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.

Stability control of a flexible maneuverable tethered space net robot

NASA Astrophysics Data System (ADS)

Zhang, Fan; Huang, Panfeng

2018-04-01

As a promising solution for active space debris capture and removal, a maneuverable Tethered Space Net Robot (TSNR) is proposed as an improved Space Tethered Net (TSN). In addition to the advantages inherit to the TSN, the TSNR's maneuverability expands the capture's potential. However, oscillations caused by the TSNR's flexibility and elasticity of make higher requests of the control scheme. Based on the dynamics model, a modified adaptive super-twisting sliding mode control scheme is proposed in this paper for TSNR stability control. The proposed continuous control force can effectively suppress oscillations. Theoretical verification and numerical simulations demonstrate that the desired trajectory can be tracked steadily and efficiently by employing the proposed control scheme.

Adaptive hybrid control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

Simple methods for the design of adaptive force and position controllers for robot manipulators within the hybrid control architecuture is presented. The force controller is composed of an adaptive PID feedback controller, an auxiliary signal and a force feedforward term, and it achieves tracking of desired force setpoints in the constraint directions. The position controller consists of adaptive feedback and feedforward controllers and an auxiliary signal, and it accomplishes tracking of desired position trajectories in the free directions. The controllers are capable of compensating for dynamic cross-couplings that exist between the position and force control loops in the hybrid control architecture. The adaptive controllers do not require knowledge of the complex dynamic model or parameter values of the manipulator or the environment. The proposed control schemes are computationally fast and suitable for implementation in on-line control with high sampling rates.

Hierarchical control of motor units in voluntary contractions.

PubMed

De Luca, Carlo J; Contessa, Paola

2012-01-01

For the past five decades there has been wide acceptance of a relationship between the firing rate of motor units and the afterhyperpolarization of motoneurons. It has been promulgated that the higher-threshold, larger-soma, motoneurons fire faster than the lower-threshold, smaller-soma, motor units. This relationship was based on studies on anesthetized cats with electrically stimulated motoneurons. We questioned its applicability to motor unit control during voluntary contractions in humans. We found that during linearly force-increasing contractions, firing rates increased as exponential functions. At any time and force level, including at recruitment, the firing rate values were inversely related to the recruitment threshold of the motor unit. The time constants of the exponential functions were directly related to the recruitment threshold. From the Henneman size principle it follows that the characteristics of the firing rates are also related to the size of the soma. The "firing rate spectrum" presents a beautifully simple control scheme in which, at any given time or force, the firing rate value of earlier-recruited motor units is greater than that of later-recruited motor units. This hierarchical control scheme describes a mechanism that provides an effective economy of force generation for the earlier-recruited lower force-twitch motor units, and reduces the fatigue of later-recruited higher force-twitch motor units-both characteristics being well suited for generating and sustaining force during the fight-or-flight response.

Hierarchical control of motor units in voluntary contractions

PubMed Central

Contessa, Paola

2012-01-01

For the past five decades there has been wide acceptance of a relationship between the firing rate of motor units and the afterhyperpolarization of motoneurons. It has been promulgated that the higher-threshold, larger-soma, motoneurons fire faster than the lower-threshold, smaller-soma, motor units. This relationship was based on studies on anesthetized cats with electrically stimulated motoneurons. We questioned its applicability to motor unit control during voluntary contractions in humans. We found that during linearly force-increasing contractions, firing rates increased as exponential functions. At any time and force level, including at recruitment, the firing rate values were inversely related to the recruitment threshold of the motor unit. The time constants of the exponential functions were directly related to the recruitment threshold. From the Henneman size principle it follows that the characteristics of the firing rates are also related to the size of the soma. The “firing rate spectrum” presents a beautifully simple control scheme in which, at any given time or force, the firing rate value of earlier-recruited motor units is greater than that of later-recruited motor units. This hierarchical control scheme describes a mechanism that provides an effective economy of force generation for the earlier-recruited lower force-twitch motor units, and reduces the fatigue of later-recruited higher force-twitch motor units—both characteristics being well suited for generating and sustaining force during the fight-or-flight response. PMID:21975447

Controller design for a teleoperator system with dissimilar kinematics and force feedback

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

Jansen, J.F.; Kress, R.L.; Babcock, S.M.

1990-01-01

The purpose of this paper is to develop a controller for dissimilar kinematic teleoperator systems, which include a force/torque sensor mounted on the slave. Due to improved modern microprocessor computing capability and the trend toward redundant slaves, the next generation of teleoperator systems will likely incorporate dissimilar kinematics in their design; consequently, a need exists for a workable control scheme for these systems. The control scheme presented in this paper incorporates the work and ideas of numerous researchers over the past 40 years. The master controller and the orientation representation using Euler parameters for the both the master and slavemore » will be the main focus of this paper. The implementation of the master controller on a 6-degrees-of-freedom (DOF) master is also discussed. Only a brief summary of the overall strategy will be presented. 13 refs., 1 fig.« less

Development of advanced control schemes for telerobot manipulators

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1991-01-01

To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

Forcing scheme analysis for the axisymmetric lattice Boltzmann method under incompressible limit.

PubMed

Zhang, Liangqi; Yang, Shiliang; Zeng, Zhong; Chen, Jie; Yin, Linmao; Chew, Jia Wei

2017-04-01

Because the standard lattice Boltzmann (LB) method is proposed for Cartesian Navier-Stokes (NS) equations, additional source terms are necessary in the axisymmetric LB method for representing the axisymmetric effects. Therefore, the accuracy and applicability of the axisymmetric LB models depend on the forcing schemes adopted for discretization of the source terms. In this study, three forcing schemes, namely, the trapezium rule based scheme, the direct forcing scheme, and the semi-implicit centered scheme, are analyzed theoretically by investigating their derived macroscopic equations in the diffusive scale. Particularly, the finite difference interpretation of the standard LB method is extended to the LB equations with source terms, and then the accuracy of different forcing schemes is evaluated for the axisymmetric LB method. Theoretical analysis indicates that the discrete lattice effects arising from the direct forcing scheme are part of the truncation error terms and thus would not affect the overall accuracy of the standard LB method with general force term (i.e., only the source terms in the momentum equation are considered), but lead to incorrect macroscopic equations for the axisymmetric LB models. On the other hand, the trapezium rule based scheme and the semi-implicit centered scheme both have the advantage of avoiding the discrete lattice effects and recovering the correct macroscopic equations. Numerical tests applied for validating the theoretical analysis show that both the numerical stability and the accuracy of the axisymmetric LB simulations are affected by the direct forcing scheme, which indicate that forcing schemes free of the discrete lattice effects are necessary for the axisymmetric LB method.

Adaptive velocity-based six degree of freedom load control for real-time unconstrained biomechanical testing.

PubMed

Lawless, I M; Ding, B; Cazzolato, B S; Costi, J J

2014-09-22

Robotic biomechanics is a powerful tool for further developing our understanding of biological joints, tissues and their repair. Both velocity-based and hybrid force control methods have been applied to biomechanics but the complex and non-linear properties of joints have limited these to slow or stepwise loading, which may not capture the real-time behaviour of joints. This paper presents a novel force control scheme combining stiffness and velocity based methods aimed at achieving six degree of freedom unconstrained force control at physiological loading rates. Copyright © 2014 Elsevier Ltd. All rights reserved.

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.

Design and simulation of Macro-Fiber composite based serrated microflap for wind turbine blade fatigue load reduction

NASA Astrophysics Data System (ADS)

Sun, Xiao; Dai, Qingli; Bilgen, Onur

2018-05-01

A Macro-Fiber Composite (MFC) based active serrated microflap is designed in this research for wind turbine blades. Its fatigue load reduction potential is evaluated in normal operating conditions. The force and displacement output of the MFC-based actuator are simulated using a bimorph beam model. The work done by the aerodynamic, centripetal and gravitational forces acting on the microflap were calculated to determine the required capacity of the MFC-based actuator. MFC-based actuators with a lever mechanical linkage are designed to achieve the required force and displacement to activate the microflap. A feedback control scheme is designed to control the microflap during operation. Through an aerodynamic-aeroelastic time marching simulation with the designed control scheme, the time responses of the wind turbine blades are obtained. The fatigue analysis shows that the serrated microflap can reduce the standard deviation of the blade root flapwise bending moment and the fatigue damage equivalent loads.

Adaptive critic neural network-based object grasping control using a three-finger gripper.

PubMed

Jagannathan, S; Galan, Gustavo

2004-03-01

Grasping of objects has been a challenging task for robots. The complex grasping task can be defined as object contact control and manipulation subtasks. In this paper, object contact control subtask is defined as the ability to follow a trajectory accurately by the fingers of a gripper. The object manipulation subtask is defined in terms of maintaining a predefined applied force by the fingers on the object. A sophisticated controller is necessary since the process of grasping an object without a priori knowledge of the object's size, texture, softness, gripper, and contact dynamics is rather difficult. Moreover, the object has to be secured accurately and considerably fast without damaging it. Since the gripper, contact dynamics, and the object properties are not typically known beforehand, an adaptive critic neural network (NN)-based hybrid position/force control scheme is introduced. The feedforward action generating NN in the adaptive critic NN controller compensates the nonlinear gripper and contact dynamics. The learning of the action generating NN is performed on-line based on a critic NN output signal. The controller ensures that a three-finger gripper tracks a desired trajectory while applying desired forces on the object for manipulation. Novel NN weight tuning updates are derived for the action generating and critic NNs so that Lyapunov-based stability analysis can be shown. Simulation results demonstrate that the proposed scheme successfully allows fingers of a gripper to secure objects without the knowledge of the underlying gripper and contact dynamics of the object compared to conventional schemes.

Real time control for NASA robotic gripper

NASA Technical Reports Server (NTRS)

Salter, Carole A.; Baras, John S.

1990-01-01

The ability to easily manipulate objects in a zero gravity environment will pay a key role in future space activities. Emphasis will be placed on robotic manipulation. This will serve to increase astronaut safety and utility in addition to several other benefits. The aim is to develop control laws for the zero gravity robotic end effectors. A hybrid force/position controller will be used. Sensory data available to the controller are obtained from an array of strain gauges and a linear potentiometer. Applying well known optimal control theoretical principles, the control which minimizes the transition time between positions is obtained. A robust force control scheme is developed which allows the desired holding force to be achieved smoothly without oscillation. In addition, an algorithm is found to determine contact force and contact location.

Myoelectric hand prosthesis force control through servo motor current feedback.

PubMed

Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

2009-10-01

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

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

PubMed

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

2018-06-01

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

Sliding mode-based lateral vehicle dynamics control using tyre force measurements

NASA Astrophysics Data System (ADS)

Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

2015-11-01

In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

Time-delay control of a magnetic levitated linear positioning system

NASA Technical Reports Server (NTRS)

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

1994-01-01

In this paper, a high accuracy linear positioning system with a linear force actuator and magnetic levitation is proposed. By locating a permanently magnetized rod inside a current-carrying solenoid, the axial force is achieved by the boundary effect of magnet poles and utilized to power the linear motion, while the force for levitation is governed by Ampere's Law supplied with the same solenoid. With the levitation in a radial direction, there is hardly any friction between the rod and the solenoid. The high speed motion can hence be achieved. Besides, the axial force acting on the rod is a smooth function of rod position, so the system can provide nanometer resolution linear positioning to the molecule size. Since the force-position relation is highly nonlinear, and the mathematical model is derived according to some assumptions, such as the equivalent solenoid of the permanently magnetized rod, so there exists unknown dynamics in practical application. Thus 'robustness' is an important issue in controller design. Meanwhile the load effect reacts directly on the servo system without transmission elements, so the capability of 'disturbance rejection; is also required. With the above consideration, a time-delay control scheme is chosen and applied. By comparing the input-output relation and the mathematical model, the time-delay controller calculates an estimation of unmodeled dynamics and disturbances and then composes the desired compensation into the system. Effectiveness of the linear positioning system and control scheme are illustrated with simulation results.

Revised Chapman-Enskog analysis for a class of forcing schemes in the lattice Boltzmann method

NASA Astrophysics Data System (ADS)

Li, Q.; Zhou, P.; Yan, H. J.

2016-10-01

In the lattice Boltzmann (LB) method, the forcing scheme, which is used to incorporate an external or internal force into the LB equation, plays an important role. It determines whether the force of the system is correctly implemented in an LB model and affects the numerical accuracy. In this paper we aim to clarify a critical issue about the Chapman-Enskog analysis for a class of forcing schemes in the LB method in which the velocity in the equilibrium density distribution function is given by u =∑αeαfα / ρ , while the actual fluid velocity is defined as u ̂=u +δtF / (2 ρ ) . It is shown that the usual Chapman-Enskog analysis for this class of forcing schemes should be revised so as to derive the actual macroscopic equations recovered from these forcing schemes. Three forcing schemes belonging to the above class are analyzed, among which Wagner's forcing scheme [A. J. Wagner, Phys. Rev. E 74, 056703 (2006), 10.1103/PhysRevE.74.056703] is shown to be capable of reproducing the correct macroscopic equations. The theoretical analyses are examined and demonstrated with two numerical tests, including the simulation of Womersley flow and the modeling of flat and circular interfaces by the pseudopotential multiphase LB model.

Adaptive displays and controllers using alternative feedback.

PubMed

Repperger, D W

2004-12-01

Investigations on the design of haptic (force reflecting joystick or force display) controllers were conducted by viewing the display of force information within the context of several different paradigms. First, using analogies from electrical and mechanical systems, certain schemes of the haptic interface were hypothesized which may improve the human-machine interaction with respect to various criteria. A discussion is given on how this interaction benefits the electrical and mechanical system. To generalize this concept to the design of human-machine interfaces, three studies with haptic mechanisms were then synthesized and analyzed.

Girsanov's transformation based variance reduced Monte Carlo simulation schemes for reliability estimation in nonlinear stochastic dynamics

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

Kanjilal, Oindrila, E-mail: oindrila@civil.iisc.ernet.in; Manohar, C.S., E-mail: manohar@civil.iisc.ernet.in

The study considers the problem of simulation based time variant reliability analysis of nonlinear randomly excited dynamical systems. Attention is focused on importance sampling strategies based on the application of Girsanov's transformation method. Controls which minimize the distance function, as in the first order reliability method (FORM), are shown to minimize a bound on the sampling variance of the estimator for the probability of failure. Two schemes based on the application of calculus of variations for selecting control signals are proposed: the first obtains the control force as the solution of a two-point nonlinear boundary value problem, and, the secondmore » explores the application of the Volterra series in characterizing the controls. The relative merits of these schemes, vis-à-vis the method based on ideas from the FORM, are discussed. Illustrative examples, involving archetypal single degree of freedom (dof) nonlinear oscillators, and a multi-degree of freedom nonlinear dynamical system, are presented. The credentials of the proposed procedures are established by comparing the solutions with pertinent results from direct Monte Carlo simulations. - Highlights: • The distance minimizing control forces minimize a bound on the sampling variance. • Establishing Girsanov controls via solution of a two-point boundary value problem. • Girsanov controls via Volterra's series representation for the transfer functions.« less

Minimum Surface-Effect Microgripper Design for Force-Reflective Telemanipulation of a Microscopic Environment

NASA Technical Reports Server (NTRS)

Goldfarb, Michael; Celanovic, Nikola

1996-01-01

This paper describes the fundamental physical motivations for minimum surface effect design, and presents a microgripper that incorporates a piezoelectric ceramic actuator and a flexure-based structure and transmission. The microgripper serves effectively as a one degree-of-freedom prototype of minimum surface effect micromanipulator design. Data is presented that characterizes the microgripper performance under both pure position and pure force control, followed by a discussion of the attributes and limitations of flexure-based design. The microgripper is interfaced with a force-reflective macrogripper, and the pair controlled with a hybrid position/force scheme. Data is presented that illustrates the effective operation of the telerobotic pair.

Nonlinear robust controller design for multi-robot systems with unknown payloads

NASA Technical Reports Server (NTRS)

Song, Y. D.; Anderson, J. N.; Homaifar, A.; Lai, H. Y.

1992-01-01

This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.

Evaluation of a musculoskeletal model with prosthetic knee through six experimental gait trials.

PubMed

Kia, Mohammad; Stylianou, Antonis P; Guess, Trent M

2014-03-01

Knowledge of the forces acting on musculoskeletal joint tissues during movement benefits tissue engineering, artificial joint replacement, and our understanding of ligament and cartilage injury. Computational models can be used to predict these internal forces, but musculoskeletal models that simultaneously calculate muscle force and the resulting loading on joint structures are rare. This study used publicly available gait, skeletal geometry, and instrumented prosthetic knee loading data [1] to evaluate muscle driven forward dynamics simulations of walking. Inputs to the simulation were measured kinematics and outputs included muscle, ground reaction, ligament, and joint contact forces. A full body musculoskeletal model with subject specific lower extremity geometries was developed in the multibody framework. A compliant contact was defined between the prosthetic femoral component and tibia insert geometries. Ligament structures were modeled with a nonlinear force-strain relationship. The model included 45 muscles on the right lower leg. During forward dynamics simulations a feedback control scheme calculated muscle forces using the error signal between the current muscle lengths and the lengths recorded during inverse kinematics simulations. Predicted tibio-femoral contact force, ground reaction forces, and muscle forces were compared to experimental measurements for six different gait trials using three different gait types (normal, trunk sway, and medial thrust). The mean average deviation (MAD) and root mean square deviation (RMSD) over one gait cycle are reported. The muscle driven forward dynamics simulations were computationally efficient and consistently reproduced the inverse kinematics motion. The forward simulations also predicted total knee contact forces (166N

Minimum surface-effect microgripper design for force-reflective telemanipulation of a microscopic environment

NASA Technical Reports Server (NTRS)

Goldfarb, Michael; Celanovic, Nikola

1996-01-01

This paper describes the fundamental physical motivations for a minimum surface effect design, and presents a microgripper that incorporates a piezoelectric ceramic actuator and a flexure-based structure and transmission. The microgripper serves effectively as a one degree-of-freedom prototype of a minimum surface effect micromanipulator design. Data is presented that characterizes the microgripper performance under both pure position and pure force control, followed by a discussion of the attributes and limitations of flexure-based design. The microgripper is interfaced with a force reflective macrogripper, and the pair is controlled with a hybrid position/force scheme. Data is presented that illustrates the effective operation of the telerobotic pair.

Drag reduction in channel flow using nonlinear control

NASA Technical Reports Server (NTRS)

Keefe, Laurence R.

1993-01-01

Two nonlinear control schemes have been applied to the problem of drag reduction in channel flow. Both schemes have been tested using numerical simulations at a mass flux Reynolds numbers of 4408, utilizing 2D nonlinear neutral modes for goal dynamics. The OGY-method, which requires feedback, reduces drag to 60-80 percent of the turbulent value at the same Reynolds number, and employs forcing only within a thin region near the wall. The H-method, or model-based control, fails to achieve any drag reduction when starting from a fully turbulent initial condition, but shows potential for suppressing or retarding laminar-to-turbulent transition by imposing instead a transition to a low drag, nonlinear traveling wave solution to the Navier-Stokes equation. The drag in this state corresponds to that achieved by the OGY-method. Model-based control requires no feedback, but in experiments to date has required the forcing be imposed within a thicker layer than the OGY-method. Control energy expenditures in both methods are small, representing less than 0.1 percent of the uncontrolled flow's energy.

Development and control of a magnetorheological haptic device for robot assisted surgery.

PubMed

Shokrollahi, Elnaz; Goldenberg, Andrew A; Drake, James M; Eastwood, Kyle W; Kang, Matthew

2017-07-01

A prototype magnetorheological (MR) fluid-based actuator has been designed for tele-robotic surgical applications. This device is capable of generating forces up to 47 N, with input currents ranging from 0 to 1.5 A. We begin by outlining the physical design of the device, and then discuss a novel nonlinear model of the device's behavior. The model was developed using the Hammerstein-Wiener (H-W) nonlinear black-box technique and is intended to accurately capture the hysteresis behavior of the MR-fluid. Several experiments were conducted on the device to collect estimation and validation datasets to construct the model and assess its performance. Different estimating functions were used to construct the model, and their effectiveness is assessed based on goodness-of-fit and final-prediction-error measurements. A sigmoid network was found to have a goodness-of-fit of 95%. The model estimate was then used to tune a PID controller. Two control schemes were proposed to eliminate the hysteresis behavior present in the MR fluid device. One method uses a traditional force feedback control loop and the other is based on measuring the magnetic field using a Hall-effect sensor embedded within the device. The Hall-effect sensor scheme was found to be superior in terms of cost, simplicity and real-time control performance compared to the force control strategy.

Motor unit firing rate patterns during voluntary muscle force generation: a simulation study

NASA Astrophysics Data System (ADS)

Hu, Xiaogang; Rymer, William Z.; Suresh, Nina L.

2014-04-01

Objective. Muscle force is generated by a combination of motor unit (MU) recruitment and changes in the discharge rate of active MUs. There have been two basic MU recruitment and firing rate paradigms reported in the literature, which describe the control of the MUs during force generation. The first (termed the reverse ‘onion skin’ profile), exhibits lower firing rates for lower threshold units, with higher firing rates occurring in higher threshold units. The second (termed the ‘onion skin’ profile), exhibits an inverse arrangement, with lower threshold units reaching higher firing rates. Approach. Using a simulation of the MU activity in a hand muscle, this study examined the force generation capacity and the variability of the muscle force magnitude at different excitation levels of the MU pool under these two different MU control paradigms. We sought to determine which rate/recruitment scheme was more efficient for force generation, and which scheme gave rise to the lowest force variability. Main results. We found that the force output of both firing patterns leads to graded force output at low excitation levels, and that the force generation capacity of the two different paradigms diverged around 50% excitation. In the reverse ‘onion skin’ pattern, at 100% excitation, the force output reached up to 88% of maximum force, whereas for the ‘onion skin’ pattern, the force output only reached up to 54% of maximum force at 100% excitation. The force variability was lower at the low to moderate force levels under the ‘onion skin’ paradigm than with the reverse ‘onion skin’ firing patterns, but this effect was reversed at high force levels. Significance. This study captures the influence of MU recruitment and firing rate organization on muscle force properties, and our results suggest that the different firing organizations can be beneficial at different levels of voluntary muscle force generation and perhaps for different tasks.

Detection of antipersonnel (AP) mines using mechatronics approach

NASA Astrophysics Data System (ADS)

Shahri, Ali M.; Naghdy, Fazel

1998-09-01

At present there are approximately 110 million land-mines scattered around the world in 64 countries. The clearance of these mines takes place manually. Unfortunately, on average for every 5000 mines cleared one mine clearer is killed. A Mine Detector Arm (MDA) using mechatronics approach is under development in this work. The robot arm imitates manual hand- prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil to control the impact caused by contacting a stiff object. An explicit impact control scheme is applied as the main control scheme, while two different intelligent control methods are designed to deal with uncertainties and varying environmental parameters. Firstly, a neuro-fuzzy adaptive gain controller (NFAGC) is designed to adapt the force gain control according to the estimated environment stiffness. Then, an adaptive neuro-fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro-fuzzy impact control (NFIC), when an impact is detected. The developed control schemes are validated through computer simulation and experimental work.

Electromagnetic torque tweezers: a versatile approach for measurement of single-molecule twist and torque.

PubMed

Janssen, Xander J A; Lipfert, Jan; Jager, Tessa; Daudey, Renier; Beekman, Jaap; Dekker, Nynke H

2012-07-11

The well-established single-molecule force-spectroscopy techniques have recently been complemented by methods that can measure torque and twist directly, notably magnetic torque tweezers and the optical torque wrench. A limitation of the current torque measurement schemes is the intrinsic coupling between the force and torque degrees of freedom. Here we present electromagnetic torque tweezers (eMTT) that combine permanent and electromagnets to enable independent control of the force and torsional trap stiffness for sensitive measurements of single molecule torque and twist. Using the eMTT, we demonstrate sensitive torque measurements on tethered DNA molecules from simple tracking of the beads' (x,y)-position, obviating the need for any angular tracking algorithms or markers. Employing the eMTT for high-resolution torque measurements, we experimentally confirm the theoretically predicted torque overshoot at the DNA buckling transition in high salt conditions. We envision that the flexibility and control afforded by the eMTT will enable a range of new torque and twist measurement schemes from single-molecules to living cells.

Position Control of Tendon-Driven Fingers

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E.; Platt, Robert, Jr.; Hargrave, B.; Pementer, Frank

2011-01-01

Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I

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

NASA Astrophysics Data System (ADS)

Bai, Yanhong; Quan, Long

2013-09-01

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

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.

Design and Implementation of a Compact Master-Slave Robotic System with Force Feedback and Energy Recycling

NASA Astrophysics Data System (ADS)

Li, Chunguang; Inoue, Yoshio; Liu, Tao; Shibata, Kyoko; Oka, Koichi

Master-slave control is becoming increasingly popular in the development of robotic systems which can provide rehabilitation training for hemiplegic patients with a unilaterally disabled limb. However, the system structures and control strategies of existent master-slave systems are always complex. An innovative master-slave system implementing force feedback and motion tracking for a rehabilitation robot is presented in this paper. The system consists of two identical motors with a wired connection, and the two motors are located at the master and slave manipulator sites respectively. The slave motor tracks the motion of the master motor directly driven by a patient. As well, the interaction force produced at the slave site is fed back to the patient. Therefore, the impaired limb driven by the slave motor can imitate the motion of the healthy limb controlling the master motor, and the patient can regulate the control force of the healthy limb properly according to the force sensation. The force sensing and motion tracking are achieved simultaneously with neither force sensors nor sophisticated control algorithms. The system is characterized by simple structure, bidirectional controllability, energy recycling, and force feedback without a force sensor. Test experiments on a prototype were conducted, and the results appraise the advantages of the system and demonstrate the feasibility of the proposed control scheme for a rehabilitation robot.

Servo control of an optical trap.

PubMed

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

2007-08-01

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

The contribution of volume, technique, and load to single-repetition and total-repetition kinematics and kinetics in response to three loading schemes.

PubMed

Crewther, Blair T; Cronin, John; Keogh, Justin W L

2008-11-01

This study examined the effect of volume, technique, and load upon single-repetition and total-repetition kinematics and kinetics during three loading schemes. Eleven recreationally trained males each performed a power (8 sets of 6 repetitions at 45% of one-repetition maximum [1RM], 3-minute rest periods, explosive and ballistic movements), hypertrophy (10 sets of 10 repetitions at 75% 1RM, 2-minute rest periods, controlled movements), and maximal strength (6 sets of 4 repetitions at 88% 1RM, 4-minute rest periods, explosive intent) scheme involving squats. Examination of repetition data showed that load intensity (% 1RM) generally had a direct effect on forces, contraction times, impulses, and work (i.e., increasing with load), whereas power varied across loads (p < 0.001). However, total-repetition forces, contraction times, impulses, work, and power were all greater in the hypertrophy scheme (p < 0.001), because of the greater number of repetitions performed (volume) as well as lifting technique. No differences in total forces were found between the equal-volume power and maximal strength schemes, but the former did produce greater total contraction times, work, and power (p < 0.001), which may also be attributed to repetition and technique differences. Total impulses were the only variable greater in the maximal strength scheme (p < 0.001). Thus, the interaction of load, volume, and technique plays an important role in determining the mechanical responses (stimuli) afforded by these workouts. These findings may explain disparities cited within research, regarding the effectiveness of different loading strategies for hypertrophy, maximal strength, and power adaptation.

Sensor-less pseudo-sinusoidal drive for a permanent-magnet brushless ac motor

NASA Astrophysics Data System (ADS)

Liu, Li-Hsiang; Chern, Tzuen-Lih; Pan, Ping-Lung; Huang, Tsung-Mou; Tsay, Der-Min; Kuang, Jao-Hwa

2012-04-01

The precise rotor-position information is required for a permanent-magnet brushless ac motor (BLACM) drive. In the conventional sinusoidal drive method, either an encoder or a resolver is usually employed. For position sensor-less vector control schemes, the rotor flux estimation and torque components are obtained by complicated coordinate transformations. These computational intensive methods are susceptible to current distortions and parameter variations. To simplify the method complexity, this work presents a sensor-less pseudo-sinusoidal drive scheme with speed control for a three-phase BLACM. Based on the sinusoidal drive scheme, a floating period of each phase current is inserted for back electromotive force detection. The zero-crossing point is determined directly by the proposed scheme, and the rotor magnetic position and rotor speed can be estimated simultaneously. Several experiments for various active angle periods are undertaken. Furthermore, a current feedback control is included to minimize and compensate the torque fluctuation. The experimental results show that the proposed method has a competitive performance compared with the conventional drive manners for BLACM. The proposed scheme is straightforward, bringing the benefits of sensor-less drive and negating the need for coordinate transformations in the operating process.

Consistent forcing scheme in the cascaded lattice Boltzmann method

NASA Astrophysics Data System (ADS)

Fei, Linlin; Luo, Kai Hong

2017-11-01

In this paper, we give an alternative derivation for the cascaded lattice Boltzmann method (CLBM) within a general multiple-relaxation-time (MRT) framework by introducing a shift matrix. When the shift matrix is a unit matrix, the CLBM degrades into an MRT LBM. Based on this, a consistent forcing scheme is developed for the CLBM. The consistency of the nonslip rule, the second-order convergence rate in space, and the property of isotropy for the consistent forcing scheme is demonstrated through numerical simulations of several canonical problems. Several existing forcing schemes previously used in the CLBM are also examined. The study clarifies the relation between MRT LBM and CLBM under a general framework.

Inverse dynamics of adaptive structures used as space cranes

NASA Technical Reports Server (NTRS)

Das, S. K.; Utku, S.; Wada, B. K.

1990-01-01

As a precursor to the real-time control of fast moving adaptive structures used as space cranes, a formulation is given for the flexibility induced motion relative to the nominal motion (i.e., the motion that assumes no flexibility) and for obtaining the open loop time varying driving forces. An algorithm is proposed for the computation of the relative motion and driving forces. The governing equations are given in matrix form with explicit functional dependencies. A simulator is developed to implement the algorithm on a digital computer. In the formulations, the distributed mass of the crane is lumped by two schemes, vz., 'trapezoidal' lumping and 'Simpson's rule' lumping. The effects of the mass lumping schemes are shown by simulator runs.

Control approach development for variable recruitment artificial muscles

NASA Astrophysics Data System (ADS)

Jenkins, Tyler E.; Chapman, Edward M.; Bryant, Matthew

2016-04-01

This study characterizes hybrid control approaches for the variable recruitment of fluidic artificial muscles with double acting (antagonistic) actuation. Fluidic artificial muscle actuators have been explored by researchers due to their natural compliance, high force-to-weight ratio, and low cost of fabrication. Previous studies have attempted to improve system efficiency of the actuators through variable recruitment, i.e. using discrete changes in the number of active actuators. While current variable recruitment research utilizes manual valve switching, this paper details the current development of an online variable recruitment control scheme. By continuously controlling applied pressure and discretely controlling the number of active actuators, operation in the lowest possible recruitment state is ensured and working fluid consumption is minimized. Results provide insight into switching control scheme effects on working fluids, fabrication material choices, actuator modeling, and controller development decisions.

Phase Resolved Angular Velocity Control of Cross Flow Turbines

NASA Astrophysics Data System (ADS)

Strom, Benjamin; Brunton, Steven; Polagye, Brian

2015-11-01

Cross flow turbines have a number of operational advantages for the conversion of kinetic energy in marine or fluvial currents, but they are often less efficient than axial flow devices. Here a control scheme is presented in which the angular velocity of a cross flow turbine with two straight blades is prescribed as a function of azimuthal blade position, altering the time-varying effective angle of attack. Flume experiments conducted with a scale model turbine show approximately an 80% increase in turbine efficiency versus optimal constant angular velocity and constant resistive torque control schemes. Torque, drag, and lateral forces on one- and two-bladed turbines are analyzed and interpreted with bubble flow visualization to develop a simple model that describes the hydrodynamics responsible for the observed increase in mean efficiency. Challenges associated with implementing this control scheme on commercial-scale devices are discussed. If solutions are found, the performance increase presented here may impact the future development of cross flow turbines.

Human voluntary activity integration in the control of a standing-up rehabilitation robot: a simulation study.

PubMed

Kamnik, Roman; Bajd, Tadej

2007-11-01

The paper presents a novel control approach for the robot-assisted motion augmentation of disabled subjects during the standing-up manoeuvre. The main goal of the proposal is to integrate the voluntary activity of a person in the control scheme of the rehabilitation robot. The algorithm determines the supportive force to be tracked by a robot force controller. The basic idea behind the calculation of supportive force is to quantify the deficit in the dynamic equilibrium of the trunk. The proposed algorithm was implemented as a Kalman filter procedure and evaluated in a simulation environment. The simulation results proved the adequate and robust performance of "patient-driven" robot-assisted standing-up training. In addition, the possibility of varying the training conditions with different degrees of the subject's initiative is demonstrated.

Adaptive backstepping control of train systems with traction/braking dynamics and uncertain resistive forces

NASA Astrophysics Data System (ADS)

Song, Qi; Song, Y. D.; Cai, Wenchuan

2011-09-01

Although backstepping control design approach has been widely utilised in many practical systems, little effort has been made in applying this useful method to train systems. The main purpose of this paper is to apply this popular control design technique to speed and position tracking control of high-speed trains. By integrating adaptive control with backstepping control, we develop a control scheme that is able to address not only the traction and braking dynamics ignored in most existing methods, but also the uncertain friction and aerodynamic drag forces arisen from uncertain resistance coefficients. As such, the resultant control algorithms are able to achieve high precision train position and speed tracking under varying operation railway conditions, as validated by theoretical analysis and numerical simulations.

High-order accurate finite-volume formulations for the pressure gradient force in layered ocean models

NASA Astrophysics Data System (ADS)

Engwirda, Darren; Kelley, Maxwell; Marshall, John

2017-08-01

Discretisation of the horizontal pressure gradient force in layered ocean models is a challenging task, with non-trivial interactions between the thermodynamics of the fluid and the geometry of the layers often leading to numerical difficulties. We present two new finite-volume schemes for the pressure gradient operator designed to address these issues. In each case, the horizontal acceleration is computed as an integration of the contact pressure force that acts along the perimeter of an associated momentum control-volume. A pair of new schemes are developed by exploring different control-volume geometries. Non-linearities in the underlying equation-of-state definitions and thermodynamic profiles are treated using a high-order accurate numerical integration framework, designed to preserve hydrostatic balance in a non-linear manner. Numerical experiments show that the new methods achieve high levels of consistency, maintaining hydrostatic and thermobaric equilibrium in the presence of strongly-sloping layer geometries, non-linear equations-of-state and non-uniform vertical stratification profiles. These results suggest that the new pressure gradient formulations may be appropriate for general circulation models that employ hybrid vertical coordinates and/or terrain-following representations.

Tethered satellite system control using electromagnetic forces and reaction wheels

NASA Astrophysics Data System (ADS)

Alandi Hallaj, Mohammad Amin; Assadian, Nima

2015-12-01

In this paper a novel non-rotating space tethered configuration is introduced which its relative positions controlled using electromagnetic forces. The attitude dynamics is controlled by three reaction wheels in the body axes. The nonlinear coupled orbital dynamics of a dumbbell tethered satellite formation flight are derived through a constrained Lagrangian approach. These equations are presented in the leader satellite orbital frame. The tether is assumed to be mass-less and straight, and the J2 perturbation is included to the analysis. The forces and the moments of the electromagnetic coils are modeled based on the far-filed model of the magnetic dipoles. A guidance scheme for generating the desired positions as a function of time in Cartesian form is presented. The satellite tethered formation with variable length is controlled utilizing a linear controller. This approach is applied to a specified scenario and it is shown that the nonlinear guidance method and the linear controller can control the nonlinear system of the tethered formation and the results are compared with optimal control approach.

Restoration of the contact surface in FORCE-type centred schemes I: Homogeneous two-dimensional shallow water equations

NASA Astrophysics Data System (ADS)

Canestrelli, Alberto; Toro, Eleuterio F.

2012-10-01

Recently, the FORCE centred scheme for conservative hyperbolic multi-dimensional systems has been introduced in [34] and has been applied to Euler and relativistic MHD equations, solved on unstructured meshes. In this work we propose a modification of the FORCE scheme, named FORCE-Contact, that provides improved resolution of contact and shear waves. This paper presents the technique in full detail as applied to the two-dimensional homogeneous shallow water equations. The improvements due to the new method are particularly evident when an additional equation is solved for a tracer, since the modified scheme exactly resolves isolated and steady contact discontinuities. The improvement is considerable also for slowly moving contact discontinuities, for shear waves and for steady states in meandering channels. For these types of flow fields, the numerical results provided by the new FORCE-Contact scheme are comparable with, and sometimes better than, the results obtained from upwind schemes, such as Roes scheme for example. In a companion paper, a similar approach to restoring the missing contact wave and preserving well-balanced properties for non-conservative one- and two-layer shallow water equations is introduced. However, the procedure is general and it is in principle applicable to other multidimensional hyperbolic systems in conservative and non-conservative form, such as the Euler equations for compressible gas dynamics.

Issues, concerns, and initial implementation results for space based telerobotic control

NASA Technical Reports Server (NTRS)

Lawrence, D. A.; Chapel, J. D.; Depkovich, T. M.

1987-01-01

Telerobotic control for space based assembly and servicing tasks presents many problems in system design. Traditional force reflection teleoperation schemes are not well suited to this application, and the approaches to compliance control via computer algorithms have yet to see significant testing and comparison. These observations are discussed in detail, as well as the concerns they raise for imminent design and testing of space robotic systems. As an example of the detailed technical work yet to be done before such systems can be specified, a particular approach to providing manipulator compliance is examined experimentally and through modeling and analysis. This yields some initial insight into the limitations and design trade-offs for this class of manipulator control schemes. Implications of this investigation for space based telerobots are discussed in detail.

F/A-18 and F-16 forebody vortex control, static and rotary-balance results

NASA Technical Reports Server (NTRS)

Kramer, Brian; Smith, Brooke

1994-01-01

The results from research on forebody vortex control on both the F/A-18 and the F-16 aircraft will be shown. Several methods of forebody vortex control, including mechanical and pneumatic schemes, will be discussed. The wind tunnel data includes both static and rotary balance data for forebody vortex control. Time lags between activation or deactivation of the pneumatic control and when the aircraft experiences the resultant forces are also discussed. The static (non-rotating) forces and pressures are then compared to similar configurations tested in the NASA Langley and DTRC Wind Tunnel, the NASA Ames 80'x120' Wind Tunnel, and in flight on the High Angle of Attack Research Vehicle (HARV).

Tailoring Meridional and Seasonal Radiative Forcing by Sulfate Aerosol Solar Geoengineering

NASA Astrophysics Data System (ADS)

Dai, Z.; Weisenstein, D. K.; Keith, D. W.

2018-01-01

We study the possibility of designing solar radiation management schemes to achieve a desired meridional radiative forcing (RF) profile using a two-dimensional chemistry-transport-aerosol model. Varying SO2 or H2SO4 injection latitude, altitude, and season, we compute RF response functions for a broad range of possible injection schemes, finding that linear combinations of these injection cases can roughly achieve RF profiles that have been proposed to accomplish various climate objectives. Globally averaged RF normalized by the sulfur injection rate (the radiative efficacy) is largest for injections at high altitudes, near the equator, and using emission of H2SO4 vapor into an aircraft wake to produce accumulation-mode particles. There is a trade-off between radiative efficacy and control as temporal and spatial control is best achieved with injections at lower altitudes and higher latitudes. These results may inform studies using more realistic models that couple aerosol microphysics, chemistry, and stratospheric dynamics.

Control of joint motion simulators for biomechanical research

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Glass, K.

1992-01-01

The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

Ground Segment Preparation for NPSAT1

DTIC Science & Technology

2007-09-01

39 a. Close Aiming Point...for a closed loop control scheme. The controller has the antenna follow the predicted path of NPSAT1 during an overhead pass. One drawback of the...satellite on its descending pass are said to have a “ keyhole ” in Air Force jargon because one has to turn the antenna just like a key. Figure 6 is

Kinematics and force analysis of a robot hand based on an artificial biological control scheme

NASA Astrophysics Data System (ADS)

Kim, Man Guen

An artificial biological control scheme (ABCS) is used to study the kinematics and statics of a multifingered hand with a view to developing an efficient control scheme for grasping. The ABCS is based on observation of human grasping, intuitively taking it as the optimum model for robotic grasping. A final chapter proposes several grasping measures to be applied to the design and control of a robot hand. The ABCS leads to the definition of two modes of the grasping action: natural grasping (NG), which is the human motion to grasp the object without any special task command, and forced grasping (FG), which is the motion with a specific task. The grasping direction line (GDL) is defined to determine the position and orientation of the object in the hand. The kinematic model of a redundant robot arm and hand is developed by reconstructing the human upper extremity and using anthropometric measurement data. The inverse kinematic analyses of various types of precision and power grasping are studied by replacing the three-link with one virtual link and using the GDL. The static force analysis for grasping with fingertips is studied by applying the ABCS. A measure of grasping stability, that maintains the positions of contacts as well as the configurations of the redundant fingers, is derived. The grasping stability measure (GSM), a measure of how well the hand maintains grasping under the existence of external disturbance, is derived by the torque vector of the hand calculated from the external force applied to the object. The grasping manipulability measure (GMM), a measure of how well the hand manipulates the object for the task, is derived by the joint velocity vector of the hand calculated from the object velocity. The grasping performance measure (GPM) is defined by the sum of the directional components of the GSM and the GMM. Finally, a planar redundant hand with two fingers is examined in order to study the various postures of the hand performing pinch grasping by applying the GSM and the GMM.

An analysis of the input-output properties of neuroprosthetic hand grasps.

PubMed

Memberg, W D; Crago, P E

2000-01-01

We measured the input-output properties of the hand grasps of 14 individuals with tetraplegia at the C5/C6 level who had received an implanted upper limb neuroprosthesis. The data provide a quantitative description of grasp-opening and grasp-force control with neuroprosthetic hand grasp systems. Static properties were estimated by slowly ramping the command (input) from 0 to 100%. A hand-held sensor monitored the outputs: grasp force and grasp opening. Trials were performed at different wrist positions, with two different-sized objects being held, and with both grasp modes (lateral and palmar grasps). Larger forces were produced when grasping larger objects, and greater opening was achieved with the wrist in flexion. Although active grasp force increased with wrist extension, it was not significant statistically. Lateral grasp produced larger forces than the palmar grasp. The command range can be divided into a portion that controls grasp opening and a portion that controls grasp force. The portion controlling force increased with spacer size, but did not depend significantly on grasp mode or wrist position. The force-command relationships were more linear than the position-command relationships. Grasp opening decreased significantly over a one-year period, while no significant change in grasp force was observed. These quantitative descriptions of neuroprosthetic hand grasps under varying conditions provide useful information about output capabilities that can be used to gauge the effectiveness of different control schemes and to design future control systems.

A scheme for solving the plane-plane challenge in force measurements at the nanoscale.

PubMed

Siria, Alessandro; Huant, Serge; Auvert, Geoffroy; Comin, Fabio; Chevrier, Joel

2010-05-19

Non-contact interaction between two parallel flat surfaces is a central paradigm in sciences. This situation is the starting point for a wealth of different models: the capacitor description in electrostatics, hydrodynamic flow, thermal exchange, the Casimir force, direct contact study, third body confinement such as liquids or films of soft condensed matter. The control of parallelism is so demanding that no versatile single force machine in this geometry has been proposed so far. Using a combination of nanopositioning based on inertial motors, of microcrystal shaping with a focused-ion beam (FIB) and of accurate in situ and real-time control of surface parallelism with X-ray diffraction, we propose here a "gedanken" surface-force machine that should enable one to measure interactions between movable surfaces separated by gaps in the micrometer and nanometer ranges.

Force-controlled absorption in a fully-nonlinear numerical wave tank

NASA Astrophysics Data System (ADS)

Spinneken, Johannes; Christou, Marios; Swan, Chris

2014-09-01

An active control methodology for the absorption of water waves in a numerical wave tank is introduced. This methodology is based upon a force-feedback technique which has previously been shown to be very effective in physical wave tanks. Unlike other methods, an a-priori knowledge of the wave conditions in the tank is not required; the absorption controller being designed to automatically respond to a wide range of wave conditions. In comparison to numerical sponge layers, effective wave absorption is achieved on the boundary, thereby minimising the spatial extent of the numerical wave tank. In contrast to the imposition of radiation conditions, the scheme is inherently capable of absorbing irregular waves. Most importantly, simultaneous generation and absorption can be achieved. This is an important advance when considering inclusion of reflective bodies within the numerical wave tank. In designing the absorption controller, an infinite impulse response filter is adopted, thereby eliminating the problem of non-causality in the controller optimisation. Two alternative controllers are considered, both implemented in a fully-nonlinear wave tank based on a multiple-flux boundary element scheme. To simplify the problem under consideration, the present analysis is limited to water waves propagating in a two-dimensional domain. The paper presents an extensive numerical validation which demonstrates the success of the method for a wide range of wave conditions including regular, focused and random waves. The numerical investigation also highlights some of the limitations of the method, particularly in simultaneously generating and absorbing large amplitude or highly-nonlinear waves. The findings of the present numerical study are directly applicable to related fields where optimum absorption is sought; these include physical wavemaking, wave power absorption and a wide range of numerical wave tank schemes.

Intercomparison of shortwave radiative transfer schemes in global aerosol modeling: results from the AeroCom Radiative Transfer Experiment

NASA Astrophysics Data System (ADS)

Randles, C. A.; Kinne, S.; Myhre, G.; Schulz, M.; Stier, P.; Fischer, J.; Doppler, L.; Highwood, E.; Ryder, C.; Harris, B.; Huttunen, J.; Ma, Y.; Pinker, R. T.; Mayer, B.; Neubauer, D.; Hitzenberger, R.; Oreopoulos, L.; Lee, D.; Pitari, G.; Di Genova, G.; Quaas, J.; Rose, Fred G.; Kato, S.; Rumbold, S. T.; Vardavas, I.; Hatzianastassiou, N.; Matsoukas, C.; Yu, H.; Zhang, F.; Zhang, H.; Lu, P.

2012-12-01

In this study we examine the performance of 31 global model radiative transfer schemes in cloud-free conditions with prescribed gaseous absorbers and no aerosols (Rayleigh atmosphere), with prescribed scattering-only aerosols, and with more absorbing aerosols. Results are compared to benchmark results from high-resolution, multi-angular line-by-line radiation models. For purely scattering aerosols, model bias relative to the line-by-line models in the top-of-the atmosphere aerosol radiative forcing ranges from roughly -10 to 20%, with over- and underestimates of radiative cooling at higher and lower sun elevation, respectively. Inter-model diversity (relative standard deviation) increases from ~10 to 15% as sun elevation increases. Inter-model diversity in atmospheric and surface forcing decreases with increased aerosol absorption, indicating that the treatment of multiple-scattering is more variable than aerosol absorption in the models considered. Aerosol radiative forcing results from multi-stream models are generally in better agreement with the line-by-line results than the simpler two-stream schemes. Considering radiative fluxes, model performance is generally the same or slightly better than results from previous radiation scheme intercomparisons. However, the inter-model diversity in aerosol radiative forcing remains large, primarily as a result of the treatment of multiple-scattering. Results indicate that global models that estimate aerosol radiative forcing with two-stream radiation schemes may be subject to persistent biases introduced by these schemes, particularly for regional aerosol forcing.

Intercomparison of shortwave radiative transfer schemes in global aerosol modeling: results from the AeroCom Radiative Transfer Experiment

NASA Astrophysics Data System (ADS)

Randles, C. A.; Kinne, S.; Myhre, G.; Schulz, M.; Stier, P.; Fischer, J.; Doppler, L.; Highwood, E.; Ryder, C.; Harris, B.; Huttunen, J.; Ma, Y.; Pinker, R. T.; Mayer, B.; Neubauer, D.; Hitzenberger, R.; Oreopoulos, L.; Lee, D.; Pitari, G.; Di Genova, G.; Quaas, J.; Rose, F. G.; Kato, S.; Rumbold, S. T.; Vardavas, I.; Hatzianastassiou, N.; Matsoukas, C.; Yu, H.; Zhang, F.; Zhang, H.; Lu, P.

2013-03-01

In this study we examine the performance of 31 global model radiative transfer schemes in cloud-free conditions with prescribed gaseous absorbers and no aerosols (Rayleigh atmosphere), with prescribed scattering-only aerosols, and with more absorbing aerosols. Results are compared to benchmark results from high-resolution, multi-angular line-by-line radiation models. For purely scattering aerosols, model bias relative to the line-by-line models in the top-of-the atmosphere aerosol radiative forcing ranges from roughly -10 to 20%, with over- and underestimates of radiative cooling at lower and higher solar zenith angle, respectively. Inter-model diversity (relative standard deviation) increases from ~10 to 15% as solar zenith angle decreases. Inter-model diversity in atmospheric and surface forcing decreases with increased aerosol absorption, indicating that the treatment of multiple-scattering is more variable than aerosol absorption in the models considered. Aerosol radiative forcing results from multi-stream models are generally in better agreement with the line-by-line results than the simpler two-stream schemes. Considering radiative fluxes, model performance is generally the same or slightly better than results from previous radiation scheme intercomparisons. However, the inter-model diversity in aerosol radiative forcing remains large, primarily as a result of the treatment of multiple-scattering. Results indicate that global models that estimate aerosol radiative forcing with two-stream radiation schemes may be subject to persistent biases introduced by these schemes, particularly for regional aerosol forcing.

A guidance law for hypersonic descent to a point

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

Eisler, G.R.; Hull, D.G.

1992-05-01

A neighboring external control problem is formulated for a hypersonic glider to execute a maximum-terminal-velocity descent to a stationary target. The resulting two-part, feedback control scheme initially solves a nonlinear algebraic problem to generate a nominal trajectory to the target altitude. Secondly, a neighboring optimal path computation about the nominal provides a lift and side-force perturbations necessary to achieve the target downrange and crossrange. On-line feedback simulations of the proposed scheme and a form of proportional navigation are compared with an off-line parameter optimization method. The neighboring optimal terminal velocity compares very well with the parameter optimization solution and ismore » far superior to proportional navigation. 8 refs.« less

A guidance law for hypersonic descent to a point

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

Eisler, G.R.; Hull, D.G.

1992-01-01

A neighboring external control problem is formulated for a hypersonic glider to execute a maximum-terminal-velocity descent to a stationary target. The resulting two-part, feedback control scheme initially solves a nonlinear algebraic problem to generate a nominal trajectory to the target altitude. Secondly, a neighboring optimal path computation about the nominal provides a lift and side-force perturbations necessary to achieve the target downrange and crossrange. On-line feedback simulations of the proposed scheme and a form of proportional navigation are compared with an off-line parameter optimization method. The neighboring optimal terminal velocity compares very well with the parameter optimization solution and ismore » far superior to proportional navigation. 8 refs.« less

Friction damping of two-dimensional motion and its application in vibration control

NASA Technical Reports Server (NTRS)

Menq, C.-H.; Chidamparam, P.; Griffin, J. H.

1991-01-01

This paper presents an approximate method for analyzing the two-dimensional friction contact problem so as to compute the dynamic response of a structure constrained by friction interfaces. The friction force at the joint is formulated based on the Coulomb model. The single-term harmonic balance scheme, together with the receptance approach of decoupling the effect of the friction force on the structure from those of the external forces has been utilized to obtain the steady state response. The computational efficiency and accuracy of the method are demonstrated by comparing the results with long-term time solutions.

On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

PubMed

Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

2017-09-01

In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Girsanov's transformation based variance reduced Monte Carlo simulation schemes for reliability estimation in nonlinear stochastic dynamics

NASA Astrophysics Data System (ADS)

Kanjilal, Oindrila; Manohar, C. S.

2017-07-01

The study considers the problem of simulation based time variant reliability analysis of nonlinear randomly excited dynamical systems. Attention is focused on importance sampling strategies based on the application of Girsanov's transformation method. Controls which minimize the distance function, as in the first order reliability method (FORM), are shown to minimize a bound on the sampling variance of the estimator for the probability of failure. Two schemes based on the application of calculus of variations for selecting control signals are proposed: the first obtains the control force as the solution of a two-point nonlinear boundary value problem, and, the second explores the application of the Volterra series in characterizing the controls. The relative merits of these schemes, vis-à-vis the method based on ideas from the FORM, are discussed. Illustrative examples, involving archetypal single degree of freedom (dof) nonlinear oscillators, and a multi-degree of freedom nonlinear dynamical system, are presented. The credentials of the proposed procedures are established by comparing the solutions with pertinent results from direct Monte Carlo simulations.

Downward Slope Driving Control for Electric Powered Wheelchair Based on Capacitor Regenerative Brake

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Takahashi, Yoshiaki

This paper describes a novel capacitor regenerative braking control scheme of electric powered wheelchairs for efficient driving on downward slopes. An electric powered wheelchair, which generates the driving force by electric motors, is expected to be widely used as a mobility support system for elderly people and disabled people; however the energy efficiency has to be further improved because it is driven only by battery energy. This study proposes a capacitor regenerative braking circuit and two types of velocity control schemes with variable duty ratio. The proposed regenerative braking circuit is based on the step-up/down circuit with additional resistance and connects right and left motors in series in order to obtain a larger braking power. Some driving experiments on a practical downward slope show the effectiveness of the proposed control system.

An integrated control scheme for space robot after capturing non-cooperative target

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2018-06-01

How to identify the mass properties and eliminate the unknown angular momentum of space robotic system after capturing a non-cooperative target is of great challenge. This paper focuses on designing an integrated control framework which includes detumbling strategy, coordination control and parameter identification. Firstly, inverted and forward chain approaches are synthesized for space robot to obtain dynamic equation in operational space. Secondly, a detumbling strategy is introduced using elementary functions with normalized time, while the imposed end-effector constraints are considered. Next, a coordination control scheme for stabilizing both base and end-effector based on impedance control is implemented with the target's parameter uncertainty. With the measurements of the forces and torques exerted on the target, its mass properties are estimated during the detumbling process accordingly. Simulation results are presented using a 7 degree-of-freedom kinematically redundant space manipulator, which verifies the performance and effectiveness of the proposed method.

Kriging modeling and SPSA adjusting PID with KPWF compensator control of IPMC gripper for mm-sized objects

NASA Astrophysics Data System (ADS)

Chen, Yang; Hao, Lina; Yang, Hui; Gao, Jinhai

2017-12-01

Ionic polymer metal composite (IPMC) as a new smart material has been widely concerned in the micromanipulation field. In this paper, a novel two-finger gripper which contains an IPMC actuator and an ultrasensitive force sensor is proposed and fabricated. The IPMC as one finger of the gripper for mm-sized objects can achieve gripping and releasing motion, and the other finger works not only as a support finger but also as a force sensor. Because of the feedback signal of the force sensor, this integrated actuating and sensing gripper can complete gripping miniature objects in millimeter scale. The Kriging model is used to describe nonlinear characteristics of the IPMC for the first time, and then the control scheme called simultaneous perturbation stochastic approximation adjusting a proportion integration differentiation parameter controller with a Kriging predictor wavelet filter compensator is applied to track the gripping force of the gripper. The high precision force tracking in the foam ball manipulation process is obtained on a semi-physical experimental platform, which demonstrates that this gripper for mm-sized objects can work well in manipulation applications.

New level of vehicle comfort and vehicle stability via utilisation of the suspensions anti-dive and anti-squat geometry

NASA Astrophysics Data System (ADS)

Lindvai-Soos, Daniel; Horn, Martin

2018-07-01

In this article a novel vehicle dynamics control concept is designed for a vehicle equipped with wheel individual electric traction machines, electronically controlled brakes and semi-active suspensions. The suspension's cross-couplings between traction forces and vertical forces via anti-dive and anti-squat geometry is utilised in the control concept to improve driving comfort and driving stability. The control concept is divided into one main and two cascaded branches. The main controller consists of a multivariable vehicle dynamics controller and a control allocation scheme to improve the vehicle's driving comfort. The cascaded feedback loops maintain the vehicle's stability according to wheel slip and vehicle sideslip. The performance of the combined vehicle dynamics controller is compared to a standard approach in simulation. It can be stated that the controller piloting semi-active suspensions together with brake and traction devices enables a superior performance regarding comfort and stability.

Force sharing in high-power parallel servo-actuators

NASA Technical Reports Server (NTRS)

Neal, T. P.

1974-01-01

The various existing force sharing schemes were examined by conducting a literature survey. A list of potentially applicable concepts was compiled from this survey, and a brief analysis was then made of each concept, which resulted in two competing schemes being selected for in-depth evaluation. A functional design of the equalization logic for the two schemes was undertaken and specific space shuttle application was chosen for experimental evaluation. The application was scaled down so that existing hardware could be utilized. Next, an analog computer study was conducted to evaluate the more important characteristics of the two competing force sharing schemes. On the basis of the computers study, a final configuration was selected. A load simulator was then designed to evaluate this configuration on actual hardware.

Bio-inspired online variable recruitment control of fluidic artificial muscles

NASA Astrophysics Data System (ADS)

Jenkins, Tyler E.; Chapman, Edward M.; Bryant, Matthew

2016-12-01

This paper details the creation of a hybrid variable recruitment control scheme for fluidic artificial muscle (FAM) actuators with an emphasis on maximizing system efficiency and switching control performance. Variable recruitment is the process of altering a system’s active number of actuators, allowing operation in distinct force regimes. Previously, FAM variable recruitment was only quantified with offline, manual valve switching; this study addresses the creation and characterization of novel, on-line FAM switching control algorithms. The bio-inspired algorithms are implemented in conjunction with a PID and model-based controller, and applied to a simulated plant model. Variable recruitment transition effects and chatter rejection are explored via a sensitivity analysis, allowing a system designer to weigh tradeoffs in actuator modeling, algorithm choice, and necessary hardware. Variable recruitment is further developed through simulation of a robotic arm tracking a variety of spline position inputs, requiring several levels of actuator recruitment. Switching controller performance is quantified and compared with baseline systems lacking variable recruitment. The work extends current variable recruitment knowledge by creating novel online variable recruitment control schemes, and exploring how online actuator recruitment affects system efficiency and control performance. Key topics associated with implementing a variable recruitment scheme, including the effects of modeling inaccuracies, hardware considerations, and switching transition concerns are also addressed.

A new hysteresis model based on force-displacement characteristics of magnetorheological fluid actuators subjected to squeeze mode operation

NASA Astrophysics Data System (ADS)

Chen, Peng; Bai, Xian-Xu; Qian, Li-Jun; Choi, Seung-Bok

2017-06-01

This paper presents a new hysteresis model based on the force-displacement characteristics of magnetorheological (MR) fluid actuators (or devices) subjected to squeeze mode operation. The idea of the proposed model is originated from experimental observation of the field-dependent hysteretic behavior of MR fluids, which shows that from a view of rate-independence of hysteresis, a gap width-dependent hysteresis is occurred in the force-displacement relationship instead of the typical relationship of the force-velocity. To effectively and accurately portray the hysteresis behavior, the gap width-dependent hysteresis elements, the nonlinear viscous effect and the inertial effect are considered for the formulation of the hysteresis model. Then, a model-based feedforward force tracking control scheme is established through an observer which can estimate the virtual displacement. The effectiveness of the proposed hysteresis model is validated through the identification and prediction of the damping force of MR fluids in the squeeze mode. In addition, it is shown that superior force tracking performance of the feedforward control associated with the proposed hysteresis mode is evaluated by adopting several tracking trajectories.

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

A new radiation infrastructure for the Modular Earth Submodel System (MESSy, based on version 2.51)

NASA Astrophysics Data System (ADS)

Dietmüller, Simone; Jöckel, Patrick; Tost, Holger; Kunze, Markus; Gellhorn, Catrin; Brinkop, Sabine; Frömming, Christine; Ponater, Michael; Steil, Benedikt; Lauer, Axel; Hendricks, Johannes

2016-06-01

The Modular Earth Submodel System (MESSy) provides an interface to couple submodels to a base model via a highly flexible data management facility (Jöckel et al., 2010). In the present paper we present the four new radiation related submodels RAD, AEROPT, CLOUDOPT, and ORBIT. The submodel RAD (including the shortwave radiation scheme RAD_FUBRAD) simulates the radiative transfer, the submodel AEROPT calculates the aerosol optical properties, the submodel CLOUDOPT calculates the cloud optical properties, and the submodel ORBIT is responsible for Earth orbit calculations. These submodels are coupled via the standard MESSy infrastructure and are largely based on the original radiation scheme of the general circulation model ECHAM5, however, expanded with additional features. These features comprise, among others, user-friendly and flexibly controllable (by namelists) online radiative forcing calculations by multiple diagnostic calls of the radiation routines. With this, it is now possible to calculate radiative forcing (instantaneous as well as stratosphere adjusted) of various greenhouse gases simultaneously in only one simulation, as well as the radiative forcing of cloud perturbations. Examples of online radiative forcing calculations in the ECHAM/MESSy Atmospheric Chemistry (EMAC) model are presented.

Problems associated with reaction mass actuators used in conjunction with LQG control on the Mini-Mast

NASA Technical Reports Server (NTRS)

Ghosh, D.; Montgomery, R. C.

1987-01-01

The work being done at NASA LaRC on developing control laws for the Mini-Mast experimental facility is reviewed with particular attention given to the problems associated with the stroke limit of the reaction mass actuators used in conjunction with the LQG control. An algorithm for converting the force commands of the LQG algorithm into position command for the reaction mass devices is described. It is shown that the position command can be used as an input to a local controller so that the relative position of the reaction mass would track the commanded relative position. The stabilization of the integration scheme makes it possible to avoid the position drift arising in the direct double integration method of converting force commands to position commands.

Equifinality and its violations in a redundant system: multifinger accurate force production.

PubMed

Wilhelm, Luke; Zatsiorsky, Vladimir M; Latash, Mark L

2013-10-01

We explored a hypothesis that transient perturbations applied to a redundant system result in equifinality in the space of task-related performance variables but not in the space of elemental variables. The subjects pressed with four fingers and produced an accurate constant total force level. The "inverse piano" device was used to lift and lower one of the fingers smoothly. The subjects were instructed "not to intervene voluntarily" with possible force changes. Analysis was performed in spaces of finger forces and finger modes (hypothetical neural commands to fingers) as elemental variables. Lifting a finger led to an increase in its force and a decrease in the forces of the other three fingers; the total force increased. Lowering the finger back led to a drop in the force of the perturbed finger. At the final state, the sum of the variances of finger forces/modes computed across repetitive trials was significantly higher than the variance of the total force/mode. Most variance of the individual finger force/mode changes between the preperturbation and postperturbation states was compatible with constant total force. We conclude that a transient perturbation applied to a redundant system leads to relatively small variance in the task-related performance variable (equifinality), whereas in the space of elemental variables much more variance occurs that does not lead to total force changes. We interpret the results within a general theoretical scheme that incorporates the ideas of hierarchically organized control, control with referent configurations, synergic control, and the uncontrolled manifold hypothesis.

Implementing Reform amidst Resistance: The Regulation of Teacher Education and Work in Mexico

ERIC Educational Resources Information Center

Tatto, Maria Teresa; Schmelkes, Sylvia; Guevara, Maria Del Refugio; Tapia, Medardo

2006-01-01

Influenced by worldwide globalization forces new structures of control have emerged in Mexico at the school level, and career ladders reward teachers' compliance with testing and training schemes; nevertheless the long-standing institutions of initial teacher education continue to show a strong resistance to change. Increased accountability is…

Modelling and control of a rotor supported by magnetic bearings

NASA Technical Reports Server (NTRS)

Gurumoorthy, R.; Pradeep, A. K.

1994-01-01

In this paper we develop a dynamical model of a rotor and the active magnetic bearings used to support the rotor. We use this model to develop a stable state feedback control of the magnetic bearing system. We present the development of a rigid body model of the rotor, utilizing both Rotation Matrices (Euler Angles) and Euler Parameters (Quaternions). In the latter half of the paper we develop a stable state feedback control of the actively controlled magnetic bearing to control the rotor position under inbalances. The control law developed takes into account the variation of the model with rotational speed. We show stability over the whole operating range of speeds for the magnetic bearing system. Simulation results are presented to demonstrate the closed loop system performance. We develop the model of the magnetic bearing, and present two schemes for the excitation of the poles of the actively controlled magnetic bearing. We also present a scheme for averaging multiple sensor measurements and splitting the actuation forces amongst redundant actuators.

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

PubMed

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

2011-06-01

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

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

PubMed Central

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

2013-01-01

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

Novel Straight and Circular Road Driving Control of Electric Power Assisted Wheelchair Based on Fuzzy Algorithm

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Tadakuma, Susumu

This paper describes a novel straight and circular road driving control scheme for electric power assisted wheelchairs. “Electric power assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of the straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel driving control scheme based on fuzzy algorithm to realize the stable and reliable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity of the wheelchair and the human input torque proportion of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.

Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope.

PubMed

Lee, Jungshin; Yun, Sung Wook; Rhim, Jaewook

2016-04-20

A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments.

Adaptive neural network motion control of manipulators with experimental evaluations.

PubMed

Puga-Guzmán, S; Moreno-Valenzuela, J; Santibáñez, V

2014-01-01

A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller.

Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

PubMed Central

Puga-Guzmán, S.; Moreno-Valenzuela, J.; Santibáñez, V.

2014-01-01

A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller. PMID:24574910

Prediction and control of slender-wing rock

NASA Technical Reports Server (NTRS)

Kandil, Osama A.; Salman, Ahmed A.

1992-01-01

The unsteady Euler equations and the Euler equations of rigid-body dynamics, both written in the moving frame of reference, are sequentially solved to simulate the limit-cycle rock motion of slender delta wings. The governing equations of the fluid flow and the dynamics of the present multidisciplinary problem are solved using an implicit, approximately-factored, central-difference-like, finite-volume scheme and a four-stage Runge-Kutta scheme, respectively. For the control of wing-rock motion, leading-edge flaps are forced to oscillate anti-symmetrically at prescribed frequency and amplitude, which are tuned in order to suppress the rock motion. Since the computational grid deforms due to the leading-edge flaps motion, the grid is dynamically deformed using the Navier-displacement equations. Computational applications cover locally-conical and three-dimensional solutions for the wing-rock simulation and its control.

Controlled Quantum Packets

NASA Technical Reports Server (NTRS)

DeMartino, Salvatore; DeSiena, Silvio

1996-01-01

We look at time evolution of a physical system from the point of view of dynamical control theory. Normally we solve motion equation with a given external potential and we obtain time evolution. Standard examples are the trajectories in classical mechanics or the wave functions in Quantum Mechanics. In the control theory, we have the configurational variables of a physical system, we choose a velocity field and with a suited strategy we force the physical system to have a well defined evolution. The evolution of the system is the 'premium' that the controller receives if he has adopted the right strategy. The strategy is given by well suited laboratory devices. The control mechanisms are in many cases non linear; it is necessary, namely, a feedback mechanism to retain in time the selected evolution. Our aim is to introduce a scheme to obtain Quantum wave packets by control theory. The program is to choose the characteristics of a packet, that is, the equation of evolution for its centre and a controlled dispersion, and to give a building scheme from some initial state (for example a solution of stationary Schroedinger equation). It seems natural in this view to use stochastic approach to Quantum Mechanics, that is, Stochastic Mechanics [S.M.]. It is a quantization scheme different from ordinary ones only formally. This approach introduces in quantum theory the whole mathematical apparatus of stochastic control theory. Stochastic Mechanics, in our view, is more intuitive when we want to study all the classical-like problems. We apply our scheme to build two classes of quantum packets both derived generalizing some properties of coherent states.

A study of helicopter gust response alleviation by automatic control

NASA Technical Reports Server (NTRS)

Saito, S.

1983-01-01

Two control schemes designed to alleviate gust-induced vibration are analytically investigated for a helicopter with four articulated blades. One is an individual blade pitch control scheme. The other is an adaptive blade pitch control algorithm based on linear optimal control theory. In both controllers, control inputs to alleviate gust response are superimposed on the conventional control inputs required to maintain the trim condition. A sinusoidal vertical gust model and a step gust model are used. The individual blade pitch control, in this research, is composed of sensors and a pitch control actuator for each blade. Each sensor can detect flapwise (or lead-lag or torsionwise) deflection of the respective blade. The acturator controls the blade pitch angle for gust alleviation. Theoretical calculations to predict the performance of this feedback system have been conducted by means of the harmonic method. The adaptive blade pitch control system is composed of a set of measurements (oscillatory hub forces and moments), an identification system using a Kalman filter, and a control system based on the minimization of the quadratic performance function.

Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion.

PubMed

Yasui, Kotaro; Sakai, Kazuhiko; Kano, Takeshi; Owaki, Dai; Ishiguro, Akio

2017-01-01

Recently, myriapods have attracted the attention of engineers because mobile robots that mimic them potentially have the capability of producing highly stable, adaptive, and resilient behaviors. The major challenge here is to develop a control scheme that can coordinate their numerous legs in real time, and an autonomous decentralized control could be the key to solve this problem. Therefore, we focus on real centipedes and aim to design a decentralized control scheme for myriapod robots by drawing inspiration from behavioral experiments on centipede locomotion under unusual conditions. In the behavioral experiments, we observed the response to the removal of a part of the terrain and to amputation of several legs. Further, we determined that the ground reaction force is significant for generating rhythmic leg movements; the motion of each leg is likely affected by a sensory input from its neighboring legs. Thus, we constructed a two-dimensional model wherein a simple local reflexive mechanism was implemented in each leg. We performed simulations by using this model and demonstrated that the myriapod robot could move adaptively to changes in the environment and body properties. Our findings will shed new light on designing adaptive and resilient myriapod robots that can function under various circumstances.

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

Unseren, M.A.

A rigid body model for the entire system which accounts for the load distribution scheme proposed in Part 1 as well as for the dynamics of the manipulators and the kinematic constraints is derived in the joint space. A technique is presented for expressing the object dynamics in terms of the joint variables of both manipulators which leads to a positive definite and symmetric inertia matrix. The model is then transformed to obtain reduced order equations of motion and a separate set of equations which govern the behavior of the internal contact forces. The control architecture is applied to themore » model which results in the explicit decoupling of the position and internal contact force-controlled degrees of freedom (DOF).« less

Multi-finger synergies and the muscular apparatus of the hand.

PubMed

Cuadra, Cristian; Bartsch, Angelo; Tiemann, Paula; Reschechtko, Sasha; Latash, Mark L

2018-05-01

We explored whether the synergic control of the hand during multi-finger force production tasks depends on the hand muscles involved. Healthy subjects performed accurate force production tasks and targeted force pulses while pressing against loops positioned at the level of fingertips, middle phalanges, and proximal phalanges. This varied the involvement of the extrinsic and intrinsic finger flexors. The framework of the uncontrolled manifold (UCM) hypothesis was used to analyze the structure of inter-trial variance, motor equivalence, and anticipatory synergy adjustments prior to the force pulse in the spaces of finger forces and finger modes (hypothetical finger-specific control signals). Subjects showed larger maximal force magnitudes at the proximal site of force production. There were synergies stabilizing total force during steady-state phases across all three sites of force production; no differences were seen across the sites in indices of structure of variance, motor equivalence, or anticipatory synergy adjustments. Indices of variance, which did not affect the task (within the UCM), correlated with motor equivalent motion between the steady states prior to and after the force pulse; in contrast, variance affecting task performance did not correlate with non-motor equivalent motion. The observations are discussed within the framework of hierarchical control with referent coordinates for salient effectors at each level. The findings suggest that multi-finger synergies are defined at the level of abundant transformation between the low-dimensional hand level and higher dimensional finger level while being relatively immune to transformations between the finger level and muscle level. The results also support the scheme of control with two classes of neural variables that define referent coordinates and gains in back-coupling loops between hierarchical control levels.

A proportional control scheme for high density force myography.

PubMed

Belyea, Alexander T; Englehart, Kevin B; Scheme, Erik J

2018-08-01

Force myography (FMG) has been shown to be a potentially higher accuracy alternative to electromyography for pattern recognition based prosthetic control. Classification accuracy, however, is just one factor that affects the usability of a control system. Others, like the ability to start and stop, to coordinate dynamic movements, and to control the velocity of the device through some proportional control scheme can be of equal importance. To impart effective fine control using FMG-based pattern recognition, it is important that a method of controlling the velocity of each motion be developed. In this work force myography data were collected from 14 able bodied participants and one amputee participant as they performed a set of wrist and hand motions. The offline proportional control performance of a standard mean signal amplitude approach and a proposed regression-based alternative was compared. The impact of providing feedback during training, as well as the use of constrained or unconstrained hand and wrist contractions, were also evaluated. It is shown that the commonly used mean of rectified channel amplitudes approach commonly employed with electromyography does not translate to force myography. The proposed class-based regression proportional control approach is shown significantly outperform this standard approach (ρ  <  0.001), yielding a R 2 correlation coefficients of 0.837 and 0.830 for constrained and unconstrained forearm contractions, respectively for able bodied participants. No significant difference (ρ  =  0.693) was found in R 2 performance when feedback was provided during training or not. The amputee subject achieved a classification accuracy of 83.4%  ±  3.47% demonstrating the ability to distinguish contractions well with FMG. In proportional control the amputee participant achieved an R 2 of of 0.375 for regression based proportional control during unconstrained contractions. This is lower than the unconstrained case for able-bodied subjects for this particular amputee, possibly due to difficultly in visualizing contraction level modulation without feedback. This may be remedied in the use of a prosthetic limb that would provide real-time feedback in the form of device speed. A novel class-specific regression-based approach is proposed for multi-class control is described and shown to provide an effective means of providing FMG-based proportional control.

Novel compliant actuator for wearable robotics applications.

PubMed

Claros, M; Soto, R; Rodríguez, J J; Cantú, C; Contreras-Vidal, José L

2013-01-01

In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature.

Cascaded lattice Boltzmann method with improved forcing scheme for large-density-ratio multiphase flow at high Reynolds and Weber numbers.

PubMed

Lycett-Brown, Daniel; Luo, Kai H

2016-11-01

A recently developed forcing scheme has allowed the pseudopotential multiphase lattice Boltzmann method to correctly reproduce coexistence curves, while expanding its range to lower surface tensions and arbitrarily high density ratios [Lycett-Brown and Luo, Phys. Rev. E 91, 023305 (2015)PLEEE81539-375510.1103/PhysRevE.91.023305]. Here, a third-order Chapman-Enskog analysis is used to extend this result from the single-relaxation-time collision operator, to a multiple-relaxation-time cascaded collision operator, whose additional relaxation rates allow a significant increase in stability. Numerical results confirm that the proposed scheme enables almost independent control of density ratio, surface tension, interface width, viscosity, and the additional relaxation rates of the cascaded collision operator. This allows simulation of large density ratio flows at simultaneously high Reynolds and Weber numbers, which is demonstrated through binary collisions of water droplets in air (with density ratio up to 1000, Reynolds number 6200 and Weber number 440). This model represents a significant improvement in multiphase flow simulation by the pseudopotential lattice Boltzmann method in which real-world parameters are finally achievable.

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.

Equifinality and its violations in a redundant system: multifinger accurate force production

PubMed Central

Wilhelm, Luke; Zatsiorsky, Vladimir M.

2013-01-01

We explored a hypothesis that transient perturbations applied to a redundant system result in equifinality in the space of task-related performance variables but not in the space of elemental variables. The subjects pressed with four fingers and produced an accurate constant total force level. The “inverse piano” device was used to lift and lower one of the fingers smoothly. The subjects were instructed “not to intervene voluntarily” with possible force changes. Analysis was performed in spaces of finger forces and finger modes (hypothetical neural commands to fingers) as elemental variables. Lifting a finger led to an increase in its force and a decrease in the forces of the other three fingers; the total force increased. Lowering the finger back led to a drop in the force of the perturbed finger. At the final state, the sum of the variances of finger forces/modes computed across repetitive trials was significantly higher than the variance of the total force/mode. Most variance of the individual finger force/mode changes between the preperturbation and postperturbation states was compatible with constant total force. We conclude that a transient perturbation applied to a redundant system leads to relatively small variance in the task-related performance variable (equifinality), whereas in the space of elemental variables much more variance occurs that does not lead to total force changes. We interpret the results within a general theoretical scheme that incorporates the ideas of hierarchically organized control, control with referent configurations, synergic control, and the uncontrolled manifold hypothesis. PMID:23904497

Fuzzy Inference Based Obstacle Avoidance Control of Electric Powered Wheelchair Considering Driving Risk

NASA Astrophysics Data System (ADS)

Kiso, Atsushi; Murakami, Hiroki; Seki, Hirokazu

This paper describes a novel obstacle avoidance control scheme of electric powered wheelchairs for realizing the safe driving in various environments. The “electric powered wheelchair” which generates the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people; however, the driving performance must be further improved because the number of driving accidents caused by elderly operator's narrow sight and joystick operation errors is increasing. This paper proposes a novel obstacle avoidance control scheme based on fuzzy algorithm to prevent driving accidents. The proposed control system determines the driving direction by fuzzy algorithm based on the information of the joystick operation and distance to obstacles measured by ultrasonic sensors. Fuzzy rules to determine the driving direction are designed surely to avoid passers-by and walls considering the human's intent and driving environments. Some driving experiments on the practical situations show the effectiveness of the proposed control system.

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

PubMed

Luo, Ying; Chen, Yangquan; Pi, Youguo

2010-10-01

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

Portable dual field gradient force multichannel flow cytometer device with a dual wavelength low noise detection scheme

DOEpatents

James, Conrad D; Galambos, Paul C; Derzon, Mark S; Graf, Darin C; Pohl, Kenneth R; Bourdon, Chris J

2012-10-23

Systems and methods for combining dielectrophoresis, magnetic forces, and hydrodynamic forces to manipulate particles in channels formed on top of an electrode substrate are discussed. A magnet placed in contact under the electrode substrate while particles are flowing within the channel above the electrode substrate allows these three forces to be balanced when the system is in operation. An optical detection scheme using near-confocal microscopy for simultaneously detecting two wavelengths of light emitted from the flowing particles is also discussed.

Decentralized control experiments on NASA's flexible grid

NASA Technical Reports Server (NTRS)

Ozguner, U.; Yurkowich, S.; Martin, J., III; Al-Abbass, F.

1986-01-01

Methods arising from the area of decentralized control are emerging for analysis and control synthesis for large flexible structures. In this paper the control strategy involves a decentralized model reference adaptive approach using a variable structure control. Local models are formulated based on desired damping and response time in a model-following scheme for various modal configurations. Variable structure controllers are then designed employing co-located angular rate and position feedback. In this scheme local control forces the system to move on a local sliding mode in some local error space. An important feature of this approach is that the local subsystem is made insensitive to dynamical interactions with other subsystems once the sliding surface is reached. Experiments based on the above have been performed for NASA's flexible grid experimental apparatus. The grid is designed to admit appreciable low-frequency structural dynamics, and allows for implementation of distributed computing components, inertial sensors, and actuation devices. A finite-element analysis of the grid provides the model for control system design and simulation; results of several simulations are reported on here, and a discussion of application experiments on the apparatus is presented.

Design and Verification of a Digital Controller for a 2-Piece Hemispherical Resonator Gyroscope

PubMed Central

Lee, Jungshin; Yun, Sung Wook; Rhim, Jaewook

2016-01-01

A Hemispherical Resonator Gyro (HRG) is the Coriolis Vibratory Gyro (CVG) that measures rotation angle or angular velocity using Coriolis force acting the vibrating mass. A HRG can be used as a rate gyro or integrating gyro without structural modification by simply changing the control scheme. In this paper, differential control algorithms are designed for a 2-piece HRG. To design a precision controller, the electromechanical modelling and signal processing must be pre-performed accurately. Therefore, the equations of motion for the HRG resonator with switched harmonic excitations are derived with the Duhamel Integral method. Electromechanical modeling of the resonator, electric module and charge amplifier is performed by considering the mode shape of a thin hemispherical shell. Further, signal processing and control algorithms are designed. The multi-flexing scheme of sensing, driving cycles and x, y-axis switching cycles is appropriate for high precision and low maneuverability systems. The differential control scheme is easily capable of rejecting the common mode errors of x, y-axis signals and changing the rate integrating mode on basis of these studies. In the rate gyro mode the controller is composed of Phase-Locked Loop (PLL), amplitude, quadrature and rate control loop. All controllers are designed on basis of a digital PI controller. The signal processing and control algorithms are verified through Matlab/Simulink simulations. Finally, a FPGA and DSP board with these algorithms is verified through experiments. PMID:27104539

Chapman-Enskog Analyses on the Gray Lattice Boltzmann Equation Method for Fluid Flow in Porous Media

NASA Astrophysics Data System (ADS)

Chen, Chen; Li, Like; Mei, Renwei; Klausner, James F.

2018-03-01

The gray lattice Boltzmann equation (GLBE) method has recently been used to simulate fluid flow in porous media. It employs a partial bounce-back of populations (through a fractional coefficient θ, which represents the fraction of populations being reflected by the solid phase) in the evolution equation to account for the linear drag of the medium. Several particular GLBE schemes have been proposed in the literature and these schemes are very easy to implement; but there exists uncertainty about the need for redefining the macroscopic velocity as there has been no systematic analysis to recover the Brinkman equation from the various GLBE schemes. Rigorous Chapman-Enskog analyses are carried out to show that the momentum equation recovered from these schemes can satisfy Brinkman equation to second order in ɛ only if θ = O( ɛ ) in which ɛ is the ratio of the lattice spacing to the characteristic length of physical dimension. The need for redefining macroscopic velocity is shown to be scheme-dependent. When a body force is encountered such as the gravitational force or that caused by a pressure gradient, different forms of forcing redefinitions are required for each GLBE scheme.

Evaluating and Improving Cloud Processes in the Multi-Scale Modeling Framework

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

Ackerman, Thomas P.

2015-03-01

The research performed under this grant was intended to improve the embedded cloud model in the Multi-scale Modeling Framework (MMF) for convective clouds by using a 2-moment microphysics scheme rather than the single moment scheme used in all the MMF runs to date. The technical report and associated documents describe the results of testing the cloud resolving model with fixed boundary conditions and evaluation of model results with data. The overarching conclusion is that such model evaluations are problematic because errors in the forcing fields control the results so strongly that variations in parameterization values cannot be usefully constrained

A splitting integration scheme for the SPH simulation of concentrated particle suspensions

NASA Astrophysics Data System (ADS)

Bian, Xin; Ellero, Marco

2014-01-01

Simulating nearly contacting solid particles in suspension is a challenging task due to the diverging behavior of short-range lubrication forces, which pose a serious time-step limitation for explicit integration schemes. This general difficulty limits severely the total duration of simulations of concentrated suspensions. Inspired by the ideas developed in [S. Litvinov, M. Ellero, X.Y. Hu, N.A. Adams, J. Comput. Phys. 229 (2010) 5457-5464] for the simulation of highly dissipative fluids, we propose in this work a splitting integration scheme for the direct simulation of solid particles suspended in a Newtonian liquid. The scheme separates the contributions of different forces acting on the solid particles. In particular, intermediate- and long-range multi-body hydrodynamic forces, which are computed from the discretization of the Navier-Stokes equations using the smoothed particle hydrodynamics (SPH) method, are taken into account using an explicit integration; for short-range lubrication forces, velocities of pairwise interacting solid particles are updated implicitly by sweeping over all the neighboring pairs iteratively, until convergence in the solution is obtained. By using the splitting integration, simulations can be run stably and efficiently up to very large solid particle concentrations. Moreover, the proposed scheme is not limited to the SPH method presented here, but can be easily applied to other simulation techniques employed for particulate suspensions.

External force/velocity control for an autonomous rehabilitation robot

NASA Astrophysics Data System (ADS)

Saekow, Peerayuth; Neranon, Paramin; Smithmaitrie, Pruittikorn

2018-01-01

Stroke is a primary cause of death and the leading cause of permanent disability in adults. There are many stroke survivors, who live with a variety of levels of disability and always need rehabilitation activities on daily basis. Several studies have reported that usage of rehabilitation robotic devices shows the better improvement outcomes in upper-limb stroke patients than the conventional therapy-nurses or therapists actively help patients with exercise-based rehabilitation. This research focuses on the development of an autonomous robotic trainer designed to guide a stroke patient through an upper-limb rehabilitation task. The robotic device was designed and developed to automate the reaching exercise as mentioned. The designed robotic system is made up of a four-wheel omni-directional mobile robot, an ATI Gamma multi-axis force/torque sensor used to measure contact force and a microcontroller real-time operating system. Proportional plus Integral control was adapted to control the overall performance and stability of the autonomous assistive robot. External force control was successfully implemented to establish the behavioral control strategy for the robot force and velocity control scheme. In summary, the experimental results indicated satisfactorily stable performance of the robot force and velocity control can be considered acceptable. The gain tuning for proportional integral (PI) velocity control algorithms was suitably estimated using the Ziegler-Nichols method in which the optimized proportional and integral gains are 0.45 and 0.11, respectively. Additionally, the PI external force control gains were experimentally tuned using the trial and error method based on a set of experiments which allow a human participant moves the robot along the constrained circular path whilst attempting to minimize the radial force. The performance was analyzed based on the root mean square error (E_RMS) of the radial forces, in which the lower the variation in radial forces, the better the performance of the system. The outstanding performance of the tests as specified by the E_RMS of the radial force was observed with proportional and integral gains of Kp = 0.7 and Ki = 0.75, respectively.

Second-order sliding mode controller with model reference adaptation for automatic train operation

NASA Astrophysics Data System (ADS)

Ganesan, M.; Ezhilarasi, D.; Benni, Jijo

2017-11-01

In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control.

Modeling and Dynamic Analysis of Paralleled dc/dc Converters With Master-Slave Current Sharing Control

NASA Technical Reports Server (NTRS)

Rajagopalan, J.; Xing, K.; Guo, Y.; Lee, F. C.; Manners, Bruce

1996-01-01

A simple, application-oriented, transfer function model of paralleled converters employing Master-Slave Current-sharing (MSC) control is developed. Dynamically, the Master converter retains its original design characteristics; all the Slave converters are forced to depart significantly from their original design characteristics into current-controlled current sources. Five distinct loop gains to assess system stability and performance are identified and their physical significance is described. A design methodology for the current share compensator is presented. The effect of this current sharing scheme on 'system output impedance' is analyzed.

Velocity-based planning of rapid elbow movements expands the control scheme of the equilibrium point hypothesis.

PubMed

Suzuki, Masataka; Yamazaki, Yoshihiko

2005-01-01

According to the equilibrium point hypothesis of voluntary motor control, control action of muscles is not explicitly computed, but rather arises as a consequence of interaction between moving equilibrium position, current kinematics and stiffness of the joint. This approach is attractive as it obviates the need to explicitly specify the forces controlling limb movements. However, many debatable aspects of this hypothesis remain in the manner of specification of the equilibrium point trajectory and muscle activation (or its stiffness), which elicits a restoring force toward the planned equilibrium trajectory. In this study, we expanded the framework of this hypothesis by assuming that the control system uses the velocity measure as the origin of subordinate variables scaling descending commands. The velocity command is translated into muscle control inputs by second order pattern generators, which yield reciprocal command and coactivation commands, and create alternating activation of the antagonistic muscles during movement and coactivation in the post-movement phase, respectively. The velocity command is also integrated to give a position command specifying a moving equilibrium point. This model is purely kinematics-dependent, since the descending commands needed to modulate the visco-elasticity of muscles are implicitly given by simple parametric specifications of the velocity command alone. The simulated movements of fast elbow single-joint movements corresponded well with measured data performed over a wide range of movement distances, in terms of both muscle excitations and kinematics. Our proposal on a synthesis for the equilibrium point approach and velocity command, may offer some insights into the control scheme of the single-joint arm movements.

Neuromechanical evidence of improved neuromuscular control around knee joint in volleyball players.

PubMed

Masci, Ilaria; Vannozzi, Giuseppe; Gizzi, Leonardo; Bellotti, Pasquale; Felici, Francesco

2010-02-01

The aim of the present work was to verify that skilled volleyball players present specific adaptations in both neuromuscular control and movement biomechanics, showing an improved neuromuscular control around the knee joint than in non-jumper athletes. Seven male volleyball players and seven male non-jumper athletes were recruited for this study. The following tests were performed in a random order: single countermovement jump (CMJ), single squat jump. At the end of the series, subjects performed a repetitive CMJ test. Electromyographic signals were recorded from vastus lateralis and biceps femoris muscles on both sides. Ground reaction forces and moments were measured with a force plate. Volleyball athletes performed better in all tests and were more resistant to fatigue than non-jumper athletes. Furthermore, volleyball athletes showed a reduced co-activation of knee flexor/extensor muscles. The present results seem to stand for a neural adaptation of the motor control scheme to training.

Autonomous health management for PMSM rail vehicles through demagnetization monitoring and prognosis control.

PubMed

Niu, Gang; Jiang, Junjie; Youn, Byeng D; Pecht, Michael

2018-01-01

Autonomous vehicles are playing an increasingly importance in support of a wide variety of critical events. This paper presents a novel autonomous health management scheme on rail vehicles driven by permanent magnet synchronous motors (PMSMs). Firstly, the PMSMs are modeled based on first principle to deduce the initial profile of pneumatic braking (p-braking) force, then which is utilized for real-time demagnetization monitoring and degradation prognosis through similarity-based theory and generate prognosis-enhanced p-braking force strategy for final optimal control. A case study is conducted to demonstrate the feasibility and benefit of using the real-time prognostics and health management (PHM) information in vehicle 'drive-brake' control automatically. The results show that accurate demagnetization monitoring, degradation prognosis, and real-time capability for control optimization can be obtained, which can effectively relieve brake shoe wear. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive neural control for dual-arm coordination of humanoid robot with unknown nonlinearities in output mechanism.

PubMed

Liu, Zhi; Chen, Ci; Zhang, Yun; Chen, C L P

2015-03-01

To achieve an excellent dual-arm coordination of the humanoid robot, it is essential to deal with the nonlinearities existing in the system dynamics. The literatures so far on the humanoid robot control have a common assumption that the problem of output hysteresis could be ignored. However, in the practical applications, the output hysteresis is widely spread; and its existing limits the motion/force performances of the robotic system. In this paper, an adaptive neural control scheme, which takes the unknown output hysteresis and computational efficiency into account, is presented and investigated. In the controller design, the prior knowledge of system dynamics is assumed to be unknown. The motion error is guaranteed to converge to a small neighborhood of the origin by Lyapunov's stability theory. Simultaneously, the internal force is kept bounded and its error can be made arbitrarily small.

Recent Developments in Grid Generation and Force Integration Technology for Overset Grids

NASA Technical Reports Server (NTRS)

Chan, William M.; VanDalsem, William R. (Technical Monitor)

1994-01-01

Recent developments in algorithms and software tools for generating overset grids for complex configurations are described. These include the overset surface grid generation code SURGRD and version 2.0 of the hyperbolic volume grid generation code HYPGEN. The SURGRD code is in beta test mode where the new features include the capability to march over a collection of panel networks, a variety of ways to control the side boundaries and the marching step sizes and distance, a more robust projection scheme and an interpolation option. New features in version 2.0 of HYPGEN include a wider range of boundary condition types. The code also allows the user to specify different marching step sizes and distance for each point on the surface grid. A scheme that takes into account of the overlapped zones on the body surface for the purpose of forces and moments computation is also briefly described, The process involves the following two software modules: MIXSUR - a composite grid generation module to produce a collection of quadrilaterals and triangles on which pressure and viscous stresses are to be integrated, and OVERINT - a forces and moments integration module.

Quantum gas in the fast forward scheme of adiabatically expanding cavities: Force and equation of state

NASA Astrophysics Data System (ADS)

Babajanova, Gulmira; Matrasulov, Jasur; Nakamura, Katsuhiro

2018-04-01

With use of the scheme of fast forward which realizes quasistatic or adiabatic dynamics in shortened timescale, we investigate a thermally isolated ideal quantum gas confined in a rapidly dilating one-dimensional (1D) cavity with the time-dependent size L =L (t ) . In the fast-forward variants of equation of states, i.e., Bernoulli's formula and Poisson's adiabatic equation, the force or 1D analog of pressure can be expressed as a function of the velocity (L ˙) and acceleration (L ̈) of L besides rapidly changing state variables like effective temperature (T ) and L itself. The force is now a sum of nonadiabatic (NAD) and adiabatic contributions with the former caused by particles moving synchronously with kinetics of L and the latter by ideal bulk particles insensitive to such a kinetics. The ratio of NAD and adiabatic contributions does not depend on the particle number (N ) in the case of the soft-wall confinement, whereas such a ratio is controllable in the case of hard-wall confinement. We also reveal the condition when the NAD contribution overwhelms the adiabatic one and thoroughly changes the standard form of the equilibrium equation of states.

Data-based fault-tolerant control of high-speed trains with traction/braking notch nonlinearities and actuator failures.

PubMed

Song, Qi; Song, Yong-Duan

2011-12-01

This paper investigates the position and velocity tracking control problem of high-speed trains with multiple vehicles connected through couplers. A dynamic model reflecting nonlinear and elastic impacts between adjacent vehicles as well as traction/braking nonlinearities and actuation faults is derived. Neuroadaptive fault-tolerant control algorithms are developed to account for various factors such as input nonlinearities, actuator failures, and uncertain impacts of in-train forces in the system simultaneously. The resultant control scheme is essentially independent of system model and is primarily data-driven because with the appropriate input-output data, the proposed control algorithms are capable of automatically generating the intermediate control parameters, neuro-weights, and the compensation signals, literally producing the traction/braking force based upon input and response data only--the whole process does not require precise information on system model or system parameter, nor human intervention. The effectiveness of the proposed approach is also confirmed through numerical simulations.

Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control.

PubMed

Wang, Jia-Jun

2012-11-01

X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Short-Term Retrospective Land Data Assimilation Schemes

NASA Technical Reports Server (NTRS)

Houser, P. R.; Cosgrove, B. A.; Entin, J. K.; Lettenmaier, D.; ODonnell, G.; Mitchell, K.; Marshall, C.; Lohmann, D.; Schaake, J. C.; Duan, Q.;

Smart Hand For Manipulators

NASA Astrophysics Data System (ADS)

Fiorini, Paolo

1987-10-01

Sensor based, computer controlled end effectors for mechanical arms are receiving more and more attention in the robotics industry, because commonly available grippers are only adequate for simple pick and place tasks. This paper describes the current status of the research at JPL on a smart hand for a Puma 560 robot arm. The hand is a self contained, autonomous system, capable of executing high level commands from a supervisory computer. The mechanism consists of parallel fingers, powered by a DC motor, and controlled by a microprocessor embedded in the hand housing. Special sensors are integrated in the hand for measuring the grasp force of the fingers, and for measuring forces and torques applied between the arm and the surrounding environment. Fingers can be exercised under position, velocity and force control modes. The single-chip microcomputer in the hand executes the tasks of communication, data acquisition and sensor based motor control, with a sample cycle of 2 ms and a transmission rate of 9600 baud. The smart hand described in this paper represents a new development in the area of end effector design because of its multi-functionality and autonomy. It will also be a versatile test bed for experimenting with advanced control schemes for dexterous manipulation.

Hybrid upwind discretization of nonlinear two-phase flow with gravity

NASA Astrophysics Data System (ADS)

Lee, S. H.; Efendiev, Y.; Tchelepi, H. A.

2015-08-01

Multiphase flow in porous media is described by coupled nonlinear mass conservation laws. For immiscible Darcy flow of multiple fluid phases, whereby capillary effects are negligible, the transport equations in the presence of viscous and buoyancy forces are highly nonlinear and hyperbolic. Numerical simulation of multiphase flow processes in heterogeneous formations requires the development of discretization and solution schemes that are able to handle the complex nonlinear dynamics, especially of the saturation evolution, in a reliable and computationally efficient manner. In reservoir simulation practice, single-point upwinding of the flux across an interface between two control volumes (cells) is performed for each fluid phase, whereby the upstream direction is based on the gradient of the phase-potential (pressure plus gravity head). This upwinding scheme, which we refer to as Phase-Potential Upwinding (PPU), is combined with implicit (backward-Euler) time discretization to obtain a Fully Implicit Method (FIM). Even though FIM suffers from numerical dispersion effects, it is widely used in practice. This is because of its unconditional stability and because it yields conservative, monotone numerical solutions. However, FIM is not unconditionally convergent. The convergence difficulties are particularly pronounced when the different immiscible fluid phases switch between co-current and counter-current states as a function of time, or (Newton) iteration. Whether the multiphase flow across an interface (between two control-volumes) is co-current, or counter-current, depends on the local balance between the viscous and buoyancy forces, and how the balance evolves in time. The sensitivity of PPU to small changes in the (local) pressure distribution exacerbates the problem. The common strategy to deal with these difficulties is to cut the timestep and try again. Here, we propose a Hybrid-Upwinding (HU) scheme for the phase fluxes, then HU is combined with implicit time discretization to yield a fully implicit method. In the HU scheme, the phase flux is divided into two parts based on the driving force. The viscous-driven and buoyancy-driven phase fluxes are upwinded differently. Specifically, the viscous flux, which is always co-current, is upwinded based on the direction of the total-velocity. The buoyancy-driven flux across an interface is always counter-current and is upwinded such that the heavier fluid goes downward and the lighter fluid goes upward. We analyze the properties of the Implicit Hybrid Upwinding (IHU) scheme. It is shown that IHU is locally conservative and produces monotone, physically-consistent numerical solutions. The IHU solutions show numerical diffusion levels that are slightly higher than those for standard FIM (i.e., implicit PPU). The primary advantage of the IHU scheme is that the numerical overall-flux of a fluid phase remains continuous and differentiable as the flow regime changes between co-current and counter-current conditions. This is in contrast to the standard phase-potential upwinding scheme, in which the overall fractional-flow (flux) function is non-differentiable across the boundary between co-current and counter-current flows.

Experimental study of trajectory planning and control of a high precision robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

The kinematic and trajectory planning is presented for a 6 DOF end-effector whose design was based on the Stewart Platform mechanism. The end-effector was used as a testbed for studying robotic assembly of NASA hardware with passive compliance. Vector analysis was employed to derive a closed-form solution for the end-effector inverse kinematic transformation. A computationally efficient numerical solution was obtained for the end-effector forward kinematic transformation using Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion, were developed for the end-effector. Experiments conducted to evaluate the performance of the trajectory planning schemes showed excellent tracking quality with minimal errors. Current activities focus on implementing the developed trajectory planning schemes on mating and demating space-rated connectors and using the compliant platform to acquire forces/torques applied on the end-effector during the assembly task.

Human visual system-based color image steganography using the contourlet transform

NASA Astrophysics Data System (ADS)

Abdul, W.; Carré, P.; Gaborit, P.

2010-01-01

We present a steganographic scheme based on the contourlet transform which uses the contrast sensitivity function (CSF) to control the force of insertion of the hidden information in a perceptually uniform color space. The CIELAB color space is used as it is well suited for steganographic applications because any change in the CIELAB color space has a corresponding effect on the human visual system as is very important for steganographic schemes to be undetectable by the human visual system (HVS). The perceptual decomposition of the contourlet transform gives it a natural advantage over other decompositions as it can be molded with respect to the human perception of different frequencies in an image. The evaluation of the imperceptibility of the steganographic scheme with respect to the color perception of the HVS is done using standard methods such as the structural similarity (SSIM) and CIEDE2000. The robustness of the inserted watermark is tested against JPEG compression.

Error-enhancing robot therapy to induce motor control improvement in childhood onset primary dystonia.

PubMed

Casellato, Claudia; Pedrocchi, Alessandra; Zorzi, Giovanna; Rizzi, Giorgio; Ferrigno, Giancarlo; Nardocci, Nardo

2012-07-23

Robot-generated deviating forces during multijoint reaching movements have been applied to investigate motor control and to tune neuromotor adaptation. Can the application of force to limbs improve motor learning? In this framework, the response to altered dynamic environments of children affected by primary dystonia has never been studied. As preliminary pilot study, eleven children with primary dystonia and eleven age-matched healthy control subjects were asked to perform upper limb movements, triangle-reaching (three directions) and circle-writing, using a haptic robot interacting with ad-hoc developed task-specific visual interfaces. Three dynamic conditions were provided, null additive external force (A), constant disturbing force (B) and deactivation of the additive external force again (C). The path length for each trial was computed, from the recorded position data and interaction events. The results show that the disturbing force affects significantly the movement outcomes in healthy but not in dystonic subjects, already compromised in the reference condition: the external alteration uncalibrates the healthy sensorimotor system, while the dystonic one is already strongly uncalibrated. The lack of systematic compensation for perturbation effects during B condition is reflected into the absence of after-effects in C condition, which would be the evidence that CNS generates a prediction of the perturbing forces using an internal model of the environment.The most promising finding is that in dystonic population the altered dynamic exposure seems to induce a subsequent improvement, i.e. a beneficial after-effect in terms of optimal path control, compared with the correspondent reference movement outcome. The short-time error-enhancing training in dystonia could represent an effective approach for motor performance improvement, since the exposure to controlled dynamic alterations induces a refining of the existing but strongly imprecise motor scheme and sensorimotor patterns.

Error-enhancing robot therapy to induce motor control improvement in childhood onset primary dystonia

PubMed Central

2012-01-01

Background Robot-generated deviating forces during multijoint reaching movements have been applied to investigate motor control and to tune neuromotor adaptation. Can the application of force to limbs improve motor learning? In this framework, the response to altered dynamic environments of children affected by primary dystonia has never been studied. Methods As preliminary pilot study, eleven children with primary dystonia and eleven age-matched healthy control subjects were asked to perform upper limb movements, triangle-reaching (three directions) and circle-writing, using a haptic robot interacting with ad-hoc developed task-specific visual interfaces. Three dynamic conditions were provided, null additive external force (A), constant disturbing force (B) and deactivation of the additive external force again (C). The path length for each trial was computed, from the recorded position data and interaction events. Results The results show that the disturbing force affects significantly the movement outcomes in healthy but not in dystonic subjects, already compromised in the reference condition: the external alteration uncalibrates the healthy sensorimotor system, while the dystonic one is already strongly uncalibrated. The lack of systematic compensation for perturbation effects during B condition is reflected into the absence of after-effects in C condition, which would be the evidence that CNS generates a prediction of the perturbing forces using an internal model of the environment. The most promising finding is that in dystonic population the altered dynamic exposure seems to induce a subsequent improvement, i.e. a beneficial after-effect in terms of optimal path control, compared with the correspondent reference movement outcome. Conclusions The short-time error-enhancing training in dystonia could represent an effective approach for motor performance improvement, since the exposure to controlled dynamic alterations induces a refining of the existing but strongly imprecise motor scheme and sensorimotor patterns. PMID:22824547

Incremental Adaptive Fuzzy Control for Sensorless Stroke Control of A Halbach-type Linear Oscillatory Motor

NASA Astrophysics Data System (ADS)

Lei, Meizhen; Wang, Liqiang

2018-01-01

The halbach-type linear oscillatory motor (HT-LOM) is multi-variable, highly coupled, nonlinear and uncertain, and difficult to get a satisfied result by conventional PID control. An incremental adaptive fuzzy controller (IAFC) for stroke tracking was presented, which combined the merits of PID control, the fuzzy inference mechanism and the adaptive algorithm. The integral-operation is added to the conventional fuzzy control algorithm. The fuzzy scale factor can be online tuned according to the load force and stroke command. The simulation results indicate that the proposed control scheme can achieve satisfied stroke tracking performance and is robust with respect to parameter variations and external disturbance.

Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model.

PubMed

Markowitz, Jared; Krishnaswamy, Pavitra; Eilenberg, Michael F; Endo, Ken; Barnhart, Chris; Herr, Hugh

2011-05-27

Control schemes for powered ankle-foot prostheses would benefit greatly from a means to make them inherently adaptive to different walking speeds. Towards this goal, one may attempt to emulate the intact human ankle, as it is capable of seamless adaptation. Human locomotion is governed by the interplay among legged dynamics, morphology and neural control including spinal reflexes. It has been suggested that reflexes contribute to the changes in ankle joint dynamics that correspond to walking at different speeds. Here, we use a data-driven muscle-tendon model that produces estimates of the activation, force, length and velocity of the major muscles spanning the ankle to derive local feedback loops that may be critical in the control of those muscles during walking. This purely reflexive approach ignores sources of non-reflexive neural drive and does not necessarily reflect the biological control scheme, yet can still closely reproduce the muscle dynamics estimated from biological data. The resulting neuromuscular model was applied to control a powered ankle-foot prosthesis and tested by an amputee walking at three speeds. The controller produced speed-adaptive behaviour; net ankle work increased with walking speed, highlighting the benefits of applying neuromuscular principles in the control of adaptive prosthetic limbs.

Zero Forcing Conditions for Nonlinear channel Equalisation using a pre-coding scheme

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

Arfa, Hichem; Belghith, Safya; El Asmi, Sadok

2009-03-05

This paper shows how we can present a zero forcing conditions for a nonlinear channel equalisation. These zero forcing conditions based on the rank of nonlinear system are issued from an algebraic approach based on the module theoretical approach, in which the rank of nonlinear channel is clearly defined. In order to improve the performance of equalisation and reduce the complexity of used nonlinear systems, we will apply a pre-coding scheme. Theoretical results are given and computer simulation is used to corroborate the theory.

Application of Intel Many Integrated Core (MIC) accelerators to the Pleim-Xiu land surface scheme

NASA Astrophysics Data System (ADS)

Huang, Melin; Huang, Bormin; Huang, Allen H.

2015-10-01

The land-surface model (LSM) is one physics process in the weather research and forecast (WRF) model. The LSM includes atmospheric information from the surface layer scheme, radiative forcing from the radiation scheme, and precipitation forcing from the microphysics and convective schemes, together with internal information on the land's state variables and land-surface properties. The LSM is to provide heat and moisture fluxes over land points and sea-ice points. The Pleim-Xiu (PX) scheme is one LSM. The PX LSM features three pathways for moisture fluxes: evapotranspiration, soil evaporation, and evaporation from wet canopies. To accelerate the computation process of this scheme, we employ Intel Xeon Phi Many Integrated Core (MIC) Architecture as it is a multiprocessor computer structure with merits of efficient parallelization and vectorization essentials. Our results show that the MIC-based optimization of this scheme running on Xeon Phi coprocessor 7120P improves the performance by 2.3x and 11.7x as compared to the original code respectively running on one CPU socket (eight cores) and on one CPU core with Intel Xeon E5-2670.

The successful management of programs for human factors certification of advanced aviation technologies

NASA Technical Reports Server (NTRS)

Baldwin, Rod

1994-01-01

In recent years there have been immense pressures to enact changes on the air traffic control organizations of most states. In addition, many of these states are or have been subject to great political, sociological and economic changes. Consequently, any new schemes must be considered within the context of national or even international changes. Europe has its own special problems, and many of these are particularly pertinent when considering human factors certification programs. Although these problems must also be considered in the wider context of change, it is usually very difficult to identify which forces are pressing in support of human factors aspects and which forces are resisting change. There are a large number of aspects which must be taken into account if human factors certification programs are to be successfully implemented. Certification programs would be new ventures, and like many new ventures it will be essential to ensure that managers have the skills, commitment and experience to manage the programs effectively. However, they must always be aware of the content and the degree of certainty to which the human factors principles can be applied - as Debons and Horne have carefully described. It will be essential to avoid the well known pitfalls which occur in the implementation of performance appraisal schemes. While most appraisal schemes are usually extremely well thought out, they often do not produce good results because they are not implemented properly and staff therefore do not have faith in them. If the manager does not have the commitment and interest in his/her staff as human beings, then the schemes will not be effective. Thus, one aspect of considering human factors certification schemes is within the context of a managed organization. This paper outlines some of the management factors which need to be considered for the air traffic control services. Many of the points received attention during the plenary sessions while others were covered by the working groups when the question arose of how various aspects of human factors certification programs would be managed. Management and organizational issues will certainly need to be included in any frame of reference by those who may be involved in developing certification programs.

Modeling and Dynamic Analysis of Paralleled of dc/dc Converters with Master-Slave Current Sharing Control

NASA Technical Reports Server (NTRS)

Rajagopalan, J.; Xing, K.; Guo, Y.; Lee, F. C.; Manners, Bruce

1996-01-01

A simple, application-oriented, transfer function model of paralleled converters employing Master-Slave Current-sharing (MSC) control is developed. Dynamically, the Master converter retains its original design characteristics; all the Slave converters are forced to depart significantly from their original design characteristics into current-controlled current sources. Five distinct loop gains to assess system stability and performance are identified and their physical significance is described. A design methodology for the current share compensator is presented. The effect of this current sharing scheme on 'system output impedance' is analyzed.

Novel Control Scheme of Power Assisted Wheelchair for Preventing Overturn (Part I)-Adjustment of Assisted Torque and Performance Evaluation From Field Test-

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Hata, Naoki; Koyasu, Yuichi; Hori, Yoichi

Aged people and disabled people who have difficulty in walking are increasing. As one of mobility support, significance of power assisted wheelchair which assists driving force using electric motors and spreads their living areas has been enhanced. However, the increased driving force often causes a dangerous overturn of wheelchair. In this paper, control method to prevent power assisted wheelchair from overturning is proposed. It is found the front wheels rising is caused by magnitude and rapid increase of assisted torque. Therefore, feedforward control method to limit the assisted torque by tuning its magnitude or time constant is proposed. In order to emphasize safety and feeling of security, these methods make the front wheels no rise. The effectiveness of the proposed method is verified by the practical experiments and field test based performance evaluation using many trial subjects.

A Systematic Scheme for Multiple Access in Ethernet Passive Optical Access Networks

NASA Astrophysics Data System (ADS)

Ma, Maode; Zhu, Yongqing; Hiang Cheng, Tee

2005-11-01

While backbone networks have experienced substantial changes in the last decade, access networks have not changed much. Recently, passive optical networks (PONs) seem to be ready for commercial deployment as access networks, due to the maturity of a number of enabling technologies. Among the PON technologies, Ethernet PON (EPON) standardized by the IEEE 802.3ah Ethernet in the First Mile (EFM) Task Force is the most attractive one because of its high speed, low cost, familiarity, interoperability, and low overhead. In this paper, we consider the issue of upstream channel sharing in the EPONs. We propose a novel multiple-access control scheme to provide bandwidth-guaranteed service for high-demand customers, while providing best effort service to low-demand customers according to the service level agreement (SLA). The analytical and simulation results prove that the proposed scheme performs best in what it is designed to do compared to another well-known scheme that has not considered providing differentiated services. With business customers preferring premium services with guaranteed bandwidth and residential users preferring low-cost best effort services, our scheme could benefit both groups of subscribers, as well as the operators.

Chaos-based partial image encryption scheme based on linear fractional and lifting wavelet transforms

NASA Astrophysics Data System (ADS)

Belazi, Akram; Abd El-Latif, Ahmed A.; Diaconu, Adrian-Viorel; Rhouma, Rhouma; Belghith, Safya

2017-01-01

In this paper, a new chaos-based partial image encryption scheme based on Substitution-boxes (S-box) constructed by chaotic system and Linear Fractional Transform (LFT) is proposed. It encrypts only the requisite parts of the sensitive information in Lifting-Wavelet Transform (LWT) frequency domain based on hybrid of chaotic maps and a new S-box. In the proposed encryption scheme, the characteristics of confusion and diffusion are accomplished in three phases: block permutation, substitution, and diffusion. Then, we used dynamic keys instead of fixed keys used in other approaches, to control the encryption process and make any attack impossible. The new S-box was constructed by mixing of chaotic map and LFT to insure the high confidentiality in the inner encryption of the proposed approach. In addition, the hybrid compound of S-box and chaotic systems strengthened the whole encryption performance and enlarged the key space required to resist the brute force attacks. Extensive experiments were conducted to evaluate the security and efficiency of the proposed approach. In comparison with previous schemes, the proposed cryptosystem scheme showed high performances and great potential for prominent prevalence in cryptographic applications.

A Role of Base Plate Jerk Feedback Scheme for Suppression of the Self Vibration in a Pneumatic Positioning Stage

NASA Astrophysics Data System (ADS)

Wali, Mohebullah; Nakamura, Yukinori; Wakui, Shinji

In this study, a positioning stage is considered, which is actuated by four pneumatic cylinders and vertically supported by four coil-type spring isolators. Previously, we realized the base plate jerk feedback (BPJFB) to be analogues to a Master-Slave system which can synchronize the motion of the stage as a Slave to the motion of the base plate as a Master. However, in the case of real positioning, the stage had slightly self oscillation with higher frequency due to the higher gains set to the outer feedback loop controller besides its oscillation due to the natural vibration of the base plate. The self oscillation of stage was misunderstood to be the natural vibration of base plate due to the reaction force. However, according to the experimental results, the BPJFB scheme was able to control both of the mentioned vibrations. Suppression of the self vibration of stage is an interesting phenomenon, which should be experimentally investigated. Therefore, the current study focuses on the suppression of the self vibration of stage by using the BPJFB scheme. The experimental results show that besides operating as a Master-Slave synchronizing system, the PBJFB scheme is able to increase the damping ratio and stiffness of stage against its self vibration. This newly recognized phenomenon contributes to further increase the proportional gain of the outer feedback loop controller. As a result, the positioning speed and stability can be improved.

10 CFR 205.322 - Contents of application.

Code of Federal Regulations, 2010 CFR

2010-01-01

... relay protection scheme, including equipment and proposed functional devices; (v) After receipt of the... as insulation medium pressurizing or forced cooling; and (C) cathodic protection scheme. Technical...

10 CFR 205.322 - Contents of application.

Code of Federal Regulations, 2011 CFR

2011-01-01

... relay protection scheme, including equipment and proposed functional devices; (v) After receipt of the... as insulation medium pressurizing or forced cooling; and (C) cathodic protection scheme. Technical...

Effective charges of ionic liquid determined self-consistently through combination of molecular dynamics simulation and density-functional theory.

PubMed

Ishizuka, Ryosuke; Matubayasi, Nobuyuki

2017-11-15

A self-consistent scheme combining the molecular dynamics (MD) simulation and density functional theory (DFT) was recently proposed to incorporate the effects of the charge transfer and polarization of ions into non-poralizable force fields of ionic liquids for improved description of energetics and dynamics. The purpose of the present work is to analyze the detailed setups of the MD/DFT scheme by focusing on how the basis set, exchange-correlation (XC) functional, charge-fitting method or force field for the intramolecular and Lennard-Jones interactions affects the MD/DFT results of 1,3-dimethylimidazolium bis(trifluoromethylsulfonyl) imide ( [C1mim][NTf2]) and 1-ethyl-3-methylimidazolium glycinate ( [C2mim][Gly]). It was found that the double-zeta valence polarized or larger size of basis set is required for the convergence of the effective charge of the ion. The choice of the XC functional was further not influential as far as the generalized gradient approximation is used. The charge-fitting method and force field govern the accuracy of the MD/DFT scheme, on the other hand. We examined the charge-fitting methods of Blöchl, the iterative Hirshfeld (Hirshfeld-I), and REPEAT in combination with Lopes et al.'s force field and general AMBER force field. There is no single combination of charge fitting and force field that provides good agreements with the experiments, while the MD/DFT scheme reduces the effective charges of the ions and leads to better description of energetics and dynamics compared to the original force field with unit charges. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

Nanogravity gradiometer based on a sharp optical nonlinearity in a levitated particle optomechanical system

NASA Astrophysics Data System (ADS)

Liu, Jian; Zhu, Ka-Di

2017-02-01

In the present paper, we provide a scheme to probe the gradient of gravity at the nanoscale in a levitated nanomechanical resonator coupled to a cavity via two-field optical control. The enhanced sharp peak on the probe spectrum will suffer a distinct shift with the nonuniform force being taken into consideration. The nonlinear optics with very narrow bandwidth (10-8 Hz ) resulting from the extremely high-quality factor will lead to a superresolution of 10-20 N /m for the measurement of gravity gradient. The improved sensitivity may offer new opportunities for detecting Yukawa moduli forces and Kaluza-Klein gravitons in extra dimensions.

Adaptive Variable Bias Magnetic Bearing Control

NASA Technical Reports Server (NTRS)

Johnson, Dexter; Brown, Gerald V.; Inman, Daniel J.

1998-01-01

Most magnetic bearing control schemes use a bias current with a superimposed control current to linearize the relationship between the control current and the force it delivers. With the existence of the bias current, even in no load conditions, there is always some power consumption. In aerospace applications, power consumption becomes an important concern. In response to this concern, an alternative magnetic bearing control method, called Adaptive Variable Bias Control (AVBC), has been developed and its performance examined. The AVBC operates primarily as a proportional-derivative controller with a relatively slow, bias current dependent, time-varying gain. The AVBC is shown to reduce electrical power loss, be nominally stable, and provide control performance similar to conventional bias control. Analytical, computer simulation, and experimental results are presented in this paper.

Impedance control in a wave-based teleoperator for rehabilitation motor therapies assisted by robots.

PubMed

Mendoza, Marco; Bonilla, Isela; González-Galván, Emilio; Reyes, Fernando

2016-01-01

This paper presents an improved wave-based bilateral teleoperation scheme for rehabilitation therapies assisted by robot manipulators. The main feature of this bilateral teleoperator is that both robot manipulators, master and slave, are controlled by impedance. Thus, a pair of motion-based adaptive impedance controllers are integrated into a wave-based configuration, in order to guarantee a stable human-robot interaction and to compensate the position drift, characteristic of the available schemes of bilateral teleoperation. Moreover, the teleoperator stability, in the presence of time delays in the communication channel, is guaranteed because the wave-variable approach is included to encode the force and velocity signals. It should be noted that the proposed structure enables the implementation of several teleoperator schemes, from passive therapies, without the intervention of a human operator on the master side, to fully active therapies where both manipulators interact with humans in a stable manner. The suitable performance of the proposed teleoperator is verified through some results obtained from the simulation of the passive and active-constrained modes, by considering typical tasks in motor-therapy rehabilitation, where an improved behavior is observed when compared to implementations of the classical wave-based approach. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Revisiting the latent heat nudging scheme for the rainfall assimilation of a simulated convective storm

NASA Astrophysics Data System (ADS)

Leuenberger, D.; Rossa, A.

2007-12-01

Next-generation, operational, high-resolution numerical weather prediction models require economical assimilation schemes for radar data. In the present study we evaluate and characterise the latent heat nudging (LHN) rainfall assimilation scheme within a meso-γ scale NWP model in the framework of identical twin simulations of an idealised supercell storm. Consideration is given to the model’s dynamical response to the forcing as well as to the sensitivity of the LHN scheme to uncertainty in the observations and the environment. The results indicate that the LHN scheme is well able to capture the dynamical structure and the right rainfall amount of the storm in a perfect environment. This holds true even in degraded environments but a number of important issues arise. In particular, changes in the low-level humidity field are found to affect mainly the precipitation amplitude during the assimilation with a fast adaptation of the storm to the system dynamics determined by the environment during the free forecast. A constant bias in the environmental wind field, on the other hand, has the potential to render a successful assimilation with the LHN scheme difficult, as the velocity of the forcing is not consistent with the system propagation speed determined by the wind. If the rainfall forcing moves too fast, the system propagation is supported and the assimilated storm and forecasts initialised therefrom develop properly. A too slow forcing, on the other hand, can decelerate the system and eventually disturb the system dynamics by decoupling the low-level moisture inflow from the main updrafts during the assimilation. This distortion is sustained in the free forecast. It has further been found that a sufficient temporal resolution of the rainfall input is crucial for the successful assimilation of a fast moving, coherent convective storm and that the LHN scheme, when applied to a convective storm, appears to necessitate a careful tuning.

Self-adaptive robot training of stroke survivors for continuous tracking movements.

PubMed

Vergaro, Elena; Casadio, Maura; Squeri, Valentina; Giannoni, Psiche; Morasso, Pietro; Sanguineti, Vittorio

2010-03-15

Although robot therapy is progressively becoming an accepted method of treatment for stroke survivors, few studies have investigated how to adapt the robot/subject interaction forces in an automatic way. The paper is a feasibility study of a novel self-adaptive robot controller to be applied with continuous tracking movements. The haptic robot Braccio di Ferro is used, in relation with a tracking task. The proposed control architecture is based on three main modules: 1) a force field generator that combines a non linear attractive field and a viscous field; 2) a performance evaluation module; 3) an adaptive controller. The first module operates in a continuous time fashion; the other two modules operate in an intermittent way and are triggered at the end of the current block of trials. The controller progressively decreases the gain of the force field, within a session, but operates in a non monotonic way between sessions: it remembers the minimum gain achieved in a session and propagates it to the next one, which starts with a block whose gain is greater than the previous one. The initial assistance gains are chosen according to a minimal assistance strategy. The scheme can also be applied with closed eyes in order to enhance the role of proprioception in learning and control. The preliminary results with a small group of patients (10 chronic hemiplegic subjects) show that the scheme is robust and promotes a statistically significant improvement in performance indicators as well as a recalibration of the visual and proprioceptive channels. The results confirm that the minimally assistive, self-adaptive strategy is well tolerated by severely impaired subjects and is beneficial also for less severe patients. The experiments provide detailed information about the stability and robustness of the adaptive controller of robot assistance that could be quite relevant for the design of future large scale controlled clinical trials. Moreover, the study suggests that including continuous movement in the repertoire of training is acceptable also by rather severely impaired subjects and confirms the stabilizing effect of alternating vision/no vision trials already found in previous studies.

Parameter estimation and statistical analysis on frequency-dependent active control forces

NASA Astrophysics Data System (ADS)

Lim, Tau Meng; Cheng, Shanbao

2007-07-01

The active control forces of an active magnetic bearing (AMB) system are known to be frequency dependent in nature. This is due to the frequency-dependent nature of the AMB system, i.e. time lags in sensors, digital signal processing, amplifiers, filters, and eddy current and hysteresis losses in the electromagnetic coils. The stiffness and damping coefficients of these control forces can be assumed to be linear for small limit of perturbations within the air gap. Numerous studies have also attempted to estimate these coefficients directly or indirectly without validating the model and verifying the results. This paper seeks to address these issues, by proposing a one-axis electromagnetic suspension system to simplify the measurement requirements and eliminate the possibility of control force cross-coupling capabilities. It also proposes an on-line frequency domain parameter estimation procedure with statistical information to provide a quantitative measure for model validation and results verification purposes. This would lead to a better understanding and a design platform for optimal vibration control scheme for suspended system. This is achieved by injecting Schroeder Phased Harmonic Sequences (SPHS), a multi-frequency test signal, to persistently excite all possible suspended system modes. By treating the system as a black box, the parameter estimation of the "actual" stiffness and damping coefficients in the frequency domain are realised experimentally. The digitally implemented PID controller also facilitated changes on the feedback gains, and this allowed numerous system response measurements with their corresponding estimated stiffness and damping coefficients.

Robust leader-follower formation tracking control of multiple underactuated surface vessels

NASA Astrophysics Data System (ADS)

Peng, Zhou-hua; Wang, Dan; Lan, Wei-yao; Sun, Gang

2012-09-01

This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.

Charge Management in LISA Pathfinder: The Continuous Discharging Experiment

NASA Astrophysics Data System (ADS)

Ewing, Becca Elizabeth

2018-01-01

Test mass charging is a significant source of excess force and force noise in LISA Pathfinder (LPF). The planned design scheme for mitigation of charge induced force noise in LISA is a continuous discharge by UV light illumination. We report on analysis of a charge management experiment on-board LPF conducted during December 2016. We discuss the measurement of test mass charging noise with and without continuous UV illumination, in addition to the dynamic response in the continuous discharge scheme. Results of the continuous discharge system will be discussed for their application to operating LISA with lower test mass charge.

Adaptive momentum management for large space structures

NASA Technical Reports Server (NTRS)

Hahn, E.

1987-01-01

Momentum management is discussed for a Large Space Structure (LSS) with the structure selected configuration being the Initial Orbital Configuration (IOC) of the dual keel space station. The external forces considered were gravity gradient and aerodynamic torques. The goal of the momentum management scheme developed is to remove the bias components of the external torques and center the cyclic components of the stored angular momentum. The scheme investigated is adaptive to uncertainties of the inertia tensor and requires only approximate knowledge of principle moments of inertia. Computational requirements are minimal and should present no implementation problem in a flight type computer and the method proposed is shown to be effective in the presence of attitude control bandwidths as low as .01 radian/sec.

Entrapment and Enmeshment Schemes Used by Sex Traffickers.

PubMed

Reid, Joan A

2016-09-01

Emerging research suggests that sex traffickers/pimps control the majority of trafficked girls in the United States. The youthfulness of these victims and their lack of psychosocial maturity severely diminish their ability to detect exploitative motives or withstand manipulation of traffickers. A review of 43 cases of sexually exploited girls involving non-relative traffickers and 10 semi-structured interviews with social service providers revealed numerous scripts and schemes used by sex traffickers to entrap and entangle victims including boyfriend/lover scripts, ruses involving debt bondage, friendship or faux-family scripts, threats of forced abortion or to take away children, and coerced co-offending. These findings inform potential prevention efforts and highlight the need for multi-systemic, victim-centered approaches to intervention. © The Author(s) 2014.

A partition function-based weighting scheme in force field parameter development using ab initio calculation results in global configurational space.

PubMed

Wu, Yao; Dai, Xiaodong; Huang, Niu; Zhao, Lifeng

2013-06-05

In force field parameter development using ab initio potential energy surfaces (PES) as target data, an important but often neglected matter is the lack of a weighting scheme with optimal discrimination power to fit the target data. Here, we developed a novel partition function-based weighting scheme, which not only fits the target potential energies exponentially like the general Boltzmann weighting method, but also reduces the effect of fitting errors leading to overfitting. The van der Waals (vdW) parameters of benzene and propane were reparameterized by using the new weighting scheme to fit the high-level ab initio PESs probed by a water molecule in global configurational space. The molecular simulation results indicate that the newly derived parameters are capable of reproducing experimental properties in a broader range of temperatures, which supports the partition function-based weighting scheme. Our simulation results also suggest that structural properties are more sensitive to vdW parameters than partial atomic charge parameters in these systems although the electrostatic interactions are still important in energetic properties. As no prerequisite conditions are required, the partition function-based weighting method may be applied in developing any types of force field parameters. Copyright © 2013 Wiley Periodicals, Inc.

A magnetorheological fluid locking device

NASA Astrophysics Data System (ADS)

Kavlicoglu, Barkan; Liu, Yanming

2011-04-01

A magnetorheological fluid (MRF) device is designed to provide a static locking force caused by the operation of a controllable MRF valve. The intent is to introduce an MRF device which provides the locking force of a fifth wheel coupler while maintaining the "powerless" locking capability when required. A passive magnetic field supplied by a permanent magnet provides a powerless locking resistance force. The passively closed MRF valve provides sufficient reaction force to eliminate axial displacement to a pre-defined force value. Unlocking of the device is provided by means of an electromagnet which re-routes the magnetic field distribution along the MR valve, and minimizes the resistance. Three dimensional electromagnetic finite element analyses are performed to optimize the MRF lock valve performance. The MRF locking valve is fabricated and tested for installation on a truck fifth wheel application. An experimental setup, resembling actual working conditions, is designed and tests are conducted on vehicle interface schemes. The powerless-locking capacity and the unlocking process with minimal resistance are experimentally demonstrated.

Modeling of power control schemes in induction cooking devices

NASA Astrophysics Data System (ADS)

Beato, Alessio; Conti, Massimo; Turchetti, Claudio; Orcioni, Simone

2005-06-01

In recent years, with remarkable advancements of power semiconductor devices and electronic control systems, it becomes possible to apply the induction heating technique for domestic use. In order to achieve the supply power required by these devices, high-frequency resonant inverters are used: the force commutated, half-bridge series resonant converter is well suited for induction cooking since it offers an appropriate balance between complexity and performances. Power control is a key issue to attain efficient and reliable products. This paper describes and compares four power control schemes applied to the half-bridge series resonant inverter. The pulse frequency modulation is the most common control scheme: according to this strategy, the output power is regulated by varying the switching frequency of the inverter circuit. Other considered methods, originally developed for induction heating industrial applications, are: pulse amplitude modulation, asymmetrical duty cycle and pulse density modulation which are respectively based on variation of the amplitude of the input supply voltage, on variation of the duty cycle of the switching signals and on variation of the number of switching pulses. Each description is provided with a detailed mathematical analysis; an analytical model, built to simulate the circuit topology, is implemented in the Matlab environment in order to obtain the steady-state values and waveforms of currents and voltages. For purposes of this study, switches and all reactive components are modelled as ideal and the "heating-coil/pan" system is represented by an equivalent circuit made up of a series connected resistance and inductance.

Semi-active control of helicopter vibration using controllable stiffness and damping devices

NASA Astrophysics Data System (ADS)

Anusonti-Inthra, Phuriwat

Semi-active concepts for helicopter vibration reduction are developed and evaluated in this dissertation. Semi-active devices, controllable stiffness devices or controllable orifice dampers, are introduced; (i) in the blade root region (rotor-based concept) and (ii) between the rotor and the fuselage as semi-active isolators (in the non-rotating frame). Corresponding semi-active controllers for helicopter vibration reduction are also developed. The effectiveness of the rotor-based semi-active vibration reduction concept (using stiffness and damping variation) is demonstrated for a 4-bladed hingeless rotor helicopter in moderate- to high-speed forward flight. A sensitivity study shows that the stiffness variation of root element can reduce hub vibrations when proper amplitude and phase are used. Furthermore, the optimal semi-active control scheme can determine the combination of stiffness variations that produce significant vibration reduction in all components of vibratory hub loads simultaneously. It is demonstrated that desired cyclic variations in properties of the blade root region can be practically achieved using discrete controllable stiffness devices and controllable dampers, especially in the flap and lag directions. These discrete controllable devices can produce 35--50% reduction in a composite vibration index representing all components of vibratory hub loads. No detrimental increases are observed in the lower harmonics of blade loads and blade response (which contribute to the dynamic stresses) and controllable device internal loads, when the optimal stiffness and damping variations are introduced. The effectiveness of optimal stiffness and damping variations in reducing hub vibration is retained over a range of cruise speeds and for variations in fundamental rotor properties. The effectiveness of the semi-active isolator is demonstrated for a simplified single degree of freedom system representing the semi-active isolation system. The rotor, represented by a lumped mass under harmonic force excitation, is supported by a spring and a parallel damper on the fuselage (assumed to have infinite mass). Properties of the spring or damper can then be controlled to reduce transmission of the force into the fuselage or the support structure. This semi-active isolation concept can produce additional 30% vibration reduction beyond the level achieved by a passive isolator. Different control schemes (i.e. open-loop, closed-loop, and closed-loop adaptive schemes) are developed and evaluated to control transmission of vibratory loads to the support structure (fuselage), and it is seen that a closed-loop adaptive controller is required to retain vibration reduction effectiveness when there is a change in operating condition. (Abstract shortened by UMI.)

Dynamics and control of the vortex flow behind a slender conical forebody by a pair of plasma actuators

NASA Astrophysics Data System (ADS)

Meng, Xuanshi; Long, Yuexiao; Wang, Jianlei; Liu, Feng; Luo, Shijun

2018-02-01

Detailed particle-image-velocimetry (PIV) and surface pressure measurements are presented to study the vortex flow behind a slender conical forebody at high angles of attack. The results confirm the existence of two randomly appearing mirror imaged asymmetric bi-stable states of the separation vortices, giving rise to large side force and moment. A pair of carefully designed dielectric barrier discharge plasma actuators mounted near the apex and on both sides of the conical body are used to manipulate the vortex flow and thus provide control of the side forces on the body without using flaps. By making use of a duty-cycle actuation scheme that alternately actuates the port and starboard plasma actuators and optimizing the duty-cycle frequency, the present work demonstrates the feasibility of achieving a nearly perfect linear proportional control of the side force and moment in response to the duty-cycle ratio. Phase-locked PIV and surface pressure measurements are used to study the unsteady dynamic evolution of the flow within one duty-cycle actuation to reveal the flow control mechanism. It is found that under the duty-cycle actuation with the optimized frequency, the vortex flow essentially follows the plasma actuation by alternating between the two bi-stable states controlled directly by the duty-cycle ratio.

Fractional-order active fault-tolerant force-position controller design for the legged robots using saturated actuator with unknown bias and gain degradation

NASA Astrophysics Data System (ADS)

Farid, Yousef; Majd, Vahid Johari; Ehsani-Seresht, Abbas

2018-05-01

In this paper, a novel fault accommodation strategy is proposed for the legged robots subject to the actuator faults including actuation bias and effective gain degradation as well as the actuator saturation. First, the combined dynamics of two coupled subsystems consisting of the dynamics of the legs subsystem and the body subsystem are developed. Then, the interaction of the robot with the environment is formulated as the contact force optimization problem with equality and inequality constraints. The desired force is obtained by a dynamic model. A robust super twisting fault estimator is proposed to precisely estimate the defective torque amplitude of the faulty actuator in finite time. Defining a novel fractional sliding surface, a fractional nonsingular terminal sliding mode control law is developed. Moreover, by introducing a suitable auxiliary system and using its state vector in the designed controller, the proposed fault-tolerant control (FTC) scheme guarantees the finite-time stability of the closed-loop control system. The robustness and finite-time convergence of the proposed control law is established using the Lyapunov stability theory. Finally, numerical simulations are performed on a quadruped robot to demonstrate the stable walking of the robot with and without actuator faults, and actuator saturation constraints, and the results are compared to results with an integer order fault-tolerant controller.

A direct force model for Galilean invariant lattice Boltzmann simulation of fluid-particle flows

NASA Astrophysics Data System (ADS)

Tao, Shi; He, Qing; Chen, Baiman; Yang, Xiaoping; Huang, Simin

The lattice Boltzmann method (LBM) has been widely used in the simulation of particulate flows involving complex moving boundaries. Due to the kinetic background of LBM, the bounce-back (BB) rule and the momentum exchange (ME) method can be easily applied to the solid boundary treatment and the evaluation of fluid-solid interaction force, respectively. However, recently it has been found that both the BB and ME schemes may violate the principle of Galilean invariance (GI). Some modified BB and ME methods have been proposed to reduce the GI error. But these remedies have been recognized subsequently to be inconsistent with Newton’s Third Law. Therefore, contrary to those corrections based on the BB and ME methods, a unified iterative approach is adopted to handle the solid boundary in the present study. Furthermore, a direct force (DF) scheme is proposed to evaluate the fluid-particle interaction force. The methods preserve the efficiency of the BB and ME schemes, and the performance on the accuracy and GI is verified and validated in the test cases of particulate flows with freely moving particles.

Supplementary active stabilization of nonrigid gravity gradient satellites

NASA Technical Reports Server (NTRS)

Keat, J. E.

1972-01-01

The use of active control for stability augmentation of passive gravity gradient satellites is investigated. The reaction jet method of control is the main interest. Satellite nonrigidity is emphasized. The reduction in the Hamiltonian H is used as a control criteria. The velocities, relative to local vertical, of the jets along their force axes are shown to be of fundamental significance. A basic control scheme which satisfies the H reduction criteria is developed. Each jet is fired when its velocity becomes appropriately large. The jet is de-energized when velocity reaches zero. Firing constraints to preclude orbit alteration may be needed. Control is continued until H has been minimized. This control policy is investigated using impulse and rectangular pulse models of the jet outputs.

Cloud Radiation Forcings and Feedbacks: General Circulation Model Tests and Observational Validation

NASA Technical Reports Server (NTRS)

Lee,Wan-Ho; Iacobellis, Sam F.; Somerville, Richard C. J.

1997-01-01

Using an atmospheric general circulation model (the National Center for Atmospheric Research Community Climate Model: CCM2), the effects on climate sensitivity of several different cloud radiation parameterizations have been investigated. In addition to the original cloud radiation scheme of CCM2, four parameterizations incorporating prognostic cloud water were tested: one version with prescribed cloud radiative properties and three other versions with interactive cloud radiative properties. The authors' numerical experiments employ perpetual July integrations driven by globally constant sea surface temperature forcings of two degrees, both positive and negative. A diagnostic radiation calculation has been applied to investigate the partial contributions of high, middle, and low cloud to the total cloud radiative forcing, as well as the contributions of water vapor, temperature, and cloud to the net climate feedback. The high cloud net radiative forcing is positive, and the middle and low cloud net radiative forcings are negative. The total net cloud forcing is negative in all of the model versions. The effect of interactive cloud radiative properties on global climate sensitivity is significant. The net cloud radiative feedbacks consist of quite different shortwave and longwave components between the schemes with interactive cloud radiative properties and the schemes with specified properties. The increase in cloud water content in the warmer climate leads to optically thicker middle- and low-level clouds and in turn to negative shortwave feedbacks for the interactive radiative schemes, while the decrease in cloud amount simply produces a positive shortwave feedback for the schemes with a specified cloud water path. For the longwave feedbacks, the decrease in high effective cloudiness for the schemes without interactive radiative properties leads to a negative feedback, while for the other cases, the longwave feedback is positive. These cloud radiation parameterizations are empirically validated by using a single-column diagnostic model. together with measurements from the Atmospheric Radiation Measurement program and from the Tropical Ocean Global Atmosphere Combined Ocean-Atmosphere Response Experiment. The inclusion of prognostic cloud water produces a notable improvement in the realism of the parameterizations, as judged by these observations. Furthermore, the observational evidence suggests that deriving cloud radiative properties from cloud water content and microphysical characteristics is a promising route to further improvement.

Semi-active sliding mode control of vehicle suspension with magneto-rheological damper

NASA Astrophysics Data System (ADS)

Zhang, Hailong; Wang, Enrong; Zhang, Ning; Min, Fuhong; Subash, Rakheja; Su, Chunyi

2015-01-01

The vehicle semi-active suspension with magneto-rheological damper(MRD) has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control (SMC) strategies is proposed for the quarter-vehicle suspension with the magneto-rheological (MR) damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity ( F- v) model and its inverse model of MR damper, as well as the proposed continuous modulation (CM) filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller (SSMC)-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

Backstepping fuzzy-neural-network control design for hybrid maglev transportation system.

PubMed

Wai, Rong-Jong; Yao, Jing-Xiang; Lee, Jeng-Dao

2015-02-01

This paper focuses on the design of a backstepping fuzzy-neural-network control (BFNNC) for the online levitated balancing and propulsive positioning of a hybrid magnetic levitation (maglev) transportation system. The dynamic model of the hybrid maglev transportation system including levitated hybrid electromagnets to reduce the suspension power loss and the friction force during linear movement and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics is first constructed. The ultimate goal is to design an online fuzzy neural network (FNN) control methodology to cope with the problem of the complicated control transformation and the chattering control effort in backstepping control (BSC) design, and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. In the proposed BFNNC scheme, an FNN control is utilized to be the major control role by imitating the BSC strategy, and adaptation laws for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. The effectiveness of the proposed control strategy for the hybrid maglev transportation system is verified by experimental results, and the superiority of the BFNNC scheme is indicated in comparison with the BSC strategy and the backstepping particle-swarm-optimization control system in previous research.

Controllability of switched singular mix-valued logical control networks with constraints

NASA Astrophysics Data System (ADS)

Deng, Lei; Gong, Mengmeng; Zhu, Peiyong

2018-03-01

The present paper investigates the controllability problem of switched singular mix-valued logical control networks (SSMLCNs) with constraints on states and controls. First, using the semi-tenser product (STP) of matrices, the SSMLCN is expressed in an algebraic form, based on which a necessary and sufficient condition is given for the uniqueness of solution of SSMLCNs. Second, a necessary and sufficient criteria is derived for the controllability of constrained SSMLCNs, by converting a constrained SSMLCN into a parallel constrained switched mix-valued logical control network. Third, an algorithm is presented to design a proper switching sequence and a control scheme which force a state to a reachable state. Finally, a numerical example is given to demonstrate the efficiency of the results obtained in this paper.

A novel single thruster control strategy for spacecraft attitude stabilization

NASA Astrophysics Data System (ADS)

Godard; Kumar, Krishna Dev; Zou, An-Min

2013-05-01

Feasibility of achieving three axis attitude stabilization using a single thruster is explored in this paper. Torques are generated using a thruster orientation mechanism with which the thrust vector can be tilted on a two axis gimbal. A robust nonlinear control scheme is developed based on the nonlinear kinematic and dynamic equations of motion of a rigid body spacecraft in the presence of gravity gradient torque and external disturbances. The spacecraft, controlled using the proposed concept, constitutes an underactuated system (a system with fewer independent control inputs than degrees of freedom) with nonlinear dynamics. Moreover, using thruster gimbal angles as control inputs make the system non-affine (control terms appear nonlinearly in the state equation). This necessitates the control algorithms to be developed based on nonlinear control theory since linear control methods are not directly applicable. The stability conditions for the spacecraft attitude motion for robustness against uncertainties and disturbances are derived to establish the regions of asymptotic 3-axis attitude stabilization. Several numerical simulations are presented to demonstrate the efficacy of the proposed controller and validate the theoretical results. The control algorithm is shown to compensate for time-varying external disturbances including solar radiation pressure, aerodynamic forces, and magnetic disturbances; and uncertainties in the spacecraft inertia parameters. The numerical results also establish the robustness of the proposed control scheme to negate disturbances caused by orbit eccentricity.

Biomechanical modeling and load-carrying simulation of lower limb exoskeleton.

PubMed

Zhu, Yanhe; Zhang, Guoan; Zhang, Chao; Liu, Gangfeng; Zhao, Jie

2015-01-01

This paper introduces novel modern equipment-a lower extremity exoskeleton, which can implement the mutual complement and the interaction between human intelligence and the robot's mechanical strength. In order to provide a reference for the exoskeleton structure and the drive unit, the human biomechanics were modeled and analyzed by LifeModeler and Adams software to derive each joint kinematic parameter. The control was designed to implement the zero-force interaction between human and exoskeleton. Furthermore, simulations were performed to verify the control and assist effect. In conclusion, the system scheme of lower extremity exoskeleton is demonstrated to be feasible.

Reliable fuzzy H∞ control for active suspension of in-wheel motor driven electric vehicles with dynamic damping

NASA Astrophysics Data System (ADS)

Shao, Xinxin; Naghdy, Fazel; Du, Haiping

2017-03-01

A fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.

Robot-Assisted Retinal Vein Cannulation with Force-Based Puncture Detection: Micron vs. the Steady-Hand Eye Robot*

PubMed Central

Gonenc, Berk; Tran, Nhat; Gehlbach, Peter; Taylor, Russell H.; Iordachita, Iulian

2018-01-01

Retinal vein cannulation is a demanding procedure where therapeutic agents are injected into occluded retina veins. The feasibility of this treatment is limited due to challenges in identifying the moment of venous puncture, achieving cannulation and maintaining it throughout the drug delivery period. In this study, we integrate a force-sensing microneedle with two distinct robotic systems: the handheld micromanipulator Micron, and the cooperatively controlled Steady-Hand Eye Robot (SHER). The sensed tool-to-tissue interaction forces are used to detect venous puncture and extend the robots’ standard control schemes with a new position holding mode (PHM) that assists the operator hold the needle position fixed and maintain cannulation for a longer time with less trauma on the vasculature. We evaluate the resulting systems comparatively in a dry phantom, stretched vinyl membranes. Results have shown that modulating the admittance control gain of SHER alone is not a very effective solution for preventing the undesired tool motion after puncture. However, after using puncture detection and PHM the deviation from the puncture point is significantly reduced, by 65% with Micron, and by 95% with SHER representing a potential advantage over freehand for both. PMID:28269417

Performance of extended Lagrangian schemes for molecular dynamics simulations with classical polarizable force fields and density functional theory

NASA Astrophysics Data System (ADS)

Vitale, Valerio; Dziedzic, Jacek; Albaugh, Alex; Niklasson, Anders M. N.; Head-Gordon, Teresa; Skylaris, Chris-Kriton

2017-03-01

Iterative energy minimization with the aim of achieving self-consistency is a common feature of Born-Oppenheimer molecular dynamics (BOMD) and classical molecular dynamics with polarizable force fields. In the former, the electronic degrees of freedom are optimized, while the latter often involves an iterative determination of induced point dipoles. The computational effort of the self-consistency procedure can be reduced by re-using converged solutions from previous time steps. However, this must be done carefully, as not to break time-reversal symmetry, which negatively impacts energy conservation. Self-consistent schemes based on the extended Lagrangian formalism, where the initial guesses for the optimized quantities are treated as auxiliary degrees of freedom, constitute one elegant solution. We report on the performance of two integration schemes with the same underlying extended Lagrangian structure, which we both employ in two radically distinct regimes—in classical molecular dynamics simulations with the AMOEBA polarizable force field and in BOMD simulations with the Onetep linear-scaling density functional theory (LS-DFT) approach. Both integration schemes are found to offer significant improvements over the standard (unpropagated) molecular dynamics formulation in both the classical and LS-DFT regimes.

Performance of extended Lagrangian schemes for molecular dynamics simulations with classical polarizable force fields and density functional theory.

PubMed

Vitale, Valerio; Dziedzic, Jacek; Albaugh, Alex; Niklasson, Anders M N; Head-Gordon, Teresa; Skylaris, Chris-Kriton

2017-03-28

Iterative energy minimization with the aim of achieving self-consistency is a common feature of Born-Oppenheimer molecular dynamics (BOMD) and classical molecular dynamics with polarizable force fields. In the former, the electronic degrees of freedom are optimized, while the latter often involves an iterative determination of induced point dipoles. The computational effort of the self-consistency procedure can be reduced by re-using converged solutions from previous time steps. However, this must be done carefully, as not to break time-reversal symmetry, which negatively impacts energy conservation. Self-consistent schemes based on the extended Lagrangian formalism, where the initial guesses for the optimized quantities are treated as auxiliary degrees of freedom, constitute one elegant solution. We report on the performance of two integration schemes with the same underlying extended Lagrangian structure, which we both employ in two radically distinct regimes-in classical molecular dynamics simulations with the AMOEBA polarizable force field and in BOMD simulations with the Onetep linear-scaling density functional theory (LS-DFT) approach. Both integration schemes are found to offer significant improvements over the standard (unpropagated) molecular dynamics formulation in both the classical and LS-DFT regimes.

Performance of extended Lagrangian schemes for molecular dynamics simulations with classical polarizable force fields and density functional theory

DOE PAGES

Vitale, Valerio; Dziedzic, Jacek; Albaugh, Alex; ...

2017-03-28

Iterative energy minimization with the aim of achieving self-consistency is a common feature of Born-Oppenheimer molecular dynamics (BOMD) and classical molecular dynamics with polarizable force fields. In the former, the electronic degrees of freedom are optimized, while the latter often involves an iterative determination of induced point dipoles. The computational effort of the self-consistency procedure can be reduced by re-using converged solutions from previous time steps. However, this must be done carefully, as not to break time-reversal symmetry, which negatively impacts energy conservation. Self-consistent schemes based on the extended Lagrangian formalism, where the initial guesses for the optimized quantities aremore » treated as auxiliary degrees of freedom, constitute one elegant solution. We report on the performance of two integration schemes with the same underlying extended Lagrangian structure, which we both employ in two radically distinct regimes—in classical molecular dynamics simulations with the AMOEBA polarizable force field and in BOMD simulations with the Onetep linear-scaling density functional theory (LS-DFT) approach. Furthermore, both integration schemes are found to offer significant improvements over the standard (unpropagated) molecular dynamics formulation in both the classical and LS-DFT regimes.« less

Performance of extended Lagrangian schemes for molecular dynamics simulations with classical polarizable force fields and density functional theory

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

Vitale, Valerio; Dziedzic, Jacek; Albaugh, Alex

Iterative energy minimization with the aim of achieving self-consistency is a common feature of Born-Oppenheimer molecular dynamics (BOMD) and classical molecular dynamics with polarizable force fields. In the former, the electronic degrees of freedom are optimized, while the latter often involves an iterative determination of induced point dipoles. The computational effort of the self-consistency procedure can be reduced by re-using converged solutions from previous time steps. However, this must be done carefully, as not to break time-reversal symmetry, which negatively impacts energy conservation. Self-consistent schemes based on the extended Lagrangian formalism, where the initial guesses for the optimized quantities aremore » treated as auxiliary degrees of freedom, constitute one elegant solution. We report on the performance of two integration schemes with the same underlying extended Lagrangian structure, which we both employ in two radically distinct regimes—in classical molecular dynamics simulations with the AMOEBA polarizable force field and in BOMD simulations with the Onetep linear-scaling density functional theory (LS-DFT) approach. Furthermore, both integration schemes are found to offer significant improvements over the standard (unpropagated) molecular dynamics formulation in both the classical and LS-DFT regimes.« less

Global land-atmosphere coupling associated with cold climate processes

NASA Astrophysics Data System (ADS)

Dutra, Emanuel

This dissertation constitutes an assessment of the role of cold processes, associated with snow cover, in controlling the land-atmosphere coupling. The work was based on model simulations, including offline simulations with the land surface model HTESSEL, and coupled atmosphere simulations with the EC-EARTH climate model. A revised snow scheme was developed and tested in HTESSEL and EC-EARTH. The snow scheme is currently operational at the European Centre for Medium-Range Weather Forecasts integrated forecast system, and in the default configuration of EC-EARTH. The improved representation of the snowpack dynamics in HTESSEL resulted in improvements in the near surface temperature simulations of EC-EARTH. The new snow scheme development was complemented with the option of multi-layer version that showed its potential in modeling thick snowpacks. A key process was the snow thermal insulation that led to significant improvements of the surface water and energy balance components. Similar findings were observed when coupling the snow scheme to lake ice, where lake ice duration was significantly improved. An assessment on the snow cover sensitivity to horizontal resolution, parameterizations and atmospheric forcing within HTESSEL highlighted the role of the atmospheric forcing accuracy and snowpack parameterizations in detriment of horizontal resolution over flat regions. A set of experiments with and without free snow evolution was carried out with EC-EARTH to assess the impact of the interannual variability of snow cover on near surface and soil temperatures. It was found that snow cover interannual variability explained up to 60% of the total interannual variability of near surface temperature over snow covered regions. Although these findings are model dependent, the results showed consistency with previously published work. Furthermore, the detailed validation of the snow dynamics simulations in HTESSEL and EC-EARTH guarantees consistency of the results.

Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays

PubMed Central

Delgado, Emma; Barreiro, Antonio; Falcón, Pablo; Díaz-Cacho, Miguel

2016-01-01

We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C) control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency. PMID:27128914

Modeling surface trapped river plumes: A sensitivity study

USGS Publications Warehouse

Hyatt, Jason; Signell, Richard P.

2000-01-01

To better understand the requirements for realistic regional simulation of river plumes in the Gulf of Maine, we test the sensitivity of the Blumberg-Mellor hydrodynamic model to choice of advection scheme, grid resolution, and wind, using idealized geometry and forcing. The test case discharges 1500 m3/s of fresh water into a uniform 32 psu ocean along a straight shelf at 43?? north. The water depth is 15 m at the coast and increases linearly to 190 m at a distance 100 km offshore. Constant discharge runs are conducted in the presence of ambient alongshore current and with and without periodic alongshore wind forcing. Advection methods tested are CENTRAL, UPWIND, the standard Smolarkiewicz MPDATA and a recursive MPDATA scheme. For the no-wind runs, the UPWIND advection scheme performs poorly for grid resolutions typically used in regional simulations (grid spacing of 1-2 km, comparable to or slightly less than the internal Rossby radius, and vertical resolution of 10% of the water column), damping out much of the plume structure. The CENTRAL difference scheme also has problems when wind forcing is neglected, and generates too much structure, shedding eddies of numerical origin. When a weak 5 cm/s ambient current is present in the no-wind case, both the CENTRAL and standard MPDATA schemes produce a false fresh- and dense-water source just upstream of the river inflow due to a standing two-grid length oscillation in the salinity field. The recursive MPDATA scheme completely eliminates the false dense water source, and produces results closest to the grid-converged solution. The results are shown to be very sensitive to vertical grid resolution, and the presence of wind forcing dramatically changes the nature of the plume simulations. The implication of these idealized tests for realistic simulations is discussed, as well as ramifications on previous studies of idealized plume models.

Evaluating the Performance of the Goddard Multi-Scale Modeling Framework against GPM, TRMM and CloudSat/CALIPSO Products

NASA Astrophysics Data System (ADS)

Chern, J. D.; Tao, W. K.; Lang, S. E.; Matsui, T.; Mohr, K. I.

2014-12-01

Four six-month (March-August 2014) experiments with the Goddard Multi-scale Modeling Framework (MMF) were performed to study the impacts of different Goddard one-moment bulk microphysical schemes and large-scale forcings on the performance of the MMF. Recently a new Goddard one-moment bulk microphysics with four-ice classes (cloud ice, snow, graupel, and frozen drops/hail) has been developed based on cloud-resolving model simulations with large-scale forcings from field campaign observations. The new scheme has been successfully implemented to the MMF and two MMF experiments were carried out with this new scheme and the old three-ice classes (cloud ice, snow graupel) scheme. The MMF has global coverage and can rigorously evaluate microphysics performance for different cloud regimes. The results show MMF with the new scheme outperformed the old one. The MMF simulations are also strongly affected by the interaction between large-scale and cloud-scale processes. Two MMF sensitivity experiments with and without nudging large-scale forcings to those of ERA-Interim reanalysis were carried out to study the impacts of large-scale forcings. The model simulated mean and variability of surface precipitation, cloud types, cloud properties such as cloud amount, hydrometeors vertical profiles, and cloud water contents, etc. in different geographic locations and climate regimes are evaluated against GPM, TRMM, CloudSat/CALIPSO satellite observations. The Goddard MMF has also been coupled with the Goddard Satellite Data Simulation Unit (G-SDSU), a system with multi-satellite, multi-sensor, and multi-spectrum satellite simulators. The statistics of MMF simulated radiances and backscattering can be directly compared with satellite observations to assess the strengths and/or deficiencies of MMF simulations and provide guidance on how to improve the MMF and microphysics.

Closed Loop Control of a Tethered Magnetic Capsule Endoscope

PubMed Central

Taddese, Addisu Z.; Slawinski, Piotr R.; Obstein, Keith L.; Valdastri, Pietro

2017-01-01

Magnetic field gradients have repeatedly been shown to be the most feasible mechanism for gastrointestinal capsule endoscope actuation. An inverse quartic magnetic force variation with distance results in large force gradients induced by small movements of a driving magnet; this necessitates robotic actuation of magnets to implement stable control of the device. A typical system consists of a serial robot with a permanent magnet at its end effector that actuates a capsule with an embedded permanent magnet. We present a tethered capsule system where a capsule with an embedded magnet is closed loop controlled in 2 degree-of-freedom in position and 2 degree-of-freedom in orientation. Capitalizing on the magnetic field of the external driving permanent magnet, the capsule is localized in 6-D allowing for both position and orientation feedback to be used in a control scheme. We developed a relationship between the serial robot's joint parameters and the magnetic force and torque that is exerted onto the capsule. Our methodology was validated both in a dynamic simulation environment where a custom plug-in for magnetic interaction was written, as well as on an experimental platform. The tethered capsule was demonstrated to follow desired trajectories in both position and orientation with accuracy that is acceptable for colonoscopy. PMID:28286886

Closed Loop Control of a Tethered Magnetic Capsule Endoscope.

PubMed

Taddese, Addisu Z; Slawinski, Piotr R; Obstein, Keith L; Valdastri, Pietro

2016-06-01

Magnetic field gradients have repeatedly been shown to be the most feasible mechanism for gastrointestinal capsule endoscope actuation. An inverse quartic magnetic force variation with distance results in large force gradients induced by small movements of a driving magnet; this necessitates robotic actuation of magnets to implement stable control of the device. A typical system consists of a serial robot with a permanent magnet at its end effector that actuates a capsule with an embedded permanent magnet. We present a tethered capsule system where a capsule with an embedded magnet is closed loop controlled in 2 degree-of-freedom in position and 2 degree-of-freedom in orientation. Capitalizing on the magnetic field of the external driving permanent magnet, the capsule is localized in 6-D allowing for both position and orientation feedback to be used in a control scheme. We developed a relationship between the serial robot's joint parameters and the magnetic force and torque that is exerted onto the capsule. Our methodology was validated both in a dynamic simulation environment where a custom plug-in for magnetic interaction was written, as well as on an experimental platform. The tethered capsule was demonstrated to follow desired trajectories in both position and orientation with accuracy that is acceptable for colonoscopy.

An adjoint view on flux consistency and strong wall boundary conditions to the Navier–Stokes equations

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

Stück, Arthur, E-mail: arthur.stueck@dlr.de

2015-11-15

Inconsistent discrete expressions in the boundary treatment of Navier–Stokes solvers and in the definition of force objective functionals can lead to discrete-adjoint boundary treatments that are not a valid representation of the boundary conditions to the corresponding adjoint partial differential equations. The underlying problem is studied for an elementary 1D advection–diffusion problem first using a node-centred finite-volume discretisation. The defect of the boundary operators in the inconsistently defined discrete-adjoint problem leads to oscillations and becomes evident with the additional insight of the continuous-adjoint approach. A homogenisation of the discretisations for the primal boundary treatment and the force objective functional yieldsmore » second-order functional accuracy and eliminates the defect in the discrete-adjoint boundary treatment. Subsequently, the issue is studied for aerodynamic Reynolds-averaged Navier–Stokes problems in conjunction with a standard finite-volume discretisation on median-dual grids and a strong implementation of noslip walls, found in many unstructured general-purpose flow solvers. Going out from a base-line discretisation of force objective functionals which is independent of the boundary treatment in the flow solver, two improved flux-consistent schemes are presented; based on either body wall-defined or farfield-defined control-volumes they resolve the dual inconsistency. The behaviour of the schemes is investigated on a sequence of grids in 2D and 3D.« less

Continuous Wheel Momentum Dumping Using Magnetic Torquers and Thrusters

NASA Astrophysics Data System (ADS)

Oh, Hwa-Suk; Choi, Wan-Sik; Eun, Jong-Won

1996-12-01

Two momentum management schemes using magnetic torquers and thrusters are sug-gested. The stability of the momentum dumping logic is proved at a general attitude equilibrium. Both momentum dumping control laws are implemented with Pulse-Width- Pulse-Frequency Modulated on-off control, and shown working equally well with the original continuous and variable strength control law. Thrusters are assummed to be asymmetrically configured as a contingency case. Each thruster is fired following separated control laws rather than paired thrusting. Null torque thrusting control is added on the thrust control calculated from the momentum control law for the gener-ation of positive thrusting force. Both magnetic and thrusting control laws guarantee the momentum dumping, however, the wheel inner loop control is needed for the "wheel speed" dumping, The control laws are simulated on the KOrea Multi-Purpose SATellite (KOMPSAT) model.

Measuring fN force variations in the presence of constant nN forces: a torsion pendulum ground test of the LISA Pathfinder free-fall mode

NASA Astrophysics Data System (ADS)

Russano, G.; Cavalleri, A.; Cesarini, A.; Dolesi, R.; Ferroni, V.; Gibert, F.; Giusteri, R.; Hueller, M.; Liu, L.; Pivato, P.; Tu, H. B.; Vetrugno, D.; Vitale, S.; Weber, W. J.

2018-02-01

LISA Pathfinder is a differential accelerometer with the main goal being to demonstrate the near perfect free-fall of reference test masses, as is needed for an orbiting gravitational wave observatory, with a target sensitivity of 30 fm s‑2 Hz-1/2 at 1 mHz. Any lasting background differential acceleration between the two test masses must be actively compensated, and noise associated with the applied actuation force can be a dominant source of noise. To remove this actuation, and the associated force noise, a ‘free-fall’ actuation control scheme has been designed; actuation is limited to brief impulses, with both test masses in free-fall in the time between the impulses, allowing measurement of the remaining acceleration noise sources. In this work, we present an on-ground torsion pendulum testing campaign of this technique and associated data analysis algorithms at a level nearing the sub-femto-g/\\sqrtHz performance required for LISA Pathfinder.

Optimizing Cubature for Efficient Integration of Subspace Deformations

PubMed Central

An, Steven S.; Kim, Theodore; James, Doug L.

2009-01-01

We propose an efficient scheme for evaluating nonlinear subspace forces (and Jacobians) associated with subspace deformations. The core problem we address is efficient integration of the subspace force density over the 3D spatial domain. Similar to Gaussian quadrature schemes that efficiently integrate functions that lie in particular polynomial subspaces, we propose cubature schemes (multi-dimensional quadrature) optimized for efficient integration of force densities associated with particular subspace deformations, particular materials, and particular geometric domains. We support generic subspace deformation kinematics, and nonlinear hyperelastic materials. For an r-dimensional deformation subspace with O(r) cubature points, our method is able to evaluate subspace forces at O(r2) cost. We also describe composite cubature rules for runtime error estimation. Results are provided for various subspace deformation models, several hyperelastic materials (St.Venant-Kirchhoff, Mooney-Rivlin, Arruda-Boyce), and multimodal (graphics, haptics, sound) applications. We show dramatically better efficiency than traditional Monte Carlo integration. CR Categories: I.6.8 [Simulation and Modeling]: Types of Simulation—Animation, I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling—Physically based modeling G.1.4 [Mathematics of Computing]: Numerical Analysis—Quadrature and Numerical Differentiation PMID:19956777

Gust prediction via artificial hair sensor array and neural network

NASA Astrophysics Data System (ADS)

Pankonien, Alexander M.; Thapa Magar, Kaman S.; Beblo, Richard V.; Reich, Gregory W.

2017-04-01

Gust Load Alleviation (GLA) is an important aspect of flight dynamics and control that reduces structural loadings and enhances ride quality. In conventional GLA systems, the structural response to aerodynamic excitation informs the control scheme. A phase lag, imposed by inertia, between the excitation and the measurement inherently limits the effectiveness of these systems. Hence, direct measurement of the aerodynamic loading can eliminate this lag, providing valuable information for effective GLA system design. Distributed arrays of Artificial Hair Sensors (AHS) are ideal for surface flow measurements that can be used to predict other necessary parameters such as aerodynamic forces, moments, and turbulence. In previous work, the spatially distributed surface flow velocities obtained from an array of artificial hair sensors using a Single-State (or feedforward) Neural Network were found to be effective in estimating the steady aerodynamic parameters such as air speed, angle of attack, lift and moment coefficient. This paper extends the investigation of the same configuration to unsteady force and moment estimation, which is important for active GLA control design. Implementing a Recurrent Neural Network that includes previous-timestep sensor information, the hair sensor array is shown to be capable of capturing gust disturbances with a wide range of periods, reducing predictive error in lift and moment by 68% and 52% respectively. The L2 norms of the first layer of the weight matrices were compared showing a 23% emphasis on prior versus current information. The Recurrent architecture also improves robustness, exhibiting only a 30% increase in predictive error when undertrained as compared to a 170% increase by the Single-State NN. This diverse, localized information can thus be directly implemented into a control scheme that alleviates the gusts without waiting for a structural response or requiring user-intensive sensor calibration.

Performance of ICTP's RegCM4 in Simulating the Rainfall Characteristics over the CORDEX-SEA Domain

NASA Astrophysics Data System (ADS)

Neng Liew, Ju; Tangang, Fredolin; Tieh Ngai, Sheau; Chung, Jing Xiang; Narisma, Gemma; Cruz, Faye Abigail; Phan Tan, Van; Thanh, Ngo-Duc; Santisirisomboon, Jerasron; Milindalekha, Jaruthat; Singhruck, Patama; Gunawan, Dodo; Satyaningsih, Ratna; Aldrian, Edvin

2015-04-01

The performance of the RegCM4 in simulating rainfall variations over the Southeast Asia regions was examined. Different combinations of six deep convective parameterization schemes, namely i) Grell scheme with Arakawa-Schubert closure assumption, ii) Grell scheme with Fritch-Chappel closure assumption, iii) Emanuel MIT scheme, iv) mixed scheme with Emanuel MIT scheme over the Ocean and the Grell scheme over the land, v) mixed scheme with Grell scheme over the land and Emanuel MIT scheme over the ocean and (vi) Kuo scheme, and three ocean flux treatments were tested. In order to account for uncertainties among the observation products, four different gridded rainfall products were used for comparison. The simulated climate is generally drier over the equatorial regions and slightly wetter over the mainland Indo-China compare to the observation. However, simulation with MIT cumulus scheme used over the land area consistently produces large amplitude of positive rainfall biases, although it simulates more realistic annual rainfall variations. The simulations are found less sensitive to treatment of ocean fluxes. Although the simulations produced the rainfall climatology well, all of them simulated much stronger interannual variability compare to that of the observed. Nevertheless, the time evolution of the inter-annual variations was well reproduced particularly over the eastern part of maritime continent. Over the mainland Southeast Asia (SEA), unrealistic rainfall anomalies processes were simulated. The lacking of summer season air-sea interaction results in strong oceanic forcings over the regions, leading to positive rainfall anomalies during years with warm ocean temperature anomalies. This incurs much stronger atmospheric forcings on the land surface processes compare to that of the observed. A score ranking system was designed to rank the simulations according to their performance in reproducing different aspects of rainfall characteristics. The result suggests that the simulation with Emanuel MIT convective scheme and BATs land surface scheme produces better collective performance compare to the rest of the simulations.

Transformation of body force localized near the surface of a half-space into equivalent surface stresses.

PubMed

Rouge, Clémence; Lhémery, Alain; Ségur, Damien

2013-10-01

An electromagnetic acoustic transducer (EMAT) or a laser used to generate elastic waves in a component is often described as a source of body force confined in a layer close to the surface. On the other hand, models for elastic wave radiation more efficiently handle sources described as distributions of surface stresses. Equivalent surface stresses can be obtained by integrating the body force with respect to depth. They are assumed to generate the same field as the one that would be generated by the body force. Such an integration scheme can be applied to Lorentz force for conventional EMAT configuration. When applied to magnetostrictive force generated by an EMAT in a ferromagnetic material, the same scheme fails, predicting a null stress. Transforming body force into equivalent surface stresses therefore, requires taking into account higher order terms of the force moments, the zeroth order being the simple force integration over the depth. In this paper, such a transformation is derived up to the second order, assuming that body forces are localized at depths shorter than the ultrasonic wavelength. Two formulations are obtained, each having some advantages depending on the application sought. They apply regardless of the nature of the force considered.

A Hybrid Scheme for Fine-Grained Search and Access Authorization in Fog Computing Environment

PubMed Central

Xiao, Min; Zhou, Jing; Liu, Xuejiao; Jiang, Mingda

2017-01-01

In the fog computing environment, the encrypted sensitive data may be transferred to multiple fog nodes on the edge of a network for low latency; thus, fog nodes need to implement a search over encrypted data as a cloud server. Since the fog nodes tend to provide service for IoT applications often running on resource-constrained end devices, it is necessary to design lightweight solutions. At present, there is little research on this issue. In this paper, we propose a fine-grained owner-forced data search and access authorization scheme spanning user-fog-cloud for resource constrained end users. Compared to existing schemes only supporting either index encryption with search ability or data encryption with fine-grained access control ability, the proposed hybrid scheme supports both abilities simultaneously, and index ciphertext and data ciphertext are constructed based on a single ciphertext-policy attribute based encryption (CP-ABE) primitive and share the same key pair, thus the data access efficiency is significantly improved and the cost of key management is greatly reduced. Moreover, in the proposed scheme, the resource constrained end devices are allowed to rapidly assemble ciphertexts online and securely outsource most of decryption task to fog nodes, and mediated encryption mechanism is also adopted to achieve instantaneous user revocation instead of re-encrypting ciphertexts with many copies in many fog nodes. The security and the performance analysis show that our scheme is suitable for a fog computing environment. PMID:28629131

A Hybrid Scheme for Fine-Grained Search and Access Authorization in Fog Computing Environment.

PubMed

Xiao, Min; Zhou, Jing; Liu, Xuejiao; Jiang, Mingda

2017-06-17

In the fog computing environment, the encrypted sensitive data may be transferred to multiple fog nodes on the edge of a network for low latency; thus, fog nodes need to implement a search over encrypted data as a cloud server. Since the fog nodes tend to provide service for IoT applications often running on resource-constrained end devices, it is necessary to design lightweight solutions. At present, there is little research on this issue. In this paper, we propose a fine-grained owner-forced data search and access authorization scheme spanning user-fog-cloud for resource constrained end users. Compared to existing schemes only supporting either index encryption with search ability or data encryption with fine-grained access control ability, the proposed hybrid scheme supports both abilities simultaneously, and index ciphertext and data ciphertext are constructed based on a single ciphertext-policy attribute based encryption (CP-ABE) primitive and share the same key pair, thus the data access efficiency is significantly improved and the cost of key management is greatly reduced. Moreover, in the proposed scheme, the resource constrained end devices are allowed to rapidly assemble ciphertexts online and securely outsource most of decryption task to fog nodes, and mediated encryption mechanism is also adopted to achieve instantaneous user revocation instead of re-encrypting ciphertexts with many copies in many fog nodes. The security and the performance analysis show that our scheme is suitable for a fog computing environment.

A new solution-adaptive grid generation method for transonic airfoil flow calculations

NASA Technical Reports Server (NTRS)

Nakamura, S.; Holst, T. L.

1981-01-01

The clustering algorithm is controlled by a second-order, ordinary differential equation which uses the airfoil surface density gradient as a forcing function. The solution to this differential equation produces a surface grid distribution which is automatically clustered in regions with large gradients. The interior grid points are established from this surface distribution by using an interpolation scheme which is fast and retains the desirable properties of the original grid generated from the standard elliptic equation approach.

On the numerical computation of nonlinear force-free magnetic fields. [from solar photosphere

NASA Technical Reports Server (NTRS)

Wu, S. T.; Sun, M. T.; Chang, H. M.; Hagyard, M. J.; Gary, G. A.

1990-01-01

An algorithm has been developed to extrapolate nonlinear force-free magnetic fields from the photosphere, given the proper boundary conditions. This paper presents the results of this work, describing the mathematical formalism that was developed, the numerical techniques employed, and comments on the stability criteria and accuracy developed for these numerical schemes. An analytical solution is used for a benchmark test; the results show that the computational accuracy for the case of a nonlinear force-free magnetic field was on the order of a few percent (less than 5 percent). This newly developed scheme was applied to analyze a solar vector magnetogram, and the results were compared with the results deduced from the classical potential field method. The comparison shows that additional physical features of the vector magnetogram were revealed in the nonlinear force-free case.

Extended linear detection range for optical tweezers using image-plane detection scheme

NASA Astrophysics Data System (ADS)

Hajizadeh, Faegheh; Masoumeh Mousavi, S.; Khaksar, Zeinab S.; Reihani, S. Nader S.

2014-10-01

Ability to measure pico- and femto-Newton range forces using optical tweezers (OT) strongly relies on the sensitivity of its detection system. We show that the commonly used back-focal-plane detection method provides a linear response range which is shorter than that of the restoring force of OT for large beads. This limits measurable force range of OT. We show, both theoretically and experimentally, that utilizing a second laser beam for tracking could solve the problem. We also propose a new detection scheme in which the quadrant photodiode is positioned at the plane optically conjugate to the object plane (image plane). This method solves the problem without need for a second laser beam for the bead sizes that are commonly used in force spectroscopy applications of OT, such as biopolymer stretching.

Development of safe mechanism for surgical robots using equilibrium point control method.

PubMed

Park, Shinsuk; Lim, Hokjin; Kim, Byeong-sang; Song, Jae-bok

2006-01-01

This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in surgical environments by using a simple control scheme.

Large Angle Satellite Attitude Maneuvers

NASA Technical Reports Server (NTRS)

Cochran, J. E.; Junkins, J. L.

1975-01-01

Two methods are proposed for performing large angle reorientation maneuvers. The first method is based upon Euler's rotation theorem; an arbitrary reorientation is ideally accomplished by rotating the spacecraft about a line which is fixed in both the body and in space. This scheme has been found to be best suited for the case in which the initial and desired attitude states have small angular velocities. The second scheme is more general in that a general class of transition trajectories is introduced which, in principle, allows transfer between arbitrary orientation and angular velocity states. The method generates transition maneuvers in which the uncontrolled (free) initial and final states are matched in orientation and angular velocity. The forced transition trajectory is obtained by using a weighted average of the unforced forward integration of the initial state and the unforced backward integration of the desired state. The current effort is centered around practical validation of this second class of maneuvers. Of particular concern is enforcement of given control system constraints and methods for suboptimization by proper selection of maneuver initiation and termination times. Analogous reorientation strategies which force smooth transition in angular momentum and/or rotational energy are under consideration.

Monitoring of Ritz modal generation

NASA Technical Reports Server (NTRS)

Chargin, Mladen; Butler, Thomas G.

1990-01-01

A scheme is proposed to monitor the adequacy of a set of Ritz modes to represent a solution by comparing the quantity generated with certain properties involving the forcing function. In so doing an attempt was made to keep this algorithm lean and efficient, so that it will be economical to apply. Using this monitoring scheme during Ritz Mode generation will automatically ensure that the k Ritz modes theta k that are generated are adequate to represent both the spatial and temporal behavior of the structure when forced under the given transient condition defined by F(s,t).

The effects of spaceflight on open-loop and closed-loop postural control mechanisms: human neurovestibular studies on SLS-2

NASA Technical Reports Server (NTRS)

Collins, J. J.; De Luca, C. J.; Pavlik, A. E.; Roy, S. H.; Emley, M. S.; Young, L. R. (Principal Investigator)

1995-01-01

Stabilogram-diffusion analysis was used to examine how prolonged periods in microgravity affect the open-loop and closed-loop postural control mechanisms. It was hypothesized that following spaceflight: (1) the effective stochastic activity of the open-loop postural control schemes in astronauts is increased; (2) the effective stochastic activity and uncorrelated behavior, respectively, of the closed-loop postural control mechanisms in astronauts are increased; and (3) astronauts utilized open-loop postural controls schemes for shorter time intervals and smaller displacements. Four crew members and two alternates from the 14-day Spacelab Life Sciences 2 Mission were included in the study. Each subject was tested under eyes-open, quiet-standing conditions on multiple preflight and postflight days. The subjects' center-of-pressure trajectories were measured with a force platform and analyzed according to stabilogram-diffusion analysis. It was found that the effective stochastic activity of the open-loop postural control schemes in three of the four crew members was increased following spaceflight. This result is interpreted as an indication that there may be in-flight adaptations to higher-level descending postural control pathways, e.g., a postflight increase in the tonic activation of postural muscles. This change may also be the consequence of a compensatory (e.g., "stiffening") postural control strategy that is adopted by astronauts to account for general feeling of postflight unsteadiness. The crew members, as a group, did not exhibit any consistent preflight/postflight differences in the steady-state behavior of their closed-loop postural control mechanisms or in the functional interaction of their open-loop and closed-loop postural control mechanisms. These results are interpreted as indications that although there may be in-flight adaptations to the vestibular system and/or proprioceptive system, input from the visual system can compensate for such changes during undisturbed stance.

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

PubMed Central

Zhang, Xianmin; Zheng, Yanglong; Ota, Jun; Huang, Yanjiang

2017-01-01

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully. PMID:28862691

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot.

PubMed

Zhang, Xianmin; Zheng, Yanglong; Ota, Jun; Huang, Yanjiang

2017-09-01

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully.

High-speed broadband nanomechanical property quantification and imaging of life science materials using atomic force microscope

NASA Astrophysics Data System (ADS)

Ren, Juan

Nanoscale morphological characterization and mechanical properties quantification of soft and biological materials play an important role in areas ranging from nano-composite material synthesis and characterization, cellular mechanics to drug design. Frontier studies in these areas demand the coordination between nanoscale morphological evolution and mechanical behavior variations through simultaneous measurement of these two aspects of properties. Atomic force microscope (AFM) is very promising in achieving such simultaneous measurements at high-speed and broadband owing to its unique capability in applying force stimuli and then, measuring the response at specific locations in a physiologically friendly environment with pico-newton force and nanometer spatial resolution. Challenges, however, arise as current AFM systems are unable to account for the complex and coupled dynamics of the measurement system and probe-sample interaction during high-speed imaging and broadband measurements. In this dissertation, the creation of a set of dynamics and control tools to probe-based high-speed imaging and rapid broadband nanomechanical spectroscopy of soft and biological materials are presented. Firstly, advanced control-based approaches are presented to improve the imaging performance of AFM imaging both in air and in liquid. An adaptive contact mode (ACM) imaging scheme is proposed to replace the traditional contact mode (CM) imaging by addressing the major concerns in both the speed and the force exerted to the sample. In this work, the image distortion caused by the topography tracking error is accounted for in the topography quantification and the quantified sample topography is utilized in a gradient-based optimization method to adjust the cantilever deflection set-point for each scanline closely around the minimal level needed for maintaining a stable probe-sample contact, and a data-driven iterative feedforward control that utilizes a prediction of the next-line tracking is implemented to enhance the sample topography tracking. An adaptive multi-loop mode (AMLM) imaging approach is proposed to substantially increase the imaging speed of tapping mode (TM) while preserving the advantages of TM over CM by integrating an inner-outer feedback control loop to regulate the TM-deflection on top of the conventional TM-amplitude feedback control to improve the sample topography tracking. Experiments demonstrated that the proposed ACM and AMLM are capable of increasing the imaging speed by at least 20 times for conventional contact and tapping mode imaging, respectively, with no loss of imaging quality and well controlled tip-sample interaction force. In addition, an adaptive mode imaging for in-liquid topography quantification on live cells is presented. The experiment results demonstrated that instead of keeping constant scanning speed, the proposed speed optimization scheme is able to increase the imaging speed on live human prostate cancer cells by at least eight-fold with no loss of imaging quality. Secondly, control based approaches to accurate nanomechanical quantification on soft materials for both broadband and in-liquid force-curve measurements are proposed to address the adverse effects caused by the system coupling dynamics and the cantilever acceleration, which were not compensated for by the conventional AFM measurement approach. The proposed nanomechanical measurement approaches are demonstrated through experiments to measure the viscoelastic properties of different polymer samples in air and live human cells in liquid to study the variation of rate-dependent elastic modulus of cervix cancer cell during the epithelial-mesenchymal transition process.

Double-moment cloud microphysics scheme for the deep convection parameterization in the GFDL AM3

NASA Astrophysics Data System (ADS)

Belochitski, A.; Donner, L.

2014-12-01

A double-moment cloud microphysical scheme originally developed by Morrision and Gettelman (2008) for the stratiform clouds and later adopted for the deep convection by Song and Zhang (2011) has been implemented in to the Geophysical Fluid Dynamics Laboratory's atmospheric general circulation model AM3. The scheme treats cloud drop, cloud ice, rain, and snow number concentrations and mixing ratios as diagnostic variables and incorporates processes of autoconversion, self-collection, collection between hydrometeor species, sedimentation, ice nucleation, drop activation, homogeneous and heterogeneous freezing, and the Bergeron-Findeisen process. Such detailed representation of microphysical processes makes the scheme suitable for studying the interactions between aerosols and convection, as well as aerosols' indirect effects on clouds and their roles in climate change. The scheme is first tested in the single column version of the GFDL AM3 using forcing data obtained at the U.S. Department of Energy Atmospheric Radiation Measurment project's Southern Great Planes site. Scheme's impact on SCM simulations is discussed. As the next step, runs of the full atmospheric GCM incorporating the new parameterization are compared to the unmodified version of GFDL AM3. Global climatological fields and their variability are contrasted with those of the original version of the GCM. Impact on cloud radiative forcing and climate sensitivity is investigated.

Numerical Investigation of Two-Phase Flows With Charged Droplets in Electrostatic Field

NASA Technical Reports Server (NTRS)

Kim, Sang-Wook

1996-01-01

A numerical method to solve two-phase turbulent flows with charged droplets in an electrostatic field is presented. The ensemble-averaged Navier-Stokes equations and the electrostatic potential equation are solved using a finite volume method. The transitional turbulence field is described using multiple-time-scale turbulence equations. The equations of motion of droplets are solved using a Lagrangian particle tracking scheme, and the inter-phase momentum exchange is described by the Particle-In-Cell scheme. The electrostatic force caused by an applied electrical potential is calculated using the electrostatic field obtained by solving a Laplacian equation and the force exerted by charged droplets is calculated using the Coulombic force equation. The method is applied to solve electro-hydrodynamic sprays. The calculated droplet velocity distributions for droplet dispersions occurring in a stagnant surrounding are in good agreement with the measured data. For droplet dispersions occurring in a two-phase flow, the droplet trajectories are influenced by aerodynamic forces, the Coulombic force, and the applied electrostatic potential field.

An intelligent control scheme for precise tip-motion control in atomic force microscopy.

PubMed

Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

2016-01-01

The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

Control of a Robotic Hand Using a Tongue Control System-A Prosthesis Application.

PubMed

Johansen, Daniel; Cipriani, Christian; Popovic, Dejan B; Struijk, Lotte N S A

2016-07-01

The aim of this study was to investigate the feasibility of using an inductive tongue control system (ITCS) for controlling robotic/prosthetic hands and arms. This study presents a novel dual modal control scheme for multigrasp robotic hands combining standard electromyogram (EMG) with the ITCS. The performance of the ITCS control scheme was evaluated in a comparative study. Ten healthy subjects used both the ITCS control scheme and a conventional EMG control scheme to complete grasping exercises with the IH1 Azzurra robotic hand implementing five grasps. Time to activate a desired function or grasp was used as the performance metric. Statistically significant differences were found when comparing the performance of the two control schemes. On average, the ITCS control scheme was 1.15 s faster than the EMG control scheme, corresponding to a 35.4% reduction in the activation time. The largest difference was for grasp 5 with a mean AT reduction of 45.3% (2.38 s). The findings indicate that using the ITCS control scheme could allow for faster activation of specific grasps or functions compared with a conventional EMG control scheme. For transhumeral and especially bilateral amputees, the ITCS control scheme could have a significant impact on the prosthesis control. In addition, the ITCS would provide bilateral amputees with the additional advantage of environmental and computer control for which the ITCS was originally developed.

Bayesian calibration of coarse-grained forces: Efficiently addressing transferability

NASA Astrophysics Data System (ADS)

Patrone, Paul N.; Rosch, Thomas W.; Phelan, Frederick R.

2016-04-01

Generating and calibrating forces that are transferable across a range of state-points remains a challenging task in coarse-grained (CG) molecular dynamics. In this work, we present a coarse-graining workflow, inspired by ideas from uncertainty quantification and numerical analysis, to address this problem. The key idea behind our approach is to introduce a Bayesian correction algorithm that uses functional derivatives of CG simulations to rapidly and inexpensively recalibrate initial estimates f0 of forces anchored by standard methods such as force-matching. Taking density-temperature relationships as a running example, we demonstrate that this algorithm, in concert with various interpolation schemes, can be used to efficiently compute physically reasonable force curves on a fine grid of state-points. Importantly, we show that our workflow is robust to several choices available to the modeler, including the interpolation schemes and tools used to construct f0. In a related vein, we also demonstrate that our approach can speed up coarse-graining by reducing the number of atomistic simulations needed as inputs to standard methods for generating CG forces.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

PubMed

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

Proteus: a direct forcing method in the simulations of particulate flows

NASA Astrophysics Data System (ADS)

Feng, Zhi-Gang; Michaelides, Efstathios E.

2005-01-01

A new and efficient direct numerical method for the simulation of particulate flows is introduced. The method combines desired elements of the immersed boundary method, the direct forcing method and the lattice Boltzmann method. Adding a forcing term in the momentum equation enforces the no-slip condition on the boundary of a moving particle. By applying the direct forcing scheme, Proteus eliminates the need for the determination of free parameters, such as the stiffness coefficient in the penalty scheme or the two relaxation parameters in the adaptive-forcing scheme. The method presents a significant improvement over the previously introduced immersed-boundary-lattice-Boltzmann method (IB-LBM) where the forcing term was computed using a penalty method and a user-defined parameter. The method allows the enforcement of the rigid body motion of a particle in a more efficient way. Compared to the "bounce-back" scheme used in the conventional LBM, the direct-forcing method provides a smoother computational boundary for particles and is capable of achieving results at higher Reynolds number flows. By using a set of Lagrangian points to track the boundary of a particle, Proteus eliminates any need for the determination of the boundary nodes that are prescribed by the "bounce-back" scheme at every time step. It also makes computations for particles of irregular shapes simpler and more efficient. Proteus has been developed in two- as well as three-dimensions. This new method has been validated by comparing its results with those from experimental measurements for a single sphere settling in an enclosure under gravity. As a demonstration of the efficiency and capabilities of the present method, the settling of a large number (1232) of spherical particles is simulated in a narrow box under two different boundary conditions. It is found that when the no-slip boundary condition is imposed at the front and rear sides of the box the particles motion is significantly hindered. Under the periodic boundary conditions, the particles move faster. The simulations show that the sedimentation characteristics in a box with periodic boundary conditions at the two sides are very close to those found in the sedimentation of two-dimensional circular particles. In the Greek mythology Proteus is a hero, the son of Poseidon. In addition to his ability to change shapes and take different forms at will, Zeus granted him the power to make correct predictions for the future. One cannot expect better attributes from a numerical code.

Robust H∞ cost guaranteed integral sliding mode control for the synchronization problem of nonlinear tele-operation system with variable time-delay.

PubMed

Al-Wais, Saba; Khoo, Suiyang; Lee, Tae Hee; Shanmugam, Lakshmanan; Nahavandi, Saeid

2018-01-01

This paper is devoted to the synchronization problem of tele-operation systems with time-varying delay, disturbances, and uncertainty. Delay-dependent sufficient conditions for the existence of integral sliding surfaces are given in the form of Linear Matrix Inequalities (LMIs). This guarantees the global stability of the tele-operation system with known upper bounds of the time-varying delays. Unlike previous work, in this paper, the controller gains are designed but not chosen, which increases the degree of freedom of the design. Moreover, Wirtinger based integral inequality and reciprocally convex combination techniques used in the constructed Lypunove-Krasoviskii Functional (LKF) are deemed to give less conservative stability condition for the system. Furthermore, to relax the analysis from any assumptions regarding the dynamics of the environment and human operator forces, H ∞ design method is used to involve the dynamics of these forces and ensure the stability of the system against these admissible forces in the H ∞ sense. This design scheme combines the strong robustness of the sliding mode control with the H ∞ design method for tele-operation systems which is coupled using state feedback controllers and inherit variable time-delays in their communication channels. Simulation examples are given to show the effectiveness of the proposed method. Copyright © 2017 ISA. All rights reserved.

The ATP hydrolysis and phosphate release steps control the time course of force development in rabbit skeletal muscle.

PubMed

Sleep, John; Irving, Malcolm; Burton, Kevin

2005-03-15

The time course of isometric force development following photolytic release of ATP in the presence of Ca(2+) was characterized in single skinned fibres from rabbit psoas muscle. Pre-photolysis force was minimized using apyrase to remove contaminating ATP and ADP. After the initial force rise induced by ATP release, a rapid shortening ramp terminated by a step stretch to the original length was imposed, and the time course of the subsequent force redevelopment was again characterized. Force development after ATP release was accurately described by a lag phase followed by one or two exponential components. At 20 degrees C, the lag was 5.6 +/- 0.4 ms (s.e.m., n = 11), and the force rise was well fitted by a single exponential with rate constant 71 +/- 4 s(-1). Force redevelopment after shortening-restretch began from about half the plateau force level, and its single-exponential rate constant was 68 +/- 3 s(-1), very similar to that following ATP release. When fibres were activated by the addition of Ca(2+) in ATP-containing solution, force developed more slowly, and the rate constant for force redevelopment following shortening-restretch reached a maximum value of 38 +/- 4 s(-1) (n = 6) after about 6 s of activation. This lower value may be associated with progressive sarcomere disorder at elevated temperature. Force development following ATP release was much slower at 5 degrees C than at 20 degrees C. The rate constant of a single-exponential fit to the force rise was 4.3 +/- 0.4 s(-1) (n = 22), and this was again similar to that after shortening-restretch in the same activation at this temperature, 3.8 +/- 0.2 s(-1). We conclude that force development after ATP release and shortening-restretch are controlled by the same steps in the actin-myosin ATPase cycle. The present results and much previous work on mechanical-chemical coupling in muscle can be explained by a kinetic scheme in which force is generated by a rapid conformational change bracketed by two biochemical steps with similar rate constants -- ATP hydrolysis and the release of inorganic phosphate -- both of which combine to control the rate of force development.

Assembling mesoscopic particles by various optical schemes

NASA Astrophysics Data System (ADS)

Fournier, Jean-Marc; Rohner, Johann; Jacquot, Pierre; Johann, Robert; Mias, Solon; Salathé, René-P.

2005-08-01

Shaping optical fields is the key issue in the control of optical forces that pilot the manipulation of mesoscopic polarizable dielectric particles. The latter can be positioned according to endless configurations. The scope of this paper is to review and discuss several unusual designs which produce what we think are among some of the most interesting arrangements. The simplest schemes result from interference between two or several coherent light beams, leading to periodic as well as pseudo-periodic arrays of optical traps. Complex assemblages of traps can be created with holographic-type set-ups; this case is widely used by the trapping community. Clusters of traps can also be configured through interferometric-type set-ups or by generating external standing waves by diffractive elements. The particularly remarkable possibilities of the Talbot effect to generate three-dimensional optical lattices and several schemes of self-organization represent further very interesting means for trapping. They will also be described and discussed. in this paper. The mechanisms involved in those trapping schemes do not require the use of high numerical aperture optics; by avoiding the need for bulky microscope objectives, they allow for more physical space around the trapping area to perform experiments. Moreover, very large regular arrays of traps can be manufactured, opening numerous possibilities for new applications.

Passive and active vibration isolation systems using inerter

NASA Astrophysics Data System (ADS)

Alujević, N.; Čakmak, D.; Wolf, H.; Jokić, M.

2018-03-01

This paper presents a theoretical study on passive and active vibration isolation schemes using inerter elements in a two degree of freedom (DOF) mechanical system. The aim of the work is to discuss basic capabilities and limitations of the vibration control systems at hand using simple and physically transparent models. Broad frequency band dynamic excitation of the source DOF is assumed. The purpose of the isolator system is to prevent vibration transmission to the receiving DOF. The frequency averaged kinetic energy of the receiving mass is used as the metric for vibration isolation quality. It is shown that the use of inerter element in the passive vibration isolation scheme can enhance the isolation effect. In the active case, a feedback disturbance rejection scheme is considered. Here, the error signal is the receiving body absolute velocity which is directly fed to a reactive force actuator between the source and the receiving bodies. In such a scheme, the so-called subcritical vibration isolation problems exist. These problems are characterised by the uncoupled natural frequency of the receiving body larger than the uncoupled natural frequency of the source body. In subcritical vibration isolation problems, the performance of the active control is limited by poor stability margins. This is because the stable feedback gain is restricted in a narrow range between a minimum and a maximum. However, with the inclusion of an inerter in the isolator, one of the two stability margins can be opened. This enables large, theoretically unlimited negative feedback gains and large active damping of the receiving body vibration. A simple expression for the required inertance is derived.

Sliding mode controller for a photovoltaic pumping system

NASA Astrophysics Data System (ADS)

ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

2017-03-01

In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

Novel Straight Road Driving Control of Power Assisted Wheelchair Based on Disturbance Estimation of Right and Left Wheels

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Sugimoto, Takeaki; Tadakuma, Susumu

This paper describes a novel straight road driving control scheme of power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people. The straight driving can be prevented by the road conditions such as branches, grass and carpets because the right and left wheels drive independently. This paper proposes a straight road driving control system based on the disturbance torque estimation. The proposed system estimates the difference of the driving torque by disturbance torque observer and compensates to one side of the wheels. Some practical driving experiments on various road conditions show the effectiveness of the proposed control system.

A nominally second-order cell-centered Lagrangian scheme for simulating elastic-plastic flows on two-dimensional unstructured grids

NASA Astrophysics Data System (ADS)

Maire, Pierre-Henri; Abgrall, Rémi; Breil, Jérôme; Loubère, Raphaël; Rebourcet, Bernard

2013-02-01

In this paper, we describe a cell-centered Lagrangian scheme devoted to the numerical simulation of solid dynamics on two-dimensional unstructured grids in planar geometry. This numerical method, utilizes the classical elastic-perfectly plastic material model initially proposed by Wilkins [M.L. Wilkins, Calculation of elastic-plastic flow, Meth. Comput. Phys. (1964)]. In this model, the Cauchy stress tensor is decomposed into the sum of its deviatoric part and the thermodynamic pressure which is defined by means of an equation of state. Regarding the deviatoric stress, its time evolution is governed by a classical constitutive law for isotropic material. The plasticity model employs the von Mises yield criterion and is implemented by means of the radial return algorithm. The numerical scheme relies on a finite volume cell-centered method wherein numerical fluxes are expressed in terms of sub-cell force. The generic form of the sub-cell force is obtained by requiring the scheme to satisfy a semi-discrete dissipation inequality. Sub-cell force and nodal velocity to move the grid are computed consistently with cell volume variation by means of a node-centered solver, which results from total energy conservation. The nominally second-order extension is achieved by developing a two-dimensional extension in the Lagrangian framework of the Generalized Riemann Problem methodology, introduced by Ben-Artzi and Falcovitz [M. Ben-Artzi, J. Falcovitz, Generalized Riemann Problems in Computational Fluid Dynamics, Cambridge Monogr. Appl. Comput. Math. (2003)]. Finally, the robustness and the accuracy of the numerical scheme are assessed through the computation of several test cases.

Magnetic-Force-Assisted Straightening of Bent Mild Steel Strip by Laser Irradiation

NASA Astrophysics Data System (ADS)

Dutta, Polash P.; Kalita, Karuna; Dixit, Uday S.; Liao, Hengcheng

2017-12-01

This study proposes a technique to straighten bent metallic strips with magnetic-force-assisted laser irradiation. Experiments were conducted for three different types of mechanically-bent mild strips. The first type was bent strips without any heat treatment. The second type was stress-relieved and third type was subcritical-annealed bent strips. These strips were straightened following different schemes of laser irradiation sequence to understand the performance of straightening. A parametric study was conducted by varying laser power and scanning speed. Micro-hardness, tensile test, Charpy impact test and microstructure after straightening were also studied. Different scanning schemes provided different microstructures and mechanical properties. Any serious deterioration in the quality of straightened strips was not noticed. Overall, subcritical-annealed bent strips provided the best performance in straightening. The proposed straightening scheme has potential of becoming an industrial practice.

Implicit Incompressible SPH.

PubMed

Ihmsen, Markus; Cornelis, Jens; Solenthaler, Barbara; Horvath, Christopher; Teschner, Matthias

2013-07-25

We propose a novel formulation of the projection method for Smoothed Particle Hydrodynamics (SPH). We combine a symmetric SPH pressure force and an SPH discretization of the continuity equation to obtain a discretized form of the pressure Poisson equation (PPE). In contrast to previous projection schemes, our system does consider the actual computation of the pressure force. This incorporation improves the convergence rate of the solver. Furthermore, we propose to compute the density deviation based on velocities instead of positions as this formulation improves the robustness of the time-integration scheme. We show that our novel formulation outperforms previous projection schemes and state-of-the-art SPH methods. Large time steps and small density deviations of down to 0.01% can be handled in typical scenarios. The practical relevance of the approach is illustrated by scenarios with up to 40 million SPH particles.

Implicit incompressible SPH.

PubMed

Ihmsen, Markus; Cornelis, Jens; Solenthaler, Barbara; Horvath, Christopher; Teschner, Matthias

2014-03-01

We propose a novel formulation of the projection method for Smoothed Particle Hydrodynamics (SPH). We combine a symmetric SPH pressure force and an SPH discretization of the continuity equation to obtain a discretized form of the pressure Poisson equation (PPE). In contrast to previous projection schemes, our system does consider the actual computation of the pressure force. This incorporation improves the convergence rate of the solver. Furthermore, we propose to compute the density deviation based on velocities instead of positions as this formulation improves the robustness of the time-integration scheme. We show that our novel formulation outperforms previous projection schemes and state-of-the-art SPH methods. Large time steps and small density deviations of down to 0.01 percent can be handled in typical scenarios. The practical relevance of the approach is illustrated by scenarios with up to 40 million SPH particles.

Dynamic Stability and Gravitational Balancing of Multiple Extended Bodies

NASA Technical Reports Server (NTRS)

Quadrelli, Marco

2008-01-01

Feasibility of a non-invasive compensation scheme was analyzed for precise positioning of a massive extended body in free fall using gravitational forces influenced by surrounding source masses in close proximity. The N-body problem of classical mechanics is a paradigm used to gain insight into the physics of the equivalent N-body problem subject to control forces. The analysis addressed how a number of control masses move around the proof mass so that the proof mass position can be accurately and remotely compensated when exogenous disturbances are acting on it, while its sensitivity to gravitational waves remains unaffected. Past methods to correct the dynamics of the proof mass have considered active electrostatic or capacitive methods, but the possibility of stray capacitances on the surfaces of the proof mass have prompted the investigation of other alternatives, such as the method presented in this paper. While more rigorous analyses of the problem should be carried out, the data show that, by means of a combined feedback and feed-forward control approach, the control masses succeeded in driving the proof mass along the specified trajectory, which implies that the proof mass can, in principle, be balanced via gravitational forces only while external perturbations are acting on it. This concept involves the dynamic stability of a group of massive objects interacting gravitationally under active control, and can apply to drag-free control of spacecraft during missions, to successor gravitational wave space borne sensors, or to any application requiring flying objects to be precisely controlled in position and attitude relative to another body via gravitational interactions only.

Development of Magnetorheological Resistive Exercise Device for Rowing Machine

PubMed Central

Žiliukas, Pranas

2016-01-01

Training equipment used by professional sportsmen has a great impact on their sport performance. Most universal exercisers may help only to improve the general physical condition due to the specific kinematics and peculiar resistance generated by their loading units. Training of effective techniques and learning of psychomotor skills are possible only when exercisers conform to the movements and resistance typical for particular sports kinematically and dynamically. Methodology of developing a magnetorheological resistive exercise device for generating the desired law of passive resistance force and its application in a lever-type rowing machine are described in the paper. The structural parameters of a controllable hydraulic cylinder type device were found by means of the computational fluid dynamics simulation performed by ANSYS CFX software. Parameters describing the magnetorheological fluid as non-Newtonian were determined by combining numerical and experimental research of the resistance force generated by the original magnetorheological damper. A structural scheme of the device control system was developed and the variation of the strength of magnetic field that affects the magnetorheological fluid circulating in the device was determined, ensuring a variation of the resistance force on the oar handle adequate for the resistance that occurs during a real boat rowing stroke. PMID:27293479

Development of Magnetorheological Resistive Exercise Device for Rowing Machine.

PubMed

Grigas, Vytautas; Šulginas, Anatolijus; Žiliukas, Pranas

2015-01-01

Training equipment used by professional sportsmen has a great impact on their sport performance. Most universal exercisers may help only to improve the general physical condition due to the specific kinematics and peculiar resistance generated by their loading units. Training of effective techniques and learning of psychomotor skills are possible only when exercisers conform to the movements and resistance typical for particular sports kinematically and dynamically. Methodology of developing a magnetorheological resistive exercise device for generating the desired law of passive resistance force and its application in a lever-type rowing machine are described in the paper. The structural parameters of a controllable hydraulic cylinder type device were found by means of the computational fluid dynamics simulation performed by ANSYS CFX software. Parameters describing the magnetorheological fluid as non-Newtonian were determined by combining numerical and experimental research of the resistance force generated by the original magnetorheological damper. A structural scheme of the device control system was developed and the variation of the strength of magnetic field that affects the magnetorheological fluid circulating in the device was determined, ensuring a variation of the resistance force on the oar handle adequate for the resistance that occurs during a real boat rowing stroke.

Prototype Control System for Compensation of Superconducting Cavities Detuning Using Piezoelectric Actuators

NASA Astrophysics Data System (ADS)

Przygoda, K.; Piotrowski, A.; Jablonski, G.; Makowski, D.; Pozniak, T.; Napieralski, A.

2009-08-01

Pulsed operation of high gradient superconducting radio frequency (SCRF) cavities results in dynamic Lorentz force detuning (LFD) approaching or exceeding the bandwidth of the cavity of order of a few hundreds of Hz. The resulting modulation of the resonance frequency of the cavity is leading to a perturbation of the amplitude and phase of the accelerating field, which can be controlled only at the expense of RF power. Presently, at various labs, a piezoelectric fast tuner based on an active compensation scheme for the resonance frequency control of the cavity is under study. The tests already performed in the Free Electron Laser in Hamburg (FLASH), proved the possibility of Lorentz force detuning compensation by the means of the piezo element excited with the single period of sine wave prior to the RF pulse. The X-Ray Free Electron Laser (X-FEL) accelerator, which is now under development in Deutsche Elektronen-Synchrotron (DESY), will consists of around 800 cavities with a fast tuner fixture including the actuator/sensor configuration. Therefore, it is necessary to design a distributed control system which would be able to supervise around 25 RF stations, each one comprised of 32 cavities. The Advanced Telecomunications Computing Architecture (ATCA) was chosen to design, develop, and build a Low Level Radio Frequency (LLRF) controller for X-FEL. The prototype control system for Lorentz force detuning compensation was designed and developed. The control applications applied in the system were fitted to the main framework of interfaces and communication protocols proposed for the ATCA-based LLRF control system. The paper presents the general view of a designed control system and shows the first experimental results from the tests carried out in FLASH facility. Moreover, the possibilities for integration of the piezo control system to the ATCA standards are discussed.

Inverse simulation system for evaluating handling qualities during rendezvous and docking

NASA Astrophysics Data System (ADS)

Zhou, Wanmeng; Wang, Hua; Thomson, Douglas; Tang, Guojin; Zhang, Fan

2017-08-01

The traditional method used for handling qualities assessment of manned space vehicles is too time-consuming to meet the requirements of an increasingly fast design process. In this study, a rendezvous and docking inverse simulation system to assess the handling qualities of spacecraft is proposed using a previously developed model-predictive-control architecture. By considering the fixed discrete force of the thrusters of the system, the inverse model is constructed using the least squares estimation method with a hyper-ellipsoidal restriction, the continuous control outputs of which are subsequently dispersed by pulse width modulation with sensitivity factors introduced. The inputs in every step are deemed constant parameters, and the method could be considered as a general method for solving nominal, redundant, and insufficient inverse problems. The rendezvous and docking inverse simulation is applied to a nine-degrees-of-freedom platform, and a novel handling qualities evaluation scheme is established according to the operation precision and astronauts' workload. Finally, different nominal trajectories are scored by the inverse simulation and an established evaluation scheme. The scores can offer theoretical guidance for astronaut training and more complex operation missions.

Reliability-based optimization of an active vibration controller using evolutionary algorithms

NASA Astrophysics Data System (ADS)

Saraygord Afshari, Sajad; Pourtakdoust, Seid H.

2017-04-01

Many modern industrialized systems such as aircrafts, rotating turbines, satellite booms, etc. cannot perform their desired tasks accurately if their uninhibited structural vibrations are not controlled properly. Structural health monitoring and online reliability calculations are emerging new means to handle system imposed uncertainties. As stochastic forcing are unavoidable, in most engineering systems, it is often needed to take them into the account for the control design process. In this research, smart material technology is utilized for structural health monitoring and control in order to keep the system in a reliable performance range. In this regard, a reliability-based cost function is assigned for both controller gain optimization as well as sensor placement. The proposed scheme is implemented and verified for a wing section. Comparison of results for the frequency responses is considered to show potential applicability of the presented technique.

Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

NASA Astrophysics Data System (ADS)

Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

2018-03-01

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

Exploring the free-energy landscape of a short peptide using an average force

NASA Astrophysics Data System (ADS)

Chipot, Christophe; Hénin, Jérôme

2005-12-01

The reversible folding of deca-alanine is chosen as a test case for characterizing a method that uses an adaptive biasing force (ABF) to escape from the minima and overcome the barriers of the free-energy landscape. This approach relies on the continuous estimation of a biasing force that yields a Hamiltonian in which no average force is exerted along the ordering parameter ξ. Optimizing the parameters that control how the ABF is applied, the method is shown to be extremely effective when a nonequivocal ordering parameter can be defined to explore the folding pathway of the peptide. Starting from a β-turn motif and restraining ξ to a region of the conformational space that extends from the α-helical state to an ensemble of extended structures, the ABF scheme is successful in folding the peptide chain into a compact α helix. Sampling of this conformation is, however, marginal when the range of ξ values embraces arrangements of greater compactness, hence demonstrating the inherent limitations of free-energy methods when ambiguous ordering parameters are utilized.

Modelling of the Human Knee Joint Supported by Active Orthosis

NASA Astrophysics Data System (ADS)

Musalimov, V.; Monahov, Y.; Tamre, M.; Rõbak, D.; Sivitski, A.; Aryassov, G.; Penkov, I.

2018-02-01

The article discusses motion of a healthy knee joint in the sagittal plane and motion of an injured knee joint supported by an active orthosis. A kinematic scheme of a mechanism for the simulation of a knee joint motion is developed and motion of healthy and injured knee joints are modelled in Matlab. Angles between links, which simulate the femur and tibia are controlled by Simulink block of Model predictive control (MPC). The results of simulation have been compared with several samples of real motion of the human knee joint obtained from motion capture systems. On the basis of these analyses and also of the analysis of the forces in human lower limbs created at motion, an active smart orthosis is developed. The orthosis design was optimized to achieve an energy saving system with sufficient anatomy, necessary reliability, easy exploitation and low cost. With the orthosis it is possible to unload the knee joint, and also partially or fully compensate muscle forces required for the bending of the lower limb.

Physics-based elastic image registration using splines and including landmark localization uncertainties.

PubMed

Wörz, Stefan; Rohr, Karl

2006-01-01

We introduce an elastic registration approach which is based on a physical deformation model and uses Gaussian elastic body splines (GEBS). We formulate an extended energy functional related to the Navier equation under Gaussian forces which also includes landmark localization uncertainties. These uncertainties are characterized by weight matrices representing anisotropic errors. Since the approach is based on a physical deformation model, cross-effects in elastic deformations can be taken into account. Moreover, we have a free parameter to control the locality of the transformation for improved registration of local geometric image differences. We demonstrate the applicability of our scheme based on 3D CT images from the Truth Cube experiment, 2D MR images of the brain, as well as 2D gel electrophoresis images. It turns out that the new scheme achieves more accurate results compared to previous approaches.

[Incentive for Regional Risk Selection in the German Risk Structure Compensation Scheme].

PubMed

Wende, Danny

2017-10-01

The introduction of the new law GKV-FQWG strengthens the competition between statutory health insurance. If incentives for risk selection exist, they may force a battle for cheap customers. This study aims to document and discuss incentives for regional risk selection in the German risk structure compensation scheme. Identify regional autocorrelation with Moran's l on financial parameters of the risk structure compensation schema. Incentives for regional risk selection do indeed exist. The risk structure compensation schema reduces 91% of the effect and helps to reduce risk selection. Nevertheless, a connection between regional situation and competition could be shown (correlation: 69.5%). Only the integration of regional control variables into the risk compensation eliminates regional autocorrelation. The actual risk structure compensation is leading to regional inequalities and as a consequence to risk selection and distortion in competition. © Georg Thieme Verlag KG Stuttgart · New York.

Synchronization of chaotic and nonchaotic oscillators: Application to bipolar disorder

NASA Astrophysics Data System (ADS)

Nono Dueyou Buckjohn, C.; Siewe Siewe, M.; Tchawoua, C.; Kofane, T. C.

2010-08-01

In this Letter, we use a synchronization scheme on two bipolar disorder models consisting of a strong nonlinear system with multiplicative excitation and a nonlinear oscillator without parametric harmonic forcing. The stability condition following our control function is analytically demonstrated using the Lyapunov theory and Routh-Hurwitz criteria, we then have the condition for the existence of a feedback gain matrix. A convenient demonstration of the accuracy of the method is complemented by the numerical simulations from which we illustrate the synchronized dynamics between the two non-identical bipolar disorder patients.

Rapid flow fractionation of particles combining liquid and particulate dielectrophoresis

NASA Technical Reports Server (NTRS)

King, Michael R. (Inventor); Lomakin, Oleg (Inventor); Jones, Thomas B. (Inventor); Ahmed, Rajib (Inventor)

2007-01-01

Rapid, size-based, deposition of particles from liquid suspension is accomplished using a nonuniform electric field created by coplanar microelectrode strips patterned on an insulating substrate. The scheme uses the dielectrophoretic force both to distribute aqueous liquid containing particles and, simultaneously, to separate the particles. Size-based separation is found within nanoliter droplets formed along the structure after voltage removal. Bioparticles or macromolecules of similar size can also be separated based on subtle differences in dielectric property, by controlling the frequency of the AC current supplied to the electrodes.

Quaternion normalization in additive EKF for spacecraft attitude determination. [Extended Kalman Filters

NASA Technical Reports Server (NTRS)

Bar-Itzhack, I. Y.; Deutschmann, J.; Markley, F. L.

1991-01-01

This work introduces, examines and compares several quaternion normalization algorithms, which are shown to be an effective stage in the application of the additive extended Kalman filter to spacecraft attitude determination, which is based on vector measurements. Three new normalization schemes are introduced. They are compared with one another and with the known brute force normalization scheme, and their efficiency is examined. Simulated satellite data are used to demonstate the performance of all four schemes.

Press touch code: A finger press based screen size independent authentication scheme for smart devices.

PubMed

Ranak, M S A Noman; Azad, Saiful; Nor, Nur Nadiah Hanim Binti Mohd; Zamli, Kamal Z

2017-01-01

Due to recent advancements and appealing applications, the purchase rate of smart devices is increasing at a higher rate. Parallely, the security related threats and attacks are also increasing at a greater ratio on these devices. As a result, a considerable number of attacks have been noted in the recent past. To resist these attacks, many password-based authentication schemes are proposed. However, most of these schemes are not screen size independent; whereas, smart devices come in different sizes. Specifically, they are not suitable for miniature smart devices due to the small screen size and/or lack of full sized keyboards. In this paper, we propose a new screen size independent password-based authentication scheme, which also offers an affordable defense against shoulder surfing, brute force, and smudge attacks. In the proposed scheme, the Press Touch (PT)-a.k.a., Force Touch in Apple's MacBook, Apple Watch, ZTE's Axon 7 phone; 3D Touch in iPhone 6 and 7; and so on-is transformed into a new type of code, named Press Touch Code (PTC). We design and implement three variants of it, namely mono-PTC, multi-PTC, and multi-PTC with Grid, on the Android Operating System. An in-lab experiment and a comprehensive survey have been conducted on 105 participants to demonstrate the effectiveness of the proposed scheme.

Press touch code: A finger press based screen size independent authentication scheme for smart devices

PubMed Central

Ranak, M. S. A. Noman; Nor, Nur Nadiah Hanim Binti Mohd; Zamli, Kamal Z.

2017-01-01

Due to recent advancements and appealing applications, the purchase rate of smart devices is increasing at a higher rate. Parallely, the security related threats and attacks are also increasing at a greater ratio on these devices. As a result, a considerable number of attacks have been noted in the recent past. To resist these attacks, many password-based authentication schemes are proposed. However, most of these schemes are not screen size independent; whereas, smart devices come in different sizes. Specifically, they are not suitable for miniature smart devices due to the small screen size and/or lack of full sized keyboards. In this paper, we propose a new screen size independent password-based authentication scheme, which also offers an affordable defense against shoulder surfing, brute force, and smudge attacks. In the proposed scheme, the Press Touch (PT)—a.k.a., Force Touch in Apple’s MacBook, Apple Watch, ZTE’s Axon 7 phone; 3D Touch in iPhone 6 and 7; and so on—is transformed into a new type of code, named Press Touch Code (PTC). We design and implement three variants of it, namely mono-PTC, multi-PTC, and multi-PTC with Grid, on the Android Operating System. An in-lab experiment and a comprehensive survey have been conducted on 105 participants to demonstrate the effectiveness of the proposed scheme. PMID:29084262

New horizons for orthotic and prosthetic technology: artificial muscle for ambulation

NASA Astrophysics Data System (ADS)

Herr, Hugh M.; Kornbluh, Roy D.

2004-07-01

The rehabilitation community is at the threshold of a new age in which orthotic and prosthetic devices will no longer be separate, lifeless mechanisms, but intimate extensions of the human body-structurally, neurologically, and dynamically. In this paper we discuss scientific and technological advances that promise to accelerate the merging of body and machine, including the development of actuator technologies that behave like muscle and control methodologies that exploit principles of biological movement. We present a state-of-the-art device for leg rehabilitation: a powered ankle-foot orthosis for stroke, cerebral palsy, or multiple sclerosis patients. The device employs a forcecontrollable actuator and a biomimetic control scheme that automatically modulates ankle impedance and motive torque to satisfy patient-specific gait requirements. Although the device has some clinical benefits, problems still remain. The force-controllable actuator comprises an electric motor and a mechanical transmission, resulting in a heavy, bulky, and noisy mechanism. As a resolution of this difficulty, we argue that electroactive polymer-based artificial muscle technologies may offer considerable advantages to the physically challenged, allowing for joint impedance and motive force controllability, noise-free operation, and anthropomorphic device morphologies.

Novel Control Scheme of Power Assisted Wheelchair for Preventing Overturn (Part II)-Variable Assistance Ratio Control Based on Estimation of Center-of-Gravity Angle and Phase Plane-

NASA Astrophysics Data System (ADS)

Hata, Naoki; Seki, Hirokazu; Koyasu, Yuichi; Hori, Yoichi

Aged people and disabled people who have difficulty in walking are increasing. As one of mobility support, significance of a power assisted wheelchair which assists driving force using electric motors and spreads their living areas has been enhanced. However, the increased driving force often causes a dangerous overturn of wheelchair. This paper proposes a novel control method to prevent power assisted wheelchair from overturning. The man-wheelchair system can be regarded as an inverse pendulum model when the front wheels are rising. The center-of-gravity (COG) angle of the model is the most important information directly-linked to overturn. Behavior of the system can be analyzed using phase plane as shown in this paper. The COG angle cannot be directly measured using a sensor, therefore, COG observer based on its velocity is proposed. On the basis of the analysis on phase plane, a novel control method with variable assistance ratio to prevent a dangerous overturn is proposed. The effectiveness of the proposed method is verified by the practical experiments on the flat ground and uphill slope.

A novel stiffness control method for series elastic actuator

NASA Astrophysics Data System (ADS)

Lin, Guangmo; Zhao, Xingang; Han, Jianda

2017-01-01

Compliance plays an important role in human-robot cooperation. However, fixed compliance, or fixed stiffness, is difficult to meet the growing needs of human machine collaboration. As a result, the robot actuator is demanded to be able to adjust its stiffness. This paper presents a stiffness control scheme for a single DOF series elastic actuator (SEA) with a linear spring mounted in series in the mechanism. In this proposed method, the output angle of the spring is measured and used to calculate the input angle of the spring, thus the equivalent stiffness of the robot actuator revealed to the human operator can be rendered in accordance to the desired stiffness. Since the techniques used in this method only involve the position information of the system, there is no need to install an expensive force/torque sensor on the actuator. Further, the force/torque produced by the actuator can be estimated by simply multiplying the deformation angle of the spring and its constant stiffness coefficient. The analysis of the stiffness controller is provided. Then a simulation that emulates a human operates the SEA while the stiffness controller is running is carried out and the results also validate the proposed method.

The compensatory interaction between motor unit firing behavior and muscle force during fatigue

PubMed Central

De Luca, Carlo J.; Kline, Joshua C.

2016-01-01

Throughout the literature, different observations of motor unit firing behavior during muscle fatigue have been reported and explained with varieties of conjectures. The disagreement amongst previous studies has resulted, in part, from the limited number of available motor units and from the misleading practice of grouping motor unit data across different subjects, contractions, and force levels. To establish a more clear understanding of motor unit control during fatigue, we investigated the firing behavior of motor units from the vastus lateralis muscle of individual subjects during a fatigue protocol of repeated voluntary constant force isometric contractions. Surface electromyographic decomposition technology provided the firings of 1,890 motor unit firing trains. These data revealed that to sustain the contraction force as the muscle fatigued, the following occurred: 1) motor unit firing rates increased; 2) new motor units were recruited; and 3) motor unit recruitment thresholds decreased. Although the degree of these adaptations was subject specific, the behavior was consistent in all subjects. When we compared our empirical observations with those obtained from simulation, we found that the fatigue-induced changes in motor unit firing behavior can be explained by increasing excitation to the motoneuron pool that compensates for the fatigue-induced decrease in muscle force twitch reported in empirical studies. Yet, the fundamental motor unit control scheme remains invariant throughout the development of fatigue. These findings indicate that the central nervous system regulates motor unit firing behavior by adjusting the operating point of the excitation to the motoneuron pool to sustain the contraction force as the muscle fatigues. PMID:27385798

The compensatory interaction between motor unit firing behavior and muscle force during fatigue.

PubMed

Contessa, Paola; De Luca, Carlo J; Kline, Joshua C

2016-10-01

Throughout the literature, different observations of motor unit firing behavior during muscle fatigue have been reported and explained with varieties of conjectures. The disagreement amongst previous studies has resulted, in part, from the limited number of available motor units and from the misleading practice of grouping motor unit data across different subjects, contractions, and force levels. To establish a more clear understanding of motor unit control during fatigue, we investigated the firing behavior of motor units from the vastus lateralis muscle of individual subjects during a fatigue protocol of repeated voluntary constant force isometric contractions. Surface electromyographic decomposition technology provided the firings of 1,890 motor unit firing trains. These data revealed that to sustain the contraction force as the muscle fatigued, the following occurred: 1) motor unit firing rates increased; 2) new motor units were recruited; and 3) motor unit recruitment thresholds decreased. Although the degree of these adaptations was subject specific, the behavior was consistent in all subjects. When we compared our empirical observations with those obtained from simulation, we found that the fatigue-induced changes in motor unit firing behavior can be explained by increasing excitation to the motoneuron pool that compensates for the fatigue-induced decrease in muscle force twitch reported in empirical studies. Yet, the fundamental motor unit control scheme remains invariant throughout the development of fatigue. These findings indicate that the central nervous system regulates motor unit firing behavior by adjusting the operating point of the excitation to the motoneuron pool to sustain the contraction force as the muscle fatigues. Copyright © 2016 the American Physiological Society.

Dynamic model of the octopus arm. I. Biomechanics of the octopus reaching movement.

PubMed

Yekutieli, Yoram; Sagiv-Zohar, Roni; Aharonov, Ranit; Engel, Yaakov; Hochner, Binyamin; Flash, Tamar

2005-08-01

The octopus arm requires special motor control schemes because it consists almost entirely of muscles and lacks a rigid skeletal support. Here we present a 2D dynamic model of the octopus arm to explore possible strategies of movement control in this muscular hydrostat. The arm is modeled as a multisegment structure, each segment containing longitudinal and transverse muscles and maintaining a constant volume, a prominent feature of muscular hydrostats. The input to the model is the degree of activation of each of its muscles. The model includes the external forces of gravity, buoyancy, and water drag forces (experimentally estimated here). It also includes the internal forces generated by the arm muscles and the forces responsible for maintaining a constant volume. Using this dynamic model to investigate the octopus reaching movement and to explore the mechanisms of bend propagation that characterize this movement, we found the following. 1) A simple command producing a wave of muscle activation moving at a constant velocity is sufficient to replicate the natural reaching movements with similar kinematic features. 2) The biomechanical mechanism that produces the reaching movement is a stiffening wave of muscle contraction that pushes a bend forward along the arm. 3) The perpendicular drag coefficient for an octopus arm is nearly 50 times larger than the tangential drag coefficient. During a reaching movement, only a small portion of the arm is oriented perpendicular to the direction of movement, thus minimizing the drag force.

Further Education and Training: A Comparison of Policy Models in Britain and Norway.

ERIC Educational Resources Information Center

Skinningsrud, Tone

1995-01-01

Compares public intervention schemes in Britain and Norway supporting participation of public educational institutions in the delivery of continuing labor force development and training. These schemes demonstrate that British policy is based on belief in free market principles, while Norwegian policy combines elements of consumer choice and legal…

Developing Empirical Lightning Cessation Forecast Guidance for the Cape Canaveral Air Force Station and Kennedy Space Center

NASA Technical Reports Server (NTRS)

Stano, Geoffrey T.; Fuelberg, Henry E.; Roeder, William P.

2010-01-01

This research addresses the 45th Weather Squadron's (45WS) need for improved guidance regarding lightning cessation at Cape Canaveral Air Force Station and Kennedy Space Center (KSC). KSC's Lightning Detection and Ranging (LDAR) network was the primary observational tool to investigate both cloud-to-ground and intracloud lightning. Five statistical and empirical schemes were created from LDAR, sounding, and radar parameters derived from 116 storms. Four of the five schemes were unsuitable for operational use since lightning advisories would be canceled prematurely, leading to safety risks to personnel. These include a correlation and regression tree analysis, three variants of multiple linear regression, event time trending, and the time delay between the greatest height of the maximum dBZ value to the last flash. These schemes failed to adequately forecast the maximum interval, the greatest time between any two flashes in the storm. The majority of storms had a maximum interval less than 10 min, which biased the schemes toward small values. Success was achieved with the percentile method (PM) by separating the maximum interval into percentiles for the 100 dependent storms.

Using fuzzy models in machining control system and assessment of sustainability

NASA Astrophysics Data System (ADS)

Grinek, A. V.; Boychuk, I. P.; Dantsevich, I. M.

2018-03-01

Description of the complex relationship of the optimum velocity with the temperature-strength state in the cutting zone for machining a fuzzy model is proposed. The fuzzy-logical conclusion allows determining the processing speed, which ensures effective, from the point of view of ensuring the quality of the surface layer, the temperature in the cutting zone and the maximum allowable cutting force. A scheme for stabilizing the temperature-strength state in the cutting zone using a nonlinear fuzzy PD–controller is proposed. The stability of the nonlinear system is estimated with the help of grapho–analytical realization of the method of harmonic balance and by modeling in MatLab.

Simulation of High-Latitude Hydrological Processes in the Torne-Kalix Basin: PILPS Phase 2(e). 3; Equivalent Model Representation and Sensitivity Experiments

NASA Technical Reports Server (NTRS)

Bowling, Laura C.; Lettenmaier, Dennis P.; Nijssen, Bart; Polcher, Jan; Koster, Randal D.; Lohmann, Dag; Houser, Paul R. (Technical Monitor)

2002-01-01

The Project for Intercomparison of Land Surface Parameterization Schemes (PILPS) Phase 2(e) showed that in cold regions the annual runoff production in Land Surface Schemes (LSSs) is closely related to the maximum snow accumulation, which in turn is controlled in large part by winter sublimation. To help further explain the relationship between snow cover, turbulent exchanges and runoff production, a simple equivalent model-(SEM) was devised to reproduce the seasonal and annual fluxes simulated by 13 LSSs that participated in PILPS Phase 2(e). The design of the SEM relates the annual partitioning of precipitation and energy in the LSSs to three primary parameters: snow albedo, effective aerodynamic resistance and evaporation efficiency. Isolation of each of the parameters showed that the annual runoff production was most sensitive to the aerodynamic resistance. The SEM was somewhat successful in reproducing the observed LSS response to a decrease in shortwave radiation and changes in wind speed forcings. SEM parameters derived from the reduced shortwave forcings suggested that increased winter stability suppressed turbulent heat fluxes over snow. Because winter sensible heat fluxes were largely negative, reductions in winter shortwave radiation imply an increase in annual average sensible heat.

Analysis of 3D poroelastodynamics using BEM based on modified time-step scheme

NASA Astrophysics Data System (ADS)

Igumnov, L. A.; Petrov, A. N.; Vorobtsov, I. V.

2017-10-01

The development of 3d boundary elements modeling of dynamic partially saturated poroelastic media using a stepping scheme is presented in this paper. Boundary Element Method (BEM) in Laplace domain and the time-stepping scheme for numerical inversion of the Laplace transform are used to solve the boundary value problem. The modified stepping scheme with a varied integration step for quadrature coefficients calculation using the symmetry of the integrand function and integral formulas of Strongly Oscillating Functions was applied. The problem with force acting on a poroelastic prismatic console end was solved using the developed method. A comparison of the results obtained by the traditional stepping scheme with the solutions obtained by this modified scheme shows that the computational efficiency is better with usage of combined formulas.

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles

NASA Astrophysics Data System (ADS)

Zhang, Jun; Simeonov, Anthony; Yip, Michael C.

2018-03-01

Robotic artificial muscles are compliant and can generate straight contractions. They are increasingly popular as driving mechanisms for robotic systems. However, their strain and tension force often vary simultaneously under varying loads and inputs, resulting in three-dimensional hysteretic relationships. The three-dimensional hysteresis in robotic artificial muscles poses difficulties in estimating how they work and how to make them perform designed motions. This study proposes an approach to driving robotic artificial muscles to generate designed motions and forces by modeling and compensating for their three-dimensional hysteresis. The proposed scheme captures the nonlinearity by embedding two hysteresis models. The effectiveness of the model is confirmed by testing three popular robotic artificial muscles. Inverting the proposed model allows us to compensate for the hysteresis among temperature surrogate, contraction length, and tension force of a shape memory alloy (SMA) actuator. Feedforward control of an SMA-actuated robotic bicep is demonstrated. This study can be generalized to other robotic artificial muscles, thus enabling muscle-powered machines to generate desired motions.

Stable optical trapping and sensitive characterization of nanostructures using standing-wave Raman tweezers

PubMed Central

Wu, Mu-ying; Ling, Dong-xiong; Ling, Lin; Li, William; Li, Yong-qing

2017-01-01

Optical manipulation and label-free characterization of nanoscale structures open up new possibilities for assembly and control of nanodevices and biomolecules. Optical tweezers integrated with Raman spectroscopy allows analyzing a single trapped particle, but is generally less effective for individual nanoparticles. The main challenge is the weak gradient force on nanoparticles that is insufficient to overcome the destabilizing effect of scattering force and Brownian motion. Here, we present standing-wave Raman tweezers for stable trapping and sensitive characterization of single isolated nanostructures with a low laser power by combining a standing-wave optical trap with confocal Raman spectroscopy. This scheme has stronger intensity gradients and balanced scattering forces, and thus can be used to analyze many nanoparticles that cannot be measured with single-beam Raman tweezers, including individual single-walled carbon nanotubes (SWCNT), graphene flakes, biological particles, SERS-active metal nanoparticles, and high-refractive semiconductor nanoparticles. This would enable sorting and characterization of specific SWCNTs and other nanoparticles based on their increased Raman fingerprints. PMID:28211526

The Adaptive Biasing Force Method: Everything You Always Wanted To Know but Were Afraid To Ask

PubMed Central

2014-01-01

In the host of numerical schemes devised to calculate free energy differences by way of geometric transformations, the adaptive biasing force algorithm has emerged as a promising route to map complex free-energy landscapes. It relies upon the simple concept that as a simulation progresses, a continuously updated biasing force is added to the equations of motion, such that in the long-time limit it yields a Hamiltonian devoid of an average force acting along the transition coordinate of interest. This means that sampling proceeds uniformly on a flat free-energy surface, thus providing reliable free-energy estimates. Much of the appeal of the algorithm to the practitioner is in its physically intuitive underlying ideas and the absence of any requirements for prior knowledge about free-energy landscapes. Since its inception in 2001, the adaptive biasing force scheme has been the subject of considerable attention, from in-depth mathematical analysis of convergence properties to novel developments and extensions. The method has also been successfully applied to many challenging problems in chemistry and biology. In this contribution, the method is presented in a comprehensive, self-contained fashion, discussing with a critical eye its properties, applicability, and inherent limitations, as well as introducing novel extensions. Through free-energy calculations of prototypical molecular systems, many methodological aspects are examined, from stratification strategies to overcoming the so-called hidden barriers in orthogonal space, relevant not only to the adaptive biasing force algorithm but also to other importance-sampling schemes. On the basis of the discussions in this paper, a number of good practices for improving the efficiency and reliability of the computed free-energy differences are proposed. PMID:25247823

Three-dimensional cascaded lattice Boltzmann method: Improved implementation and consistent forcing scheme

NASA Astrophysics Data System (ADS)

Fei, Linlin; Luo, Kai H.; Li, Qing

2018-05-01

The cascaded or central-moment-based lattice Boltzmann method (CLBM) proposed in [Phys. Rev. E 73, 066705 (2006), 10.1103/PhysRevE.73.066705] possesses very good numerical stability. However, two constraints exist in three-dimensional (3D) CLBM simulations. First, the conventional implementation for 3D CLBM involves cumbersome operations and requires much higher computational cost compared to the single-relaxation-time (SRT) LBM. Second, it is a challenge to accurately incorporate a general force field into the 3D CLBM. In this paper, we present an improved method to implement CLBM in 3D. The main strategy is to adopt a simplified central moment set and carry out the central-moment-based collision operator based on a general multi-relaxation-time (GMRT) framework. Next, the recently proposed consistent forcing scheme for CLBM [Fei and Luo, Phys. Rev. E 96, 053307 (2017), 10.1103/PhysRevE.96.053307] is extended to incorporate a general force field into 3D CLBM. Compared with the recently developed nonorthogonal CLBM [Rosis, Phys. Rev. E 95, 013310 (2017), 10.1103/PhysRevE.95.013310], our implementation is proved to reduce the computational cost significantly. The inconsistency of adopting the discrete equilibrium distribution functions in the nonorthogonal CLBM is analyzed and validated. The 3D CLBM developed here in conjunction with the consistent forcing scheme is verified through numerical simulations of several canonical force-driven flows, highlighting very good properties in terms of accuracy, convergence, and consistency with the nonslip rule. Finally, the techniques developed here for 3D CLBM can be applied to make the implementation and execution of 3D MRT-LBM more efficient.

LCP method for a planar passive dynamic walker based on an event-driven scheme

NASA Astrophysics Data System (ADS)

Zheng, Xu-Dong; Wang, Qi

2018-06-01

The main purpose of this paper is to present a linear complementarity problem (LCP) method for a planar passive dynamic walker with round feet based on an event-driven scheme. The passive dynamic walker is treated as a planar multi-rigid-body system. The dynamic equations of the passive dynamic walker are obtained by using Lagrange's equations of the second kind. The normal forces and frictional forces acting on the feet of the passive walker are described based on a modified Hertz contact model and Coulomb's law of dry friction. The state transition problem of stick-slip between feet and floor is formulated as an LCP, which is solved with an event-driven scheme. Finally, to validate the methodology, four gaits of the walker are simulated: the stance leg neither slips nor bounces; the stance leg slips without bouncing; the stance leg bounces without slipping; the walker stands after walking several steps.

LCP method for a planar passive dynamic walker based on an event-driven scheme

NASA Astrophysics Data System (ADS)

Zheng, Xu-Dong; Wang, Qi

2018-02-01

The main purpose of this paper is to present a linear complementarity problem (LCP) method for a planar passive dynamic walker with round feet based on an event-driven scheme. The passive dynamic walker is treated as a planar multi-rigid-body system. The dynamic equations of the passive dynamic walker are obtained by using Lagrange's equations of the second kind. The normal forces and frictional forces acting on the feet of the passive walker are described based on a modified Hertz contact model and Coulomb's law of dry friction. The state transition problem of stick-slip between feet and floor is formulated as an LCP, which is solved with an event-driven scheme. Finally, to validate the methodology, four gaits of the walker are simulated: the stance leg neither slips nor bounces; the stance leg slips without bouncing; the stance leg bounces without slipping; the walker stands after walking several steps.

FASTPM: a new scheme for fast simulations of dark matter and haloes

NASA Astrophysics Data System (ADS)

Feng, Yu; Chu, Man-Yat; Seljak, Uroš; McDonald, Patrick

2016-12-01

We introduce FASTPM, a highly scalable approximated particle mesh (PM) N-body solver, which implements the PM scheme enforcing correct linear displacement (1LPT) evolution via modified kick and drift factors. Employing a two-dimensional domain decomposing scheme, FASTPM scales extremely well with a very large number of CPUs. In contrast to Comoving-Lagrangian (COLA) approach, we do not require to split the force or track separately the 2LPT solution, reducing the code complexity and memory requirements. We compare FASTPM with different number of steps (Ns) and force resolution factor (B) against three benchmarks: halo mass function from friends-of-friends halo finder; halo and dark matter power spectrum; and cross-correlation coefficient (or stochasticity), relative to a high-resolution TREEPM simulation. We show that the modified time stepping scheme reduces the halo stochasticity when compared to COLA with the same number of steps and force resolution. While increasing Ns and B improves the transfer function and cross-correlation coefficient, for many applications FASTPM achieves sufficient accuracy at low Ns and B. For example, Ns = 10 and B = 2 simulation provides a substantial saving (a factor of 10) of computing time relative to Ns = 40, B = 3 simulation, yet the halo benchmarks are very similar at z = 0. We find that for abundance matched haloes the stochasticity remains low even for Ns = 5. FASTPM compares well against less expensive schemes, being only 7 (4) times more expensive than 2LPT initial condition generator for Ns = 10 (Ns = 5). Some of the applications where FASTPM can be useful are generating a large number of mocks, producing non-linear statistics where one varies a large number of nuisance or cosmological parameters, or serving as part of an initial conditions solver.

A nominally second-order cell-centered Lagrangian scheme for simulating elastic–plastic flows on two-dimensional unstructured grids

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

Maire, Pierre-Henri, E-mail: maire@celia.u-bordeaux1.fr; Abgrall, Rémi, E-mail: remi.abgrall@math.u-bordeau1.fr; Breil, Jérôme, E-mail: breil@celia.u-bordeaux1.fr

2013-02-15

In this paper, we describe a cell-centered Lagrangian scheme devoted to the numerical simulation of solid dynamics on two-dimensional unstructured grids in planar geometry. This numerical method, utilizes the classical elastic-perfectly plastic material model initially proposed by Wilkins [M.L. Wilkins, Calculation of elastic–plastic flow, Meth. Comput. Phys. (1964)]. In this model, the Cauchy stress tensor is decomposed into the sum of its deviatoric part and the thermodynamic pressure which is defined by means of an equation of state. Regarding the deviatoric stress, its time evolution is governed by a classical constitutive law for isotropic material. The plasticity model employs themore » von Mises yield criterion and is implemented by means of the radial return algorithm. The numerical scheme relies on a finite volume cell-centered method wherein numerical fluxes are expressed in terms of sub-cell force. The generic form of the sub-cell force is obtained by requiring the scheme to satisfy a semi-discrete dissipation inequality. Sub-cell force and nodal velocity to move the grid are computed consistently with cell volume variation by means of a node-centered solver, which results from total energy conservation. The nominally second-order extension is achieved by developing a two-dimensional extension in the Lagrangian framework of the Generalized Riemann Problem methodology, introduced by Ben-Artzi and Falcovitz [M. Ben-Artzi, J. Falcovitz, Generalized Riemann Problems in Computational Fluid Dynamics, Cambridge Monogr. Appl. Comput. Math. (2003)]. Finally, the robustness and the accuracy of the numerical scheme are assessed through the computation of several test cases.« less

DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

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

M.A. Ebadian, Ph.D.

1999-01-01

For certain applications, such as space servicing, undersea operations, and hazardous material handling tasks in nuclear reactors, the environments can be uncertain, complex, and hazardous. Lives may be in danger if humans were to work under these conditions. As a result, a man-machine system--a teleoperator system--has been developed to work in these types of environments. In a typical teleoperator system, the actual system operates at a remote site; the operator located away from this system usually receives visual information from a video image and/or graphical animation on the computer screen. Additional feedback, such as aural and force information, can significantlymore » enhance performance of the system. Force reflection is a type of feedback in which forces experienced by the remote manipulator are fed back to the manual controller. Various control methods have been proposed for implementation on a teleoperator system. In order to examine different control schemes, a one Degree-Of-Freedom (DOF) Force-Reflecting Manual Controller (FRMC) is constructed and integrated into a PC. The system parameters are identified and constructed as a mathematical model. The Proportional-Integral-Derivative (PID) and fuzzy logic controllers are developed and tested experimentally. Numerical simulation results obtained from the mathematical model are compared with those of experimental data for both types of controllers. In addition, the concept of a telesensation system is introduced. A telesensation system is an advanced teleoperator system that attempts to provide the operator with sensory feedback. In this context, a telesensation system integrates the use of a Virtual Reality (VR) unit, FRMC, and Graphical User Interface (GUI). The VR unit is used to provide the operator with a 3-D visual effect. Various commercial VR units are reviewed and features compared for use in a telesensation system. As for the FRMC, the conceptual design of a 3-DOF FRMC is developed in an effort to make the system portable, compact, and lightweight. A variety of design alternatives are presented and evaluated. Finally, a GUI software package is developed to interface with several teleoperation unit components. These components include an industrial robot, electric motor, encoder, force/torque sensor, and CCD camera. The software includes features such as position scaling, force scaling, and rereferencing and is intended to provide a sound basis for the development of a multi-DOF FRMC system in the future.« less

MagIC: Fluid dynamics in a spherical shell simulator

NASA Astrophysics Data System (ADS)

Wicht, J.; Gastine, T.; Barik, A.; Putigny, B.; Yadav, R.; Duarte, L.; Dintrans, B.

2017-09-01

MagIC simulates fluid dynamics in a spherical shell. It solves for the Navier-Stokes equation including Coriolis force, optionally coupled with an induction equation for Magneto-Hydro Dynamics (MHD), a temperature (or entropy) equation and an equation for chemical composition under both the anelastic and the Boussinesq approximations. MagIC uses either Chebyshev polynomials or finite differences in the radial direction and spherical harmonic decomposition in the azimuthal and latitudinal directions. The time-stepping scheme relies on a semi-implicit Crank-Nicolson for the linear terms of the MHD equations and a Adams-Bashforth scheme for the non-linear terms and the Coriolis force.

A structure adapted multipole method for electrostatic interactions in protein dynamics

NASA Astrophysics Data System (ADS)

Niedermeier, Christoph; Tavan, Paul

1994-07-01

We present an algorithm for rapid approximate evaluation of electrostatic interactions in molecular dynamics simulations of proteins. Traditional algorithms require computational work of the order O(N2) for a system of N particles. Truncation methods which try to avoid that effort entail untolerably large errors in forces, energies and other observables. Hierarchical multipole expansion algorithms, which can account for the electrostatics to numerical accuracy, scale with O(N log N) or even with O(N) if they become augmented by a sophisticated scheme for summing up forces. To further reduce the computational effort we propose an algorithm that also uses a hierarchical multipole scheme but considers only the first two multipole moments (i.e., charges and dipoles). Our strategy is based on the consideration that numerical accuracy may not be necessary to reproduce protein dynamics with sufficient correctness. As opposed to previous methods, our scheme for hierarchical decomposition is adjusted to structural and dynamical features of the particular protein considered rather than chosen rigidly as a cubic grid. As compared to truncation methods we manage to reduce errors in the computation of electrostatic forces by a factor of 10 with only marginal additional effort.

Algorithms for adaptive stochastic control for a class of linear systems

NASA Technical Reports Server (NTRS)

Toda, M.; Patel, R. V.

1977-01-01

Control of linear, discrete time, stochastic systems with unknown control gain parameters is discussed. Two suboptimal adaptive control schemes are derived: one is based on underestimating future control and the other is based on overestimating future control. Both schemes require little on-line computation and incorporate in their control laws some information on estimation errors. The performance of these laws is studied by Monte Carlo simulations on a computer. Two single input, third order systems are considered, one stable and the other unstable, and the performance of the two adaptive control schemes is compared with that of the scheme based on enforced certainty equivalence and the scheme where the control gain parameters are known.

Simulation Based Low-Cost Composite Process Development at the US Air Force Research Laboratory

NASA Technical Reports Server (NTRS)

Rice, Brian P.; Lee, C. William; Curliss, David B.

2003-01-01

Low-cost composite research in the US Air Force Research Laboratory, Materials and Manufacturing Directorate, Organic Matrix Composites Branch has focused on the theme of affordable performance. Practically, this means that we use a very broad view when considering the affordability of composites. Factors such as material costs, labor costs, recurring and nonrecurring manufacturing costs are balanced against performance to arrive at the relative affordability vs. performance measure of merit. The research efforts discussed here are two projects focused on affordable processing of composites. The first topic is the use of a neural network scheme to model cure reaction kinetics, then utilize the kinetics coupled with simple heat transport models to predict, in real-time, future exotherms and control them. The neural network scheme is demonstrated to be very robust and a much more efficient method that mechanistic cure modeling approach. This enables very practical low-cost processing of thick composite parts. The second project is liquid composite molding (LCM) process simulation. LCM processing of large 3D integrated composite parts has been demonstrated to be a very cost effective way to produce large integrated aerospace components specific examples of LCM processes are resin transfer molding (RTM), vacuum assisted resin transfer molding (VARTM), and other similar approaches. LCM process simulation is a critical part of developing an LCM process approach. Flow simulation enables the development of the most robust approach to introducing resin into complex preforms. Furthermore, LCM simulation can be used in conjunction with flow front sensors to control the LCM process in real-time to account for preform or resin variability.

Adaptive control of base-isolated buildings using piezoelectric friction dampers against near-field earthquakes

NASA Astrophysics Data System (ADS)

Bitaraf, Maryam; Ozbulut, Osman E.; Hurlebaus, Stefan

2010-04-01

This paper investigates the effectiveness of two adaptive control strategies for modulating control force of piezoelectric friction dampers (PFDs) that are employed as semi-active devices in combination with laminated rubber bearings for seismic protection of buildings. The first controller developed in this study is a direct adaptive fuzzy logic controller. It consists of an upper-level and a sub-level direct fuzzy controller. In the hierarchical control scheme, higher-level controller modifies universe of discourse of both premise and consequent variables of the sub-level controller using scaling factors in order to determine command voltage of the damper according to current level of ground motion. The sub-level fuzzy controller employs isolation displacement and velocity as its premise variables and command voltage as its consequent variable. The second controller is based on the simple adaptive control (SAC) method, which is a type of direct adaptive control approach. The objective of the SAC method is to make the plant, the controlled system, track the behavior of the structure with the optimum performance. By using SAC strategy, any change in the characteristics of the structure or uncertainties in the modeling of the structure and in the external excitation would be considered because it continuously monitors its own performance to modify its parameters. Here, SAC methodology is employed to obtain the required force which results in the optimum performance of the structure. Then, the command voltage of the PFD is determined to generate the desired force. For comparison purposes, an optimal controller is also developed and considered in the simulations together with maximum passive operation of the friction damper. Time-history analyses of a base-isolated five-story building are performed to evaluate the performance of the controllers. Results reveal that developed adaptive controllers can successfully improve seismic response of the base-isolated buildings against various types of earthquakes.

Quaternion normalization in additive EKF for spacecraft attitude determination

NASA Technical Reports Server (NTRS)

Bar-Itzhack, I. Y.; Deutschmann, J.; Markley, F. L.

1991-01-01

This work introduces, examines, and compares several quaternion normalization algorithms, which are shown to be an effective stage in the application of the additive extended Kalman filter (EKF) to spacecraft attitude determination, which is based on vector measurements. Two new normalization schemes are introduced. They are compared with one another and with the known brute force normalization scheme, and their efficiency is examined. Simulated satellite data are used to demonstrate the performance of all three schemes. A fourth scheme is suggested for future research. Although the schemes were tested for spacecraft attitude determination, the conclusions are general and hold for attitude determination of any three dimensional body when based on vector measurements, and use an additive EKF for estimation, and the quaternion for specifying the attitude.

Implementation of a lightning data assimilation technique in the Weather Research and Forecasting (WRF) model for improving precipitation prediction

NASA Astrophysics Data System (ADS)

Giannaros, Theodore; Kotroni, Vassiliki; Lagouvardos, Kostas

2015-04-01

Lightning data assimilation has been recently attracting increasing attention as a technique implemented in numerical weather prediction (NWP) models for improving precipitation forecasts. In the frame of TALOS project, we implemented a robust lightning data assimilation technique in the Weather Research and Forecasting (WRF) model with the aim to improve the precipitation prediction in Greece. The assimilation scheme employs lightning as a proxy for the presence or absence of deep convection. In essence, flash data are ingested in WRF to control the Kain-Fritsch (KF) convective parameterization scheme (CPS). When lightning is observed, indicating the occurrence of convective activity, the CPS is forced to attempt to produce convection, whereas the CPS may be optionally be prevented from producing convection when no lightning is observed. Eight two-day precipitation events were selected for assessing the performance of the lightning data assimilation technique. The ingestion of lightning in WRF was carried out during the first 6 h of each event and the evaluation focused on the consequent 24 h, constituting a realistic setup that could be used in operational weather forecasting applications. Results show that the implemented assimilation scheme can improve model performance in terms of precipitation prediction. Forecasts employing the assimilation of flash data were found to exhibit more skill than control simulations, particularly for the intense (>20 mm) 24 h rain accumulations. Analysis of results also revealed that the option not to suppress the KF scheme in the absence of observed lightning, leads to a generally better performance compared to the experiments employing the full control of the CPS' triggering. Overall, the implementation of the lightning data assimilation technique is found to improve the model's ability to represent convection, especially in situations when past convection has modified the mesoscale environment in ways that affect the occurrence and evolution of subsequent convection.

Quantum optics. All-optical routing of single photons by a one-atom switch controlled by a single photon.

PubMed

Shomroni, Itay; Rosenblum, Serge; Lovsky, Yulia; Bechler, Orel; Guendelman, Gabriel; Dayan, Barak

2014-08-22

The prospect of quantum networks, in which quantum information is carried by single photons in photonic circuits, has long been the driving force behind the effort to achieve all-optical routing of single photons. We realized a single-photon-activated switch capable of routing a photon from any of its two inputs to any of its two outputs. Our device is based on a single atom coupled to a fiber-coupled, chip-based microresonator. A single reflected control photon toggles the switch from high reflection (R ~ 65%) to high transmission (T ~ 90%), with an average of ~1.5 control photons per switching event (~3, including linear losses). No additional control fields are required. The control and target photons are both in-fiber and practically identical, making this scheme compatible with scalable architectures for quantum information processing. Copyright © 2014, American Association for the Advancement of Science.

Driving Control for Electric Power Assisted Wheelchair Based on Regenerative Brake

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Takahashi, Kazuki; Tadakuma, Susumu

This paper describes a novel safety driving control scheme for electric power assisted wheelchairs based on the regenerative braking system. “Electric power assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the safe and secure driving performance especially on downhill roads must be further improved because electric power assisted wheelchairs have no braking devices. The proposed control system automatically switches the driving mode, from “assisting mode” to “braking mode”, based on the wheelchair's velocity and the declined angle and smoothly suppresses the wheelchair's acceleration based on variable duty ratio control in order to realize the safety driving and to improve the ride quality. Some experiments on the practical roads and subjective evaluation show the effectiveness of the proposed control system.

A self-tuning automatic voltage regulator designed for an industrial environment

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

Flynn, D.; Hogg, B.W.; Swidenbank, E.

Examination of the performance of fixed parameter controllers has resulted in the development of self-tuning strategies for excitation control of turbogenerator systems. In conjunction with the advanced control algorithms, sophisticated measurement techniques have previously been adopted on micromachine systems to provide generator terminal quantities. In power stations, however, a minimalist hardware arrangement would be selected leading to relatively simple measurement techniques. The performance of a range of self-tuning schemes is investigated on an industrial test-bed, employing a typical industrial hardware measurement system. Individual controllers are implemented on a standard digital automatic voltage regulator, as installed in power stations. This employsmore » a VME platform, and the self-tuning algorithms are introduced by linking to a transputer network. The AVR includes all normal features, such as field forcing, VAR limiting and overflux protection. Self-tuning controller performance is compared with that of a fixed gain digital AVR.« less

An overview on real-time control schemes for wheeled mobile robot

NASA Astrophysics Data System (ADS)

Radzak, M. S. A.; Ali, M. A. H.; Sha’amri, S.; Azwan, A. R.

2018-04-01

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error at zero level. The controllers are used with other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the required torque to be applied on the wheels of mobile robot. Four main categories for wheeled mobile robot control systems have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement the control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with presence of disturbances, however others software such C, C++ and visual basic are rare to be used.

The Interplay Between Transpiration and Runoff Formulations in Land Surface Schemes Used with Atmospheric Models

NASA Technical Reports Server (NTRS)

Koster, Rindal D.; Milly, P. C. D.

1997-01-01

The Project for Intercomparison of Land-surface Parameterization Schemes (PILPS) has shown that different land surface models (LSMS) driven by the same meteorological forcing can produce markedly different surface energy and water budgets, even when certain critical aspects of the LSMs (vegetation cover, albedo, turbulent drag coefficient, and snow cover) are carefully controlled. To help explain these differences, the authors devised a monthly water balance model that successfully reproduces the annual and seasonal water balances of the different PILPS schemes. Analysis of this model leads to the identification of two quantities that characterize an LSM's formulation of soil water balance dynamics: (1) the efficiency of the soil's evaporation sink integrated over the active soil moisture range, and (2) the fraction of this range over which runoff is generated. Regardless of the LSM's complexity, the combination of these two derived parameters with rates of interception loss, potential evaporation, and precipitation provides a reasonable estimate for the LSM's simulated annual water balance. The two derived parameters shed light on how evaporation and runoff formulations interact in an LSM, and the analysis as a whole underscores the need for compatibility in these formulations.

The interplay between transpiration and Runoff formulations in land surface schemes used with atmospheric models

USGS Publications Warehouse

Koster, R.D.; Milly, P.C.D.

1997-01-01

The Project for Intercomparison of Land-surface Parameterization Schemes (PILPS) has shown that different land surface models (LSMs) driven by the same meteorological forcing can produce markedly different surface energy and water budgets, even when certain critical aspects of the LSMs (vegetation cover, albedo, turbulent drag coefficient, and snowcover) are carefully controlled. To help explain these differences, the authors devised a monthly water balance model that successfully reproduces the annual and seasonal water balances of the different PILPS schemes. Analysis of this model leads to the identification of two quantities that characterize an LSM's formulation of soil water balance dynamics: 1) the efficiency of the soil's evaporation sink integrated over the active soil moisture range, and 2) the fraction of this range over which runoff is generated. Regardless of the LSM's complexity, the combination of these two derived parameters with rates of interception loss, potential evaporation, and precipitation provides a reasonable estimate for the LSM's simulated annual water balance. The two derived parameters shed light on how evaporation and runoff formulations interact in an LSM, and the analysis as a whole underscores the need for compatibility in these formulations.

Severe snow loads on mountain afforestation in Japan

Treesearch

Ryuzo Nitta; Yoshio Ozeki; Shoichi Niwano

1991-01-01

A simple device for estimating snow settling force on tree branches was used to determine the distribution of snow settling force at various heights in a snowy mountainous region in Japan. A trapezoidal distribution of snow settling force was found to exist at all sites tested. It is thought that a zoning scheme based on the damaging potential of snow on young man-made...

Thrust Removal Scheme for the FAST-MAC Circulation Control Model Tested in the National Transonic Facility

NASA Technical Reports Server (NTRS)

Chan, David T.; Milholen, William E., II; Jones, Gregory S.; Goodliff, Scott L.

2014-01-01

A second wind tunnel test of the FAST-MAC circulation control semi-span model was recently completed in the National Transonic Facility at the NASA Langley Research Center. The model allowed independent control of four circulation control plenums producing a high momentum jet from a blowing slot near the wing trailing edge that was directed over a 15% chord simple-hinged flap. The model was configured for transonic testing of the cruise configuration with 0deg flap deflection to determine the potential for drag reduction with the circulation control blowing. Encouraging results from analysis of wing surface pressures suggested that the circulation control blowing was effective in reducing the transonic drag on the configuration, however this could not be quantified until the thrust generated by the blowing slot was correctly removed from the force and moment balance data. This paper will present the thrust removal methodology used for the FAST-MAC circulation control model and describe the experimental measurements and techniques used to develop the methodology. A discussion on the impact to the force and moment data as a result of removing the thrust from the blowing slot will also be presented for the cruise configuration, where at some Mach and Reynolds number conditions, the thrust-removed corrected data showed that a drag reduction was realized as a consequence of the blowing.

Multi-scale Eulerian model within the new National Environmental Modeling System

NASA Astrophysics Data System (ADS)

Janjic, Zavisa; Janjic, Tijana; Vasic, Ratko

2010-05-01

The unified Non-hydrostatic Multi-scale Model on the Arakawa B grid (NMMB) is being developed at NCEP within the National Environmental Modeling System (NEMS). The finite-volume horizontal differencing employed in the model preserves important properties of differential operators and conserves a variety of basic and derived dynamical and quadratic quantities. Among these, conservation of energy and enstrophy improves the accuracy of nonlinear dynamics of the model. Within further model development, advection schemes of fourth order of formal accuracy have been developed. It is argued that higher order advection schemes should not be used in the thermodynamic equation in order to preserve consistency with the second order scheme used for computation of the pressure gradient force. Thus, the fourth order scheme is applied only to momentum advection. Three sophisticated second order schemes were considered for upgrade. Two of them, proposed in Janjic(1984), conserve energy and enstrophy, but with enstrophy calculated differently. One of them conserves enstrophy as computed by the most accurate second order Laplacian operating on stream function. The other scheme conserves enstrophy as computed from the B grid velocity. The third scheme (Arakawa 1972) is arithmetic mean of the former two. It does not conserve enstrophy strictly, but it conserves other quadratic quantities that control the nonlinear energy cascade. Linearization of all three schemes leads to the same second order linear advection scheme. The second order term of the truncation error of the linear advection scheme has a special form so that it can be eliminated by simply preconditioning the advected quantity. Tests with linear advection of a cone confirm the advantage of the fourth order scheme. However, if a localized, large amplitude and high wave-number pattern is present in initial conditions, the clear advantage of the fourth order scheme disappears. In real data runs, problems with noisy data may appear due to mountains. Thus, accuracy and formal accuracy may not be synonymous. The nonlinear fourth order schemes are quadratic conservative and reduce to the Arakawa Jacobian in case of non-divergent flow. In case of general flow the conservation properties of the new momentum advection schemes impose stricter constraint on the nonlinear cascade than the original second order schemes. However, for non-divergent flow, the conservation properties of the fourth order schemes cannot be proven in the same way as those of the original second order schemes. Therefore, nonlinear tests were carried out in order to check how well the fourth order schemes control the nonlinear energy cascade. In the tests nonlinear shallow water equations are solved in a rotating rectangular domain (Janjic, 1984). The domain is covered with only 17 x 17 grid points. A diagnostic quantity is used to monitor qualitative changes in the spectrum over 116 days of simulated time. All schemes maintained meaningful solutions throughout the test. Among the second order schemes, the best result was obtained with the scheme that conserved enstrophy as computed by the second order Laplacian of the stream function. It was closely followed by the Arakawa (1972) scheme, while the remaining scheme was distant third. The fourth order schemes ranked in the same order, and were competitive throughout the experiments with their second order counterparts in preventing accumulation of energy at small scales. Finally, the impact was examined of the fourth order momentum advection on global medium range forecasts. The 500 mb anomaly correlation coefficient is used as a measure of success of the forecasts. Arakawa, A., 1972: Design of the UCLA general circulation model. Tech. Report No. 7, Department of Meteorology, University of California, Los Angeles, 116 pp. Janjic, Z. I., 1984: Non-linear advection schemes and energy cascade on semi-staggered grids. Monthly Weather Review, 112, 1234-1245.

An effective and secure key-management scheme for hierarchical access control in E-medicine system.

PubMed

Odelu, Vanga; Das, Ashok Kumar; Goswami, Adrijit

2013-04-01

Recently several hierarchical access control schemes are proposed in the literature to provide security of e-medicine systems. However, most of them are either insecure against 'man-in-the-middle attack' or they require high storage and computational overheads. Wu and Chen proposed a key management method to solve dynamic access control problems in a user hierarchy based on hybrid cryptosystem. Though their scheme improves computational efficiency over Nikooghadam et al.'s approach, it suffers from large storage space for public parameters in public domain and computational inefficiency due to costly elliptic curve point multiplication. Recently, Nikooghadam and Zakerolhosseini showed that Wu-Chen's scheme is vulnerable to man-in-the-middle attack. In order to remedy this security weakness in Wu-Chen's scheme, they proposed a secure scheme which is again based on ECC (elliptic curve cryptography) and efficient one-way hash function. However, their scheme incurs huge computational cost for providing verification of public information in the public domain as their scheme uses ECC digital signature which is costly when compared to symmetric-key cryptosystem. In this paper, we propose an effective access control scheme in user hierarchy which is only based on symmetric-key cryptosystem and efficient one-way hash function. We show that our scheme reduces significantly the storage space for both public and private domains, and computational complexity when compared to Wu-Chen's scheme, Nikooghadam-Zakerolhosseini's scheme, and other related schemes. Through the informal and formal security analysis, we further show that our scheme is secure against different attacks and also man-in-the-middle attack. Moreover, dynamic access control problems in our scheme are also solved efficiently compared to other related schemes, making our scheme is much suitable for practical applications of e-medicine systems.

Control of Advanced Reactor-Coupled Heat Exchanger System: Incorporation of Reactor Dynamics in System Response to Load Disturbances

DOE PAGES

Skavdahl, Isaac; Utgikar, Vivek; Christensen, Richard; ...

2016-05-24

We present an alternative control schemes for an Advanced High Temperature Reactor system consisting of a reactor, an intermediate heat exchanger, and a secondary heat exchanger (SHX) in this paper. One scheme is designed to control the cold outlet temperature of the SHX (T co) and the hot outlet temperature of the intermediate heat exchanger (T ho2) by manipulating the hot-side flow rates of the heat exchangers (F h/F h2) responding to the flow rate and temperature disturbances. The flow rate disturbances typically require a larger manipulation of the flow rates than temperature disturbances. An alternate strategy examines the controlmore » of the cold outlet temperature of the SHX (T co) only, since this temperature provides the driving force for energy production in the power conversion unit or the process application. The control can be achieved by three options: (1) flow rate manipulation; (2) reactor power manipulation; or (3) a combination of the two. The first option has a quicker response but requires a large flow rate change. The second option is the slowest but does not involve any change in the flow rates of streams. The final option appears preferable as it has an intermediate response time and requires only a minimal flow rate change.« less

Behavior of an aeroelastic system beyond critical point of instability

NASA Astrophysics Data System (ADS)

Sekar, T. Chandra; Agarwal, Ravindra; Mandal, Alakesh Chandra; Kushari, Abhijit

2017-11-01

Understanding the behavior of an aeroelastic system beyond the critical point is essential for effective implementation of any active control scheme since the control system design depends on the type of instability (bifurcation) the system encounters. Previous studies had found the aeroelastic system to enter into chaos beyond the point of instability. In the present work, an attempt has been made to carry out an experimental study on an aeroelastic model placed in a wind tunnel, to understand the behavior of aerodynamics around a wing section undergoing classical flutter. Wind speed was increased from zero until the model encountered flutter. Pressure at various locations along the surface of wing and acceleration at multiple points on the wing were measured in real time for the entire duration of experiment. A Leading Edge Separation Bubble (LSB) was observed beyond the critical point. The growing strength of the LSB with increasing wind speed was found to alter the aerodynamic moment acting on the system, which forced the system to enter into a second bifurcation. Based on the nature of the response, the system appears to undergo periodic doubling bifurcation rather than Hopf-bifurcation, resulting in chaotic motion. Eliminating the LSB can help in preventing the system from entering chaos. Any active flow control scheme that can avoid or counter the formation of leading edge separation bubble can be a potential solution to control the classical flutter.

A Simulation of an Income Contingent Tuition Scheme in a Transition Economy

ERIC Educational Resources Information Center

Vodopivec, Milan

2009-01-01

The paper takes advantage of exceptionally rich longitudinal data on the universe of labor force participants in Slovenia and simulates the working of an income contingent loan scheme that seeks to recover part of schooling costs. The simulations show that under the base variant (where the target cost recovery rate is 20% and the contribution rate…

Numerical Study on the Partitioning of the Molecular Polarizability into Fluctuating Charge and Induced Atomic Dipole Contributions

PubMed Central

Mei, Ye; Simmonett, Andrew C.; Pickard, Frank C.; DiStasio, Robert A.; Brooks, Bernard R.; Shao, Yihan

2015-01-01

In order to carry out a detailed analysis of the molecular static polarizability, which is the response of the molecule to a uniform external electric field, the molecular polarizability was computed using the finite-difference method for 21 small molecules, using density functional theory. Within nine charge population schemes (Löwdin, Mulliken, Becke, Hirshfeld, CM5, Hirshfeld-I, NPA, CHELPG, MK-ESP) in common use, the charge fluctuation contribution is found to dominate the molecular polarizability, with its ratio ranging from 59.9% with the Hirshfeld or CM5 scheme to 96.2% with the Mulliken scheme. The Hirshfeld-I scheme is also used to compute the other contribution to the molecular polarizability coming from the induced atomic dipoles, and the atomic polarizabilities in 8 small molecules and water pentamer are found to be highly anisotropic for most atoms. Overall, the results suggest that (a) more emphasis probably should be placed on the charge fluctuation terms in future polarizable force field development; (b) an anisotropic polarizability might be more suitable than an isotropic one in polarizable force fields based entirely or partially on the induced atomic dipoles. PMID:25945749

Study of aerosol direct and indirect effects and auto-conversion processes over the West African monsoon region using a regional climate model

NASA Astrophysics Data System (ADS)

Salah, Zeinab; Shalaby, Ahmed; Steiner, Allison L.; Zakey, Ashraf S.; Gautam, Ritesh; Abdel Wahab, Mohamed M.

2018-02-01

This study assesses the direct and indirect effects of natural and anthropogenic aerosols (e.g., black carbon and sulfate) over West and Central Africa during the West African monsoon (WAM) period (June-July-August). We investigate the impacts of aerosols on the amount of cloudiness, the influences on the precipitation efficiency of clouds, and the associated radiative forcing (direct and indirect). Our study includes the implementation of three new formulations of auto-conversion parameterization [namely, the Beheng (BH), Tripoli and Cotton (TC) and Liu and Daum (R6) schemes] in RegCM4.4.1, besides the default model's auto-conversion scheme (Kessler). Among the new schemes, BH reduces the precipitation wet bias by more than 50% over West Africa and achieves a bias reduction of around 25% over Central Africa. Results from detailed sensitivity experiments suggest a significant path forward in terms of addressing the long-standing issue of the characteristic wet bias in RegCM. In terms of aerosol-induced radiative forcing, the impact of the various schemes is found to vary considerably (ranging from -5 to -25 W m-2).

Numerical study on the partitioning of the molecular polarizability into fluctuating charge and induced atomic dipole contributions

DOE PAGES

Mei, Ye; Simmonett, Andrew C.; Pickard, IV, Frank C.; ...

2015-05-06

In order to carry out a detailed analysis of the molecular static polarizability, which is the response of the molecule to a uniform external electric field, the molecular polarizability was computed in this study using the finite-difference method for 21 small molecules, using density functional theory. Within nine charge population schemes (Lowdin, Mulliken, Becke, Hirshfeld, CM5, Hirshfeld-I, NPA, CHELPG, MK-ESP) in common use, the charge fluctuation contribution is found to dominate the molecular polarizability, with its ratio ranging from 59.9% with the Hirshfeld or CM5 scheme to 96.2% with the Mulliken scheme. The Hirshfeld-I scheme is also used to computemore » the other contribution to the molecular polarizability coming from the induced atomic dipoles, and the atomic polarizabilities in eight small molecules and water pentamer are found to be highly anisotropic for most atoms. In conclusion, the overall results suggest that (a) more emphasis probably should be placed on the charge fluctuation terms in future polarizable force field development and (b) an anisotropic polarizability might be more suitable than an isotropic one in polarizable force fields based entirely or partially on the induced atomic dipoles.« less

Modular apparatus for electrostatic actuation of common atomic force microscope cantilevers

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

Long, Christian J., E-mail: christian.long@nist.gov; Maryland Nanocenter, University of Maryland, College Park, Maryland 20742; Cannara, Rachel J.

2015-07-15

Piezoelectric actuation of atomic force microscope (AFM) cantilevers often suffers from spurious mechanical resonances in the loop between the signal driving the cantilever and the actual tip motion. These spurious resonances can reduce the accuracy of AFM measurements and in some cases completely obscure the cantilever response. To address these limitations, we developed a specialized AFM cantilever holder for electrostatic actuation of AFM cantilevers. The holder contains electrical contacts for the AFM cantilever chip, as well as an electrode (or electrodes) that may be precisely positioned with respect to the back of the cantilever. By controlling the voltages on themore » AFM cantilever and the actuation electrode(s), an electrostatic force is applied directly to the cantilever, providing a near-ideal transfer function from drive signal to tip motion. We demonstrate both static and dynamic actuations, achieved through the application of direct current and alternating current voltage schemes, respectively. As an example application, we explore contact resonance atomic force microscopy, which is a technique for measuring the mechanical properties of surfaces on the sub-micron length scale. Using multiple electrodes, we also show that the torsional resonances of the AFM cantilever may be excited electrostatically, opening the door for advanced dynamic lateral force measurements with improved accuracy and precision.« less

Design and implementation of adaptive PI control schemes for web tension control in roll-to-roll (R2R) manufacturing.

PubMed

Raul, Pramod R; Pagilla, Prabhakar R

2015-05-01

In this paper, two adaptive Proportional-Integral (PI) control schemes are designed and discussed for control of web tension in Roll-to-Roll (R2R) manufacturing systems. R2R systems are used to transport continuous materials (called webs) on rollers from the unwind roll to the rewind roll. Maintaining web tension at the desired value is critical to many R2R processes such as printing, coating, lamination, etc. Existing fixed gain PI tension control schemes currently used in industrial practice require extensive tuning and do not provide the desired performance for changing operating conditions and material properties. The first adaptive PI scheme utilizes the model reference approach where the controller gains are estimated based on matching of the actual closed-loop tension control systems with an appropriately chosen reference model. The second adaptive PI scheme utilizes the indirect adaptive control approach together with relay feedback technique to automatically initialize the adaptive PI gains. These adaptive tension control schemes can be implemented on any R2R manufacturing system. The key features of the two adaptive schemes is that their designs are simple for practicing engineers, easy to implement in real-time, and automate the tuning process. Extensive experiments are conducted on a large experimental R2R machine which mimics many features of an industrial R2R machine. These experiments include trials with two different polymer webs and a variety of operating conditions. Implementation guidelines are provided for both adaptive schemes. Experimental results comparing the two adaptive schemes and a fixed gain PI tension control scheme used in industrial practice are provided and discussed. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

A numerical scheme to solve unstable boundary value problems

NASA Technical Reports Server (NTRS)

Kalnay-Rivas, E.

1977-01-01

The considered scheme makes it possible to determine an unstable steady state solution in cases in which, because of lack of symmetry, such a solution cannot be obtained analytically, and other time integration or relaxation schemes, because of instability, fail to converge. The iterative solution of a single complex equation is discussed and a nonlinear system of equations is considered. Described applications of the scheme are related to a steady state solution with shear instability, an unstable nonlinear Ekman boundary layer, and the steady state solution of a baroclinic atmosphere with asymmetric forcing. The scheme makes use of forward and backward time integrations of the original spatial differential operators and of an approximation of the adjoint operators. Only two computations of the time derivative per iteration are required.

A factorial assessment of the sensitivity of the BATS land-surface parameterization scheme. [BATS (Biosphere-Atmosphere Transfer Scheme)

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

Henderson-Sellers, A.

Land-surface schemes developed for incorporation into global climate models include parameterizations that are not yet fully validated and depend upon the specification of a large (20-50) number of ecological and soil parameters, the values of which are not yet well known. There are two methods of investigating the sensitivity of a land-surface scheme to prescribed values: simple one-at-a-time changes or factorial experiments. Factorial experiments offer information about interactions between parameters and are thus a more powerful tool. Here the results of a suite of factorial experiments are reported. These are designed (i) to illustrate the usefulness of this methodology andmore » (ii) to identify factors important to the performance of complex land-surface schemes. The Biosphere-Atmosphere Transfer Scheme (BATS) is used and its sensitivity is considered (a) to prescribed ecological and soil parameters and (b) to atmospheric forcing used in the off-line tests undertaken. Results indicate that the most important atmospheric forcings are mean monthly temperature and the interaction between mean monthly temperature and total monthly precipitation, although fractional cloudiness and other parameters are also important. The most important ecological parameters are vegetation roughness length, soil porosity, and a factor describing the sensitivity of the stomatal resistance of vegetation to the amount of photosynthetically active solar radiation and, to a lesser extent, soil and vegetation albedos. Two-factor interactions including vegetation roughness length are more important than many of the 23 specified single factors. The results of factorial sensitivity experiments such as these could form the basis for intercomparison of land-surface parameterization schemes and for field experiments and satellite-based observation programs aimed at improving evaluation of important parameters.« less

Simulations of Cloud-Radiation Interaction Using Large-Scale Forcing Derived from the CINDY/DYNAMO Northern Sounding Array

NASA Technical Reports Server (NTRS)

Wang, Shuguang; Sobel, Adam H.; Fridlind, Ann; Feng, Zhe; Comstock, Jennifer M.; Minnis, Patrick; Nordeen, Michele L.

2015-01-01

The recently completed CINDY/DYNAMO field campaign observed two Madden-Julian oscillation (MJO) events in the equatorial Indian Ocean from October to December 2011. Prior work has indicated that the moist static energy anomalies in these events grew and were sustained to a significant extent by radiative feedbacks. We present here a study of radiative fluxes and clouds in a set of cloud-resolving simulations of these MJO events. The simulations are driven by the large-scale forcing data set derived from the DYNAMO northern sounding array observations, and carried out in a doubly periodic domain using the Weather Research and Forecasting (WRF) model. Simulated cloud properties and radiative fluxes are compared to those derived from the S-PolKa radar and satellite observations. To accommodate the uncertainty in simulated cloud microphysics, a number of single-moment (1M) and double-moment (2M) microphysical schemes in the WRF model are tested. The 1M schemes tend to underestimate radiative flux anomalies in the active phases of the MJO events, while the 2M schemes perform better, but can overestimate radiative flux anomalies. All the tested microphysics schemes exhibit biases in the shapes of the histograms of radiative fluxes and radar reflectivity. Histograms of radiative fluxes and brightness temperature indicate that radiative biases are not evenly distributed; the most significant bias occurs in rainy areas with OLR less than 150 W/ cu sq in the 2M schemes. Analysis of simulated radar reflectivities indicates that this radiative flux uncertainty is closely related to the simulated stratiform cloud coverage. Single-moment schemes underestimate stratiform cloudiness by a factor of 2, whereas 2M schemes simulate much more stratiform cloud.

Event-triggered attitude control of spacecraft

NASA Astrophysics Data System (ADS)

Wu, Baolin; Shen, Qiang; Cao, Xibin

2018-02-01

The problem of spacecraft attitude stabilization control system with limited communication and external disturbances is investigated based on an event-triggered control scheme. In the proposed scheme, information of attitude and control torque only need to be transmitted at some discrete triggered times when a defined measurement error exceeds a state-dependent threshold. The proposed control scheme not only guarantees that spacecraft attitude control errors converge toward a small invariant set containing the origin, but also ensures that there is no accumulation of triggering instants. The performance of the proposed control scheme is demonstrated through numerical simulation.

Brillouin gain enhancement in nano-scale photonic waveguide

NASA Astrophysics Data System (ADS)

Nouri Jouybari, Soodabeh

2018-05-01

The enhancement of stimulated Brillouin scattering in nano-scale waveguides has a great contribution in the improvement of the photonic devices technology. The key factors in Brillouin gain are the electrostriction force and radiation pressure generated by optical waves in the waveguide. In this article, we have proposed a new scheme of nano-scale waveguide in which the Brillouin gain is considerably improved compared to the previously-reported schemes. The role of radiation pressure in the Brillouin gain was much higher than the role of the electrostriction force. The Brillouin gain strongly depends on the structural parameters of the waveguide and the maximum value of 12127 W-1 m-1 is obtained for the Brillouin gain.

Effects of CO2 Physiological Forcing on Amazon Climate

NASA Astrophysics Data System (ADS)

Halladay, K.; Good, P.; Kay, G.; Betts, R.

2014-12-01

Earth system models provide us with an opportunity to examine the complex interactions and feedbacks between land surface, vegetation and atmosphere. A more thorough understanding of these interactions is essential in reducing uncertainty surrounding the potential impacts of climate and environmental change on the future state and extent of the Amazon rainforest. This forest is a important resource for the region and globally in terms of ecosystem services, hydrology and biodiversity. We aim to investigate the effect of CO2 physiological forcing on the Amazon rainforest and its feedback on regional climate by using the CMIP5 idealised 1% CO2 simulations with a focus on HadGEM2-ES. In these simulations, the atmospheric CO2 concentration is increased by 1% per year for 140 years, reaching around 1150ppm at the end of the simulation. The use of idealised simulations allows the effect of CO2 to be separated from other forcings and the sensitivities to be quantified. In particular, it enables non-linear feedbacks to be identified. In addition to the fully coupled 1% CO2 simulation, in which all schemes respond to the forcing, we use simulations in which (a) only the biochemistry scheme sees the rising CO2 concentration, and (b) in which rising CO2 is only seen by the radiation scheme. With these simulations we examine the degree to which CO2 effects are additive or non-linear when in combination. We also show regional differences in climate and vegetation response, highlighting areas of increased sensitivity.

Tests of oceanic stochastic parameterisation in a seasonal forecast system.

NASA Astrophysics Data System (ADS)

Cooper, Fenwick; Andrejczuk, Miroslaw; Juricke, Stephan; Zanna, Laure; Palmer, Tim

2015-04-01

Over seasonal time scales, our aim is to compare the relative impact of ocean initial condition and model uncertainty, upon the ocean forecast skill and reliability. Over seasonal timescales we compare four oceanic stochastic parameterisation schemes applied in a 1x1 degree ocean model (NEMO) with a fully coupled T159 atmosphere (ECMWF IFS). The relative impacts upon the ocean of the resulting eddy induced activity, wind forcing and typical initial condition perturbations are quantified. Following the historical success of stochastic parameterisation in the atmosphere, two of the parameterisations tested were multiplicitave in nature: A stochastic variation of the Gent-McWilliams scheme and a stochastic diffusion scheme. We also consider a surface flux parameterisation (similar to that introduced by Williams, 2012), and stochastic perturbation of the equation of state (similar to that introduced by Brankart, 2013). The amplitude of the stochastic term in the Williams (2012) scheme was set to the physically reasonable amplitude considered in that paper. The amplitude of the stochastic term in each of the other schemes was increased to the limits of model stability. As expected, variability was increased. Up to 1 month after initialisation, ensemble spread induced by stochastic parameterisation is greater than that induced by the atmosphere, whilst being smaller than the initial condition perturbations currently used at ECMWF. After 1 month, the wind forcing becomes the dominant source of model ocean variability, even at depth.

Controls for space structures

NASA Astrophysics Data System (ADS)

Balas, Mark

1991-11-01

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control.

Controls for space structures

NASA Technical Reports Server (NTRS)

Balas, Mark

1991-01-01

Assembly and operation of large space structures (LSS) in orbit will require robot-assisted docking and berthing of partially-assembled structures. These operations require new solutions to the problems of controls. This is true because of large transient and persistent disturbances, controller-structure interaction with unmodeled modes, poorly known structure parameters, slow actuator/sensor dynamical behavior, and excitation of nonlinear structure vibrations during control and assembly. For on-orbit assembly, controllers must start with finite element models of LSS and adapt on line to the best operating points, without compromising stability. This is not easy to do, since there are often unmodeled dynamic interactions between the controller and the structure. The indirect adaptive controllers are based on parameter estimation. Due to the large number of modes in LSS, this approach leads to very high-order control schemes with consequent poor stability and performance. In contrast, direct model reference adaptive controllers operate to force the LSS to track the desirable behavior of a chosen model. These schemes produce simple control algorithms which are easy to implement on line. One problem with their use for LSS has been that the model must be the same dimension as the LSS - i.e., quite large. A control theory based on the command generator tracker (CGT) ideas of Sobel, Mabins, Kaufman and Wen, Balas to obtain very low-order models based on adaptive algorithms was developed. Closed-loop stability for both finite element models and distributed parameter models of LSS was proved. In addition, successful numerical simulations on several LSS databases were obtained. An adaptive controller based on our theory was also implemented on a flexible robotic manipulator at Martin Marietta Astronautics. Computation schemes for controller-structure interaction with unmodeled modes, the residual mode filters or RMF, were developed. The RMF theory was modified to compensate slow actuator/sensor dynamics. These new ideas are being applied to LSS simulations to demonstrate the ease with which one can incorporate slow actuator/sensor effects into our design. It was also shown that residual mode filter compensation can be modified for small nonlinearities to produce exponentially stable closed-loop control. A theory for disturbance accommodating controllers based on reduced order models of structures was developed, and stability results for these controllers in closed-loop with large-scale finite element models of structures were obtained.

Model identification of terfenol-D magnetostrictive actuator for precise positioning control

NASA Astrophysics Data System (ADS)

Saleem, Ashraf; Ghodsi, Mojtaba; Mesbah, Mostefa; Ozer, Abdullah

2016-04-01

Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

Incorporating a disturbance observer with direct velocity feedback for control of human-induced vibrations

NASA Astrophysics Data System (ADS)

Nyawako, Donald; Reynolds, Paul; Hudson, Emma

2016-04-01

Feedback control strategies are desirable for disturbance rejection of human-induced vibrations in civil engineering structures as human walking forces cannot easily be measured. In relation to human-induced vibration control studies, most past researches have focused on floors and footbridges and the widely used linear controller implemented in the trials has been the direct velocity feedback (DVF) scheme. With appropriate compensation to enhance its robustness, it has been shown to be effective at damping out the problematic modes of vibration of the structures in which the active vibration control systems have been implemented. The work presented here introduces a disturbance observer (DOB) that is used with an outer-loop DVF controller. Results of analytical studies presented in this work based on the dynamic properties of a walkway bridge structure demonstrate the potential of this approach for enhancing the vibration mitigation performance offered by a purely DVF controller. For example, estimates of controlled frequency response functions indicate improved attenuation of vibration around the dominant frequency of the walkway bridge structure as well as at higher resonant frequencies. Controlled responses from three synthesized walking excitation forces on a walkway bridge structure model show that the inclusion of the disturbance observer with an outer loop DVF has potential to improve on the vibration mitigation performance by about 3.5% at resonance and 6-10% off-resonance. These are realised with hard constraints being imposed on the low frequency actuator displacements.

An architecture for rapid prototyping of control schemes for artificial ventricles.

PubMed

Ficola, Antonio; Pagnottelli, Stefano; Valigi, Paolo; Zoppitelli, Maurizio

2004-01-01

This paper presents an experimental system aimed at rapid prototyping of feedback control schemes for ventricular assist devices, and artificial ventricles in general. The system comprises a classical mock circulatory system, an actuated bellow-based ventricle chamber, and a software architecture for control schemes implementation and experimental data acquisition, visualization and storing. Several experiments have been carried out, showing good performance of ventricular pressure tracking control schemes.

Longitudinal handling qualities during approach and landing of a powered lift STOL aircraft

NASA Technical Reports Server (NTRS)

Franklin, J. A.; Innis, R. C.

1972-01-01

Longitudinal handling qualities evaluations were conducted on the Ames Research Center Flight Simulator for Advanced Aircraft (FSAA) for the approach and landing tasks of a powered lift STOL research aircraft. The test vehicle was a C-8A aircraft modified with a new wing incorporating internal blowing over an augmentor flap. The investigation included: (1) use of various flight path and airspeed control techniques for the basic vehicle; (2) assessment of stability and command augmentation schemes for pitch attitude and airspeed control; (3) determination of the influence of longitudinal and vertical force coupling for the power control; (4) determination of the influence of pitch axis coupling with the thrust vector control; and (5) evaluations of the contribution of stability and command augmentation to recovery from a single engine failure. Results are presented in the form of pilot ratings and commentary substantiated by landing approach time histories.

Impact of Geoengineering Schemes on the Global Hydrological Cycle

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

Bala, G; Duffy, P; Taylor, K

2007-12-07

The rapidly rising CO{sub 2} level in the atmosphere has led to proposals of climate stabilization via 'Geoengineering' schemes that would mitigate climate change by intentionally reducing the solar radiation incident on earth's surface. In this paper, we address the impact of these climate stabilization schemes on the global hydrological cycle, using equilibrium simulations from an atmospheric general circulation model coupled to a slab ocean model. We show that insolation reductions sufficient to offset global-scale temperature increases lead to a decrease in the intensity of the global hydrologic cycle. This occurs because solar forcing is more effective in driving changesmore » in global mean evaporation than is CO{sub 2} forcing of a similar magnitude. In the model used here, the hydrologic sensitivity, defined as the percentage change in global mean precipitation per degree warming, is 2.4% for solar forcing, but only 1.5% for CO{sub 2} forcing. Although other models and the climate system itself may differ quantitatively from this result, the conclusion can be understood based on simple considerations of the surface energy budget and thus is likely to be robust. Compared to changing temperature by altering greenhouse gas concentrations, changing temperature by varying insolation results in larger changes in net radiative fluxes at the surface; these are compensated by larger changes in latent and sensible heat fluxes. Hence the hydrological cycle is more sensitive to temperature adjustment via changes in insolation than changes in greenhouse gases. This implies that an alteration in solar forcing might offset temperature changes or hydrological changes from greenhouse warming, but could not cancel both at once.« less

Output Consensus of Heterogeneous Linear Multi-Agent Systems by Distributed Event-Triggered/Self-Triggered Strategy.

PubMed

Hu, Wenfeng; Liu, Lu; Feng, Gang

2016-09-02

This paper addresses the output consensus problem of heterogeneous linear multi-agent systems. We first propose a novel distributed event-triggered control scheme. It is shown that, with the proposed control scheme, the output consensus problem can be solved if two matrix equations are satisfied. Then, we further propose a novel self-triggered control scheme, with which continuous monitoring is avoided. By introducing a fixed timer into both event- and self-triggered control schemes, Zeno behavior can be ruled out for each agent. The effectiveness of the event- and self-triggered control schemes is illustrated by an example.

Sixth- and eighth-order Hermite integrator for N-body simulations

NASA Astrophysics Data System (ADS)

Nitadori, Keigo; Makino, Junichiro

2008-10-01

We present sixth- and eighth-order Hermite integrators for astrophysical N-body simulations, which use the derivatives of accelerations up to second-order ( snap) and third-order ( crackle). These schemes do not require previous values for the corrector, and require only one previous value to construct the predictor. Thus, they are fairly easy to implement. The additional cost of the calculation of the higher-order derivatives is not very high. Even for the eighth-order scheme, the number of floating-point operations for force calculation is only about two times larger than that for traditional fourth-order Hermite scheme. The sixth-order scheme is better than the traditional fourth-order scheme for most cases. When the required accuracy is very high, the eighth-order one is the best. These high-order schemes have several practical advantages. For example, they allow a larger number of particles to be integrated in parallel than the fourth-order scheme does, resulting in higher execution efficiency in both general-purpose parallel computers and GRAPE systems.

Choice of no-slip curved boundary condition for lattice Boltzmann simulations of high-Reynolds-number flows.

PubMed

Sanjeevi, Sathish K P; Zarghami, Ahad; Padding, Johan T

2018-04-01

Various curved no-slip boundary conditions available in literature improve the accuracy of lattice Boltzmann simulations compared to the traditional staircase approximation of curved geometries. Usually, the required unknown distribution functions emerging from the solid nodes are computed based on the known distribution functions using interpolation or extrapolation schemes. On using such curved boundary schemes, there will be mass loss or gain at each time step during the simulations, especially apparent at high Reynolds numbers, which is called mass leakage. Such an issue becomes severe in periodic flows, where the mass leakage accumulation would affect the computed flow fields over time. In this paper, we examine mass leakage of the most well-known curved boundary treatments for high-Reynolds-number flows. Apart from the existing schemes, we also test different forced mass conservation schemes and a constant density scheme. The capability of each scheme is investigated and, finally, recommendations for choosing a proper boundary condition scheme are given for stable and accurate simulations.

Choice of no-slip curved boundary condition for lattice Boltzmann simulations of high-Reynolds-number flows

NASA Astrophysics Data System (ADS)

Sanjeevi, Sathish K. P.; Zarghami, Ahad; Padding, Johan T.

2018-04-01

Various curved no-slip boundary conditions available in literature improve the accuracy of lattice Boltzmann simulations compared to the traditional staircase approximation of curved geometries. Usually, the required unknown distribution functions emerging from the solid nodes are computed based on the known distribution functions using interpolation or extrapolation schemes. On using such curved boundary schemes, there will be mass loss or gain at each time step during the simulations, especially apparent at high Reynolds numbers, which is called mass leakage. Such an issue becomes severe in periodic flows, where the mass leakage accumulation would affect the computed flow fields over time. In this paper, we examine mass leakage of the most well-known curved boundary treatments for high-Reynolds-number flows. Apart from the existing schemes, we also test different forced mass conservation schemes and a constant density scheme. The capability of each scheme is investigated and, finally, recommendations for choosing a proper boundary condition scheme are given for stable and accurate simulations.

Robust finite-time chaos synchronization of uncertain permanent magnet synchronous motors.

PubMed

Chen, Qiang; Ren, Xuemei; Na, Jing

2015-09-01

In this paper, a robust finite-time chaos synchronization scheme is proposed for two uncertain third-order permanent magnet synchronous motors (PMSMs). The whole synchronization error system is divided into two cascaded subsystems: a first-order subsystem and a second-order subsystem. For the first subsystem, we design a finite-time controller based on the finite-time Lyapunov stability theory. Then, according to the backstepping idea and the adding a power integrator technique, a second finite-time controller is constructed recursively for the second subsystem. No exogenous forces are required in the controllers design but only the direct-axis (d-axis) and the quadrature-axis (q-axis) stator voltages are used as manipulated variables. Comparative simulations are provided to show the effectiveness and superior performance of the proposed method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Development of an active structure flight experiment

NASA Astrophysics Data System (ADS)

Manning, R. A.; Wyse, R. E.; Schubert, S. R.

1993-02-01

The design and development of the Air Force and TRW's Advanced Control Technology Experiment (ACTEX) flight experiment is described in this paper. The overall objective of ACTEX is to provide an active structure trailblazer which will demonstrate the compatibility of active structures with operational spacecraft performance and lifetime measures. At the heart of the experiment is an active tripod driven by a digitally-programmable analog control electronics subsystem. Piezoceramic sensors and actuators embedded in a graphite epoxy host material provide the sensing and actuation mechanism for the active tripod. Low noise ground-programmable electronics provide a virtually unlimited number of control schemes that can be implemented in the space environment. The flight experiment program provides the opportunity to gather performance, reliability, adaptability, and lifetime performance data on vibration suppression hardware for the next generation of DoD and NASA spacecraft.

Fast packet switching algorithms for dynamic resource control over ATM networks

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

Tsang, R.P.; Keattihananant, P.; Chang, T.

1996-12-01

Real-time continuous media traffic, such as digital video and audio, is expected to comprise a large percentage of the network load on future high speed packet switch networks such as ATM. A major feature which distinguishes high speed networks from traditional slower speed networks is the large amount of data the network must process very quickly. For efficient network usage, traffic control mechanisms are essential. Currently, most mechanisms for traffic control (such as flow control) have centered on the support of Available Bit Rate (ABR), i.e., non real-time, traffic. With regard to ATM, for ABR traffic, two major types ofmore » schemes which have been proposed are rate- control and credit-control schemes. Neither of these schemes are directly applicable to Real-time Variable Bit Rate (VBR) traffic such as continuous media traffic. Traffic control for continuous media traffic is an inherently difficult problem due to the time- sensitive nature of the traffic and its unpredictable burstiness. In this study, we present a scheme which controls traffic by dynamically allocating/de- allocating resources among competing VCs based upon their real-time requirements. This scheme incorporates a form of rate- control, real-time burst-level scheduling and link-link flow control. We show analytically potential performance improvements of our rate- control scheme and present a scheme for buffer dimensioning. We also present simulation results of our schemes and discuss the tradeoffs inherent in maintaining high network utilization and statistically guaranteeing many users` Quality of Service.« less

Non-Dissipative Structural Evolutions in Granular Materials

NASA Astrophysics Data System (ADS)

Pouragha, Mehdi; Wan, Richard

2017-06-01

The structure of the contact network in granular assemblies can evolve due to either dissipative mechanisms such as sliding at contact points, or non-dissipative mechanisms through the phenomenon of contact gain and loss. Being associated with negligible deformations, non-dissipative mechanisms is actually active even in the small strain range of 10-3, especially in the case of densely packed assemblies. Hence, from a constitutive modelling point of view, it is crucial to be able to estimate such non-dissipative evolutions since both elastic and plastic properties of granular assemblies highly depend on contact network characteristics. The current study proposes an analytical scheme that allows us to estimate the non-dissipative contact gain/loss regime in terms of directional changes in the average contact force. The probability distribution of contact forces is used to compute the number of lost contact for each direction. Similarly, the number of newly formed contacts is estimated by considering the probability distribution of the gap between neighbouring particles. Based on the directional contact gain/loss computed, the changes in coordination number and fabric anisotropy can be found which, together with statistical treatments of Love-Weber stress expression, form a complete system of equations describing the evolution of other controlling microvariables. Finally, the results of the calculations have been compared with DEM simulations which verify the accuracy of the proposed scheme.

Forced convection heat transfer to air/water vapor mixtures

NASA Technical Reports Server (NTRS)

Richards, D. R.; Florschuetz, L. W.

1984-01-01

Heat transfer coefficients were measured using both dry and humid air in the same forced convection cooling scheme and were compared using appropriate nondimensional parameters (Nusselt, Prandtl and Reynolds numbers). A forced convection scheme with a complex flow field, two dimensional arrays of circular jets with crossflow, was utilized with humidity ratios (mass ratio of water vapor to air) up to 0.23. The dynamic viscosity, thermal conductivity and specific heat of air, steam and air/steam mixtures are examined. Methods for determining gaseous mixture properties from the properties of their pure components are reviewed as well as methods for determining these properties with good confidence. The need for more experimentally determined property data for humid air is discussed. It is concluded that dimensionless forms of forced convection heat transfer data and empirical correlations based on measurements with dry air may be applied to conditions involving humid air with the same confidence as for the dry air case itself, provided that the thermophysical properties of the humid air mixtures are known with the same confidence as their dry air counterparts.

Role of real-space micromotion for bosonic and fermionic Floquet fractional Chern insulators

NASA Astrophysics Data System (ADS)

Anisimovas, Egidijus; Žlabys, Giedrius; Anderson, Brandon M.; JuzeliÅ«nas, Gediminas; Eckardt, André

2015-06-01

Fractional Chern insulators are the proposed phases of matter mimicking the physics of fractional quantum Hall states on a lattice without an overall magnetic field. The notion of Floquet fractional Chern insulators refers to the potential possibilities to generate the underlying topological band structure by means of Floquet engineering. In these schemes, a highly controllable and strongly interacting system is periodically driven by an external force at a frequency such that double tunneling events during one forcing period become important and contribute to shaping the required effective energy bands. We show that in the described circumstances it is necessary to take into account also third order processes combining two tunneling events with interactions. Referring to the obtained contributions as micromotion-induced interactions, we find that those interactions tend to have a negative impact on the stability of fractional Chern insulating phases and discuss implications for future experiments.

Force illusions and drifts observed during muscle vibration.

PubMed

Reschechtko, Sasha; Cuadra, Cristian; Latash, Mark L

2018-01-01

We explored predictions of a scheme that views position and force perception as a result of measuring proprioceptive signals within a reference frame set by ongoing efferent process. In particular, this hypothesis predicts force illusions caused by muscle vibration and mediated via changes in both afferent and efferent components of kinesthesia. Healthy subjects performed accurate steady force production tasks by pressing with the four fingers of one hand (the task hand) on individual force sensors with and without visual feedback. At various times during the trials, subjects matched the perceived force using the other hand. High-frequency vibration was applied to one or both of the forearms (over the hand and finger extensors). Without visual feedback, subjects showed a drop in the task hand force, which was significantly smaller under the vibration of that forearm. Force production by the matching hand was consistently higher than that of the task hand. Vibrating one of the forearms affected the matching hand in a manner consistent with the perception of higher magnitude of force produced by the vibrated hand. The findings were consistent between the dominant and nondominant hands. The effects of vibration on both force drift and force mismatching suggest that vibration led to shifts in both signals from proprioceptors and the efferent component of perception, the referent coordinate and/or coactivation command. The observations fit the hypothesis on combined perception of kinematic-kinetic variables with little specificity of different groups of peripheral receptors that all contribute to perception of forces and coordinates. NEW & NOTEWORTHY We show that vibration of hand/finger extensors produces consistent errors in finger force perception. Without visual feedback, finger force drifted to lower values without a drift in the matching force produced by the other hand; hand extensor vibration led to smaller finger force drift. The findings fit the scheme with combined perception of kinematic-kinetic variables and suggest that vibration leads to consistent shifts of the referent coordinate and, possibly, of coactivation command to the effector.

Numerical simulation of steady and unsteady asymmetric vortical flow

NASA Technical Reports Server (NTRS)

Kandil, Osama A.; Wong, Tin-Chee; Liu, C. H.

1992-01-01

The unsteady, compressible, thin-layer, Navier-Stokes (NS) equations are solved to simulate steady and unsteady, asymmetric, vortical laminar flow around cones at high incidences and supersonic Mach numbers. The equations are solved by using an implicit, upwind, flux-difference splitting (FDS), finite-volume scheme. The locally conical flow assumption is used and the solutions are obtained by forcing the conserved components of the flowfield vector to be equal at two axial stations located at 0.95 and 1.0. Computational examples cover steady and unsteady asymmetric flows around a circular cone and its control using side strakes. The unsteady asymmetric flow solution around the circular cone has also been validated using the upwind, flux-vector splitting (FVS) scheme with the thin-layer NS equations and the upwind FDS with the full NS equations. The results are in excellent agreement with each other. Unsteady asymmetric flows are also presented for elliptic- and diamond-section cones, which model asymmetric vortex shedding around round- and sharp-edged delta winds.

Numerical study of radiometric forces via the direct solution of the Boltzmann kinetic equation

NASA Astrophysics Data System (ADS)

Anikin, Yu. A.

2011-07-01

The two-dimensional rarefied gas motion in a Crookes radiometer and the resulting radiometric forces are studied by numerically solving the Boltzmann kinetic equation. The collision integral is directly evaluated using a projection method, and second-order accurate TVD schemes are used to solve the advection equation. The radiometric forces are found as functions of the Knudsen number and the temperatures, and their spatial distribution is analyzed.

The fundamentals of adaptive grid movement

NASA Technical Reports Server (NTRS)

Eiseman, Peter R.

1990-01-01

Basic grid point movement schemes are studied. The schemes are referred to as adaptive grids. Weight functions and equidistribution in one dimension are treated. The specification of coefficients in the linear weight, attraction to a given grid or a curve, and evolutionary forces are considered. Curve by curve and finite volume methods are described. The temporal coupling of partial differential equations solvers and grid generators was discussed.

Nonlinear friction modelling and compensation control of hysteresis phenomena for a pair of tendon-sheath actuated surgical robots

NASA Astrophysics Data System (ADS)

Do, T. N.; Tjahjowidodo, T.; Lau, M. W. S.; Phee, S. J.

2015-08-01

Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a special method that allows surgical operations via natural orifices like mouth, anus, and vagina, without leaving visible scars. The use of flexible tendon-sheath mechanism (TSM) is common in these systems because of its light weight in structure, flexibility, and easy transmission of power. However, nonlinear friction and backlash hysteresis pose many challenges to control of such systems; in addition, they do not provide haptic feedback to assist the surgeon in the operation of the systems. In this paper, we propose a new dynamic friction model and backlash hysteresis nonlinearity for a pair of TSM to deal with these problems. The proposed friction model, unlike current approaches in the literature, is smooth and able to capture the force at near zero velocity when the system is stationary or operates at small motion. This model can be used to estimate the friction force for haptic feedback purpose. To improve the system tracking performances, a backlash hysteresis model will be introduced, which can be used in a feedforward controller scheme. The controller involves a simple computation of the inverse hysteresis model. The proposed models are configuration independent and able to capture the nonlinearities for arbitrary tendon-sheath shapes. A representative experimental setup is used to validate the proposed models and to demonstrate the improvement in position tracking accuracy and the possibility of providing desired force information at the distal end of a pair of TSM slave manipulator for haptic feedback to the surgeons.

An improvement in mass flux convective parameterizations and its impact on seasonal simulations using a coupled model

NASA Astrophysics Data System (ADS)

Elsayed Yousef, Ahmed; Ehsan, M. Azhar; Almazroui, Mansour; Assiri, Mazen E.; Al-Khalaf, Abdulrahman K.

2017-02-01

A new closure and a modified detrainment for the simplified Arakawa-Schubert (SAS) cumulus parameterization scheme are proposed. In the modified convective scheme which is named as King Abdulaziz University (KAU) scheme, the closure depends on both the buoyancy force and the environment mean relative humidity. A lateral entrainment rate varying with environment relative humidity is proposed and tends to suppress convection in a dry atmosphere. The detrainment rate also varies with environment relative humidity. The KAU scheme has been tested in a single column model (SCM) and implemented in a coupled global climate model (CGCM). Increased coupling between environment and clouds in the KAU scheme results in improved sensitivity of the depth and strength of convection to environmental humidity compared to the original SAS scheme. The new scheme improves precipitation simulation with better representations of moisture and temperature especially during suppressed convection periods. The KAU scheme implemented in the Seoul National University (SNU) CGCM shows improved precipitation over the tropics. The simulated precipitation pattern over the Arabian Peninsula and Northeast African region is also improved.

Re-assessment of feedbacks from biosphere to Indian Monsoon: RegCMv4.4.5.10 simulations

NASA Astrophysics Data System (ADS)

Lodh, A.

2016-12-01

Biosphere feedback plays an important role in the progression of moisture laden Indian summer monsoon winds over the land regions of India, towards the north-western regions of India, during the Indian summer monsoon regime. Hence, for understanding the biosphere-feedback to Indian monsoon numerical experiments for "control" and "design" cases are performed using ICTP RegCMv4.4.5.10 climate model forced with National Center for Atmospheric Research - II reanalysed fields. The RegCMv4.4.5.10 simulations are performed from 00GMT 1st November 1999 to 24 GMT 1st January 2011, with combination of mixed convective parameterization (viz. Emanuel and Grell) schemes over land and ocean, combined with "University of Washington- Planetary boundary layer" (UW-PBL) and Holtslag PBL scheme. Validation studies are then performed for correct representation of Indian summer monsoon features particularly precipitation and soil moisture. Then, four numerical experiments with LULCC change in the climate model are carried out (for the same initial, boundary forcings and time-period as in control experiment) for determining possible influence of vegetation cover (viz. extended desertification, deforestation and increase in afforestation, irrigated land) on Indian monsoon meteorology. Results from the extended desert and deforestation experiment, informs us that the moisture laden easterlies from Bay of Bengal are not able to move towards the land region owing to formation of anomalous anti-cyclone circulations, resulting in decrease in precipitation over India. From irrigation and afforestation experiment, it is found that there is increase in precipitation, precipitable water, recycling ratio, precipitation efficiency and development of anomalous cyclonic circulations over Central and North-west India. More details about the results from the numerical experiments performed will be explained.

Cortical bone drilling: An experimental and numerical study.

PubMed

Alam, Khurshid; Bahadur, Issam M; Ahmed, Naseer

2014-12-16

Bone drilling is a common surgical procedure in orthopedics, dental and neurosurgeries. In conventional bone drilling process, the surgeon exerts a considerable amount of pressure to penetrate the drill into the bone tissue. Controlled penetration of drill in the bone is necessary for safe and efficient drilling. Development of a validated Finite Element (FE) model of cortical bone drilling. Drilling experiments were conducted on bovine cortical bone. The FE model of the bone drilling was based on mechanical properties obtained from literature data and additionally conducted microindentation tests on the cortical bone. The magnitude of stress in bone was found to decrease exponentially away from the lips of the drill in simulations. Feed rate was found to be the main influential factor affecting the force and torque in the numerical simulations and experiments. The drilling thrust force and torque were found to be unaffected by the drilling speed in numerical simulations. Simulated forces and torques were compared with experimental results for similar drilling conditions and were found in good agreement.CONCLUSIONS: FE schemes may be successfully applied to model complex kinematics of bone drilling process.

Evaluating the far-field sound of a turbulent jet with one-way Navier-Stokes equations

NASA Astrophysics Data System (ADS)

Pickering, Ethan; Rigas, Georgios; Towne, Aaron; Colonius, Tim

2017-11-01

The one-way Navier-Stokes (OWNS) method has shown promising ability to predict both near field coherent structures (i.e. wave packets) and far field acoustics of turbulent jets while remaining computationally efficient through implementation of a spatial marching scheme. Considering the speed and relative accuracy of OWNS, a predictive model for various jet configurations may be conceived and applied for noise control. However, there still remain discrepancies between OWNS and large eddy simulation (LES) databases which may be linked to the previous neglect of nonlinear forcing. Therefore, to better predict wave packets and far field acoustics, this study investigates the effect of nonlinear forcing terms derived from high-fidelity LES databases. The results of the nonlinear forcings are evaluated for several azimuthal modes and frequencies, as well as compared to LES derived acoustics using spectral proper orthogonal decomposition (SPOD). This research was supported by the Department of Defense (DoD) through the Office of Naval Research (Grant No. N00014-16-1-2445) and the National Defense Science & Engineering Graduate Fellowship (NDSEG) Program.

Exoskeleton master controller with force-reflecting telepresence

NASA Technical Reports Server (NTRS)

Burke, James B.; Bartholet, Stephen J.; Nelson, David K.

1992-01-01

A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.

Coordinated Control of Cross-Flow Turbines

NASA Astrophysics Data System (ADS)

Strom, Benjamin; Brunton, Steven; Polagye, Brian

2016-11-01

Cross-flow turbines, also known as vertical-axis turbines, have several advantages over axial-flow turbines for a number of applications including urban wind power, high-density arrays, and marine or fluvial currents. By controlling the angular velocity applied to the turbine as a function of angular blade position, we have demonstrated a 79 percent increase in cross-flow turbine efficiency over constant-velocity control. This strategy uses the downhill simplex method to optimize control parameter profiles during operation of a model turbine in a recirculating water flume. This optimization method is extended to a set of two turbines, where the blade motions and position of the downstream turbine are optimized to beneficially interact with the coherent structures in the wake of the upstream turbine. This control scheme has the potential to enable high-density arrays of cross-flow turbines to operate at cost-effective efficiency. Turbine wake and force measurements are analyzed for insight into the effect of a coordinated control strategy.

Assessing the sensitivity of a land-surface scheme to the parameter values using a single column model

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

Pitman, A.J.

The sensitivity of a land-surface scheme (the Biosphere Atmosphere Transfer Scheme, BATS) to its parameter values was investigated using a single column model. Identifying which parameters were important in controlling the turbulent energy fluxes, temperature, soil moisture, and runoff was dependent upon many factors. In the simulation of a nonmoisture-stressed tropical forest, results were dependent on a combination of reservoir terms (soil depth, root distribution), flux efficiency terms (roughness length, stomatal resistance), and available energy (albedo). If moisture became limited, the reservoir terms increased in importance because the total fluxes predicted depended on moisture availability and not on the ratemore » of transfer between the surface and the atmosphere. The sensitivity shown by BATS depended on which vegetation type was being simulated, which variable was used to determine sensitivity, the magnitude and sign of the parameter change, the climate regime (precipitation amount and frequency), and soil moisture levels and proximity to wilting. The interactions between these factors made it difficult to identify the most important parameters in BATS. Therefore, this paper does not argue that a particular set of parameters is important in BATS, rather it shows that no general ranking of parameters is possible. It is also emphasized that using `stand-alone` forcing to examine the sensitivity of a land-surface scheme to perturbations, in either parameters or the atmosphere, is unreliable due to the lack of surface-atmospheric feedbacks.« less

The role of muscle synergies in myoelectric control: trends and challenges for simultaneous multifunction control

NASA Astrophysics Data System (ADS)

Ison, Mark; Artemiadis, Panagiotis

2014-10-01

Myoelectric control is filled with potential to significantly change human-robot interaction due to the ability to non-invasively measure human motion intent. However, current control schemes have struggled to achieve the robust performance that is necessary for use in commercial applications. As demands in myoelectric control trend toward simultaneous multifunctional control, multi-muscle coordinations, or synergies, play larger roles in the success of the control scheme. Detecting and refining patterns in muscle activations robust to the high variance and transient changes associated with surface electromyography is essential for efficient, user-friendly control. This article reviews the role of muscle synergies in myoelectric control schemes by dissecting each component of the scheme with respect to associated challenges for achieving robust simultaneous control of myoelectric interfaces. Electromyography recording details, signal feature extraction, pattern recognition and motor learning based control schemes are considered, and future directions are proposed as steps toward fulfilling the potential of myoelectric control in clinically and commercially viable applications.

Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints

PubMed Central

Kwok, Ka-Wai; Tsoi, Kuen Hung; Vitiello, Valentina; Clark, James; Chow, Gary C. T.; Luk, Wayne; Yang, Guang-Zhong

2014-01-01

This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks. PMID:24741371

A cascaded coding scheme for error control

NASA Technical Reports Server (NTRS)

Shu, L.; Kasami, T.

1985-01-01

A cascade coding scheme for error control is investigated. The scheme employs a combination of hard and soft decisions in decoding. Error performance is analyzed. If the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit-error-rate. Some example schemes are evaluated. They seem to be quite suitable for satellite down-link error control.

A cascaded coding scheme for error control

NASA Technical Reports Server (NTRS)

Kasami, T.; Lin, S.

1985-01-01

A cascaded coding scheme for error control was investigated. The scheme employs a combination of hard and soft decisions in decoding. Error performance is analyzed. If the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit-error-rate. Some example schemes are studied which seem to be quite suitable for satellite down-link error control.

Climatic Effects of Black Carbon Aerosols Over the Tibetan Plateau

NASA Astrophysics Data System (ADS)

He, Cenlin

Black carbon (BC), also known as soot, has been identified as the second most important anthropogenic emissions in terms of global climate forcing in the current atmosphere. Ample evidence has shown that BC deposition is an important driver of rapid snow melting and glacier retreat over the Tibetan Plateau, which holds the largest snow/ice mass outside polar regions. However, the climatic effects of BC over the Tibetan Plateau have not been thoroughly investigated in such a manner as to understand, quantify, and reduce large uncertainties in the estimate of radiative and hydrological effects. Thus, this Ph.D. study seeks to understand and improve key processes controlling BC life cycle in global and regional models and to quantify BC radiative effects over the Tibetan Plateau. First, the capability of a state-of-the-art global chemical transport model (CTM), GEOS-Chem, and the associated model uncertainties are systematically evaluated in simulating BC over the Tibetan Plateau, using in situ measurements of BC in surface air, BC in snow, and BC absorption optical depth. The effects of three key factors on the simulation are also delineated, including Asian anthropogenic emissions, BC aging process, and model resolution. Subsequently, a microphysics-based BC aging scheme that accounts for condensation, coagulation, and heterogeneous chemical oxidation processes is developed and examined in GEOS-Chem by comparing with aircraft measurements. Compared to the default aging scheme, the microphysical scheme reduces model-observation discrepancies by a factor of 3, particularly in the middle and upper troposphere. In addition, a theoretical BC aging-optics model is developed to account for three typical evolution stages, namely, freshly emitted aggregates, coated BC by soluble material, and BC particles undergoing further hygroscopic growth. The geometric-optics surface-wave (GOS) approach is employed to compute the BC single-scattering properties at each aging stage, which are subsequently compared with laboratory measurements. Results show large variations in BC optical properties caused by coating morphology and aging stages. Furthermore, a comprehensive intercomparison of the GOS approach, the superposition T-matrix method, and laboratory measurements is performed for optical properties of BC with complex structures during aging. Moreover, a new snow albedo model is developed for widely-observed close-packed snow grains internally mixed with BC. Results indicate that albedo simulations that account for snow close packing match closer to observations. Close packing enhances BC-induced snow albedo reduction and associated surface radiative forcing by up to 15% (20%) for fresh (old) snow, which suggests that BC-snow albedo forcing is underestimated in previous modeling studies without accounting for close packing. Finally, the snow albedo forcing and direct radiative forcing (DRF) of BC in the Tibetan Plateau are estimated using GEOS-Chem in conjunction with a stochastic snow model and a radiative transfer model. This, for the first time, accounts for realistic non-spherical snow grain shape and stochastic multiple inclusions of BC within snow in assessing BC-snow interactions. The annual mean BC snow albedo forcing is 2.9 W m-2 over snow-covered Plateau regions. BC-snow internal mixing increases the albedo forcing by 40-60% compared with external mixing, whereas Koch snowflakes reduce the forcing by 20-40% relative to spherical snow grains. BC DRF at the top of the atmosphere is 2.3 W m-2 with uncertainties of -70% - +85% in the Plateau. The BC forcings are further attributed to emissions from different regions.

Strategy for reflector pattern calculation - Let the computer do the work

NASA Technical Reports Server (NTRS)

Lam, P. T.; Lee, S.-W.; Hung, C. C.; Acosta, R.

1986-01-01

Using high frequency approximations, the secondary pattern of a reflector antenna can be calculated by numerically evaluating a radiation integral I(u,v). In recent years, tremendous effort has been expended to reducing I(u,v) to Fourier integrals. These reduction schemes are invariably reflector geometry dependent. Hence, different analyses/computer software development must be carried out for different reflector shapes/boundaries. It is pointed out, that, as the computer power improves, these reduction schemes are no longer necessary. Comparable accuracy and computation time can be achieved by evaluating I(u,v) by a brute force FFT described in this note. Furthermore, there is virtually no restriction on the reflector geometry by using the brute force FFT.

Strategy for reflector pattern calculation: Let the computer do the work

NASA Technical Reports Server (NTRS)

Lam, P. T.; Lee, S. W.; Hung, C. C.; Acousta, R.

1985-01-01

Using high frequency approximations, the secondary pattern of a reflector antenna can be calculated by numerically evaluating a radiation integral I(u,v). In recent years, tremendous effort has been expended to reducing I(u,v) to Fourier integrals. These reduction schemes are invariably reflector geometry dependent. Hence, different analyses/computer software development must be carried out for different reflector shapes/boundaries. it is pointed out, that, as the computer power improves, these reduction schemes are no longer necessary. Comparable accuracy and computation time can be achieved by evaluating I(u,v) by a brute force FFT described in this note. Furthermore, there is virtually no restriction on the reflector geometry by using the brute force FFT.

Neural network-based sliding mode control for atmospheric-actuated spacecraft formation using switching strategy

NASA Astrophysics Data System (ADS)

Sun, Ran; Wang, Jihe; Zhang, Dexin; Shao, Xiaowei

2018-02-01

This paper presents an adaptive neural networks-based control method for spacecraft formation with coupled translational and rotational dynamics using only aerodynamic forces. It is assumed that each spacecraft is equipped with several large flat plates. A coupled orbit-attitude dynamic model is considered based on the specific configuration of atmospheric-based actuators. For this model, a neural network-based adaptive sliding mode controller is implemented, accounting for system uncertainties and external perturbations. To avoid invalidation of the neural networks destroying stability of the system, a switching control strategy is proposed which combines an adaptive neural networks controller dominating in its active region and an adaptive sliding mode controller outside the neural active region. An optimal process is developed to determine the control commands for the plates system. The stability of the closed-loop system is proved by a Lyapunov-based method. Comparative results through numerical simulations illustrate the effectiveness of executing attitude control while maintaining the relative motion, and higher control accuracy can be achieved by using the proposed neural-based switching control scheme than using only adaptive sliding mode controller.

Unified Approach To Control Of Motions Of Mobile Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1995-01-01

Improved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Controlled quantum perfect teleportation of multiple arbitrary multi-qubit states

NASA Astrophysics Data System (ADS)

Shi, Runhua; Huang, Liusheng; Yang, Wei; Zhong, Hong

2011-12-01

We present an efficient controlled quantum perfect teleportation scheme. In our scheme, multiple senders can teleport multiple arbitrary unknown multi-qubit states to a single receiver via a previously shared entanglement state with the help of one or more controllers. Furthermore, our scheme has a very good performance in the measurement and operation complexity, since it only needs to perform Bell state and single-particle measurements and to apply Controlled-Not gate and other single-particle unitary operations. In addition, compared with traditional schemes, our scheme needs less qubits as the quantum resources and exchanges less classical information, and thus obtains higher communication efficiency.

Exploring the role of voluntary disease schemes on UK farmer bio-security behaviours: Findings from the Norfolk-Suffolk Bovine Viral Diarrhoea control scheme.

PubMed

Azbel-Jackson, Lena; Heffernan, Claire; Gunn, George; Brownlie, Joe

2018-01-01

The article describes the influence of a disease control scheme (the Norfolk-Suffolk Bovine Viral Diarrhoea Disease (BVD) Eradication scheme) on farmers' bio-security attitudes and behaviours. In 2010, a survey of 100 cattle farmers (53 scheme members vs. 47 out of scheme farmers) was undertaken among cattle farmers residing in Norfolk and Suffolk counties in the UK. A cross-sectional independent measures design was employed. The main analytical tool was content analysis. The following variables at the farmer-level were explored: the specific BVD control measures adopted, livestock disease priorities, motivation for scheme membership, wider knowledge acquisition, biosecurity behaviours employed and training course attendance. The findings suggest that participation in the BVD scheme improved farmers' perception of the scheme benefits and participation in training courses. However, no association was found between the taking part in the BVD scheme and livestock disease priorities or motivation for scheme participation, or knowledge about BVD bio-security measures employed. Equally importantly, scheme membership did appear to influence the importance accorded specific bio-security measures. Yet such ranking did not appear to reflect the actual behaviours undertaken. As such, disease control efforts alone while necessary, are insufficient. Rather, to enhance farmer bio-security behaviours significant effort must be made to address underlying attitudes to the specific disease threat involved.

Exploring the role of voluntary disease schemes on UK farmer bio-security behaviours: Findings from the Norfolk-Suffolk Bovine Viral Diarrhoea control scheme

PubMed Central

Azbel-Jackson, Lena; Heffernan, Claire; Gunn, George; Brownlie, Joe

2018-01-01

The article describes the influence of a disease control scheme (the Norfolk-Suffolk Bovine Viral Diarrhoea Disease (BVD) Eradication scheme) on farmers' bio-security attitudes and behaviours. In 2010, a survey of 100 cattle farmers (53 scheme members vs. 47 out of scheme farmers) was undertaken among cattle farmers residing in Norfolk and Suffolk counties in the UK. A cross-sectional independent measures design was employed. The main analytical tool was content analysis. The following variables at the farmer-level were explored: the specific BVD control measures adopted, livestock disease priorities, motivation for scheme membership, wider knowledge acquisition, biosecurity behaviours employed and training course attendance. The findings suggest that participation in the BVD scheme improved farmers' perception of the scheme benefits and participation in training courses. However, no association was found between the taking part in the BVD scheme and livestock disease priorities or motivation for scheme participation, or knowledge about BVD bio-security measures employed. Equally importantly, scheme membership did appear to influence the importance accorded specific bio-security measures. Yet such ranking did not appear to reflect the actual behaviours undertaken. As such, disease control efforts alone while necessary, are insufficient. Rather, to enhance farmer bio-security behaviours significant effort must be made to address underlying attitudes to the specific disease threat involved. PMID:29432435

Comment on "An improved gray Lattice Boltzmann model for simulating fluid flow in multi-scale porous media": Intrinsic links between LBE Brinkman schemes

NASA Astrophysics Data System (ADS)

Ginzburg, Irina

2016-02-01

In this Comment on the recent work (Zhu and Ma, 2013) [11] by Zhu and Ma (ZM) we first show that all three local gray Lattice Boltzmann (GLB) schemes in the form (Zhu and Ma, 2013) [11]: GS (Chen and Zhu, 2008; Gao and Sharma, 1994) [1,4], WBS (Walsh et al., 2009) [12] and ZM, fail to get constant Darcy's velocity in series of porous blocks. This inconsistency is because of their incorrect definition of the macroscopic velocity in the presence of the heterogeneous momentum exchange, while the original WBS model (Walsh et al., 2009) [12] does this properly. We improve the GS and ZM schemes for this and other related deficiencies. Second, we show that the ;discontinuous velocity; they recover on the stratified interfaces with their WBS scheme is inherent, in different degrees, to all LBE Brinkman schemes, including ZM scheme. None of them guarantees the stress and the velocity continuity by their implicit interface conditions, even in the frame of the two-relaxation-times (TRT) collision operator where these two properties are assured in stratified Stokes flow, Ginzburg (2007) [5]. Third, the GLB schemes are presented in work (Zhu and Ma, 2013) [11] as the alternative ones to direct, Brinkman-force based (BF) schemes (Freed, 1998; Nie and Martys, 2007) [3,8]. Yet, we show that the BF-TRT scheme (Ginzburg, 2008) [6] gets the solutions of any of the improved GLB schemes for specific, viscosity-dependent choice of its one or two local relaxation rates. This provides the principal difference between the GLB and BF: while the BF may respect the linearity of the Stokes-Brinkman equation rigorously, the GLB-TRT cannot, unless it reduces to the BF via the inverse transform of the relaxation rates. Furthermore, we show that, in limited parameter space, ;gray; schemes may run one another. From the practical point of view, permeability values obtained with the GLB are viscosity-dependent, unlike with the BF. Finally, the GLB shares with the BF a so-called anisotropy (Ginzburg, 2008; Nie and Martys, 2007) [6,8], that is, flow-direction-dependency in their effective viscosity corrections, related to the discretized spatial variation of the resistance forcing.

Controlled teleportation of an arbitrary n-qubit quantum information using quantum secret sharing of classical message

NASA Astrophysics Data System (ADS)

Zhang, Zhan-Jun

2006-03-01

I present a scheme which allows an arbitrary 2-qubit quantum state teleportation between two remote parties with control of many agents in a network. Comparisons between the present scheme and the existing scheme proposed recently [F.G. Deng, et al., Phys. Rev. A 72 (2005) 022338] are made. It seems that the present scheme is much simpler and more economic. Then I generalize the scheme to teleport an arbitrary n-qubit quantum state between two remote parties with control of agents in a network.

Sensitivity of river discharge to the quality of external meteorological forcings

NASA Astrophysics Data System (ADS)

Materia, S.; Dirmeyer, P.; Guo, Z.; Alessandri, A.; Navarra, A.

2009-09-01

Large-scale river routing models are essential tools to close the hydrological cycle in fully coupled climate models. Moreover, the availability of a realistic routing scheme is a powerful instrument to assess the validity of land surface parameterization, which has been recognized to be a crucial component of the global climate. This study is dedicated to assess the sensitivity of river discharge to the variation of external meteorological forcing. The Land Surface Scheme created at the Center for Ocean, Land and Atmosphere Studies (COLA), the SSiB model, was constrained with different meteorological fields. The resulting surface and sub-surface runoffs were used as forcing data for the HD River Routing Scheme. As expected, river flow is mainly sensitive to precipitation variability, but changes in radiative forcing affect discharge as well, presumably due to the interaction with evaporation. Also, this analysis provided an estimate of the sensitivity of river discharge to precipitation variations. A few areas, like Central and Eastern Asia, Southern and Central Europe and the majority of the US, show a magnified response of river discharge to a given percentage change in precipitation. Hence, an amplified effect of droughts following the reduction in precipitation, as it is indicated by many climate scenarios, may occur in places such as the Mediterranean. Conversely, increasing summer precipitation foreseen in Southern and Eastern Asia may amplify floods in one the poorest and most populated regions in the world. These results can be used for the definition and assessment of new strategies for land use and water management in the near future.

Real Time Land-Surface Hydrologic Modeling Over Continental US

NASA Technical Reports Server (NTRS)

Houser, Paul R.

1998-01-01

The land surface component of the hydrological cycle is fundamental to the overall functioning of the atmospheric and climate processes. Spatially and temporally variable rainfall and available energy, combined with land surface heterogeneity cause complex variations in all processes related to surface hydrology. The characterization of the spatial and temporal variability of water and energy cycles are critical to improve our understanding of land surface-atmosphere interaction and the impact of land surface processes on climate extremes. Because the accurate knowledge of these processes and their variability is important for climate predictions, most Numerical Weather Prediction (NWP) centers have incorporated land surface schemes in their models. However, errors in the NWP forcing accumulate in the surface and energy stores, leading to incorrect surface water and energy partitioning and related processes. This has motivated the NWP to impose ad hoc corrections to the land surface states to prevent this drift. A proposed methodology is to develop Land Data Assimilation schemes (LDAS), which are uncoupled models forced with observations, and not affected by NWP forcing biases. The proposed research is being implemented as a real time operation using an existing Surface Vegetation Atmosphere Transfer Scheme (SVATS) model at a 40 km degree resolution across the United States to evaluate these critical science questions. The model will be forced with real time output from numerical prediction models, satellite data, and radar precipitation measurements. Model parameters will be derived from the existing GIS vegetation and soil coverages. The model results will be aggregated to various scales to assess water and energy balances and these will be validated with various in-situ observations.

A comparison of two multi-variable integrator windup protection schemes

NASA Technical Reports Server (NTRS)

Mattern, Duane

1993-01-01

Two methods are examined for limit and integrator wind-up protection for multi-input, multi-output linear controllers subject to actuator constraints. The methods begin with an existing linear controller that satisfies the specifications for the nominal, small perturbation, linear model of the plant. The controllers are formulated to include an additional contribution to the state derivative calculations. The first method to be examined is the multi-variable version of the single-input, single-output, high gain, Conventional Anti-Windup (CAW) scheme. Except for the actuator limits, the CAW scheme is linear. The second scheme to be examined, denoted the Modified Anti-Windup (MAW) scheme, uses a scalar to modify the magnitude of the controller output vector while maintaining the vector direction. The calculation of the scalar modifier is a nonlinear function of the controller outputs and the actuator limits. In both cases the constrained actuator is tracked. These two integrator windup protection methods are demonstrated on a turbofan engine control system with five measurements, four control variables, and four actuators. The closed-loop responses of the two schemes are compared and contrasted during limit operation. The issue of maintaining the direction of the controller output vector using the Modified Anti-Windup scheme is discussed and the advantages and disadvantages of both of the IWP methods are presented.

Third-order 2N-storage Runge-Kutta schemes with error control

NASA Technical Reports Server (NTRS)

Carpenter, Mark H.; Kennedy, Christopher A.

1994-01-01

A family of four-stage third-order explicit Runge-Kutta schemes is derived that requires only two storage locations and has desirable stability characteristics. Error control is achieved by embedding a second-order scheme within the four-stage procedure. Certain schemes are identified that are as efficient and accurate as conventional embedded schemes of comparable order and require fewer storage locations.

Downscaling scheme to drive soil-vegetation-atmosphere transfer models

NASA Astrophysics Data System (ADS)

Schomburg, Annika; Venema, Victor; Lindau, Ralf; Ament, Felix; Simmer, Clemens

2010-05-01

The earth's surface is characterized by heterogeneity at a broad range of scales. Weather forecast models and climate models are not able to resolve this heterogeneity at the smaller scales. Many processes in the soil or at the surface, however, are highly nonlinear. This holds, for example, for evaporation processes, where stomata or aerodynamic resistances are nonlinear functions of the local micro-climate. Other examples are threshold dependent processes, e.g., the generation of runoff or the melting of snow. It has been shown that using averaged parameters in the computation of these processes leads to errors and especially biases, due to the involved nonlinearities. Thus it is necessary to account for the sub-grid scale surface heterogeneities in atmospheric modeling. One approach to take the variability of the earth's surface into account is the mosaic approach. Here the soil-vegetation-atmosphere transfer (SVAT) model is run on an explicit higher resolution than the atmospheric part of a coupled model, which is feasible due to generally lower computational costs of a SVAT model compared to the atmospheric part. The question arises how to deal with the scale differences at the interface between the two resolutions. Usually the assumption of a homogeneous forcing for all sub-pixels is made. However, over a heterogeneous surface, usually the boundary layer is also heterogeneous. Thus, by assuming a constant atmospheric forcing again biases in the turbulent heat fluxes may occur due to neglected atmospheric forcing variability. Therefore we have developed and tested a downscaling scheme to disaggregate the atmospheric variables of the lower atmosphere that are used as input to force a SVAT model. Our downscaling scheme consists of three steps: 1) a bi-quadratic spline interpolation of the coarse-resolution field; 2) a "deterministic" part, where relationships between surface and near-surface variables are exploited; and 3) a noise-generation step, in which the still missing, not explained, variance is added as noise. The scheme has been developed and tested based on high-resolution (400 m) model output of the weather forecast (and regional climate) COSMO model. Downscaling steps 1 and 2 reduce the error made by the homogeneous assumption considerably, whereas the third step leads to close agreement of the sub-grid scale variance with the reference. This is, however, achieved at the cost of higher root mean square errors. Thus, before applying the downscaling system to atmospheric data a decision should be made whether the lowest possible errors (apply only downscaling step 1 and 2) or a most realistic sub-grid scale variability (apply also step 3) is desired. This downscaling scheme is currently being implemented into the COSMO model, where it will be used in combination with the mosaic approach. However, this downscaling scheme can also be applied to drive stand-alone SVAT models or hydrological models, which usually also need high-resolution atmospheric forcing data.

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2011 CFR

2011-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2013 CFR

2013-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2014 CFR

2014-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2010 CFR

2010-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

31 CFR 592.301 - Controlled through the Kimberley Process Certification Scheme.

Code of Federal Regulations, 2012 CFR

2012-07-01

... Process Certification Scheme. 592.301 Section 592.301 Money and Finance: Treasury Regulations Relating to... Certification Scheme. (a) Except as otherwise provided in paragraph (b) of this section, the term controlled through the Kimberley Process Certification Scheme refers to the following requirements that apply, as...

Energy conserving schemes for the simulation of musical instrument contact dynamics

NASA Astrophysics Data System (ADS)

Chatziioannou, Vasileios; van Walstijn, Maarten

2015-03-01

Collisions are an innate part of the function of many musical instruments. Due to the nonlinear nature of contact forces, special care has to be taken in the construction of numerical schemes for simulation and sound synthesis. Finite difference schemes and other time-stepping algorithms used for musical instrument modelling purposes are normally arrived at by discretising a Newtonian description of the system. However because impact forces are non-analytic functions of the phase space variables, algorithm stability can rarely be established this way. This paper presents a systematic approach to deriving energy conserving schemes for frictionless impact modelling. The proposed numerical formulations follow from discretising Hamilton's equations of motion, generally leading to an implicit system of nonlinear equations that can be solved with Newton's method. The approach is first outlined for point mass collisions and then extended to distributed settings, such as vibrating strings and beams colliding with rigid obstacles. Stability and other relevant properties of the proposed approach are discussed and further demonstrated with simulation examples. The methodology is exemplified through a case study on tanpura string vibration, with the results confirming the main findings of previous studies on the role of the bridge in sound generation with this type of string instrument.

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

PubMed

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

2009-06-01

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

Level set method for image segmentation based on moment competition

NASA Astrophysics Data System (ADS)

Min, Hai; Wang, Xiao-Feng; Huang, De-Shuang; Jin, Jing; Wang, Hong-Zhi; Li, Hai

2015-05-01

We propose a level set method for image segmentation which introduces the moment competition and weakly supervised information into the energy functional construction. Different from the region-based level set methods which use force competition, the moment competition is adopted to drive the contour evolution. Here, a so-called three-point labeling scheme is proposed to manually label three independent points (weakly supervised information) on the image. Then the intensity differences between the three points and the unlabeled pixels are used to construct the force arms for each image pixel. The corresponding force is generated from the global statistical information of a region-based method and weighted by the force arm. As a result, the moment can be constructed and incorporated into the energy functional to drive the evolving contour to approach the object boundary. In our method, the force arm can take full advantage of the three-point labeling scheme to constrain the moment competition. Additionally, the global statistical information and weakly supervised information are successfully integrated, which makes the proposed method more robust than traditional methods for initial contour placement and parameter setting. Experimental results with performance analysis also show the superiority of the proposed method on segmenting different types of complicated images, such as noisy images, three-phase images, images with intensity inhomogeneity, and texture images.

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

PubMed

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

2018-05-01

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

ROTEX-TRIIFEX: Proposal for a joint FRG-USA telerobotic flight experiment

NASA Technical Reports Server (NTRS)

Hirzinger, G.; Bejczy, A. K.

1989-01-01

The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.

Dynamics of pleural fluid effusion and chylothorax in the fetus and newborn: role of the lymphatic system.

PubMed

Bellini, C; Ergaz, Z; Boccardo, F; Bellini, T; Campisi, C C; Bonioli, E; Ramenghi, L A

2013-06-01

Pleural fluid effusion particularly chylothorax is a relatively rare occurrence in the newborn, but when it occurs it is often life-threatening. In this article, we describe and illustrate the morphologic features of the visceral and parietal pleura including pleural lymphatics and the physiology and pathophysiology of pleural fluid balance. The role and function of the lymphatic system in controlling the volume and composition of pleural liquid are detailed and a conceptual scheme presented. Finally, the crucial role of inadequate lymphatic drainage (either functional overload from an imbalance in Starling forces or mechanical insufficiency from lymphatic dysplasia) is emphasized.

Some implementational issues of convection schemes for finite volume formulations

NASA Technical Reports Server (NTRS)

Thakur, Siddharth; Shyy, Wei

1993-01-01

Two higher-order upwind schemes - second-order upwind and QUICK - are examined in terms of their interpretation, implementation as well as performance for a recirculating flow in a lid-driven cavity, in the context of a control volume formulation using the SIMPLE algorithm. The present formulation of these schemes is based on a unified framework wherein the first-order upwind scheme is chosen as the basis, with the remaining terms being assigned to the source term. The performance of these schemes is contrasted with the first-order upwind and second-order central difference schemes. Also addressed in this study is the issue of boundary treatment associated with these higher-order upwind schemes. Two different boundary treatments - one that uses a two-point scheme consistently within a given control volume at the boundary, and the other that maintains consistency of flux across the interior face between the adjacent control volumes - are formulated and evaluated.

Some implementational issues of convection schemes for finite-volume formulations

NASA Technical Reports Server (NTRS)

Thakur, Siddharth; Shyy, Wei

1993-01-01

Two higher-order upwind schemes - second-order upwind and QUICK - are examined in terms of their interpretation, implementations, as well as performance for a recirculating flow in a lid-driven cavity, in the context of a control-volume formulation using the SIMPLE algorithm. The present formulation of these schemes is based on a unified framework wherein the first-order upwind scheme is chosen as the basis, with the remaining terms being assigned to the source term. The performance of these schemes is contrasted with the first-order upwind and second-order central difference schemes. Also addressed in this study is the issue of boundary treatment associated with these higher-order upwind schemes. Two different boundary treatments - one that uses a two-point scheme consistently within a given control volume at the boundary, and the other that maintains consistency of flux across the interior face between the adjacent control volumes - are formulated and evaluated.

Corrected simulations for one-dimensional diffusion processes with naturally occurring boundaries.

PubMed

Shafiey, Hassan; Gan, Xinjun; Waxman, David

2017-11-01

To simulate a diffusion process, a usual approach is to discretize the time in the associated stochastic differential equation. This is the approach used in the Euler method. In the present work we consider a one-dimensional diffusion process where the terms occurring, within the stochastic differential equation, prevent the process entering a region. The outcome is a naturally occurring boundary (which may be absorbing or reflecting). A complication occurs in a simulation of this situation. The term involving a random variable, within the discretized stochastic differential equation, may take a trajectory across the boundary into a "forbidden region." The naive way of dealing with this problem, which we refer to as the "standard" approach, is simply to reset the trajectory to the boundary, based on the argument that crossing the boundary actually signifies achieving the boundary. In this work we show, within the framework of the Euler method, that such resetting introduces a spurious force into the original diffusion process. This force may have a significant influence on trajectories that come close to a boundary. We propose a corrected numerical scheme, for simulating one-dimensional diffusion processes with naturally occurring boundaries. This involves correcting the standard approach, so that an exact property of the diffusion process is precisely respected. As a consequence, the proposed scheme does not introduce a spurious force into the dynamics. We present numerical test cases, based on exactly soluble one-dimensional problems with one or two boundaries, which suggest that, for a given value of the discrete time step, the proposed scheme leads to substantially more accurate results than the standard approach. Alternatively, the standard approach needs considerably more computation time to obtain a comparable level of accuracy to the proposed scheme, because the standard approach requires a significantly smaller time step.

Corrected simulations for one-dimensional diffusion processes with naturally occurring boundaries

NASA Astrophysics Data System (ADS)

Shafiey, Hassan; Gan, Xinjun; Waxman, David

2017-11-01

To simulate a diffusion process, a usual approach is to discretize the time in the associated stochastic differential equation. This is the approach used in the Euler method. In the present work we consider a one-dimensional diffusion process where the terms occurring, within the stochastic differential equation, prevent the process entering a region. The outcome is a naturally occurring boundary (which may be absorbing or reflecting). A complication occurs in a simulation of this situation. The term involving a random variable, within the discretized stochastic differential equation, may take a trajectory across the boundary into a "forbidden region." The naive way of dealing with this problem, which we refer to as the "standard" approach, is simply to reset the trajectory to the boundary, based on the argument that crossing the boundary actually signifies achieving the boundary. In this work we show, within the framework of the Euler method, that such resetting introduces a spurious force into the original diffusion process. This force may have a significant influence on trajectories that come close to a boundary. We propose a corrected numerical scheme, for simulating one-dimensional diffusion processes with naturally occurring boundaries. This involves correcting the standard approach, so that an exact property of the diffusion process is precisely respected. As a consequence, the proposed scheme does not introduce a spurious force into the dynamics. We present numerical test cases, based on exactly soluble one-dimensional problems with one or two boundaries, which suggest that, for a given value of the discrete time step, the proposed scheme leads to substantially more accurate results than the standard approach. Alternatively, the standard approach needs considerably more computation time to obtain a comparable level of accuracy to the proposed scheme, because the standard approach requires a significantly smaller time step.

Regional model simulation of summer rainfall over the Philippines: Effect of choice of driving fields and ocean flux schemes

NASA Astrophysics Data System (ADS)

Francisco, R. V.; Argete, J.; Giorgi, F.; Pal, J.; Bi, X.; Gutowski, W. J.

2006-09-01

The latest version of the Abdus Salam International Centre for Theoretical Physics (ICTP) regional model RegCM is used to investigate summer monsoon precipitation over the Philippine archipelago and surrounding ocean waters, a region where regional climate models have not been applied before. The sensitivity of simulated precipitation to driving lateral boundary conditions (NCEP and ERA40 reanalyses) and ocean surface flux scheme (BATS and Zeng) is assessed for 5 monsoon seasons. The ability of the RegCM to simulate the spatial patterns and magnitude of monsoon precipitation is demonstrated, both in response to the prominent large scale circulations over the region and to the local forcing by the physiographical features of the Philippine islands. This provides encouraging indications concerning the development of a regional climate modeling system for the Philippine region. On the other hand, the model shows a substantial sensitivity to the analysis fields used for lateral boundary conditions as well as the ocean surface flux schemes. The use of ERA40 lateral boundary fields consistently yields greater precipitation amounts compared to the use of NCEP fields. Similarly, the BATS scheme consistently produces more precipitation compared to the Zeng scheme. As a result, different combinations of lateral boundary fields and surface ocean flux schemes provide a good simulation of precipitation amounts and spatial structure over the region. The response of simulated precipitation to using different forcing analysis fields is of the same order of magnitude as the response to using different surface flux parameterizations in the model. As a result it is difficult to unambiguously establish which of the model configurations is best performing.

A power-efficient ZF precoding scheme for multi-user indoor visible light communication systems

NASA Astrophysics Data System (ADS)

Zhao, Qiong; Fan, Yangyu; Deng, Lijun; Kang, Bochao

2017-02-01

In this study, we propose a power-efficient ZF precoding scheme for visible light communication (VLC) downlink multi-user multiple-input-single-output (MU-MISO) systems, which incorporates the zero-forcing (ZF) and the characteristics of VLC systems. The main idea of this scheme is that the channel matrix used to perform pseudoinverse comes from the set of optical Access Points (APs) shared by more than one user, instead of the set of all involved serving APs as the existing ZF precoding schemes often used. By doing this, the waste of power, which is caused by the transmission of one user's data in the un-serving APs, can be avoided. In addition, the size of the channel matrix needs to perform pseudoinverse becomes smaller, which helps to reduce the computation complexity. Simulation results in two scenarios show that the proposed ZF precoding scheme has higher power efficiency, better bit error rate (BER) performance and lower computation complexity compared with traditional ZF precoding schemes.

Case studies in configuration control for redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Lee, T.; Colbaugh, R.; Glass, K.

1989-01-01

A simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.

A robust control scheme for flexible arms with friction in the joints

NASA Technical Reports Server (NTRS)

Rattan, Kuldip S.; Feliu, Vicente; Brown, H. Benjamin, Jr.

1988-01-01

A general control scheme to control flexible arms with friction in the joints is proposed in this paper. This scheme presents the advantage of being robust in the sense that it minimizes the effects of the Coulomb friction existing in the motor and the effects of changes in the dynamic friction coefficient. A justification of the robustness properties of the scheme is given in terms of the sensitivity analysis.

Calculations of steady and transient channel flows with a time-accurate L-U factorization scheme

NASA Technical Reports Server (NTRS)

Kim, S.-W.

1991-01-01

Calculations of steady and unsteady, transonic, turbulent channel flows with a time accurate, lower-upper (L-U) factorization scheme are presented. The L-U factorization scheme is formally second-order accurate in time and space, and it is an extension of the steady state flow solver (RPLUS) used extensively to solve compressible flows. A time discretization method and the implementation of a consistent boundary condition specific to the L-U factorization scheme are also presented. The turbulence is described by the Baldwin-Lomax algebraic turbulence model. The present L-U scheme yields stable numerical results with the use of much smaller artificial dissipations than those used in the previous steady flow solver for steady and unsteady channel flows. The capability to solve time dependent flows is shown by solving very weakly excited and strongly excited, forced oscillatory, channel flows.

Well-balanced schemes for the Euler equations with gravitation: Conservative formulation using global fluxes

NASA Astrophysics Data System (ADS)

Chertock, Alina; Cui, Shumo; Kurganov, Alexander; Özcan, Şeyma Nur; Tadmor, Eitan

2018-04-01

We develop a second-order well-balanced central-upwind scheme for the compressible Euler equations with gravitational source term. Here, we advocate a new paradigm based on a purely conservative reformulation of the equations using global fluxes. The proposed scheme is capable of exactly preserving steady-state solutions expressed in terms of a nonlocal equilibrium variable. A crucial step in the construction of the second-order scheme is a well-balanced piecewise linear reconstruction of equilibrium variables combined with a well-balanced central-upwind evolution in time, which is adapted to reduce the amount of numerical viscosity when the flow is at (near) steady-state regime. We show the performance of our newly developed central-upwind scheme and demonstrate importance of perfect balance between the fluxes and gravitational forces in a series of one- and two-dimensional examples.

Implementation of a Cross-Layer Sensing Medium-Access Control Scheme.

PubMed

Su, Yishan; Fu, Xiaomei; Han, Guangyao; Xu, Naishen; Jin, Zhigang

2017-04-10

In this paper, compressed sensing (CS) theory is utilized in a medium-access control (MAC) scheme for wireless sensor networks (WSNs). We propose a new, cross-layer compressed sensing medium-access control (CL CS-MAC) scheme, combining the physical layer and data link layer, where the wireless transmission in physical layer is considered as a compress process of requested packets in a data link layer according to compressed sensing (CS) theory. We first introduced using compressive complex requests to identify the exact active sensor nodes, which makes the scheme more efficient. Moreover, because the reconstruction process is executed in a complex field of a physical layer, where no bit and frame synchronizations are needed, the asynchronous and random requests scheme can be implemented without synchronization payload. We set up a testbed based on software-defined radio (SDR) to implement the proposed CL CS-MAC scheme practically and to demonstrate the validation. For large-scale WSNs, the simulation results show that the proposed CL CS-MAC scheme provides higher throughput and robustness than the carrier sense multiple access (CSMA) and compressed sensing medium-access control (CS-MAC) schemes.

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

Solares, Santiago D.

This study introduces a quasi-3-dimensional (Q3D) viscoelastic model and software tool for use in atomic force microscopy (AFM) simulations. The model is based on a 2-dimensional array of standard linear solid (SLS) model elements. The well-known 1-dimensional SLS model is a textbook example in viscoelastic theory but is relatively new in AFM simulation. It is the simplest model that offers a qualitatively correct description of the most fundamental viscoelastic behaviors, namely stress relaxation and creep. However, this simple model does not reflect the correct curvature in the repulsive portion of the force curve, so its application in the quantitative interpretationmore » of AFM experiments is relatively limited. In the proposed Q3D model the use of an array of SLS elements leads to force curves that have the typical upward curvature in the repulsive region, while still offering a very low computational cost. Furthermore, the use of a multidimensional model allows for the study of AFM tips having non-ideal geometries, which can be extremely useful in practice. Examples of typical force curves are provided for single- and multifrequency tappingmode imaging, for both of which the force curves exhibit the expected features. Lastly, a software tool to simulate amplitude and phase spectroscopy curves is provided, which can be easily modified to implement other controls schemes in order to aid in the interpretation of AFM experiments.« less

Universal photonic quantum gates assisted by ancilla diamond nitrogen-vacancy centers coupled to resonators

NASA Astrophysics Data System (ADS)

Wei, Hai-Rui; Long, Gui Lu

2015-03-01

We propose two compact, economic, and scalable schemes for implementing optical controlled-phase-flip and controlled-controlled-phase-flip gates by using the input-output process of a single-sided cavity strongly coupled to a single nitrogen-vacancy-center defect in diamond. Additional photonic qubits, necessary for procedures based on the parity-check measurement or controlled-path and merging gates, are not employed in our schemes. In the controlled-path gate, the paths of the target photon are conditionally controlled by the control photon, and these two paths can be merged back into one by using a merging gate. Only one half-wave plate is employed in our scheme for the controlled-phase-flip gate. Compared with the conventional synthesis procedures for constructing a controlled-controlled-phase-flip gate, the cost of which is two controlled-path gates and two merging gates, or six controlled-not gates, our scheme is more compact and simpler. Our schemes could be performed with a high fidelity and high efficiency with current achievable experimental techniques.

A continually online-trained neural network controller for brushless DC motor drives

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

Rubaai, A.; Kotaru, R.; Kankam, M.D.

2000-04-01

In this paper, a high-performance controller with simultaneous online identification and control is designed for brushless dc motor drives. The dynamics of the motor/load are modeled online, and controlled using two different neural network based identification and control schemes, as the system is in operation. In the first scheme, an attempt is made to control the rotor angular speed, utilizing a single three-hidden-layer network. The second scheme attempts to control the stator currents, using a predetermined control law as a function of the estimated states. This schemes incorporates three multilayered feedforward neural networks that are online trained, using the Levenburg-Marquadtmore » training algorithm. The control of the direct and quadrature components of the stator current successfully tracked a wide variety of trajectories after relatively short online training periods. The control strategy adapts to the uncertainties of the motor/load dynamics and, in addition, learns their inherent nonlinearities. Simulation results illustrated that a neurocontroller used in conjunction with adaptive control schemes can result in a flexible control device which may be utilized in a wide range of environments.« less

Dynamic Reconstruction and Multivariable Control for Force-Actuated, Thin Facesheet Adaptive Optics

NASA Technical Reports Server (NTRS)

Grocott, Simon C. O.; Miller, David W.

1997-01-01

The Multiple Mirror Telescope (MMT) under development at the University of Arizona takes a new approach in adaptive optics placing a large (0.65 m) force-actuated, thin facesheet deformable mirror at the secondary of an astronomical telescope, thus reducing the effects of emissivity which are important in IR astronomy. However, The large size of the mirror and low stiffness actuators used drive the natural frequencies of the mirror down into the bandwidth of the atmospheric distortion. Conventional adaptive optics takes a quasi-static approach to controlling the, deformable mirror. However, flexibility within the control bandwidth calls for a new approach to adaptive optics. Dynamic influence functions are used to characterize the influence of each actuator on the surface of the deformable mirror. A linearized model of atmospheric distortion is combined with dynamic influence functions to produce a dynamic reconstructor. This dynamic reconstructor is recognized as an optimal control problem. Solving the optimal control problem for a system with hundreds of actuators and sensors is formidable. Exploiting the circularly symmetric geometry of the mirror, and a suitable model of atmospheric distortion, the control problem is divided into a number of smaller decoupled control problems using circulant matrix theory. A hierarchic control scheme which seeks to emulate the quasi-static control approach that is generally used in adaptive optics is compared to the proposed dynamic reconstruction technique. Although dynamic reconstruction requires somewhat more computational power to implement, it achieves better performance with less power usage, and is less sensitive than the hierarchic technique.

System identification of propagating wave segments in excitable media and its application to advanced control

NASA Astrophysics Data System (ADS)

Katsumata, Hisatoshi; Konishi, Keiji; Hara, Naoyuki

2018-04-01

The present paper proposes a scheme for controlling wave segments in excitable media. This scheme consists of two phases: in the first phase, a simple mathematical model for wave segments is derived using only the time series data of input and output signals for the media; in the second phase, the model derived in the first phase is used in an advanced control technique. We demonstrate with numerical simulations of the Oregonator model that this scheme performs better than a conventional control scheme.

A simple and efficient quasi 3-dimensional viscoelastic model and software for simulation of tapping-mode atomic force microscopy

DOE PAGES

Solares, Santiago D.

2015-11-26

This study introduces a quasi-3-dimensional (Q3D) viscoelastic model and software tool for use in atomic force microscopy (AFM) simulations. The model is based on a 2-dimensional array of standard linear solid (SLS) model elements. The well-known 1-dimensional SLS model is a textbook example in viscoelastic theory but is relatively new in AFM simulation. It is the simplest model that offers a qualitatively correct description of the most fundamental viscoelastic behaviors, namely stress relaxation and creep. However, this simple model does not reflect the correct curvature in the repulsive portion of the force curve, so its application in the quantitative interpretationmore » of AFM experiments is relatively limited. In the proposed Q3D model the use of an array of SLS elements leads to force curves that have the typical upward curvature in the repulsive region, while still offering a very low computational cost. Furthermore, the use of a multidimensional model allows for the study of AFM tips having non-ideal geometries, which can be extremely useful in practice. Examples of typical force curves are provided for single- and multifrequency tappingmode imaging, for both of which the force curves exhibit the expected features. Lastly, a software tool to simulate amplitude and phase spectroscopy curves is provided, which can be easily modified to implement other controls schemes in order to aid in the interpretation of AFM experiments.« less

A simple and efficient quasi 3-dimensional viscoelastic model and software for simulation of tapping-mode atomic force microscopy.

PubMed

Solares, Santiago D

2015-01-01

This paper introduces a quasi-3-dimensional (Q3D) viscoelastic model and software tool for use in atomic force microscopy (AFM) simulations. The model is based on a 2-dimensional array of standard linear solid (SLS) model elements. The well-known 1-dimensional SLS model is a textbook example in viscoelastic theory but is relatively new in AFM simulation. It is the simplest model that offers a qualitatively correct description of the most fundamental viscoelastic behaviors, namely stress relaxation and creep. However, this simple model does not reflect the correct curvature in the repulsive portion of the force curve, so its application in the quantitative interpretation of AFM experiments is relatively limited. In the proposed Q3D model the use of an array of SLS elements leads to force curves that have the typical upward curvature in the repulsive region, while still offering a very low computational cost. Furthermore, the use of a multidimensional model allows for the study of AFM tips having non-ideal geometries, which can be extremely useful in practice. Examples of typical force curves are provided for single- and multifrequency tapping-mode imaging, for both of which the force curves exhibit the expected features. Finally, a software tool to simulate amplitude and phase spectroscopy curves is provided, which can be easily modified to implement other controls schemes in order to aid in the interpretation of AFM experiments.

Effect of controlled spanwise bending on the stability of the leading-edge vortex

NASA Astrophysics Data System (ADS)

Bhattacharya, Samik; Scofield, Tyler

2017-11-01

When an airfoil is accelerated from rest at a high angle of attack, a leading-edge vortex (LEV) forms, which soon gets destabilized and convects downstream. In this work, we control the spanwise bending of a flat plate wing to actively influence the vorticity transfer from the LEV. Our aim is to investigate the effect of spanwise curvature variation on the geometry, growth, and stability of the LEV during the acceleration phase. A 3D printed flat-plate with a chord of 5 cm and span of 15 cm is towed in a small fish tank at different angles of attack greater than 15°. The plate starts from rest and reaches a Reynolds number of 5000 after travelling different multiples and submultiples of chord-length. We carry out dye-flow visualization and measure the circulation build up and the convection velocity of the LEV with the help of particle image velocimetry (PIV). The unsteady loads coming on to the wing is measured with a force sensor. An analytical scheme for computing the load from the measured displacement of the plate is presented and compared with the force sensor data. Preliminary results indicate that controlled curvature variation can influence the formation and stability of an LEV.

Distributed plug-and-play optimal generator and load control for power system frequency regulation

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

Zhao, Changhong; Mallada, Enrique; Low, Steven H.

A distributed control scheme, which can be implemented on generators and controllable loads in a plug-and-play manner, is proposed for power system frequency regulation. The proposed scheme is based on local measurements, local computation, and neighborhood information exchanges over a communication network with an arbitrary (but connected) topology. In the event of a sudden change in generation or load, the proposed scheme can restore the nominal frequency and the reference inter-area power flows, while minimizing the total cost of control for participating generators and loads. Power network stability under the proposed control is proved with a relatively realistic model whichmore » includes nonlinear power flow and a generic (potentially nonlinear or high-order) turbine-governor model, and further with first- and second-order turbine-governor models as special cases. Finally, in simulations, the proposed control scheme shows a comparable performance to the existing automatic generation control (AGC) when implemented only on the generator side, and demonstrates better dynamic characteristics than AGC when each scheme is implemented on both generators and controllable loads. Simulation results also show robustness of the proposed scheme to communication link failure.« less

Distributed plug-and-play optimal generator and load control for power system frequency regulation

DOE PAGES

Zhao, Changhong; Mallada, Enrique; Low, Steven H.; ...

2018-03-14

A distributed control scheme, which can be implemented on generators and controllable loads in a plug-and-play manner, is proposed for power system frequency regulation. The proposed scheme is based on local measurements, local computation, and neighborhood information exchanges over a communication network with an arbitrary (but connected) topology. In the event of a sudden change in generation or load, the proposed scheme can restore the nominal frequency and the reference inter-area power flows, while minimizing the total cost of control for participating generators and loads. Power network stability under the proposed control is proved with a relatively realistic model whichmore » includes nonlinear power flow and a generic (potentially nonlinear or high-order) turbine-governor model, and further with first- and second-order turbine-governor models as special cases. Finally, in simulations, the proposed control scheme shows a comparable performance to the existing automatic generation control (AGC) when implemented only on the generator side, and demonstrates better dynamic characteristics than AGC when each scheme is implemented on both generators and controllable loads. Simulation results also show robustness of the proposed scheme to communication link failure.« less

A mixed pseudospectral/finite difference method for a thermally driven fluid in a nonuniform gravitational field

NASA Technical Reports Server (NTRS)

Macaraeg, M. G.

1985-01-01

A numerical study of the steady, axisymmetric flow in a heated, rotating spherical shell is conducted to model the Atmospheric General Circulation Experiment (AGCE) proposed to run aboard a later Shuttle mission. The AGCE will consist of concentric rotating spheres confining a dielectric fluid. By imposing a dielectric field across the fluid a radial body force will be created. The numerical solution technique is based on the incompressible Navier-Stokes equations. In the method a pseudospectral technique is used in the latitudinal direction, and a second-order accurate finite difference scheme discretizes time and radial derivatives. This paper discusses the development and performance of this numerical scheme for the AGCE which has been modeled in the past only by pure FD formulations. In addition, previous models have not investigated the effect of using a dielectric force to simulate terrestrial gravity. The effect of this dielectric force on the flow field is investigated as well as a parameter study of varying rotation rates and boundary temperatures. Among the effects noted are the production of larger velocities and enhanced reversals of radial temperature gradients for a body force generated by the electric field.

Enhanced sub-micron colloidal particle separation with interdigitated microelectrode arrays using mixed AC/DC dielectrophoretic scheme.

PubMed

Swaminathan, Vikhram V; Shannon, Mark A; Bashir, Rashid

2015-04-01

Dielectrophoretic separation of particles finds a variety of applications in the capture of species such as cells, viruses, proteins, DNA from biological systems, as well as other organic and inorganic contaminants from water. The ability to capture particles is constrained by poor volumetric scaling of separation force with respect to particle diameter, as well as the weak penetration of electric fields in the media. In order to improve the separation of sub-micron colloids, we present a scheme based on multiple interdigitated electrode arrays under mixed AC/DC bias. The use of high frequency longitudinal AC bias breaks the shielding effects through electroosmotic micromixing to enhance electric fields through the electrolyte, while a transverse DC bias between the electrode arrays enables penetration of the separation force to capture particles from the bulk of the microchannel. We determine the favorable biasing conditions for field enhancement with the help of analytical models, and experimentally demonstrate the improved capture from sub-micron colloidal suspensions with the mixed AC/DC electrostatic excitation scheme over conventional AC-DEP methods.

Global Simulations of Ice nucleation and Ice Supersaturation with an Improved Cloud Scheme in the Community Atmosphere Model

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

Gettelman, A.; Liu, Xiaohong; Ghan, Steven J.

2010-09-28

A process-based treatment of ice supersaturation and ice-nucleation is implemented in the National Center for Atmospheric Research (NCAR) Community Atmosphere Model (CAM). The new scheme is designed to allow (1) supersaturation with respect to ice, (2) ice nucleation by aerosol particles and (3) ice cloud cover consistent with ice microphysics. The scheme is implemented with a 4-class 2 moment microphysics code and is used to evaluate ice cloud nucleation mechanisms and supersaturation in CAM. The new model is able to reproduce field observations of ice mass and mixed phase cloud occurrence better than previous versions of the model. Simulations indicatemore » heterogeneous freezing and contact nucleation on dust are both potentially important over remote areas of the Arctic. Cloud forcing and hence climate is sensitive to different formulations of the ice microphysics. Arctic radiative fluxes are sensitive to the parameterization of ice clouds. These results indicate that ice clouds are potentially an important part of understanding cloud forcing and potential cloud feedbacks, particularly in the Arctic.« less

Off the beaten path: a new approach to realistically model the orbital decay of supermassive black holes in galaxy formation simulations

NASA Astrophysics Data System (ADS)

Tremmel, M.; Governato, F.; Volonteri, M.; Quinn, T. R.

2015-08-01

We introduce a sub-grid force correction term to better model the dynamical friction experienced by a supermassive black hole (SMBH) as it orbits within its host galaxy. This new approach accurately follows an SMBH's orbital decay and drastically improves over commonly used `advection' methods. The force correction introduced here naturally scales with the force resolution of the simulation and converges as resolution is increased. In controlled experiments, we show how the orbital decay of the SMBH closely follows analytical predictions when particle masses are significantly smaller than that of the SMBH. In a cosmological simulation of the assembly of a small galaxy, we show how our method allows for realistic black hole orbits. This approach overcomes the limitations of the advection scheme, where black holes are rapidly and artificially pushed towards the halo centre and then forced to merge, regardless of their orbits. We find that SMBHs from merging dwarf galaxies can spend significant time away from the centre of the remnant galaxy. Improving the modelling of SMBH orbital decay will help in making robust predictions of the growth, detectability and merger rates of SMBHs, especially at low galaxy masses or at high redshift.

An adaptive Cartesian control scheme for manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.

Collaborative Localization and Location Verification in WSNs

PubMed Central

Miao, Chunyu; Dai, Guoyong; Ying, Kezhen; Chen, Qingzhang

2015-01-01

Localization is one of the most important technologies in wireless sensor networks. A lightweight distributed node localization scheme is proposed by considering the limited computational capacity of WSNs. The proposed scheme introduces the virtual force model to determine the location by incremental refinement. Aiming at solving the drifting problem and malicious anchor problem, a location verification algorithm based on the virtual force mode is presented. In addition, an anchor promotion algorithm using the localization reliability model is proposed to re-locate the drifted nodes. Extended simulation experiments indicate that the localization algorithm has relatively high precision and the location verification algorithm has relatively high accuracy. The communication overhead of these algorithms is relative low, and the whole set of reliable localization methods is practical as well as comprehensive. PMID:25954948

Scalar self-force on eccentric geodesics in Schwarzschild spacetime: A time-domain computation

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

Haas, Roland

2007-06-15

We calculate the self-force acting on a particle with scalar charge moving on a generic geodesic around a Schwarzschild black hole. This calculation requires an accurate computation of the retarded scalar field produced by the moving charge; this is done numerically with the help of a fourth-order convergent finite-difference scheme formulated in the time domain. The calculation also requires a regularization procedure, because the retarded field is singular on the particle's world line; this is handled mode-by-mode via the mode-sum regularization scheme first introduced by Barack and Ori. This paper presents the numerical method, various numerical tests, and a samplemore » of results for mildly eccentric orbits as well as ''zoom-whirl'' orbits.« less

A bottom-up route to enhance thermoelectric figures of merit in graphene nanoribbons

PubMed Central

Sevinçli, Hâldun; Sevik, Cem; Çaın, Tahir; Cuniberti, Gianaurelio

2013-01-01

We propose a hybrid nano-structuring scheme for tailoring thermal and thermoelectric transport properties of graphene nanoribbons. Geometrical structuring and isotope cluster engineering are the elements that constitute the proposed scheme. Using first-principles based force constants and Hamiltonians, we show that the thermal conductance of graphene nanoribbons can be reduced by 98.8% at room temperature and the thermoelectric figure of merit, ZT, can be as high as 3.25 at T = 800 K. The proposed scheme relies on a recently developed bottom-up fabrication method, which is proven to be feasible for synthesizing graphene nanoribbons with an atomic precision. PMID:23390578

Modeling, Control and Simulation of Three-Dimensional Robotic Systems with Applications to Biped Locomotion.

NASA Astrophysics Data System (ADS)

Zheng, Yuan-Fang

A three-dimensional, five link biped system is established. Newton-Euler state space formulation is employed to derive the equations of the system. The constraint forces involved in the equations can be eliminated by projection onto a smaller state space system for deriving advanced control laws. A model-referenced adaptive control scheme is developed to control the system. Digital computer simulations of point to point movement are carried out to show that the model-referenced adaptive control increases the dynamic range and speeds up the response of the system in comparison with linear and nonlinear feedback control. Further, the implementation of the controller is simpler. Impact effects of biped contact with the environment are modeled and studied. The instant velocity change at the moment of impact is derived as a function of the biped state and contact speed. The effects of impact on the state, as well as constraints are studied in biped landing on heels and toes simultaneously or on toes first. Rate and nonlinear position feedback are employed for stability of the biped after the impact. The complex structure of the foot is properly modeled. A spring and dashpot pair is suggested to represent the action of plantar fascia during the impact. This action prevents the arch of the foot from collapsing. A mathematical model of the skeletal muscle is discussed. A direct relationship between the stimulus rate and the active state is established. A piecewise linear relation between the length of the contractile element and the isometric force is considered. Hill's characteristic equation is maintained for determining the actual output force during different shortening velocities. A physical threshold model is proposed for recruitment which encompasses the size principle, its manifestations and exceptions to the size principle. Finally the role of spindle feedback in stability of the model is demonstrated by study of a pair of muscles.

Stability of multifinger action in different state spaces

PubMed Central

Reschechtko, Sasha; Zatsiorsky, Vladimir M.

2014-01-01

We investigated stability of action by a multifinger system with three methods: analysis of intertrial variance, application of transient perturbations, and analysis of the system's motion in different state spaces. The “inverse piano” device was used to apply transient (lifting-and-lowering) perturbations to individual fingers during single- and two-finger accurate force production tasks. In each trial, the perturbation was applied either to a finger explicitly involved in the task or one that was not. We hypothesized that, in one-finger tasks, task-specific stability would be observed in the redundant space of finger forces but not in the nonredundant space of finger modes (commands to explicitly involved fingers). In two-finger tasks, we expected that perturbations applied to a nontask finger would not contribute to task-specific stability in mode space. In contrast to our expectations, analyses in both force and mode spaces showed lower stability in directions that did not change total force output compared with directions that did cause changes in total force. In addition, the transient perturbations led to a significant increase in the enslaving index. We consider these results within a theoretical scheme of control with referent body configurations organized hierarchically, using multiple few-to-many mappings organized in a synergic way. The observed volatility of enslaving, greater equifinality of total force compared with elemental variables, and large magnitude of motor equivalent motion in both force and mode spaces provide support for the concept of task-specific stability of performance and the existence of multiple neural loops, which ensure this stability. PMID:25253478

Stability of multifinger action in different state spaces.

PubMed

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

2014-12-15

We investigated stability of action by a multifinger system with three methods: analysis of intertrial variance, application of transient perturbations, and analysis of the system's motion in different state spaces. The "inverse piano" device was used to apply transient (lifting-and-lowering) perturbations to individual fingers during single- and two-finger accurate force production tasks. In each trial, the perturbation was applied either to a finger explicitly involved in the task or one that was not. We hypothesized that, in one-finger tasks, task-specific stability would be observed in the redundant space of finger forces but not in the nonredundant space of finger modes (commands to explicitly involved fingers). In two-finger tasks, we expected that perturbations applied to a nontask finger would not contribute to task-specific stability in mode space. In contrast to our expectations, analyses in both force and mode spaces showed lower stability in directions that did not change total force output compared with directions that did cause changes in total force. In addition, the transient perturbations led to a significant increase in the enslaving index. We consider these results within a theoretical scheme of control with referent body configurations organized hierarchically, using multiple few-to-many mappings organized in a synergic way. The observed volatility of enslaving, greater equifinality of total force compared with elemental variables, and large magnitude of motor equivalent motion in both force and mode spaces provide support for the concept of task-specific stability of performance and the existence of multiple neural loops, which ensure this stability. Copyright © 2014 the American Physiological Society.

An adaptive actuator failure compensation scheme for two linked 2WD mobile robots

NASA Astrophysics Data System (ADS)

Ma, Yajie; Al-Dujaili, Ayad; Cocquempot, Vincent; El Badaoui El Najjar, Maan

2017-01-01

This paper develops a new adaptive compensation control scheme for two linked mobile robots with actuator failurs. A configuration with two linked two-wheel drive (2WD) mobile robots is proposed, and the modelling of its kinematics and dynamics are given. An adaptive failure compensation scheme is developed to compensate actuator failures, consisting of a kinematic controller and a multi-design integration based dynamic controller. The kinematic controller is a virtual one, and based on which, multiple adaptive dynamic control signals are designed which covers all possible failure cases. By combing these dynamic control signals, the dynamic controller is designed, which ensures system stability and asymptotic tracking properties. Simulation results verify the effectiveness of the proposed adaptive failure compensation scheme.

Farmer Attitudes and Livestock Disease: Exploring Citizenship Behaviour and Peer Monitoring across Two BVD Control Schemes in the UK.

PubMed

Heffernan, Claire; Azbel-Jackson, Lena; Brownlie, Joe; Gunn, George

2016-01-01

The eradication of BVD in the UK is technically possible but appears to be socially untenable. The following study explored farmer attitudes to BVD control schemes in relation to advice networks and information sharing, shared aims and goals, motivation and benefits of membership, notions of BVD as a priority disease and attitudes toward regulation. Two concepts from the organisational management literature framed the study: citizenship behaviour where actions of individuals support the collective good (but are not explicitly recognised as such) and peer to peer monitoring (where individuals evaluate other's behaviour). Farmers from two BVD control schemes in the UK participated in the study: Orkney Livestock Association BVD Eradication Scheme and Norfolk and Suffolk Cattle Breeders Association BVD Eradication Scheme. In total 162 farmers participated in the research (109 in-scheme and 53 out of scheme). The findings revealed that group helping and information sharing among scheme members was low with a positive BVD status subject to social censure. Peer monitoring in the form of gossip with regard to the animal health status of other farms was high. Interestingly, farmers across both schemes supported greater regulation with regard to animal health, largely due to the mistrust of fellow farmers following voluntary disease control measures. While group cohesiveness varied across the two schemes, without continued financial inducements, longer-term sustainability is questionable.

Adaptive control of a Stewart platform-based manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.

1993-01-01

A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Multiple Quasi-Equilibria of the ITCZ and the Origin of Monsoon Onset. Part 2; Rotational ITCZ Attractors

NASA Technical Reports Server (NTRS)

Chao, Winston C.; Chen, Baode; Einaudi, Franco (Technical Monitor)

2000-01-01

Chao's numerical and theoretical work on multiple quasi-equilibria of the intertropical convergence zone (ITCZ) and the origin of monsoon onset is extended to solve two additional puzzles. One is the highly nonlinear dependence on latitude of the "force" acting on the ITCZ due to earth's rotation, which makes the multiple quasi-equilibria of the ITCZ and monsoon onset possible. The other is the dramatic difference in such dependence when different cumulus parameterization schemes are used in a model. Such a difference can lead to a switch between a single ITCZ at the equator and a double ITCZ, when a different cumulus parameterization scheme is used. Sometimes one of the double ITCZ can diminish and only the other remain, but still this can mean different latitudinal locations for the single ITCZ. A single idea based on two off-equator attractors for the ITCZ, due to earth's rotation and symmetric with respect to the equator, and the dependence of the strength and size of these attractors on the cumulus parameterization scheme solves both puzzles. The origin of these rotational attractors, explained in Part I, is further discussed. The "force" acting on the ITCZ due to earth's rotation is the sum of the "forces" of the two attractors. Each attractor exerts on the ITCZ a "force" of simple shape in latitude; but the sum gives a shape highly varying in latitude. Also the strength and the domain of influence of each attractor vary, when change is made in the cumulus parameterization. This gives rise to the high sensitivity of the "force" shape to cumulus parameterization. Numerical results, of experiments using Goddard's GEOS general circulation model, supporting this idea are presented. It is also found that the model results are sensitive to changes outside of the cumulus parameterization. The significance of this study to El Nino forecast and to tropical forecast in general is discussed.

Accurate schemes for calculation of thermodynamic properties of liquid mixtures from molecular dynamics simulations

NASA Astrophysics Data System (ADS)

Caro, Miguel A.; Laurila, Tomi; Lopez-Acevedo, Olga

2016-12-01

We explore different schemes for improved accuracy of entropy calculations in aqueous liquid mixtures from molecular dynamics (MD) simulations. We build upon the two-phase thermodynamic (2PT) model of Lin et al. [J. Chem. Phys. 119, 11792 (2003)] and explore new ways to obtain the partition between the gas-like and solid-like parts of the density of states, as well as the effect of the chosen ideal "combinatorial" entropy of mixing, both of which have a large impact on the results. We also propose a first-order correction to the issue of kinetic energy transfer between degrees of freedom (DoF). This problem arises when the effective temperatures of translational, rotational, and vibrational DoF are not equal, either due to poor equilibration or reduced system size/time sampling, which are typical problems for ab initio MD. The new scheme enables improved convergence of the results with respect to configurational sampling, by up to one order of magnitude, for short MD runs. To ensure a meaningful assessment, we perform MD simulations of liquid mixtures of water with several other molecules of varying sizes: methanol, acetonitrile, N, N-dimethylformamide, and n-butanol. Our analysis shows that results in excellent agreement with experiment can be obtained with little computational effort for some systems. However, the ability of the 2PT method to succeed in these calculations is strongly influenced by the choice of force field, the fluidicity (hard-sphere) formalism employed to obtain the solid/gas partition, and the assumed combinatorial entropy of mixing. We tested two popular force fields, GAFF and OPLS with SPC/E water. For the mixtures studied, the GAFF force field seems to perform as a slightly better "all-around" force field when compared to OPLS+SPC/E.

Universal block diagram based modeling and simulation schemes for fractional-order control systems.

PubMed

Bai, Lu; Xue, Dingyü

2017-05-08

Universal block diagram based schemes are proposed for modeling and simulating the fractional-order control systems in this paper. A fractional operator block in Simulink is designed to evaluate the fractional-order derivative and integral. Based on the block, the fractional-order control systems with zero initial conditions can be modeled conveniently. For modeling the system with nonzero initial conditions, the auxiliary signal is constructed in the compensation scheme. Since the compensation scheme is very complicated, therefore the integrator chain scheme is further proposed to simplify the modeling procedures. The accuracy and effectiveness of the schemes are assessed in the examples, the computation results testify the block diagram scheme is efficient for all Caputo fractional-order ordinary differential equations (FODEs) of any complexity, including the implicit Caputo FODEs. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Decentralized digital adaptive control of robot motion

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.

Subatomic Features on the Silicon (111)-(7x7) Surface Observed by Atomic Force Microscopy.

PubMed

Giessibl; Hembacher; Bielefeldt; Mannhart

2000-07-21

The atomic force microscope images surfaces by sensing the forces between a sharp tip and a sample. If the tip-sample interaction is dominated by short-range forces due to the formation of covalent bonds, the image of an individual atom should reflect the angular symmetry of the interaction. Here, we report on a distinct substructure in the images of individual adatoms on silicon (111)-(7x7), two crescents with a spherical envelope. The crescents are interpreted as images of two atomic orbitals of the front atom of the tip. Key for the observation of these subatomic features is a force-detection scheme with superior noise performance and enhanced sensitivity to short-range forces.

Optimal control of large space structures via generalized inverse matrix

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Fang, Xiaowen

1987-01-01

Independent Modal Space Control (IMSC) is a control scheme that decouples the space structure into n independent second-order subsystems according to n controlled modes and controls each mode independently. It is well-known that the IMSC eliminates control and observation spillover caused when the conventional coupled modal control scheme is employed. The independent control of each mode requires that the number of actuators be equal to the number of modelled modes, which is very high for a faithful modeling of large space structures. A control scheme is proposed that allows one to use a reduced number of actuators to control all modeled modes suboptimally. In particular, the method of generalized inverse matrices is employed to implement the actuators such that the eigenvalues of the closed-loop system are as closed as possible to those specified by the optimal IMSC. Computer simulation of the proposed control scheme on a simply supported beam is given.

Issues associated with Galilean invariance on a moving solid boundary in the lattice Boltzmann method

NASA Astrophysics Data System (ADS)

Peng, Cheng; Geneva, Nicholas; Guo, Zhaoli; Wang, Lian-Ping

2017-01-01

In lattice Boltzmann simulations involving moving solid boundaries, the momentum exchange between the solid and fluid phases was recently found to be not fully consistent with the principle of local Galilean invariance (GI) when the bounce-back schemes (BBS) and the momentum exchange method (MEM) are used. In the past, this inconsistency was resolved by introducing modified MEM schemes so that the overall moving-boundary algorithm could be more consistent with GI. However, in this paper we argue that the true origin of this violation of Galilean invariance (VGI) in the presence of a moving solid-fluid interface is due to the BBS itself, as the VGI error not only exists in the hydrodynamic force acting on the solid phase, but also in the boundary force exerted on the fluid phase, according to Newton's Third Law. The latter, however, has so far gone unnoticed in previously proposed modified MEM schemes. Based on this argument, we conclude that the previous modifications to the momentum exchange method are incomplete solutions to the VGI error in the lattice Boltzmann method (LBM). An implicit remedy to the VGI error in the LBM and its limitation is then revealed. To address the VGI error for a case when this implicit remedy does not exist, a bounce-back scheme based on coordinate transformation is proposed. Numerical tests in both laminar and turbulent flows show that the proposed scheme can effectively eliminate the errors associated with the usual bounce-back implementations on a no-slip solid boundary, and it can maintain an accurate momentum exchange calculation with minimal computational overhead.

Effects of forcing time scale on the simulated turbulent flows and turbulent collision statistics of inertial particles

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

Rosa, B., E-mail: bogdan.rosa@imgw.pl; Parishani, H.; Department of Earth System Science, University of California, Irvine, California 92697-3100

2015-01-15

In this paper, we study systematically the effects of forcing time scale in the large-scale stochastic forcing scheme of Eswaran and Pope [“An examination of forcing in direct numerical simulations of turbulence,” Comput. Fluids 16, 257 (1988)] on the simulated flow structures and statistics of forced turbulence. Using direct numerical simulations, we find that the forcing time scale affects the flow dissipation rate and flow Reynolds number. Other flow statistics can be predicted using the altered flow dissipation rate and flow Reynolds number, except when the forcing time scale is made unrealistically large to yield a Taylor microscale flow Reynoldsmore » number of 30 and less. We then study the effects of forcing time scale on the kinematic collision statistics of inertial particles. We show that the radial distribution function and the radial relative velocity may depend on the forcing time scale when it becomes comparable to the eddy turnover time. This dependence, however, can be largely explained in terms of altered flow Reynolds number and the changing range of flow length scales present in the turbulent flow. We argue that removing this dependence is important when studying the Reynolds number dependence of the turbulent collision statistics. The results are also compared to those based on a deterministic forcing scheme to better understand the role of large-scale forcing, relative to that of the small-scale turbulence, on turbulent collision of inertial particles. To further elucidate the correlation between the altered flow structures and dynamics of inertial particles, a conditional analysis has been performed, showing that the regions of higher collision rate of inertial particles are well correlated with the regions of lower vorticity. Regions of higher concentration of pairs at contact are found to be highly correlated with the region of high energy dissipation rate.« less

Gaming across different consoles: exploring the influence of control scheme on game-player enjoyment.

PubMed

Limperos, Anthony M; Schmierbach, Michael G; Kegerise, Andrew D; Dardis, Frank E

2011-06-01

Many studies have investigated how different technological features impact the experience of playing video games, yet few have focused on how control schemes may affect the play experience. This research employed a between-subjects design to explore the relationship between the type of console played (Nintendo Wii, Playstation 2) and feelings of flow and enjoyment during the game-play experience. Results indicated that participants reported greater feelings of control and enjoyment with a traditional control scheme (Playstation 2) than with the more technologically advanced control scheme (Nintendo Wii). Further mediation analysis showed that enjoyment was driven by the sense of control that participants experienced and not simply by whether they won the game. Theoretical and practical implications are discussed.

A Low Temperature Scanning Force Microscope with a Vertical Cantilever and Interferometric Detection Scheme

NASA Astrophysics Data System (ADS)

Kim, Jeehoon; Williams, T. L.; Chu, Sang Lin; Korre, Hasan; Chalfin, Max; Hoffman, J. E.

2008-03-01

We have developed a fiber-optic interferometry system with a vertical cantilever for scanning force microscopy. A lens, mounted on a Pan-type walker, was used to collect the interference signal in the cavity between the cantilever and the single mode fiber. This vertical geometry has several advantages: (1) it is directly sensitive to lateral forces; (2) low spring constant vertical cantilevers may allow increased force sensitivity by solving the ``snap-in'' problem that occurs with soft horizontal cantilevers. We have sharpened vertical cantilevers by focused ion beam (FIB), achieving a tip radius of 20 nm. We will show test results of a magnetic force microscope (MFM) with this vertical cantilever system.

A fuzzy call admission control scheme in wireless networks

NASA Astrophysics Data System (ADS)

Ma, Yufeng; Gong, Shenguang; Hu, Xiulin; Zhang, Yunyu

2007-11-01

Scarcity of the spectrum resource and mobility of users make quality of service (QoS) provision a critical issue in wireless networks. This paper presents a fuzzy call admission control scheme to meet the requirement of the QoS. A performance measure is formed as a weighted linear function of new call and handoff call blocking probabilities. Simulation compares the proposed fuzzy scheme with an adaptive channel reservation scheme. Simulation results show that fuzzy scheme has a better robust performance in terms of average blocking criterion.

Single beam acoustic trapping

PubMed Central

Lee, Jungwoo; Teh, Shia-Yen; Lee, Abraham; Kim, Hyung Ham; Lee, Changyang; Shung, K. Kirk

2009-01-01

A single beam acoustic device, with its relatively simple scheme and low intensity, can trap a single lipid droplet in a manner similar to optical tweezers. Forces in the order of hundreds of nanonewtons direct the droplet toward the beam focus, within the range of hundreds of micrometers. This trapping method, therefore, can be a useful tool for particle manipulation in areas where larger particles or forces are involved. PMID:19798424

Single beam acoustic trapping.

PubMed

Lee, Jungwoo; Teh, Shia-Yen; Lee, Abraham; Kim, Hyung Ham; Lee, Changyang; Shung, K Kirk

2009-08-17

A single beam acoustic device, with its relatively simple scheme and low intensity, can trap a single lipid droplet in a manner similar to optical tweezers. Forces in the order of hundreds of nanonewtons direct the droplet toward the beam focus, within the range of hundreds of micrometers. This trapping method, therefore, can be a useful tool for particle manipulation in areas where larger particles or forces are involved.

A novel robust speed controller scheme for PMBLDC motor.

PubMed

Thirusakthimurugan, P; Dananjayan, P

2007-10-01

The design of speed and position controllers for permanent magnet brushless DC motor (PMBLDC) drive remains as an open problem in the field of motor drives. A precise speed control of PMBLDC motor is complex due to nonlinear coupling between winding currents and rotor speed. In addition, the nonlinearity present in the developed torque due to magnetic saturation of the rotor further complicates this issue. This paper presents a novel control scheme to the conventional PMBLDC motor drive, which aims at improving the robustness by complete decoupling of the design besides minimizing the mutual influence among the speed and current control loops. The interesting feature of this robust control scheme is its suitability for both static and dynamic aspects. The effectiveness of the proposed robust speed control scheme is verified through simulations.

A concatenated coding scheme for error control

NASA Technical Reports Server (NTRS)

Kasami, T.; Fujiwara, T.; Lin, S.

1986-01-01

In this paper, a concatenated coding scheme for error control in data communications is presented and analyzed. In this scheme, the inner code is used for both error correction and detection; however, the outer code is used only for error detection. A retransmission is requested if either the inner code decoder fails to make a successful decoding or the outer code decoder detects the presence of errors after the inner code decoding. Probability of undetected error (or decoding error) of the proposed scheme is derived. An efficient method for computing this probability is presented. Throughput efficiency of the proposed error control scheme incorporated with a selective-repeat ARQ retransmission strategy is also analyzed. Three specific examples are presented. One of the examples is proposed for error control in the NASA Telecommand System.

An adaptive control scheme for a flexible manipulator

NASA Technical Reports Server (NTRS)

Yang, T. C.; Yang, J. C. S.; Kudva, P.

1987-01-01

The problem of controlling a single link flexible manipulator is considered. A self-tuning adaptive control scheme is proposed which consists of a least squares on-line parameter identification of an equivalent linear model followed by a tuning of the gains of a pole placement controller using the parameter estimates. Since the initial parameter values for this model are assumed unknown, the use of arbitrarily chosen initial parameter estimates in the adaptive controller would result in undesirable transient effects. Hence, the initial stage control is carried out with a PID controller. Once the identified parameters have converged, control is transferred to the adaptive controller. Naturally, the relevant issues in this scheme are tests for parameter convergence and minimization of overshoots during control switch-over. To demonstrate the effectiveness of the proposed scheme, simulation results are presented with an analytical nonlinear dynamic model of a single link flexible manipulator.

Direct adaptive control of manipulators in Cartesian space

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

The Importance of Movement Velocity as a Measure to Control Resistance Training Intensity

PubMed Central

González-Badillo, Juan J.; Marques, Mário C.; Sánchez-Medina, Luis

2011-01-01

Configuration of the exercise stimulus in resitance training has been traditionally associated with a combination of the so-called ‘acute resistance exercise variables’ (exercise type and order, loading, number of repetitions and sets, rests duration and movement velocity). During typical resistance exercise in isoinertial conditions, and assuming every repetition is performed with maximal voluntary effort, velocity unintentionally declines as fatigue develops. However, few studies analyzing the response to different resitance training schemes have described changes in repetition velocity or power. It thus seems necessary to conduct more research using models of fatigue that analyze the reduction in mechanical variables such as force, velocity and power output over repeated dynamic contractions in actual training or competition settings. Thus, the aim of this paper was to discuss the importance of movement velocity concerning control training intensity. PMID:23487504

Simulation of the Transverse Injection of a Pulsed Jet from the Surface of a Flat Plate into a Supersonic Flow

NASA Astrophysics Data System (ADS)

Volkov, K. N.; Emelyanov, V. N.; Yakovchuk, M. S.

2017-11-01

The transverse injection of a pulsed jet into a supersonic flow for thrust vectoring in solid rocket motors is investigated. The gas flow through the injection nozzle is controlled by a piston which performs reciprocating motion. Reynolds-averaged Navier-Stokes equations and the ( k- ɛ) turbulence model equations are discretized using the finite volume method and moving grids. The pressure distributions on the plate surface obtained using various approaches to the description of the flow field and difference schemes are compared. The solution obtained for the case of injection of a pulsed jet is compared with the solution for the case where a valve prevents gas flow through the injection nozzle. The dependence of the control force produced by gas injection on time is investigated.

Improving the mixing performance of side channel type micromixers using an optimal voltage control model.

PubMed

Wu, Chien-Hsien; Yang, Ruey-Jen

2006-06-01

Electroosmotic flow in microchannels is restricted to low Reynolds number regimes. Since the inertia forces are extremely weak in such regimes, turbulent conditions do not readily develop, and hence species mixing occurs primarily as a result of diffusion. Consequently, achieving a thorough species mixing generally relies upon the use of extended mixing channels. This paper aims to improve the mixing performance of conventional side channel type micromixers by specifying the optimal driving voltages to be applied to each channel. In the proposed approach, the driving voltages are identified by constructing a simple theoretical scheme based on a 'flow-rate-ratio' model and Kirchhoff's law. The numerical and experimental results confirm that the optimal voltage control approach provides a better mixing performance than the use of a single driving voltage gradient.

Implementing of lognormal humidity and cloud-related control variables for the NCEP GSI hybrid EnVAR Assimilation scheme.

NASA Astrophysics Data System (ADS)

Fletcher, S. J.; Kleist, D.; Ide, K.

2017-12-01

As the resolution of operational global numerical weather prediction system approach the meso-scale, then the assumption of Gaussianity for the errors at these scales may not valid. However, it is also true that synoptic variables that are positive definite in behavior, for example humidity, cannot be optimally analyzed with a Gaussian error structure, where the increment could force the full field to go negative. In this presentation we present the initial work of implementing a mixed Gaussian-lognormal approximation for the temperature and moisture variable in both the ensemble and variational component of the NCEP GSI hybrid EnVAR. We shall also lay the foundation for the implementation of the lognormal approximation to cloud related control variables to allow for a possible more consistent assimilation of cloudy radiances.

Accelerating NBODY6 with graphics processing units

NASA Astrophysics Data System (ADS)

Nitadori, Keigo; Aarseth, Sverre J.

2012-07-01

We describe the use of graphics processing units (GPUs) for speeding up the code NBODY6 which is widely used for direct N-body simulations. Over the years, the N2 nature of the direct force calculation has proved a barrier for extending the particle number. Following an early introduction of force polynomials and individual time steps, the calculation cost was first reduced by the introduction of a neighbour scheme. After a decade of GRAPE computers which speeded up the force calculation further, we are now in the era of GPUs where relatively small hardware systems are highly cost effective. A significant gain in efficiency is achieved by employing the GPU to obtain the so-called regular force which typically involves some 99 per cent of the particles, while the remaining local forces are evaluated on the host. However, the latter operation is performed up to 20 times more frequently and may still account for a significant cost. This effort is reduced by parallel SSE/AVX procedures where each interaction term is calculated using mainly single precision. We also discuss further strategies connected with coordinate and velocity prediction required by the integration scheme. This leaves hard binaries and multiple close encounters which are treated by several regularization methods. The present NBODY6-GPU code is well balanced for simulations in the particle range 104-2 × 105 for a dual-GPU system attached to a standard PC.

Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles

PubMed Central

Hsu, Bing-Cheng

2018-01-01

Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This paper presents a robotic waxing system in which surface images are used to evaluate the quality of the finish. An RGB-D camera is used to build a point cloud that details the sheet metal components to enable path planning for a robot manipulator. The robot is equipped with a multi-axis force sensor to measure and control the forces involved in the application and buffing of wax. Images of sheet metal components that were waxed by experienced car detailers were analyzed using image processing algorithms. A Gaussian distribution function and its parameterized values were obtained from the images for use as a performance criterion in evaluating the quality of surfaces prepared by the robotic waxing system. Waxing force and dwell time were optimized using a mathematical model based on the image-based criterion used to measure waxing performance. Experimental results demonstrate the feasibility of the proposed robotic waxing system and image-based performance evaluation scheme. PMID:29757940

Molecular Self-Assembly Driven by London Dispersion Forces

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

Li, Guo; Cooper, Valentino R; Cho, Jun-Hyung

2011-01-01

The nature and strength of intermolecular interactions are crucial to a variety of kinetic and dynamic processes at surfaces. Whereas strong chemisorption bonds are known to facilitate molecular binding, the importance of the weaker yet ubiquitous van der Waals (vdW) interactions remains elusive in most cases. Here we use first-principles calculations combined with kinetic Monte Carlo simulations to unambiguously demonstrate the vital role that vdW interactions play in molecular self-assembly, using styrene nanowire growth on silicon as a prototypical example. We find that, only when the London dispersion forces are included, accounting for the attractive parts of vdW interactions, canmore » the effective intermolecular interaction be reversed from being repulsive to attractive. Such attractive interactions, in turn, ensure the preferred growth of long wires under physically realistic conditions as observed experimentally. We further propose a cooperative scheme, invoking the application of an electric field and the selective creation of Si dangling bonds, to drastically improve the ordered arrangement of the molecular structures. The present study represents a significant step forward in the fundamental understanding and precise control of molecular self-assembly guided by London dispersion forces.« less

Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles.

PubMed

Lin, Chi-Ying; Hsu, Bing-Cheng

2018-05-14

Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This paper presents a robotic waxing system in which surface images are used to evaluate the quality of the finish. An RGB-D camera is used to build a point cloud that details the sheet metal components to enable path planning for a robot manipulator. The robot is equipped with a multi-axis force sensor to measure and control the forces involved in the application and buffing of wax. Images of sheet metal components that were waxed by experienced car detailers were analyzed using image processing algorithms. A Gaussian distribution function and its parameterized values were obtained from the images for use as a performance criterion in evaluating the quality of surfaces prepared by the robotic waxing system. Waxing force and dwell time were optimized using a mathematical model based on the image-based criterion used to measure waxing performance. Experimental results demonstrate the feasibility of the proposed robotic waxing system and image-based performance evaluation scheme.

A torsion pendulum test of the Lisa Pathfinder free-fall mode

NASA Astrophysics Data System (ADS)

Russano, Giuliana; Dolesi, Rita; Cavalleri, Antonella; Hueller, Mauro; Vitale, Stefano; Weber, William Joseph; Tu, HaiBo

The LISA Pathfinder geodesic explorer mission for gravitational wave astronomy aims to demonstrate the proof of a low acceleration noise level. The relative acceleration between two test masses free falling in orbit is perturbed by the presence of a larger constant relative acceleration that must be actively compensated in order to keep the test particles centered inside an orbiting apparatus. The actuation force applied to compensate this effect introduces a dominant source of force noise. To suppress this noise source, a “free-fall” actuation control scheme has been designed: actuation is limited to brief impulses, with test masses in free fall in between two “kicks”, with this actuation-free motion then analyzed for the remaining sources of acceleration ultra noise. In this work, we will discuss and present preliminary data for an on-ground torsion pendulum experiment to test this technique, and the associated analysis algorithms, at a level nearing the sub-femto-g/sqrt(Hz) performance required for LISA Pathfinder.

Graphene-edge dielectrophoretic tweezers for trapping of biomolecules.

PubMed

Barik, Avijit; Zhang, Yao; Grassi, Roberto; Nadappuram, Binoy Paulose; Edel, Joshua B; Low, Tony; Koester, Steven J; Oh, Sang-Hyun

2017-11-30

The many unique properties of graphene, such as the tunable optical, electrical, and plasmonic response make it ideally suited for applications such as biosensing. As with other surface-based biosensors, however, the performance is limited by the diffusive transport of target molecules to the surface. Here we show that atomically sharp edges of monolayer graphene can generate singular electrical field gradients for trapping biomolecules via dielectrophoresis. Graphene-edge dielectrophoresis pushes the physical limit of gradient-force-based trapping by creating atomically sharp tweezers. We have fabricated locally backgated devices with an 8-nm-thick HfO 2 dielectric layer and chemical-vapor-deposited graphene to generate 10× higher gradient forces as compared to metal electrodes. We further demonstrate near-100% position-controlled particle trapping at voltages as low as 0.45 V with nanodiamonds, nanobeads, and DNA from bulk solution within seconds. This trapping scheme can be seamlessly integrated with sensors utilizing graphene as well as other two-dimensional materials.

Schemes for Hybrid Bidirectional Controlled Quantum Communication via Multi-qubit Entangled States

NASA Astrophysics Data System (ADS)

Ma, Peng-Cheng; Chen, Gui-Bin; Li, Xiao-Wei; Zhan, You-Bang

2018-02-01

We present two schemes for hybrid bidirectional controlled quantum communication (HBCQC) via six- and nine-qubit entangled states as the quantum channel, respectively. In these schemes, two distant parties, Alice and Bob are not only senders but also receivers, and Alice wants to teleport an unknown single-qubit state to Bob, at the same time, Bob wishes to help Alice remotely prepares an arbitrary single- and two- qubit state, respectively. It is shown that, only if the two senders and the controller collaborate with each other, the HBCQC can be completed successfully. We demonstrate, in our both schemes, the total success probability of the HBCQC can reach 1, that is, the schemes are deterministic.

Performance characteristics of an adaptive controller based on least-mean-square filters

NASA Technical Reports Server (NTRS)

Mehta, Rajiv S.; Merhav, Shmuel J.

1986-01-01

A closed loop, adaptive control scheme that uses a least mean square filter as the controller model is presented, along with simulation results that demonstrate the excellent robustness of this scheme. It is shown that the scheme adapts very well to unknown plants, even those that are marginally stable, responds appropriately to changes in plant parameters, and is not unduly affected by additive noise. A heuristic argument for the conditions necessary for convergence is presented. Potential applications and extensions of the scheme are also discussed.

An Orbit And Dispersion Correction Scheme for the PEP II

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

Cai, Y.; Donald, M.; Shoaee, H.

2011-09-01

To achieve optimum luminosity in a storage ring it is vital to control the residual vertical dispersion. In the original PEP storage ring, a scheme to control the residual dispersion function was implemented using the ring orbit as the controlling element. The 'best' orbit not necessarily giving the lowest vertical dispersion. A similar scheme has been implemented in both the on-line control code and in the simulation code LEGO. The method involves finding the response matrices (sensitivity of orbit/dispersion at each Beam-Position-Monitor (BPM) to each orbit corrector) and solving in a least squares sense for minimum orbit, dispersion function ormore » both. The optimum solution is usually a subset of the full least squares solution. A scheme of simultaneously correcting the orbits and dispersion has been implemented in the simulation code and on-line control system for PEP-II. The scheme is based on the eigenvector decomposition method. An important ingredient of the scheme is to choose the optimum eigenvectors that minimize the orbit, dispersion and corrector strength. Simulations indicate this to be a very effective way to control the vertical residual dispersion.« less

Validation of a selective ensemble-based classification scheme for myoelectric control using a three-dimensional Fitts' Law test.

PubMed

Scheme, Erik J; Englehart, Kevin B

2013-07-01

When controlling a powered upper limb prosthesis it is important not only to know how to move the device, but also when not to move. A novel approach to pattern recognition control, using a selective multiclass one-versus-one classification scheme has been shown to be capable of rejecting unintended motions. This method was shown to outperform other popular classification schemes when presented with muscle contractions that did not correspond to desired actions. In this work, a 3-D Fitts' Law test is proposed as a suitable alternative to using virtual limb environments for evaluating real-time myoelectric control performance. The test is used to compare the selective approach to a state-of-the-art linear discriminant analysis classification based scheme. The framework is shown to obey Fitts' Law for both control schemes, producing linear regression fittings with high coefficients of determination (R(2) > 0.936). Additional performance metrics focused on quality of control are discussed and incorporated in the evaluation. Using this framework the selective classification based scheme is shown to produce significantly higher efficiency and completion rates, and significantly lower overshoot and stopping distances, with no significant difference in throughput.

A Novel Image Encryption Scheme Based on Intertwining Chaotic Maps and RC4 Stream Cipher

NASA Astrophysics Data System (ADS)

Kumari, Manju; Gupta, Shailender

2018-03-01

As the systems are enabling us to transmit large chunks of data, both in the form of texts and images, there is a need to explore algorithms which can provide a higher security without increasing the time complexity significantly. This paper proposes an image encryption scheme which uses intertwining chaotic maps and RC4 stream cipher to encrypt/decrypt the images. The scheme employs chaotic map for the confusion stage and for generation of key for the RC4 cipher. The RC4 cipher uses this key to generate random sequences which are used to implement an efficient diffusion process. The algorithm is implemented in MATLAB-2016b and various performance metrics are used to evaluate its efficacy. The proposed scheme provides highly scrambled encrypted images and can resist statistical, differential and brute-force search attacks. The peak signal-to-noise ratio values are quite similar to other schemes, the entropy values are close to ideal. In addition, the scheme is very much practical since having lowest time complexity then its counterparts.

Phase-Image Encryption Based on 3D-Lorenz Chaotic System and Double Random Phase Encoding

NASA Astrophysics Data System (ADS)

Sharma, Neha; Saini, Indu; Yadav, AK; Singh, Phool

2017-12-01

In this paper, an encryption scheme for phase-images based on 3D-Lorenz chaotic system in Fourier domain under the 4f optical system is presented. The encryption scheme uses a random amplitude mask in the spatial domain and a random phase mask in the frequency domain. Its inputs are phase-images, which are relatively more secure as compared to the intensity images because of non-linearity. The proposed scheme further derives its strength from the use of 3D-Lorenz transform in the frequency domain. Although the experimental setup for optical realization of the proposed scheme has been provided, the results presented here are based on simulations on MATLAB. It has been validated for grayscale images, and is found to be sensitive to the encryption parameters of the Lorenz system. The attacks analysis shows that the key-space is large enough to resist brute-force attack, and the scheme is also resistant to the noise and occlusion attacks. Statistical analysis and the analysis based on correlation distribution of adjacent pixels have been performed to test the efficacy of the encryption scheme. The results have indicated that the proposed encryption scheme possesses a high level of security.

Optimal updating magnitude in adaptive flat-distribution sampling

NASA Astrophysics Data System (ADS)

Zhang, Cheng; Drake, Justin A.; Ma, Jianpeng; Pettitt, B. Montgomery

2017-11-01

We present a study on the optimization of the updating magnitude for a class of free energy methods based on flat-distribution sampling, including the Wang-Landau (WL) algorithm and metadynamics. These methods rely on adaptive construction of a bias potential that offsets the potential of mean force by histogram-based updates. The convergence of the bias potential can be improved by decreasing the updating magnitude with an optimal schedule. We show that while the asymptotically optimal schedule for the single-bin updating scheme (commonly used in the WL algorithm) is given by the known inverse-time formula, that for the Gaussian updating scheme (commonly used in metadynamics) is often more complex. We further show that the single-bin updating scheme is optimal for very long simulations, and it can be generalized to a class of bandpass updating schemes that are similarly optimal. These bandpass updating schemes target only a few long-range distribution modes and their optimal schedule is also given by the inverse-time formula. Constructed from orthogonal polynomials, the bandpass updating schemes generalize the WL and Langfeld-Lucini-Rago algorithms as an automatic parameter tuning scheme for umbrella sampling.

Optimal updating magnitude in adaptive flat-distribution sampling.

PubMed

Zhang, Cheng; Drake, Justin A; Ma, Jianpeng; Pettitt, B Montgomery

2017-11-07

We present a study on the optimization of the updating magnitude for a class of free energy methods based on flat-distribution sampling, including the Wang-Landau (WL) algorithm and metadynamics. These methods rely on adaptive construction of a bias potential that offsets the potential of mean force by histogram-based updates. The convergence of the bias potential can be improved by decreasing the updating magnitude with an optimal schedule. We show that while the asymptotically optimal schedule for the single-bin updating scheme (commonly used in the WL algorithm) is given by the known inverse-time formula, that for the Gaussian updating scheme (commonly used in metadynamics) is often more complex. We further show that the single-bin updating scheme is optimal for very long simulations, and it can be generalized to a class of bandpass updating schemes that are similarly optimal. These bandpass updating schemes target only a few long-range distribution modes and their optimal schedule is also given by the inverse-time formula. Constructed from orthogonal polynomials, the bandpass updating schemes generalize the WL and Langfeld-Lucini-Rago algorithms as an automatic parameter tuning scheme for umbrella sampling.

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.

Computation of a controlled store separation from a cavity

NASA Technical Reports Server (NTRS)

Atwood, Christopher A.

1993-01-01

Coupling of the Reynolds-averaged Navier-Stokes equations, rigid-body dynamics, and a pitch attitude control law is demonstrated in two- and three-dimensions. The application problem was the separation of a canard-controlled store from an open-flow rectangular cavity bay at a freestream Mach number of 1.2. The transient flowfield was computed using a diagonal scheme in an overset mesh framework, with the resultant aerodynamic loads used as the forcing functions in the nonlinear dynamics equations. The proportional and rate gyro sensitivities were computed a priori using pole placement techniques for the linearized dynamical equations. These fixed gain values were used in the controller for the nonlinear simulation. Reasonable comparison between the full and linearized equations for a perturbed two-dimensional missile was found. Also in two-dimensions, a controlled store was found to possess improved separation characteristics over a canard-fixed store. In three-dimensions, trajectory comparisons with wind-tunnel data for the canard-fixed case will be made. In addition, it will be determined if a canard-controlled store is an effective means of improving cavity store separation characteristics.

Structural design of morphing trailing edge actuated by SMA

NASA Astrophysics Data System (ADS)

Wang, Qi; Xu, Zhiwei; Zhu, Qian

2013-09-01

In this paper, the morphing trailing edge is designed to achieve the up and down deflection under the aerodynamic load. After a detailed and accurate computational analysis to determine the SMA specifications and layout programs, a solid model is created in CATIA and the structures of the morphing wing trailing edge are produced by CNC machining. A set of DSP measurement and control system is designed to accomplish the controlling experiment of the morphing wing trailing edge. At last, via the force analysis, the trailing edge is fabricated with four sections of aluminum alloy, and the arrangement scheme of SMA wires is determined. Experiment of precise control integral has been performed to survey the control effect. The experiment consists of deflection angle tests of the third joint and the integral structure. Primarily, the ultimate deflection angle is tested in these two experiments. Therefore, the controlling experiment of different angles could be performed within this range. The results show that the deflection error is less than 4%and response time is less than 6.7 s, the precise controlling of the morphing trailing edge is preliminary realized.

Leap-dynamics: efficient sampling of conformational space of proteins and peptides in solution.

PubMed

Kleinjung, J; Bayley, P; Fraternali, F

2000-03-31

A molecular simulation scheme, called Leap-dynamics, that provides efficient sampling of protein conformational space in solution is presented. The scheme is a combined approach using a fast sampling method, imposing conformational 'leaps' to force the system over energy barriers, and molecular dynamics (MD) for refinement. The presence of solvent is approximated by a potential of mean force depending on the solvent accessible surface area. The method has been successfully applied to N-acetyl-L-alanine-N-methylamide (alanine dipeptide), sampling experimentally observed conformations inaccessible to MD alone under the chosen conditions. The method predicts correctly the increased partial flexibility of the mutant Y35G compared to native bovine pancreatic trypsin inhibitor. In particular, the improvement over MD consists of the detection of conformational flexibility that corresponds closely to slow motions identified by nuclear magnetic resonance techniques.

A cascaded coding scheme for error control and its performance analysis

NASA Technical Reports Server (NTRS)

Lin, S.

1986-01-01

A coding scheme for error control in data communication systems is investigated. The scheme is obtained by cascading two error correcting codes, called the inner and the outer codes. The error performance of the scheme is analyzed for a binary symmetric channel with bit error rate epsilon < 1/2. It is shown that, if the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit error rate. Various specific example schemes with inner codes ranging from high rates to very low rates and Reed-Solomon codes are considered, and their probabilities are evaluated. They all provide extremely high reliability even for very high bit error rates, say 0.1 to 0.01. Several example schemes are being considered by NASA for satellite and spacecraft down link error control.

A cascaded coding scheme for error control and its performance analysis

NASA Technical Reports Server (NTRS)

Lin, Shu; Kasami, Tadao; Fujiwara, Tohru; Takata, Toyoo

1986-01-01

A coding scheme is investigated for error control in data communication systems. The scheme is obtained by cascading two error correcting codes, called the inner and outer codes. The error performance of the scheme is analyzed for a binary symmetric channel with bit error rate epsilon <1/2. It is shown that if the inner and outer codes are chosen properly, extremely high reliability can be attained even for a high channel bit error rate. Various specific example schemes with inner codes ranging form high rates to very low rates and Reed-Solomon codes as inner codes are considered, and their error probabilities are evaluated. They all provide extremely high reliability even for very high bit error rates. Several example schemes are being considered by NASA for satellite and spacecraft down link error control.

System and method for detecting components of a mixture including a valving scheme for competition assays

DOEpatents

Koh, Chung-Yan; Piccini, Matthew E.; Singh, Anup K.

2017-09-19

Examples are described including measurement systems for conducting competition assays. A first chamber of an assay device may be loaded with a sample containing a target antigen. The target antigen in the sample may be allowed to bind to antibody-coated beads in the first chamber. A control layer separating the first chamber from a second chamber may then be opened to allow a labeling agent loaded in a first portion of the second chamber to bind to any unoccupied sites on the antibodies. A centrifugal force may then be applied to transport the beads through a density media to a detection region for measurement by a detection unit.

System and method for detecting components of a mixture including a valving scheme for competition assays

DOEpatents

Koh, Chung-Yan; Piccini, Matthew E.; Singh, Anup K.

2017-07-11

Examples are described including measurement systems for conducting competition assays. A first chamber of an assay device may be loaded with a sample containing a target antigen. The target antigen in the sample may be allowed to bind to antibody-coated beads in the first chamber. A control layer separating the first chamber from a second chamber may then be opened to allow a labeling agent loaded in a first portion of the second chamber to bind to any unoccupied sites on the antibodies. A centrifugal force may then be applied to transport the beads through a density media to a detection region for measurement by a detection unit.

Clinical audit and peer review scheme for the South West post-new 2006 dental contract: a report on progress so far.

PubMed

Howard-Williams, P

2009-01-10

With the introduction of personal dental services (PDS) into the South West the Local Assessment Panel (LAP) devised a new scheme consisting of 'cookbook' audits and piloted the scheme amongst the PDS dentists of South and West Devon, Somerset and Avon in 2005/2006. When the new contracting arrangements came into force, and in the absence of guidance from above, the LAP in consultation with the PCTs decided to consolidate the successful pilot audit scheme for PDS dentists and extend the new scheme to all the participating PCTs and their performers. The current scheme covers Devon, Somerset, Avon and Gloucester PCTs and is administrated by Mrs Jackie Derrick on behalf of Somerset PCT. All the audits showed improvement with the exception of the patient satisfaction survey where the first audit cycle showed an average patient satisfaction rating of 99% which cannot be improved on. We have redesigned this audit to try and make it more challenging and informative. The improvement in clinical record keeping was particularly marked. With the advent of new contractual arrangements in April 2009 it is essential that practitioners are able to demonstrate quality assurance in their practice and we believe that the South West scheme is a dentist friendly scheme, relevant to everyday dental practice.

Design scheme for optical manufacturing support system of TMT M3 prototype

NASA Astrophysics Data System (ADS)

Hu, Haifei; Luo, Xiao

2014-09-01

Thirty Meter Telescope's Tertiary Mirror Cell Assembly (TMTM3-CA) will be manufactured in Changchun Institute of Optics, Fine Mechanics and Physics (CIOMP). To reduce the risk of fabricating TMTM3, a prototype made of Zerodur with a d/t ratio of 72 is planned to be polished. Here the focus is on the design scheme of the prototype's optical manufacturing support system. Firstly the number of support points was estimated, then structural design scheme for equal-force polishing support system are drawn, and finally layout optimization of support points was carried out. As its high performance and efficiency, the work will be beneficial to manufacturing large thin mirrors.

A numerical model of two-phase flow at the micro-scale using the volume-of-fluid method

NASA Astrophysics Data System (ADS)

Shams, Mosayeb; Raeini, Ali Q.; Blunt, Martin J.; Bijeljic, Branko

2018-03-01

This study presents a simple and robust numerical scheme to model two-phase flow in porous media where capillary forces dominate over viscous effects. The volume-of-fluid method is employed to capture the fluid-fluid interface whose dynamics is explicitly described based on a finite volume discretization of the Navier-Stokes equations. Interfacial forces are calculated directly on reconstructed interface elements such that the total curvature is preserved. The computed interfacial forces are explicitly added to the Navier-Stokes equations using a sharp formulation which effectively eliminates spurious currents. The stability and accuracy of the implemented scheme is validated on several two- and three-dimensional test cases, which indicate the capability of the method to model two-phase flow processes at the micro-scale. In particular we show how the co-current flow of two viscous fluids leads to greatly enhanced flow conductance for the wetting phase in corners of the pore space, compared to a case where the non-wetting phase is an inviscid gas.

Control of birhythmicity: A self-feedback approach

NASA Astrophysics Data System (ADS)

Biswas, Debabrata; Banerjee, Tanmoy; Kurths, Jürgen

2017-06-01

Birhythmicity occurs in many natural and artificial systems. In this paper, we propose a self-feedback scheme to control birhythmicity. To establish the efficacy and generality of the proposed control scheme, we apply it on three birhythmic oscillators from diverse fields of natural science, namely, an energy harvesting system, the p53-Mdm2 network for protein genesis (the OAK model), and a glycolysis model (modified Decroly-Goldbeter model). Using the harmonic decomposition technique and energy balance method, we derive the analytical conditions for the control of birhythmicity. A detailed numerical bifurcation analysis in the parameter space establishes that the control scheme is capable of eliminating birhythmicity and it can also induce transitions between different forms of bistability. As the proposed control scheme is quite general, it can be applied for control of several real systems, particularly in biochemical and engineering systems.

A controlled ac Stark echo for quantum memories.

PubMed

Ham, Byoung S

2017-08-09

A quantum memory protocol of controlled ac Stark echoes (CASE) based on a double rephasing photon echo scheme via controlled Rabi flopping is proposed. The double rephasing scheme of photon echoes inherently satisfies the no-population inversion requirement for quantum memories, but the resultant absorptive echo remains a fundamental problem. Herein, it is reported that the first echo in the double rephasing scheme can be dynamically controlled so that it does not affect the second echo, which is accomplished by using unbalanced ac Stark shifts. Then, the second echo is coherently controlled to be emissive via controlled coherence conversion. Finally a near perfect ultralong CASE is presented using a backward echo scheme. Compared with other methods such as dc Stark echoes, the present protocol is all-optical with advantages of wavelength-selective dynamic control of quantum processing for erasing, buffering, and channel multiplexing.

Electromagnetic Gun With Commutated Coils

NASA Technical Reports Server (NTRS)

Elliott, David G.

1991-01-01

Proposed electromagnetic gun includes electromagnet coil, turns of which commutated in sequence along barrel. Electrical current fed to two armatures by brushes sliding on bus bars in barrel. Interaction between armature currents and magnetic field from coil produces force accelerating armature, which in turn, pushes on projectile. Commutation scheme chosen so magnetic field approximately coincides and moves with cylindrical region defined by armatures. Scheme has disadvantage of complexity, but in return, enables designer to increase driving magnetic field without increasing armature current. Attainable muzzle velocity increased substantially.

Operator’s and Programer’s Guide to the Analysis of Force Potential System (AFPSYS)

DTIC Science & Technology

1984-11-01

on-type preference and allocation scheme that may preclude some pairings of weapon types. There may be too few weapons of some types to generate a...multiple weapons. 2. Sets a flag to prevent generating a firing time for shooters with a zero PK. 3. Sets a flag to prevent generating a firing time for...anticipation of later generalization of the scheme for determining the factors corresponding to Blue and Red measures and countermeasures. However, as of

Hydrological Climate Classification: Can We Improve on Köppen-Geiger?

NASA Astrophysics Data System (ADS)

Knoben, W.; Woods, R. A.; Freer, J. E.

2017-12-01

Classification is essential in the study of complex natural systems, yet hydrology so far has no formal way to structure the climate forcing which underlies hydrologic response. Various climate classification systems can be borrowed from other disciplines but these are based on different organizing principles than a hydrological classification might use. From gridded global data we calculate a gridded aridity index, an aridity seasonality index and a rain-vs-snow index, which we use to cluster global locations into climate groups. We then define the membership degree of nearly 1100 catchments to each of our climate groups based on each catchment's climate and investigate the extent to which streamflow responses within each climate group are similar. We compare this climate classification approach with the often-used Köppen-Geiger classification, using statistical tests based on streamflow signature values. We find that three climate indices are sufficient to distinguish 18 different climate types world-wide. Climates tend to change gradually in space and catchments can thus belong to multiple climate groups, albeit with different degrees of membership. Streamflow responses within a climate group tend to be similar, regardless of the catchments' geographical proximity. A Wilcoxon two-sample test based on streamflow signature values for each climate group shows that the new classification can distinguish different flow regimes using this classification scheme. The Köppen-Geiger approach uses 29 climate classes but is less able to differentiate streamflow regimes. Climate forcing exerts a strong control on typical hydrologic response and both change gradually in space. This makes arbitrary hard boundaries in any classification scheme difficult to defend. Any hydrological classification should thus acknowledge these gradual changes in forcing. Catchment characteristics (soil or vegetation type, land use, etc) can vary more quickly in space than climate does, which can explain streamflow differences between geographically close locations. Summarizing, this work shows that hydrology needs its own way to structure climate forcing, acknowledging that climates vary gradually on a global scale and explicitly including those climate aspects that drive seasonal changes in hydrologic regimes.

A mixed pseudospectral/finite difference method for a thermally driven fluid in a nonuniform gravitational field

NASA Technical Reports Server (NTRS)

Macaraeg, M. G.

1985-01-01

A numerical study of the steady, axisymmetric flow in a heated, rotating spherical shell is conducted to model the Atmospheric General Circulation Experiment (AGCE) proposed to run aboard a later shuttle mission. The AGCE will consist of concentric rotating spheres confining a dielectric fluid. By imposing a dielectric field across the fluid a radial body force will be created. The numerical solution technique is based on the incompressible Navier-Stokes equations. In the method a pseudospectral technique is based on the incompressible Navier-Stokes equations. In the method a pseudospectral technique is used in the latitudinal direction, and a second-order accurate finite difference scheme discretizes time and radial derivatives. This paper discusses the development and performance of this numerical scheme for the AGCE which has been modelled in the past only by pure FD formulations. In addition, previous models have not investigated the effect of using a dielectric force to simulate terrestrial gravity. The effect of this dielectric force on the flow field is investigated as well as a parameter study of varying rotation rates and boundary temperatures. Among the effects noted are the production of larger velocities and enhanced reversals of radial temperature gradients for a body force generated by the electric field.

The response of a high-speed train wheel to a harmonic wheel-rail force

NASA Astrophysics Data System (ADS)

Sheng, Xiaozhen; Liu, Yuxia; Zhou, Xin

2016-09-01

The maximum speed of China's high-speed trains currently is 300km/h and expected to increase to 350-400km/h. As a wheel travels along the rail at such a high speed, it is subject to a force rotating at the same speed along its periphery. This fast moving force contains not only the axle load component, but also many components of high frequencies generated from wheel-rail interactions. Rotation of the wheel also introduces centrifugal and gyroscopic effects. How the wheel responds is fundamental to many issues, including wheel-rail contact, traction, wear and noise. In this paper, by making use of its axial symmetry, a special finite element scheme is developed for responses of a train wheel subject to a vertical and harmonic wheel-rail force. This FE scheme only requires a 2D mesh over a cross-section containing the wheel axis but includes all the effects induced by wheel rotation. Nodal displacements, as a periodic function of the cross-section angle 6, can be decomposed, using Fourier series, into a number of components at different circumferential orders. The derived FE equation is solved for each circumferential order. The sum of responses at all circumferential orders gives the actual response of the wheel.

Adaptive independent joint control of manipulators - Theory and experiment

NASA Technical Reports Server (NTRS)

Seraji, H.

1988-01-01

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

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

PubMed

Singh, Ravendra; Ierapetritou, Marianthi; Ramachandran, Rohit

2013-11-01

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

Radiation reaction effect on laser driven auto-resonant particle acceleration

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

Sagar, Vikram; Sengupta, Sudip; Kaw, P. K.

2015-12-15

The effects of radiation reaction force on laser driven auto-resonant particle acceleration scheme are studied using Landau-Lifshitz equation of motion. These studies are carried out for both linear and circularly polarized laser fields in the presence of static axial magnetic field. From the parametric study, a radiation reaction dominated region has been identified in which the particle dynamics is greatly effected by this force. In the radiation reaction dominated region, the two significant effects on particle dynamics are seen, viz., (1) saturation in energy gain by the initially resonant particle and (2) net energy gain by an initially non-resonant particlemore » which is caused due to resonance broadening. It has been further shown that with the relaxation of resonance condition and with optimum choice of parameters, this scheme may become competitive with the other present-day laser driven particle acceleration schemes. The quantum corrections to the Landau-Lifshitz equation of motion have also been taken into account. The difference in the energy gain estimates of the particle by the quantum corrected and classical Landau-Lifshitz equation is found to be insignificant for the present day as well as upcoming laser facilities.« less

Comparative study of state-of-the-art myoelectric controllers for multigrasp prosthetic hands.

PubMed

Segil, Jacob L; Controzzi, Marco; Weir, Richard F ff; Cipriani, Christian

2014-01-01

A myoelectric controller should provide an intuitive and effective human-machine interface that deciphers user intent in real-time and is robust enough to operate in daily life. Many myoelectric control architectures have been developed, including pattern recognition systems, finite state machines, and more recently, postural control schemes. Here, we present a comparative study of two types of finite state machines and a postural control scheme using both virtual and physical assessment procedures with seven nondisabled subjects. The Southampton Hand Assessment Procedure (SHAP) was used in order to compare the effectiveness of the controllers during activities of daily living using a multigrasp artificial hand. Also, a virtual hand posture matching task was used to compare the controllers when reproducing six target postures. The performance when using the postural control scheme was significantly better (p < 0.05) than the finite state machines during the physical assessment when comparing within-subject averages using the SHAP percent difference metric. The virtual assessment results described significantly greater completion rates (97% and 99%) for the finite state machines, but the movement time tended to be faster (2.7 s) for the postural control scheme. Our results substantiate that postural control schemes rival other state-of-the-art myoelectric controllers.

78 FR 12135 - List of Participating Countries and Entities (Hereinafter Known as “Participants”) Under the...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-02-21

... has not been controlled through the Kimberley Process Certification Scheme (KPCS). Under Section 3(2) of the Act, ``controlled through the Kimberley Process Certification Scheme'' means an importation... Kimberley Process Certification Scheme. Angola--Ministry of Geology and Mines. Armenia--Ministry of Trade...

Guidance trajectories for aeroassisted orbital transfer

NASA Technical Reports Server (NTRS)

Miele, A.

1990-01-01

Research on aerobraking guidance schemes is presented. The intent is to produce aerobraking guidance trajectories exhibiting many of the desirable characteristics of optimal aerobraking trajectories. Both one-control schemes and two-control schemes are studied. The research is in the interest of aeroassisted flight experiment vehicles (AFE) and aeroassisted orbital transfer (AOT) vehicles.

A discrete-time adaptive control scheme for robot manipulators

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

COMPARISON OF IMPLICIT SCHEMES TO SOLVE EQUATIONS OF RADIATION HYDRODYNAMICS WITH A FLUX-LIMITED DIFFUSION APPROXIMATION: NEWTON–RAPHSON, OPERATOR SPLITTING, AND LINEARIZATION

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

Tetsu, Hiroyuki; Nakamoto, Taishi, E-mail: h.tetsu@geo.titech.ac.jp

Radiation is an important process of energy transport, a force, and a basis for synthetic observations, so radiation hydrodynamics (RHD) calculations have occupied an important place in astrophysics. However, although the progress in computational technology is remarkable, their high numerical cost is still a persistent problem. In this work, we compare the following schemes used to solve the nonlinear simultaneous equations of an RHD algorithm with the flux-limited diffusion approximation: the Newton–Raphson (NR) method, operator splitting, and linearization (LIN), from the perspective of the computational cost involved. For operator splitting, in addition to the traditional simple operator splitting (SOS) scheme,more » we examined the scheme developed by Douglas and Rachford (DROS). We solve three test problems (the thermal relaxation mode, the relaxation and the propagation of linear waves, and radiating shock) using these schemes and then compare their dependence on the time step size. As a result, we find the conditions of the time step size necessary for adopting each scheme. The LIN scheme is superior to other schemes if the ratio of radiation pressure to gas pressure is sufficiently low. On the other hand, DROS can be the most efficient scheme if the ratio is high. Although the NR scheme can be adopted independently of the regime, especially in a problem that involves optically thin regions, the convergence tends to be worse. In all cases, SOS is not practical.« less

A Hybrid Nonlinear Control Scheme for Active Magnetic Bearings

NASA Technical Reports Server (NTRS)

Xia, F.; Albritton, N. G.; Hung, J. Y.; Nelms, R. M.

1996-01-01

A nonlinear control scheme for active magnetic bearings is presented in this work. Magnet winding currents are chosen as control inputs for the electromechanical dynamics, which are linearized using feedback linearization. Then, the desired magnet currents are enforced by sliding mode control design of the electromagnetic dynamics. The overall control scheme is described by a multiple loop block diagram; the approach also falls in the class of nonlinear controls that are collectively known as the 'integrator backstepping' method. Control system hardware and new switching power electronics for implementing the controller are described. Various experiments and simulation results are presented to demonstrate the concepts' potentials.

Validation of the Martilli's Urban Boundary Layer Scheme with measurements from two mid-latitude European cities

NASA Astrophysics Data System (ADS)

Hamdi, R.; Schayes, G.

2005-07-01

The Martilli's urban parameterization scheme is improved and implemented in a mesoscale model in order to take into account the typical effects of a real city on the air temperature near the ground and on the surface exchange fluxes. The mesoscale model is run on a single column using atmospheric data and radiation recorded above roof level as forcing. Here, the authors validate the Martilli's urban boundary layer scheme using measurements from two mid-latitude European cities: Basel, Switzerland and Marseilles, France. For Basel, the model performance is evaluated with observations of canyon temperature, surface radiation, and energy balance fluxes obtained during the Basel urban boundary layer experiment (BUBBLE). The results show that the urban parameterization scheme is able to reproduce the generation of the Urban Heat Island (UHI) effect over urban area and represents correctly most of the behavior of the fluxes typical of the city center of Basel, including the large heat uptake by the urban fabric and the positive sensible heat flux at night. For Marseilles, the model performance is evaluated with observations of surface temperature, canyon temperature, surface radiation, and energy balance fluxes collected during the field experiments to constrain models of atmospheric pollution and transport of emissions (ESCOMPTE) and its urban boundary layer (UBL) campaign. At both urban sites, vegetation cover is less than 20%, therefore, particular attention was directed to the ability of the Martilli's urban boundary layer scheme to reproduce the observations for the Marseilles city center, where the urban parameters and the synoptic forcing are totally different from Basel. Evaluation of the model with wall, road, and roof surface temperatures gave good results. The model correctly simulates the net radiation, canyon temperature, and the partitioning between the turbulent and storage heat fluxes.

Validation of Martilli's urban boundary layer scheme with measurements from two mid-latitude European cities

NASA Astrophysics Data System (ADS)

Hamdi, R.; Schayes, G.

2007-08-01

Martilli's urban parameterization scheme is improved and implemented in a mesoscale model in order to take into account the typical effects of a real city on the air temperature near the ground and on the surface exchange fluxes. The mesoscale model is run on a single column using atmospheric data and radiation recorded above roof level as forcing. Here, the authors validate Martilli's urban boundary layer scheme using measurements from two mid-latitude European cities: Basel, Switzerland and Marseilles, France. For Basel, the model performance is evaluated with observations of canyon temperature, surface radiation, and energy balance fluxes obtained during the Basel urban boundary layer experiment (BUBBLE). The results show that the urban parameterization scheme represents correctly most of the behavior of the fluxes typical of the city center of Basel, including the large heat uptake by the urban fabric and the positive sensible heat flux at night. For Marseilles, the model performance is evaluated with observations of surface temperature, canyon temperature, surface radiation, and energy balance fluxes collected during the field experiments to constrain models of atmospheric pollution and transport of emissions (ESCOMPTE) and its urban boundary layer (UBL) campaign. At both urban sites, vegetation cover is less than 20%, therefore, particular attention was directed to the ability of Martilli's urban boundary layer scheme to reproduce the observations for the Marseilles city center, where the urban parameters and the synoptic forcing are totally different from Basel. Evaluation of the model with wall, road, and roof surface temperatures gave good results. The model correctly simulates the net radiation, canyon temperature, and the partitioning between the turbulent and storage heat fluxes.

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

An Enhanced Three-Level Voltage Switching State Scheme for Direct Torque Controlled Open End Winding Induction Motor

NASA Astrophysics Data System (ADS)

Kunisetti, V. Praveen Kumar; Thippiripati, Vinay Kumar

2018-01-01

Open End Winding Induction Motors (OEWIM) are popular for electric vehicles, ship propulsion applications due to less DC link voltage. Electric vehicles, ship propulsions require ripple free torque. In this article, an enhanced three-level voltage switching state scheme for direct torque controlled OEWIM drive is implemented to reduce torque and flux ripples. The limitations of conventional Direct Torque Control (DTC) are: possible problems during low speeds and starting, it operates with variable switching frequency due to hysteresis controllers and produces higher torque and flux ripple. The proposed DTC scheme can abate the problems of conventional DTC with an enhanced voltage switching state scheme. The three-level inversion was obtained by operating inverters with equal DC-link voltages and it produces 18 voltage space vectors. These 18 vectors are divided into low and high frequencies of operation based on rotor speed. The hardware results prove the validity of proposed DTC scheme during steady-state and transients. From simulation and experimental results, proposed DTC scheme gives less torque and flux ripples on comparison to two-level DTC. The proposed DTC is implemented using dSPACE DS-1104 control board interface with MATLAB/SIMULINK-RTI model.

An Enhanced Three-Level Voltage Switching State Scheme for Direct Torque Controlled Open End Winding Induction Motor

NASA Astrophysics Data System (ADS)

Kunisetti, V. Praveen Kumar; Thippiripati, Vinay Kumar

2018-06-01

Open End Winding Induction Motors (OEWIM) are popular for electric vehicles, ship propulsion applications due to less DC link voltage. Electric vehicles, ship propulsions require ripple free torque. In this article, an enhanced three-level voltage switching state scheme for direct torque controlled OEWIM drive is implemented to reduce torque and flux ripples. The limitations of conventional Direct Torque Control (DTC) are: possible problems during low speeds and starting, it operates with variable switching frequency due to hysteresis controllers and produces higher torque and flux ripple. The proposed DTC scheme can abate the problems of conventional DTC with an enhanced voltage switching state scheme. The three-level inversion was obtained by operating inverters with equal DC-link voltages and it produces 18 voltage space vectors. These 18 vectors are divided into low and high frequencies of operation based on rotor speed. The hardware results prove the validity of proposed DTC scheme during steady-state and transients. From simulation and experimental results, proposed DTC scheme gives less torque and flux ripples on comparison to two-level DTC. The proposed DTC is implemented using dSPACE DS-1104 control board interface with MATLAB/SIMULINK-RTI model.

Isca, v1.0: a framework for the global modelling of the atmospheres of Earth and other planets at varying levels of complexity

NASA Astrophysics Data System (ADS)

Vallis, Geoffrey K.; Colyer, Greg; Geen, Ruth; Gerber, Edwin; Jucker, Martin; Maher, Penelope; Paterson, Alexander; Pietschnig, Marianne; Penn, James; Thomson, Stephen I.

2018-03-01

Isca is a framework for the idealized modelling of the global circulation of planetary atmospheres at varying levels of complexity and realism. The framework is an outgrowth of models from the Geophysical Fluid Dynamics Laboratory in Princeton, USA, designed for Earth's atmosphere, but it may readily be extended into other planetary regimes. Various forcing and radiation options are available, from dry, time invariant, Newtonian thermal relaxation to moist dynamics with radiative transfer. Options are available in the dry thermal relaxation scheme to account for the effects of obliquity and eccentricity (and so seasonality), different atmospheric optical depths and a surface mixed layer. An idealized grey radiation scheme, a two-band scheme, and a multiband scheme are also available, all with simple moist effects and astronomically based solar forcing. At the complex end of the spectrum the framework provides a direct connection to comprehensive atmospheric general circulation models. For Earth modelling, options include an aquaplanet and configurable continental outlines and topography. Continents may be defined by changing albedo, heat capacity, and evaporative parameters and/or by using a simple bucket hydrology model. Oceanic Q fluxes may be added to reproduce specified sea surface temperatures, with arbitrary continental distributions. Planetary atmospheres may be configured by changing planetary size and mass, solar forcing, atmospheric mass, radiation, and other parameters. Examples are given of various Earth configurations as well as a giant planet simulation, a slowly rotating terrestrial planet simulation, and tidally locked and other orbitally resonant exoplanet simulations. The underlying model is written in Fortran and may largely be configured with Python scripts. Python scripts are also used to run the model on different architectures, to archive the output, and for diagnostics, graphics, and post-processing. All of these features are publicly available in a Git-based repository.

The Design and Analysis of the Hydraulic-pressure Seal of the Engine Box

NASA Astrophysics Data System (ADS)

Chen, Zhenya; Shen, Xingquan; Xin, Zhijie; Guo, Tingting; Liao, Kewei

2017-12-01

According to the sealing requirements of engine casing, using NX software to establish three-dimensional solid model of the engine box. Designing two seals suppress schemes basing on analyzing the characteristics of the case structure, one of seal is using two pins on one side to localize, the other is using cylinder to top tight and fasten, Clarifying the reasons for the using the former scheme have a lower cost. At the same time analysesing of the forces and deformation of the former scheme using finite element analysis software and the NX software, results proved that the pressure scheme can meet the actual needs of the program. It illustrated the composition of the basic principles of manual pressure and hydraulic system, verifed the feasibility of the seal program using experiment, providing reference for the experimental program of hydrostatic pressure in the future.

Evaluation of the Plant-Craig stochastic convection scheme (v2.0) in the ensemble forecasting system MOGREPS-R (24 km) based on the Unified Model (v7.3)

NASA Astrophysics Data System (ADS)

Keane, Richard J.; Plant, Robert S.; Tennant, Warren J.

2016-05-01

The Plant-Craig stochastic convection parameterization (version 2.0) is implemented in the Met Office Regional Ensemble Prediction System (MOGREPS-R) and is assessed in comparison with the standard convection scheme with a simple stochastic scheme only, from random parameter variation. A set of 34 ensemble forecasts, each with 24 members, is considered, over the month of July 2009. Deterministic and probabilistic measures of the precipitation forecasts are assessed. The Plant-Craig parameterization is found to improve probabilistic forecast measures, particularly the results for lower precipitation thresholds. The impact on deterministic forecasts at the grid scale is neutral, although the Plant-Craig scheme does deliver improvements when forecasts are made over larger areas. The improvements found are greater in conditions of relatively weak synoptic forcing, for which convective precipitation is likely to be less predictable.

The Impact of Parameterized Convection on Climatological Precipitation in Atmospheric Global Climate Models

NASA Astrophysics Data System (ADS)

Maher, Penelope; Vallis, Geoffrey K.; Sherwood, Steven C.; Webb, Mark J.; Sansom, Philip G.

2018-04-01

Convective parameterizations are widely believed to be essential for realistic simulations of the atmosphere. However, their deficiencies also result in model biases. The role of convection schemes in modern atmospheric models is examined using Selected Process On/Off Klima Intercomparison Experiment simulations without parameterized convection and forced with observed sea surface temperatures. Convection schemes are not required for reasonable climatological precipitation. However, they are essential for reasonable daily precipitation and constraining extreme daily precipitation that otherwise develops. Systematic effects on lapse rate and humidity are likewise modest compared with the intermodel spread. Without parameterized convection Kelvin waves are more realistic. An unexpectedly large moist Southern Hemisphere storm track bias is identified. This storm track bias persists without convection schemes, as does the double Intertropical Convergence Zone and excessive ocean precipitation biases. This suggests that model biases originate from processes other than convection or that convection schemes are missing key processes.

Surface plasmon resonance-based highly sensitive optical touch sensor with a hybrid noise rejection scheme.

PubMed

Sumriddetchkajorn, Sarun; Chaitavon, Kosom

2006-01-01

A surface plasmon resonance (SPR)-based optical touch sensor structure is proposed that provides high switch sensitivity and requires a weak activating force. Our proposed SPR-based optical touch sensor is arranged in a compact Kretschmann-Raether configuration in which the prism acting as our sensor head is coated with a metal nanofilm. Our optical-based noise rejection scheme relies on wavelength filtering, spatial filtering, and high reflectivity of the metal nanofilm, whereas our electrical-based noise reduction is obtained by means of an electrical signal filtering process. In our experimental proof of concept, a visible laser diode at a 655 nm centered wavelength and a prism made from BK7 with a 50 nm thick gold layer on the touching surface are used, showing a 7.85 dB optical contrast ratio for the first touch. An estimated weak mechanical force of <0.1 N is also observed that sufficiently activates the desired electrical load. It is tested for 51 operations without sensor malfunction under typical and very high illumination of 342 and 3000 lx, respectively. In this case, a measured average optical contrast of 0.80 dB is obtained with a +/-0.47 dB fluctuation, implying that the refractive index change in a small 3.2% of the overall active area is enough for our SPR-based optical touch sensor to function properly. Increasing optical contrast in our SPR-based optical touch sensor can be accomplished by using a higher polarization-extinction ratio and a narrower-bandwidth optical beam. A controlled environment and gold-coated surface using the thin-film sputtering technique can help improve the reliability and the durability of our SPR-based optical touch sensor. Other key features include ease of implementation, prevention of a light beam becoming incident on the user, and the ability to accept both strong and weak activating forces.

Multiple-time-stepping generalized hybrid Monte Carlo methods

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

Escribano, Bruno, E-mail: bescribano@bcamath.org; Akhmatskaya, Elena; IKERBASQUE, Basque Foundation for Science, E-48013 Bilbao

2015-01-01

Performance of the generalized shadow hybrid Monte Carlo (GSHMC) method [1], which proved to be superior in sampling efficiency over its predecessors [2–4], molecular dynamics and hybrid Monte Carlo, can be further improved by combining it with multi-time-stepping (MTS) and mollification of slow forces. We demonstrate that the comparatively simple modifications of the method not only lead to better performance of GSHMC itself but also allow for beating the best performed methods, which use the similar force splitting schemes. In addition we show that the same ideas can be successfully applied to the conventional generalized hybrid Monte Carlo method (GHMC).more » The resulting methods, MTS-GHMC and MTS-GSHMC, provide accurate reproduction of thermodynamic and dynamical properties, exact temperature control during simulation and computational robustness and efficiency. MTS-GHMC uses a generalized momentum update to achieve weak stochastic stabilization to the molecular dynamics (MD) integrator. MTS-GSHMC adds the use of a shadow (modified) Hamiltonian to filter the MD trajectories in the HMC scheme. We introduce a new shadow Hamiltonian formulation adapted to force-splitting methods. The use of such Hamiltonians improves the acceptance rate of trajectories and has a strong impact on the sampling efficiency of the method. Both methods were implemented in the open-source MD package ProtoMol and were tested on a water and a protein systems. Results were compared to those obtained using a Langevin Molly (LM) method [5] on the same systems. The test results demonstrate the superiority of the new methods over LM in terms of stability, accuracy and sampling efficiency. This suggests that putting the MTS approach in the framework of hybrid Monte Carlo and using the natural stochasticity offered by the generalized hybrid Monte Carlo lead to improving stability of MTS and allow for achieving larger step sizes in the simulation of complex systems.« less

Assessment of the effect of pelvic floor exercises on pelvic floor muscle strength using ultrasonography in patients with urinary incontinence: a prospective randomized controlled trial

PubMed Central

Tosun, Ozge Celiker; Solmaz, Ulas; Ekin, Atalay; Tosun, Gokhan; Gezer, Cenk; Ergenoglu, Ahmet Mete; Yeniel, Ahmet Ozgur; Mat, Emre; Malkoc, Mehtap; Askar, Niyazi

2016-01-01

[Purpose] The aim of this study was to evaluate whether the effect of pelvic floor exercises on pelvic floor muscle strength could be detected via ultrasonography in patients with urinary incontinence. [Subjects and Methods] Of 282 incontinent patients, 116 participated in the study and were randomly divided into a pelvic floor muscle training (n=65) group or control group (n=51). The pelvic floor muscle training group was given pelvic floor exercise training for 12 weeks. Both groups were evaluated at the beginning of the study and after 12 weeks. Abdominal ultrasonography measurements in transverse and longitudinal planes, the PERFECT scheme, perineometric evaluation, the stop test, the stress test, and the pad test were used to assess pelvic floor muscle strength in all cases. [Results] After training, the PERFECT, perineometry and transabdominal ultrasonography measurements were found to be significantly improved, and the stop test and pad test results were significantly decreased in the pelvic floor muscle training group, whereas no difference was observed in the control group. There was a positive correlation between the PERFECT force measurement scale and ultrasonography force measurement scale before and after the intervention in the control and pelvic floor muscle training groups (r=0.632 and r=0.642, respectively). [Conclusion] Ultrasonography can be used as a noninvasive method to identify the change in pelvic floor muscle strength with exercise training. PMID:27065519

Implementation of a gust front head collapse scheme in the WRF numerical model

NASA Astrophysics Data System (ADS)

Lompar, Miloš; Ćurić, Mladjen; Romanic, Djordje

2018-05-01

Gust fronts are thunderstorm-related phenomena usually associated with severe winds which are of great importance in theoretical meteorology, weather forecasting, cloud dynamics and precipitation, and wind engineering. An important feature of gust fronts demonstrated through both theoretical and observational studies is the periodic collapse and rebuild of the gust front head. This cyclic behavior of gust fronts results in periodic forcing of vertical velocity ahead of the parent thunderstorm, which consequently influences the storm dynamics and microphysics. This paper introduces the first gust front pulsation parameterization scheme in the WRF-ARW model (Weather Research and Forecasting-Advanced Research WRF). The influence of this new scheme on model performances is tested through investigation of the characteristics of an idealized supercell cumulonimbus cloud, as well as studying a real case of thunderstorms above the United Arab Emirates. In the ideal case, WRF with the gust front scheme produced more precipitation and showed different time evolution of mixing ratios of cloud water and rain, whereas the mixing ratios of ice and graupel are almost unchanged when compared to the default WRF run without the parameterization of gust front pulsation. The included parameterization did not disturb the general characteristics of thunderstorm cloud, such as the location of updraft and downdrafts, and the overall shape of the cloud. New cloud cells in front of the parent thunderstorm are also evident in both ideal and real cases due to the included forcing of vertical velocity caused by the periodic collapse of the gust front head. Despite some differences between the two WRF simulations and satellite observations, the inclusion of the gust front parameterization scheme produced more cumuliform clouds and seem to match better with real observations. Both WRF simulations gave poor results when it comes to matching the maximum composite radar reflectivity from radar measurement. Similar to the ideal case, WRF model with the gust front scheme gave more precipitation than the default WRF run. In particular, the gust front scheme increased the area characterized with light precipitation and diminished the development of very localized and intense precipitation.

Improving groundwater predictions utilizing seasonal precipitation forecasts from general circulation models forced with sea surface temperature forecasts

USGS Publications Warehouse

Almanaseer, Naser; Sankarasubramanian, A.; Bales, Jerad

2014-01-01

Recent studies have found a significant association between climatic variability and basin hydroclimatology, particularly groundwater levels, over the southeast United States. The research reported in this paper evaluates the potential in developing 6-month-ahead groundwater-level forecasts based on the precipitation forecasts from ECHAM 4.5 General Circulation Model Forced with Sea Surface Temperature forecasts. Ten groundwater wells and nine streamgauges from the USGS Groundwater Climate Response Network and Hydro-Climatic Data Network were selected to represent groundwater and surface water flows, respectively, having minimal anthropogenic influences within the Flint River Basin in Georgia, United States. The writers employ two low-dimensional models [principle component regression (PCR) and canonical correlation analysis (CCA)] for predicting groundwater and streamflow at both seasonal and monthly timescales. Three modeling schemes are considered at the beginning of January to predict winter (January, February, and March) and spring (April, May, and June) streamflow and groundwater for the selected sites within the Flint River Basin. The first scheme (model 1) is a null model and is developed using PCR for every streamflow and groundwater site using previous 3-month observations (October, November, and December) available at that particular site as predictors. Modeling schemes 2 and 3 are developed using PCR and CCA, respectively, to evaluate the role of precipitation forecasts in improving monthly and seasonal groundwater predictions. Modeling scheme 3, which employs a CCA approach, is developed for each site by considering observed groundwater levels from nearby sites as predictands. The performance of these three schemes is evaluated using two metrics (correlation coefficient and relative RMS error) by developing groundwater-level forecasts based on leave-five-out cross-validation. Results from the research reported in this paper show that using precipitation forecasts in climate models improves the ability to predict the interannual variability of winter and spring streamflow and groundwater levels over the basin. However, significant conditional bias exists in all the three modeling schemes, which indicates the need to consider improved modeling schemes as well as the availability of longer time-series of observed hydroclimatic information over the basin.

Multichannel feedforward control schemes with coupling compensation for active sound profiling

NASA Astrophysics Data System (ADS)

Mosquera-Sánchez, Jaime A.; Desmet, Wim; de Oliveira, Leopoldo P. R.

2017-05-01

Active sound profiling includes a number of control techniques that enables the equalization, rather than the mere reduction, of acoustic noise. Challenges may rise when trying to achieve distinct targeted sound profiles simultaneously at multiple locations, e.g., within a vehicle cabin. This paper introduces distributed multichannel control schemes for independently tailoring structural borne sound reaching a number of locations within a cavity. The proposed techniques address the cross interactions amongst feedforward active sound profiling units, which compensate for interferences of the primary sound at each location of interest by exchanging run-time data amongst the control units, while attaining the desired control targets. Computational complexity, convergence, and stability of the proposed multichannel schemes are examined in light of the physical system at which they are implemented. The tuning performance of the proposed algorithms is benchmarked with the centralized and pure-decentralized control schemes through computer simulations on a simplified numerical model, which has also been subjected to plant magnitude variations. Provided that the representation of the plant is accurate enough, the proposed multichannel control schemes have been shown as the only ones that properly deliver targeted active sound profiling tasks at each error sensor location. Experimental results in a 1:3-scaled vehicle mock-up further demonstrate that the proposed schemes are able to attain reductions of more than 60 dB upon periodic disturbances at a number of positions, while resolving cross-channel interferences. Moreover, when the sensor/actuator placement is found as defective at a given frequency, the inclusion of a regularization parameter in the cost function is seen to not hinder the proper operation of the proposed compensation schemes, at the time that it assures their stability, at the expense of losing control performance.

A stable partitioned FSI algorithm for rigid bodies and incompressible flow. Part II: General formulation

NASA Astrophysics Data System (ADS)

Banks, J. W.; Henshaw, W. D.; Schwendeman, D. W.; Tang, Qi

2017-08-01

A stable partitioned algorithm is developed for fluid-structure interaction (FSI) problems involving viscous incompressible flow and rigid bodies. This added-mass partitioned (AMP) algorithm remains stable, without sub-iterations, for light and even zero mass rigid bodies when added-mass and viscous added-damping effects are large. The scheme is based on a generalized Robin interface condition for the fluid pressure that includes terms involving the linear acceleration and angular acceleration of the rigid body. Added mass effects are handled in the Robin condition by inclusion of a boundary integral term that depends on the pressure. Added-damping effects due to the viscous shear forces on the body are treated by inclusion of added-damping tensors that are derived through a linearization of the integrals defining the force and torque. Added-damping effects may be important at low Reynolds number, or, for example, in the case of a rotating cylinder or rotating sphere when the rotational moments of inertia are small. In this second part of a two-part series, the general formulation of the AMP scheme is presented including the form of the AMP interface conditions and added-damping tensors for general geometries. A fully second-order accurate implementation of the AMP scheme is developed in two dimensions based on a fractional-step method for the incompressible Navier-Stokes equations using finite difference methods and overlapping grids to handle the moving geometry. The numerical scheme is verified on a number of difficult benchmark problems.

RACORO Continental Boundary Layer Cloud Investigations: 3. Separation of Parameterization Biases in Single-Column Model CAM5 Simulations of Shallow Cumulus

NASA Technical Reports Server (NTRS)

Lin, Wuyin; Liu, Yangang; Vogelmann, Andrew M.; Fridlind, Ann; Endo, Satoshi; Song, Hua; Feng, Sha; Toto, Tami; Li, Zhijin; Zhang, Minghua

2015-01-01

Climatically important low-level clouds are commonly misrepresented in climate models. The FAst-physics System TEstbed and Research (FASTER) Project has constructed case studies from the Atmospheric Radiation Measurement Climate Research Facility's Southern Great Plain site during the RACORO aircraft campaign to facilitate research on model representation of boundary-layer clouds. This paper focuses on using the single-column Community Atmosphere Model version 5 (SCAM5) simulations of a multi-day continental shallow cumulus case to identify specific parameterization causes of low-cloud biases. Consistent model biases among the simulations driven by a set of alternative forcings suggest that uncertainty in the forcing plays only a relatively minor role. In-depth analysis reveals that the model's shallow cumulus convection scheme tends to significantly under-produce clouds during the times when shallow cumuli exist in the observations, while the deep convective and stratiform cloud schemes significantly over-produce low-level clouds throughout the day. The links between model biases and the underlying assumptions of the shallow cumulus scheme are further diagnosed with the aid of large-eddy simulations and aircraft measurements, and by suppressing the triggering of the deep convection scheme. It is found that the weak boundary layer turbulence simulated is directly responsible for the weak cumulus activity and the simulated boundary layer stratiform clouds. Increased vertical and temporal resolutions are shown to lead to stronger boundary layer turbulence and reduction of low-cloud biases.

RACORO continental boundary layer cloud investigations. 3. Separation of parameterization biases in single-column model CAM5 simulations of shallow cumulus

DOE PAGES

Lin, Wuyin; Liu, Yangang; Vogelmann, Andrew M.; ...

2015-06-19

Climatically important low-level clouds are commonly misrepresented in climate models. The FAst-physics System TEstbed and Research (FASTER) project has constructed case studies from the Atmospheric Radiation Measurement (ARM) Climate Research Facility's Southern Great Plain site during the RACORO aircraft campaign to facilitate research on model representation of boundary-layer clouds. This paper focuses on using the single-column Community Atmosphere Model version 5 (SCAM5) simulations of a multi-day continental shallow cumulus case to identify specific parameterization causes of low-cloud biases. Consistent model biases among the simulations driven by a set of alternative forcings suggest that uncertainty in the forcing plays only amore » relatively minor role. In-depth analysis reveals that the model's shallow cumulus convection scheme tends to significantly under-produce clouds during the times when shallow cumuli exist in the observations, while the deep convective and stratiform cloud schemes significantly over-produce low-level clouds throughout the day. The links between model biases and the underlying assumptions of the shallow cumulus scheme are further diagnosed with the aid of large-eddy simulations and aircraft measurements, and by suppressing the triggering of the deep convection scheme. It is found that the weak boundary layer turbulence simulated is directly responsible for the weak cumulus activity and the simulated boundary layer stratiform clouds. Increased vertical and temporal resolutions are shown to lead to stronger boundary layer turbulence and reduction of low-cloud biases.« less

Experimental evaluation of the concept of supevisory manipulation

NASA Technical Reports Server (NTRS)

Brooks, T. L.; Sheridan, T. B.

1982-01-01

A computer-controlled teleoperator system which is based on task-referenced sensor-aided control has been developed to study supervisory manipulation. This system, called SUPERMAN, is capable of performing complicated tasks in real-time by utilizing the operator for high-level functions related to the unpredictable portions of a task, while the subordinate machine performs the more well-defined subtasks under human supervison. To determine whether supervisory control schemes such as these offer any advantage over manual control under real-time conditions, a number of experiments involving both simple and complicated tasks were performed. Six representative tasks were chosen for the study: (1) obtaining a tool from a rack, (2) returning the tool to the rack, (3) removing a nut, (4) placing samples in a storage bin, (5) opening and closing a valve, and (6) digging with a shovel. The experiments were performed under simulated conditions using four forms of manual control (i.e., switch rate, joystick rate, master-slave position control, and master-slave with force feedback), as well as supervisory control. Through these experiments the effectiveness and quality of control were evaluated on the basis of the time required to complete each portion of the task and the type and number of errors which occurred.

31 CFR 592.201 - Prohibited importation and exportation of any rough diamond; permitted importation or exportation...

Code of Federal Regulations, 2010 CFR

2010-07-01

..., unless the rough diamond has been controlled through the Kimberley Process Certification Scheme. (b) The... States of any rough diamond not controlled through the Kimberley Process Certification Scheme do not... Process Certification Scheme and thus is not permitted, except in the following circumstance. The...

Geoengineering on exoplanets

NASA Astrophysics Data System (ADS)

Lockley, Andrew

2015-04-01

Solar radiation management (SRM) geoengineering can be used to deliberately alter the Earth's radiation budget, by reflecting sunlight to space. SRM has been suggested as a response to Anthropogenic Global Warming (AGW), to partly or fully balance radiative forcing from AGW [1]. Approximately 22% of sun-like stars have Earth-like exoplanets[2]. Advanced civilisations may exist on these, and may use geoengineering for positive or negative radiative forcing. Additionally, terraforming projects [e.g. 3], may be used to expand alien habitable territory, or for resource management or military operations on non-home planets. Potential observations of alien geoengineering and terraforming may enable detection of technologically advanced alien civilisations, and may help identify widely-used and stable geoengineering technologies. This knowledge may assist the development of safe and stable geoengineering methods for Earth. The potential risks and benefits of possible alien detection of Earth-bound geoengineering schemes must be considered before deployment of terrestrial geoengineering schemes.

Leading order relativistic chiral nucleon-nucleon interaction

NASA Astrophysics Data System (ADS)

Ren, Xiu-Lei; Li, Kai-Wen; Geng, Li-Sheng; Long, Bingwei; Ring, Peter; Meng, Jie

2018-01-01

Motivated by the successes of relativistic theories in studies of atomic/molecular and nuclear systems and the need for a relativistic chiral force in relativistic nuclear structure studies, we explore a new relativistic scheme to construct the nucleon-nucleon interaction in the framework of covariant chiral effective field theory. The chiral interaction is formulated up to leading order with covariant power counting and a Lorentz invariant chiral Lagrangian. We find that the relativistic scheme induces all six spin operators needed to describe the nuclear force. A detailed investigation of the partial wave potentials shows a better description of the {}1S0 and {}3P0 phase shifts than the leading order Weinberg approach, and similar to that of the next-to-leading order Weinberg approach. For the other partial waves with angular momenta J≥slant 1, the relativistic results are almost the same as their leading order non-relativistic counterparts. )

SWIFT: SPH With Inter-dependent Fine-grained Tasking

NASA Astrophysics Data System (ADS)

Schaller, Matthieu; Gonnet, Pedro; Chalk, Aidan B. G.; Draper, Peter W.

2018-05-01

SWIFT runs cosmological simulations on peta-scale machines for solving gravity and SPH. It uses the Fast Multipole Method (FMM) to calculate gravitational forces between nearby particles, combining these with long-range forces provided by a mesh that captures both the periodic nature of the calculation and the expansion of the simulated universe. SWIFT currently uses a single fixed but time-variable softening length for all the particles. Many useful external potentials are also available, such as galaxy haloes or stratified boxes that are used in idealised problems. SWIFT implements a standard LCDM cosmology background expansion and solves the equations in a comoving frame; equations of state of dark-energy evolve with scale-factor. The structure of the code allows implementation for modified-gravity solvers or self-interacting dark matter schemes to be implemented. Many hydrodynamics schemes are implemented in SWIFT and the software allows users to add their own.

Verification of the Rigidity of the Coulomb Field in Motion

NASA Astrophysics Data System (ADS)

Blinov, S. V.; Bulyzhenkov, I. É.

2018-06-01

Laplace, analyzing the stability of the Solar System, was the first to calculate that the velocity of the motion of force fields can significantly exceed the velocity of light waves. In electrodynamics, the Coulomb field should rigidly accompany its source for instantaneous force action in distant regions. Such rigid motion was recently inferred from experiments at the Frascati Beam Test Facility with short beams of relativistic electrons. The comments of the authors on their observations are at odds with the comments of theoreticians on retarded potentials, which motivates a detailed study of the positions of both sides. Predictions of measurements, based on the Lienard-Wiechert potentials, are used to propose an unambiguous scheme for testing the rigidity of the Coulomb field. Realization of the proposed experimental scheme could independently refute or support the assertions of the Italian physicists regarding the rigid motion of Coulomb fields and likewise the nondual field approach to macroscopic reality.

Statistical process control based chart for information systems security

NASA Astrophysics Data System (ADS)

Khan, Mansoor S.; Cui, Lirong

2015-07-01

Intrusion detection systems have a highly significant role in securing computer networks and information systems. To assure the reliability and quality of computer networks and information systems, it is highly desirable to develop techniques that detect intrusions into information systems. We put forward the concept of statistical process control (SPC) in computer networks and information systems intrusions. In this article we propose exponentially weighted moving average (EWMA) type quality monitoring scheme. Our proposed scheme has only one parameter which differentiates it from the past versions. We construct the control limits for the proposed scheme and investigate their effectiveness. We provide an industrial example for the sake of clarity for practitioner. We give comparison of the proposed scheme with EWMA schemes and p chart; finally we provide some recommendations for the future work.

MOSFET Switching Circuit Protects Shape Memory Alloy Actuators

NASA Technical Reports Server (NTRS)

Gummin, Mark A.

2011-01-01

A small-footprint, full surface-mount-component printed circuit board employs MOSFET (metal-oxide-semiconductor field-effect transistor) power switches to switch high currents from any input power supply from 3 to 30 V. High-force shape memory alloy (SMA) actuators generally require high current (up to 9 A at 28 V) to actuate. SMA wires (the driving element of the actuators) can be quickly overheated if power is not removed at the end of stroke, which can damage the wires. The new analog driver prevents overheating of the SMA wires in an actuator by momentarily removing power when the end limit switch is closed, thereby allowing complex control schemes to be adopted without concern for overheating. Either an integral pushbutton or microprocessor-controlled gate or control line inputs switch current to the actuator until the end switch line goes from logic high to logic low state. Power is then momentarily removed (switched off by the MOSFET). The analog driver is suited to use with nearly any SMA actuator.

Determination of functions of controlling drives of main executive mechanisms of mining excavators

NASA Astrophysics Data System (ADS)

Lagunova, Yu A.; Komissarov, A. P.; Lukashuk, O. A.

2018-03-01

It is shown that a special shovel is a feature of the structure of the drives of the main mechanisms (mechanisms of lifting and pressure) of career excavators with working equipment, the presence in the transfer device of a two-crank-lever mechanism of working equipment that connects the main mechanisms with the working body (bucket). In this case, the transformation of the mechanical energy parameters of the motors into energy-force parameters realized at the cutting edge of the bucket (teeth) takes place depending on the type of the kinematic scheme of the two-link-lever mechanism. The concept of “control function” defining the relationship between the parameters characterizing the position of the bucket in the face (the coordinates of the tip of the cutting edge of the bucket, the digging speed) and the required control level are introduced. These are the values of the lifting and head speeds ensuring the bucket movement along a given trajectory.

Vehicle States Observer Using Adaptive Tire-Road Friction Estimator

NASA Astrophysics Data System (ADS)

Kwak, Byunghak; Park, Youngjin

Vehicle stability control system is a new idea which can enhance the vehicle stability and handling in the emergency situation. This system requires the information of the yaw rate, sideslip angle and road friction in order to control the traction and braking forces at the individual wheels. This paper proposes an observer for the vehicle stability control system. This observer consisted of the state observer for vehicle motion estimation and the road condition estimator for the identification of the coefficient of the road friction. The state observer uses 2 degrees-of-freedom bicycle model and estimates the system variables based on the Kalman filter. The road condition estimator uses the same vehicle model and identifies the coefficient of the tire-road friction based on the recursive least square method. Both estimators make use of each other information. We show the effectiveness and feasibility of the proposed scheme under various road conditions through computer simulations of a fifteen degree-of-freedom non-linear vehicle model.

Adaptive control schemes for improving dynamic performance of efficiency-optimized induction motor drives.

PubMed

Kumar, Navneet; Raj Chelliah, Thanga; Srivastava, S P

2015-07-01

Model Based Control (MBC) is one of the energy optimal controllers used in vector-controlled Induction Motor (IM) for controlling the excitation of motor in accordance with torque and speed. MBC offers energy conservation especially at part-load operation, but it creates ripples in torque and speed during load transition, leading to poor dynamic performance of the drive. This study investigates the opportunity for improving dynamic performance of a three-phase IM operating with MBC and proposes three control schemes: (i) MBC with a low pass filter (ii) torque producing current (iqs) injection in the output of speed controller (iii) Variable Structure Speed Controller (VSSC). The pre and post operation of MBC during load transition is also analyzed. The dynamic performance of a 1-hp, three-phase squirrel-cage IM with mine-hoist load diagram is tested. Test results are provided for the conventional field-oriented (constant flux) control and MBC (adjustable excitation) with proposed schemes. The effectiveness of proposed schemes is also illustrated for parametric variations. The test results and subsequent analysis confer that the motor dynamics improves significantly with all three proposed schemes in terms of overshoot/undershoot peak amplitude of torque and DC link power in addition to energy saving during load transitions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Quantum interference control of an isolated resonance lifetime in the weak-field limit.

PubMed

García-Vela, A

2015-11-21

Resonance states play an important role in a large variety of physical and chemical processes. Thus, controlling the resonance behavior, and particularly a key property like the resonance lifetime, opens up the possibility of controlling those resonance mediated processes. While such a resonance control is possible by applying strong-field approaches, the development of flexible weak-field control schemes that do not alter significantly the system dynamics still remains a challenge. In this work, one such control scheme within the weak-field regime is proposed for the first time in order to modify the lifetime of an isolated resonance state. The basis of the scheme suggested is quantum interference between two pathways induced by laser fields, that pump wave packet amplitude to the target resonance under control. The simulations reported here show that the scheme allows for both enhancement and quenching of the resonance survival lifetime, being particularly flexible to achieve large lifetime enhancements. Control effects on the resonance lifetime take place only while the pulse is operating. In addition, the conditions required to generate the two interfering quantum pathways are found to be rather easy to meet for general systems, which makes the experimental implementation straightforward and implies the wide applicability of the control scheme.

Characterization of the influence of external stimulus on protein-nucleic acid complex through multiscale computations

NASA Astrophysics Data System (ADS)

Gosai, Agnivo

The concomitant detection, monitoring and analysis of biomolecules have assumed utmost importance in the field of medical diagnostics as well as in different spheres of biotechnology research such as drug development, environmental hazard detection and biodefense. There is an increased demand for the modulation of the biological response for such detection / sensing schemes which will be facilitated by the sensitive and controllable transmission of external stimuli. Electrostatic actuation for the controlled release/capture of biomolecules through conformational transformations of bioreceptors provides an efficient and feasible mechanism to modulate biological response. In addition, electrostatic actuation mechanism has the advantage of allowing massively parallel schemes and measurement capabilities that could ultimately be essential for biomedical applications. Experiments have previously demonstrated the unbinding of thrombin from its aptamer in presence of small positive electrode potential whereas the complex remained associated in presence of small negative potentials / zero potential. However, the nanoscale physics/chemistry involved in this process is not clearly understood. In this thesis a combination of continuum mechanics based modeling and a variety of atomistic simulation techniques have been utilized to corroborate the aforementioned experimental observations. It is found that the computational approach can satisfactorily predict the dynamics of the electrically excited aptamer-thrombin complex as well as provide an analytical model to characterize the forced binding of the complex.

Consensus-based distributed cooperative learning from closed-loop neural control systems.

PubMed

Chen, Weisheng; Hua, Shaoyong; Zhang, Huaguang

2015-02-01

In this paper, the neural tracking problem is addressed for a group of uncertain nonlinear systems where the system structures are identical but the reference signals are different. This paper focuses on studying the learning capability of neural networks (NNs) during the control process. First, we propose a novel control scheme called distributed cooperative learning (DCL) control scheme, by establishing the communication topology among adaptive laws of NN weights to share their learned knowledge online. It is further proved that if the communication topology is undirected and connected, all estimated weights of NNs can converge to small neighborhoods around their optimal values over a domain consisting of the union of all state orbits. Second, as a corollary it is shown that the conclusion on the deterministic learning still holds in the decentralized adaptive neural control scheme where, however, the estimated weights of NNs just converge to small neighborhoods of the optimal values along their own state orbits. Thus, the learned controllers obtained by DCL scheme have the better generalization capability than ones obtained by decentralized learning method. A simulation example is provided to verify the effectiveness and advantages of the control schemes proposed in this paper.

Controlled quantum secure direct communication by entanglement distillation or generalized measurement

NASA Astrophysics Data System (ADS)

Tan, Xiaoqing; Zhang, Xiaoqian

2016-05-01

We propose two controlled quantum secure communication schemes by entanglement distillation or generalized measurement. The sender Alice, the receiver Bob and the controllers David and Cliff take part in the whole schemes. The supervisors David and Cliff can control the information transmitted from Alice to Bob by adjusting the local measurement angles θ _4 and θ _3. Bob can verify his secret information by classical one-way function after communication. The average amount of information is analyzed and compared for these two methods by MATLAB. The generalized measurement is a better scheme. Our schemes are secure against some well-known attacks because classical encryption and decoy states are used to ensure the security of the classical channel and the quantum channel.

Internal force corrections with machine learning for quantum mechanics/molecular mechanics simulations.

PubMed

Wu, Jingheng; Shen, Lin; Yang, Weitao

2017-10-28

Ab initio quantum mechanics/molecular mechanics (QM/MM) molecular dynamics simulation is a useful tool to calculate thermodynamic properties such as potential of mean force for chemical reactions but intensely time consuming. In this paper, we developed a new method using the internal force correction for low-level semiempirical QM/MM molecular dynamics samplings with a predefined reaction coordinate. As a correction term, the internal force was predicted with a machine learning scheme, which provides a sophisticated force field, and added to the atomic forces on the reaction coordinate related atoms at each integration step. We applied this method to two reactions in aqueous solution and reproduced potentials of mean force at the ab initio QM/MM level. The saving in computational cost is about 2 orders of magnitude. The present work reveals great potentials for machine learning in QM/MM simulations to study complex chemical processes.

Research on the Natural Variability of Climate and the Impact of Anthropogenic Forcing on Climate

NASA Technical Reports Server (NTRS)

Stone, Peter H.

2005-01-01

The paper, "Latitude-dependent vertical mixing and the tropical thermocline in a global OGCM", was revised and published in Geophysical Research Letters. It treats the new GISS mixing scheme which includes the latitudinal dependence of the interior ocean turbulence field reported by Gregg, Sanford & Winkel. When implemented in the 3x3 degree NCAR CSMl OGCM [NCOMl] the new mixing scheme produces an improved, sharper equatorial thermoclines in both the Atlantic and the Pacific while simultaneously maintaining the realistic meridional overturning and northward heat transports found already with the previous GISS scheme. Also the paper "Diagnostics of the oceanic thermohaline circulation in a coupled climate model" describing earlier work on the grany was published.

ARM - Midlatitude Continental Convective Clouds

DOE Data Explorer

Jensen, Mike; Bartholomew, Mary Jane; Genio, Anthony Del; Giangrande, Scott; Kollias, Pavlos

2012-01-19

Convective processes play a critical role in the Earth's energy balance through the redistribution of heat and moisture in the atmosphere and their link to the hydrological cycle. Accurate representation of convective processes in numerical models is vital towards improving current and future simulations of Earths climate system. Despite improvements in computing power, current operational weather and global climate models are unable to resolve the natural temporal and spatial scales important to convective processes and therefore must turn to parameterization schemes to represent these processes. In turn, parameterization schemes in cloud-resolving models need to be evaluated for their generality and application to a variety of atmospheric conditions. Data from field campaigns with appropriate forcing descriptors have been traditionally used by modelers for evaluating and improving parameterization schemes.

ARM - Midlatitude Continental Convective Clouds (comstock-hvps)

DOE Data Explorer

Jensen, Mike; Comstock, Jennifer; Genio, Anthony Del; Giangrande, Scott; Kollias, Pavlos

2012-01-06

Convective processes play a critical role in the Earth's energy balance through the redistribution of heat and moisture in the atmosphere and their link to the hydrological cycle. Accurate representation of convective processes in numerical models is vital towards improving current and future simulations of Earths climate system. Despite improvements in computing power, current operational weather and global climate models are unable to resolve the natural temporal and spatial scales important to convective processes and therefore must turn to parameterization schemes to represent these processes. In turn, parameterization schemes in cloud-resolving models need to be evaluated for their generality and application to a variety of atmospheric conditions. Data from field campaigns with appropriate forcing descriptors have been traditionally used by modelers for evaluating and improving parameterization schemes.

Realization of quantum gates with multiple control qubits or multiple target qubits in a cavity

NASA Astrophysics Data System (ADS)

Waseem, Muhammad; Irfan, Muhammad; Qamar, Shahid

2015-06-01

We propose a scheme to realize a three-qubit controlled phase gate and a multi-qubit controlled NOT gate of one qubit simultaneously controlling n-target qubits with a four-level quantum system in a cavity. The implementation time for multi-qubit controlled NOT gate is independent of the number of qubit. Three-qubit phase gate is generalized to n-qubit phase gate with multiple control qubits. The number of steps reduces linearly as compared to conventional gate decomposition method. Our scheme can be applied to various types of physical systems such as superconducting qubits coupled to a resonator and trapped atoms in a cavity. Our scheme does not require adjustment of level spacing during the gate implementation. We also show the implementation of Deutsch-Joza algorithm. Finally, we discuss the imperfections due to cavity decay and the possibility of physical implementation of our scheme.

Predictive Control of Networked Multiagent Systems via Cloud Computing.

PubMed

Liu, Guo-Ping

2017-01-18

This paper studies the design and analysis of networked multiagent predictive control systems via cloud computing. A cloud predictive control scheme for networked multiagent systems (NMASs) is proposed to achieve consensus and stability simultaneously and to compensate for network delays actively. The design of the cloud predictive controller for NMASs is detailed. The analysis of the cloud predictive control scheme gives the necessary and sufficient conditions of stability and consensus of closed-loop networked multiagent control systems. The proposed scheme is verified to characterize the dynamical behavior and control performance of NMASs through simulations. The outcome provides a foundation for the development of cooperative and coordinative control of NMASs and its applications.

Novel Integration Radial and Axial Magnetic Bearing

NASA Technical Reports Server (NTRS)

Blumenstock, Kenneth; Brown, Gary

2000-01-01

Typically, fully active magnetically suspended systems require one axial and two radial magnetic bearings. Combining radial and axial functions into a single device allows for more compact and elegant packaging. Furthermore, in the case of high-speed devices such as energy storage flywheels, it is beneficial to minimize shaft length to keep rotor mode frequencies as high as possible. Attempts have been made to combine radial and axial functionality, but with certain drawbacks. One approach requires magnetic control flux to flow through a bias magnet reducing control effectiveness, thus resulting in increased resistive losses. This approach also requires axial force producing magnetic flux to flow in a direction into the rotor laminate that is undesirable for minimizing eddy-current losses resulting in rotational losses. Another approach applies a conical rotor shape to what otherwise would be a radial heteropolar magnetic bearing configuration. However, positional non-linear effects are introduced with this scheme and the same windings are used for bias, radial, and axial control adding complexity to the controller and electronics. For this approach, the amount of axial capability must be limited. It would be desirable for an integrated radial and axial magnetic bearing to have the following characteristics; separate inputs for radial and axial control for electronics and control simplicity, all magnetic control fluxes should only flow through their respective air gaps and should not flow through any bias magnets for minimal resistive losses, be of a homopolar design to minimize rotational losses, position related non-linear effects should be minimized, and dependent upon the design parameters, be able to achieve any radial/axial force or power ratio as desired. The integrated radial and axial magnetic bearing described in this paper exhibits all these characteristics. Magnetic circuit design, design equations, and magnetic field modeling results will be presented.

Novel Integrated Radial and Axial Magnetic Bearing

NASA Technical Reports Server (NTRS)

Blumenstock, Kenneth A.; Brown, Gary L.; Powers, Edward I. (Technical Monitor)

2000-01-01

Typically, fully active magnetically suspended systems require one axial and two radial magnetic bearings. Combining radial and axial functions into a single device allows for more compact and elegant packaging. Furthermore, in the case of high-speed devices such as energy storage flywheels, it is beneficial to minimize shaft length to keep rotor mode frequencies as high as possible. Attempts have been made to combine radial and axial functionality, but with certain drawbacks. One approach requires magnetic control flux to flow through a bias magnet reducing control effectiveness, thus resulting in increased resistive losses. This approach also requires axial force producing magnetic flux to flow in a direction into the rotor laminate that is undesirable for minimizing eddy-current losses resulting in rotational losses. Another approach applies a conical rotor shape to what otherwise would be a radial heteropolar magnetic bearing configuration. However, positional non-linear effects are introduced with this scheme and the same windings are used for bias, radial, and axial control adding complexity to the controller and electronics. For this approach, the amount of axial capability must be limited. It would be desirable for an integrated radial and axial magnetic bearing to have the following characteristics, separate inputs for radial and axial control for electronics and control simplicity, all magnetic control fluxes should only flow through their respective air gaps and should not flow through any bias magnets for minimal resistive losses, be of a homopolar design to minimize rotational losses, position related non-linear effects should be minimized, and dependent upon the design parameters, be able to achieve any radial/axial force or power ratio as desired. The integrated radial and axial magnetic bearing described in this paper exhibits all these characteristics. Magnetic circuit design, design equations, and analysis results will be presented.

Dynamical Casimir-Polder force on a partially dressed atom near a conducting wall

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

Messina, Riccardo; Vasile, Ruggero; Passante, Roberto

2010-12-15

We study the time evolution of the Casimir-Polder force acting on a neutral atom in front of a perfectly conducting plate, when the system starts its unitary evolution from a partially dressed state. We solve the Heisenberg equations for both atomic and field quantum operators, exploiting a series expansion with respect to the electric charge and an iterative technique. After discussing the behavior of the time-dependent force on an initially partially dressed atom, we analyze a possible experimental scheme to prepare the partially dressed state and the observability of this new dynamical effect.

Stability of steady hand force production explored across spaces and methods of analysis.

PubMed

de Freitas, Paulo B; Freitas, Sandra M S F; Lewis, Mechelle M; Huang, Xuemei; Latash, Mark L

2018-06-01

We used the framework of the uncontrolled manifold (UCM) hypothesis and explored the reliability of several outcome variables across different spaces of analysis during a very simple four-finger accurate force production task. Fourteen healthy, young adults performed the accurate force production task with each hand on 3 days. Small spatial finger perturbations were generated by the "inverse piano" device three times per trial (lifting the fingers 1 cm/0.5 s and lowering them). The data were analyzed using the following main methods: (1) computation of indices of the structure of inter-trial variance and motor equivalence in the space of finger forces and finger modes, and (2) analysis of referent coordinates and apparent stiffness values for the hand. Maximal voluntary force and the index of enslaving (unintentional finger force production) showed good to excellent reliability. Strong synergies stabilizing total force were reflected in both structure of variance and motor equivalence indices. Variance within the UCM and the index of motor equivalent motion dropped over the trial duration and showed good to excellent reliability. Variance orthogonal to the UCM and the index of non-motor equivalent motion dropped over the 3 days and showed poor to moderate reliability. Referent coordinate and apparent stiffness indices co-varied strongly and both showed good reliability. In contrast, the computed index of force stabilization showed poor reliability. The findings are interpreted within the scheme of neural control with referent coordinates involving the hierarchy of two basic commands, the r-command and c-command. The data suggest natural drifts in the finger force space, particularly within the UCM. We interpret these drifts as reflections of a trade-off between stability and optimization of action. The implications of these findings for the UCM framework and future clinical applications are explored in the discussion. Indices of the structure of variance and motor equivalence show good reliability and can be recommended for applied studies.

On the Representation of Ice Nucleation in Global Climate Models, and its Importance for Simulations of Climate Forcings and Feedbacks

NASA Astrophysics Data System (ADS)

Storelvmo, T.

2015-12-01

Substantial improvements have been made to the cloud microphysical schemes used in the latest generation of global climate models (GCMs), however, an outstanding weakness of these schemes lies in the arbitrariness of their tuning parameters. Despite the growing effort in improving the cloud microphysical schemes in GCMs, most of this effort has not focused on improving the ability of GCMs to accurately simulate phase partitioning in mixed-phase clouds. Getting the relative proportion of liquid droplets and ice crystals in clouds right in GCMs is critical for the representation of cloud radiative forcings and cloud-climate feedbacks. Here, we first present satellite observations of cloud phase obtained by NASA's CALIOP instrument, and report on robust statistical relationships between cloud phase and several aerosols species that have been demonstrated to act as ice nuclei (IN) in laboratory studies. We then report on results from model intercomparison projects that reveal that GCMs generally underestimate the amount of supercooled liquid in clouds. For a selected GCM (NCAR 's CAM5), we thereafter show that the underestimate can be attributed to two main factors: i) the presence of IN in the mixed-phase temperature range, and ii) the Wegener-Bergeron-Findeisen process, which converts liquid to ice once ice crystals have formed. Finally, we show that adjusting these two processes such that the GCM's cloud phase is in agreement with the observed has a substantial impact on the simulated radiative forcing due to IN perturbations, as well as on the cloud-climate feedbacks and ultimately climate sensitivity simulated by the GCM.

Multidirectional In Vivo Characterization of Skin Using Wiener Nonlinear Stochastic System Identification Techniques.

PubMed

Parker, Matthew D; Jones, Lynette A; Hunter, Ian W; Taberner, A J; Nash, M P; Nielsen, P M F

2017-01-01

A triaxial force-sensitive microrobot was developed to dynamically perturb skin in multiple deformation modes, in vivo. Wiener static nonlinear identification was used to extract the linear dynamics and static nonlinearity of the force-displacement behavior of skin. Stochastic input forces were applied to the volar forearm and thenar eminence of the hand, producing probe tip perturbations in indentation and tangential extension. Wiener static nonlinear approaches reproduced the resulting displacements with variances accounted for (VAF) ranging 94-97%, indicating a good fit to the data. These approaches provided VAF improvements of 0.1-3.4% over linear models. Thenar eminence stiffness measures were approximately twice those measured on the forearm. Damping was shown to be significantly higher on the palm, whereas the perturbed mass typically was lower. Coefficients of variation (CVs) for nonlinear parameters were assessed within and across individuals. Individual CVs ranged from 2% to 11% for indentation and from 2% to 19% for extension. Stochastic perturbations with incrementally increasing mean amplitudes were applied to the same test areas. Differences between full-scale and incremental reduced-scale perturbations were investigated. Different incremental preloading schemes were investigated. However, no significant difference in parameters was found between different incremental preloading schemes. Incremental schemes provided depth-dependent estimates of stiffness and damping, ranging from 300 N/m and 2 Ns/m, respectively, at the surface to 5 kN/m and 50 Ns/m at greater depths. The device and techniques used in this research have potential applications in areas, such as evaluating skincare products, assessing skin hydration, or analyzing wound healing.

Role of Microphysical Parameterizations with Droplet Relative Dispersion in IAP AGCM 4.1

DOE PAGES

Xie, Xiaoning; Zhang, He; Liu, Xiaodong; ...

2018-01-10

In previous studies we see that accurate descriptions of the cloud droplet effective radius (Re) and the autoconversion process of cloud droplets to raindrops (Au) can effectively improve simulated clouds and surface precipitation, and reduce the uncertainty of aerosol indirect effects in global climate models (GCMs). In this paper, we implement cloud microphysical schemes including two-moment Au and R e considering relative dispersion of the cloud droplet size distribution into version 4.1 of the Institute of Atmospheric Physics atmospheric GCM (IAP AGCM 4.1), which is the atmospheric component of the Chinese Academy of Sciences-Earth System model (CAS-ESM 1.0). An analysismore » of the effects of different schemes shows that the newly implemented schemes can improve both the simulated shortwave (SWCF) and longwave cloud radiative forcings (LWCF) as compared to the standard scheme in IAP AGCM 4.1. The new schemes also effectively enhance the large-scale precipitation, especially over low latitudes, although the influences of total precipitation are insignificant for different schemes. Further studies show that similar results can be found with the Community Atmosphere Model 5.1 (CAM5.1).« less

Role of Microphysical Parameterizations with Droplet Relative Dispersion in IAP AGCM 4.1

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

Xie, Xiaoning; Zhang, He; Liu, Xiaodong

In previous studies we see that accurate descriptions of the cloud droplet effective radius (Re) and the autoconversion process of cloud droplets to raindrops (Au) can effectively improve simulated clouds and surface precipitation, and reduce the uncertainty of aerosol indirect effects in global climate models (GCMs). In this paper, we implement cloud microphysical schemes including two-moment Au and R e considering relative dispersion of the cloud droplet size distribution into version 4.1 of the Institute of Atmospheric Physics atmospheric GCM (IAP AGCM 4.1), which is the atmospheric component of the Chinese Academy of Sciences-Earth System model (CAS-ESM 1.0). An analysismore » of the effects of different schemes shows that the newly implemented schemes can improve both the simulated shortwave (SWCF) and longwave cloud radiative forcings (LWCF) as compared to the standard scheme in IAP AGCM 4.1. The new schemes also effectively enhance the large-scale precipitation, especially over low latitudes, although the influences of total precipitation are insignificant for different schemes. Further studies show that similar results can be found with the Community Atmosphere Model 5.1 (CAM5.1).« less

A well-balanced finite volume scheme for the Euler equations with gravitation. The exact preservation of hydrostatic equilibrium with arbitrary entropy stratification

NASA Astrophysics Data System (ADS)

Käppeli, R.; Mishra, S.

2016-03-01

Context. Many problems in astrophysics feature flows which are close to hydrostatic equilibrium. However, standard numerical schemes for compressible hydrodynamics may be deficient in approximating this stationary state, where the pressure gradient is nearly balanced by gravitational forces. Aims: We aim to develop a second-order well-balanced scheme for the Euler equations. The scheme is designed to mimic a discrete version of the hydrostatic balance. It therefore can resolve a discrete hydrostatic equilibrium exactly (up to machine precision) and propagate perturbations, on top of this equilibrium, very accurately. Methods: A local second-order hydrostatic equilibrium preserving pressure reconstruction is developed. Combined with a standard central gravitational source term discretization and numerical fluxes that resolve stationary contact discontinuities exactly, the well-balanced property is achieved. Results: The resulting well-balanced scheme is robust and simple enough to be very easily implemented within any existing computer code that solves time explicitly or implicitly the compressible hydrodynamics equations. We demonstrate the performance of the well-balanced scheme for several astrophysically relevant applications: wave propagation in stellar atmospheres, a toy model for core-collapse supernovae, convection in carbon shell burning, and a realistic proto-neutron star.

Unequal error control scheme for dimmable visible light communication systems

NASA Astrophysics Data System (ADS)

Deng, Keyan; Yuan, Lei; Wan, Yi; Li, Huaan

2017-01-01

Visible light communication (VLC), which has the advantages of a very large bandwidth, high security, and freedom from license-related restrictions and electromagnetic-interference, has attracted much interest. Because a VLC system simultaneously performs illumination and communication functions, dimming control, efficiency, and reliable transmission are significant and challenging issues of such systems. In this paper, we propose a novel unequal error control (UEC) scheme in which expanding window fountain (EWF) codes in an on-off keying (OOK)-based VLC system are used to support different dimming target values. To evaluate the performance of the scheme for various dimming target values, we apply it to H.264 scalable video coding bitstreams in a VLC system. The results of the simulations that are performed using additive white Gaussian noises (AWGNs) with different signal-to-noise ratios (SNRs) are used to compare the performance of the proposed scheme for various dimming target values. It is found that the proposed UEC scheme enables earlier base layer recovery compared to the use of the equal error control (EEC) scheme for different dimming target values and therefore afford robust transmission for scalable video multicast over optical wireless channels. This is because of the unequal error protection (UEP) and unequal recovery time (URT) of the EWF code in the proposed scheme.

A Quantum Proxy Weak Blind Signature Scheme Based on Controlled Quantum Teleportation

NASA Astrophysics Data System (ADS)

Cao, Hai-Jing; Yu, Yao-Feng; Song, Qin; Gao, Lan-Xiang

2015-04-01

Proxy blind signature is applied to the electronic paying system, electronic voting system, mobile agent system, security of internet, etc. A quantum proxy weak blind signature scheme is proposed in this paper. It is based on controlled quantum teleportation. Five-qubit entangled state functions as quantum channel. The scheme uses the physical characteristics of quantum mechanics to implement message blinding, so it could guarantee not only the unconditional security of the scheme but also the anonymity of the messages owner.

Adaptive threshold control for auto-rate fallback algorithm in IEEE 802.11 multi-rate WLANs

NASA Astrophysics Data System (ADS)

Wu, Qilin; Lu, Yang; Zhu, Xiaolin; Ge, Fangzhen

2012-03-01

The IEEE 802.11 standard supports multiple rates for data transmission in the physical layer. Nowadays, to improve network performance, a rate adaptation scheme called auto-rate fallback (ARF) is widely adopted in practice. However, ARF scheme suffers performance degradation in multiple contending nodes environments. In this article, we propose a novel rate adaptation scheme called ARF with adaptive threshold control. In multiple contending nodes environment, the proposed scheme can effectively mitigate the frame collision effect on rate adaptation decision by adaptively adjusting rate-up and rate-down threshold according to the current collision level. Simulation results show that the proposed scheme can achieve significantly higher throughput than the other existing rate adaptation schemes. Furthermore, the simulation results also demonstrate that the proposed scheme can effectively respond to the varying channel condition.

a Thtee-Dimensional Variational Assimilation Scheme for Satellite Aod

NASA Astrophysics Data System (ADS)

Liang, Y.; Zang, Z.; You, W.

2018-04-01

A three-dimensional variational data assimilation scheme is designed for satellite AOD based on the IMPROVE (Interagency Monitoring of Protected Visual Environments) equation. The observation operator that simulates AOD from the control variables is established by the IMPROVE equation. All of the 16 control variables in the assimilation scheme are the mass concentrations of aerosol species from the Model for Simulation Aerosol Interactions and Chemistry scheme, so as to take advantage of this scheme in providing comprehensive analyses of species concentrations and size distributions as well as be calculating efficiently. The assimilation scheme can save computational resources as the IMPROVE equation is a quadratic equation. A single-point observation experiment shows that the information from the single-point AOD is effectively spread horizontally and vertically.

Active control of the lifetime of excited resonance states by means of laser pulses.

PubMed

García-Vela, A

2012-04-07

Quantum control of the lifetime of a system in an excited resonance state is investigated theoretically by creating coherent superpositions of overlapping resonances. This control scheme exploits the quantum interference occurring between the overlapping resonances, which can be controlled by varying the width of the laser pulse that creates the superposition state. The scheme is applied to a realistic model of the Br(2)(B)-Ne predissociation decay dynamics through a three-dimensional wave packet method. It is shown that extensive control of the system lifetime is achievable, both enhancing and damping it remarkably. An experimental realization of the control scheme is suggested.

Analysis and design of digital output interface devices for gas turbine electronic controls

NASA Technical Reports Server (NTRS)

Newirth, D. M.; Koenig, E. W.

1976-01-01

A trade study was performed on twenty-one digital output interface schemes for gas turbine electronic controls to select the most promising scheme based on criteria of reliability, performance, cost, and sampling requirements. The most promising scheme, a digital effector with optical feedback of the fuel metering valve position, was designed.