with respect to structural perturbations. The proposed output-decentralization and stabilization schemes can be used directly to construct asymptotic state estimators for large linear systems on the subsystem level. The problem of dimensionality is resolved by constructing a number of low-order estimators, thus avoiding a design of a single estimator for the overall system.

A digital frequency stabilization system of external cavity diode laser based on LabVIEW FPGA

NASA Astrophysics Data System (ADS)

Liu, Zhuohuan; Hu, Zhaohui; Qi, Lu; Wang, Tao

2015-10-01

Frequency stabilization for external cavity diode laser has played an important role in physics research. Many laser frequency locking solutions have been proposed by researchers. Traditionally, the locking process was accomplished by analog system, which has fast feedback control response speed. However, analog system is susceptible to the effects of environment. In order to improve the automation level and reliability of the frequency stabilization system, we take a grating-feedback external cavity diode laser as the laser source and set up a digital frequency stabilization system based on National Instrument's FPGA (NI FPGA). The system consists of a saturated absorption frequency stabilization of beam path, a differential photoelectric detector, a NI FPGA board and a host computer. Many functions, such as piezoelectric transducer (PZT) sweeping, atomic saturation absorption signal acquisition, signal peak identification, error signal obtaining and laser PZT voltage feedback controlling, are totally completed by LabVIEW FPGA program. Compared with the analog system, the system built by the logic gate circuits, performs stable and reliable. User interface programmed by LabVIEW is friendly. Besides, benefited from the characteristics of reconfiguration, the LabVIEW program is good at transplanting in other NI FPGA boards. Most of all, the system periodically checks the error signal. Once the abnormal error signal is detected, FPGA will restart frequency stabilization process without manual control. Through detecting the fluctuation of error signal of the atomic saturation absorption spectrum line in the frequency locking state, we can infer that the laser frequency stability can reach 1MHz.

Chaos control by electric current in an enzymatic reaction.

PubMed

Lekebusch, A; Förster, A; Schneider, F W

1996-09-01

We apply the continuous delayed feedback method of Pyragas to control chaos in the enzymatic Peroxidase-Oxidase (PO) reaction, using the electric current as the control parameter. At each data point in the time series, a time delayed feedback function applies a small amplitude perturbation to inert platinum electrodes, which causes redox processes on the surface of the electrodes. These perturbations are calculated as the difference between the previous (time delayed) signal and the actual signal. Unstable periodic P1, 1(1), and 1(2) orbits (UPOs) were stabilized in the CSTR (continuous stirred tank reactor) experiments. The stabilization is demonstrated by at least three conditions: A minimum in the experimental dispersion function, the equality of the delay time with the period of the stabilized attractor and the embedment of the stabilized periodic attractor in the chaotic attractor.

Stability boundaries for command augmentation systems

NASA Technical Reports Server (NTRS)

Shrivastava, P. C.

1987-01-01

The Stability Augmentation System (SAS) is a special case of the Command Augmentation System (CAS). Control saturation imposes bounds on achievable commands. The state equilibrium depends only on the open loop dynamics and control deflection. The control magnitude to achieve a desired command equilibrium is independent of the feedback gain. A feedback controller provides the desired response, maintains the system equilibrium under disturbances, but it does not affect the equilibrium values of states and control. The saturation boundaries change with commands, but the location of the equilibrium points in the saturated region remains unchanged. Nonzero command vectors yield saturation boundaries that are asymmetric with respect to the state equilibrium. Except for the saddle point case with MCE control law, the stability boundaries change with commands. For the cases of saddle point and unstable nodes, the region of stability decreases with increasing command magnitudes.

Do microbial processes regulate the stability of a coral atoll's enclosed pelagic ecosystem?

EPA Science Inventory

Complex marine ecosystems contain multiple feedback cycles that can cause unexpected responses to perturbations. To better predict these responses, complicated models are increasingly being developed to enable the study of feedback cycles. However, the sparseness of ecological da...

Harnessing speckle for a sub-femtometre resolved broadband wavemeter and laser stabilization

PubMed Central

Metzger, Nikolaus Klaus; Spesyvtsev, Roman; Bruce, Graham D.; Miller, Bill; Maker, Gareth T.; Malcolm, Graeme; Mazilu, Michael; Dholakia, Kishan

2017-01-01

The accurate determination and control of the wavelength of light is fundamental to many fields of science. Speckle patterns resulting from the interference of multiple reflections in disordered media are well-known to scramble the information content of light by complex but linear processes. However, these patterns are, in fact, exceptionally rich in information about the illuminating source. We use a fibre-coupled integrating sphere to generate wavelength-dependent speckle patterns, in combination with algorithms based on the transmission matrix method and principal component analysis, to realize a broadband and sensitive wavemeter. We demonstrate sub-femtometre wavelength resolution at a centre wavelength of 780 nm, and a broad calibrated measurement range from 488 to 1,064 nm. This compares favourably to the performance of conventional wavemeters. Using this speckle wavemeter as part of a feedback loop, we stabilize a 780 nm diode laser to achieve a linewidth better than 1 MHz. PMID:28580938

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

NASA Technical Reports Server (NTRS)

Wen, John T.

1990-01-01

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

Real-time feedback for spatiotemporal field stabilization in MR systems.

PubMed

Duerst, Yolanda; Wilm, Bertram J; Dietrich, Benjamin E; Vannesjo, S Johanna; Barmet, Christoph; Schmid, Thomas; Brunner, David O; Pruessmann, Klaas P

2015-02-01

MR imaging and spectroscopy require a highly stable, uniform background field. The field stability is typically limited by hardware imperfections, external perturbations, or field fluctuations of physiological origin. The purpose of the present work is to address these issues by introducing spatiotemporal field stabilization based on real-time sensing and feedback control. An array of NMR field probes is used to sense the field evolution in a whole-body MR system concurrently with regular system operation. The field observations serve as inputs to a proportional-integral controller that governs correction currents in gradient and higher-order shim coils such as to keep the field stable in a volume of interest. The feedback system was successfully set up, currently reaching a minimum latency of 20 ms. Its utility is first demonstrated by countering thermal field drift during an EPI protocol. It is then used to address respiratory field fluctuations in a T2 *-weighted brain exam, resulting in substantially improved image quality. Feedback field control is an effective means of eliminating dynamic field distortions in MR systems. Third-order spatial control at an update time of 100 ms has proven sufficient to largely eliminate thermal and breathing effects in brain imaging at 7 Tesla. © 2014 Wiley Periodicals, Inc.

Feedback control of combustion instabilities from within limit cycle oscillations using H∞ loop-shaping and the ν-gap metric

PubMed Central

Morgans, Aimee S.

2016-01-01

Combustion instabilities arise owing to a two-way coupling between acoustic waves and unsteady heat release. Oscillation amplitudes successively grow, until nonlinear effects cause saturation into limit cycle oscillations. Feedback control, in which an actuator modifies some combustor input in response to a sensor measurement, can suppress combustion instabilities. Linear feedback controllers are typically designed, using linear combustor models. However, when activated from within limit cycle, the linear model is invalid, and such controllers are not guaranteed to stabilize. This work develops a feedback control strategy guaranteed to stabilize from within limit cycle oscillations. A low-order model of a simple combustor, exhibiting the essential features of more complex systems, is presented. Linear plane acoustic wave modelling is combined with a weakly nonlinear describing function for the flame. The latter is determined numerically using a level set approach. Its implication is that the open-loop transfer function (OLTF) needed for controller design varies with oscillation level. The difference between the mean and the rest of the OLTFs is characterized using the ν-gap metric, providing the minimum required ‘robustness margin’ for an H∞ loop-shaping controller. Such controllers are designed and achieve stability both for linear fluctuations and from within limit cycle oscillations. PMID:27493558

Stochastic Characterization of Communication Network Latency for Wide Area Grid Control Applications.

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

Ameme, Dan Selorm Kwami; Guttromson, Ross

This report characterizes communications network latency under various network topologies and qualities of service (QoS). The characterizations are probabilistic in nature, allowing deeper analysis of stability for Internet Protocol (IP) based feedback control systems used in grid applications. The work involves the use of Raspberry Pi computers as a proxy for a controlled resource, and an ns-3 network simulator on a Linux server to create an experimental platform (testbed) that can be used to model wide-area grid control network communications in smart grid. Modbus protocol is used for information transport, and Routing Information Protocol is used for dynamic route selectionmore » within the simulated network.« less

Attitude control of the space construction base: A modular approach

NASA Technical Reports Server (NTRS)

Oconnor, D. A.

1982-01-01

A planar model of a space base and one module is considered. For this simplified system, a feedback controller which is compatible with the modular construction method is described. The systems dynamics are decomposed into two parts corresponding to base and module. The information structure of the problem is non-classical in that not all system information is supplied to each controller. The base controller is designed to accommodate structural changes that occur as the module is added and the module controller is designed to regulate its own states and follow commands from the base. Overall stability of the system is checked by Liapunov analysis and controller effectiveness is verified by computer simulation.

Changes in ENSO amplitude under climate warming and cooling

NASA Astrophysics Data System (ADS)

Wang, Yingying; Luo, Yiyong; Lu, Jian; Liu, Fukai

2018-05-01

The response of ENSO amplitude to climate warming and cooling is investigated using the Community Earth System Model (CESM), in which the warming and cooling scenarios are designed by adding heat fluxes of equal amplitude but opposite sign onto the ocean surface, respectively. Results show that the warming induces an increase of the ENSO amplitude but the cooling gives rise to a decrease of the ENSO amplitude, and these changes are robust in statistics. A mixed layer heat budget analysis finds that the increasing (decreasing) SST tendency under climate warming (cooling) is mainly due to an enhancement (weakening) of dynamical feedback processes over the equatorial Pacific, including zonal advective (ZA) feedback, meridional advective (MA) feedback, thermocline (TH) feedback, and Ekman (EK) feedback. As the climate warms, a wind anomaly of the same magnitude across the equatorial Pacific can induce a stronger zonal current change in the east (i.e., a stronger ZA feedback), which in turn produces a greater weakening of upwelling (i.e., a stronger EK feedback) and thus a larger thermocline change (i.e., a stronger TH feedback). In response to the climate warming, in addition, the MA feedback is also strengthened due to an enhancement of the meridional SST gradient around the equator resulting from a weakening of the subtropical cells (STCs). It should be noted that the weakened STCs itself has a negative contribution to the change of the MA feedback which, however, appears to be secondary. And vice versa for the cooling case. Bjerknes linear stability (BJ) index is also evaluated for the linear stability of ENSO, with remarkably larger (smaller) BJ index found for the warming (cooling) case.

Engineering information on an Analog Signal to Discrete Time Interval Converter (ASDT-IC)

NASA Technical Reports Server (NTRS)

Schwarz, F. C.

1974-01-01

An electronic control system for nondissipative dc power converters is presented which improves (1) the routinely attainable static output voltage accuracy to the order of + or - 1% for ambient temperatures from -55 to 100 C and (2) the dynamic stability by utilizing approximately one tenth of the feedback gain needed otherwise. Performance is due to a functional philosophy of deterministic pulse modulation based on pulse area control and to an autocompensated signal processing principle. The system can be implemented with commercially available unselected components.

A stage structure pest management model with impulsive state feedback control

NASA Astrophysics Data System (ADS)

Pang, Guoping; Chen, Lansun; Xu, Weijian; Fu, Gang

2015-06-01

A stage structure pest management model with impulsive state feedback control is investigated. We get the sufficient condition for the existence of the order-1 periodic solution by differential equation geometry theory and successor function. Further, we obtain a new judgement method for the stability of the order-1 periodic solution of the semi-continuous systems by referencing the stability analysis for limit cycles of continuous systems, which is different from the previous method of analog of Poincarè criterion. Finally, we analyze numerically the theoretical results obtained.

Bifurcation Analysis and Chaos Control in a Modified Finance System with Delayed Feedback

NASA Astrophysics Data System (ADS)

Yang, Jihua; Zhang, Erli; Liu, Mei

2016-06-01

We investigate the effect of delayed feedback on the finance system, which describes the time variation of the interest rate, for establishing the fiscal policy. By local stability analysis, we theoretically prove the existences of Hopf bifurcation and Hopf-zero bifurcation. By using the normal form method and center manifold theory, we determine the stability and direction of a bifurcating periodic solution. Finally, we give some numerical solutions, which indicate that when the delay passes through certain critical values, chaotic oscillation is converted into a stable equilibrium or periodic orbit.

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.

Auditory feedback blocks memory benefits of cueing during sleep

PubMed Central

Schreiner, Thomas; Lehmann, Mick; Rasch, Björn

2015-01-01

It is now widely accepted that re-exposure to memory cues during sleep reactivates memories and can improve later recall. However, the underlying mechanisms are still unknown. As reactivation during wakefulness renders memories sensitive to updating, it remains an intriguing question whether reactivated memories during sleep also become susceptible to incorporating further information after the cue. Here we show that the memory benefits of cueing Dutch vocabulary during sleep are in fact completely blocked when memory cues are directly followed by either correct or conflicting auditory feedback, or a pure tone. In addition, immediate (but not delayed) auditory stimulation abolishes the characteristic increases in oscillatory theta and spindle activity typically associated with successful reactivation during sleep as revealed by high-density electroencephalography. We conclude that plastic processes associated with theta and spindle oscillations occurring during a sensitive period immediately after the cue are necessary for stabilizing reactivated memory traces during sleep. PMID:26507814

A fully integrated oven controlled microelectromechanical oscillator -- Part I. Design and fabrication

DOE PAGES

Wojciechowski, Kenneth E.; Baker, Michael S.; Clews, Peggy J.; ...

2015-06-24

Our paper reports the design and fabrication of a fully integrated oven controlled microelectromechanical oscillator (OCMO). This paper begins by describing the limits on oscillator frequency stability imposed by the thermal drift and electronic properties (Q, resistance) of both the resonant tank circuit and feedback electronics required to form an electronic oscillator. An OCMO is presented that takes advantage of high thermal isolation and monolithic integration of both micromechanical resonators and electronic circuitry to thermally stabilize or ovenize all the components that comprise an oscillator. This was achieved by developing a processing technique where both silicon-on-insulator complementary metal-oxide-semiconductor (CMOS) circuitrymore » and piezoelectric aluminum nitride, AlN, micromechanical resonators are placed on a suspended platform within a standard CMOS integrated circuit. Operation at microscale sizes achieves high thermal resistances (~10 °C/mW), and hence thermal stabilization of the oscillators at very low-power levels when compared with the state-of-the-art ovenized crystal oscillators, OCXO. This constant resistance feedback circuit is presented that incorporates on platform resistive heaters and temperature sensors to both measure and stabilize the platform temperature. Moreover, the limits on temperature stability of the OCMO platform and oscillator frequency imposed by the gain of the constant resistance feedback loop, placement of the heater and temperature sensing resistors, as well as platform radiative and convective heat losses are investigated.« less

Stabilization of an inverted pendulum-cart system by fractional PI-state feedback.

PubMed

Bettayeb, M; Boussalem, C; Mansouri, R; Al-Saggaf, U M

2014-03-01

This paper deals with pole placement PI-state feedback controller design to control an integer order system. The fractional aspect of the control law is introduced by a dynamic state feedback as u(t)=K(p)x(t)+K(I)I(α)(x(t)). The closed loop characteristic polynomial is thus fractional for which the roots are complex to calculate. The proposed method allows us to decompose this polynomial into a first order fractional polynomial and an integer order polynomial of order n-1 (n being the order of the integer system). This new stabilization control algorithm is applied for an inverted pendulum-cart test-bed, and the effectiveness and robustness of the proposed control are examined by experiments. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

Combination of Adaptive Feedback Cancellation and Binaural Adaptive Filtering in Hearing Aids

NASA Astrophysics Data System (ADS)

Lombard, Anthony; Reindl, Klaus; Kellermann, Walter

2009-12-01

We study a system combining adaptive feedback cancellation and adaptive filtering connecting inputs from both ears for signal enhancement in hearing aids. For the first time, such a binaural system is analyzed in terms of system stability, convergence of the algorithms, and possible interaction effects. As major outcomes of this study, a new stability condition adapted to the considered binaural scenario is presented, some already existing and commonly used feedback cancellation performance measures for the unilateral case are adapted to the binaural case, and possible interaction effects between the algorithms are identified. For illustration purposes, a blind source separation algorithm has been chosen as an example for adaptive binaural spatial filtering. Experimental results for binaural hearing aids confirm the theoretical findings and the validity of the new measures.

Self-organization of pulsing and bursting in a CO{sub 2} laser with opto-electronic feedback

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

Freire, Joana G.; Instituto de Altos Estudos da Paraíba, Rua Infante Dom Henrique 100-1801, 58039-150 João Pessoa; CELC, Departamento de Matemática, Universidade de Lisboa, 1649-003 Lisboa

We report a detailed investigation of the stability of a CO{sub 2} laser with feedback as described by a six-dimensional rate-equations model which provides satisfactory agreement between numerical and experimental results. We focus on experimentally accessible parameters, like bias voltage, feedback gain, and the bandwidth of the feedback loop. The impact of decay rates and parameters controlling cavity losses are also investigated as well as control planes which imply changes of the laser physical medium. For several parameter combinations, we report stability diagrams detailing how laser spiking and bursting is organized over extended intervals. Laser pulsations are shown to emergemore » organized in several hitherto unseen regular and irregular phases and to exhibit a much richer and complex range of behaviors than described thus far. A significant observation is that qualitatively similar organization of laser spiking and bursting can be obtained by tuning rather distinct control parameters, suggesting the existence of unexpected symmetries in the laser control space.« less

Velocity feedback control with a flywheel proof mass actuator

NASA Astrophysics Data System (ADS)

Kras, Aleksander; Gardonio, Paolo

2017-08-01

This paper presents four new proof mass actuators to be used in velocity feedback control systems for the control of vibrations of machines and flexible structures. A classical proof mass actuator is formed by a coil-magnet linear motor, with either the magnet or the armature-coil proof mass suspended on soft springs. This arrangement produces a net force effect at frequencies above the fundamental resonance frequency of the springs-proof mass system. Thus, it can be used to implement point velocity feedback loops, although the dynamic response and static deflection of the springs-proof mass system poses some stability and control performance limitations. The four proof mass actuators presented in this study include a flywheel element, which is used to augment the inertia effect of the suspended proof mass. The paper shows that the flywheel element modifies both the dynamic response and static deflection of the springs-proof mass system in such a way as the stability and control performance of velocity feedback loops using these actuators are significantly improved.

Chapter 15: Potential Surprises: Compound Extremes and Tipping Elements

NASA Technical Reports Server (NTRS)

Kopp, R. E.; Hayhoe, K.; Easterling, D. R.; Hall, T.; Horton, R.; Kunkel, K. E.; LeGrande, A. N.

2017-01-01

The Earth system is made up of many components that interact in complex ways across a broad range of temporal and spatial scales. As a result of these interactions the behavior of the system cannot be predicted by looking at individual components in isolation. Negative feedbacks, or self-stabilizing cycles, within and between components of the Earth system can dampen changes (Ch. 2: Physical Drivers of Climate Change). However, their stabilizing effects render such feedbacks of less concern from a risk perspective than positive feedbacks, or self-reinforcing cycles. Positive feedbacks magnify both natural and anthropogenic changes. Some Earth system components, such as arctic sea ice and the polar ice sheets, may exhibit thresholds beyond which these self-reinforcing cycles can drive the component, or the entire system, into a radically different state. Although the probabilities of these state shifts may be difficult to assess, their consequences could be high, potentially exceeding anything anticipated by climate model projections for the coming century.

A Riccati solution for the ideal MHD plasma response with applications to real-time stability control

NASA Astrophysics Data System (ADS)

Glasser, Alexander; Kolemen, Egemen; Glasser, A. H.

2018-03-01

Active feedback control of ideal MHD stability in a tokamak requires rapid plasma stability analysis. Toward this end, we reformulate the δW stability method with a Hamilton-Jacobi theory, elucidating analytical and numerical features of the generic tokamak ideal MHD stability problem. The plasma response matrix is demonstrated to be the solution of an ideal MHD matrix Riccati differential equation. Since Riccati equations are prevalent in the control theory literature, such a shift in perspective brings to bear a range of numerical methods that are well-suited to the robust, fast solution of control problems. We discuss the usefulness of Riccati techniques in solving the stiff ordinary differential equations often encountered in ideal MHD stability analyses—for example, in tokamak edge and stellarator physics. We demonstrate the applicability of such methods to an existing 2D ideal MHD stability code—DCON [A. H. Glasser, Phys. Plasmas 23, 072505 (2016)]—enabling its parallel operation in near real-time, with wall-clock time ≪1 s . Such speed may help enable active feedback ideal MHD stability control, especially in tokamak plasmas whose ideal MHD equilibria evolve with inductive timescale τ≳ 1s—as in ITER.

Feedback Valence Affects Auditory Perceptual Learning Independently of Feedback Probability

PubMed Central

Amitay, Sygal; Moore, David R.; Molloy, Katharine; Halliday, Lorna F.

2015-01-01

Previous studies have suggested that negative feedback is more effective in driving learning than positive feedback. We investigated the effect on learning of providing varying amounts of negative and positive feedback while listeners attempted to discriminate between three identical tones; an impossible task that nevertheless produces robust learning. Four feedback conditions were compared during training: 90% positive feedback or 10% negative feedback informed the participants that they were doing equally well, while 10% positive or 90% negative feedback informed them they were doing equally badly. In all conditions the feedback was random in relation to the listeners’ responses (because the task was to discriminate three identical tones), yet both the valence (negative vs. positive) and the probability of feedback (10% vs. 90%) affected learning. Feedback that informed listeners they were doing badly resulted in better post-training performance than feedback that informed them they were doing well, independent of valence. In addition, positive feedback during training resulted in better post-training performance than negative feedback, but only positive feedback indicating listeners were doing badly on the task resulted in learning. As we have previously speculated, feedback that better reflected the difficulty of the task was more effective in driving learning than feedback that suggested performance was better than it should have been given perceived task difficulty. But contrary to expectations, positive feedback was more effective than negative feedback in driving learning. Feedback thus had two separable effects on learning: feedback valence affected motivation on a subjectively difficult task, and learning occurred only when feedback probability reflected the subjective difficulty. To optimize learning, training programs need to take into consideration both feedback valence and probability. PMID:25946173

Fast global orbit feedback system in PLS-II

NASA Astrophysics Data System (ADS)

Lee, J.; Kim, C.; Kim, J. M.; Kim, K. R.; Lee, E. H.; Lee, J. W.; Lee, T. Y.; Park, C. D.; Shin, S.; Yoon, J. C.; Cho, W. S.; Park, G. S.; Kim, S. C.

2016-12-01

The transverse position of the electron beam in the Pohang Light Source-II is stabilized by the global orbit feedback system. A slow orbit feedback system has been operating at 2 Hz, and a fast orbit feedback (FOFB) system at 813 Hz was installed recently. This FOFB system consists of 96 electron-beam-position monitors, 48 horizontal fast correctors, 48 vertical fast correctors and Versa Module Europa bus control system. We present the design and implementation of the FOFB system and its test result. Simulation analysis is presented and future improvements are suggested.

Learning monopolies with delayed feedback on price expectations

NASA Astrophysics Data System (ADS)

Matsumoto, Akio; Szidarovszky, Ferenc

2015-11-01

We call the intercept of the price function with the vertical axis the maximum price and the slope of the price function the marginal price. In this paper it is assumed that a monopolistic firm has full information about the marginal price and its own cost function but is uncertain on the maximum price. However, by repeated interaction with the market, the obtained price observations give a basis for an adaptive learning process of the maximum price. It is also assumed that the price observations have fixed delays, so the learning process can be described by a delayed differential equation. In the cases of one or two delays, the asymptotic behavior of the resulting dynamic process is examined, stability conditions are derived. Three main results are demonstrated in the two delay learning processes. First, it is possible to stabilize the equilibrium which is unstable in the one delay model. Second, complex dynamics involving chaos, which is impossible in the one delay model, can emerge. Third, alternations of stability and instability (i.e., stability switches) occur repeatedly.

Flight-determined stability analysis of multiple-input-multiple-output control systems

NASA Technical Reports Server (NTRS)

Burken, John J.

1992-01-01

Singular value analysis can give conservative stability margin results. Applying structure to the uncertainty can reduce this conservatism. This paper presents flight-determined stability margins for the X-29A lateral-directional, multiloop control system. These margins are compared with the predicted unscaled singular values and scaled structured singular values. The algorithm was further evaluated with flight data by changing the roll-rate-to-aileron command-feedback gain by +/- 20 percent. Minimum eigenvalues of the return difference matrix which bound the singular values are also presented. Extracting multiloop singular values from flight data and analyzing the feedback gain variations validates this technique as a measure of robustness. This analysis can be used for near-real-time flight monitoring and safety testing.

Flight-determined stability analysis of multiple-input-multiple-output control systems

NASA Technical Reports Server (NTRS)

Burken, John J.

1992-01-01

Singular value analysis can give conservative stability margin results. Applying structure to the uncertainty can reduce this conservatism. This paper presents flight-determined stability margins for the X-29A lateral-directional, multiloop control system. These margins are compared with the predicted unscaled singular values and scaled structured singular values. The algorithm was further evaluated with flight data by changing the roll-rate-to-aileron-command-feedback gain by +/- 20 percent. Also presented are the minimum eigenvalues of the return difference matrix which bound the singular values. Extracting multiloop singular values from flight data and analyzing the feedback gain variations validates this technique as a measure of robustness. This analysis can be used for near-real-time flight monitoring and safety testing.

Delayed excitatory and inhibitory feedback shape neural information transmission

NASA Astrophysics Data System (ADS)

Chacron, Maurice J.; Longtin, André; Maler, Leonard

2005-11-01

Feedback circuitry with conduction and synaptic delays is ubiquitous in the nervous system. Yet the effects of delayed feedback on sensory processing of natural signals are poorly understood. This study explores the consequences of delayed excitatory and inhibitory feedback inputs on the processing of sensory information. We show, through numerical simulations and theory, that excitatory and inhibitory feedback can alter the firing frequency response of stochastic neurons in opposite ways by creating dynamical resonances, which in turn lead to information resonances (i.e., increased information transfer for specific ranges of input frequencies). The resonances are created at the expense of decreased information transfer in other frequency ranges. Using linear response theory for stochastically firing neurons, we explain how feedback signals shape the neural transfer function for a single neuron as a function of network size. We also find that balanced excitatory and inhibitory feedback can further enhance information tuning while maintaining a constant mean firing rate. Finally, we apply this theory to in vivo experimental data from weakly electric fish in which the feedback loop can be opened. We show that it qualitatively predicts the observed effects of inhibitory feedback. Our study of feedback excitation and inhibition reveals a possible mechanism by which optimal processing may be achieved over selected frequency ranges.

On the application of frequency selective common mode feedback for multifrequency EIT.

PubMed

Langlois, Peter J; Wu, Yu; Bayford, Richard H; Demosthenous, Andreas

2015-06-01

Common mode voltages are frequently a problem in electrical impedance tomography (EIT) and other bioimpedance applications. To reduce their amplitude common mode feedback is employed. Formalised analyses of both current and voltage feedback is presented in this paper for current drives. Common mode effects due to imbalances caused by the current drives, the electrode connections to the body load and the introduction of the body impedance to ground are considered. Frequency selective narrowband common mode feedback previously proposed to provide feedback stability is examined. As a step towards multifrequency applications the use of narrowband feedback is experimentally demonstrated for two simultaneous current drives. Measured results using standard available components show a reduction of 62 dB for current feedback and 31 dB for voltage feedback. Frequencies ranged from 50 kHz to 1 MHz.

Different Electrophysiological Responses to Informative Value of Feedback Between Children and Adults.

PubMed

Du, Bin; Cao, Bihua; He, Weiqi; Li, Fuhong

2018-01-01

The ability to learn from feedback is important for children's adaptive behavior and school learning. Feedback has two main components, informative value and valence. How to disentangle these two components and what is the developmental neural correlates of using the informative value of feedback is still an open question. In this study, 23 children (7-10 years old) and 19 adults (19-22 years old) were asked to perform a rule induction task, in which they were required to find a rule, based on the informative value of feedback. Behavioral results indicated that the likelihood of correct searching behavior under negative feedback was low for children. Event-related potentials showed that (1) the effect of valence was processed in a wide time window, particularly in the N2 component; (2) the encoding process of the informative value of negative feedback began later for children than for adults; (3) a clear P300 was observed for adults; for children, however, P300 was absent in the frontal region; and (4) children processed the informative value of feedback chiefly in the left sites during the P300 time window, whereas adults did not show this laterality. These results suggested that children were less sensitive to the informative value of negative feedback possibly because of the immature brain.

Nonlinear feedback in a six-dimensional Lorenz Model: impact of an additional heating term

NASA Astrophysics Data System (ADS)

Shen, B.-W.

2015-03-01

In this study, a six-dimensional Lorenz model (6DLM) is derived, based on a recent study using a five-dimensional (5-D) Lorenz model (LM), in order to examine the impact of an additional mode and its accompanying heating term on solution stability. The new mode added to improve the representation of the steamfunction is referred to as a secondary streamfunction mode, while the two additional modes, that appear in both the 6DLM and 5DLM but not in the original LM, are referred to as secondary temperature modes. Two energy conservation relationships of the 6DLM are first derived in the dissipationless limit. The impact of three additional modes on solution stability is examined by comparing numerical solutions and ensemble Lyapunov exponents of the 6DLM and 5DLM as well as the original LM. For the onset of chaos, the critical value of the normalized Rayleigh number (rc) is determined to be 41.1. The critical value is larger than that in the 3DLM (rc ~ 24.74), but slightly smaller than the one in the 5DLM (rc ~ 42.9). A stability analysis and numerical experiments obtained using generalized LMs, with or without simplifications, suggest the following: (1) negative nonlinear feedback in association with the secondary temperature modes, as first identified using the 5DLM, plays a dominant role in providing feedback for improving the solution's stability of the 6DLM, (2) the additional heating term in association with the secondary streamfunction mode may destabilize the solution, and (3) overall feedback due to the secondary streamfunction mode is much smaller than the feedback due to the secondary temperature modes; therefore, the critical Rayleigh number of the 6DLM is comparable to that of the 5DLM. The 5DLM and 6DLM collectively suggest different roles for small-scale processes (i.e., stabilization vs. destabilization), consistent with the following statement by Lorenz (1972): If the flap of a butterfly's wings can be instrumental in generating a tornado, it can equally well be instrumental in preventing a tornado. The implications of this and previous work, as well as future work, are also discussed.

Nonlinear feedback in a six-dimensional Lorenz model: impact of an additional heating term

NASA Astrophysics Data System (ADS)

Shen, B.-W.

2015-12-01

In this study, a six-dimensional Lorenz model (6DLM) is derived, based on a recent study using a five-dimensional (5-D) Lorenz model (LM), in order to examine the impact of an additional mode and its accompanying heating term on solution stability. The new mode added to improve the representation of the streamfunction is referred to as a secondary streamfunction mode, while the two additional modes, which appear in both the 6DLM and 5DLM but not in the original LM, are referred to as secondary temperature modes. Two energy conservation relationships of the 6DLM are first derived in the dissipationless limit. The impact of three additional modes on solution stability is examined by comparing numerical solutions and ensemble Lyapunov exponents of the 6DLM and 5DLM as well as the original LM. For the onset of chaos, the critical value of the normalized Rayleigh number (rc) is determined to be 41.1. The critical value is larger than that in the 3DLM (rc ~ 24.74), but slightly smaller than the one in the 5DLM (rc ~ 42.9). A stability analysis and numerical experiments obtained using generalized LMs, with or without simplifications, suggest the following: (1) negative nonlinear feedback in association with the secondary temperature modes, as first identified using the 5DLM, plays a dominant role in providing feedback for improving the solution's stability of the 6DLM, (2) the additional heating term in association with the secondary streamfunction mode may destabilize the solution, and (3) overall feedback due to the secondary streamfunction mode is much smaller than the feedback due to the secondary temperature modes; therefore, the critical Rayleigh number of the 6DLM is comparable to that of the 5DLM. The 5DLM and 6DLM collectively suggest different roles for small-scale processes (i.e., stabilization vs. destabilization), consistent with the following statement by Lorenz (1972): "If the flap of a butterfly's wings can be instrumental in generating a tornado, it can equally well be instrumental in preventing a tornado." The implications of this and previous work, as well as future work, are also discussed.

A model of neuro-musculo-skeletal system for human locomotion under position constraint condition.

PubMed

Ni, Jiangsheng; Hiramatsu, Seiji; Kato, Atsuo

2003-08-01

The human locomotion was studied on the basis of the interaction of the musculo-skeletal system, the neural system and the environment. A mathematical model of human locomotion under position constraint condition was established. Besides the neural rhythm generator, the posture controller and the sensory system, the environment feedback controller and the stability controller were taken into account in the model. The environment feedback controller was proposed for two purposes, obstacle avoidance and target position control of the swing foot. The stability controller was proposed to imitate the self-balancing ability of a human body and improve the stability of the model. In the stability controller, the ankle torque was used to control the velocity of the body gravity center. A prediction control algorithm was applied to calculate the torque magnitude of the stability controller. As an example, human stairs climbing movement was simulated and the results were given. The simulation result proved that the mathematical modeling of the task was successful.

Discrete-time stability of continuous-time controller designs for large space structures

NASA Technical Reports Server (NTRS)

Balas, M. J.

1982-01-01

In most of the stable control designs for flexible structures, continuous time is assumed. However, in view of the implementation of the controllers by on-line digital computers, the discrete-time stability of such controllers is an important consideration. In the case of direct-velocity feedback (DVFB), involving negative feedback from collocated force actuators and velocity sensors, it is not immediately apparent how much delay due to digital implementation of DVFB can be tolerated without loss of stability. The present investigation is concerned with such questions. A study is conducted of the discrete-time stability of DVFB, taking into account an employment of Euler's method of approximation of the time derivative. The obtained result gives an indication of the acceptable time-step size for stable digital implementation of DVFB. A result derived in connection with the consideration of the discrete-time stability of stable continuous-time systems provides a general condition under which digital implementation of such a system will remain stable.

Stability and Control of Human Trunk Movement During Walking.

PubMed

Wu, Q.; Sepehri, N.; Thornton-Trump, A. B.; Alexander, M.

1998-01-01

A mathematical model has been developed to study the control mechanisms of human trunk movement during walking. The trunk is modeled as a base-excited inverted pendulum with two-degrees of rotational freedom. The base point, corresponding to the bony landmark of the sacrum, can move in three-dimensional space in a general way. Since the stability of upright posture is essential for human walking, a controller has been designed such that the stability of the pendulum about the upright position is guaranteed. The control laws are developed based on Lyapunov's stability theory and include feedforward and linear feedback components. It is found that the feedforward component plays a critical role in keeping postural stability, and the linear feedback component, (resulting from viscoelastic function of the musculoskeletal system) can effectively duplicate the pattern of trunk movement. The mathematical model is validated by comparing the simulation results with those based on gait measurements performed in the Biomechanics Laboratory at the University of Manitoba.

Bionic Control of Cheetah Bounding with a Segmented Spine.

PubMed

Wang, Chunlei; Wang, Shigang

2016-01-01

A cheetah model is built to mimic real cheetah and its mechanical and dimensional parameters are derived from the real cheetah. In particular, two joints in spine and four joints in a leg are used to realize the motion of segmented spine and segmented legs which are the key properties of the cheetah bounding. For actuating and stabilizing the bounding gait of cheetah, we present a bioinspired controller based on the state-machine. The controller mainly mimics the function of the cerebellum to plan the locomotion and keep the body balance. The haptic sensor and proprioception system are used to detect the trigger of the phase transition. Besides, the vestibular modulation could perceive the pitching angle of the trunk. At last, the cerebellum acts as the CPU to operate the information from the biological sensors. In addition, the calculated results are transmitted to the low-level controller to actuate and stabilize the cheetah bounding. Moreover, the delay feedback control method is employed to plan the motion of the leg joints to stabilize the pitching motion of trunk with the stability criterion. Finally, the cyclic cheetah bounding with biological properties is realized. Meanwhile, the stability and dynamic properties of the cheetah bounding gait are analyzed elaborately.

Nonlinear dynamics of autonomous vehicles with limits on acceleration

NASA Astrophysics Data System (ADS)

Davis, L. C.

2014-07-01

The stability of autonomous vehicle platoons with limits on acceleration and deceleration is determined. If the leading-vehicle acceleration remains within the limits, all vehicles in the platoon remain within the limits when the relative-velocity feedback coefficient is equal to the headway time constant [k=1/h]. Furthermore, if the sensitivity α>1/h, no collisions occur. String stability for small perturbations is assumed and the initial condition is taken as the equilibrium state. Other values of k and α that give stability with no collisions are found from simulations. For vehicles with non-negligible mechanical response, simulations indicate that the acceleration-feedback-control gain might have to be dynamically adjusted to obtain optimal performance as the response time changes with engine speed. Stability is demonstrated for some perturbations that cause initial acceleration or deceleration greater than the limits, yet do not cause collisions.

On regulators with a prescribed degree of stability. M.S. Thesis

NASA Technical Reports Server (NTRS)

Ng, P. T. P.

1981-01-01

Several important aspects of the Regulator with a Prescribed Degree of Stability (RPDS) methodology and its applications are considered. The solution of the time varying RPDS problem as well as the characterization of RPDS closed loop eigenstructure properties are obtained. Based on the asymptotic behavior of RPDS root loci, a one step algorithm for designing Regulators with Prescribed Damping Ratio (RPDR) is developed. The robustness properties of RPDS are characterized in terms of the properties of the return difference and the inverse return difference matrices for the RPDS state feedback loop. This class of regulators is found to possess excellent multiloop margins with respect to stability and degree of stability properties. The ability of RPDS design to tolerate changing operating conditions and unmodelled dynamics are illustrated with a multiterminal dc/ac power system example. The output feedback realization of RPDS requires the use of Linear Quadratic Gaussian (LQG) methodology.

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

A general program to compute the multivariable stability margin for systems with parametric uncertainty

NASA Technical Reports Server (NTRS)

Sanchez Pena, Ricardo S.; Sideris, Athanasios

1988-01-01

A computer program implementing an algorithm for computing the multivariable stability margin to check the robust stability of feedback systems with real parametric uncertainty is proposed. The authors present in some detail important aspects of the program. An example is presented using lateral directional control system.

Feedback and rewards, part II: formal and informal feedback reviews.

PubMed

Harolds, Jay

2013-02-01

There are 2 major classes of feedback. One class of feedback consists of the informal, numerous conversations between various people in the organization regarding the performance, behavior, and goals of an individual. Another class of feedback consists of formal reviews held once or twice a year between a supervisor and an individual. This article discusses both types of feedback.

Feedback control of nonlinear quantum systems: a rule of thumb.

PubMed

Jacobs, Kurt; Lund, Austin P

2007-07-13

We show that in the regime in which feedback control is most effective - when measurements are relatively efficient, and feedback is relatively strong - then, in the absence of any sharp inhomogeneity in the noise, it is always best to measure in a basis that does not commute with the system density matrix than one that does. That is, it is optimal to make measurements that disturb the state one is attempting to stabilize.

Finite-time state feedback stabilisation of stochastic high-order nonlinear feedforward systems

NASA Astrophysics Data System (ADS)

Xie, Xue-Jun; Zhang, Xing-Hui; Zhang, Kemei

2016-07-01

This paper studies the finite-time state feedback stabilisation of stochastic high-order nonlinear feedforward systems. Based on the stochastic Lyapunov theorem on finite-time stability, by using the homogeneous domination method, the adding one power integrator and sign function method, constructing a ? Lyapunov function and verifying the existence and uniqueness of solution, a continuous state feedback controller is designed to guarantee the closed-loop system finite-time stable in probability.

Testing with feedback improves recall of information in informed consent: A proof of concept study.

PubMed

Roberts, Katherine J; Revenson, Tracey A; Urken, Mark L; Fleszar, Sara; Cipollina, Rebecca; Rowe, Meghan E; Reis, Laura L Dos; Lepore, Stephen J

2016-08-01

This study investigates whether applying educational testing approaches to an informed consent video for a medical procedure can lead to greater recall of the information presented. Undergraduate students (n=120) were randomly assigned to watch a 20-min video on informed consent under one of three conditions: 1) tested using multiple-choice knowledge questions and provided with feedback on their answers after each 5-min segment; 2) tested with multiple choice knowledge questions but not provided feedback after each segment; or 3) watched the video without knowledge testing. Participants who were tested and provided feedback had significantly greater information recall compared to those who were tested but not provided feedback and to those not tested. The effect of condition was stronger for moderately difficult questions versus easy questions. Inserting knowledge tests and providing feedback about the responses at timed intervals in videos can be effective in improving recall of information. Providing informed consent information through a video not only standardizes the material, but using testing with feedback inserted within the video has the potential to increase recall and retention of this material. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Fault tolerant control laws

NASA Technical Reports Server (NTRS)

Ly, U. L.; Ho, J. K.

1986-01-01

A systematic procedure for the synthesis of fault tolerant control laws to actuator failure has been presented. Two design methods were used to synthesize fault tolerant controllers: the conventional LQ design method and a direct feedback controller design method SANDY. The latter method is used primarily to streamline the full-state Q feedback design into a practical implementable output feedback controller structure. To achieve robustness to control actuator failure, the redundant surfaces are properly balanced according to their control effectiveness. A simple gain schedule based on the landing gear up/down logic involving only three gains was developed to handle three design flight conditions: Mach .25 and Mach .60 at 5000 ft and Mach .90 at 20,000 ft. The fault tolerant control law developed in this study provides good stability augmentation and performance for the relaxed static stability aircraft. The augmented aircraft responses are found to be invariant to the presence of a failure. Furthermore, single-loop stability margins of +6 dB in gain and +30 deg in phase were achieved along with -40 dB/decade rolloff at high frequency.

Effects of audio coaching and visual feedback on the stability of respiration during radiotherapy.

PubMed

Baba, Fumiya; Tanaka, Satoshi; Nonogaki, Yoshinori; Hasegawa, Shinji; Nishihashi, Minami; Ayakawa, Shiho; Yamada, Maho; Shibamoto, Yuta

2016-08-01

The aim of this study is to compare the respiration-stabilizing abilities of audio coaching (AC) and AC with visual feedback (VF) with that of free breathing (FB). Ten healthy volunteers were told to breathe in FB, under AC and under AC + VF in random order. The standard deviation (SD) values of the respiratory cycle, the amplitude, the lowest points (exhalation), and the highest points (inhalation) of respiratory wave were used as indices of respiratory stability. Compared with FB, the AC method significantly improved respiratory cycle stability (p = 0.001). The AC + VF method improved the stability of the respiratory cycle, the amplitude and the lowest point of respiratory wave (all p < 0.001). In analyses of each subject's data, compared with FB, the AC method significantly improved the respiratory cycle stability in five subjects, and the AC + VF method improved the stability of the respiratory cycle, the amplitude and the lowest point of respiratory wave in 4, 5, and 4 subjects, respectively. In two cases, coaching did not improve respiratory stability. The AC + VF method had the most beneficial effects on respiratory stability. However, coaching is not necessarily effective in all cases. Therefore, the most suitable method should be chosen on an individual basis.

The Edge of Stability: Response Times and Delta Oscillations in Balanced Networks

PubMed Central

Gillary, Grant; Niebur, Ernst

2016-01-01

The standard architecture of neocortex is a network with excitation and inhibition in closely maintained balance. These networks respond fast and with high precision to their inputs and they allow selective amplification of patterned signals. The stability of such networks is known to depend on balancing the strengths of positive and negative feedback. We here show that a second condition is required for stability which depends on the relative strengths and time courses of fast (AMPA) and slow (NMDA) currents in the excitatory projections. This condition also determines the response time of the network. We show that networks which respond quickly to an input are necessarily close to an oscillatory instability which resonates in the delta range. This instability explains the existence of neocortical delta oscillations and the emergence of absence epilepsy. Although cortical delta oscillations are a network-level phenomenon, we show that in non-pathological networks, individual neurons receive sufficient information to keep the network in the fast-response regime without sliding into the instability. PMID:27689361

Controlling free flight of a robotic fly using an onboard vision sensor inspired by insect ocelli

PubMed Central

Fuller, Sawyer B.; Karpelson, Michael; Censi, Andrea; Ma, Kevin Y.; Wood, Robert J.

2014-01-01

Scaling a flying robot down to the size of a fly or bee requires advances in manufacturing, sensing and control, and will provide insights into mechanisms used by their biological counterparts. Controlled flight at this scale has previously required external cameras to provide the feedback to regulate the continuous corrective manoeuvres necessary to keep the unstable robot from tumbling. One stabilization mechanism used by flying insects may be to sense the horizon or Sun using the ocelli, a set of three light sensors distinct from the compound eyes. Here, we present an ocelli-inspired visual sensor and use it to stabilize a fly-sized robot. We propose a feedback controller that applies torque in proportion to the angular velocity of the source of light estimated by the ocelli. We demonstrate theoretically and empirically that this is sufficient to stabilize the robot's upright orientation. This constitutes the first known use of onboard sensors at this scale. Dipteran flies use halteres to provide gyroscopic velocity feedback, but it is unknown how other insects such as honeybees stabilize flight without these sensory organs. Our results, using a vehicle of similar size and dynamics to the honeybee, suggest how the ocelli could serve this role. PMID:24942846

A Study of Strong Stability of Distributed Systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Cataltepe, Tayfun

1989-01-01

The strong stability of distributed systems is studied and the problem of characterizing strongly stable semigroups of operators associated with distributed systems is addressed. Main emphasis is on contractive systems. Three different approaches to characterization of strongly stable contractive semigroups are developed. The first one is an operator theoretical approach. Using the theory of dilations, it is shown that every strongly stable contractive semigroup is related to the left shift semigroup on an L(exp 2) space. Then, a decomposition for the state space which identifies strongly stable and unstable states is introduced. Based on this decomposition, conditions for a contractive semigroup to be strongly stable are obtained. Finally, extensions of Lyapunov's equation for distributed parameter systems are investigated. Sufficient conditions for weak and strong stabilities of uniformly bounded semigroups are obtained by relaxing the equivalent norm condition on the right hand side of the Lyanupov equation. These characterizations are then applied to the problem of feedback stabilization. First, it is shown via the state space decomposition that under certain conditions a contractive system (A,B) can be strongly stabilized by the feedback -B(*). Then, application of the extensions of the Lyapunov equation results in sufficient conditions for weak, strong, and exponential stabilizations of contractive systems by the feedback -B(*). Finally, it is shown that for a contractive system, the first derivative of x with respect to time = Ax + Bu (where B is any linear bounded operator), there is a related linear quadratic regulator problem and a corresponding steady state Riccati equation which always has a bounded nonnegative solution.

Near-IR laser frequency standard stabilized using FM-spectroscopy

NASA Astrophysics Data System (ADS)

Ružička, Bohdan; Číp, Ondřej; Lazar, Josef

2006-02-01

At the present time fiber-optics and optical communication are in rapid progress. Modern technologies such as DWDM (Dense Wavelength Division Multiplex) need precise stability of laser frequencies. According to this fact, requirements of new etalons of optical frequencies in the telecommunication band is rapidly growing. Lasers working in near infrared telecommunication band (1500-1600 nm) can be stabilized to 12C IIH II or 13C IIH II (acetylene) gas absorption lines. The acetylene gas absorption has been widely studied and accepted by international bodies of standardization as a primary wavelength reference in the near infrared band around 1550nm. Our aim was to design and develop a compact fibre optics laser system generating coherent light in near-JR band with high frequency stability (at least 1.10 -8). This system should become a base for realization of a primary frequency standard for optical communications in the Czech Republic. Such an etalon will be needed for calibration of wavelength-meters and spectral analysers for DWDM communication systems. We are co-operating with CMI (Czech Metrology Institute) on this project. We present stabilized laser system based on a single frequency DFB (Distributed Feedback) laser diode with a narrow spectral profile. The laser is pre-stabilized by means of the FM-spectroscopy on a passive resonator. Thanks to a fast feed-back loop we are able to improve spectral characteristics of the laser. The laser frequency is locked by a relatively slow second feed-back loop on an absorption line of acetylene vapour which is sealed in a cell under the optimised pressure.

Gaze stabilization in chronic vestibular-loss and in cerebellar ataxia: interactions of feedforward and sensory feedback mechanisms.

PubMed

Sağlam, M; Lehnen, N

2014-01-01

During gaze shifts, humans can use visual, vestibular, and proprioceptive feedback, as well as feedforward mechanisms, for stabilization against active and passive head movements. The contributions of feedforward and sensory feedback control, and the role of the cerebellum, are still under debate. To quantify these contributions, we increased the head moment of inertia in three groups (ten healthy, five chronic vestibular-loss and nine cerebellar-ataxia patients) while they performed large gaze shifts to flashed targets in darkness. This induces undesired head oscillations. Consequently, both active (desired) and passive (undesired) head movements had to be compensated for to stabilize gaze. All groups compensated for active and passive head movements, vestibular-loss patients less than the other groups (P < 0.001, passive/active compensatory gains: vestibular-loss 0.23 ± 0.09/0.43 ± 0.12, healthy 0.80 ± 0.17/0.83 ± 0.15, cerebellar-ataxia 0.68 ± 0.17/0.77 ± 0.30, mean ± SD). The compensation gain ratio against passive and active movements was smaller than one in vestibular-loss patients (0.54 ± 0.10, P=0.001). Healthy and cerebellar-ataxia patients did not differ in active and passive compensation. In summary, vestibular-loss patients can better stabilize gaze against active than against passive head movements. Therefore, feedforward mechanisms substantially contribute to gaze stabilization. Proprioception alone is not sufficient (gain 0.2). Stabilization against active and passive head movements was not impaired in our cerebellar ataxia patients.

Iron availability limits the ocean nitrogen inventory stabilizing feedbacks between marine denitrification and nitrogen fixation

NASA Astrophysics Data System (ADS)

Moore, J. Keith; Doney, Scott C.

2007-06-01

Recent upward revisions in key sink/source terms for fixed nitrogen (N) in the oceans imply a short residence time and strong negative feedbacks involving denitrification and N fixation to prevent large swings in the ocean N inventory over timescales of a few centuries. We tested the strength of these feedbacks in a global biogeochemical elemental cycling (BEC) ocean model that includes water column denitrification and an explicit N fixing phytoplankton group. In the northern Indian Ocean and over longer timescales in the tropical Atlantic, we find strong stabilizing feedbacks that minimize changes in marine N inventory over timescales of ˜30-200 years. In these regions high atmospheric dust/iron inputs lead to phosphorus limitation of diazotrophs, and thus a tight link between N fixation and surface water N/P ratios. Maintenance of the oxygen minimum zones in these basins depends on N fixation driven export. The stabilizing feedbacks in other regions are significant but weaker owing to iron limitation of the diazotrophs. Thus Fe limitation appears to restrict the ability of N fixation to compensate for changes in denitrification in the current climate, perhaps leading the oceans to lose fixed N. We suggest that iron is the ultimate limiting nutrient leading to nitrogen being the proximate limiting nutrient over wide regions today. Iron stress was at least partially alleviated during more dusty, glacial times, leading to a higher marine N inventory, increased export production, and perhaps widespread phosphorus limitation of the phytoplankton community. The increased efficiency of the biological pump would have contributed to the glacial drawdown in atmospheric CO2.

HTS flywheel energy storage system with rotor shaft stabilized by feed-back control of armature currents of motor-generator

NASA Astrophysics Data System (ADS)

Tsukamoto, O.; Utsunomiya, A.

2007-10-01

We propose an HTS bulk bearing flywheel energy system (FWES) with rotor shaft stabilization system using feed-back control of the armature currents of the motor-generator. In the proposed system the rotor shift has a pivot bearing at one end of the shaft and an HTS bulk bearing (SMB) at the other end. The fluctuation of the rotor shaft with SMB is damped by feed-back control of the armature currents of the motor-generator sensing the position of the rotor shaft. The method has merits that the fluctuations are damped without active control magnet bearings and extra devices which may deteriorate the energy storage efficiency and need additional costs. The principle of the method was demonstrated by an experiment using a model permanent magnet motor.

Output power stability of a HCN laser using a stepping motor for the EAST interferometer system

NASA Astrophysics Data System (ADS)

Zhang, J. B.; Wei, X. C.; Liu, H. Q.; Shen, J. J.; Zeng, L.; Jie, Y. X.

2015-11-01

The HCN laser on EAST is a continuous wave glow discharge laser with 3.4 m cavity length and 120 mW power output at 337 μ m wavelength. Without a temperature-controlled system, the cavity length of the laser is very sensitive to the environmental temperature. An external power feedback control system is applied on the HCN laser to stabilize the laser output power. The feedback system is composed of a stepping motor, a PLC, a supervisory computer, and the corresponding control program. One step distance of the stepping motor is 1 μ m and the time response is 0.5 s. Based on the power feedback control system, a stable discharge for the HCN laser is obtained more than eight hours, which satisfies the EAST experiment.

Conditions for Stabilizability of Linear Switched Systems

NASA Astrophysics Data System (ADS)

Minh, Vu Trieu

2011-06-01

This paper investigates some conditions that can provide stabilizability for linear switched systems with polytopic uncertainties via their closed loop linear quadratic state feedback regulator. The closed loop switched systems can stabilize unstable open loop systems or stable open loop systems but in which there is no solution for a common Lyapunov matrix. For continuous time switched linear systems, we show that if there exists solution in an associated Riccati equation for the closed loop systems sharing one common Lyapunov matrix, the switched linear systems are stable. For the discrete time switched systems, we derive a Linear Matrix Inequality (LMI) to calculate a common Lyapunov matrix and solution for the stable closed loop feedback systems. These closed loop linear quadratic state feedback regulators guarantee the global asymptotical stability for any switched linear systems with any switching signal sequence.

Stability of uncertain systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Blankenship, G. L.

1971-01-01

The asymptotic properties of feedback systems are discussed, containing uncertain parameters and subjected to stochastic perturbations. The approach is functional analytic in flavor and thereby avoids the use of Markov techniques and auxiliary Lyapunov functionals characteristic of the existing work in this area. The results are given for the probability distributions of the accessible signals in the system and are proved using the Prohorov theory of the convergence of measures. For general nonlinear systems, a result similar to the small loop-gain theorem of deterministic stability theory is given. Boundedness is a property of the induced distributions of the signals and not the usual notion of boundedness in norm. For the special class of feedback systems formed by the cascade of a white noise, a sector nonlinearity and convolution operator conditions are given to insure the total boundedness of the overall feedback system.

Feedback stabilization system for pulsed single longitudinal mode tunable lasers

DOEpatents

Esherick, Peter; Raymond, Thomas D.

1991-10-01

A feedback stabilization system for pulse single longitudinal mode tunable lasers having an excited laser medium contained within an adjustable length cavity and producing a laser beam through the use of an internal dispersive element, including detection of angular deviation in the output laser beam resulting from detuning between the cavity mode frequency and the passband of the internal dispersive element, and generating an error signal based thereon. The error signal can be integrated and amplified and then applied as a correcting signal to a piezoelectric transducer mounted on a mirror of the laser cavity for controlling the cavity length.

A feedback control strategy for the airfoil system under non-Gaussian colored noise excitation.

PubMed

Huang, Yong; Tao, Gang

2014-09-01

The stability of a binary airfoil with feedback control under stochastic disturbances, a non-Gaussian colored noise, is studied in this paper. First, based on some approximated theories and methods the non-Gaussian colored noise is simplified to an Ornstein-Uhlenbeck process. Furthermore, via the stochastic averaging method and the logarithmic polar transformation, one dimensional diffusion process can be obtained. At last by applying the boundary conditions, the largest Lyapunov exponent which can determine the almost-sure stability of the system and the effective region of control parameters is calculated.

A feedback control strategy for the airfoil system under non-Gaussian colored noise excitation

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

Huang, Yong, E-mail: hy@njust.edu.cn, E-mail: taogang@njust.edu.cn; Tao, Gang, E-mail: hy@njust.edu.cn, E-mail: taogang@njust.edu.cn

2014-09-01

The stability of a binary airfoil with feedback control under stochastic disturbances, a non-Gaussian colored noise, is studied in this paper. First, based on some approximated theories and methods the non-Gaussian colored noise is simplified to an Ornstein-Uhlenbeck process. Furthermore, via the stochastic averaging method and the logarithmic polar transformation, one dimensional diffusion process can be obtained. At last by applying the boundary conditions, the largest Lyapunov exponent which can determine the almost-sure stability of the system and the effective region of control parameters is calculated.

Preparation of Ultracold Atom Clouds at the Shot Noise Level.

PubMed

Gajdacz, M; Hilliard, A J; Kristensen, M A; Pedersen, P L; Klempt, C; Arlt, J J; Sherson, J F

2016-08-12

We prepare number stabilized ultracold atom clouds through the real-time analysis of nondestructive images and the application of feedback. In our experiments, the atom number N∼10^{6} is determined by high precision Faraday imaging with uncertainty ΔN below the shot noise level, i.e., ΔN

A negative feedback mechanism for the long-term stabilization of the earth's surface temperature

NASA Technical Reports Server (NTRS)

Walker, J. C. G.; Hays, P. B.; Kasting, J. F.

1981-01-01

It is suggested that the partial pressure of carbon dioxide in the atmosphere is buffered, over geological time scales, by a negative feedback mechanism, in which the rate of weathering of silicate minerals (followed by deposition of carbonate minerals) depends on surface temperature, which in turn depends on the carbon dioxide partial pressure through the greenhouse effect. Although the quantitative details of this mechanism are speculative, it appears able to partially stabilize the earth's surface temperature against the steady increase of solar luminosity, believed to have occurred since the origin of the solar system.

A methodology for the synthesis of robust feedback systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Milich, David Albert

1988-01-01

A new methodology is developed for the synthesis of linear, time-variant (LTI) controllers for multivariable LTI systems. The resulting closed-loop system is nominally stable and exhibits a known level of performance. In addition, robustness of the feedback system is guaranteed, i.e., stability and performance are retained in the presence of multiple unstructured uncertainty blocks located at various points in the feedback loop. The design technique is referred to as the Causality Recovery Methodology (CRM). The CRM relies on the Youla parameterization of all stabilizing compensators to ensure nominal stability of the feedback system. A frequency-domain inequality in terms of the structured singular value mu defines the robustness specification. The optimal compensator, with respect to the mu condition, is shown to be noncausal in general. The aim of the CRM is to find a stable, causal transfer function matrix that approximates the robustness characteristics of the optimal solution. The CRM, via a series of infinite-dimensional convex programs, produces a closed-loop system whose performance robustness is at least as good as that of any initial design. The algorithm is approximated by a finite dimensional process for the purposes of implementation. Two numerical examples confirm the potential viability of the CRM concept; however, the robustness improvement comes at the expense of increased computational burden and compensator complexity.

Decentralized stabilization of semi-active vibrating structures

NASA Astrophysics Data System (ADS)

Pisarski, Dominik

2018-02-01

A novel method of decentralized structural vibration control is presented. The control is assumed to be realized by a semi-active device. The objective is to stabilize a vibrating system with the optimal rates of decrease of the energy. The controller relies on an easily implemented decentralized switched state-feedback control law. It uses a set of communication channels to exchange the state information between the neighboring subcontrollers. The performance of the designed method is validated by means of numerical experiments performed for a double cantilever system equipped with a set of elastomers with controlled viscoelastic properties. In terms of the assumed objectives, the proposed control strategy significantly outperforms the passive damping cases and is competitive with a standard centralized control. The presented methodology can be applied to a class of bilinear control systems concerned with smart structural elements.

Feedback-assisted extension of the tokamak operating space to low safety factor

DOE PAGES

Hanson, Jeremy M.; Bialek, James M.; Baruzzo, M.; ...

2014-07-07

Recent DIII-D and RFX-mod experiments have demonstrated stable tokamak operation at very low values of the edge safety factor q( a) near and below 2. The onset of n = 1 resistive wall mode (RWM) kink instabilities leads to a disruptive stability limit, encountered at q( a) = 2 (limiter plasmas) and q 95 = 2 (divertor plasmas). However, passively stable operation can be attained for q( a) and q 95 values as low as 2.2. RWM damping in the q( a) = 2 regime was measured using active MHD spectroscopy. Although consistent with theoretical predictions, the amplitude of themore » damped response does not increase significantly as the q( a) = 2 limit is approached, in contrast with damping measurements made approaching the pressure-driven RWM limit. Applying proportional gain magnetic feedback control of the n = 1 modes has resulted in stabilized operation with q 95 values reaching as low as 1.9 in DIII-D and q( a) reaching 1.55 in RFX-mod. In addition to being consistent with the q( a) = 2 external kink mode stability limit, the unstable modes have growth rates on the order of the characteristic wall eddy-current decay timescale in both devices, and a dominant m = 2 poloidal structure that is consistent with ideal MHD predictions. As a result, the experiments contribute to validating MHD stability theory and demonstrate that a key tokamak stability limit can be overcome with feedback.« less

Effects of different feedback types on information integration in repeated monetary gambles

PubMed Central

Haffke, Peter; Hübner, Ronald

2015-01-01

Most models of risky decision making assume that all relevant information is taken into account (e.g., von Neumann and Morgenstern, 1944; Kahneman and Tversky, 1979). However, there are also some models supposing that only part of the information is considered (e.g., Brandstätter et al., 2006; Gigerenzer and Gaissmaier, 2011). To further investigate the amount of information that is usually used for decision making, and how the use depends on feedback, we conducted a series of three experiments in which participants choose between two lotteries and where no feedback, outcome feedback, and error feedback was provided, respectively. The results show that without feedback participants mostly chose the lottery with the higher winning probability, and largely ignored the potential gains. The same results occurred when the outcome of each decision was fed back. Only after presenting error feedback (i.e., signaling whether a choice was optimal or not), participants considered probabilities as well as gains, resulting in more optimal choices. We propose that outcome feedback was ineffective, because of its probabilistic and ambiguous nature. Participants improve information integration only if provided with a consistent and deterministic signal such as error feedback. PMID:25667576

Effects of different feedback types on information integration in repeated monetary gambles.

PubMed

Haffke, Peter; Hübner, Ronald

2014-01-01

Most models of risky decision making assume that all relevant information is taken into account (e.g., von Neumann and Morgenstern, 1944; Kahneman and Tversky, 1979). However, there are also some models supposing that only part of the information is considered (e.g., Brandstätter et al., 2006; Gigerenzer and Gaissmaier, 2011). To further investigate the amount of information that is usually used for decision making, and how the use depends on feedback, we conducted a series of three experiments in which participants choose between two lotteries and where no feedback, outcome feedback, and error feedback was provided, respectively. The results show that without feedback participants mostly chose the lottery with the higher winning probability, and largely ignored the potential gains. The same results occurred when the outcome of each decision was fed back. Only after presenting error feedback (i.e., signaling whether a choice was optimal or not), participants considered probabilities as well as gains, resulting in more optimal choices. We propose that outcome feedback was ineffective, because of its probabilistic and ambiguous nature. Participants improve information integration only if provided with a consistent and deterministic signal such as error feedback.

Intensity-Stabilized Fast-Scanned Direct Absorption Spectroscopy Instrumentation Based on a Distributed Feedback Laser with Detection Sensitivity down to 4 × 10−6

PubMed Central

Zhao, Gang; Tan, Wei; Jia, Mengyuan; Hou, Jiajuan; Ma, Weiguang; Dong, Lei; Zhang, Lei; Feng, Xiaoxia; Wu, Xuechun; Yin, Wangbao; Xiao, Liantuan; Axner, Ove; Jia, Suotang

2016-01-01

A novel, intensity-stabilized, fast-scanned, direct absorption spectroscopy (IS-FS-DAS) instrumentation, based on a distributed feedback (DFB) diode laser, is developed. A fiber-coupled polarization rotator and a fiber-coupled polarizer are used to stabilize the intensity of the laser, which significantly reduces its relative intensity noise (RIN). The influence of white noise is reduced by fast scanning over the spectral feature (at 1 kHz), followed by averaging. By combining these two noise-reducing techniques, it is demonstrated that direct absorption spectroscopy (DAS) can be swiftly performed down to a limit of detection (LOD) (1σ) of 4 × 10−6, which opens up a number of new applications. PMID:27657082

Lyapunov optimal feedback control of a nonlinear inverted pendulum

NASA Technical Reports Server (NTRS)

Grantham, W. J.; Anderson, M. J.

1989-01-01

Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

Reinforcement learning for stabilizing an inverted pendulum naturally leads to intermittent feedback control as in human quiet standing.

PubMed

Michimoto, Kenjiro; Suzuki, Yasuyuki; Kiyono, Ken; Kobayashi, Yasushi; Morasso, Pietro; Nomura, Taishin

2016-08-01

Intermittent feedback control for stabilizing human upright stance is a promising strategy, alternative to the standard time-continuous stiffness control. Here we show that such an intermittent controller can be established naturally through reinforcement learning. To this end, we used a single inverted pendulum model of the upright posture and a very simple reward function that gives a certain amount of punishments when the inverted pendulum falls or changes its position in the state space. We found that the acquired feedback controller exhibits hallmarks of the intermittent feedback control strategy, namely the action of the feedback controller is switched-off intermittently when the state of the pendulum is located near the stable manifold of the unstable saddle-type upright equilibrium of the inverted pendulum with no active control: this action provides an opportunity to exploit transiently converging dynamics toward the unstable upright position with no help of the active feedback control. We then speculate about a possible physiological mechanism of such reinforcement learning, and suggest that it may be related to the neural activity in the pedunculopontine tegmental nucleus (PPN) of the brainstem. This hypothesis is supported by recent evidence indicating that PPN might play critical roles for generation and regulation of postural tonus, reward prediction, as well as postural instability in patients with Parkinson's disease.

Suppression of Spontaneous Gas Oscillations by Acoustic Self-Feedback

NASA Astrophysics Data System (ADS)

Biwa, Tetsushi; Sawada, Yoshiki; Hyodo, Hiroaki; Kato, Soichiro

2016-10-01

This paper demonstrates a method of acoustical self-feedback to suppress spontaneous gas oscillations such as those observed in combustors of gas-turbine engines. Whereas a conventional feedback system consists of electromechanical devices, the present method achieves acoustical self-feedback with a hollow tube that connects two positions of the oscillation system. A model oscillator of combustion-driven gas oscillations is designed and built to demonstrate the applicability of the self-feedback concept. Stability analysis through measurements of Q values (quality factor) of oscillations shows that the desired delay time and gain are obtained when the tube length is equal to the odd integer times half the wavelength of the anticipated acoustic oscillations.

Researching Feedback Dialogue: An Interactional Analysis Approach

ERIC Educational Resources Information Center

Ajjawi, Rola; Boud, David

2017-01-01

A variety of understandings of feedback exist in the literature, which can broadly be categorised as cognitivist information transmission and socio-constructivist. Understanding feedback as information transmission or "telling" has until recently been dominant. However, a socio-constructivist perspective of feedback posits that feedback…

Analysis of Control Strategies for Aircraft Flight Upset Recovery

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Sensor fusion in identified visual interneurons.

PubMed

Parsons, Matthew M; Krapp, Holger G; Laughlin, Simon B

2010-04-13

Animal locomotion often depends upon stabilization reflexes that use sensory feedback to maintain trajectories and orientation. Such stabilizing reflexes are critically important for the blowfly, whose aerodynamic instability permits outstanding maneuverability but increases the demands placed on flight control. Flies use several sensory systems to drive reflex responses, and recent studies have provided access to the circuitry responsible for combining and employing these sensory inputs. We report that lobula plate VS neurons combine inputs from two optical sensors, the ocelli and the compound eyes. Both systems deliver essential information on in-flight rotations, but our neuronal recordings reveal that the ocelli encode this information in three axes, whereas the compound eyes encode in nine. The difference in dimensionality is reconciled by tuning each VS neuron to the ocellar axis closest to its compound eye axis. We suggest that this simple projection combines the speed of the ocelli with the accuracy of the compound eyes without compromising either. Our findings also support the suggestion that the coordinates of sensory information processing are aligned with axes controlling the natural modes of the fly's flight to improve the efficiency with which sensory signals are transformed into appropriate motor commands.

Use of satellite data and modeling to assess the influence of stratospheric processes on the troposphere

NASA Astrophysics Data System (ADS)

Nathan, Terrence

1991-09-01

Over the past forty years, numerous linear stability studies have been performed in order to explain the origin and structure of observed waves in the atmosphere. Of these studies, only a small fraction have considered the stability of time-dependent, zonally varying flow or the influence of radiative-photochemical feedbacks on the stability of zonally uniform flow. The stability of such flows is described, and these flows may yield important information concerning the origin, structure, and transient time scales of free waves in the atmosphere. During the period 1990 to 1991, a beta-plane model that couples radiative transfer, ozone advection, and ozone photochemistry with the quasigeostrophic dynamical circulation was developed in order to study the diabatic effects of Newtonian cooling and ozone-dynamics interaction on the linear stability of free planetary waves in the atmosphere. The stability of a basic state consisting of a westward-moving wave and a zonal mean jet was examined using a linearized, nondivergent barotropic model on sphere. The sensitivity of the stability of the flow to the strength and structure of the zonal jet was emphasized. The current research is focused on the following problems: (1) examination of the finite amplitude interactions among radiation, ozone, and dynamics; and (2) examination of the role of seasonal forcing in short-term climate variability. The plans for next year are presented.

Aedes ægypti control in urban areas: A systemic approach to a complex dynamic.

PubMed

Carvalho, Marilia Sá; Honorio, Nildimar Alves; Garcia, Leandro Martin Totaro; Carvalho, Luiz Carlos de Sá

2017-07-01

The available strategy for controlling the diseases transmitted by Aedes ægypti (dengue fever, Zika, and chikungunya) relies on continued community participation. Despite slogans emphasizing how easy it should be, no country has achieved it since the seventies. To better investigate potentially sustainable interventions, we developed a systemic model based on a multidisciplinary approach, integrating as deeply as possible specialized knowledge and field experience. The resulting model is composed of 4 external and 8 internal subsystems and 31 relationships, consistent with the literature and checked over multiple iterations with specialists of the many areas. We analyzed the model and the main feedback loops responsible for the system's stability, searching for possible interventions that could shift the existing balance. We suggest the introduction of 1 more player, the local primary health care structure, with the potential to change the undesired equilibrium. The health agents in the areas are the first to detect disease cases, and they could stimulate individuals to inform about potential mosquitoes' breeding sites and bring timely information to the vector-control program. Triggering such an action could introduce changes in people's attitude through a positive feedback loop in the desired direction.

Multiple-choice tests stabilize access to marginal knowledge.

PubMed

Cantor, Allison D; Eslick, Andrea N; Marsh, Elizabeth J; Bjork, Robert A; Bjork, Elizabeth Ligon

2015-02-01

Marginal knowledge refers to knowledge that is stored in memory, but is not accessible at a given moment. For example, one might struggle to remember who wrote The Call of the Wild, even if that knowledge is stored in memory. Knowing how best to stabilize access to marginal knowledge is important, given that new learning often requires accessing and building on prior knowledge. While even a single opportunity to restudy marginal knowledge boosts its later accessibility (Berger, Hall, & Bahrick, 1999), in many situations explicit relearning opportunities are not available. Our question is whether multiple-choice tests (which by definition expose the learner to the correct answers) can also serve this function and, if so, how testing compares to restudying given that tests can be particularly powerful learning devices (Roediger & Karpicke, 2006). In four experiments, we found that multiple-choice testing had the power to stabilize access to marginal knowledge, and to do so for at least up to a week. Importantly, such tests did not need to be paired with feedback, although testing was no more powerful than studying. Overall, the results support the idea that one's knowledge base is unstable, with individual pieces of information coming in and out of reach. The present findings have implications for a key educational challenge: ensuring that students have continuing access to information they have learned.

Feedback Control of Resistive Wall Modes in Slowly Rotating DIII-D Plasmas

NASA Astrophysics Data System (ADS)

Okabayashi, M.; Chance, M. S.; Takahashi, H.; Garofalo, A. M.; Reimerdes, H.; in, Y.; Chu, M. S.; Jackson, G. L.; La Haye, R. J.; Strait, E. J.

2006-10-01

In slowly rotating plasmas on DIII-D, the requirement of RWM control feedback have been identified, using a MHD code along with measured power supply characteristics. It was found that a small time delay is essential for achieving high beta if no rotation stabilization exists. The overall system delay or the band pass time constant should be in the range of 0.4 of the RWM growth time. Recently the control system was upgraded using twelve linear audio amplifiers and a faster digital control system, reducing the time-delay from 600 to 100 μs. The advantage has been clearly observed when the RWMs excited by ELMs were effectively controlled by feedback even if the rotation transiently slowed nearly to zero. This study provides insight on stability in the low- rotation plasmasw with balanced NBI in DIII-D and also in ITER.

Chaos synchronization of uncertain chaotic systems using composite nonlinear feedback based integral sliding mode control.

PubMed

Mobayen, Saleh

2018-06-01

This paper proposes a combination of composite nonlinear feedback and integral sliding mode techniques for fast and accurate chaos synchronization of uncertain chaotic systems with Lipschitz nonlinear functions, time-varying delays and disturbances. The composite nonlinear feedback method allows accurate following of the master chaotic system and the integral sliding mode control provides invariance property which rejects the perturbations and preserves the stability of the closed-loop system. Based on the Lyapunov- Krasovskii stability theory and linear matrix inequalities, a novel sufficient condition is offered for the chaos synchronization of uncertain chaotic systems. This method not only guarantees the robustness against perturbations and time-delays, but also eliminates reaching phase and avoids chattering problem. Simulation results demonstrate that the suggested procedure leads to a great control performance. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Time-delayed feedback control of breathing localized structures in a three-component reaction-diffusion system.

PubMed

Gurevich, Svetlana V

2014-10-28

The dynamics of a single breathing localized structure in a three-component reaction-diffusion system subjected to time-delayed feedback is investigated. It is shown that variation of the delay time and the feedback strength can lead either to stabilization of the breathing or to delay-induced periodic or quasi-periodic oscillations of the localized structure. A bifurcation analysis of the system in question is provided and an order parameter equation is derived that describes the dynamics of the localized structure in the vicinity of the Andronov-Hopf bifurcation. With the aid of this equation, the boundaries of the stabilization domains as well as the dependence of the oscillation radius on delay parameters can be explicitly derived, providing a robust mechanism to control the behaviour of the breathing localized structure in a straightforward manner. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

System properties, feedback control and effector coordination of human temperature regulation.

PubMed

Werner, Jürgen

2010-05-01

The aim of human temperature regulation is to protect body processes by establishing a relative constancy of deep body temperature (regulated variable), in spite of external and internal influences on it. This is basically achieved by a distributed multi-sensor, multi-processor, multi-effector proportional feedback control system. The paper explains why proportional control implies inherent deviations of the regulated variable from the value in the thermoneutral zone. The concept of feedback of the thermal state of the body, conveniently represented by a high-weighted core temperature (T (c)) and low-weighted peripheral temperatures (T (s)) is equivalent to the control concept of "auxiliary feedback control", using a main (regulated) variable (T (c)), supported by an auxiliary variable (T (s)). This concept implies neither regulation of T (s) nor feedforward control. Steady-states result in the closed control-loop, when the open-loop properties of the (heat transfer) process are compatible with those of the thermoregulatory processors. They are called operating points or balance points and are achieved due to the inherent property of dynamical stability of the thermoregulatory feedback loop. No set-point and no comparison of signals (e.g. actual-set value) are necessary. Metabolic heat production and sweat production, though receiving the same information about the thermal state of the body, are independent effectors with different thresholds and gains. Coordination between one of these effectors and the vasomotor effector is achieved by the fact that changes in the (heat transfer) process evoked by vasomotor control are taken into account by the metabolic/sweat processor.

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).

An improved output feedback control of flexible large space structures

NASA Technical Reports Server (NTRS)

Lin, Y. H.; Lin, J. G.

1980-01-01

A special output feedback control design technique for flexible large space structures is proposed. It is shown that the technique will increase both the damping and frequency of selected modes for more effective control. It is also able to effect integrated control of elastic and rigid-body modes and, in particular, closed-loop system stability and robustness to modal truncation and parameter variation. The technique is seen as marking an improvement over previous work concerning large space structures output feedback control.

Control and stabilization of decentralized systems

NASA Technical Reports Server (NTRS)

Byrnes, Christopher I.; Gilliam, David; Martin, Clyde F.

1989-01-01

Proceeding from the problem posed by the need to stabilize the motion of two helicopters maneuvering a single load, a methodology is developed for the stabilization of classes of decentralized systems based on a more algebraic approach, which involves the external symmetries of decentralized systems. Stabilizing local-feedback laws are derived for any class of decentralized systems having a semisimple algebra of symmetries; the helicopter twin-lift problem, as well as certain problems involving the stabilization of discretizations of distributed parameter problems, have just such algebras of symmetries.

Frequency stability of maser oscillators operated with cavity Q. [hydrogen and rubidium masers

NASA Technical Reports Server (NTRS)

Tetu, M.; Tremblay, P.; Lesage, P.; Petit, P.; Audoin, C.

1982-01-01

The short term frequency stability of masers equipped with an external feedback loop to increase the cavity quality factor was studied. The frequency stability of a hydrogen and a rubidium maser were measured and compared with theoretical evaluation. It is shown that the frequency stability passes through an optimum when the cavity Q is varied. Long term fluctuations are discussed and the optimum mid term frequency stability achievably by small size active and passive H-masers is considered.

Vocal responses to unanticipated perturbations in voice loudness feedback: an automatic mechanism for stabilizing voice amplitude.

PubMed

Bauer, Jay J; Mittal, Jay; Larson, Charles R; Hain, Timothy C

2006-04-01

The present study tested whether subjects respond to unanticipated short perturbations in voice loudness feedback with compensatory responses in voice amplitude. The role of stimulus magnitude (+/- 1,3 vs 6 dB SPL), stimulus direction (up vs down), and the ongoing voice amplitude level (normal vs soft) were compared across compensations. Subjects responded to perturbations in voice loudness feedback with a compensatory change in voice amplitude 76% of the time. Mean latency of amplitude compensation was 157 ms. Mean response magnitudes were smallest for 1-dB stimulus perturbations (0.75 dB) and greatest for 6-dB conditions (0.98 dB). However, expressed as gain, responses for 1-dB perturbations were largest and almost approached 1.0. Response magnitudes were larger for the soft voice amplitude condition compared to the normal voice amplitude condition. A mathematical model of the audio-vocal system captured the main features of the compensations. Previous research has demonstrated that subjects can respond to an unanticipated perturbation in voice pitch feedback with an automatic compensatory response in voice fundamental frequency. Data from the present study suggest that voice loudness feedback can be used in a similar manner to monitor and stabilize voice amplitude around a desired loudness level.

Stability and performance of notch filter control for unbalance response

NASA Technical Reports Server (NTRS)

Knospe, C. R.

1992-01-01

Many current applications of magnetic bearings for rotating machinery employ notch filters in the feedback control loop to reduce the synchronous forces transmitted through the bearings. The capabilities and limitations of notch filter control are investigated. First, a rigid rotor is examined with some classical root locus techniques. Notch filter control is shown to result in conditional stability whenever complete synchronous attenuation is required. Next, a nondimensional parametric symmetric flexible three mass rotor model is constructed. An examination of this model for several test cases illustrates the limited attenuation possible with notch filters at and near the system critical speeds when the bearing damping is low. The notch filter's alteration of the feedback loop is shown to cause stability problems which limits performance. Poor transient response may also result. A high speed compressor is then examined as a candidate for notch filter control. A collocated 22 mass station model with lead-lag control is used. The analysis confirms the reduction in stability robustness that can occur with notch filter control. It is concluded that other methods of synchronous vibration control yield greater performance without compromising stability.

Characterizing gravitational instability in turbulent multicomponent galactic discs

NASA Astrophysics Data System (ADS)

Agertz, Oscar; Romeo, Alessandro B.; Grisdale, Kearn

2015-05-01

Gravitational instabilities play an important role in galaxy evolution and in shaping the interstellar medium (ISM). The ISM is observed to be highly turbulent, meaning that observables like the gas surface density and velocity dispersion depend on the size of the region over which they are measured. In this work, we investigate, using simulations of Milky Way-like disc galaxies with a resolution of ˜ 9 pc, the nature of turbulence in the ISM and how this affects the gravitational stability of galaxies. By accounting for the measured average turbulent scalings of the density and velocity fields in the stability analysis, we can more robustly characterize the average level of stability of the galaxies as a function of scale, and in a straightforward manner identify scales prone to fragmentation. Furthermore, we find that the stability of a disc with feedback-driven turbulence can be well described by a `Toomre-like' Q stability criterion on all scales, whereas the classical Q can formally lose its meaning on small scales if violent disc instabilities occur in models lacking pressure support from stellar feedback.

Characterizing Feedback Control Mechanisms in Nonlinear Microbial Models of Soil Organic Matter Decomposition by Stability Analysis

NASA Astrophysics Data System (ADS)

Georgiou, K.; Tang, J.; Riley, W. J.; Torn, M. S.

2014-12-01

Soil organic matter (SOM) decomposition is regulated by biotic and abiotic processes. Feedback interactions between such processes may act to dampen oscillatory responses to perturbations from equilibrium. Indeed, although biological oscillations have been observed in small-scale laboratory incubations, the overlying behavior at the plot-scale exhibits a relatively stable response to disturbances in input rates and temperature. Recent studies have demonstrated the ability of microbial models to capture nonlinear feedbacks in SOM decomposition that linear Century-type models are unable to reproduce, such as soil priming in response to increased carbon input. However, these microbial models often exhibit strong oscillatory behavior that is deemed unrealistic. The inherently nonlinear dynamics of SOM decomposition have important implications for global climate-carbon and carbon-concentration feedbacks. It is therefore imperative to represent these dynamics in Earth System Models (ESMs) by introducing sub-models that accurately represent microbial and abiotic processes. In the present study we explore, both analytically and numerically, four microbe-enabled model structures of varying levels of complexity. The most complex model combines microbial physiology, a non-linear mineral sorption isotherm, and enzyme dynamics. Based on detailed stability analysis of the nonlinear dynamics, we calculate the system modes as functions of model parameters. This dependence provides insight into the source of state oscillations. We find that feedback mechanisms that emerge from careful representation of enzyme and mineral interactions, with parameter values in a prescribed range, are critical for both maintaining system stability and capturing realistic responses to disturbances. Corroborating and expanding upon the results of recent studies, we explain the emergence of oscillatory responses and discuss the appropriate microbe-enabled model structure for inclusion in ESMs.

Advanced Feedback Methods in Information Retrieval.

ERIC Educational Resources Information Center

Salton, G.; And Others

1985-01-01

In this study, automatic feedback techniques are applied to Boolean query statements in online information retrieval to generate improved query statements based on information contained in previously retrieved documents. Feedback operations are carried out using conventional Boolean logic and extended logic. Experimental output is included to…

Influence of Electrotactile Tongue Feedback on Controlling Upright Stance during Rotational and/or Translational Sway-referencing with Galvanic Vestibular Stimulation

NASA Technical Reports Server (NTRS)

Wood, Scott J.; Tyler, Mitchell E.; Bach-y-Rita, Paul; MacDougall, Hamish G.; Moore, Steven T.; Stallings, Valerie L.; Paloski, William H.; Black, F. Owen

2007-01-01

Integration of multi-sensory inputs to detect tilts relative to gravity is critical for sensorimotor control of upright orientation. Displaying body orientation using electrotactile feedback to the tongue has been developed by Bach-y-Rita and colleagues as a sensory aid to maintain upright stance with impaired vestibular feedback. MacDougall et al. (2006) recently demonstrated that unpredictably varying Galvanic vestibular stimulation (GVS) significantly increased anterior-posterior (AP) sway during rotational sway referencing with eyes closed. The purpose of this study was to assess the influence of electrotactile feedback on postural control performance with pseudorandom binaural bipolar GVS. Postural equilibrium was measured with a computerized hydraulic platform in 10 healthy adults (6M, 4F, 24-65 y). Tactile feedback (TF) of pitch and roll body orientation was derived from a two-axis linear accelerometer mounted on a torso belt and displayed on a 144-point electrotactile array held against the anterior dorsal tongue (BrainPort, Wicab, Inc., Middleton, WI). Subjects were trained to use TF by voluntarily swaying to draw figures on their tongue, both with and without GVS. Subjects were required to keep the intraoral display in their mouths on all trials, including those that did not provide TF. Subjects performed 24 randomized trials (20 s duration with eyes closed) including four support surface conditions (fixed, rotational sway-referenced, translating the support surface proportional to AP sway, and combined rotational-translational sway-referencing), each repeated twice with and without GVS, and with combined GVS and TF. Postural performance was assessed using deviations from upright (peak-to-peak and RMS sway) and convergence toward stability limits (time and distance to base of support boundaries). Postural stability was impaired with GVS in all platform conditions, with larger decrements in performance during trials with rotation sway-referencing. Electrotactile feedback improved performance with GVS toward non-GVS levels, again with the greatest improvement during trials with rotation sway-referencing. These results demonstrate the effectiveness of tongue electrotactile feedback in providing sensory substitution to maintain postural stability with distorted vestibular input.

Process-based modeling of silicate mineral weathering responses to increasing atmospheric CO2 and climate change

NASA Astrophysics Data System (ADS)

Banwart, Steven A.; Berg, Astrid; Beerling, David J.

2009-12-01

A mathematical model describes silicate mineral weathering processes in modern soils located in the boreal coniferous region of northern Europe. The process model results demonstrate a stabilizing biological feedback mechanism between atmospheric CO2 levels and silicate weathering rates as is generally postulated for atmospheric evolution. The process model feedback response agrees within a factor of 2 of that calculated by a weathering feedback function of the type generally employed in global geochemical carbon cycle models of the Earth's Phanerozoic CO2 history. Sensitivity analysis of parameter values in the process model provides insight into the key mechanisms that influence the strength of the biological feedback to weathering. First, the process model accounts for the alkalinity released by weathering, whereby its acceleration stabilizes pH at values that are higher than expected. Although the process model yields faster weathering with increasing temperature, because of activation energy effects on mineral dissolution kinetics at warmer temperature, the mineral dissolution rate laws utilized in the process model also result in lower dissolution rates at higher pH values. Hence, as dissolution rates increase under warmer conditions, more alkalinity is released by the weathering reaction, helping maintain higher pH values thus stabilizing the weathering rate. Second, the process model yields a relatively low sensitivity of soil pH to increasing plant productivity. This is due to more rapid decomposition of dissolved organic carbon (DOC) under warmer conditions. Because DOC fluxes strongly influence the soil water proton balance and pH, this increased decomposition rate dampens the feedback between productivity and weathering. The process model is most sensitive to parameters reflecting soil structure; depth, porosity, and water content. This suggests that the role of biota to influence these characteristics of the weathering profile is as important, if not more important, than the role of biota to influence mineral dissolution rates through changes in soil water chemistry. This process-modeling approach to quantify the biological weathering feedback to atmospheric CO2 demonstrates the potential for a far more mechanistic description of weathering feedback in simulations of the global geochemical carbon cycle.

Eye Movement Analysis of Information Processing under Different Testing Conditions.

ERIC Educational Resources Information Center

Dillon, Ronna F.

1985-01-01

Undergraduates were given complex figural analogies items, and eye movements were observed under three types of feedback: (1) elaborate feedback; (2) subjects verbalized their thinking and application of rules; and (3) no feedback. Both feedback conditions enhanced the rule-governed information processing during inductive reasoning. (Author/GDC)

77 FR 59614 - Office of Citizen Services and Innovative Technologies; Information Collection; Data.gov Feedback...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-09-28

... of Citizen Services and Innovative Technologies; Information Collection; Data.gov Feedback Mechanisms... regarding Data.gov Feedback Mechanisms. Public comments are particularly invited on: Whether this collection... Collection 3090- 0284, Data.gov Feedback Mechanisms, by any of the following methods: Regulations.gov : http...

When more is less: Feedback effects in perceptual category learning ☆

PubMed Central

Maddox, W. Todd; Love, Bradley C.; Glass, Brian D.; Filoteo, J. Vincent

2008-01-01

Rule-based and information-integration category learning were compared under minimal and full feedback conditions. Rule-based category structures are those for which the optimal rule is verbalizable. Information-integration category structures are those for which the optimal rule is not verbalizable. With minimal feedback subjects are told whether their response was correct or incorrect, but are not informed of the correct category assignment. With full feedback subjects are informed of the correctness of their response and are also informed of the correct category assignment. An examination of the distinct neural circuits that subserve rule-based and information-integration category learning leads to the counterintuitive prediction that full feedback should facilitate rule-based learning but should also hinder information-integration learning. This prediction was supported in the experiment reported below. The implications of these results for theories of learning are discussed. PMID:18455155

The Neglected Importance of Feedback Perception in Learning: An Analysis of Children and Adults' Uptake of Quantitative Feedback in a Mathematics Simulation Environment

ERIC Educational Resources Information Center

Blair, Kristen Pilner

2009-01-01

Research addressing the effectiveness of feedback for learning has focused on many dimensions of feedback, including the timing (Kulik & Kulik, 1988), type (Mory, 2004), and amount of available information (Dempsey et. al, 1993). Much of the feedback research in education has tacitly assumed that the available information is perceived, and any…

The stability of colorectal cancer mathematical models

NASA Astrophysics Data System (ADS)

Khairudin, Nur Izzati; Abdullah, Farah Aini

2013-04-01

Colorectal cancer is one of the most common types of cancer. To better understand about the kinetics of cancer growth, mathematical models are used to provide insight into the progression of this natural process which enables physicians and oncologists to determine optimal radiation and chemotherapy schedules and develop a prognosis, both of which are indispensable for treating cancer. This thesis investigates the stability of colorectal cancer mathematical models. We found that continuous saturating feedback is the best available model of colorectal cancer growth. We also performed stability analysis. The result shows that cancer progress in sequence of genetic mutations or epigenetic which lead to a very large number of cells population until become unbounded. The cell population growth initiate and its saturating feedback is overcome when mutation changes causing the net per-capita growth rate of stem or transit cells exceed critical threshold.

Elastic robot control - Nonlinear inversion and linear stabilization

NASA Technical Reports Server (NTRS)

Singh, S. N.; Schy, A. A.

1986-01-01

An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law u(d) is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law u(s) is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = u(d) + u(s).

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.

An iterative technique to stabilize a linear time invariant multivariable system with output feedback

NASA Technical Reports Server (NTRS)

Sankaran, V.

1974-01-01

An iterative procedure for determining the constant gain matrix that will stabilize a linear constant multivariable system using output feedback is described. The use of this procedure avoids the transformation of variables which is required in other procedures. For the case in which the product of the output and input vector dimensions is greater than the number of states of the plant, general solution is given. In the case in which the states exceed the product of input and output vector dimensions, a least square solution which may not be stable in all cases is presented. The results are illustrated with examples.

Enhanced Engine Control for Emergency Operation

NASA Technical Reports Server (NTRS)

Litt, Jonathan S.

2012-01-01

C-MAPSS40k engine simulation has been developed and is available to the public. The authenticity of the engine performance and controller enabled the development of realistic enhanced control modes through controller modification alone. Use of enhanced control modes improved stability and control of an impaired aircraft. - Fast Response is useful for manual manipulation of the throttles - Use of Fast Response improved stability as part of a yaw rate feedback system. - Use of Overthrust shortened takeoff distance, but was generally useful in flight, too. Initial lack of pilot familiarity resulted in discomfort, especially with yaw rate feedback, but that was the only drawback, overall the pilot found the enhanced modes very helpful.

Apparatus and methods for a human extender

DOEpatents

Jansen, John F.

2001-01-01

A human extender controller for interface between a human operator and a physical object through a physical plant. The human extender controller uses an inner-feedback loop to increase the equivalent damping of the operating system to stabilize the system when it contacts with the environment and reduces the impact of the environment variation by utilizing a high feedback gain, determined by a root locus sketch. Because the stability of the human extender controller of the present invention is greatly enhanced over that of the prior art, the present invention is able to achieve a force reflection ratio 500 to 1 and capable of handling loads above the two (2) ton range.

Stabilization of Inviscid Vortex Sheets

NASA Astrophysics Data System (ADS)

Protas, Bartosz; Sakajo, Takashi

2017-11-01

In this study we investigate the problem of stabilizing inviscid vortex sheets via feedback control. Such models, expressed in terms of the Birkhoff-Rott equation, are often used to describe the Kevin-Helmholtz instability of shear layers and are known to be strongly unstable to small-scale perturbations. First, we consider the linear stability of a straight vortex sheet in the periodic setting with actuation in the form of an array of point vortices or sources located a certain distance away from the sheet. We establish conditions under which this system is controllable and observable. Next, using methods of the linear control theory, we synthesize a feedback control strategy which stabilizes a straight vortex sheet in the linear regime. Given the poor conditioning of the discretized problem, reliable solution of the resulting algebraic Riccati equation requires the use of high-precision arithmetic. Finally, we demonstrate that this control approach also succeeds in the nonlinear regime, provided the magnitude of the initial perturbation is sufficiently small.

Managing ecological thresholds in coupled environmental–human systems

PubMed Central

Horan, Richard D.; Fenichel, Eli P.; Drury, Kevin L. S.; Lodge, David M.

2011-01-01

Many ecosystems appear subject to regime shifts—abrupt changes from one state to another after crossing a threshold or tipping point. Thresholds and their associated stability landscapes are determined within a coupled socioeconomic–ecological system (SES) where human choices, including those of managers, are feedback responses. Prior work has made one of two assumptions about managers: that they face no institutional constraints, in which case the SES may be managed to be fairly robust to shocks and tipping points are of little importance, or that managers are rigidly constrained with no flexibility to adapt, in which case the inferred thresholds may poorly reflect actual managerial flexibility. We model a multidimensional SES to investigate how alternative institutions affect SES stability landscapes and alter tipping points. With institutionally dependent human feedbacks, the stability landscape depends on institutional arrangements. Strong institutions that account for feedback responses create the possibility for desirable states of the world and can cause undesirable states to cease to exist. Intermediate institutions interact with ecological relationships to determine the existence and nature of tipping points. Finally, weak institutions can eliminate tipping points so that only undesirable states of the world remain. PMID:21502517

Feature saliency and feedback information interactively impact visual category learning

PubMed Central

Hammer, Rubi; Sloutsky, Vladimir; Grill-Spector, Kalanit

2015-01-01

Visual category learning (VCL) involves detecting which features are most relevant for categorization. VCL relies on attentional learning, which enables effectively redirecting attention to object’s features most relevant for categorization, while ‘filtering out’ irrelevant features. When features relevant for categorization are not salient, VCL relies also on perceptual learning, which enables becoming more sensitive to subtle yet important differences between objects. Little is known about how attentional learning and perceptual learning interact when VCL relies on both processes at the same time. Here we tested this interaction. Participants performed VCL tasks in which they learned to categorize novel stimuli by detecting the feature dimension relevant for categorization. Tasks varied both in feature saliency (low-saliency tasks that required perceptual learning vs. high-saliency tasks), and in feedback information (tasks with mid-information, moderately ambiguous feedback that increased attentional load, vs. tasks with high-information non-ambiguous feedback). We found that mid-information and high-information feedback were similarly effective for VCL in high-saliency tasks. This suggests that an increased attentional load, associated with the processing of moderately ambiguous feedback, has little effect on VCL when features are salient. In low-saliency tasks, VCL relied on slower perceptual learning; but when the feedback was highly informative participants were able to ultimately attain the same performance as during the high-saliency VCL tasks. However, VCL was significantly compromised in the low-saliency mid-information feedback task. We suggest that such low-saliency mid-information learning scenarios are characterized by a ‘cognitive loop paradox’ where two interdependent learning processes have to take place simultaneously. PMID:25745404

Feedback in a clinical setting: A way forward to enhance student's learning through constructive feedback.

PubMed

Sultan, Amber Shamim; Mateen Khan, Muhammad Arif

2017-07-01

Feedback is considered as a dynamic process in which information about the observed performance is used to promote the desirable behaviour and correct the negative ones. The importance of feedback is widely acknowledged, but still there seems to be inconsistency in the amount, type and timing of feedback received from the clinical faculty. No significant effort has been put forward from the educator end to empower the learners with the skills of receiving and using the feedback effectively. Some institutions conduct faculty development workshops and courses to facilitate the clinicians on how best to deliver constructive feedback to the learners. Despite of all these struggles learners are not fully satisfied with the quality of feedback received from their busy clinicians. The aim of this paper is to highlight what actually feedback is, type and structure of feedback, the essential components of a constructive feedback, benefits of providing feedback, barriers affecting the provision of timely feedback and different models used for providing feedback. The ultimate purpose of this paper is to provide sufficient information to the clinical directors that there is a need to establish a robust system for giving feedback to learners and to inform all the clinical educators with the skills required to provide constructive feedback to their learners. For the literature review, we had used the key words glossary as: Feedback, constructive feedback, barriers to feedback, principles of constructive feedback, Models of feedback, reflection, self-assessment and clinical practice etc. The data bases for the search include: Cardiff University library catalogue, Pub Med, Google Scholar, Web of Knowledge and Science direct.

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics

PubMed Central

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-01-01

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics. PMID:25339687

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics.

PubMed

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-12-06

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics.

Wideband Feedback Circuit For Tunneling Sensor

NASA Technical Reports Server (NTRS)

Kaiser, William J.; Kenny, Thomas W.; Rockstad, Howard K.; Reynolds, Joseph K.

1994-01-01

Improved feedback circuit designed for use in controlling tunneling displacement transducer. Features include stability and nearly flat frequency response up to 50 kHz. Transducer could be that in scanning tunneling microscope, or any of micromachined electromechanical transducers described in "Micromachined Electron-Tunneling Infrared Detectors" (NPO-18413), "Micromachined Tunneling Accelerometer" (NPO-18513), and "Improved Electromechanical Infrared Sensor" (NPO-18560).

Polarization feedback laser stabilization

DOEpatents

Esherick, Peter; Owyoung, Adelbert

1988-01-01

A system for locking two Nd:YAG laser oscillators includes an optical path for feeding the output of one laser into the other with different polarizations. Elliptical polarization is incorporated into the optical path so that the change in polarization that occurs when the frequencies coincide may be detected to provide a feedback signal to control one laser relative to the other.

77 FR 6785 - Proposed Information Collection; Comment Request; Feedback Survey for Annual Tsunami Warning...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-09

... information following testing of the associated NWS communications systems. The tests are planned annually, in March/April and again in September. Post-test feedback information will be requested from emergency... Collection; Comment Request; Feedback Survey for Annual Tsunami Warning Communications Tests AGENCY: National...

78 FR 76660 - Notice of Request for a Revision to and Extension of Approval of an Information Collection...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-12-18

... Information Collection; Qualitative Feedback on Agency Service Delivery AGENCY: National Science Foundation... qualitative customer and stakeholder feedback on service delivery by the National Science Foundation. DATES...). SUPPLEMENTARY INFORMATION: Title: Generic Clearance for the Collection of Qualitative Feedback on Agency Service...

76 FR 70460 - Agency Information Collection Activities: Proposed Collection; Comment Request; Generic Clearance...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-11-14

... of Qualitative Feedback on Agency Service Delivery ACTION: 30-Day notice of submission of information... Request (Generic ICR): ``Generic Clearance for the Collection of Qualitative Feedback on Agency Service... INFORMATION: Title: Generic Clearance for the Collection of Qualitative Feedback on Agency Service Delivery...

Effects of feedback accountability and self-rating information on employee appraisals: a replication and extension.

PubMed

Shore, Ted H; Tashchian, Armen

2007-06-01

The influence of feedback accountability and self-rating information on employee performance appraisals was examined. Undergraduate business student participants assumed the role of "supervisor" and evaluated a fictitious "subordinate" whose performance on a clerical task was either moderately poor or very good. Participants were either given fictitious self-rating information, or no self-rating information, and were told they were expected to provide performance feedback to their ratee, or there was no feedback expectation. As expected, in Study 1 both self-rating information and expected feedback-sharing independently resulted in lenient ratings for poor performance, and the combined effects resulted in the highest ratings. By contrast, results for good performance (Study 2) were not significant. Implications of the findings for human resource management practice and research were discussed.

Warning signals for eruptive events in spreading fires

PubMed Central

Fox, Jerome M.; Whitesides, George M.

2015-01-01

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This paper describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., “wind–fire coupling”—a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. In this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind–fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., “blowup fires” in forests). PMID:25675491

Warning signals for eruptive events in spreading fires.

PubMed

Fox, Jerome M; Whitesides, George M

2015-02-24

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This paper describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., "wind-fire coupling"-a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. In this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind-fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., "blowup fires" in forests).

Warning signals for eruptive events in spreading fires

DOE PAGES

Fox, Jerome M.; Whitesides, George M.

2015-02-09

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This study describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., “wind–firemore » coupling”—a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. Here, in this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind–fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Lastly, findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., “blowup fires” in forests).« less

Warning signals for eruptive events in spreading fires

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

Fox, Jerome M.; Whitesides, George M.

Spreading fires are noisy (and potentially chaotic) systems in which transitions in dynamics are notoriously difficult to predict. As flames move through spatially heterogeneous environments, sudden shifts in temperature, wind, or topography can generate combustion instabilities, or trigger self-stabilizing feedback loops, that dramatically amplify the intensities and rates with which fires propagate. Such transitions are rarely captured by predictive models of fire behavior and, thus, complicate efforts in fire suppression. This study describes a simple, remarkably instructive physical model for examining the eruption of small flames into intense, rapidly moving flames stabilized by feedback between wind and fire (i.e., “wind–firemore » coupling”—a mechanism of feedback particularly relevant to forest fires), and it presents evidence that characteristic patterns in the dynamics of spreading flames indicate when such transitions are likely to occur. Here, in this model system, flames propagate along strips of nitrocellulose with one of two possible modes of propagation: a slow, structured mode, and a fast, unstructured mode sustained by wind–fire coupling. Experimental examination of patterns in dynamics that emerge near bifurcation points suggests that symptoms of critical slowing down (i.e., the slowed recovery of the system from perturbations as it approaches tipping points) warn of impending transitions to the unstructured mode. Lastly, findings suggest that slowing responses of spreading flames to sudden changes in environment (e.g., wind, terrain, temperature) may anticipate the onset of intense, feedback-stabilized modes of propagation (e.g., “blowup fires” in forests).« less

The Interplay between Feedback and Buffering in Cellular Homeostasis.

PubMed

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

2017-11-22

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

Asymmetric dual-loop feedback to suppress spurious tones and reduce timing jitter in self-mode-locked quantum-dash lasers emitting at 155 μm

NASA Astrophysics Data System (ADS)

Asghar, Haroon; McInerney, John G.

2017-09-01

We demonstrate an asymmetric dual-loop feedback scheme to suppress external cavity side-modes induced in self-mode-locked quantum-dash lasers with conventional single and dual-loop feedback. In this letter, we achieved optimal suppression of spurious tones by optimizing the length of second delay time. We observed that asymmetric dual-loop feedback, with large (~8x) disparity in cavity lengths, eliminates all external-cavity side-modes and produces flat RF spectra close to the main peak with low timing jitter compared to single-loop feedback. Significant reduction in RF linewidth and reduced timing jitter was also observed as a function of increased second feedback delay time. The experimental results based on this feedback configuration validate predictions of recently published numerical simulations. This interesting asymmetric dual-loop feedback scheme provides simplest, efficient and cost effective stabilization of side-band free optoelectronic oscillators based on mode-locked lasers.

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.

Time-resolved spectral characterization of ring cavity surface emitting and ridge-type distributed feedback quantum cascade lasers by step-scan FT-IR spectroscopy.

PubMed

Brandstetter, Markus; Genner, Andreas; Schwarzer, Clemens; Mujagic, Elvis; Strasser, Gottfried; Lendl, Bernhard

2014-02-10

We present the time-resolved comparison of pulsed 2nd order ring cavity surface emitting (RCSE) quantum cascade lasers (QCLs) and pulsed 1st order ridge-type distributed feedback (DFB) QCLs using a step-scan Fourier transform infrared (FT-IR) spectrometer. Laser devices were part of QCL arrays and fabricated from the same laser material. Required grating periods were adjusted to account for the grating order. The step-scan technique provided a spectral resolution of 0.1 cm(-1) and a time resolution of 2 ns. As a result, it was possible to gain information about the tuning behavior and potential mode-hops of the investigated lasers. Different cavity-lengths were compared, including 0.9 mm and 3.2 mm long ridge-type and 0.97 mm (circumference) ring-type cavities. RCSE QCLs were found to have improved emission properties in terms of line-stability, tuning rate and maximum emission time compared to ridge-type lasers.

Combining Charge Couple Devices and Rate Sensors for the Feedforward Control System of a Charge Coupled Device Tracking Loop.

PubMed

Tang, Tao; Tian, Jing; Zhong, Daijun; Fu, Chengyu

2016-06-25

A rate feed forward control-based sensor fusion is proposed to improve the closed-loop performance for a charge couple device (CCD) tracking loop. The target trajectory is recovered by combining line of sight (LOS) errors from the CCD and the angular rate from a fiber-optic gyroscope (FOG). A Kalman filter based on the Singer acceleration model utilizes the reconstructive target trajectory to estimate the target velocity. Different from classical feed forward control, additive feedback loops are inevitably added to the original control loops due to the fact some closed-loop information is used. The transfer function of the Kalman filter in the frequency domain is built for analyzing the closed loop stability. The bandwidth of the Kalman filter is the major factor affecting the control stability and close-loop performance. Both simulations and experiments are provided to demonstrate the benefits of the proposed algorithm.

Composite Intelligent Learning Control of Strict-Feedback Systems With Disturbance.

PubMed

Xu, Bin; Sun, Fuchun

2018-02-01

This paper addresses the dynamic surface control of uncertain nonlinear systems on the basis of composite intelligent learning and disturbance observer in presence of unknown system nonlinearity and time-varying disturbance. The serial-parallel estimation model with intelligent approximation and disturbance estimation is built to obtain the prediction error and in this way the composite law for weights updating is constructed. The nonlinear disturbance observer is developed using intelligent approximation information while the disturbance estimation is guaranteed to converge to a bounded compact set. The highlight is that different from previous work directly toward asymptotic stability, the transparency of the intelligent approximation and disturbance estimation is included in the control scheme. The uniformly ultimate boundedness stability is analyzed via Lyapunov method. Through simulation verification, the composite intelligent learning with disturbance observer can efficiently estimate the effect caused by system nonlinearity and disturbance while the proposed approach obtains better performance with higher accuracy.

Comparing the effects of positive and negative feedback in information-integration category learning.

PubMed

Freedberg, Michael; Glass, Brian; Filoteo, J Vincent; Hazeltine, Eliot; Maddox, W Todd

2017-01-01

Categorical learning is dependent on feedback. Here, we compare how positive and negative feedback affect information-integration (II) category learning. Ashby and O'Brien (2007) demonstrated that both positive and negative feedback are required to solve II category problems when feedback was not guaranteed on each trial, and reported no differences between positive-only and negative-only feedback in terms of their effectiveness. We followed up on these findings and conducted 3 experiments in which participants completed 2,400 II categorization trials across three days under 1 of 3 conditions: positive feedback only (PFB), negative feedback only (NFB), or both types of feedback (CP; control partial). An adaptive algorithm controlled the amount of feedback given to each group so that feedback was nearly equated. Using different feedback control procedures, Experiments 1 and 2 demonstrated that participants in the NFB and CP group were able to engage II learning strategies, whereas the PFB group was not. Additionally, the NFB group was able to achieve significantly higher accuracy than the PFB group by Day 3. Experiment 3 revealed that these differences remained even when we equated the information received on feedback trials. Thus, negative feedback appears significantly more effective for learning II category structures. This suggests that the human implicit learning system may be capable of learning in the absence of positive feedback.

Electrophysiological Correlates of Error Monitoring and Feedback Processing in Second Language Learning.

PubMed

Bultena, Sybrine; Danielmeier, Claudia; Bekkering, Harold; Lemhöfer, Kristin

2017-01-01

Humans monitor their behavior to optimize performance, which presumably relies on stable representations of correct responses. During second language (L2) learning, however, stable representations have yet to be formed while knowledge of the first language (L1) can interfere with learning, which in some cases results in persistent errors. In order to examine how correct L2 representations are stabilized, this study examined performance monitoring in the learning process of second language learners for a feature that conflicts with their first language. Using EEG, we investigated if L2 learners in a feedback-guided word gender assignment task showed signs of error detection in the form of an error-related negativity (ERN) before and after receiving feedback, and how feedback is processed. The results indicated that initially, response-locked negativities for correct (CRN) and incorrect (ERN) responses were of similar size, showing a lack of internal error detection when L2 representations are unstable. As behavioral performance improved following feedback, the ERN became larger than the CRN, pointing to the first signs of successful error detection. Additionally, we observed a second negativity following the ERN/CRN components, the amplitude of which followed a similar pattern as the previous negativities. Feedback-locked data indicated robust FRN and P300 effects in response to negative feedback across different rounds, demonstrating that feedback remained important in order to update memory representations during learning. We thus show that initially, L2 representations may often not be stable enough to warrant successful error monitoring, but can be stabilized through repeated feedback, which means that the brain is able to overcome L1 interference, and can learn to detect errors internally after a short training session. The results contribute a different perspective to the discussion on changes in ERN and FRN components in relation to learning, by extending the investigation of these effects to the language learning domain. Furthermore, these findings provide a further characterization of the online learning process of L2 learners.

Fast computation of the multivariable stability margin for real interrelated uncertain parameters

NASA Technical Reports Server (NTRS)

Sideris, Athanasios; Sanchez Pena, Ricardo S.

1988-01-01

A novel algorithm for computing the multivariable stability margin for checking the robust stability of feedback systems with real parametric uncertainty is proposed. This method eliminates the need for the frequency search involved in another given algorithm by reducing it to checking a finite number of conditions. These conditions have a special structure, which allows a significant improvement on the speed of computations.

ACOSS Six (Active Control of Space Structures)

DTIC Science & Technology

1981-10-01

modes, specially useful simpler conditions for ensuring closed-loop asymptotic stability are also derived. In addition, conditions for robustness of...in this initial study of FOCL stability and robustness . Such a condition is strong but not unreasonable nor unrealistic. Many useful simple in- sights...smallest possible feedback gains) and many interesting numerical results on closed-loop stability and robustness of the modal-dashpot designs. The

Intermittent compared to continuous real-time fMRI neurofeedback boosts control over amygdala activation.

PubMed

Hellrung, Lydia; Dietrich, Anja; Hollmann, Maurice; Pleger, Burkhard; Kalberlah, Christian; Roggenhofer, Elisabeth; Villringer, Arno; Horstmann, Annette

2018-02-01

Real-time fMRI neurofeedback is a feasible tool to learn the volitional regulation of brain activity. So far, most studies provide continuous feedback information that is presented upon every volume acquisition. Although this maximizes the temporal resolution of feedback information, it may be accompanied by some disadvantages. Participants can be distracted from the regulation task due to (1) the intrinsic delay of the hemodynamic response and associated feedback and (2) limited cognitive resources available to simultaneously evaluate feedback information and stay engaged with the task. Here, we systematically investigate differences between groups presented with different variants of feedback (continuous vs. intermittent) and a control group receiving no feedback on their ability to regulate amygdala activity using positive memories and feelings. In contrast to the feedback groups, no learning effect was observed in the group without any feedback presentation. The group receiving intermittent feedback exhibited better amygdala regulation performance when compared with the group receiving continuous feedback. Behavioural measurements show that these effects were reflected in differences in task engagement. Overall, we not only demonstrate that the presentation of feedback is a prerequisite to learn volitional control of amygdala activity but also that intermittent feedback is superior to continuous feedback presentation. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

Quantifying the Impact of Background Atmospheric Stability on Air-Ice-Ocean Interactions the Arctic Ocean During the Fall Freeze-Up

NASA Astrophysics Data System (ADS)

Guest, P. S.; Persson, O. P. G.; Blomquist, B.; Fairall, C. W.

2016-02-01

"Background" stability refers to the effect of vertical virtual temperature variations above the surface layer on fluxes within the surface layer. This is different from the classical surface layer stability quantified by the Obhukhov length scale. In most locations, changes in the background stability do not have a significant direct impact on surface fluxes. However in polar regions, where there is usually a strong low-level temperature inversion capping the boundary layer, changes in background stability can have big impacts on surface fluxes. Therefore, in the Arctic, there is potential for a positive feedback effect between ice cover and surface wind speed (and momentum flux) due to the background stability effects. As the surface becomes more ice free, heat fluxes from the surface weaken the temperature inversion which in turn increases the surface wind speed which further increases the surface turbulent heat fluxes and removes more sea ice by melting or advection. It is not clear how important feedbacks involving the background stability are during the fall freeze up of the Arctic Ocean; that will be the focus of this study. As part of an ONR-sponsored cruise in the fall of 2015 to examine sea state and boundary layer processes in the Beaufort Sea on the R/V Sikuliaq, the authors will perform a variety of surface layer and upper level atmospheric measurements of temperature, humidity and wind vector using ship platform instruments, radiosonde weather balloons, tethered balloons, kites, and miniature quad-rotor unmanned aerial vehicles. In addition, the authors will deploy a full suite of turbulent and radiational flux measurements from the vessel. These measurements will be used to quantify the impact of changing surface conditions on atmospheric structure and vice-versa. The goal is to directly observe how the surface and atmosphere above the surface layer interact and feedback with each other through radiational and turbulent fluxes.

Students' Informal Peer Feedback Networks

ERIC Educational Resources Information Center

Headington, Rita

2018-01-01

The nature and significance of students' informal peer feedback networks is an under-explored area. This paper offers the findings of a longitudinal investigation of the informal peer feedback networks of a cohort of student teachers [n = 105] across the three years of a UK primary education degree programme. It tracked the dynamic nature of these…

Effects of Information Feedback and Self-Administered Consequences on Self-Monitoring Study Behavior

ERIC Educational Resources Information Center

Richards, C. Steven; And Others

1976-01-01

The hypotheses tested among college students (N=87) concerned about study habits were: (a) self-monitoring changes study behavior; (b) information feedback accounts for some of this change; and (c) this change can be enhanced by manipulating the quantity and quality of information feedback and self-administered consequences associated with…

Beyond Content, Deeper than Delivery: What Critique Feedback Reveals about Communication Expectations in Design Education

ERIC Educational Resources Information Center

Dannels, Deanna; Gaffney, Amy Housley; Martin, Kelly Norris

2008-01-01

In design education, the critique is a communication event in which students present their design and critics provide feedback. Presumably, the feedback gives the students information about their progress on the design. Yet critic feedback also serves a socializing function--providing students information about what it means to communicate well in…

What Do Students Want Most from Written Feedback Information? Distinguishing Necessities from Luxuries Using a Budgeting Methodology

ERIC Educational Resources Information Center

Winstone, Naomi E.; Nash, Robert A.; Rowntree, James; Menezes, Richard

2016-01-01

Feedback is a key concern for higher education practitioners, yet there is little evidence concerning the aspects of assessment feedback information that higher education students prioritise when their lecturers' time and resources are stretched. One recent study found that, in such circumstances, students actually perceive feedback information…

Feedback Systems for Use with Paper-Based Instructional Products.

ERIC Educational Resources Information Center

Strandberg, Joel E.

This survey describes 15 systems that provide feedback to students. Feedback is defined as information transfer from the instructional material to the student after a response is made by the student. The feedback is directed primarily to the student, but when a permanent record of the response occurs this information is also available to the…

Passivity-Based Control for Two-Wheeled Robot Stabilization

NASA Astrophysics Data System (ADS)

Uddin, Nur; Aryo Nugroho, Teguh; Agung Pramudito, Wahyu

2018-04-01

A passivity-based control system design for two-wheeled robot (TWR) stabilization is presented. A TWR is a statically-unstable non-linear system. A control system is applied to actively stabilize the TWR. Passivity-based control method is applied to design the control system. The design results in a state feedback control law that makes the TWR closed loop system globally asymptotically stable (GAS). The GAS is proven mathematically. The TWR stabilization is demonstrated through computer simulation. The simulation results show that the designed control system is able to stabilize the TWR.

Nonlinear Time Delayed Feedback Control of Aeroelastic Systems: A Functional Approach

NASA Technical Reports Server (NTRS)

Marzocca, Piergiovanni; Librescu, Liviu; Silva, Walter A.

2003-01-01

In addition to its intrinsic practical importance, nonlinear time delayed feedback control applied to lifting surfaces can result in interesting aeroelastic behaviors. In this paper, nonlinear aeroelastic response to external time-dependent loads and stability boundary for actively controlled lifting surfaces, in an incompressible flow field, are considered. The structural model and the unsteady aerodynamics are considered linear. The implications of the presence of time delays in the linear/nonlinear feedback control and of geometrical parameters on the aeroelasticity of lifting surfaces are analyzed and conclusions on their implications are highlighted.

Log amplifier with pole-zero compensation

DOEpatents

Brookshier, William

1987-01-01

A logarithmic amplifier circuit provides pole-zero compensation for improved stability and response time over 6-8 decades of input signal frequency. The amplifier circuit includes a first operational amplifier with a first feedback loop which includes a second, inverting operational amplifier in a second feedback loop. The compensated output signal is provided by the second operational amplifier with the log elements, i.e., resistors, and the compensating capacitors in each of the feedback loops having equal values so that each break point or pole is offset by a compensating break point or zero.

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

NASA Astrophysics Data System (ADS)

Li, Liang; Jia, Gang; Chen, Jie; Zhu, Hongjun; Cao, Dongpu; Song, Jian

2015-08-01

Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system. In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel. However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller. Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre. Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper. As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of the stability yaw moment in order to guarantee the yaw rate and side-slip angle stability. As for the medium and lower controller, the quantitative relationship between the vehicle stability object and the target tyre forces of controlled wheels is proposed to achieve smooth control performance based on a combined-slip tyre model. The simulations with the hardware-in-the-loop platform validate that the proposed algorithm can improve the stability of the vehicle effectively.

Control of the constrained planar simple inverted pendulum

NASA Technical Reports Server (NTRS)

Bavarian, B.; Wyman, B. F.; Hemami, H.

1983-01-01

Control of a constrained planar inverted pendulum by eigenstructure assignment is considered. Linear feedback is used to stabilize and decouple the system in such a way that specified subspaces of the state space are invariant for the closed-loop system. The effectiveness of the feedback law is tested by digital computer simulation. Pre-compensation by an inverse plant is used to improve performance.

Polarization feedback laser stabilization

DOEpatents

Esherick, P.; Owyoung, A.

1987-09-28

A system for locking two Nd:YAG laser oscillators includes an optical path for feeding the output of one laser into the other with different polarizations. Elliptical polarization is incorporated into the optical path so that the change in polarization that occurs when the frequencies coincide may be detected to provide a feedback signal to control one laser relative to the other. 4 figs.

Design of multivariable feedback control systems via spectral assignment. [as applied to aircraft flight control

NASA Technical Reports Server (NTRS)

Liberty, S. R.; Mielke, R. R.; Tung, L. J.

1981-01-01

Applied research in the area of spectral assignment in multivariable systems is reported. A frequency domain technique for determining the set of all stabilizing controllers for a single feedback loop multivariable system is described. It is shown that decoupling and tracking are achievable using this procedure. The technique is illustrated with a simple example.

Carbon nanotube modified probes for stable and high sensitivity conductive atomic force microscopy

NASA Astrophysics Data System (ADS)

Slattery, Ashley D.; Shearer, Cameron J.; Gibson, Christopher T.; Shapter, Joseph G.; Lewis, David A.; Stapleton, Andrew J.

2016-11-01

Conductive atomic force microscopy (C-AFM) is used to characterise the nanoscale electrical properties of many conducting and semiconducting materials. We investigate the effect of single walled carbon nanotube (SWCNT) modification of commercial Pt/Ir cantilevers on the sensitivity and image stability during C-AFM imaging. Pt/Ir cantilevers were modified with small bundles of SWCNTs via a manual attachment procedure and secured with a conductive platinum pad. AFM images of topography and current were collected from heterogeneous polymer and nanomaterial samples using both standard and SWCNT modified cantilevers. Typically, achieving a good current image comes at the cost of reduced feedback stability. In part, this is due to electrostatic interaction and increased tip wear upon applying a bias between the tip and the sample. The SWCNT modified tips displayed superior current sensitivity and feedback stability which, combined with superior wear resistance of SWCNTs, is a significant advancement for C-AFM.

Delay-feedback control strategy for reducing CO2 emission of traffic flow system

NASA Astrophysics Data System (ADS)

Zhang, Li-Dong; Zhu, Wen-Xing

2015-06-01

To study the signal control strategy for reducing traffic emission theoretically, we first presented a kind of discrete traffic flow model with relative speed term based on traditional coupled map car-following model. In the model, the relative speed difference between two successive running cars is incorporated into following vehicle's acceleration running equation. Then we analyzed its stability condition with discrete control system stability theory. Third, we designed a delay-feedback controller to suppress traffic jam and decrease traffic emission based on modern controller theory. Last, numerical simulations are made to support our theoretical results, including the comparison of models' stability analysis, the influence of model type and signal control on CO2 emissions. The results show that the temporal behavior of our model is superior to other models, and the traffic signal controller has good effect on traffic jam suppression and traffic CO2 emission, which fully supports the theoretical conclusions.

Apparatus and methods for a human de-amplifier system

DOEpatents

Kress, Reid L.; Jansen, John F.

2000-01-01

A human de-amplifier system for interfacing a human operator and a physical object through a physical plant, wherein the physical object has dimensions in the range of 1 micrometer to 1 mm. The human de-amplifier system uses an inner-feedback loop to increases the equivalent damping of the operating system to stabilize the system when it contacts with the environment and reduces the impact of the environment variation by utilizing a high feedback gain, determined by a root locus sketch. Because the stability of the human de-amplifier system of the present invention is greatly enhanced over that of the prior art, the de-amplifier system is able to manipulate the physical object has dimensions in the range of 1 micrometer to 1 mm with high stability and accuracy. The system also has a monitoring device to monitor the motion of the physical object under manipulation.

Application of precomputed control laws in a reconfigurable aircraft flight control system

NASA Technical Reports Server (NTRS)

Moerder, Daniel D.; Halyo, Nesim; Broussard, John R.; Caglayan, Alper K.

1989-01-01

A self-repairing flight control system concept in which the control law is reconfigured after actuator and/or control surface damage to preserve stability and pilot command tracking is described. A key feature of the controller is reconfigurable multivariable feedback. The feedback gains are designed off-line and scheduled as a function of the aircraft control impairment status so that reconfiguration is performed simply by updating the gain schedule after detection of an impairment. A novel aspect of the gain schedule design procedure is that the schedule is calculated using a linear quadratic optimization-based simultaneous stabilization algorithm in which the scheduled gain is constrained to stabilize a collection of plant models representing the aircraft in various control failure modes. A description and numerical evaluation of a controller design for a model of a statically unstable high-performance aircraft are given.

Ecogeomorphological feedbacks in a tidal freshwater marsh

NASA Astrophysics Data System (ADS)

Palinkas, C. M.; Engelhardt, K.

2013-12-01

Tidal freshwater marshes are critical components of fluvial and estuarine ecosystems. However, ecogeomorphological feedbacks (i.e., feedbacks between sediment dynamics and the vegetation community) in freshwater marshes have not received as much attention as within their saltwater counterparts. This study evaluates the role of these feedbacks in stabilizing marsh-surface elevation, relative to sea-level rise, in Dyke Marsh Preserve (Potomac River, USA). Specifically, we relate the composition of the vegetation community to current and historical patterns of sedimentation that occur on bimonthly to decadal time scales. Along with a ~3-year time series of bimonthly and seasonal-scale observations, 210Pb (half-life 22.3 y) profiles are used to identify sites with relatively steady sediment accumulation (i.e., stable sediments) and those with numerous deposition/erosion events (i.e., unstable sediments). Differences in the vegetation community (e.g., composition, stem density) and sediment character (e.g., organic content, grain size) among sites in each of these stability categories are examined with statistical techniques and compared to observations of marsh-surface elevation change. The resulting insights are placed into a geomorphological context to assess the potential response of this marsh to rapid global environmental change.

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.

Feedback from incident reporting: information and action to improve patient safety.

PubMed

Benn, J; Koutantji, M; Wallace, L; Spurgeon, P; Rejman, M; Healey, A; Vincent, C

2009-02-01

Effective feedback from incident reporting systems in healthcare is essential if organisations are to learn from failures in the delivery of care. Despite the wide-scale development and implementation of incident reporting in healthcare, studies in the UK suggest that information concerning system vulnerabilities could be better applied to improve operational safety within organisations. In this article, the findings and implications of research to identify forms of effective feedback from incident reporting are discussed, to promote best practices in this area. The research comprised a mixed methods review to investigate mechanisms of effective feedback for healthcare, drawing upon experience within established reporting programmes in high-risk industry and transport domains. Systematic searches of published literature were undertaken, and 23 case studies describing incident reporting programmes with feedback were identified for analysis from the international healthcare literature. Semistructured interviews were undertaken with 19 subject matter experts across a range of domains, including: civil aviation, maritime, energy, rail, offshore production and healthcare. In analysis, qualitative information from several sources was synthesised into practical requirements for developing effective feedback in healthcare. Both action and information feedback mechanisms were identified, serving safety awareness, improvement and motivational functions. The provision of actionable feedback that visibly improved systems was highlighted as important in promoting future reporting. Fifteen requirements for the design of effective feedback systems were identified, concerning: the role of leadership, the credibility and content of information, effective dissemination channels, the capacity for rapid action and the need for feedback at all levels of the organisation, among others. Above all, the safety-feedback cycle must be closed by ensuring that reporting, analysis and investigation result in timely corrective actions that effectively address vulnerabilities in existing work systems. Limited research evidence exists concerning the issue of effective forms of safety feedback within healthcare. Much valuable operational knowledge resides in safety management communities within high-risk industries. Multiple means of feeding back recommended actions and safety information may be usefully employed to promote safety awareness, improve clinical processes and promote future reporting. Further work is needed to establish best practices for feedback systems in healthcare that effectively close the safety loop.

Feedback-Assisted Extension of the Tokamak Operating Space to Low Safety Factor

NASA Astrophysics Data System (ADS)

Hanson, J. M.

2013-10-01

Recent DIII-D experiments have demonstrated stable operation at very low edge safety factor, q95 <~ 2 through the use of magnetic feedback to control the n = 1 resistive wall mode (RWM) instability. The performance of tokamak fusion devices may benefit from increased plasma current, and thus, decreased q. However, disruptive stability limits are commonly encountered in experiments at qedge ~ 2 (limited plasmas) and q95 ~ 2 (diverted plasmas), limiting exploration of low q regimes. In the recent DIII-D experiments, the impact and control of key disruptive instabilities was studied. Locked n = 1 modes with exponential growth times on the order of the wall eddy current decay timescale τw preceded disruptions at q95 = 2 . The instabilities have a poloidal structure that is consistent with VALEN simulations of the RWM mode structure at q95 = 2 . Applying proportional gain magnetic feedback control of the n = 1 mode resulted in stabilized operation with q95 reaching 1.9, and an extension of the discharge lifetime for > 100τw . Loss of feedback control was accompanied by power supply saturation, followed by a rapidly growing n = 1 mode and disruption. Comparisons of the feedback dynamics with VALEN simulations will be presented. The DIII-D results complement and will be discussed alongside recent RFX-MOD demonstrations of RWM control using magnetic feedback in limited tokamak discharges with qedge < 2. These results call attention to the utility of magnetic feedback in significantly extending the tokamak operational space and potentially opening a new route to economical fusion power production. Supported by the US Department of Energy under DE-FG02-04ER54761 and DE-FC02-04ER54698.

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.

Finite-Time Stabilization and Adaptive Control of Memristor-Based Delayed Neural Networks.

PubMed

Wang, Leimin; Shen, Yi; Zhang, Guodong

Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.

Regulation of landslide motion by dilatancy and pore pressure feedback

USGS Publications Warehouse

Iverson, R.M.

2005-01-01

A new mathematical model clarifies how diverse styles and rates of landslide motion can result from regulation of Coulomb friction by dilation or contraction of water-saturated basal shear zones. Normalization of the model equations shows that feedback due to coupling between landslide motion, shear zone volume change, and pore pressure change depends on a single dimensionless parameter ??, which, in turn, depends on the dilatancy angle ?? and the intrinsic timescales for pore pressure generation and dissipation. If shear zone soil contracts during slope failure, then ?? 0, and negative feedback permits slow, steady landslide motion to occur while positive pore pressure is supplied by rain infiltration. Steady state slip velocities v0 obey v0 = -(K/??) p*e, where K is the hydraulic conductivity and p*e is the normalized (dimensionless) negative pore pressure generated by dilation. If rain infiltration and attendant pore pressure growth continue unabated, however, their influence ultimately overwhelms the stabilizing influence of negative p*e. Then, unbounded landslide acceleration occurs, accentuated by an instability that develops if ?? diminishes as landslide motion proceeds. Nonetheless, numerical solutions of the model equations show that slow, nearly steady motion of a clay-rich landslide may persist for many months as a result of negative pore pressure feedback that regulates basal Coulomb friction. Similarly stabilized motion is less likely to occur in sand-rich landslides that are characterized by weaker negative feedback.

Impact of excitation waveform on the frequency stability of electrostatically-actuated micro-electromechanical oscillators

NASA Astrophysics Data System (ADS)

Juillard, J.; Brenes, A.

2018-05-01

In this paper, the frequency stability of high-Q electrostatically-actuated MEMS oscillators with cubic restoring forces, and its relation with the amplitude, the phase and the shape of the excitation waveform, is studied. The influence on close-to-the carrier frequency noise of additive processes (such as thermomechanical noise) or parametric processes (bias voltage fluctuations, feedback phase fluctuations, feedback level fluctuations) is taken into account. It is shown that the optimal operating conditions of electrostatically-actuated MEMS oscillators are highly waveform-dependent, a factor that is largely overlooked in the existing literature. This simulation-based study covers the cases of harmonic and pulsed excitation of a parallel-plate capacitive MEMS resonator.

Fuzzy Model-based Pitch Stabilization and Wing Vibration Suppression of Flexible Wing Aircraft.

NASA Technical Reports Server (NTRS)

Ayoubi, Mohammad A.; Swei, Sean Shan-Min; Nguyen, Nhan T.

2014-01-01

This paper presents a fuzzy nonlinear controller to regulate the longitudinal dynamics of an aircraft and suppress the bending and torsional vibrations of its flexible wings. The fuzzy controller utilizes full-state feedback with input constraint. First, the Takagi-Sugeno fuzzy linear model is developed which approximates the coupled aeroelastic aircraft model. Then, based on the fuzzy linear model, a fuzzy controller is developed to utilize a full-state feedback and stabilize the system while it satisfies the control input constraint. Linear matrix inequality (LMI) techniques are employed to solve the fuzzy control problem. Finally, the performance of the proposed controller is demonstrated on the NASA Generic Transport Model (GTM).

Enhancing the Performance of Passive Teleoperation Systems via Cutaneous Feedback.

PubMed

Pacchierotti, Claudio; Tirmizi, Asad; Bianchini, Gianni; Prattichizzo, Domenico

2015-01-01

We introduce a novel method to improve the performance of passive teleoperation systems with force reflection. It consists of integrating kinesthetic haptic feedback provided by common grounded haptic interfaces with cutaneous haptic feedback. The proposed approach can be used on top of any time-domain control technique that ensures a stable interaction by scaling down kinesthetic feedback when this is required to satisfy stability conditions (e.g., passivity) at the expense of transparency. Performance is recovered by providing a suitable amount of cutaneous force through custom wearable cutaneous devices. The viability of the proposed approach is demonstrated through an experiment of perceived stiffness and an experiment of teleoperated needle insertion in soft tissue.

Multi-Reanalysis Comparison of Variability in Analysis Increment of Column-Integrated Water Vapor Associated with Madden-Julian Oscillation

NASA Astrophysics Data System (ADS)

Yokoi, S.

2014-12-01

This study conducts a comparison of three reanalysis products (JRA-55, JRA-25, and ERA-Interim) in representation of Madden-Julian Oscillation (MJO), focusing on column-integrated water vapor (CWV) that is considered as an essential variable for discussing MJO dynamics. Besides the analysis fields of CWV, which exhibit spatio-temporal distributions that are quite similar to satellite observations, CWV tendency simulated by forecast models and analysis increment calculated by data assimilation are examined. For JRA-55, it is revealed that, while its forecast model is able to simulate eastward propagation of the CWV anomaly, it tends to weaken the amplitude, and data assimilation process sustains the amplitude. The multi-reanalysis comparison of the analysis increment further reveals that this weakening bias is probably caused by excessively weak cloud-radiative feedback represented by the model. This bias in the feedback strength makes anomalous moisture supply by the vertical advection term in the CWV budget equation too insensitive to precipitation anomaly, resulting in reduction of the amplitude of CWV anomaly. ERA-Interim has a nearly opposite feature; the forecast model represents excessively strong feedback and unrealistically strengthens the amplitude, while the data assimilation weakens it. These results imply the necessity of accurate representation of the cloud-radiative feedback strength for a short-term MJO forecast, and may be evidence to support the argument that this feedback is essential for the existence of MJO. Furthermore, this study demonstrates that the multi-reanalysis comparison of the analysis increment will provide useful information for identifying model biases and, potentially, for estimating parameters that are difficult to estimate solely from observation data, such as gross moist stability.

Output Feedback Adaptive Control of Non-Minimum Phase Systems Using Optimal Control Modification

NASA Technical Reports Server (NTRS)

Nguyen, Nhan; Hashemi, Kelley E.; Yucelen, Tansel; Arabi, Ehsan

2018-01-01

This paper describes output feedback adaptive control approaches for non-minimum phase SISO systems with relative degree 1 and non-strictly positive real (SPR) MIMO systems with uniform relative degree 1 using the optimal control modification method. It is well-known that the standard model-reference adaptive control (MRAC) cannot be used to control non-SPR plants to track an ideal SPR reference model. Due to the ideal property of asymptotic tracking, MRAC attempts an unstable pole-zero cancellation which results in unbounded signals for non-minimum phase SISO systems. The optimal control modification can be used to prevent the unstable pole-zero cancellation which results in a stable adaptation of non-minimum phase SISO systems. However, the tracking performance using this approach could suffer if the unstable zero is located far away from the imaginary axis. The tracking performance can be recovered by using an observer-based output feedback adaptive control approach which uses a Luenberger observer design to estimate the state information of the plant. Instead of explicitly specifying an ideal SPR reference model, the reference model is established from the linear quadratic optimal control to account for the non-minimum phase behavior of the plant. With this non-minimum phase reference model, the observer-based output feedback adaptive control can maintain stability as well as tracking performance. However, in the presence of the mismatch between the SPR reference model and the non-minimum phase plant, the standard MRAC results in unbounded signals, whereas a stable adaptation can be achieved with the optimal control modification. An application of output feedback adaptive control for a flexible wing aircraft illustrates the approaches.

Effect of impinging plate geometry on the self-excitation of subsonic impinging jets

NASA Astrophysics Data System (ADS)

Vinoth, B. R.; Rathakrishnan, E.

2011-11-01

In the generation of discrete tones by subsonic impinging jets, there exists a difference of opinion as how the feedback is achieved, i.e., the path of the feedback acoustic waves is whether inside the jet or outside the jet? The only available model (Tam and Ahuja model) for the prediction of an average subsonic jet impingement tone frequency assumes that the upstream part of the feedback loop is closed by an upstream propagating neutral wave of the jet. But, there is no information about the plate geometry in the model. The present study aims at understanding the effect of the plate geometry (size and co-axial hole in the plate) on the self-excitation process of subsonic impinging jets and the path of the acoustic feedback to the nozzle exit. The present results show that there is no effect of plate diameter on the frequency of the self-excitation. A new type of tones is generated for plates with co-axial hole (hole diameter is equal to nozzle exit diameter) for Mach numbers 0.9 and 0.95, in addition to the axisymmetric and helical mode tones observed for plates without co-axial hole. The stability results show that the Strouhal number of the least dispersive upstream propagating neutral waves match with the average Strouhal number of the new tones observed in the present experiments. The present study extends the validity of the model of Tam and Ahuja to a plate with co-axial hole (annular plate) and by doing so, we indirectly confirmed that the major acoustic feedback path to the nozzle exit is inside the jet.

Resource-driven changes to host population stability alter the evolution of virulence and transmission.

PubMed

Hite, Jessica L; Cressler, Clayton E

2018-05-05

What drives the evolution of parasite life-history traits? Recent studies suggest that linking within- and between-host processes can provide key insight into both disease dynamics and parasite evolution. Still, it remains difficult to understand how to pinpoint the critical factors connecting these cross-scale feedbacks, particularly under non-equilibrium conditions; many natural host populations inherently fluctuate and parasites themselves can strongly alter the stability of host populations. Here, we develop a general model framework that mechanistically links resources to parasite evolution across a gradient of stable and unstable conditions. First, we dynamically link resources and between-host processes (host density, stability, transmission) to virulence evolution, using a 'non-nested' model. Then, we consider a 'nested' model where population-level processes (transmission and virulence) depend on resource-driven changes to individual-level (within-host) processes (energetics, immune function, parasite production). Contrary to 'non-nested' model predictions, the 'nested' model reveals complex effects of host population dynamics on parasite evolution, including regions of evolutionary bistability; evolution can push parasites towards strongly or weakly stabilizing strategies. This bistability results from dynamic feedbacks between resource-driven changes to host density, host immune function and parasite production. Together, these results highlight how cross-scale feedbacks can provide key insights into the structuring role of parasites and parasite evolution.This article is part of the theme issue 'Anthropogenic resource subsidies and host-parasite dynamics in wildlife'. © 2018 The Author(s).

Flatness-based adaptive fuzzy control of chaotic finance dynamics

NASA Astrophysics Data System (ADS)

Rigatos, G.; Siano, P.; Loia, V.; Tommasetti, A.; Troisi, O.

2017-11-01

A flatness-based adaptive fuzzy control is applied to the problem of stabilization of the dynamics of a chaotic finance system, describing interaction between the interest rate, the investment demand and the price exponent. By proving that the system is differentially flat and by applying differential flatness diffeomorphisms, its transformation to the linear canonical (Brunovsky) is performed. For the latter description of the system, the design of a stabilizing state feedback controller becomes possible. A first problem in the design of such a controller is that the dynamic model of the finance system is unknown and thus it has to be identified with the use neurofuzzy approximators. The estimated dynamics provided by the approximators is used in the computation of the control input, thus establishing an indirect adaptive control scheme. The learning rate of the approximators is chosen from the requirement the system's Lyapunov function to have always a negative first-order derivative. Another problem that has to be dealt with is that the control loop is implemented only with the use of output feedback. To estimate the non-measurable state vector elements of the finance system, a state observer is implemented in the control loop. The computation of the feedback control signal requires the solution of two algebraic Riccati equations at each iteration of the control algorithm. Lyapunov stability analysis demonstrates first that an H-infinity tracking performance criterion is satisfied. This signifies elevated robustness against modelling errors and external perturbations. Moreover, the global asymptotic stability is proven for the control loop.

Robust Stability Analysis of the Space Launch System Control Design: A Singular Value Approach

NASA Technical Reports Server (NTRS)

Pei, Jing; Newsome, Jerry R.

2015-01-01

Classical stability analysis consists of breaking the feedback loops one at a time and determining separately how much gain or phase variations would destabilize the stable nominal feedback system. For typical launch vehicle control design, classical control techniques are generally employed. In addition to stability margins, frequency domain Monte Carlo methods are used to evaluate the robustness of the design. However, such techniques were developed for Single-Input-Single-Output (SISO) systems and do not take into consideration the off-diagonal terms in the transfer function matrix of Multi-Input-Multi-Output (MIMO) systems. Robust stability analysis techniques such as H(sub infinity) and mu are applicable to MIMO systems but have not been adopted as standard practices within the launch vehicle controls community. This paper took advantage of a simple singular-value-based MIMO stability margin evaluation method based on work done by Mukhopadhyay and Newsom and applied it to the SLS high-fidelity dynamics model. The method computes a simultaneous multi-loop gain and phase margin that could be related back to classical margins. The results presented in this paper suggest that for the SLS system, traditional SISO stability margins are similar to the MIMO margins. This additional level of verification provides confidence in the robustness of the control design.

Haptic stabilization of posture: changes in arm proprioception and cutaneous feedback for different arm orientations

NASA Technical Reports Server (NTRS)

Rabin, E.; Bortolami, S. B.; DiZio, P.; Lackner, J. R.

1999-01-01

Postural sway during quiet stance is attenuated by actively maintained contact of the index finger with a stationary surface, even if the level of applied force (<1 N) cannot provide mechanical stabilization. In this situation, changes in force level at the fingertip lead changes in center of foot pressure by approximately 250 ms. These and related findings indicate that stimulation of the fingertip combined with proprioceptive information about the hand and arm can serve as an active sensor of body position relative to the point of contact. A geometric analysis of the relationship between hand and torso displacement during body sway led to the prediction that arm and hand proprioceptive and finger somatosensory information about body sway would be maximized with finger contact in the plane of body sway. Therefore, the most postural stabilization should be possible with such contact. To test this analysis, subjects touched a laterally versus anteriorly placed surface while in each of two stances: the heel-to-toe tandem Romberg stance that reduces medial-lateral stability and the heel-to-heel, toes-outward, knees-bent, "duck stance" that reduces fore-aft stability. Postural sway was always least with finger contact in the unstable plane: for the tandem stance, lateral fingertip contact was significantly more effective than frontal contact, and, for the duck stance, frontal contact was more effective than lateral fingertip contact. Force changes at the fingertip led changes in center of pressure of the feet by approximately 250 ms for both fingertip contact locations for both test stances. These results support the geometric analysis, which showed that 1) arm joint angles change by the largest amount when fingertip contact is maintained in the plane of greatest sway, and 2) the somatosensory cues at the fingertip provide both direction and amplitude information about sway when the finger is contacting a surface in the unstable plane.

Haptic stabilization of posture: changes in arm proprioception and cutaneous feedback for different arm orientations.

PubMed

Rabin, E; Bortolami, S B; DiZio, P; Lackner, J R

1999-12-01

Postural sway during quiet stance is attenuated by actively maintained contact of the index finger with a stationary surface, even if the level of applied force (<1 N) cannot provide mechanical stabilization. In this situation, changes in force level at the fingertip lead changes in center of foot pressure by approximately 250 ms. These and related findings indicate that stimulation of the fingertip combined with proprioceptive information about the hand and arm can serve as an active sensor of body position relative to the point of contact. A geometric analysis of the relationship between hand and torso displacement during body sway led to the prediction that arm and hand proprioceptive and finger somatosensory information about body sway would be maximized with finger contact in the plane of body sway. Therefore, the most postural stabilization should be possible with such contact. To test this analysis, subjects touched a laterally versus anteriorly placed surface while in each of two stances: the heel-to-toe tandem Romberg stance that reduces medial-lateral stability and the heel-to-heel, toes-outward, knees-bent, "duck stance" that reduces fore-aft stability. Postural sway was always least with finger contact in the unstable plane: for the tandem stance, lateral fingertip contact was significantly more effective than frontal contact, and, for the duck stance, frontal contact was more effective than lateral fingertip contact. Force changes at the fingertip led changes in center of pressure of the feet by approximately 250 ms for both fingertip contact locations for both test stances. These results support the geometric analysis, which showed that 1) arm joint angles change by the largest amount when fingertip contact is maintained in the plane of greatest sway, and 2) the somatosensory cues at the fingertip provide both direction and amplitude information about sway when the finger is contacting a surface in the unstable plane.

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

Governor stability simulations of Svartisen power plant verified by the installed monitoring system on site

NASA Astrophysics Data System (ADS)

Nielsen, T. K.; Kjeldsen, M.

2010-08-01

Many Norwegian hydro power plants have complex lay-out with several reservoirs, broke intakes, surge shafts and even air cushion chambers. There are kilometers of excavated tunnels as well as long tail water systems. The stations are often equipped by multiple of turbines, both in series and parallel. A number of operation modes are therefore possible. Doing transient simulations and simulations of governor stability in the design phase, the problem is to find the worst case scenario regarding these operating modes. Svartisen power plant has been of particular interest these days. The power plant is originally designed for two 350 MW Francis turbines, however, only one turbine was installed. When designed, governor stability was regarded as problematic due to the long penstock. A long penstock will give a too high time constant for the hydraulic inertia. The main problem here is, however, the water hammer frequency that interferes with the governor performance. The frequency is in the same range as the cross frequency. Therefore the governor will react on these water hammer waves, which in its nature is notoriously unstable. The common solution is to build an air cushion and thereby increase the water hammer frequency above the cross frequency. The expenses were, however, deemed too high, and it was necessary to seek for other solutions. A pressure feedback on the governor was introduced in order to have stable operation at least for two turbines. With only one turbine installed, the pressure feedback has not been activated because, based on the simulations, it was regarded unnecessary. Even if the original simulations shows good stability margins when only one turbine is running, there has been some indications that the aggregate has suffered from instability. In 2004 Svartisen Power Plant was equipped with a comprehensive monitoring system. Both the turbine and the generator performance have been observed. This gives valuable information on how the hydropower plant has performed during start ups, close downs and steady state operation. The data has for instance been used to verify the simulations of governor stability of the excising turbine.This will also secure the simulations done with an additional turbine installed.

The Stability Region for Feedback Control of the Wake Behind Twin Oscillating Cylinders

NASA Astrophysics Data System (ADS)

Borggaard, Jeff; Gugercin, Serkan; Zietsman, Lizette

2016-11-01

Linear feedback control has the ability to stabilize vortex shedding behind twin cylinders where cylinder rotation is the actuation mechanism. Complete elimination of the wake is only possible for certain Reynolds numbers and cylinder spacing. This is related to the presence of asymmetric unstable modes in the linearized system. We investigate this region of parameter space using a number of closed-loop simulations that bound this region. We then consider the practical issue of designing feedback controls based on limited state measurements by building a nonlinear compensator using linear robust control theory with and incorporating the nonlinear terms in the compensator (e.g., using the extended Kalman filter). Interpolatory model reduction methods are applied to the large discretized, linearized Navier-Stokes system and used for computing the control laws and compensators. Preliminary closed-loop simulations of a three-dimensional version of this problem will also be presented. Supported in part by the National Science Foundation.

Numerical algorithms for computations of feedback laws arising in control of flexible systems

NASA Technical Reports Server (NTRS)

Lasiecka, Irena

1989-01-01

Several continuous models will be examined, which describe flexible structures with boundary or point control/observation. Issues related to the computation of feedback laws are examined (particularly stabilizing feedbacks) with sensors and actuators located either on the boundary or at specific point locations of the structure. One of the main difficulties is due to the great sensitivity of the system (hyperbolic systems with unbounded control actions), with respect to perturbations caused either by uncertainty of the model or by the errors introduced in implementing numerical algorithms. Thus, special care must be taken in the choice of the appropriate numerical schemes which eventually lead to implementable finite dimensional solutions. Finite dimensional algorithms are constructed on a basis of a priority analysis of the properties of the original, continuous (infinite diversional) systems with the following criteria in mind: (1) convergence and stability of the algorithms and (2) robustness (reasonable insensitivity with respect to the unknown parameters of the systems). Examples with mixed finite element methods and spectral methods are provided.

CROSS-DISCIPLINARY PHYSICS AND RELATED AREAS OF SCIENCE AND TECHNOLOGY: Information Feedback Strategies in a Signal Controlled Network with Overlapped Routes

NASA Astrophysics Data System (ADS)

Tian, Li-Jun; Huang, Hai-Jun; Liu, Tian-Liang

2009-07-01

We investigate the effects of four different information feedback strategies on the dynamics of traffic, travelers' route choice and the resultant system performance in a signal controlled network with overlapped routes. Simulation results given by the cellular automaton model show that the system purpose-based mean velocity feedback strategy and the congestion coefficient feedback strategy have more advantages in improving network utilization efficiency and reducing travelers' travel times. The travel time feedback strategy and the individual purposed-based mean velocity feedback strategy behave slightly better to ensure user equity.

76 FR 30680 - Notice of Submission for OMB Review

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-26

... Clearance for the Collection of Qualitative Feedback on Agency Service Delivery. OMB Control Number: 1880.... Abstract: The information collection activity will garner qualitative customer and stakeholder feedback in... delivery. By qualitative feedback we mean information that provides useful insights on perceptions and...

Feedback control for stabilizing chaotic spiral waves during cardiac ventricular fibrillation

NASA Astrophysics Data System (ADS)

Uzelac, Ilija; Wikswo, John; Gray, Richard

2011-03-01

The cardiac arrhythmias that lead to ventricular fibrillation (VF) arise from electrical spiral waves (SW) rotating within the heart with a characteristic period τ . A single drifting SW can degenerate into a chaotic system of multiple SWs and VF. Hence early SW detection and termination is crucial to prevent VF. Time-delayed feedback control (TDFC) is well known approach for stabilizing unstable periodic orbits embedded in chaotic attractors. We hypothesize that cardiac SWs can be stabilized by TDFC with a time-delay of τ . Implementing this approach will require precise, closed-loop control of the charge delivered to the heart during the defibrillation process. To do this, we have developed a 2 kW arbitrary-waveform voltage-to-current converter (V2CC) with a 1 kHz bandwidth that can deliver up to 5 A at 400 V for 500 ms, and a photodiode system for recording in real time an optical electrocardiogram, OECG(t). The feedback signal driving the V2CC will be the time-difference (OECG(t) - OECG(t-T), where we hypothesize that T is τ , the period of the SW. This may dramatically decrease defibrillation voltages by using a defibrillation waveform customized to the VF event, unlike commercial capacitor defibrillators. Supported in part by NIH R01 HL58241-11 through ARRA 2009.

STABILIZING CLOUD FEEDBACK DRAMATICALLY EXPANDS THE HABITABLE ZONE OF TIDALLY LOCKED PLANETS

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

Yang Jun; Abbot, Dorian S.; Cowan, Nicolas B., E-mail: abbot@uchicago.edu

2013-07-10

The habitable zone (HZ) is the circumstellar region where a planet can sustain surface liquid water. Searching for terrestrial planets in the HZ of nearby stars is the stated goal of ongoing and planned extrasolar planet surveys. Previous estimates of the inner edge of the HZ were based on one-dimensional radiative-convective models. The most serious limitation of these models is the inability to predict cloud behavior. Here we use global climate models with sophisticated cloud schemes to show that due to a stabilizing cloud feedback, tidally locked planets can be habitable at twice the stellar flux found by previous studies.more » This dramatically expands the HZ and roughly doubles the frequency of habitable planets orbiting red dwarf stars. At high stellar flux, strong convection produces thick water clouds near the substellar location that greatly increase the planetary albedo and reduce surface temperatures. Higher insolation produces stronger substellar convection and therefore higher albedo, making this phenomenon a stabilizing climate feedback. Substellar clouds also effectively block outgoing radiation from the surface, reducing or even completely reversing the thermal emission contrast between dayside and nightside. The presence of substellar water clouds and the resulting clement surface conditions will therefore be detectable with the James Webb Space Telescope.« less

Exploring the Impact of the Informational Value of Feedback Choices on Performance Outcomes in an Online Assessment Game

ERIC Educational Resources Information Center

Cutumisu, Maria

2017-01-01

This paper examines the impact of the informational value of feedback choices on students' performance, their choice to revise, and the time they spend designing posters and reading feedback in an assessment game. Choices to seek confirmatory or critical feedback and to revise posters in a poster design task were collected from a hundred and six…

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

PubMed

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

2010-12-01

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

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

PubMed Central

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

2013-01-01

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

NON-BLOCKING STABILIZED FEED BACK AMPLIFIER

DOEpatents

Fairstein, E.

1960-03-01

A plural stuge nonblocking degenerative feed-back amplifier was designed particularly suitable for counting circuits because of the stability and linearity in operation, characterized by the fact that the inltial stage employs a cathode coupled input circuit fed from a cathode follower and the final stage has a tline constant greater than those of the other stages.

The Number of Feedbacks Needed for Reliable Evaluation. A Multilevel Analysis of the Reliability, Stability and Generalisability of Students' Evaluation of Teaching

ERIC Educational Resources Information Center

Rantanen, Pekka

2013-01-01

A multilevel analysis approach was used to analyse students' evaluation of teaching (SET). The low value of inter-rater reliability stresses that any solid conclusions on teaching cannot be made on the basis of single feedbacks. To assess a teacher's general teaching effectiveness, one needs to evaluate four randomly chosen course implementations.…

Robust decentralised stabilisation of uncertain large-scale interconnected nonlinear descriptor systems via proportional plus derivative feedback

NASA Astrophysics Data System (ADS)

Li, Jian; Zhang, Qingling; Ren, Junchao; Zhang, Yanhao

2017-10-01

This paper studies the problem of robust stability and stabilisation for uncertain large-scale interconnected nonlinear descriptor systems via proportional plus derivative state feedback or proportional plus derivative output feedback. The basic idea of this work is to use the well-known differential mean value theorem to deal with the nonlinear model such that the considered nonlinear descriptor systems can be transformed into linear parameter varying systems. By using a parameter-dependent Lyapunov function, a decentralised proportional plus derivative state feedback controller and decentralised proportional plus derivative output feedback controller are designed, respectively such that the closed-loop system is quadratically normal and quadratically stable. Finally, a hypersonic vehicle practical simulation example and numerical example are given to illustrate the effectiveness of the results obtained in this paper.

Stabilization of self-mode-locked quantum dash lasers by symmetric dual-loop optical feedback

NASA Astrophysics Data System (ADS)

Asghar, Haroon; Wei, Wei; Kumar, Pramod; Sooudi, Ehsan; McInerney, John. G.

2018-02-01

We report experimental studies of the influence of symmetric dual-loop optical feedback on the RF linewidth and timing jitter of self-mode-locked two-section quantum dash lasers emitting at 1550 nm. Various feedback schemes were investigated and optimum levels determined for narrowest RF linewidth and low timing jitter, for single-loop and symmetric dual-loop feedback. Two symmetric dual-loop configurations, with balanced and unbalanced feedback ratios, were studied. We demonstrate that unbalanced symmetric dual loop feedback, with the inner cavity resonant and fine delay tuning of the outer loop, gives narrowest RF linewidth and reduced timing jitter over a wide range of delay, unlike single and balanced symmetric dual-loop configurations. This configuration with feedback lengths 80 and 140 m narrows the RF linewidth by 4-67x and 10-100x, respectively, across the widest delay range, compared to free-running. For symmetric dual-loop feedback, the influence of different power split ratios through the feedback loops was determined. Our results show that symmetric dual-loop feedback is markedly more effective than single-loop feedback in reducing RF linewidth and timing jitter, and is much less sensitive to delay phase, making this technique ideal for applications where robustness and alignment tolerance are essential.

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.

On a program manifold's stability of one contour automatic control systems

NASA Astrophysics Data System (ADS)

Zumatov, S. S.

2017-12-01

Methodology of analysis of stability is expounded to the one contour systems automatic control feedback in the presence of non-linearities. The methodology is based on the use of the simplest mathematical models of the nonlinear controllable systems. Stability of program manifolds of one contour automatic control systems is investigated. The sufficient conditions of program manifold's absolute stability of one contour automatic control systems are obtained. The Hurwitz's angle of absolute stability was determined. The sufficient conditions of program manifold's absolute stability of control systems by the course of plane in the mode of autopilot are obtained by means Lyapunov's second method.

Phase-locking behavior in a high-frequency gymnotiform weakly electric fish, Adontosternarchus.

PubMed

Kawasaki, Masashi; Leonard, John

2017-02-01

An apteronotid weakly electric fish, Adontosternarchus, emits high-frequency electric organ discharges (700-1500 Hz) which are stable in frequency if no other fish or artificial signals are present. When encountered with an artificial signal of higher frequency than the fish's discharge, the fish raised its discharge frequency and eventually matched its own frequency to that of the artificial signal. At this moment, phase locking was observed, where the timing of the fish's discharge was precisely stabilized at a particular phase of the artificial signal over a long period of time (up to minutes) with microsecond precision. Analyses of the phase-locking behaviors revealed that the phase values of the artificial stimulus at which the fish stabilizes the phase of its own discharge (called lock-in phases) have three populations between -180° and +180°. During the frequency rise and the phase-locking behavior, the electrosensory system is exposed to the mixture of feedback signals from its electric organ discharges and the artificial signal. Since the signal mixture modulates in both amplitude and phase, we explored whether amplitude or phase information participated in driving the phase-locking behavior, using a numerical model. The model which incorporates only amplitude information well predicted the three populations of lock-in phases. When phase information was removed from the electrosensory stimulus, phase-locking behavior was still observed. These results suggest that phase-locking behavior of Adontosternarchus requires amplitude information but not phase information available in the electrosensory stimulus.

Self-controlled concurrent feedback facilitates the learning of the final approach phase in a fixed-base flight simulator.

PubMed

Huet, Michaël; Jacobs, David M; Camachon, Cyril; Goulon, Cedric; Montagne, Gilles

2009-12-01

This study (a) compares the effectiveness of different types of feedback for novices who learn to land a virtual aircraft in a fixed-base flight simulator and (b) analyzes the informational variables that learners come to use after practice. An extensive body of research exists concerning the informational variables that allow successful landing. In contrast, few studies have examined how the attention of pilots can be directed toward these sources of information. In this study, 15 participants were asked to land a virtual Cessna 172 on 245 trials while trying to follow the glide-slope area as accurately as possible. Three groups of participants practiced under different feedback conditions: with self-controlled concurrent feedback (the self-controlled group), with imposed concurrent feedback (the yoked group), or without concurrent feedback (the control group). The self-controlled group outperformed the yoked group, which in turn outperformed the control group. Removing or manipulating specific sources of information during transfer tests had different effects for different individuals. However, removing the cockpit from the visual scene had a detrimental effect on the performance of the majority of the participants. Self-controlled concurrent feedback helps learners to more quickly attune to the informational variables that allow them to control the aircraft during the approach phase. Knowledge concerning feedback schedules can be used for the design of optimal practice methods for student pilots, and knowledge about the informational variables used by expert performers has implications for the design of cockpits and runways that facilitate the detection of these variables.

The cloud-radiative processes and its modulation by sea-ice cover and stability as derived from a merged C3M Data product.

NASA Astrophysics Data System (ADS)

Nag, B.

2016-12-01

The polar regions of the world constitute an important sector in the global energy balance. Among other effects responsible for the change in the sea-ice cover like ocean circulation and ice-albedo feedback, the cloud-radiation feedback also plays a vital role in modulation of the Arctic environment. However the annual cycle of the clouds is very poorly represented in current global circulation models. This study aims to take advantage of a merged C3M data (CALIPSO, CloudSat, CERES, and MODIS) product from the NASA's A-Train Series to explore the sea-ice and atmospheric conditions in the Arctic on a spatial coverage spanning 70N to 80N. This study is aimed at the interactions or the feedbacks processes among sea-ice, clouds and the atmosphere. Using a composite approach based on a classification due to surface type, it is found that limitation of the water vapour influx from the surface due to change in phase at the surface featuring open oceans or marginal sea-ice cover to complete sea-ice cover is a major determinant in the modulation of the atmospheric moisture and its impacts. The impact of the cloud-radiative effects in the Arctic is found to vary with sea-ice cover and seasonally. The effect of the marginal sea-ice cover becomes more and more pronounced in the winter. The seasonal variation of the dependence of the atmospheric moisture on the surface and the subsequent feedback effects is controlled by the atmospheric stability measured as a difference between the potential temperature at the surface and the 700hPa level. It is found that a stronger stability cover in the winter is responsible for the longwave cloud radiative feedback in winter which is missing during the summer. A regional analysis of the same suggests that most of the depiction of the variations observed is contributed from the North Atlantic region.

Relatively slow stochastic gene-state switching in the presence of positive feedback significantly broadens the region of bimodality through stabilizing the uninduced phenotypic state.

PubMed

Ge, Hao; Wu, Pingping; Qian, Hong; Xie, Xiaoliang Sunney

2018-03-01

Within an isogenic population, even in the same extracellular environment, individual cells can exhibit various phenotypic states. The exact role of stochastic gene-state switching regulating the transition among these phenotypic states in a single cell is not fully understood, especially in the presence of positive feedback. Recent high-precision single-cell measurements showed that, at least in bacteria, switching in gene states is slow relative to the typical rates of active transcription and translation. Hence using the lac operon as an archetype, in such a region of operon-state switching, we present a fluctuating-rate model for this classical gene regulation module, incorporating the more realistic operon-state switching mechanism that was recently elucidated. We found that the positive feedback mechanism induces bistability (referred to as deterministic bistability), and that the parameter range for its occurrence is significantly broadened by stochastic operon-state switching. We further show that in the absence of positive feedback, operon-state switching must be extremely slow to trigger bistability by itself. However, in the presence of positive feedback, which stabilizes the induced state, the relatively slow operon-state switching kinetics within the physiological region are sufficient to stabilize the uninduced state, together generating a broadened parameter region of bistability (referred to as stochastic bistability). We illustrate the opposite phenotype-transition rate dependence upon the operon-state switching rates in the two types of bistability, with the aid of a recently proposed rate formula for fluctuating-rate models. The rate formula also predicts a maximal transition rate in the intermediate region of operon-state switching, which is validated by numerical simulations in our model. Overall, our findings suggest a biological function of transcriptional "variations" among genetically identical cells, for the emergence of bistability and transition between phenotypic states.

Feedback Specificity, Information Processing, and Transfer of Training

ERIC Educational Resources Information Center

Goodman, Jodi S.; Wood, Robert E.; Chen, Zheng

2011-01-01

This study examines the effects of feedback specificity on transfer of training and the mechanisms through which feedback can enhance or inhibit transfer. We used concurrent verbal protocol methodology to elicit and operationalize the explicit information processing activities used by 48 trainees performing the Furniture Factory computer…

76 FR 39893 - Agency Information Collection Activities: Proposed Collection; Comment Request; Generic Clearance...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-07

...; Comment Request; Generic Clearance for the Collection of Qualitative Feedback on Agency Service Delivery... (Generic ICR): ``Generic Clearance for the Collection of Qualitative Feedback on Agency Service Delivery.... SUPPLEMENTARY INFORMATION: Title: Generic Clearance for the Collection of Qualitative Feedback on Agency Service...

76 FR 13338 - Agency Information Collection Activities: Proposed Collection; Comment Request; Generic Clearance...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-03-11

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A new lattice hydrodynamic model based on control method considering the flux change rate and delay feedback signal

NASA Astrophysics Data System (ADS)

Qin, Shunda; Ge, Hongxia; Cheng, Rongjun

2018-02-01

In this paper, a new lattice hydrodynamic model is proposed by taking delay feedback and flux change rate effect into account in a single lane. The linear stability condition of the new model is derived by control theory. By using the nonlinear analysis method, the mKDV equation near the critical point is deduced to describe the traffic congestion. Numerical simulations are carried out to demonstrate the advantage of the new model in suppressing traffic jam with the consideration of flux change rate effect in delay feedback model.

Synchronization of unidirectionally delay-coupled chaotic oscillators with memory

NASA Astrophysics Data System (ADS)

Jaimes-Reátegui, Rider; Vera-Ávila, Victor P.; Sevilla-Escoboza, Ricardo; Huerta-Cuéllar, Guillermo; Castañeda-Hernández, Carlos E.; Chiu-Zarate, Roger; Pisarchik, Alexander N.

2016-11-01

We study synchronization of two chaotic oscillators coupled with time delay in a master-slave configuration and with delayed positive feedback in the slave oscillator which acts as memory. The dynamics of the slave oscillator is analyzed with bifurcation diagrams of the peak value of the system variable with respect to the coupling and feedback strengths and two delay times. For small coupling, when the oscillators' phases synchronize, memory can induce bistability and stabilize periodic orbits, whereas for stronger coupling it is not possible. The delayed feedback signal impairs synchronization, simultaneously enhancing coherence of the slave oscillator.

Optimal integral force feedback for active vibration control

NASA Astrophysics Data System (ADS)

Teo, Yik R.; Fleming, Andrew J.

2015-11-01

This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control of structures and mechanical systems. Benefits of IFF include robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope.

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.

Lossless Brownian Information Engine

NASA Astrophysics Data System (ADS)

Paneru, Govind; Lee, Dong Yun; Tlusty, Tsvi; Pak, Hyuk Kyu

2018-01-01

We report on a lossless information engine that converts nearly all available information from an error-free feedback protocol into mechanical work. Combining high-precision detection at a resolution of 1 nm with ultrafast feedback control, the engine is tuned to extract the maximum work from information on the position of a Brownian particle. We show that the work produced by the engine achieves a bound set by a generalized second law of thermodynamics, demonstrating for the first time the sharpness of this bound. We validate a generalized Jarzynski equality for error-free feedback-controlled information engines.

Lossless Brownian Information Engine.

PubMed

Paneru, Govind; Lee, Dong Yun; Tlusty, Tsvi; Pak, Hyuk Kyu

2018-01-12

We report on a lossless information engine that converts nearly all available information from an error-free feedback protocol into mechanical work. Combining high-precision detection at a resolution of 1 nm with ultrafast feedback control, the engine is tuned to extract the maximum work from information on the position of a Brownian particle. We show that the work produced by the engine achieves a bound set by a generalized second law of thermodynamics, demonstrating for the first time the sharpness of this bound. We validate a generalized Jarzynski equality for error-free feedback-controlled information engines.

Reliable spacecraft rendezvous without velocity measurement

NASA Astrophysics Data System (ADS)

He, Shaoming; Lin, Defu

2018-03-01

This paper investigates the problem of finite-time velocity-free autonomous rendezvous for spacecraft in the presence of external disturbances during the terminal phase. First of all, to address the problem of lack of relative velocity measurement, a robust observer is proposed to estimate the unknown relative velocity information in a finite time. It is shown that the effect of external disturbances on the estimation precision can be suppressed to a relatively low level. With the reconstructed velocity information, a finite-time output feedback control law is then formulated to stabilize the rendezvous system. Theoretical analysis and rigorous proof show that the relative position and its rate can converge to a small compacted region in finite time. Numerical simulations are performed to evaluate the performance of the proposed approach in the presence of external disturbances and actuator faults.

Discovering the flight autostabilizer of fruit flies by inducing aerial stumbles

PubMed Central

Ristroph, Leif; Bergou, Attila J.; Ristroph, Gunnar; Coumes, Katherine; Berman, Gordon J.; Guckenheimer, John; Wang, Z. Jane; Cohen, Itai

2010-01-01

Just as the Wright brothers implemented controls to achieve stable airplane flight, flying insects have evolved behavioral strategies that ensure recovery from flight disturbances. Pioneering studies performed on tethered and dissected insects demonstrate that the sensory, neurological, and musculoskeletal systems play important roles in flight control. Such studies, however, cannot produce an integrative model of insect flight stability because they do not incorporate the interaction of these systems with free-flight aerodynamics. We directly investigate control and stability through the application of torque impulses to freely flying fruit flies (Drosophila melanogaster) and measurement of their behavioral response. High-speed video and a new motion tracking method capture the aerial “stumble,” and we discover that flies respond to gentle disturbances by accurately returning to their original orientation. These insects take advantage of a stabilizing aerodynamic influence and active torque generation to recover their heading to within 2° in < 60 ms. To explain this recovery behavior, we form a feedback control model that includes the fly’s ability to sense body rotations, process this information, and actuate the wing motions that generate corrective aerodynamic torque. Thus, like early man-made aircraft and modern fighter jets, the fruit fly employs an automatic stabilization scheme that reacts to short time-scale disturbances. PMID:20194789

Discovering the flight autostabilizer of fruit flies by inducing aerial stumbles.

PubMed

Ristroph, Leif; Bergou, Attila J; Ristroph, Gunnar; Coumes, Katherine; Berman, Gordon J; Guckenheimer, John; Wang, Z Jane; Cohen, Itai

2010-03-16

Just as the Wright brothers implemented controls to achieve stable airplane flight, flying insects have evolved behavioral strategies that ensure recovery from flight disturbances. Pioneering studies performed on tethered and dissected insects demonstrate that the sensory, neurological, and musculoskeletal systems play important roles in flight control. Such studies, however, cannot produce an integrative model of insect flight stability because they do not incorporate the interaction of these systems with free-flight aerodynamics. We directly investigate control and stability through the application of torque impulses to freely flying fruit flies (Drosophila melanogaster) and measurement of their behavioral response. High-speed video and a new motion tracking method capture the aerial "stumble," and we discover that flies respond to gentle disturbances by accurately returning to their original orientation. These insects take advantage of a stabilizing aerodynamic influence and active torque generation to recover their heading to within 2 degrees in < 60 ms. To explain this recovery behavior, we form a feedback control model that includes the fly's ability to sense body rotations, process this information, and actuate the wing motions that generate corrective aerodynamic torque. Thus, like early man-made aircraft and modern fighter jets, the fruit fly employs an automatic stabilization scheme that reacts to short time-scale disturbances.

Decoupling suspension controller based on magnetic flux feedback.

PubMed

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced.

Decoupling Suspension Controller Based on Magnetic Flux Feedback

PubMed Central

Zhang, Wenqing; Li, Jie; Zhang, Kun; Cui, Peng

2013-01-01

The suspension module control system model has been established based on MIMO (multiple input and multiple output) state feedback linearization. We have completed decoupling between double suspension points, and the new decoupling method has been applied to CMS04 magnetic suspension vehicle in national mid-low-speed maglev experiment field of Tangshan city in China. Double suspension system model is very accurate for investigating stability property of maglev control system. When magnetic flux signal is taken back to the suspension control system, the suspension module's antijamming capacity for resisting suspension load variety has been proved. Also, the external force interference has been enhanced. As a result, the robustness and stability properties of double-electromagnet suspension control system have been enhanced. PMID:23844415

Solid optical ring interferometer for high-throughput feedback-free spectral analysis and filtering

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

Petrak, B.; Peiris, M.; Muller, A., E-mail: mullera@usf.edu

2015-02-15

We describe a simple and inexpensive optical ring interferometer for use in high-resolution spectral analysis and filtering. It consists of a solid cuboid, reflection-coated on two opposite sides, in which constructive interference occurs for waves in a rhombic trajectory. Due to its monolithic design, the interferometer’s resonance frequencies are insensitive to environmental disturbances over time. Additional advantages are its simplicity of alignment, high-throughput, and feedback-free operation. If desired, it can be stabilized with a secondary laser without disturbance of the primary signal. We illustrate the use of the interferometer for the measurement of the spectral Mollow triplet from a quantummore » dot and characterize its long-term stability for filtering applications.« less

Anti-windup adaptive PID control design for a class of uncertain chaotic systems with input saturation.

PubMed

Tahoun, A H

2017-01-01

In this paper, the stabilization problem of actuators saturation in uncertain chaotic systems is investigated via an adaptive PID control method. The PID control parameters are auto-tuned adaptively via adaptive control laws. A multi-level augmented error is designed to account for the extra terms appearing due to the use of PID and saturation. The proposed control technique uses both the state-feedback and the output-feedback methodologies. Based on Lyapunov׳s stability theory, new anti-windup adaptive controllers are proposed. Demonstrative examples with MATLAB simulations are studied. The simulation results show the efficiency of the proposed adaptive PID controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

76 FR 55078 - Agency Information Collection Activities: Proposed Collection; Comment Request; Generic Clearance...

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2011-03-14

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When More Is Less: Feedback Effects in Perceptual Category Learning

ERIC Educational Resources Information Center

Maddox, W. Todd; Love, Bradley C.; Glass, Brian D.; Filoteo, J. Vincent

2008-01-01

Rule-based and information-integration category learning were compared under minimal and full feedback conditions. Rule-based category structures are those for which the optimal rule is verbalizable. Information-integration category structures are those for which the optimal rule is not verbalizable. With minimal feedback subjects are told whether…

75 FR 26345 - Agency Information Collection (Ethics Consultation Feedback Tool (ECFT)) New Enrollee Survey...

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2010-05-11

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2010-03-02

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Contextual Antecedents of Informal Feedback in the Workplace

ERIC Educational Resources Information Center

van der Rijt, Janine; van de Wiel, Margje W. J.; Van den Bossche, Piet; Segers, Mien S. R.; Gijselaers, Wim H.

2012-01-01

This study brings together findings from different research angles on informal feedback in the workplace. We explore the individual and joint influences of three contextual antecedents of seeking feedback: support for learning, psychological safety, and work pressure. Based on our survey of 138 employees from various organizations, hierarchical…

Bimanual Coordination Learning with Different Augmented Feedback Modalities and Information Types

PubMed Central

Chiou, Shiau-Chuen; Chang, Erik Chihhung

2016-01-01

Previous studies have shown that bimanual coordination learning is more resistant to the removal of augmented feedback when acquired with auditory than with visual channel. However, it is unclear whether this differential “guidance effect” between feedback modalities is due to enhanced sensorimotor integration via the non-dominant auditory channel or strengthened linkage to kinesthetic information under rhythmic input. The current study aimed to examine how modalities (visual vs. auditory) and information types (continuous visuospatial vs. discrete rhythmic) of concurrent augmented feedback influence bimanual coordination learning. Participants either learned a 90°-out-of-phase pattern for three consecutive days with Lissajous feedback indicating the integrated position of both arms, or with visual or auditory rhythmic feedback reflecting the relative timing of the movement. The results showed diverse performance change after practice when the feedback was removed between Lissajous and the other two rhythmic groups, indicating that the guidance effect may be modulated by the type of information provided during practice. Moreover, significant performance improvement in the dual-task condition where the irregular rhythm counting task was applied as a secondary task also suggested that lower involvement of conscious control may result in better performance in bimanual coordination. PMID:26895286

Bimanual Coordination Learning with Different Augmented Feedback Modalities and Information Types.

PubMed

Chiou, Shiau-Chuen; Chang, Erik Chihhung

2016-01-01

Previous studies have shown that bimanual coordination learning is more resistant to the removal of augmented feedback when acquired with auditory than with visual channel. However, it is unclear whether this differential "guidance effect" between feedback modalities is due to enhanced sensorimotor integration via the non-dominant auditory channel or strengthened linkage to kinesthetic information under rhythmic input. The current study aimed to examine how modalities (visual vs. auditory) and information types (continuous visuospatial vs. discrete rhythmic) of concurrent augmented feedback influence bimanual coordination learning. Participants either learned a 90°-out-of-phase pattern for three consecutive days with Lissajous feedback indicating the integrated position of both arms, or with visual or auditory rhythmic feedback reflecting the relative timing of the movement. The results showed diverse performance change after practice when the feedback was removed between Lissajous and the other two rhythmic groups, indicating that the guidance effect may be modulated by the type of information provided during practice. Moreover, significant performance improvement in the dual-task condition where the irregular rhythm counting task was applied as a secondary task also suggested that lower involvement of conscious control may result in better performance in bimanual coordination.

Research on Design of MUH Attitude Stability Augmentation Control System

NASA Astrophysics Data System (ADS)

Fan, Shigang

2017-09-01

Attitude stability augmentation control system with a lower cost need to be designed so that MUH (Mini Unmanned Helicopter) can adapt to different types of geographic environment and fly steadily although the weather may be bad. Attitude feedback was calculated mainly by filtering estimation within attitude acquisition module in this system. Stability augmentation can be improved mainly by PI. This paper will depict running principle and designing process of MUH attitude stability augmentation control system and algorithm that is considered as an important part in this system.

Finite-time robust stabilization of uncertain delayed neural networks with discontinuous activations via delayed feedback control.

PubMed

Wang, Leimin; Shen, Yi; Sheng, Yin

2016-04-01

This paper is concerned with the finite-time robust stabilization of delayed neural networks (DNNs) in the presence of discontinuous activations and parameter uncertainties. By using the nonsmooth analysis and control theory, a delayed controller is designed to realize the finite-time robust stabilization of DNNs with discontinuous activations and parameter uncertainties, and the upper bound of the settling time functional for stabilization is estimated. Finally, two examples are provided to demonstrate the effectiveness of the theoretical results. Copyright © 2016 Elsevier Ltd. All rights reserved.

78 FR 13057 - Agency Information Collection Activities; Information Collection; IT Dashboard Feedback Mechanism

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2013-02-26

...: Lalit Bajaj, Program Manager, Office of Innovative Technology Services and Solutions, Office of Citizen... ( itdashboard.gov ) provides agencies and the public access to view details of Federal information technology... Information Collection Activities; Information Collection; IT Dashboard Feedback Mechanism AGENCY: Office of...

The Role of Informative and Ambiguous Feedback in Avoidance Behavior: Empirical and Computational Findings

PubMed Central

Moustafa, Ahmed A.; Sheynin, Jony; Myers, Catherine E.

2015-01-01

Avoidance behavior is a critical component of many psychiatric disorders, and as such, it is important to understand how avoidance behavior arises, and whether it can be modified. In this study, we used empirical and computational methods to assess the role of informational feedback and ambiguous outcome in avoidance behavior. We adapted a computer-based probabilistic classification learning task, which includes positive, negative and no-feedback outcomes; the latter outcome is ambiguous as it might signal either a successful outcome (missed punishment) or a failure (missed reward). Prior work with this task suggested that most healthy subjects viewed the no-feedback outcome as strongly positive. Interestingly, in a later version of the classification task, when healthy subjects were allowed to opt out of (i.e. avoid) responding, some subjects (“avoiders”) reliably avoided trials where there was a risk of punishment, but other subjects (“non-avoiders”) never made any avoidance responses at all. One possible interpretation is that the “non-avoiders” valued the no-feedback outcome so positively on punishment-based trials that they had little incentive to avoid. Another possible interpretation is that the outcome of an avoided trial is unspecified and that lack of information is aversive, decreasing subjects’ tendency to avoid. To examine these ideas, we here tested healthy young adults on versions of the task where avoidance responses either did or did not generate informational feedback about the optimal response. Results showed that provision of informational feedback decreased avoidance responses and also decreased categorization performance, without significantly affecting the percentage of subjects classified as “avoiders.” To better understand these results, we used a modified Q-learning model to fit individual subject data. Simulation results suggest that subjects in the feedback condition adjusted their behavior faster following better-than-expected outcomes, compared to subjects in the no-feedback condition. Additionally, in both task conditions, “avoiders” adjusted their behavior faster following worse-than-expected outcomes, and treated the ambiguous no-feedback outcome as less rewarding, compared to non-avoiders. Together, results shed light on the important role of ambiguous and informative feedback in avoidance behavior. PMID:26630279

Large deviation analysis of a simple information engine

NASA Astrophysics Data System (ADS)

Maitland, Michael; Grosskinsky, Stefan; Harris, Rosemary J.

2015-11-01

Information thermodynamics provides a framework for studying the effect of feedback loops on entropy production. It has enabled the understanding of novel thermodynamic systems such as the information engine, which can be seen as a modern version of "Maxwell's Dæmon," whereby a feedback controller processes information gained by measurements in order to extract work. Here, we analyze a simple model of such an engine that uses feedback control based on measurements to obtain negative entropy production. We focus on the distribution and fluctuations of the information obtained by the feedback controller. Significantly, our model allows an analytic treatment for a two-state system with exact calculation of the large deviation rate function. These results suggest an approximate technique for larger systems, which is corroborated by simulation data.

Evaluating Feedback Systems by Civil Service Employees. HRDV 6000 Integrated Studies in Human Resources Development

DTIC Science & Technology

2001-07-01

Specifically, it gives leaders an azimuth check in their self-awareness, Evaluating feedback systems by civil service employees 16 gives feedback to assist ...constructive feedback and that managers needed to be taught how to communicate with employees . Currently, DOE has run this program since 1996 and...providing employees with developmental information. Information that would be used to assist leaders in improving in both their managerial and

Fire feedbacks over geological time and the evolution of atmospheric oxygen concentration

NASA Astrophysics Data System (ADS)

Mills, B.; Belcher, C.; Lenton, T. M.

2017-12-01

During the 4.5 billion year history of the Earth, the concentration of oxygen in the atmosphere has risen from trace levels to today's 21%. Yet over the last 400 million years, O2 concentration appears to have remained within a relatively narrow range (around 15% - 30%), despite dramatic changes in the nature of global biogeochemical cycling. This stability has been crucial for continued animal evolution, and is thought to have arisen through feedbacks between oxygen, wildfire and plant productivity: the strong oxygen- dependence of fire initiation and spread means that global photosynthetic primary productivity is suppressed when oxygen levels are high, and enhanced when levels are low. We present biogeochemical modelling of the long term carbon and oxygen cycles, which aims to capture the operation of the wildfire feedback alongside other key processes. We find that wildfire can effectively stabilize long term oxygen concentrations, but that the nature of this feedback has changed as plant evolution has provided different fuels. Specifically, the evolution of early angiosperms during the Cretaceous period provided new understory fuels that more easily facilitated crown and canopy fires. Adding these dynamics to our model produces a more stable system over long timescales, and the model predicts that oxygen concentration has declined towards the present day - a prediction that is supported by other independent estimates.

Broadband Seismometers with Electrochemical Motion Sensors: Past, Present, Future.

NASA Astrophysics Data System (ADS)

Abramovich, I. A.; Kharlamov, A. V.

2004-05-01

First conceived in the fifties, electrochemical seismic sensors (ESS), despite their many attractive features, until relatively recently could not compete successfully with traditional electromechanical instruments. ESS are characterized by ruggedness, low to extremely low power consumption, no need in any maintenance (mass locking and centering), ability to operate normally at large installation tilts. The main shortcoming was ESS insuffi-cient parameter stability and limited dynamic range. The only way to overcome these deficiencies was to introduce a force-balancing feedback. A seemingly more suitable (both physics- and design-wise ) magnetohydrodynamic feedback was thorough investigated and while provided for adequate stability, proved highly ineffective in expanding the dy-namic range on higher frequencies. Finally, after many unsuccessful attempts, we man-aged to incorporate an electrodynamic feedback which solved both problems. In order to enable using such a feedback it was necessary to completely re-evaluate the hydrodynamic and electrochemical properties of the motion sensor and work around numerous parasitic effects which required re-evaluation of the sensor's mathematical model and exhaustive experimentation. This work resulted in the development of a family of high-performance seismometers. Further R&D effort is two-fold: improvement of the present sensors and development of a broadband seismometer with noise below the NLNM across the whole passband.

Expert monitoring and verbal feedback as sources of performance pressure.

PubMed

Buchanan, John J; Park, Inchon; Chen, Jing; Mehta, Ranjana K; McCulloch, Austin; Rhee, Joohyun; Wright, David L

2018-05-01

The influence of monitoring-pressure and verbal feedback on the performance of the intrinsically stable bimanual coordination patterns of in-phase and anti-phase was examined. The two bimanual patterns were produced under three conditions: 1) no-monitoring, 2) monitoring-pressure (viewed by experts), and 3) monitoring-pressure (viewed by experts) combined with verbal feedback emphasizing poor performance. The bimanual patterns were produced at self-paced movement frequencies. Anti-phase coordination was always less stable than in-phase coordination across all three conditions. When performed under conditions 2 and 3, both bimanual patterns were performed with less variability in relative phase across a wide range of self-paced movement frequencies compared to the no-monitoring condition. Thus, monitoring-pressure resulted in performance stabilization rather than degradation and the presence of verbal feedback had no impact on the influence of monitoring pressure. The current findings are inconsistent with the predictions of explicit monitoring theory; however, the findings are consistent with studies that have revealed increased stability for the system's intrinsic dynamics as a result of attentional focus and intentional control. The results are discussed within the contexts of the dynamic pattern theory of coordination, explicit monitoring theory, and action-focused theories as explanations for choking under pressure. Copyright © 2018. Published by Elsevier B.V.

Determinants of feedback retention in soccer players.

PubMed

Januário, Nuno; Rosado, António; Mesquita, Isabel; Gallego, José; Aguilar-Parra, José M

2016-06-01

This study analyzed soccer players' retention of coaches' feedback during training sessions. We intended to determine if the retention of information was influenced by the athletes' personal characteristic (age, gender and the sports level), the quantity of information included in coach's feedback (the number of ideas and redundancy), athletes' perception of the relevance of the feedback information and athletes' motivation as well as the attention level. The study that was conducted over the course of 18 sessions of soccer practice, involved 12 coaches (8 males, 4 females) and 342 athletes (246 males, 96 females), aged between 10 and 18 years old. All coach and athlete interventions were transposed to a written protocol and submitted to content analysis. Descriptive statistics and multiple linear regression were calculated. The results showed that a substantial part of the information was not retained by the athletes; in 65.5% of cases, athletes experienced difficulty in completely reproducing the ideas of the coaches and, on average, the value of feedback retention was 57.0%. Six variables with a statistically significant value were found: gender, the athletes' sports level, redundancy, the number of transmitted ideas, athletes' perception of the relevance of the feedback information and the athletes' motivation level.

A control problem for Burgers' equation with bounded input/output

NASA Technical Reports Server (NTRS)

Burns, John A.; Kang, Sungkwon

1990-01-01

A stabilization problem for Burgers' equation is considered. Using linearization, various controllers are constructed which minimize certain weighted energy functionals. These controllers produce the desired degree of stability for the closed-loop nonlinear system. A numerical scheme for computing the feedback gain functional is developed and several numerical experiments are performed to show the theoretical results.

A neutral functional differential equation of Lurie type. [on asymptotic stability of feedback control

NASA Technical Reports Server (NTRS)

Chukwu, E. N.

1980-01-01

The problem of Lurie is posed for systems described by a functional differential equation of neutral type. Sufficient conditions are obtained for absolute stability for the controlled system if it is assumed that the uncontrolled plant equation is uniformly asymptotically stable. Both the direct and indirect control cases are treated.

75 FR 22578 - Proposed Agency Information Collection

Federal Register 2010, 2011, 2012, 2013, 2014

2010-04-29

... DEPARTMENT OF ENERGY Proposed Agency Information Collection AGENCY: U.S. Department of Energy... information under the provisions of the Paperwork Reduction Act of 1995. The In-Vehicle Driver Feedback study... feedback devices can enable drivers to achieve measurable improvements in fuel economy, the information...

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.

Feedback control of flow vorticity at low Reynolds numbers.

PubMed

Zeitz, Maria; Gurevich, Pavel; Stark, Holger

2015-03-01

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

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.

Low-Latency Digital Signal Processing for Feedback and Feedforward in Quantum Computing and Communication

NASA Astrophysics Data System (ADS)

Salathé, Yves; Kurpiers, Philipp; Karg, Thomas; Lang, Christian; Andersen, Christian Kraglund; Akin, Abdulkadir; Krinner, Sebastian; Eichler, Christopher; Wallraff, Andreas

2018-03-01

Quantum computing architectures rely on classical electronics for control and readout. Employing classical electronics in a feedback loop with the quantum system allows us to stabilize states, correct errors, and realize specific feedforward-based quantum computing and communication schemes such as deterministic quantum teleportation. These feedback and feedforward operations are required to be fast compared to the coherence time of the quantum system to minimize the probability of errors. We present a field-programmable-gate-array-based digital signal processing system capable of real-time quadrature demodulation, a determination of the qubit state, and a generation of state-dependent feedback trigger signals. The feedback trigger is generated with a latency of 110 ns with respect to the timing of the analog input signal. We characterize the performance of the system for an active qubit initialization protocol based on the dispersive readout of a superconducting qubit and discuss potential applications in feedback and feedforward algorithms.

Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

NASA Technical Reports Server (NTRS)

Bean, Jacob; Fuller, Chris; Schiller, Noah

2016-01-01

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

Real-time recognition of feedback error-related potentials during a time-estimation task.

PubMed

Lopez-Larraz, Eduardo; Iturrate, Iñaki; Montesano, Luis; Minguez, Javier

2010-01-01

Feedback error-related potentials are a promising brain process in the field of rehabilitation since they are related to human learning. Due to the fact that many therapeutic strategies rely on the presentation of feedback stimuli, potentials generated by these stimuli could be used to ameliorate the patient's progress. In this paper we propose a method that can identify, in real-time, feedback evoked potentials in a time-estimation task. We have tested our system with five participants in two different days with a separation of three weeks between them, achieving a mean single-trial detection performance of 71.62% for real-time recognition, and 78.08% in offline classification. Additionally, an analysis of the stability of the signal between the two days is performed, suggesting that the feedback responses are stable enough to be used without the needing of training again the user.

Carrier-envelope offset stabilization of a GHz repetition rate femtosecond laser using opto-optical modulation of a SESAM.

PubMed

Hakobyan, Sargis; Wittwer, Valentin J; Gürel, Kutan; Mayer, Aline S; Schilt, Stéphane; Südmeyer, Thomas

2017-11-15

We demonstrate, to the best of our knowledge, the first carrier-envelope offset (CEO) frequency stabilization of a GHz femtosecond laser based on opto-optical modulation (OOM) of a semiconductor saturable absorber mirror (SESAM). The 1.05-GHz laser is based on a Yb:CALGO gain crystal and emits sub-100-fs pulses with 2.1-W average power at a center wavelength of 1055 nm. The SESAM plays two key roles: it starts and stabilizes the mode-locking operation and is simultaneously used as an actuator to control the CEO frequency. This second functionality is implemented by pumping the SESAM with a continuous-wave 980-nm laser diode in order to slightly modify its nonlinear reflectivity. We use the standard f-to-2f method for detection of the CEO frequency, which is stabilized by applying a feedback signal to the current of the SESAM pump diode. We compare the SESAM-OOM stabilization with the traditional method of gain modulation via control of the pump power of the Yb:CALGO gain crystal. While the bandwidth for gain modulation is intrinsically limited to ∼250  kHz by the laser cavity dynamics, we show that the OOM provides a feedback bandwidth above 500 kHz. Hence, we were able to obtain a residual integrated phase noise of 430 mrad for the stabilized CEO beat, which represents an improvement of more than 30% compared to gain modulation stabilization.

Neural activations associated with feedback and retrieval success

NASA Astrophysics Data System (ADS)

Wiklund-Hörnqvist, Carola; Andersson, Micael; Jonsson, Bert; Nyberg, Lars

2017-11-01

There is substantial behavioral evidence for a phenomenon commonly called "the testing effect", i.e. superior memory performance after repeated testing compared to re-study of to-be-learned materials. However, considerably less is known about the underlying neuro-cognitive processes that are involved in the initial testing phase, and thus underlies the actual testing effect. Here, we investigated functional brain activity related to test-enhanced learning with feedback. Subjects learned foreign vocabulary across three consecutive tests with correct-answer feedback. Functional brain-activity responses were analyzed in relation to retrieval and feedback events, respectively. Results revealed up-regulated activity in fronto-striatal regions during the first successful retrieval, followed by a marked reduction in activity as a function of improved learning. Whereas feedback improved behavioral performance across consecutive tests, feedback had a negligable role after the first successful retrieval for functional brain-activity modulations. It is suggested that the beneficial effects of test-enhanced learning is regulated by feedback-induced updating of memory representations, mediated via the striatum, that might underlie the stabilization of memory commonly seen in behavioral studies of the testing effect.

Balance rehabilitation: promoting the role of virtual reality in patients with diabetic peripheral neuropathy.

PubMed

Grewal, Gurtej S; Sayeed, Rashad; Schwenk, Michael; Bharara, Manish; Menzies, Robert; Talal, Talal K; Armstrong, David G; Najafi, Bijan

2013-01-01

Individuals with diabetic peripheral neuropathy frequently experience concomitant impaired proprioception and postural instability. Conventional exercise training has been demonstrated to be effective in improving balance but does not incorporate visual feedback targeting joint perception, which is an integral mechanism that helps compensate for impaired proprioception in diabetic peripheral neuropathy. This prospective cohort study recruited 29 participants (mean ± SD: age, 57 ± 10 years; body mass index [calculated as weight in kilograms divided by height in meters squared], 26.9 ± 3.1). Participants satisfying the inclusion criteria performed predefined ankle exercises through reaching tasks, with visual feedback from the ankle joint projected on a screen. Ankle motion in the mediolateral and anteroposterior directions was captured using wearable sensors attached to the participant's shank. Improvements in postural stability were quantified by measuring center of mass sway area and the reciprocal compensatory index before and after training using validated body-worn sensor technology. Findings revealed a significant reduction in center of mass sway after training (mean, 22%; P = .02). A higher postural stability deficit (high body sway) at baseline was associated with higher training gains in postural balance (reduction in center of mass sway) (r = -0.52, P < .05). In addition, significant improvement was observed in postural coordination between the ankle and hip joints (mean, 10.4%; P = .04). The present research implemented a novel balance rehabilitation strategy based on virtual reality technology. The method included wearable sensors and an interactive user interface for real-time visual feedback based on ankle joint motion, similar to a video gaming environment, for compensating impaired joint proprioception. These findings support that visual feedback generated from the ankle joint coupled with motor learning may be effective in improving postural stability in patients with diabetic peripheral neuropathy.

Control of linear modes in cylindrical resistive magnetohydrodynamics with a resistive wall, plasma rotation, and complex gain

NASA Astrophysics Data System (ADS)

Brennan, D. P.; Finn, J. M.

2014-10-01

Feedback stabilization of magnetohydrodynamic (MHD) modes in a tokamak is studied in a cylindrical model with a resistive wall, plasma resistivity, viscosity, and toroidal rotation. The control is based on a linear combination of the normal and tangential components of the magnetic field just inside the resistive wall. The feedback includes complex gain, for both the normal and for the tangential components, and it is known that the imaginary part of the feedback for the former is equivalent to plasma rotation [J. M. Finn and L. Chacon, Phys. Plasmas 11, 1866 (2004)]. The work includes (1) analysis with a reduced resistive MHD model for a tokamak with finite β and with stepfunction current density and pressure profiles, and (2) computations with a full compressible visco-resistive MHD model with smooth decreasing profiles of current density and pressure. The equilibria are stable for β = 0 and the marginal stability values βrp,rw < βrp,iw < βip,rw < βip,iw (resistive plasma, resistive wall; resistive plasma, ideal wall; ideal plasma, resistive wall; and ideal plasma, ideal wall) are computed for both models. The main results are: (a) imaginary gain with normal sensors or plasma rotation stabilizes below βrp,iw because rotation suppresses the diffusion of flux from the plasma out through the wall and, more surprisingly, (b) rotation or imaginary gain with normal sensors destabilizes above βrp,iw because it prevents the feedback flux from entering the plasma through the resistive wall to form a virtual wall. A method of using complex gain Gi to optimize in the presence of rotation in this regime with β > βrp,iw is presented. The effect of imaginary gain with tangential sensors is more complicated but essentially destabilizes above and below βrp,iw.

A Study of Adaptive Relevance Feedback - UIUC TREC-2008 Relevance Feedback Experiments

DTIC Science & Technology

2008-11-01

terms. Journal of the American Society for Information Science, 27(3):129–146, 1976. [7] J . J . Rocchio. Relevance feedback in information retrieval. In...In The SMART Retrieval System: Experiments in Automatic Document Processing, pages 313–323. Prentice-Hall Inc., 1971. [8] Gerard Salton and Chris

Closing the Feedback Loop: Ensuring Effective Action from Student Feedback

ERIC Educational Resources Information Center

Watson, Sarah

2003-01-01

Feedback from students can inform improvement in higher education institutions and be part of the students' role in university management. To be effective it is important to"close the loop": from student views, through identifying issues and delegating responsibility for action, to informing students of the action resulting from their expressed…

Feedback and Society: A Study of the Uses of Mass Channels for Coping.

ERIC Educational Resources Information Center

Singer, Benjamin D.

This book deals with methods that individuals use to feed information and opinions back to mass communication systems. Typical examples of mass media and "information centers" were used to study feedback and environmental adjustment. Specifically, the feedback channels investigated are letters to the editor in newspapers, the urban newspaper…

Control at stability's edge minimizes energetic costs: expert stick balancing

PubMed Central

Meyer, Ryan; Zhvanetsky, Max; Ridge, Sarah; Insperger, Tamás

2016-01-01

Stick balancing on the fingertip is a complex voluntary motor task that requires the stabilization of an unstable system. For seated expert stick balancers, the time delay is 0.23 s, the shortest stick that can be balanced for 240 s is 0.32 m and there is a ° dead zone for the estimation of the vertical displacement angle in the saggital plane. These observations motivate a switching-type, pendulum–cart model for balance control which uses an internal model to compensate for the time delay by predicting the sensory consequences of the stick's movements. Numerical simulations using the semi-discretization method suggest that the feedback gains are tuned near the edge of stability. For these choices of the feedback gains, the cost function which takes into account the position of the fingertip and the corrective forces is minimized. Thus, expert stick balancers optimize control with a combination of quick manoeuvrability and minimum energy expenditures. PMID:27278361

CK1/Doubletime activity delays transcription activation in the circadian clock

PubMed Central

O'Neil, Jenna L; Merz, Gregory E; Dusad, Kritika; Crane, Brian R; Young, Michael W

2018-01-01

In the Drosophila circadian clock, Period (PER) and Timeless (TIM) proteins inhibit Clock-mediated transcription of per and tim genes until PER is degraded by Doubletime/CK1 (DBT)-mediated phosphorylation, establishing a negative feedback loop. Multiple regulatory delays within this feedback loop ensure ~24 hr periodicity. Of these delays, the mechanisms that regulate delayed PER degradation (and Clock reactivation) remain unclear. Here we show that phosphorylation of certain DBT target sites within a central region of PER affect PER inhibition of Clock and the stability of the PER/TIM complex. Our results indicate that phosphorylation of PER residue S589 stabilizes and activates PER inhibitory function in the presence of TIM, but promotes PER degradation in its absence. The role of DBT in regulating PER activity, stabilization and degradation ensures that these events are chronologically and biochemically linked, and contributes to the timing of an essential delay that influences the period of the circadian clock. PMID:29611807

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

NASA Technical Reports Server (NTRS)

Lehtomaki, N. A.

1981-01-01

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

Precise and long-term stabilization of the carrier-envelope phase of femtosecond laser pulses using an enhanced direct locking technique.

PubMed

Yu, Tae Jun; Hong, Kyung-Han; Choi, Hyun-Gyug; Sung, Jae Hee; Choi, Il Woo; Ko, Do-Kyeong; Lee, Jongmin; Kim, Junwon; Kim, Dong Eon; Nam, Chang Hee

2007-06-25

We demonstrate a long-term operation with reduced phase noise in the carrier-envelope-phase (CEP) stabilization process by employing a double feedback loop and an improved signal detection in the direct locking technique [Opt. Express 13, 2969 (2005)]. A homodyne balanced detection method is employed for efficiently suppressing the dc noise in the f-2f beat signal, which is converted into the CEP noise in the direct locking loop working at around zero carrier-envelope offset frequency (f(ceo)). In order to enhance the long-term stability, we have used the double feedback scheme that modulates both the oscillator pump power for a fast control and the intracavity-prism insertion depth for a slow and high-dynamic-range control. As a result, the in-loop phase jitter is reduced from 50 mrad of the previous result to 29 mrad, corresponding to 13 as in time scale, and the long-term stable operation is achieved for more than 12 hours.

Focus on Formative Feedback

ERIC Educational Resources Information Center

Shute, Valerie J.

2008-01-01

This article reviews the corpus of research on feedback, with a focus on formative feedback--defined as information communicated to the learner that is intended to modify his or her thinking or behavior to improve learning. According to researchers, formative feedback should be nonevaluative, supportive, timely, and specific. Formative feedback is…

Air Force research in human sensory feedback for telepresence

NASA Technical Reports Server (NTRS)

Julian, Ronald G.

1993-01-01

Telepresence operations require high quality information transfer between the human master and the remotely located slave. Present Air Force research focuses on the human aspects of the information needed to complete the control/feedback loop. Work in three key areas of human sensory feedback for manipulation of objects are described. Specific projects in each key area are outlined, including research tools (hardware), planned research, and test results. Nonmanipulative feedback technologies are mentioned to complete the advanced teleoperation discussions.

Adaptive output feedback control of flexible-joint robots using neural networks: dynamic surface design approach.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2008-10-01

In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.

Runtime visualization of the human arterial tree.

PubMed

Insley, Joseph A; Papka, Michael E; Dong, Suchuan; Karniadakis, George; Karonis, Nicholas T

2007-01-01

Large-scale simulation codes typically execute for extended periods of time and often on distributed computational resources. Because these simulations can run for hours, or even days, scientists like to get feedback about the state of the computation and the validity of its results as it runs. It is also important that these capabilities be made available with little impact on the performance and stability of the simulation. Visualizing and exploring data in the early stages of the simulation can help scientists identify problems early, potentially avoiding a situation where a simulation runs for several days, only to discover that an error with an input parameter caused both time and resources to be wasted. We describe an application that aids in the monitoring and analysis of a simulation of the human arterial tree. The application provides researchers with high-level feedback about the state of the ongoing simulation and enables them to investigate particular areas of interest in greater detail. The application also offers monitoring information about the amount of data produced and data transfer performance among the various components of the application.

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.

Learning from ISS-modular adaptive NN control of nonlinear strict-feedback systems.

PubMed

Wang, Cong; Wang, Min; Liu, Tengfei; Hill, David J

2012-10-01

This paper studies learning from adaptive neural control (ANC) for a class of nonlinear strict-feedback systems with unknown affine terms. To achieve the purpose of learning, a simple input-to-state stability (ISS) modular ANC method is first presented to ensure the boundedness of all the signals in the closed-loop system and the convergence of tracking errors in finite time. Subsequently, it is proven that learning with the proposed stable ISS-modular ANC can be achieved. The cascade structure and unknown affine terms of the considered systems make it very difficult to achieve learning using existing methods. To overcome these difficulties, the stable closed-loop system in the control process is decomposed into a series of linear time-varying (LTV) perturbed subsystems with the appropriate state transformation. Using a recursive design, the partial persistent excitation condition for the radial basis function neural network (NN) is established, which guarantees exponential stability of LTV perturbed subsystems. Consequently, accurate approximation of the closed-loop system dynamics is achieved in a local region along recurrent orbits of closed-loop signals, and learning is implemented during a closed-loop feedback control process. The learned knowledge is reused to achieve stability and an improved performance, thereby avoiding the tremendous repeated training process of NNs. Simulation studies are given to demonstrate the effectiveness of the proposed method.

Electron beam energy stabilization using a neural network hybrid controller at the Australian Synchrotron Linac.

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

Meier, E.; Morgan, M. J.; Biedron, S. G.

2009-01-01

This paper describes the implementation of a neural network hybrid controller for energy stabilization at the Australian Synchrotron Linac. The structure of the controller consists of a neural network (NNET) feed forward control, augmented by a conventional Proportional-Integral (PI) feedback controller to ensure stability of the system. The system is provided with past states of the machine in order to predict its future state, and therefore apply appropriate feed forward control. The NNET is able to cancel multiple frequency jitter in real-time. When it is not performing optimally due to jitter changes, the system can successfully be augmented by themore » PI controller to attenuate the remaining perturbations. With a view to control the energy and bunch length at the FERMI{at}Elettra Free Electron Laser (FEL), the present study considers a neural network hybrid feed forward-feedback type of control to rectify limitations related to feedback systems, such as poor response for high jitter frequencies or limited bandwidth, while ensuring robustness of control. The Australian Synchrotron Linac is equipped with a beam position monitor (BPM), that was provided by Sincrotrone Trieste from a former transport line thus allowing energy measurements and energy control experiments. The present study will consequently focus on correcting energy jitter induced by variations in klystron phase and voltage.« less

Effects of aging on pointing movements under restricted visual feedback conditions.

PubMed

Zhang, Liancun; Yang, Jiajia; Inai, Yoshinobu; Huang, Qiang; Wu, Jinglong

2015-04-01

The goal of this study was to investigate the effects of aging on pointing movements under restricted visual feedback of hand movement and target location. Fifteen young subjects and fifteen elderly subjects performed pointing movements under four restricted visual feedback conditions that included full visual feedback of hand movement and target location (FV), no visual feedback of hand movement and target location condition (NV), no visual feedback of hand movement (NM) and no visual feedback of target location (NT). This study suggested that Fitts' law applied for pointing movements of the elderly adults under different visual restriction conditions. Moreover, significant main effect of aging on movement times has been found in all four tasks. The peripheral and central changes may be the key factors for these different characteristics. Furthermore, no significant main effects of age on the mean accuracy rate under condition of restricted visual feedback were found. The present study suggested that the elderly subjects made a very similar use of the available sensory information as young subjects under restricted visual feedback conditions. In addition, during the pointing movement, information about the hand's movement was more useful than information about the target location for young and elderly subjects. Copyright © 2014 Elsevier B.V. All rights reserved.

[Microinjection Monitoring System Design Applied to MRI Scanning].

PubMed

Xu, Yongfeng

2017-09-30

A microinjection monitoring system applied to the MRI scanning was introduced. The micro camera probe was used to stretch into the main magnet for real-time video injection monitoring of injection tube terminal. The programming based on LabVIEW was created to analysis and process the real-time video information. The feedback signal was used for intelligent controlling of the modified injection pump. The real-time monitoring system can make the best use of injection under the condition that the injection device was away from the sample which inside the magnetic room and unvisible. 9.4 T MRI scanning experiment showed that the system in ultra-high field can work stability and doesn't affect the MRI scans.

Feedback and efficient behavior

PubMed Central

2017-01-01

Feedback is an effective tool for promoting efficient behavior: it enhances individuals’ awareness of choice consequences in complex settings. Our study aims to isolate the mechanisms underlying the effects of feedback on achieving efficient behavior in a controlled environment. We design a laboratory experiment in which individuals are not aware of the consequences of different alternatives and, thus, cannot easily identify the efficient ones. We introduce feedback as a mechanism to enhance the awareness of consequences and to stimulate exploration and search for efficient alternatives. We assess the efficacy of three different types of intervention: provision of social information, manipulation of the frequency, and framing of feedback. We find that feedback is most effective when it is framed in terms of losses, that it reduces efficiency when it includes information about inefficient peers’ behavior, and that a lower frequency of feedback does not disrupt efficiency. By quantifying the effect of different types of feedback, our study suggests useful insights for policymakers. PMID:28430787

Assessing Technology in the Absence of Proof: Trust Based on the Interplay of Others' Opinions and the Interaction Process.

PubMed

de Vries, Peter W; van den Berg, Stéphanie M; Midden, Cees

2015-12-01

The present research addresses the question of how trust in systems is formed when unequivocal information about system accuracy and reliability is absent, and focuses on the interaction of indirect information (others' evaluations) and direct (experiential) information stemming from the interaction process. Trust in decision-supporting technology, such as route planners, is important for satisfactory user interactions. Little is known, however, about trust formation in the absence of outcome feedback, that is, when users have not yet had opportunity to verify actual outcomes. Three experiments manipulated others' evaluations ("endorsement cues") and various forms of experience-based information ("process feedback") in interactions with a route planner and measured resulting trust using rating scales and credits staked on the outcome. Subsequently, an overall analysis was conducted. Study 1 showed that effectiveness of endorsement cues on trust is moderated by mere process feedback. In Study 2, consistent (i.e., nonrandom) process feedback overruled the effect of endorsement cues on trust, whereas inconsistent process feedback did not. Study 3 showed that although the effects of consistent and inconsistent process feedback largely remained regardless of face validity, high face validity in process feedback caused higher trust than those with low face validity. An overall analysis confirmed these findings. Experiential information impacts trust even if outcome feedback is not available, and, moreover, overrules indirect trust cues-depending on the nature of the former. Designing systems so that they allow novice users to make inferences about their inner workings may foster initial trust. © 2015, Human Factors and Ergonomics Society.

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)

Feedback on Feedback Practice: Perceptions of Students and Academics

ERIC Educational Resources Information Center

Mulliner, Emma; Tucker, Matthew

2017-01-01

While feedback is widely considered central to student learning, students across the higher education sector commonly report dissatisfaction with the feedback they receive. In contrast, academics often feel they provide quality and informative feedback. This article explores and compares the perceptions of students and academics with regard to…

Stable hovering of a jellyfish-like flying machine

PubMed Central

Ristroph, Leif; Childress, Stephen

2014-01-01

Ornithopters, or flapping-wing aircraft, offer an alternative to helicopters in achieving manoeuvrability at small scales, although stabilizing such aerial vehicles remains a key challenge. Here, we present a hovering machine that achieves self-righting flight using flapping wings alone, without relying on additional aerodynamic surfaces and without feedback control. We design, construct and test-fly a prototype that opens and closes four wings, resembling the motions of swimming jellyfish more so than any insect or bird. Measurements of lift show the benefits of wing flexing and the importance of selecting a wing size appropriate to the motor. Furthermore, we use high-speed video and motion tracking to show that the body orientation is stable during ascending, forward and hovering flight modes. Our experimental measurements are used to inform an aerodynamic model of stability that reveals the importance of centre-of-mass location and the coupling of body translation and rotation. These results show the promise of flapping-flight strategies beyond those that directly mimic the wing motions of flying animals. PMID:24430122

78 FR 36190 - Agency Information Collection Activities; Submission for OMB Review; IT Dashboard Feedback Mechanism

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-17

.... FOR FURTHER INFORMATION CONTACT: Lalit Bajaj, Program Manager, Office of Innovative Technology... to view details of Federal information technology investments online and to track their progress over... Information Collection Activities; Submission for OMB Review; IT Dashboard Feedback Mechanism AGENCY: Office...

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model

PubMed Central

Konstantinova, Jelizaveta; Xu, Guanghua; He, Bo; Aminzadeh, Vahid; Xie, Jun; Wurdemann, Helge; Althoefer, Kaspar

2017-01-01

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback) of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation. PMID:28248996

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model.

PubMed

Li, Min; Konstantinova, Jelizaveta; Xu, Guanghua; He, Bo; Aminzadeh, Vahid; Xie, Jun; Wurdemann, Helge; Althoefer, Kaspar

2017-01-01

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback) of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation.

Positive And Negative Feedback Loops Coupled By Common Transcription Activator And Repressor

NASA Astrophysics Data System (ADS)

Sielewiesiuk, Jan; Łopaciuk, Agata

2015-03-01

Dynamical systems consisting of two interlocked loops with negative and positive feedback have been studied using the linear analysis of stability and numerical solutions. Conditions for saddle-node bifurcation were formulated in a general form. Conditions for Hopf bifurcations were found in a few symmetrical cases. Auto-oscillations, when they exist, are generated by the negative feedback repressive loop. This loop determines the frequency and amplitude of oscillations. The positive feedback loop of activation slightly modifies the oscillations. Oscillations are possible when the difference between Hilll's coefficients of the repression and activation is sufficiently high. The highly cooperative activation loop with a fast turnover slows down or even makes the oscillations impossible. The system under consideration can constitute a component of epigenetic or enzymatic regulation network.

Synthesis procedure for linear time-varying feedback systems with large parameter ignorance

NASA Technical Reports Server (NTRS)

Mcdonald, T. E., Jr.

1972-01-01

The development of synthesis procedures for linear time-varying feedback systems is considered. It is assumed that the plant can be described by linear differential equations with time-varying coefficients; however, ignorance is associated with the plant in that only the range of the time-variations are known instead of exact functional relationships. As a result of this plant ignorance the use of time-varying compensation is ineffective so that only time-invariant compensation is employed. In addition, there is a noise source at the plant output which feeds noise through the feedback elements to the plant input. Because of this noise source the gain of the feedback elements must be as small as possible. No attempt is made to develop a stability criterion for time-varying systems in this work.

Embedding the dynamics of a single delay system into a feed-forward ring.

PubMed

Klinshov, Vladimir; Shchapin, Dmitry; Yanchuk, Serhiy; Wolfrum, Matthias; D'Huys, Otti; Nekorkin, Vladimir

2017-10-01

We investigate the relation between the dynamics of a single oscillator with delayed self-feedback and a feed-forward ring of such oscillators, where each unit is coupled to its next neighbor in the same way as in the self-feedback case. We show that periodic solutions of the delayed oscillator give rise to families of rotating waves with different wave numbers in the corresponding ring. In particular, if for the single oscillator the periodic solution is resonant to the delay, it can be embedded into a ring with instantaneous couplings. We discover several cases where the stability of a periodic solution for the single unit can be related to the stability of the corresponding rotating wave in the ring. As a specific example, we demonstrate how the complex bifurcation scenario of simultaneously emerging multijittering solutions can be transferred from a single oscillator with delayed pulse feedback to multijittering rotating waves in a sufficiently large ring of oscillators with instantaneous pulse coupling. Finally, we present an experimental realization of this dynamical phenomenon in a system of coupled electronic circuits of FitzHugh-Nagumo type.

Design and implementation of a control system for a quadrotor MAV

NASA Astrophysics Data System (ADS)

Bawek, Dean

The quadrotor is a 200 g MAV with rapid-prototyped rotors that are driven by four brushless electric motors, capable of a collective thrust of around 400 g using an 11 V battery. The vehicle is compact with its largest dimension at 188 mm. Without any feedback control, the quadrotor is unstable. For flight stability, the vehicle incorporates a linear quadratic regulator to augment its dynamics for hover. The quadrotor's nonlinear dynamics are linearized about hover in order to be used in controller formulation. Feedback comes both directly from sensors and a Luenberger observer that computes the rotor velocities. A Simulink simulation uses hardware and software properties to serve as an environment for controller gain tuning prior to flight testing. The results from the simulation generate stabilizing control gains for the on-board attitude controller and for an off-board PC autopilot that uses the Vicon computer vision system for position feedback. Through the combined effort of the on-board and off-board controllers, the quadrotor successfully demonstrates stable hover in both nominal and disturbed conditions.

Neural Approximation-Based Adaptive Control for a Class of Nonlinear Nonstrict Feedback Discrete-Time Systems.

PubMed

Yan-Jun Liu; Shu Li; Shaocheng Tong; Chen, C L Philip

2017-07-01

In this paper, an adaptive control approach-based neural approximation is developed for a class of uncertain nonlinear discrete-time (DT) systems. The main characteristic of the considered systems is that they can be viewed as a class of multi-input multioutput systems in the nonstrict feedback structure. The similar control problem of this class of systems has been addressed in the past, but it focused on the continuous-time systems. Due to the complicacies of the system structure, it will become more difficult for the controller design and the stability analysis. To stabilize this class of systems, a new recursive procedure is developed, and the effect caused by the noncausal problem in the nonstrict feedback DT structure can be solved using a semirecurrent neural approximation. Based on the Lyapunov difference approach, it is proved that all the signals of the closed-loop system are semiglobal, ultimately uniformly bounded, and a good tracking performance can be guaranteed. The feasibility of the proposed controllers can be validated by setting a simulation example.

Guidance/Navigation Requirements Study Final Report. Volume III. Appendices

DTIC Science & Technology

1978-04-30

shown Figure G-2. The free-flight simulation program FFSIM uses quaternions to calculate the body attitude as a function of time. To calculate the...the lack of open-loop damping, the existence of a feedback controller which will stabilize the closed-loon system depends upon the satisfaction of a...re-entry vehicle has dynamic pecularitles which tend to discourage the use of "linear-quadratic" feedback regulators in guidance. The disadvantageous

Further results on global state feedback stabilization of nonlinear high-order feedforward systems.

PubMed

Xie, Xue-Jun; Zhang, Xing-Hui

2014-03-01

In this paper, by introducing a combined method of sign function, homogeneous domination and adding a power integrator, and overcoming several troublesome obstacles in the design and analysis, the problem of state feedback control for a class of nonlinear high-order feedforward systems with the nonlinearity's order being relaxed to an interval rather than a fixed point is solved. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Design of integrated autopilot/autothrottle for NASA TSRV airplane using integral LQG methodology. [transport systems research vehicle

NASA Technical Reports Server (NTRS)

Kaminer, Isaac; Benson, Russell A.

1989-01-01

An integrated autopilot/autothrottle control system has been developed for the NASA transport system research vehicle using a two-degree-of-freedom approach. Based on this approach, the feedback regulator was designed using an integral linear quadratic regulator design technique, which offers a systematic approach to satisfy desired feedback performance requirements and guarantees stability margins in both control and sensor loops. The resulting feedback controller was discretized and implemented using a delta coordinate concept, which allows for transient free controller switching by initializing all controller states to zero and provides a simple solution for dealing with throttle limiting cases.

A comparative study of linear and nonlinear MIMO feedback configurations

NASA Technical Reports Server (NTRS)

Desoer, C. A.; Lin, C. A.

1984-01-01

In this paper, a comparison is conducted of several feedback configurations which have appeared in the literature (e.g. unity-feedback, model-reference, etc.). The linear time-invariant multi-input multi-output case is considered. For each configuration, the stability conditions are specified, the relation between achievable I/O maps and the achievable disturbance-to-output maps is examined, and the effect of various subsystem perturbations on the system performance is studied. In terms of these considerations, it is demonstrated that one of the configurations considered is better than all the others. The results are then extended to the nonlinear multi-input multi-output case.

CIRCUITS FOR CURRENT MEASUREMENTS

DOEpatents

Cox, R.J.

1958-11-01

Circuits are presented for measurement of a logarithmic scale of current flowing in a high impedance. In one form of the invention the disclosed circuit is in combination with an ionization chamber to measure lonization current. The particular circuit arrangement lncludes a vacuum tube having at least one grid, an ionization chamber connected in series with a high voltage source and the grid of the vacuum tube, and a d-c amplifier feedback circuit. As the ionization chamber current passes between the grid and cathode of the tube, the feedback circuit acts to stabilize the anode current, and the feedback voltage is a measure of the logaritbm of the ionization current.

Dynamic Data-Driven UAV Network for Plume Characterization

DTIC Science & Technology

2016-05-23

data collection where simulations and measurements become a symbiotic feedback control system where simulations inform measurement locations and the...and measurements become a symbiotic feedback control system where simulations inform measurement locations and the measured data augments simulations...data analysis techniques with mobile sensor data collection where simulations and measurements become a symbiotic feedback control system where

Mitigating driver distraction with retrospective and concurrent feedback.

PubMed

Donmez, Birsen; Boyle, Linda Ng; Lee, John D

2008-03-01

An experiment was conducted to assess the effects of retrospective and combined retrospective and concurrent feedback on driver performance and engagement in distracting activities. A previous study conducted by the authors showed that concurrent (or real time) feedback can help drivers better modulate their distracting activities. However, research also shows that concurrent feedback can pose additional distractions due to the limited time and resources available during driving. Retrospective feedback, which is presented at the end of a trip (i.e., post-drive), can include additional information on safety critical situations during a trip and help the driver learn safe driving habits. A driving simulator study was conducted with 48 participants and 3 conditions: retrospective feedback, combined feedback (both retrospective and concurrent), and no feedback (baseline case). The feedback conditions (retrospective and combined) resulted in faster response to lead vehicle braking events as depicted by shorter accelerator release times. Moreover, combined feedback also resulted in longer glances to the road. The results suggest that both feedback types have potential to improve immediate driving performance and driver engagement in distractions. Combined feedback holds the most promise for mitigating the effects of distraction from in-vehicle information systems.

DC/DC Converter Stability Testing Study

NASA Technical Reports Server (NTRS)

Wang, Bright L.

2008-01-01

This report presents study results on hybrid DC/DC converter stability testing methods. An input impedance measurement method and a gain/phase margin measurement method were evaluated to be effective to determine front-end oscillation and feedback loop oscillation. In particular, certain channel power levels of converter input noises have been found to have high degree correlation with the gain/phase margins. It becomes a potential new method to evaluate stability levels of all type of DC/DC converters by utilizing the spectral analysis on converter input noises.

Hybrid Control for Multi-Agent Systems in Complex Sensing Environments

DTIC Science & Technology

2012-02-28

controllers , the overall closed-loop system is time -varying but can potentially exhibit better stability and performance... system is time -varying and yet, once 4 feedback-interconnected with a suitable controller , it can potentially yield better stability and performance...resolution Sensing, Control and Switched Systems 13 4 Metric-Based Receding Horizon Control 14 5 Decentralized Control and Finite Wordlength Channels 15

Vision-based flight control in the hawkmoth Hyles lineata

PubMed Central

Windsor, Shane P.; Bomphrey, Richard J.; Taylor, Graham K.

2014-01-01

Vision is a key sensory modality for flying insects, playing an important role in guidance, navigation and control. Here, we use a virtual-reality flight simulator to measure the optomotor responses of the hawkmoth Hyles lineata, and use a published linear-time invariant model of the flight dynamics to interpret the function of the measured responses in flight stabilization and control. We recorded the forces and moments produced during oscillation of the visual field in roll, pitch and yaw, varying the temporal frequency, amplitude or spatial frequency of the stimulus. The moths’ responses were strongly dependent upon contrast frequency, as expected if the optomotor system uses correlation-type motion detectors to sense self-motion. The flight dynamics model predicts that roll angle feedback is needed to stabilize the lateral dynamics, and that a combination of pitch angle and pitch rate feedback is most effective in stabilizing the longitudinal dynamics. The moths’ responses to roll and pitch stimuli coincided qualitatively with these functional predictions. The moths produced coupled roll and yaw moments in response to yaw stimuli, which could help to reduce the energetic cost of correcting heading. Our results emphasize the close relationship between physics and physiology in the stabilization of insect flight. PMID:24335557

Vision-based flight control in the hawkmoth Hyles lineata.

PubMed

Windsor, Shane P; Bomphrey, Richard J; Taylor, Graham K

2014-02-06

Vision is a key sensory modality for flying insects, playing an important role in guidance, navigation and control. Here, we use a virtual-reality flight simulator to measure the optomotor responses of the hawkmoth Hyles lineata, and use a published linear-time invariant model of the flight dynamics to interpret the function of the measured responses in flight stabilization and control. We recorded the forces and moments produced during oscillation of the visual field in roll, pitch and yaw, varying the temporal frequency, amplitude or spatial frequency of the stimulus. The moths' responses were strongly dependent upon contrast frequency, as expected if the optomotor system uses correlation-type motion detectors to sense self-motion. The flight dynamics model predicts that roll angle feedback is needed to stabilize the lateral dynamics, and that a combination of pitch angle and pitch rate feedback is most effective in stabilizing the longitudinal dynamics. The moths' responses to roll and pitch stimuli coincided qualitatively with these functional predictions. The moths produced coupled roll and yaw moments in response to yaw stimuli, which could help to reduce the energetic cost of correcting heading. Our results emphasize the close relationship between physics and physiology in the stabilization of insect flight.

Active measurement-based quantum feedback for preparing and stabilizing superpositions of two cavity photon number states

NASA Astrophysics Data System (ADS)

Berube-Lauziere, Yves

The measurement-based quantum feedback scheme developed and implemented by Haroche and collaborators to actively prepare and stabilize specific photon number states in cavity quantum electrodynamics (CQED) is a milestone achievement in the active protection of quantum states from decoherence. This feat was achieved by injecting, after each weak dispersive measurement of the cavity state via Rydberg atoms serving as cavity sensors, a low average number classical field (coherent state) to steer the cavity towards the targeted number state. This talk will present the generalization of the theory developed for targeting number states in order to prepare and stabilize desired superpositions of two cavity photon number states. Results from realistic simulations taking into account decoherence and imperfections in a CQED set-up will be presented. These demonstrate the validity of the generalized theory and points to the experimental feasibility of preparing and stabilizing such superpositions. This is a further step towards the active protection of more complex quantum states than number states. This work, cast in the context of CQED, is also almost readily applicable to circuit QED. YBL acknowledges financial support from the Institut Quantique through a Canada First Research Excellence Fund.

Model-independent position domain sliding mode control for contour tracking of robotic manipulator

NASA Astrophysics Data System (ADS)

Yue, W. H.; Pano, V.; Ouyang, P. R.; Hu, Y. Q.

2017-01-01

In this paper, a new position domain feedback type sliding mode control (PDC-SMC) law is proposed for contour tracking control of multi-DOF (degree of freedom) nonlinear robotic manipulators focusing on the improvement of contour tracking performances. One feature of the proposed control law is its model-independent control scheme that can avoid calculation of the feedforward part in a standard SMC. The new control law takes the advantages of the high contour tracking performance of PD type feedback position domain control (PDC) and the robustness of SMC. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control system. In addition, the effects of control parameters of the SMC on system performances are studied.

Switching State-Feedback LPV Control with Uncertain Scheduling Parameters

NASA Technical Reports Server (NTRS)

He, Tianyi; Al-Jiboory, Ali Khudhair; Swei, Sean Shan-Min; Zhu, Guoming G.

2017-01-01

This paper presents a new method to design Robust Switching State-Feedback Gain-Scheduling (RSSFGS) controllers for Linear Parameter Varying (LPV) systems with uncertain scheduling parameters. The domain of scheduling parameters are divided into several overlapped subregions to undergo hysteresis switching among a family of simultaneously designed LPV controllers over the corresponding subregion with the guaranteed H-infinity performance. The synthesis conditions are given in terms of Parameterized Linear Matrix Inequalities that guarantee both stability and performance at each subregion and associated switching surfaces. The switching stability is ensured by descent parameter-dependent Lyapunov function on switching surfaces. By solving the optimization problem, RSSFGS controller can be obtained for each subregion. A numerical example is given to illustrate the effectiveness of the proposed approach over the non-switching controllers.

A coherent optical feedback system for optical information processing

NASA Technical Reports Server (NTRS)

Jablonowski, D. P.; Lee, S. H.

1975-01-01

A unique optical feedback system for coherent optical data processing is described. With the introduction of feedback, the well-known transfer function for feedback systems is obtained in two dimensions. Operational details of the optical feedback system are given. Experimental results of system applications in image restoration, contrast control and analog computation are presented.

Evaluating performance feedback: a research study into issues of credibility and utility for nursing clinicians.

PubMed

Fereday, Jennifer; Muir-Cochrane, Eimear

2004-01-01

Performance feedback is information provided to employees about how well they are performing in their work role. The nursing profession has a long history of providing formal, written performance reviews, traditionally from a manager to subordinate, with less formal feedback sources including peers, clients and multidisciplinary team members. This paper is based on one aspect of a PhD research study exploring the dynamics of performance feedback primarily from the nursing clinicians' perspective. The research reported here discusses the impact of the social relationship (between the source and recipient of performance feedback) on the recipient's evaluation of feedback as being 'credible' and 'useful' for self-assessment. Focus group interviews were utilised to ascertain the nursing clinicians' perspectives of performance feedback. Thematic analysis of the data was informed by the Social Phenomenology of Alfred Schutz (1967) specifically his theories of intersubjective understanding. Findings supported the level of familiarity between the feedback source and the nursing clinician as a significant criterion influencing the acceptance or rejection of feedback. Implications for the selection of performance feedback sources and processes within nursing are discussed.

Distributed neural network control for adaptive synchronization of uncertain dynamical multiagent systems.

PubMed

Peng, Zhouhua; Wang, Dan; Zhang, Hongwei; Sun, Gang

2014-08-01

This paper addresses the leader-follower synchronization problem of uncertain dynamical multiagent systems with nonlinear dynamics. Distributed adaptive synchronization controllers are proposed based on the state information of neighboring agents. The control design is developed for both undirected and directed communication topologies without requiring the accurate model of each agent. This result is further extended to the output feedback case where a neighborhood observer is proposed based on relative output information of neighboring agents. Then, distributed observer-based synchronization controllers are derived and a parameter-dependent Riccati inequality is employed to prove the stability. This design has a favorable decouple property between the observer and the controller designs for nonlinear multiagent systems. For both cases, the developed controllers guarantee that the state of each agent synchronizes to that of the leader with bounded residual errors. Two illustrative examples validate the efficacy of the proposed methods.

Continuous information flow fluctuations

NASA Astrophysics Data System (ADS)

Rosinberg, Martin Luc; Horowitz, Jordan M.

2016-10-01

Information plays a pivotal role in the thermodynamics of nonequilibrium processes with feedback. However, much remains to be learned about the nature of information fluctuations in small-scale devices and their relation with fluctuations in other thermodynamics quantities, like heat and work. Here we derive a series of fluctuation theorems for information flow and partial entropy production in a Brownian particle model of feedback cooling and extend them to arbitrary driven diffusion processes. We then analyze the long-time behavior of the feedback-cooling model in detail. Our results provide insights into the structure and origin of large deviations of information and thermodynamic quantities in autonomous Maxwell's demons.

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.

An Assessment of Feedback Procedures and Information Provided to Instructors within Computer Managed Learning Environments--Implications for Instruction and Software Redesign.

ERIC Educational Resources Information Center

Kotesky, Arturo A.

Feedback procedures and information provided to instructors within computer managed learning environments were assessed to determine current usefulness and meaningfulness to users, and to present the design of a different instructor feedback instrument. Kaufman's system model was applied to accomplish the needs assessment phase of the study; and…

Regulated provider perceptions of feedback reports.

PubMed

O'Rourke, Hannah M; Fraser, Kimberly D; Boström, Anne-Marie; Baylon, Melba Andrea B; Sales, Anne E

2013-11-01

This paper reports on regulated (or licensed) care providers' understanding and perceptions of feedback reports in a sample of Canadian long-term care settings using a cross-sectional survey design. Audit with feedback quality improvement studies have seldom targeted front-line providers in long-term care to receive feedback information. Feedback reports were delivered to front-line regulated care providers in four long-term care facilities for 13 months in 2009-10. Providers completed a postfeedback survey. Most (78%) regulated care providers (n = 126) understood the reports and felt they provided useful information for making changes to resident care (64%). Perceptions of the report differed, depending on the role of the regulated care provider. In multivariable logistic regression, the regulated nurses' understanding of more than half the report was negatively associated with 'usefulness of information for changing resident care', and perceiving the report as generally useful had a positive association. Front-line regulated providers are an appropriate target for feedback reports in long-term care. Long-term care administrators should share unit-level information on care quality with unit-level managers and other professional front-line direct care providers. © 2013 John Wiley & Sons Ltd.

Development of adaptive control applied to chaotic systems

NASA Astrophysics Data System (ADS)

Rhode, Martin Andreas

1997-12-01

Continuous-time derivative control and adaptive map-based recursive feedback control techniques are used to control chaos in a variety of systems and in situations that are of practical interest. The theoretical part of the research includes the review of fundamental concept of control theory in the context of its applications to deterministic chaotic systems, the development of a new adaptive algorithm to identify the linear system properties necessary for control, and the extension of the recursive proportional feedback control technique, RPF, to high dimensional systems. Chaos control was applied to models of a thermal pulsed combustor, electro-chemical dissolution and the hyperchaotic Rossler system. Important implications for combustion engineering were suggested by successful control of the model of the thermal pulsed combustor. The system was automatically tracked while maintaining control into regions of parameter and state space where no stable attractors exist. In a simulation of the electrochemical dissolution system, application of derivative control to stabilize a steady state, and adaptive RPF to stabilize a period one orbit, was demonstrated. The high dimensional adaptive control algorithm was applied in a simulation using the Rossler hyperchaotic system, where a period-two orbit with two unstable directions was stabilized and tracked over a wide range of a system parameter. In the experimental part, the electrochemical system was studied in parameter space, by scanning the applied potential and the frequency of the rotating copper disk. The automated control algorithm is demonstrated to be effective when applied to stabilize a period-one orbit in the experiment. We show the necessity of small random perturbations applied to the system in order to both learn the dynamics and control the system at the same time. The simultaneous learning and control capability is shown to be an important part of the active feedback control.

Training Feedback Handbook. Research Product 83-7.

ERIC Educational Resources Information Center

Burnside, Billy L.; And Others

This handbook is designed to assist training developers and evaluators in structuring their collection of feedback data. Addressed first are various methods for collecting feedback data, including informal feedback, existing unit performance records, questionnaires, structured interviews, systematic observation, and testing. The next chapter, a…

Feedback system design with an uncertain plant

NASA Technical Reports Server (NTRS)

Milich, D.; Valavani, L.; Athans, M.

1986-01-01

A method is developed to design a fixed-parameter compensator for a linear, time-invariant, SISO (single-input single-output) plant model characterized by significant structured, as well as unstructured, uncertainty. The controller minimizes the H(infinity) norm of the worst-case sensitivity function over the operating band and the resulting feedback system exhibits robust stability and robust performance. It is conjectured that such a robust nonadaptive control design technique can be used on-line in an adaptive control system.

Global properties in an experimental realization of time-delayed feedback control with an unstable control loop.

PubMed

Höhne, Klaus; Shirahama, Hiroyuki; Choe, Chol-Ung; Benner, Hartmut; Pyragas, Kestutis; Just, Wolfram

2007-05-25

We demonstrate by electronic circuit experiments the feasibility of an unstable control loop to stabilize torsion-free orbits by time-delayed feedback control. Corresponding analytical normal form calculations and numerical simulations reveal a severe dependence of the basin of attraction on the particular coupling scheme of the control force. Such theoretical predictions are confirmed by the experiments and emphasize the importance of the coupling scheme for the global control performance.

Output Feedback Pole-Placement in the Design of Compensators for Suboptimal Linear Quadratic Regulators.

DTIC Science & Technology

1979-06-01

also extended to the class of stabilizable systems and the required compensator shown to possess a separation property. Finally the design methodology...Page 1.1. Block diagram of transfer function given in (1.28) ........... 15 3.3.1. Compensator structure for controllable and stabilizable systems ...response will be stable. The implemented output feedback control law will stabilize the total closed loop system . n nn Let [uin and iJi= 1 be the

Low noise charge sensitive preamplifier DC stabilized without a physical resistor

DOEpatents

Bertuccio, Giuseppe; Rehak, Pavel; Xi, Deming

1994-09-13

The invention is a novel charge sensitive preamplifier (CSP) which has no resistor in parallel with the feedback capacitor. No resetting circuit is required to discharge the feedback capacitor. The DC stabilization of the preamplifier is obtained by means of a second feedback loop between the preamplifier output and the common base transistor of the input cascode. The input transistor of the preamplifier is a Junction Field Transistor (JFET) with the gate-source junction forward biased. The detector leakage current flows into this junction. This invention is concerned with a new circuit configuration for a charge sensitive preamplifier and a novel use of the input Field Effect Transistor of the CSP itself. In particular this invention, in addition to eliminating the feedback resistor, eliminates the need for external devices between the detector and the preamplifier, and it eliminates the need for external circuitry to sense the output voltage and reset the CSP. Furthermore, the noise level of the novel CSP is very low, comparable with the performance achieved with other solutions. Experimental tests prove that this configuration for the charge sensitive preamplifier permits an excellent noise performance at temperatures including room temperature. An equivalent noise charge of less than 20 electrons r.m.s. has been measured at room temperature by using a commercial JFET as input device of the preamplifier.

Low noise charge sensitive preamplifier DC stabilized without a physical resistor

DOEpatents

Bertuccio, G.; Rehak, P.; Xi, D.

1994-09-13

The invention is a novel charge sensitive preamplifier (CSP) which has no resistor in parallel with the feedback capacitor. No resetting circuit is required to discharge the feedback capacitor. The DC stabilization of the preamplifier is obtained by means of a second feedback loop between the preamplifier output and the common base transistor of the input cascode. The input transistor of the preamplifier is a Junction Field Transistor (JFET) with the gate-source junction forward biased. The detector leakage current flows into this junction. This invention is concerned with a new circuit configuration for a charge sensitive preamplifier and a novel use of the input Field Effect Transistor of the CSP itself. In particular this invention, in addition to eliminating the feedback resistor, eliminates the need for external devices between the detector and the preamplifier, and it eliminates the need for external circuitry to sense the output voltage and reset the CSP. Furthermore, the noise level of the novel CSP is very low, comparable with the performance achieved with other solutions. Experimental tests prove that this configuration for the charge sensitive preamplifier permits an excellent noise performance at temperatures including room temperature. An equivalent noise charge of less than 20 electrons r.m.s. has been measured at room temperature by using a commercial JFET as input device of the preamplifier. 6 figs.

76 FR 39416 - Agency Information Collection Activities; New Collection; Comment Request

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-06

..., mechanical, or other technological collection techniques or other forms of information technology, e.g... of Qualitative Feedback on Agency Service Delivery. (3) Agency form number, if any, and the... governments; The information collection activity will garner qualitative customer and stakeholder feedback in...

The Use of Performance Feedback in School Improvement in Louisiana

ERIC Educational Resources Information Center

Schildkamp, Kim; Visscher, Adrie

2010-01-01

Although school performance feedback is available in schools all over the world, there is a dearth of information about the use made of feedback and about the effects of its use. This paper presents case study research into the use of school performance feedback and its perceived effects. All schools used the feedback in writing school improvement…

Seven Keys to Effective Feedback

ERIC Educational Resources Information Center

Wiggins, Grant

2012-01-01

The term "feedback" is often used to describe all kinds of comments made after the fact, including advice, praise, and evaluation. But none of these are feedback, strictly speaking. Basically, feedback is information about how one is doing in his or her efforts to reach a goal. Whether feedback is just there to be grasped or is provided by another…

Experimental realization of a feedback optical parametric amplifier with four-wave mixing

NASA Astrophysics Data System (ADS)

Pan, Xiaozhou; Chen, Hui; Wei, Tianxiang; Zhang, Jun; Marino, Alberto M.; Treps, Nicolas; Glasser, Ryan T.; Jing, Jietai

2018-04-01

Optical parametric amplifiers (OPAs) play a fundamental role in the generation of quantum correlation for quantum information processing and quantum metrology. In order to increase the communication fidelity of the quantum information protocol and the measurement precision of quantum metrology, it requires a high degree of quantum correlation. In this Rapid Communication we report a feedback optical parametric amplifier that employs a four-wave mixing (FWM) process as the underlying OPA and a beam splitter as the feedback controller. We first construct a theoretical model for this feedback-based FWM process and experimentally study the effect of the feedback control on the quantum properties of the system. Specifically, we find that the quantum correlation between the output fields can be enhanced by tuning the strength of the feedback.

Experimental feedback linearisation of a vibrating system with a non-smooth nonlinearity

NASA Astrophysics Data System (ADS)

Lisitano, D.; Jiffri, S.; Bonisoli, E.; Mottershead, J. E.

2018-03-01

Input-output partial feedback linearisation is demonstrated experimentally for the first time on a system with non-smooth nonlinearity, a laboratory three degrees of freedom lumped mass system with a piecewise-linear spring. The output degree of freedom is located away from the nonlinearity so that the partial feedback linearisation possesses nonlinear internal dynamics. The dynamic behaviour of the linearised part is specified by eigenvalue assignment and an investigation of the zero dynamics is carried out to confirm stability of the overall system. A tuned numerical model is developed for use in the controller and to produce numerical outputs for comparison with experimental closed-loop results. A new limitation of the feedback linearisation method is discovered in the case of lumped mass systems - that the input and output must share the same degrees of freedom.

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.

Clustering and negative feedback by endocytosis in planar cell polarity signaling is modulated by ubiquitinylation of prickle.

PubMed

Cho, Bomsoo; Pierre-Louis, Gandhy; Sagner, Andreas; Eaton, Suzanne; Axelrod, Jeffrey D

2015-05-01

The core components of the planar cell polarity (PCP) signaling system, including both transmembrane and peripheral membrane associated proteins, form asymmetric complexes that bridge apical intercellular junctions. While these can assemble in either orientation, coordinated cell polarization requires the enrichment of complexes of a given orientation at specific junctions. This might occur by both positive and negative feedback between oppositely oriented complexes, and requires the peripheral membrane associated PCP components. However, the molecular mechanisms underlying feedback are not understood. We find that the E3 ubiquitin ligase complex Cullin1(Cul1)/SkpA/Supernumerary limbs(Slimb) regulates the stability of one of the peripheral membrane components, Prickle (Pk). Excess Pk disrupts PCP feedback and prevents asymmetry. We show that Pk participates in negative feedback by mediating internalization of PCP complexes containing the transmembrane components Van Gogh (Vang) and Flamingo (Fmi), and that internalization is activated by oppositely oriented complexes within clusters. Pk also participates in positive feedback through an unknown mechanism promoting clustering. Our results therefore identify a molecular mechanism underlying generation of asymmetry in PCP signaling.

Multisource feedback to graduate nurses: a multimethod study.

PubMed

McPhee, Samantha; Phillips, Nicole M; Ockerby, Cherene; Hutchinson, Alison M

2017-11-01

(1) To explore graduate nurses' perceptions of the influence of multisource feedback on their performance and (2) to explore perceptions of Clinical Nurse Educators involved in providing feedback regarding feasibility and benefit of the approach. Graduate registered nurses are expected to provide high-quality care for patients in demanding and unpredictable clinical environments. Receiving feedback is essential to their development. Performance appraisals are a common method used to provide feedback and typically involve a single source of feedback. Alternatively, multisource feedback allows the learner to gain insight into performance from a variety of perspectives. This study explores multisource feedback in an Australian setting within the graduate nurse context. Multimethod study. Eleven graduates were given structured performance feedback from four raters: Nurse Unit Manager, Clinical Nurse Educator, preceptor and a self-appraisal. Thirteen graduates received standard single-rater appraisals. Data regarding perceptions of feedback for both groups were obtained using a questionnaire. Semistructured interviews were conducted with nurses who received multisource feedback and the educators. In total, 94% (n = 15) of survey respondents perceived feedback was important during the graduate year. Four themes emerged from interviews: informal feedback, appropriateness of raters, elements of delivery and creating an appraisal process that is 'more real'. Multisource feedback was perceived as more beneficial compared to single-rater feedback. Educators saw value in multisource feedback; however, perceived barriers were engaging raters and collating feedback. Some evidence exists to indicate that feedback from multiple sources is valued by graduates. Further research in a larger sample and with more experienced nurses is required. Evidence resulting from this study indicates that multisource feedback is valued by both graduates and educators and informs graduates' development and transition into the role. Thus, a multisource approach to feedback for graduate nurses should be considered. © 2016 John Wiley & Sons Ltd.

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

NASA Astrophysics Data System (ADS)

Ryaboy, Vyacheslav M.

2014-01-01

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