A 16-Channel CMOS Chopper-Stabilized Analog Front-End ECoG Acquisition Circuit for a Closed-Loop Epileptic Seizure Control System.

PubMed

Wu, Chung-Yu; Cheng, Cheng-Hsiang; Chen, Zhi-Xin

2018-06-01

In this paper, a 16-channel analog front-end (AFE) electrocorticography signal acquisition circuit for a closed-loop seizure control system is presented. It is composed of 16 input protection circuits, 16 auto-reset chopper-stabilized capacitive-coupled instrumentation amplifiers (AR-CSCCIA) with bandpass filters, 16 programmable transconductance gain amplifiers, a multiplexer, a transimpedance amplifier, and a 128-kS/s 10-bit delta-modulated successive-approximation-register analog-to-digital converter (SAR ADC). In closed-loop seizure control system applications, the stimulator shares the same electrode with the AFE amplifier for effective suppression of epileptic seizures. To prevent from overstress in MOS devices caused by high stimulation voltage, an input protection circuit with a high-voltage-tolerant switch is proposed for the AFE amplifier. Moreover, low input-referred noise is achieved by using the chopper modulation technique in the AR-CSCCIA. To reduce the undesired effects of chopper modulation, an improved offset reduction loop is proposed to reduce the output offset generated by input chopper mismatches. The digital ripple reduction loop is also used to reduce the chopper ripple. The fabricated AFE amplifier has 49.1-/59.4-/67.9-dB programmable gain and 2.02-μVrms input referred noise in a bandwidth of 0.59-117 Hz. The measured power consumption of the AFE amplifier is 3.26 μW per channel, and the noise efficiency factor is 3.36. The in vivo animal test has been successfully performed to verify the functions. It is shown that the proposed AFE acquisition circuit is suitable for implantable closed-loop seizure control systems.

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

PubMed

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

2009-09-20

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

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

Analysis and design of a 3rd order velocity-controlled closed-loop for MEMS vibratory gyroscopes.

PubMed

Wu, Huan-ming; Yang, Hai-gang; Yin, Tao; Jiao, Ji-wei

2013-09-18

The time-average method currently available is limited to analyzing the specific performance of the automatic gain control-proportional and integral (AGC-PI) based velocity-controlled closed-loop in a micro-electro-mechanical systems (MEMS) vibratory gyroscope, since it is hard to solve nonlinear functions in the time domain when the control loop reaches to 3rd order. In this paper, we propose a linearization design approach to overcome this limitation by establishing a 3rd order linear model of the control loop and transferring the analysis to the frequency domain. Order reduction is applied on the built linear model's transfer function by constructing a zero-pole doublet, and therefore mathematical expression of each control loop's performance specification is obtained. Then an optimization methodology is summarized, which reveals that a robust, stable and swift control loop can be achieved by carefully selecting the system parameters following a priority order. Closed-loop drive circuits are designed and implemented using 0.35 μm complementary metal oxide semiconductor (CMOS) process, and experiments carried out on a gyroscope prototype verify the optimization methodology that an optimized stability of the control loop can be achieved by constructing the zero-pole doublet, and disturbance rejection capability (D.R.C) of the control loop can be improved by increasing the integral term.

Closed-loop ARS mode for scanning ion conductance microscopy with improved speed and stability for live cell imaging applications.

PubMed

Jung, Goo-Eun; Noh, Hanaul; Shin, Yong Kyun; Kahng, Se-Jong; Baik, Ku Youn; Kim, Hong-Bae; Cho, Nam-Joon; Cho, Sang-Joon

2015-07-07

Scanning ion conductance microscopy (SICM) is an increasingly useful nanotechnology tool for non-contact, high resolution imaging of live biological specimens such as cellular membranes. In particular, approach-retract-scanning (ARS) mode enables fast probing of delicate biological structures by rapid and repeated approach/retraction of a nano-pipette tip. For optimal performance, accurate control of the tip position is a critical issue. Herein, we present a novel closed-loop control strategy for the ARS mode that achieves higher operating speeds with increased stability. The algorithm differs from that of most conventional (i.e., constant velocity) approach schemes as it includes a deceleration phase near the sample surface, which is intended to minimize the possibility of contact with the surface. Analysis of the ion current and tip position demonstrates that the new mode is able to operate at approach speeds of up to 250 μm s(-1). As a result of the improved stability, SICM imaging with the new approach scheme enables significantly improved, high resolution imaging of subtle features of fixed and live cells (e.g., filamentous structures & membrane edges). Taken together, the results suggest that optimization of the tip approach speed can substantially improve SICM imaging performance, further enabling SICM to become widely adopted as a general and versatile research tool for biological studies at the nanoscale level.

Analytical and Experimental Evaluation of Digital Control Systems for the Semi-Span Super-Sonic Transport (S4T) Wind Tunnel Model

NASA Technical Reports Server (NTRS)

Wieseman, Carol D.; Christhilf, David; Perry, Boyd, III

2012-01-01

An important objective of the Semi-Span Super-Sonic Transport (S4T) wind tunnel model program was the demonstration of Flutter Suppression (FS), Gust Load Alleviation (GLA), and Ride Quality Enhancement (RQE). It was critical to evaluate the stability and robustness of these control laws analytically before testing them and experimentally while testing them to ensure safety of the model and the wind tunnel. MATLAB based software was applied to evaluate the performance of closed-loop systems in terms of stability and robustness. Existing software tools were extended to use analytical representations of the S4T and the control laws to analyze and evaluate the control laws prior to testing. Lessons were learned about the complex windtunnel model and experimental testing. The open-loop flutter boundary was determined from the closed-loop systems. A MATLAB/Simulink Simulation developed under the program is available for future work to improve the CPE process. This paper is one of a series of that comprise a special session, which summarizes the S4T wind-tunnel program.

Closed-loop control of epileptiform activities in a neural population model using a proportional-derivative controller

NASA Astrophysics Data System (ADS)

Wang, Jun-Song; Wang, Mei-Li; Li, Xiao-Li; Ernst, Niebur

2015-03-01

Epilepsy is believed to be caused by a lack of balance between excitation and inhibitation in the brain. A promising strategy for the control of the disease is closed-loop brain stimulation. How to determine the stimulation control parameters for effective and safe treatment protocols remains, however, an unsolved question. To constrain the complex dynamics of the biological brain, we use a neural population model (NPM). We propose that a proportional-derivative (PD) type closed-loop control can successfully suppress epileptiform activities. First, we determine the stability of root loci, which reveals that the dynamical mechanism underlying epilepsy in the NPM is the loss of homeostatic control caused by the lack of balance between excitation and inhibition. Then, we design a PD type closed-loop controller to stabilize the unstable NPM such that the homeostatic equilibriums are maintained; we show that epileptiform activities are successfully suppressed. A graphical approach is employed to determine the stabilizing region of the PD controller in the parameter space, providing a theoretical guideline for the selection of the PD control parameters. Furthermore, we establish the relationship between the control parameters and the model parameters in the form of stabilizing regions to help understand the mechanism of suppressing epileptiform activities in the NPM. Simulations show that the PD-type closed-loop control strategy can effectively suppress epileptiform activities in the NPM. Project supported by the National Natural Science Foundation of China (Grant Nos. 61473208, 61025019, and 91132722), ONR MURI N000141010278, and NIH grant R01EY016281.

Sliding mode control method having terminal convergence in finite time

NASA Technical Reports Server (NTRS)

Venkataraman, Subramanian T. (Inventor); Gulati, Sandeep (Inventor)

1994-01-01

An object of this invention is to provide robust nonlinear controllers for robotic operations in unstructured environments based upon a new class of closed loop sliding control methods, sometimes denoted terminal sliders, where the new class will enforce closed-loop control convergence to equilibrium in finite time. Improved performance results from the elimination of high frequency control switching previously employed for robustness to parametric uncertainties. Improved performance also results from the dependence of terminal slider stability upon the rate of change of uncertainties over the sliding surface rather than the magnitude of the uncertainty itself for robust control. Terminal sliding mode control also yields improved convergence where convergence time is finite and is to be controlled. A further object is to apply terminal sliders to robot manipulator control and benchmark performance with the traditional computed torque control method and provide for design of control parameters.

Nonlinearity measure and internal model control based linearization in anti-windup design

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

Perev, Kamen

2013-12-18

This paper considers the problem of internal model control based linearization in anti-windup design. The nonlinearity measure concept is used for quantifying the control system degree of nonlinearity. The linearizing effect of a modified internal model control structure is presented by comparing the nonlinearity measures of the open-loop and closed-loop systems. It is shown that the linearization properties are improved by increasing the control system local feedback gain. However, it is emphasized that at the same time the stability of the system deteriorates. The conflicting goals of stability and linearization are resolved by solving the design problem in different frequencymore » ranges.« less

Closed-loop, pilot/vehicle analysis of the approach and landing task

NASA Technical Reports Server (NTRS)

Schmidt, D. K.; Anderson, M. R.

1985-01-01

Optimal-control-theoretic modeling and frequency-domain analysis is the methodology proposed to evaluate analytically the handling qualities of higher-order manually controlled dynamic systems. Fundamental to the methodology is evaluating the interplay between pilot workload and closed-loop pilot/vehicle performance and stability robustness. The model-based metric for pilot workload is the required pilot phase compensation. Pilot/vehicle performance and loop stability is then evaluated using frequency-domain techniques. When these techniques were applied to the flight-test data for thirty-two highly-augmented fighter configurations, strong correlation was obtained between the analytical and experimental results.

Optimization of block-floating-point realizations for digital controllers with finite-word-length considerations.

PubMed

Wu, Jun; Hu, Xie-he; Chen, Sheng; Chu, Jian

2003-01-01

The closed-loop stability issue of finite-precision realizations was investigated for digital controllers implemented in block-floating-point format. The controller coefficient perturbation was analyzed resulting from using finite word length (FWL) block-floating-point representation scheme. A block-floating-point FWL closed-loop stability measure was derived which considers both the dynamic range and precision. To facilitate the design of optimal finite-precision controller realizations, a computationally tractable block-floating-point FWL closed-loop stability measure was then introduced and the method of computing the value of this measure for a given controller realization was developed. The optimal controller realization is defined as the solution that maximizes the corresponding measure, and a numerical optimization approach was adopted to solve the resulting optimal realization problem. A numerical example was used to illustrate the design procedure and to compare the optimal controller realization with the initial realization.

AQUILA Remotely Piloted Vehicle System Technology Demonstrator (RPV-STD) Program. Volume I. System Description and Capabilities

DTIC Science & Technology

1979-04-01

tools, simplification of equipment interfaces involved in manual operations to provide simple system preparation, closing flight control inner loops ...alti- tude, and heading rate. The closed loops operate in three primary modes: cruise, dead reckoning, and approach. The aircraft is stabilized by...onboard closed loops , so the operator is not required to maintain hands-on operation to keep it in the air. The operator is able to command airspeed

Closed-loop carrier-envelope phase stabilization with an acousto-optic programmable dispersive filter.

PubMed

Forget, N; Canova, L; Chen, X; Jullien, A; Lopez-Martens, R

2009-12-01

We demonstrate arbitrary carrier-envelope (CE) phase control of femtosecond laser pulses by an acousto-optic programmable dispersive filter (AOPDF), with an accuracy better than pi/100 at a repetition rate of 1 kHz. We also demonstrate, for the first time to the best of our knowledge, 15 Hz closed-loop CE phase stabilization using an AOPDF inside a 1 kHz chirped pulse amplifier to correct for slow CE phase drifts.

Similarity Metrics for Closed Loop Dynamic Systems

NASA Technical Reports Server (NTRS)

Whorton, Mark S.; Yang, Lee C.; Bedrossian, Naz; Hall, Robert A.

2008-01-01

To what extent and in what ways can two closed-loop dynamic systems be said to be "similar?" This question arises in a wide range of dynamic systems modeling and control system design applications. For example, bounds on error models are fundamental to the controller optimization with modern control design methods. Metrics such as the structured singular value are direct measures of the degree to which properties such as stability or performance are maintained in the presence of specified uncertainties or variations in the plant model. Similarly, controls-related areas such as system identification, model reduction, and experimental model validation employ measures of similarity between multiple realizations of a dynamic system. Each area has its tools and approaches, with each tool more or less suited for one application or the other. Similarity in the context of closed-loop model validation via flight test is subtly different from error measures in the typical controls oriented application. Whereas similarity in a robust control context relates to plant variation and the attendant affect on stability and performance, in this context similarity metrics are sought that assess the relevance of a dynamic system test for the purpose of validating the stability and performance of a "similar" dynamic system. Similarity in the context of system identification is much more relevant than are robust control analogies in that errors between one dynamic system (the test article) and another (the nominal "design" model) are sought for the purpose of bounding the validity of a model for control design and analysis. Yet system identification typically involves open-loop plant models which are independent of the control system (with the exception of limited developments in closed-loop system identification which is nonetheless focused on obtaining open-loop plant models from closed-loop data). Moreover the objectives of system identification are not the same as a flight test and hence system identification error metrics are not directly relevant. In applications such as launch vehicles where the open loop plant is unstable it is similarity of the closed-loop system dynamics of a flight test that are relevant.

A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

NASA Astrophysics Data System (ADS)

Bennehar, M.; Chemori, A.; Bouri, M.; Jenni, L. F.; Pierrot, F.

2018-03-01

This paper deals with the development of a new adaptive control scheme for parallel kinematic manipulators (PKMs) based on Rrbust integral of the sign of the error (RISE) control theory. Original RISE control law is only based on state feedback and does not take advantage of the modelled dynamics of the manipulator. Consequently, the overall performance of the resulting closed-loop system may be poor compared to modern advanced model-based control strategies. We propose in this work to extend RISE by including the nonlinear dynamics of the PKM in the control loop to improve its overall performance. More precisely, we augment original RISE control scheme with a model-based adaptive control term to account for the inherent nonlinearities in the closed-loop system. To demonstrate the relevance of the proposed controller, real-time experiments are conducted on the Delta robot, a three-degree-of-freedom (3-DOF) PKM.

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

PubMed

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

2014-07-01

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

Model-Based, Closed-Loop Control of PZT Creep for Cavity Ring-Down Spectroscopy

PubMed Central

McCartt, A D; Ognibene, T J; Bench, G; Turteltaub, K W

2014-01-01

Cavity ring-down spectrometers typically employ a PZT stack to modulate the cavity transmission spectrum. While PZTs ease instrument complexity and aid measurement sensitivity, PZT hysteresis hinders the implementation of cavity-length-stabilized, data-acquisition routines. Once the cavity length is stabilized, the cavity’s free spectral range imparts extreme linearity and precision to the measured spectrum’s wavelength axis. Methods such as frequency-stabilized cavity ring-down spectroscopy have successfully mitigated PZT hysteresis, but their complexity limits commercial applications. Described herein is a single-laser, model-based, closed-loop method for cavity length control. PMID:25395738

Model-Based, Closed-Loop Control of PZT Creep for Cavity Ring-Down Spectroscopy.

PubMed

McCartt, A D; Ognibene, T J; Bench, G; Turteltaub, K W

2014-09-01

Cavity ring-down spectrometers typically employ a PZT stack to modulate the cavity transmission spectrum. While PZTs ease instrument complexity and aid measurement sensitivity, PZT hysteresis hinders the implementation of cavity-length-stabilized, data-acquisition routines. Once the cavity length is stabilized, the cavity's free spectral range imparts extreme linearity and precision to the measured spectrum's wavelength axis. Methods such as frequency-stabilized cavity ring-down spectroscopy have successfully mitigated PZT hysteresis, but their complexity limits commercial applications. Described herein is a single-laser, model-based, closed-loop method for cavity length control.

Combined line-of-sight error and angular position to generate feedforward control for a charge-coupled device-based tracking loop

NASA Astrophysics Data System (ADS)

Tang, Tao; Cai, Huaxiang; Huang, Yongmei; Ren, Ge

2015-10-01

A feedforward control based on data fusion is proposed to enhance closed-loop performance. The target trajectory as the observed value of a Kalman filter is recovered by synthesizing line-of-sight error and angular position from the encoder. A Kalman filter based on a Singer acceleration model is employed to estimate the target velocity. In this control scheme, the control stability is influenced by the bandwidth of the Kalman filter and time misalignment. The transfer function of the Kalman filter in the frequency domain is built for analyzing the closed loop stability, which shows that the Kalman filter is the major factor that affects the control stability. The feedforward control proposed here is verified through simulations and experiments.

Presentation of flight control design and handling quality commonality by separate surface stability augmentation for the family of commuter airplanes

NASA Technical Reports Server (NTRS)

Hensley, Douglas; Creighton, Thomas; Haddad, Raphael; Hendrich, Louis; Morgan, Louise; Russell, Mark; Swift, Gerald

1987-01-01

The methodology and results for a flight control design and implementation for common handling qualities by Separate Surface Stability Augmentation (SSSA) for the family of commuter airplanes are contained. The open and closed loop dynamics and the design results of augmenting for common handling qualities are presented. The physical and technology requirements are presented for implementing the SSSA system. The conclusion of this report and recommendations for changes or improvement are discussed.

Kuiper Airborne Observatory's Telescope Stabilization System: Disturbance Sensitivity Reduction Via Velocity Loop Feedback

NASA Technical Reports Server (NTRS)

Lawrence, David P.; Tsui, K. C.; Tucker, John; Mancini, Ronald E. (Technical Monitor)

1995-01-01

In July of 1994 the Kuiper Airborne Observatory's (KAO) Telescope Stabilization System (TSS) was upgraded to meet performance goals necessary to view the Shoemaker-Levy 9 comet collision with Jupiter. The KAO is a modified C-141 Aircraft supporting a 36 inch Infrared telescope used to gather and analyze astronomical data. Before the upgrade, the TSS exhibited approximately a 10 arc-second resolution pointing accuracy. The majority of the inaccuracy was attributable to aircraft vibration and wind buffeting entering through the aircraft's telescope door opening; in other words, the TSS was overly sensitive to external disturbances. Because of power limitations and noise requirements, improving the pointing accuracy of the telescope required more sophistication than simply raising the bandwidth as some classical control strategies might suggest. Instead, relationships were developed between the disturbance sensitivity and closed loop transfer functions. These relationships suggested that employing velocity feedback along with an increase in current loop gain would dramatically improve the pointing resolution of the TSS by decreasing the control system's sensitivity to external disturbances. With the implementation of some classical control techniques and the above philosophy, the KAO's TSS's resolution was improved to approximately 2-3 arc-seconds.

Inadequate interaction between open- and closed-loop postural control in phobic postural vertigo.

PubMed

Wuehr, M; Pradhan, C; Novozhilov, S; Krafczyk, S; Brandt, T; Jahn, K; Schniepp, R

2013-05-01

Phobic postural vertigo (PPV) is characterized by a subjective dizziness and postural imbalance. Changes in postural control strategy may cause the disturbed postural performance in PPV. A better understanding of the mechanisms behind this change in strategy is required to improve the diagnostic tools and therapeutic options for this prevalent disorder. Here we apply stabilogram diffusion analysis (SDA) to examine the characteristics and modes of interaction of open- and closed-loop processes that make up the postural control scheme in PPV. Twenty patients with PPV and 20 age-matched healthy controls were recorded on a stabilometer platform with eyes open and with eyes closed. Spatio-temporal changes of the center of pressure (CoP) displacement were analyzed by means of SDA and complementary CoP amplitude measures. (1) Open-loop control mechanisms in PPV were disturbed because of a higher diffusion activity (p < 0.001). (2) The interaction of open- and closed-loop processes was altered in that the sensory feedback threshold of the system was lowered (p = 0.010). These two changes were comparable to those observed in healthy subjects during more demanding balance conditions such as standing with eyes closed. These data indicate that subjective imbalance in PPV is associated with characteristic changes in the coordination of open- and closed-loop mechanisms of postural control. Patients with PPV use sensory feedback inadequately during undisturbed stance, and this impairs postural performance. These changes are compatible with higher levels of anti-gravity muscle activity and co-contraction during the conscious concentration on control of postural stability.

Research on phase locked loop in optical memory servo system

NASA Astrophysics Data System (ADS)

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

2005-09-01

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

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

NASA Technical Reports Server (NTRS)

Milich, David Albert

1988-01-01

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

A Robust Inner and Outer Loop Control Method for Trajectory Tracking of a Quadrotor

PubMed Central

Xia, Dunzhu; Cheng, Limei; Yao, Yanhong

2017-01-01

In order to achieve the complicated trajectory tracking of quadrotor, a geometric inner and outer loop control scheme is presented. The outer loop generates the desired rotation matrix for the inner loop. To improve the response speed and robustness, a geometric SMC controller is designed for the inner loop. The outer loop is also designed via sliding mode control (SMC). By Lyapunov theory and cascade theory, the closed-loop system stability is guaranteed. Next, the tracking performance is validated by tracking three representative trajectories. Then, the robustness of the proposed control method is illustrated by trajectory tracking in presence of model uncertainty and disturbances. Subsequently, experiments are carried out to verify the method. In the experiment, ultra wideband (UWB) is used for indoor positioning. Extended Kalman Filter (EKF) is used for fusing inertial measurement unit (IMU) and UWB measurements. The experimental results show the feasibility of the designed controller in practice. The comparative experiments with PD and PD loop demonstrate the robustness of the proposed control method. PMID:28925984

Control of the constrained planar simple inverted pendulum

NASA Technical Reports Server (NTRS)

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

1983-01-01

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

Application of frequency domain handling qualities criteria to the longitudinal landing task

NASA Technical Reports Server (NTRS)

Sarrafian, S. K.; Powers, B. G.

1985-01-01

Three frequency-domain handling qualities criteria have been applied to the observed data to correlate the actual pilot ratings assigned to generic transport configurations with stability augmentation during the longitudinal landing task. The criteria are based on closed-loop techniques using pitch attitude, altitude rate at the pilot station, and altitude at the pilot station as dominating control parameters during this task. It is found that most promising results are obtained with altitude control performed by closing an inner loop on pitch attitude and closing an outer loop on altitude.

Closed-loop analysis and control of a non-inverting buck-boost converter

NASA Astrophysics Data System (ADS)

Chen, Zengshi; Hu, Jiangang; Gao, Wenzhong

2010-11-01

In this article, a cascade controller is designed and analysed for a non-inverting buck-boost converter. The fast inner current loop uses sliding mode control. The slow outer voltage loop uses the proportional-integral (PI) control. Stability analysis and selection of PI gains are based on the nonlinear closed-loop error dynamics incorporating both the inner and outer loop controllers. The closed-loop system is proven to have a nonminimum phase structure. The voltage transient due to step changes of input voltage or resistance is predictable. The operating range of the reference voltage is discussed. The controller is validated by a simulation circuit. The simulation results show that the reference output voltage is well-tracked under system uncertainties or disturbances, confirming the validity of the proposed controller.

A multiloop generalization of the circle criterion for stability margin analysis

NASA Technical Reports Server (NTRS)

Safonov, M. G.; Athans, M.

1979-01-01

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

Prediction-based control for LTI systems with uncertain time-varying delays and partial state knowledge

NASA Astrophysics Data System (ADS)

Léchappé, V.; Moulay, E.; Plestan, F.

2018-06-01

The stability of a prediction-based controller for linear time-invariant (LTI) systems is studied in the presence of time-varying input and output delays. The uncertain delay case is treated as well as the partial state knowledge case. The reduction method is used in order to prove the convergence of the closed-loop system including the state observer, the predictor and the plant. Explicit conditions that guarantee the closed-loop stability are given, thanks to a Lyapunov-Razumikhin analysis. Simulations illustrate the theoretical results.

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

NASA Astrophysics Data System (ADS)

Kapania, Nitin R.; Gerdes, J. Christian

2015-12-01

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

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

DTIC Science & Technology

1980-04-01

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

Design of feedback control systems for stable plants with saturating actuators

NASA Technical Reports Server (NTRS)

Kapasouris, Petros; Athans, Michael; Stein, Gunter

1988-01-01

A systematic control design methodology is introduced for multi-input/multi-output stable open loop plants with multiple saturations. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way as to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of the methodology are: the modified compensator never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directional properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an academic example and the simulation of the multivariable longitudinal control of a modified model of the F-8 aircraft.

A novel Cs-(129)Xe atomic spin gyroscope with closed-loop Faraday modulation.

PubMed

Fang, Jiancheng; Wan, Shuangai; Qin, Jie; Zhang, Chen; Quan, Wei; Yuan, Heng; Dong, Haifeng

2013-08-01

We report a novel Cs-(129)Xe atomic spin gyroscope (ASG) with closed-loop Faraday modulation method. This ASG requires approximately 30 min to start-up and 110 °C to operate. A closed-loop Faraday modulation method for measurement of the optical rotation was used in this ASG. This method uses an additional Faraday modulator to suppress the laser intensity fluctuation and Faraday modulator thermal induced fluctuation. We theoretically and experimentally validate this method in the Cs-(129)Xe ASG and achieved a bias stability of approximately 3.25 °∕h.

A digital intensity stabilization system for HeNe laser

NASA Astrophysics Data System (ADS)

Wei, Zhimeng; Lu, Guangfeng; Yang, Kaiyong; Long, Xingwu; Huang, Yun

2012-02-01

A digital intensity stabilization system for HeNe laser is developed. Based on a switching power IC to design laser power supply and a general purpose microcontroller to realize digital PID control, the system constructs a closed loop to stabilize the laser intensity by regulating its discharge current. The laser tube is made of glass ceramics and its integrated structure is steady enough to eliminate intensity fluctuations at high frequency and attenuates all intensity fluctuations, and this makes it easy to tune the control loop. The control loop between discharge current and photodiode voltage eliminates the long-term drifts. The intensity stability of the HeNe laser with this system is 0.014% over 12 h.

An improved output feedback control of flexible large space structures

NASA Technical Reports Server (NTRS)

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

1980-01-01

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

Design concepts using ring lasers for frequency stabilization

NASA Technical Reports Server (NTRS)

Mocker, H.

1967-01-01

Laser frequency stabilization methods are based on a frequency discriminant which generates an unambiguous deviation signal used for automatic stabilization. Closed-loop control stabilizes cavity length at a null point. Some systems have a stabilized ring laser using a piezoelectric dither and others use a Doppler gain tube.

Enhanced Performance Controller Design for Stochastic Systems by Adding Extra State Estimation onto the Existing Closed Loop Control

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

Zhou, Yuyang; Zhang, Qichun; Wang, Hong

To enhance the performance of the tracking property , this paper presents a novel control algorithm for a class of linear dynamic stochastic systems with unmeasurable states, where the performance enhancement loop is established based on Kalman filter. Without changing the existing closed loop with the PI controller, the compensative controller is designed to minimize the variances of the tracking errors using the estimated states and the propagation of state variances. Moreover, the stability of the closed-loop systems has been analyzed in the mean-square sense. A simulated example is included to show the effectiveness of the presented control algorithm, wheremore » encouraging results have been obtained.« less

Effect of control surface mass unbalance on the stability of a closed-loop active control system

NASA Technical Reports Server (NTRS)

Nissim, E.

1989-01-01

The effects on stability of inertial forces arising from closed-loop activation of mass-unbalanced control surfaces are studied analytically using inertial energy approach, similar to the aerodynamic energy approach used for flutter suppression. The limitations of a single control surface like a leading-edge (LE) control or a trailing-edge (TE) control are demonstrated and compared to the superior combined LE-TE mass unbalanced system. It is shown that a spanwise section for sensor location can be determined which ensures minimum sensitivity to the mode shapes of the aircraft. It is shown that an LE control exhibits compatibility between inertial stabilization and aerodynamic stabilization, and that a TE control lacks such compatibility. The results of the present work should prove valuable, both for the purpose of flutter suppression using mass unbalanced control surfaces, or for the stabilization of structural modes of large space structures by means of inertial forces.

Fort Knox, KY Containment Berm Unit Installation

DTIC Science & Technology

2013-02-01

There is interest from the range community in establishing a sustainable, closed loop small arms firing range (SAFR) bullet impact system or Containment... system . The metals from the bullets will be retained, stabilized, in the berm material with the addition of proper amendments. Following sufficient...replaced or placed back in the connex. This provides a closed loop containment system for sustainable range training purposes. The Containment Berm

A closed loop wireless power transmission system using a commercial RFID transceiver for biomedical applications.

PubMed

Kiani, Mehdi; Ghovanloo, Maysam

2009-01-01

This paper presents a standalone closed loop wireless power transmission system that is built around a commercial off-the-shelf (COTS) radio frequency identification (RFID) transceiver (MLX90121) operating at 13.56 MHz. It can be used for inductively powering implantable biomedical devices in a closed loop fashion. Any changes in the distance and misalignment between transmitter and receiver coils in near-field wireless power transmission can cause a significant change in the received power, which can cause either malfunction or excessive heat dissipation. RFID transceivers are often used open loop. However, their back telemetry capability can be utilized to stabilize the received voltage on the implant. Our measurements showed that the delivered power to the transponder was maintained at 1.48 mW over a range of 6 to 12 cm, while the transmitter power consumption changed from 0.3 W to 1.21 W. The closed loop system can also oppose voltage variations as a result of sudden changes in load current.

An RFID-Based Closed-Loop Wireless Power Transmission System for Biomedical Applications.

PubMed

Kiani, Mehdi; Ghovanloo, Maysam

2010-04-01

This brief presents a standalone closed-loop wireless power transmission system that is built around a commercial off-the-shelf (COTS) radio-frequency identification (RFID) reader (TRF7960) operating at 13.56 MHz. It can be used for inductively powering implantable biomedical devices in a closed loop. Any changes in the distance and misalignment between transmitter and receiver coils in near-field wireless power transmission can cause a significant change in the received power, which can cause either a malfunction or excessive heat dissipation. RFID circuits are often used in an open loop. However, their back telemetry capability can be utilized to stabilize the received voltage on the implant. Our measurements showed that the delivered power to the transponder was maintained at 11.2 mW over a range of 0.5 to 2 cm, while the transmitter power consumption changed from 78 mW to 1.1 W. The closed-loop system can also oppose voltage variations as a result of sudden changes in the load current.

Opto-Electronic Oscillator Stabilized By A Hyperfine Atomic Transition

NASA Technical Reports Server (NTRS)

Strekalov, Dmitry; Aveline, David; Matsko, Andrey B.; Thompson, Robert; Yu, Nan

2004-01-01

Opto-electronic oscillator (OEO) is a closed-loop system with part of the loop is implemented by an optical beam, and the rest by RF circuitry. The technological advantage of this approach over traditional all-RF loops in the gigahertz range comes from the that frequency filtering can be done far more efficiently in the optical range with compact, low power, and have superior stability. In this work, we report our preliminary results on using the phenomenon of coherent population trapping in (87) Rb vapor as an optical filter. Such a filter allows us to stabilize the OEO at the hyperfine splitting frequency of rubidium, thus implementing a novel type of frequency standard.

Passivity-based control of linear time-invariant systems modelled by bond graph

NASA Astrophysics Data System (ADS)

Galindo, R.; Ngwompo, R. F.

2018-02-01

Closed-loop control systems are designed for linear time-invariant (LTI) controllable and observable systems modelled by bond graph (BG). Cascade and feedback interconnections of BG models are realised through active bonds with no loading effect. The use of active bonds may lead to non-conservation of energy and the overall system is modelled by proposed pseudo-junction structures. These structures are build by adding parasitic elements to the BG models and the overall system may become singularly perturbed. The structures for these interconnections can be seen as consisting of inner structures that satisfy energy conservation properties and outer structures including multiport-coupled dissipative fields. These fields highlight energy properties like passivity that are useful for control design. In both interconnections, junction structures and dissipative fields for the controllers are proposed, and passivity is guaranteed for the closed-loop systems assuring robust stability. The cascade interconnection is applied to the structural representation of closed-loop transfer functions, when a stabilising controller is applied to a given nominal plant. Applications are given when the plant and the controller are described by state-space realisations. The feedback interconnection is used getting necessary and sufficient stability conditions based on the closed-loop characteristic polynomial, solving a pole-placement problem and achieving zero-stationary state error.

Streakline-based closed-loop control of a bluff body flow

NASA Astrophysics Data System (ADS)

Roca, Pablo; Cammilleri, Ada; Duriez, Thomas; Mathelin, Lionel; Artana, Guillermo

2014-04-01

A novel closed-loop control methodology is introduced to stabilize a cylinder wake flow based on images of streaklines. Passive scalar tracers are injected upstream the cylinder and their concentration is monitored downstream at certain image sectors of the wake. An AutoRegressive with eXogenous inputs mathematical model is built from these images and a Generalized Predictive Controller algorithm is used to compute the actuation required to stabilize the wake by adding momentum tangentially to the cylinder wall through plasma actuators. The methodology is new and has real-world applications. It is demonstrated on a numerical simulation and the provided results show that good performances are achieved.

Control of a flexible link by shaping the closed loop frequency response function through optimised feedback filters

NASA Astrophysics Data System (ADS)

Del Vescovo, D.; D'Ambrogio, W.

1995-01-01

A frequency domain method is presented to design a closed-loop control for vibration reduction flexible mechanisms. The procedure is developed on a single-link flexible arm, driven by one rotary degree of freedom servomotor, although the same technique may be applied to similar systems such as supports for aerospace antennae or solar panels. The method uses the structural frequency response functions (FRFs), thus avoiding system identification, that produces modeling uncertainties. Two closed-loops are implemented: the inner loop uses acceleration feedback with the aim of making the FRF similar to that of an equivalent rigid link; the outer loop feeds back displacements to achieve a fast positioning response and null steady state error. In both cases, the controller type is established a priori, while actual characteristics are defined by an optimisation procedure in which the relevant FRF is constrained into prescribed bounds and stability is taken into account.

Sequence Effect on the Formation of DNA Minidumbbells.

PubMed

Liu, Yuan; Lam, Sik Lok

2017-11-16

The DNA minidumbbell (MDB) is a recently identified non-B structure. The reported MDBs contain two TTTA, CCTG, or CTTG type II loops. At present, the knowledge and understanding of the sequence criteria for MDB formation are still limited. In this study, we performed a systematic high-resolution nuclear magnetic resonance (NMR) and native gel study to investigate the effect of sequence variations in tandem repeats on the formation of MDBs. Our NMR results reveal the importance of hydrogen bonds, base-base stacking, and hydrophobic interactions from each of the participating residues. We conclude that in the MDBs formed by tandem repeats, C-G loop-closing base pairs are more stabilizing than T-A loop-closing base pairs, and thymine residues in both the second and third loop positions are more stabilizing than cytosine residues. The results from this study enrich our knowledge on the sequence criteria for the formation of MDBs, paving a path for better exploring their potential roles in biological systems and DNA nanotechnology.

Customization, control, and characterization of a commercial haptic device for high-fidelity rendering of weak forces.

PubMed

Gurari, Netta; Baud-Bovy, Gabriel

2014-09-30

The emergence of commercial haptic devices offers new research opportunities to enhance our understanding of the human sensory-motor system. Yet, commercial device capabilities have limitations which need to be addressed. This paper describes the customization of a commercial force feedback device for displaying forces with a precision that exceeds the human force perception threshold. The device was outfitted with a multi-axis force sensor and closed-loop controlled to improve its transparency. Additionally, two force sensing resistors were attached to the device to measure grip force. Force errors were modeled in the frequency- and time-domain to identify contributions from the mass, viscous friction, and Coulomb friction during open- and closed-loop control. The effect of user interaction on system stability was assessed in the context of a user study which aimed to measure force perceptual thresholds. Findings based on 15 participants demonstrate that the system maintains stability when rendering forces ranging from 0-0.20 N, with an average maximum absolute force error of 0.041 ± 0.013 N. Modeling the force errors revealed that Coulomb friction and inertia were the main contributors to force distortions during respectively slow and fast motions. Existing commercial force feedback devices cannot render forces with the required precision for certain testing scenarios. Building on existing robotics work, this paper shows how a device can be customized to make it reliable for studying the perception of weak forces. The customized and closed-loop controlled device is suitable for measuring force perceptual thresholds. Copyright © 2014 Elsevier B.V. All rights reserved.

Closed loop control of penetration depth during CO₂ laser lap welding processes.

PubMed

Sibillano, Teresa; Rizzi, Domenico; Mezzapesa, Francesco P; Lugarà, Pietro Mario; Konuk, Ali Riza; Aarts, Ronald; Veld, Bert Huis In 't; Ancona, Antonio

2012-01-01

In this paper we describe a novel spectroscopic closed loop control system capable of stabilizing the penetration depth during laser welding processes by controlling the laser power. Our novel approach is to analyze the optical emission from the laser generated plasma plume above the keyhole, to calculate its electron temperature as a process-monitoring signal. Laser power has been controlled by using a quantitative relationship between the penetration depth and the plasma electron temperature. The sensor is able to correlate in real time the difference between the measured electron temperature and its reference value for the requested penetration depth. Accordingly the closed loop system adjusts the power, thus maintaining the penetration depth.

Closed Loop Control of Penetration Depth during CO2 Laser Lap Welding Processes

PubMed Central

Sibillano, Teresa; Rizzi, Domenico; Mezzapesa, Francesco P.; Lugarà, Pietro Mario; Konuk, Ali Riza; Aarts, Ronald; Veld, Bert Huis in 't; Ancona, Antonio

2012-01-01

In this paper we describe a novel spectroscopic closed loop control system capable of stabilizing the penetration depth during laser welding processes by controlling the laser power. Our novel approach is to analyze the optical emission from the laser generated plasma plume above the keyhole, to calculate its electron temperature as a process-monitoring signal. Laser power has been controlled by using a quantitative relationship between the penetration depth and the plasma electron temperature. The sensor is able to correlate in real time the difference between the measured electron temperature and its reference value for the requested penetration depth. Accordingly the closed loop system adjusts the power, thus maintaining the penetration depth. PMID:23112646

Control-structure interaction in precision pointing servo loops

NASA Technical Reports Server (NTRS)

Spanos, John T.

1989-01-01

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

Frequency set on systems

NASA Astrophysics Data System (ADS)

Wilby, W. A.; Brett, A. R. H.

Frequency set on techniques used in ECM applications include repeater jammers, frequency memory loops (RF and optical), coherent digital RF memories, and closed loop VCO set on systems. Closed loop frequency set on systems using analog phase and frequency locking are considered to have a number of cost and performance advantages. Their performance is discussed in terms of frequency accuracy, bandwidth, locking time, stability, and simultaneous signals. Some experimental results are presented which show typical locking performance. Future ECM systems might require a response to very short pulses. Acoustooptic and fiber-optic pulse stretching techniques can be used to meet such requirements.

Closed-Loop Control of Chemical Injection Rate for a Direct Nozzle Injection System.

PubMed

Cai, Xiang; Walgenbach, Martin; Doerpmond, Malte; Schulze Lammers, Peter; Sun, Yurui

2016-01-20

To realize site-specific and variable-rate application of agricultural pesticides, accurately metering and controlling the chemical injection rate is necessary. This study presents a prototype of a direct nozzle injection system (DNIS) by which chemical concentration transport lag was greatly reduced. In this system, a rapid-reacting solenoid valve (RRV) was utilized for injecting chemicals, driven by a pulse-width modulation (PWM) signal at 100 Hz, so with varying pulse width the chemical injection rate could be adjusted. Meanwhile, a closed-loop control strategy, proportional-integral-derivative (PID) method, was applied for metering and stabilizing the chemical injection rate. In order to measure chemical flow rates and input them into the controller as a feedback in real-time, a thermodynamic flowmeter that was independent of chemical viscosity was used. Laboratory tests were conducted to assess the performance of DNIS and PID control strategy. Due to the nonlinear input-output characteristics of the RRV, a two-phase PID control process obtained better effects as compared with single PID control strategy. Test results also indicated that the set-point chemical flow rate could be achieved within less than 4 s, and the output stability was improved compared to the case without control strategy.

Conformation-selective inhibitors reveal differences in the activation and phosphate-binding loops of the tyrosine kinases Abl and Src

PubMed Central

Hari, Sanjay B.; Perera, B. Gayani K.; Ranjitkar, Pratistha; Seeliger, Markus A.; Maly, Dustin J.

2013-01-01

Over the last decade, an increasingly diverse array of potent and selective inhibitors that target the ATP-binding sites of protein kinases have been developed. Many of these inhibitors, like the clinically approved drug imatinib (Gleevec), stabilize a specific catalytically inactive ATP-binding site conformation of their kinases targets. Imatinib is notable in that it is highly selective for its kinase target, Abl, over other closely-related tyrosine kinases, like Src. In addition, imatinib is highly sensitive to the phosphorylation state of Abl's activation loop, which is believed to be a general characteristic of all inhibitors that stabilize a similar inactive ATP-binding site conformation. In this report, we perform a systematic analysis of a diverse series of ATP-competitive inhibitors that stabilize a similar inactive ATP-binding site conformation as imatinib with the tyrosine kinases Src and Abl. In contrast to imatinib, many of these inhibitors have very similar potencies against Src and Abl. Furthermore, only a subset of this class of inhibitors is sensitive to the phosphorylation state of the activation loop of these kinases. In attempting to explain this observation, we have uncovered an unexpected correlation between Abl's activation loop and another flexible active site feature, called the phosphate-binding loop (p-loop). These studies shed light on how imatinib is able to obtain its high target selectivity and reveal how the conformational preference of flexible active site regions can vary between closely related kinases. PMID:24106839

CSI, optimal control, and accelerometers: Trials and tribulations

NASA Technical Reports Server (NTRS)

Benjamin, Brian J.; Sesak, John R.

1994-01-01

New results concerning optimal design with accelerometers are presented. These results show that the designer must be concerned with the stability properties of two Linear Quadratic Gaussian (LQG) compensators, one of which does not explicitly appear in the closed-loop system dynamics. The new concepts of virtual and implemented compensators are introduced to cope with these subtleties. The virtual compensator appears in the closed-loop system dynamics and the implemented compensator appears in control electronics. The stability of one compensator does not guarantee the stability of the other. For strongly stable (robust) systems, both compensators should be stable. The presence of controlled and uncontrolled modes in the system results in two additional forms of the compensator with corresponding terms that are of like form, but opposite sign, making simultaneous stabilization of both the virtual and implemented compensator difficult. A new design algorithm termed sensor augmentation is developed that aids stabilization of these compensator forms by incorporating a static augmentation term associated with the uncontrolled modes in the design process.

Predictive and Neural Predictive Control of Uncertain Systems

NASA Technical Reports Server (NTRS)

Kelkar, Atul G.

2000-01-01

Accomplishments and future work are:(1) Stability analysis: the work completed includes characterization of stability of receding horizon-based MPC in the setting of LQ paradigm. The current work-in-progress includes analyzing local as well as global stability of the closed-loop system under various nonlinearities; for example, actuator nonlinearities; sensor nonlinearities, and other plant nonlinearities. Actuator nonlinearities include three major types of nonlineaxities: saturation, dead-zone, and (0, 00) sector. (2) Robustness analysis: It is shown that receding horizon parameters such as input and output horizon lengths have direct effect on the robustness of the system. (3) Code development: A matlab code has been developed which can simulate various MPC formulations. The current effort is to generalize the code to include ability to handle all plant types and all MPC types. (4) Improved predictor: It is shown that MPC design using better predictors that can minimize prediction errors. It is shown analytically and numerically that Smith predictor can provide closed-loop stability under GPC operation for plants with dead times where standard optimal predictor fails. (5) Neural network predictors: When neural network is used as predictor it can be shown that neural network predicts the plant output within some finite error bound under certain conditions. Our preliminary study shows that with proper choice of update laws and network architectures such bound can be obtained. However, much work needs to be done to obtain a similar result in general case.

Closed-loop stability of linear quadratic optimal systems in the presence of modeling errors

NASA Technical Reports Server (NTRS)

Toda, M.; Patel, R.; Sridhar, B.

1976-01-01

The well-known stabilizing property of linear quadratic state feedback design is utilized to evaluate the robustness of a linear quadratic feedback design in the presence of modeling errors. Two general conditions are obtained for allowable modeling errors such that the resulting closed-loop system remains stable. One of these conditions is applied to obtain two more particular conditions which are readily applicable to practical situations where a designer has information on the bounds of modeling errors. Relations are established between the allowable parameter uncertainty and the weighting matrices of the quadratic performance index, thereby enabling the designer to select appropriate weighting matrices to attain a robust feedback design.

A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth; Bayard, David S.

1988-01-01

A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.

Diagonalizing controller for a superconducting six-axis accelerometer

NASA Astrophysics Data System (ADS)

Bachrach, B.; Canavan, E. R.; Levine, W. S.

A relatively simple MIMO (multiple input, multiple output) controller which converts an instrument with a nondiagonally dominant transfer function matrix into a strongly diagonally dominant device is developed. The instrument, which uses inductance bridges to sense the position of a magnetically levitated superconducting mass, has very lightly damped resonances and fairly strong cross coupling. By taking advantage of the particular structure of the instrument's transfer function matrix, it is possible to develop a relatively simple controller which achieves the desired decoupling. This controller consists of two parts. The first part cancels the nondiagonal terms of the open-loop transfer function matrix, while the second part is simply a set of SISO (single input, single output) controllers. The stability of the closed-loop system is studied using Rosenbrock's INA (inverse Nyguist array) technique, which produces a simple set of conditions guaranteeing stability. Simulation of the closed-loop system indicates that it should easily achieve its performance goals.

Conformational Changes in Orotidine 5-Monophosphate Decarboxylase: "Remote" Residues That Stabilize the Active Conformation

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

Wood, B.; Amyes, T; Fedorov, A

2010-01-01

The structural factors responsible for the extraordinary rate enhancement ({approx}10{sup 17}) of the reaction catalyzed by orotidine 5{prime}-monophosphate decarboxylase (OMPDC) have not been defined. Catalysis requires a conformational change that closes an active site loop and 'clamps' the orotate base proximal to hydrogen-bonded networks that destabilize the substrate and stabilize the intermediate. In the OMPDC from Methanobacter thermoautotrophicus, a 'remote' structurally conserved cluster of hydrophobic residues that includes Val 182 in the active site loop is assembled in the closed, catalytically active conformation. Substitution of these residues with Ala decreases k{sub cat}/K{sub m} with a minimal effect on k{sub cat},more » providing evidence that the cluster stabilizes the closed conformation. The intrinsic binding energies of the 5{prime}-phosphate group of orotidine 5{prime}-monophosphate for the mutant enzymes are similar to that for the wild type, supporting this conclusion.« less

Molecular Recognition of 6′-N-5-Hexynoate Kanamyin A and RNA 1×1 Internal Loops Containing CA Mismatches

PubMed Central

Tran, Tuan; Disney, Matthew D.

2011-01-01

In our previous study to identify the RNA internal loops that bind an aminoglycoside derivative, we determined that 6′-N-5-hexynoate kanamycin A prefers to bind 1×1 nucleotide internal loops containing C•A mismatches. In this present study, the molecular recognition between a variety of RNAs that are mutated around the C•A loop and the ligand was investigated. Studies show that both loop nucleotides and loop closing pairs affect binding affinity. Most interestingly, it was shown that there is a correlation between the thermodynamic stability of the C•A internal loops and ligand affinity. Specifically, C•A loops that had relatively high or low stability bound the ligand most weakly whereas loops with intermediate stability bound the ligand most tightly. In contrast, there is no correlation between the likelihood that a loop forms a C-A+ pair at lower pH and ligand affinity. It was also found that a 1×1 nucleotide C•A loop that bound to the ligand with the highest affinity is identical to the consensus site in RNAs that are edited by adenosine deaminases acting on RNA type 2 (ADAR2). These studies provide a detailed investigation of factors affecting small molecule recognition of internal loops containing C•A mismatches, which are present in a variety of RNAs that cause disease. PMID:21207945

Integrated identification, modeling and control with applications

NASA Astrophysics Data System (ADS)

Shi, Guojun

This thesis deals with the integration of system design, identification, modeling and control. In particular, six interdisciplinary engineering problems are addressed and investigated. Theoretical results are established and applied to structural vibration reduction and engine control problems. First, the data-based LQG control problem is formulated and solved. It is shown that a state space model is not necessary to solve this problem; rather a finite sequence from the impulse response is the only model data required to synthesize an optimal controller. The new theory avoids unnecessary reliance on a model, required in the conventional design procedure. The infinite horizon model predictive control problem is addressed for multivariable systems. The basic properties of the receding horizon implementation strategy is investigated and the complete framework for solving the problem is established. The new theory allows the accommodation of hard input constraints and time delays. The developed control algorithms guarantee the closed loop stability. A closed loop identification and infinite horizon model predictive control design procedure is established for engine speed regulation. The developed algorithms are tested on the Cummins Engine Simulator and desired results are obtained. A finite signal-to-noise ratio model is considered for noise signals. An information quality index is introduced which measures the essential information precision required for stabilization. The problems of minimum variance control and covariance control are formulated and investigated. Convergent algorithms are developed for solving the problems of interest. The problem of the integrated passive and active control design is addressed in order to improve the overall system performance. A design algorithm is developed, which simultaneously finds: (i) the optimal values of the stiffness and damping ratios for the structure, and (ii) an optimal output variance constrained stabilizing controller such that the active control energy is minimized. A weighted q-Markov COVER method is introduced for identification with measurement noise. The result is use to develop an iterative closed loop identification/control design algorithm. The effectiveness of the algorithm is illustrated by experimental results.

A Model for Developing Clinical Analytics Capacity: Closing the Loops on Outcomes to Optimize Quality.

PubMed

Eggert, Corinne; Moselle, Kenneth; Protti, Denis; Sanders, Dale

2017-01-01

Closed Loop Analytics© is receiving growing interest in healthcare as a term referring to information technology, local data and clinical analytics working together to generate evidence for improvement. The Closed Loop Analytics model consists of three loops corresponding to the decision-making levels of an organization and the associated data within each loop - Patients, Protocols, and Populations. The authors propose that each of these levels should utilize the same ecosystem of electronic health record (EHR) and enterprise data warehouse (EDW) enabled data, in a closed-loop fashion, with that data being repackaged and delivered to suit the analytic and decision support needs of each level, in support of better outcomes.

Design of dissipative low-authority controllers using an eigensystem assignment technique

NASA Technical Reports Server (NTRS)

Maghami, P. G.; Gupta, S.; Joshi, S. M.

1992-01-01

A novel method for the design of dissipative, low-authority controllers has been developed. The method uses a sequential approach along with eigensystem assignment to compute rate and position gain matrices that assign a number of closed-loop poles of the system to desired locations. Because the feedback gain matrices are symmetric and nonnegative definite, the closed-loop stability is always guaranteed regardless of the model order or parameter inaccuracies. The resulting (nominal) closed-loop system can have specified damping ratios for m modes, which makes the plant amenable to high-authority controller design, using methods such as LQG/LTR or H-infinity. A numerical example is worked out for a flexible structure in order to demonstrate the proposed technique.

Shifting the closed-loop spectrum in the optimal linear quadratic regulator problem for hereditary systems

NASA Technical Reports Server (NTRS)

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

1985-01-01

In the optimal linear quadratic regulator problem for finite dimensional systems, the method known as an alpha-shift can be used to produce a closed-loop system whose spectrum lies to the left of some specified vertical line; that is, a closed-loop system with a prescribed degree of stability. This paper treats the extension of the alpha-shift to hereditary systems. As infinite dimensions, the shift can be accomplished by adding alpha times the identity to the open-loop semigroup generator and then solving an optimal regulator problem. However, this approach does not work with a new approximation scheme for hereditary control problems recently developed by Kappel and Salamon. Since this scheme is among the best to date for the numerical solution of the linear regulator problem for hereditary systems, an alternative method for shifting the closed-loop spectrum is needed. An alpha-shift technique that can be used with the Kappel-Salamon approximation scheme is developed. Both the continuous-time and discrete-time problems are considered. A numerical example which demonstrates the feasibility of the method is included.

Shifting the closed-loop spectrum in the optimal linear quadratic regulator problem for hereditary systems

NASA Technical Reports Server (NTRS)

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

1987-01-01

In the optimal linear quadratic regulator problem for finite dimensional systems, the method known as an alpha-shift can be used to produce a closed-loop system whose spectrum lies to the left of some specified vertical line; that is, a closed-loop system with a prescribed degree of stability. This paper treats the extension of the alpha-shift to hereditary systems. As infinite dimensions, the shift can be accomplished by adding alpha times the identity to the open-loop semigroup generator and then solving an optimal regulator problem. However, this approach does not work with a new approximation scheme for hereditary control problems recently developed by Kappel and Salamon. Since this scheme is among the best to date for the numerical solution of the linear regulator problem for hereditary systems, an alternative method for shifting the closed-loop spectrum is needed. An alpha-shift technique that can be used with the Kappel-Salamon approximation scheme is developed. Both the continuous-time and discrete-time problems are considered. A numerical example which demonstrates the feasibility of the method is included.

Approximate analytical relationships for linear optimal aeroelastic flight control laws

NASA Astrophysics Data System (ADS)

Kassem, Ayman Hamdy

1998-09-01

This dissertation introduces new methods to uncover functional relationships between design parameters of a contemporary control design technique and the resulting closed-loop properties. Three new methods are developed for generating such relationships through analytical expressions: the Direct Eigen-Based Technique, the Order of Magnitude Technique, and the Cost Function Imbedding Technique. Efforts concentrated on the linear-quadratic state-feedback control-design technique applied to an aeroelastic flight control task. For this specific application, simple and accurate analytical expressions for the closed-loop eigenvalues and zeros in terms of basic parameters such as stability and control derivatives, structural vibration damping and natural frequency, and cost function weights are generated. These expressions explicitly indicate how the weights augment the short period and aeroelastic modes, as well as the closed-loop zeros, and by what physical mechanism. The analytical expressions are used to address topics such as damping, nonminimum phase behavior, stability, and performance with robustness considerations, and design modifications. This type of knowledge is invaluable to the flight control designer and would be more difficult to formulate when obtained from numerical-based sensitivity analysis.

Closed-loop optical stabilization and digital image registration in adaptive optics scanning light ophthalmoscopy

PubMed Central

Yang, Qiang; Zhang, Jie; Nozato, Koji; Saito, Kenichi; Williams, David R.; Roorda, Austin; Rossi, Ethan A.

2014-01-01

Eye motion is a major impediment to the efficient acquisition of high resolution retinal images with the adaptive optics (AO) scanning light ophthalmoscope (AOSLO). Here we demonstrate a solution to this problem by implementing both optical stabilization and digital image registration in an AOSLO. We replaced the slow scanning mirror with a two-axis tip/tilt mirror for the dual functions of slow scanning and optical stabilization. Closed-loop optical stabilization reduced the amplitude of eye-movement related-image motion by a factor of 10–15. The residual RMS error after optical stabilization alone was on the order of the size of foveal cones: ~1.66–2.56 μm or ~0.34–0.53 arcmin with typical fixational eye motion for normal observers. The full implementation, with real-time digital image registration, corrected the residual eye motion after optical stabilization with an accuracy of ~0.20–0.25 μm or ~0.04–0.05 arcmin RMS, which to our knowledge is more accurate than any method previously reported. PMID:25401030

Favorable 2'-substitution in the loop region of a thrombin-binding DNA aptamer.

PubMed

Awachat, Ragini; Wagh, Atish A; Aher, Manisha; Fernandes, Moneesha; Kumar, Vaijayanti A

2018-06-01

Simple 2'-OMe-chemical modification in the loop region of the 15mer G-rich DNA sequence GGTTGGTGTGGTTGG is reported. The G-quadruplex structure of this thrombin-binding aptamer (TBA), is stabilized by single modifications (T → 2'-OMe-U), depending on the position of the modification. The structural stability also renders significantly increased inhibition of thrombin-induced fibrin polymerization, a process closely associated with blood-clotting. Copyright © 2018 Elsevier Ltd. All rights reserved.

Generation of mechanical oscillation applicable to vibratory rate gyroscopes

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Vibration nullification of MEMS device using input shaping

NASA Astrophysics Data System (ADS)

Jordan, Scott; Lawrence, Eric M.

2003-07-01

The active silicon microstructures known as Micro-Electromechanical Systems (MEMS) are improving many existing technologies through simplification and cost reduction. Many industries have already capitalized on MEMS technology such as those in fields as diverse as telecommunications, computing, projection displays, automotive safety, defense and biotechnology. As they grow in sophistication and complexity, the familiar pressures to further reduce costs and increase performance grow for those who design and manufacture MEMS devices and the engineers who specify them for their end applications. One example is MEMS optical switches that have evolved from simple, bistable on/off elements to microscopic, freelypositionable beam steering optics. These can be actuated to discrete angular positions or to continuously-variable angular states through applied command signals. Unfortunately, elaborate closed-loop actuation schemes are often necessitated in order to stabilize the actuation. Furthermore, preventing one actuated micro-element from vibrationally cross-coupling with its neighbors is another reason costly closed-loop approaches are thought to be necessary. The Laser Doppler Vibrometer (LDV) is a valuable tool for MEMS characterization that provides non-contact, real-time measurements of velocity and/or displacement response. The LDV is a proven technology for production metrology to determine dynamical behaviors of MEMS elements, which can be a sensitive indicator of manufacturing variables such as film thickness, etch depth, feature tolerances, handling damage and particulate contamination. They are also important for characterizing the actuation dynamics of MEMS elements for implementation of a patented controls technique called Input Shaping«, which we show here can virtually eliminate the vibratory resonant response of MEMS elements even when subjected to the most severe actuation profiles. In this paper, we will demonstrate the use of the LDV to determine how the application of this compact, efficient algorithm can improve the performance of both open- and closed-loop MEMS devices, eliminating the need for costly closed-loop approaches. This can greatly reduce the complexity, cost and yield of MEMS design and manufacture.

Adaptive optics for peripheral vision

NASA Astrophysics Data System (ADS)

Rosén, R.; Lundström, L.; Unsbo, P.

2012-07-01

Understanding peripheral optical errors and their impact on vision is important for various applications, e.g. research on myopia development and optical correction of patients with central visual field loss. In this study, we investigated whether correction of higher order aberrations with adaptive optics (AO) improve resolution beyond what is achieved with best peripheral refractive correction. A laboratory AO system was constructed for correcting peripheral aberrations. The peripheral low contrast grating resolution acuity in the 20° nasal visual field of the right eye was evaluated for 12 subjects using three types of correction: refractive correction of sphere and cylinder, static closed loop AO correction and continuous closed loop AO correction. Running AO in continuous closed loop improved acuity compared to refractive correction for most subjects (maximum benefit 0.15 logMAR). The visual improvement from aberration correction was highly correlated with the subject's initial amount of higher order aberrations (p = 0.001, R 2 = 0.72). There was, however, no acuity improvement from static AO correction. In conclusion, correction of peripheral higher order aberrations can improve low contrast resolution, provided refractive errors are corrected and the system runs in continuous closed loop.

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

PubMed

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

2015-03-01

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

Shuttle/tethered satellite system conceptual design study

NASA Technical Reports Server (NTRS)

1976-01-01

A closed-loop control system was added to the tether reel which improves control over the tethered satellite. In addition to increasing the stability of the tethered satellite along local vertical, this control system is used for deployment and retrieval of tethered satellites. This conceptual design study describes a tether system for suspending a science payload at an altitude of 120 km from space shuttle orbiter flying at an altitude of 200 km. In addition to the hardware conceptual designs, various aspects concerning Orbiter accommodations are discussed.

Design for performance enhancement in feedback control systems with multiple saturating nonlinearities. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Kapasouris, Petros

1988-01-01

A systematic control design methodology is introduced for multi-input/multi-output systems with multiple saturations. The methodology can be applied to stable and unstable open loop plants with magnitude and/or rate control saturations and to systems in which state limitations are desired. This new methodology is a substantial improvement over previous heuristic single-input/single-output approaches. The idea is to introduce a supervisor loop so that when the references and/or disturbances are sufficiently small, the control system operates linearly as designed. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified compensator never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directional properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated by numerous simulations, including the multivariable longitudinal control of modified models of the F-8 (stable) and F-16 (unstable) aircraft.

Sliding-mode control combined with improved adaptive feedforward for wafer scanner

NASA Astrophysics Data System (ADS)

Li, Xiaojie; Wang, Yiguang

2018-03-01

In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

Integration of Online Parameter Identification and Neural Network for In-Flight Adaptive Control

NASA Technical Reports Server (NTRS)

Hageman, Jacob J.; Smith, Mark S.; Stachowiak, Susan

2003-01-01

An indirect adaptive system has been constructed for robust control of an aircraft with uncertain aerodynamic characteristics. This system consists of a multilayer perceptron pre-trained neural network, online stability and control derivative identification, a dynamic cell structure online learning neural network, and a model following control system based on the stochastic optimal feedforward and feedback technique. The pre-trained neural network and model following control system have been flight-tested, but the online parameter identification and online learning neural network are new additions used for in-flight adaptation of the control system model. A description of the modification and integration of these two stand-alone software packages into the complete system in preparation for initial flight tests is presented. Open-loop results using both simulation and flight data, as well as closed-loop performance of the complete system in a nonlinear, six-degree-of-freedom, flight validated simulation, are analyzed. Results show that this online learning system, in contrast to the nonlearning system, has the ability to adapt to changes in aerodynamic characteristics in a real-time, closed-loop, piloted simulation, resulting in improved flying qualities.

Relative stability of the open and closed conformations of the active site loop of streptavidin

NASA Astrophysics Data System (ADS)

Ignacio J., General; Meirovitch, Hagai

2011-01-01

The eight-residue surface loop, 45-52 (Ser, Ala, Val, Gly, Asn, Ala, Glu, Ser), of the homotetrameric protein streptavidin has a "closed" conformation in the streptavidin-biotin complex, where the corresponding binding affinity is one of the strongest found in nature (ΔG ˜ -18 kcal/mol). However, in most of the crystal structures of apo (unbound) streptavidin, the loop conformation is "open" and typically exhibits partial disorder and high B-factors. Thus, it is plausible to assume that the loop structure is changed from open to closed upon binding of biotin, and the corresponding difference in free energy, ΔF = Fopen - Fclosed in the unbound protein, should therefore be considered in the total absolute free energy of binding. ΔF (which has generally been neglected) is calculated here using our "hypothetical scanning molecular-dynamics" (HSMD) method. We use a protein model in which only the atoms closest to the loop are considered (the "template") and they are fixed in the x-ray coordinates of the free protein; the x-ray conformation of the closed loop is attached to the same (unbound) template and both systems are capped with the same sphere of TIP3P water. Using the force field of the assisted model building with energy refinement (AMBER), we carry out two separate MD simulations (at temperature T = 300 K), starting from the open and closed conformations, where only the atoms of the loop and water are allowed to move (the template-water and template-loop interactions are considered). The absolute Fopen and Fclosed (of loop + water) are calculated from these trajectories, where the loop and water contributions are obtained by HSMD and a thermodynamic integration (TI) process, respectively. The combined HSMD-TI procedure leads to total (loop + water) ΔF = -27.1 ± 2.0 kcal/mol, where the entropy TΔS constitutes 34% of ΔF, meaning that the effect of S is significant and should not be ignored. Also, ΔS is positive, in accord with the high flexibility of the open loop observed in crystal structures, while the energy ΔE is unexpectedly negative, thus also adding to the stability of the open loop. The loop and the 250 capped water molecules are the largest system studied thus far, which constitutes a test for the efficiency of HSMD-TI; this efficiency and technical issues related to the implementation of the method are also discussed. Finally, the result for ΔF is a prediction that will be considered in the calculation of the absolute free energy of binding of biotin to streptavidin, which constitutes our next project.

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

PubMed

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

2012-01-01

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

Glass Polarization Induced Drift of a Closed-Loop Micro-Accelerometer.

PubMed

Zhou, Wu; He, Jiangbo; Yu, Huijun; Peng, Bei; He, Xiaoping

2018-01-20

The glass polarization effects were introduced in this paper to study the main cause of turn-on drift phenomenon of closed-loop micro-accelerometers. The glass substrate underneath the sensitive silicon structure underwent a polarizing process when the DC bias voltage was applied. The slow polarizing process induced an additional electrostatic field to continually drag the movable mass block from one position to another so that the sensing capacitance was changed, which led to an output drift of micro-accelerometers. This drift was indirectly tested by experiments and could be sharply reduced by a shielding layer deposited on the glass substrate because the extra electrical filed was prohibited from generating extra electrostatic forces on the movable fingers of the mass block. The experimental results indicate the average magnitude of drift decreased about 73%, from 3.69 to 0.99 mV. The conclusions proposed in this paper showed a meaningful guideline to improve the stability of micro-devices based on silicon-on-glass structures.

Glass Polarization Induced Drift of a Closed-Loop Micro-Accelerometer

PubMed Central

He, Jiangbo; Yu, Huijun; Peng, Bei; He, Xiaoping

2018-01-01

The glass polarization effects were introduced in this paper to study the main cause of turn-on drift phenomenon of closed-loop micro-accelerometers. The glass substrate underneath the sensitive silicon structure underwent a polarizing process when the DC bias voltage was applied. The slow polarizing process induced an additional electrostatic field to continually drag the movable mass block from one position to another so that the sensing capacitance was changed, which led to an output drift of micro-accelerometers. This drift was indirectly tested by experiments and could be sharply reduced by a shielding layer deposited on the glass substrate because the extra electrical filed was prohibited from generating extra electrostatic forces on the movable fingers of the mass block. The experimental results indicate the average magnitude of drift decreased about 73%, from 3.69 to 0.99 mV. The conclusions proposed in this paper showed a meaningful guideline to improve the stability of micro-devices based on silicon-on-glass structures. PMID:29361685

A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric Time-Varying Delays.

PubMed

Zhai, Di-Hua; Xia, Yuanqing

2018-02-01

This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework. It is shown that the developed controller can guarantee the prescribed transient-state and steady-state synchronization performances between the master and slave robots, which is demonstrated by the simulation study.

NL(q) Theory: A Neural Control Framework with Global Asymptotic Stability Criteria.

PubMed

Vandewalle, Joos; De Moor, Bart L.R.; Suykens, Johan A.K.

1997-06-01

In this paper a framework for model-based neural control design is presented, consisting of nonlinear state space models and controllers, parametrized by multilayer feedforward neural networks. The models and closed-loop systems are transformed into so-called NL(q) system form. NL(q) systems represent a large class of nonlinear dynamical systems consisting of q layers with alternating linear and static nonlinear operators that satisfy a sector condition. For such NL(q)s sufficient conditions for global asymptotic stability, input/output stability (dissipativity with finite L(2)-gain) and robust stability and performance are presented. The stability criteria are expressed as linear matrix inequalities. In the analysis problem it is shown how stability of a given controller can be checked. In the synthesis problem two methods for neural control design are discussed. In the first method Narendra's dynamic backpropagation for tracking on a set of specific reference inputs is modified with an NL(q) stability constraint in order to ensure, e.g., closed-loop stability. In a second method control design is done without tracking on specific reference inputs, but based on the input/output stability criteria itself, within a standard plant framework as this is done, for example, in H( infinity ) control theory and &mgr; theory. Copyright 1997 Elsevier Science Ltd.

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

PubMed

Wang, Min; Wang, Cong

2015-06-01

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

Replacing Arginine 33 for Alanine in the Hemophore HasA from Pseudomonas aeruginosa Causes Closure of the H32 Loop in the Apo-Protein

PubMed Central

Kumar, Ritesh; Qi, Yifei; Matsumura, Hirotoshi; Lovell, Scott; Yao, Huili; Battaile, Kevin P.; Im, Wonpil; Moënne-Loccoz, Pierre; Rivera, Mario

2017-01-01

Previous characterization of hemophores from Serratia marcescens (HasAs), Pseudomonas aeruginosa (HasAp) and Yersinia pestis (HasAyp) showed that hemin binds between two loops, where it is axially coordinated by H32 and Y75. The Y75 loop is structurally conserved in all three hemophores and harbors conserved ligand Y75. The other loop contains H32 in HasAs and HasAp, but a noncoordinating Q32 in HasAyp. The H32 loop in apo-HasAs and apo-HasAp is in an open conformation, which places H32 about 30 Å from the hemin-binding site. Hence, hemin binding onto the Y75 loop of HasAs or HasAp triggers a large relocation of the H32 loop from an open- to a closed-loop conformation and enables coordination of the hemin-iron by H32. In comparison, the Q32 loop in apo-HasAyp is in the closed conformation and hemin binding occurs with minimal reorganization and without coordinative interactions with the Q32 loop. Studies in crystallo and in solution have established that the open H32 loop in apo-HasAp and apo-HasAs is well structured and minimally affected by conformational dynamics. In this study we address the intriguing issue of the stability of the H32 loop in apo-HasAp and how hemin binding triggers its relocation. We address this question with a combination of NMR spectroscopy, X-ray crystallography, and molecular dynamics simulations and find that R33 is critical to the stability of the open H32 loop. Replacing R33 with A causes the H32 loop in R33A apo-HasAp to adopt a conformation similar to that of holo-HasAp. Finally, stopped-flow absorption and resonance Raman analyses of hemin binding to apo-R33A HasAp indicates that the closed H32 loop slows down the insertion of the heme inside the binding pocket, presumably as it obstructs access to the hydrophobic platform on the Y75 loop, but accelerate the completion of the heme iron coordination. PMID:27074415

Closed-Loop Control of Chemical Injection Rate for a Direct Nozzle Injection System

PubMed Central

Cai, Xiang; Walgenbach, Martin; Doerpmond, Malte; Schulze Lammers, Peter; Sun, Yurui

2016-01-01

To realize site-specific and variable-rate application of agricultural pesticides, accurately metering and controlling the chemical injection rate is necessary. This study presents a prototype of a direct nozzle injection system (DNIS) by which chemical concentration transport lag was greatly reduced. In this system, a rapid-reacting solenoid valve (RRV) was utilized for injecting chemicals, driven by a pulse-width modulation (PWM) signal at 100 Hz, so with varying pulse width the chemical injection rate could be adjusted. Meanwhile, a closed-loop control strategy, proportional-integral-derivative (PID) method, was applied for metering and stabilizing the chemical injection rate. In order to measure chemical flow rates and input them into the controller as a feedback in real-time, a thermodynamic flowmeter that was independent of chemical viscosity was used. Laboratory tests were conducted to assess the performance of DNIS and PID control strategy. Due to the nonlinear input–output characteristics of the RRV, a two-phase PID control process obtained better effects as compared with single PID control strategy. Test results also indicated that the set-point chemical flow rate could be achieved within less than 4 s, and the output stability was improved compared to the case without control strategy. PMID:26805833

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen; Zhu, J. Jim; Adami, Tony; Berry, Kyle; Grammar, Alex; Orr, Jeb S.; Best, Eric A.

2014-01-01

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a generalized stability metric for time-varying loop=gain perturbations is needed for the AAC.

Eigenvalue sensitivity of sampled time systems operating in closed loop

NASA Astrophysics Data System (ADS)

Bernal, Dionisio

2018-05-01

The use of feedback to create closed-loop eigenstructures with high sensitivity has received some attention in the Structural Health Monitoring field. Although practical implementation is necessarily digital, and thus in sampled time, work thus far has center on the continuous time framework, both in design and in checking performance. It is shown in this paper that the performance in discrete time, at typical sampling rates, can differ notably from that anticipated in the continuous time formulation and that discrepancies can be particularly large on the real part of the eigenvalue sensitivities; a consequence being important error on the (linear estimate) of the level of damage at which closed-loop stability is lost. As one anticipates, explicit consideration of the sampling rate poses no special difficulties in the closed-loop eigenstructure design and the relevant expressions are developed in the paper, including a formula for the efficient evaluation of the derivative of the matrix exponential based on the theory of complex perturbations. The paper presents an easily reproduced numerical example showing the level of error that can result when the discrete time implementation of the controller is not considered.

Modeling and distributed gain scheduling strategy for load frequency control in smart grids with communication topology changes.

PubMed

Liu, Shichao; Liu, Xiaoping P; El Saddik, Abdulmotaleb

2014-03-01

In this paper, we investigate the modeling and distributed control problems for the load frequency control (LFC) in a smart grid. In contrast with existing works, we consider more practical and real scenarios, where the communication topology of the smart grid changes because of either link failures or packet losses. These topology changes are modeled as a time-varying communication topology matrix. By using this matrix, a new closed-loop power system model is proposed to integrate the communication topology changes into the dynamics of a physical power system. The globally asymptotical stability of this closed-loop power system is analyzed. A distributed gain scheduling LFC strategy is proposed to compensate for the potential degradation of dynamic performance (mean square errors of state vectors) of the power system under communication topology changes. In comparison to conventional centralized control approaches, the proposed method can improve the robustness of the smart grid to the variation of the communication network as well as to reduce computation load. Simulation results show that the proposed distributed gain scheduling approach is capable to improve the robustness of the smart grid to communication topology changes. © 2013 ISA. Published by ISA. All rights reserved.

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.

PubMed

Zhao, Bo; Li, Chenghao; Liu, Derong; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.

Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

PubMed Central

Zhao, Bo; Li, Yuanchun

2015-01-01

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations. PMID:26181826

Real-Time Monitoring and Prediction of the Pilot Vehicle System (PVS) Closed-Loop Stability

NASA Astrophysics Data System (ADS)

Mandal, Tanmay Kumar

Understanding human control behavior is an important step for improving the safety of future aircraft. Considerable resources are invested during the design phase of an aircraft to ensure that the aircraft has desirable handling qualities. However, human pilots exhibit a wide range of control behaviors that are a function of external stimulus, aircraft dynamics, and human psychological properties (such as workload, stress factor, confidence, and sense of urgency factor). This variability is difficult to address comprehensively during the design phase and may lead to undesirable pilot-aircraft interaction, such as pilot-induced oscillations (PIO). This creates the need to keep track of human pilot performance in real-time to monitor the pilot vehicle system (PVS) stability. This work focused on studying human pilot behavior for the longitudinal axis of a remotely controlled research aircraft and using human-in-the-loop (HuIL) simulations to obtain information about the human controlled system (HCS) stability. The work in this dissertation is divided into two main parts: PIO analysis and human control model parameters estimation. To replicate different flight conditions, this study included time delay and elevator rate limiting phenomena, typical of actuator dynamics during the experiments. To study human control behavior, this study employed the McRuer model for single-input single-output manual compensatory tasks. McRuer model is a lead-lag controller with time delay which has been shown to adequately model manual compensatory tasks. This dissertation presents a novel technique to estimate McRuer model parameters in real-time and associated validation using HuIL simulations to correctly predict HCS stability. The McRuer model parameters were estimated in real-time using a Kalman filter approach. The estimated parameters were then used to analyze the stability of the closed-loop HCS and verify them against the experimental data. Therefore, the main contribution of this dissertation is the design of an unscented Kalman filter-based algorithm to estimate McRuer model parameters in real time, and a framework to validate this algorithm for single-input single-output manual compensatory tasks to predict instabilities.

Methods and apparatus for broadband frequency comb stabilization

DOEpatents

Cox, Jonathan A; Kaertner, Franz X

2015-03-17

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

Propensities of Aromatic Amino Acids versus Leucine and Proline to Induce Residual Structure in the Denatured State Ensemble of Iso-1-cytochrome c

PubMed Central

Finnegan, Michaela L.; Bowler, Bruce E.

2010-01-01

Histidine-heme loop formation in the denatured state of a protein is a sensitive means to probe for residual structure under unfolding conditions. In this study, we use a host-guest approach to investigate the relative tendencies of different amino acids to promote residual structure under denaturing conditions. The host for this work is a 6 amino acid insert of five alanines followed by a lysine engineered immediately following a unique histidine near the N-terminus of yeast iso-1-cytochrome c. We substitute the 4th alanine in this sequence, HAAAXAK, with X = Trp, Phe, Tyr and Leu. The effects of proline are tested with substitutions at positions 1 and 5 in the insert, HPAAAAK and HAAAAPK, respectively. Thermodynamic studies on His-heme loop formation in 3 M guanidine hydrochloride reveal significant stabilization of residual structure by aromatic amino acids, particularly, Trp and Phe, and minimal stabilization of residual structure by Leu. Prolines disfavor His-heme loop formation slightly, presumably due to enhanced chain stiffness. Kinetic studies reveal that much of the change in His-heme loop stability for the aromatic amino acids is caused by a slowing of the rate of His-heme loop breakage, indicating that residual structure is preferentially stabilized in the closed-loop form of the denatured state. PMID:20850458

Simulation of process identification and controller tuning for flow control system

NASA Astrophysics Data System (ADS)

Chew, I. M.; Wong, F.; Bono, A.; Wong, K. I.

2017-06-01

PID controller is undeniably the most popular method used in controlling various industrial processes. The feature to tune the three elements in PID has allowed the controller to deal with specific needs of the industrial processes. This paper discusses the three elements of control actions and improving robustness of controllers through combination of these control actions in various forms. A plant model is simulated using the Process Control Simulator in order to evaluate the controller performance. At first, the open loop response of the plant is studied by applying a step input to the plant and collecting the output data from the plant. Then, FOPDT of physical model is formed by using both Matlab-Simulink and PRC method. Then, calculation of controller’s setting is performed to find the values of Kc and τi that will give satisfactory control in closed loop system. Then, the performance analysis of closed loop system is obtained by set point tracking analysis and disturbance rejection performance. To optimize the overall physical system performance, a refined tuning of PID or detuning is further conducted to ensure a consistent resultant output of closed loop system reaction to the set point changes and disturbances to the physical model. As a result, the PB = 100 (%) and τi = 2.0 (s) is preferably chosen for setpoint tracking while PB = 100 (%) and τi = 2.5 (s) is selected for rejecting the imposed disturbance to the model. In a nutshell, selecting correlation tuning values is likewise depended on the required control’s objective for the stability performance of overall physical model.

Composite fuzzy sliding mode control of nonlinear singularly perturbed systems.

PubMed

Nagarale, Ravindrakumar M; Patre, B M

2014-05-01

This paper deals with the robust asymptotic stabilization for a class of nonlinear singularly perturbed systems using the fuzzy sliding mode control technique. In the proposed approach the original system is decomposed into two subsystems as slow and fast models by the singularly perturbed method. The composite fuzzy sliding mode controller is designed for stabilizing the full order system by combining separately designed slow and fast fuzzy sliding mode controllers. The two-time scale design approach minimizes the effect of boundary layer system on the full order system. A stability analysis allows us to provide sufficient conditions for the asymptotic stability of the full order closed-loop system. The simulation results show improved system performance of the proposed controller as compared to existing methods. The experimentation results validate the effectiveness of the proposed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Fuzzy wavelet plus a quantum neural network as a design base for power system stability enhancement.

PubMed

Ganjefar, Soheil; Tofighi, Morteza; Karami, Hamidreza

2015-11-01

In this study, we introduce an indirect adaptive fuzzy wavelet neural controller (IAFWNC) as a power system stabilizer to damp inter-area modes of oscillations in a multi-machine power system. Quantum computing is an efficient method for improving the computational efficiency of neural networks, so we developed an identifier based on a quantum neural network (QNN) to train the IAFWNC in the proposed scheme. All of the controller parameters are tuned online based on the Lyapunov stability theory to guarantee the closed-loop stability. A two-machine, two-area power system equipped with a static synchronous series compensator as a series flexible ac transmission system was used to demonstrate the effectiveness of the proposed controller. The simulation and experimental results demonstrated that the proposed IAFWNC scheme can achieve favorable control performance. Copyright © 2015 Elsevier Ltd. All rights reserved.

PLATSIM: A Simulation and Analysis Package for Large-Order Flexible Systems. Version 2.0

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Kenny, Sean P.; Giesy, Daniel P.

1997-01-01

The software package PLATSIM provides efficient time and frequency domain analysis of large-order generic space platforms. PLATSIM can perform open-loop analysis or closed-loop analysis with linear or nonlinear control system models. PLATSIM exploits the particular form of sparsity of the plant matrices for very efficient linear and nonlinear time domain analysis, as well as frequency domain analysis. A new, original algorithm for the efficient computation of open-loop and closed-loop frequency response functions for large-order systems has been developed and is implemented within the package. Furthermore, a novel and efficient jitter analysis routine which determines jitter and stability values from time simulations in a very efficient manner has been developed and is incorporated in the PLATSIM package. In the time domain analysis, PLATSIM simulates the response of the space platform to disturbances and calculates the jitter and stability values from the response time histories. In the frequency domain analysis, PLATSIM calculates frequency response function matrices and provides the corresponding Bode plots. The PLATSIM software package is written in MATLAB script language. A graphical user interface is developed in the package to provide convenient access to its various features.

Closed-loop for type 1 diabetes - an introduction and appraisal for the generalist.

PubMed

Bally, Lia; Thabit, Hood; Hovorka, Roman

2017-01-23

Rapid progress over the past decade has been made with the development of the 'Artificial Pancreas', also known as the closed-loop system, which emulates the feedback glucose-responsive functionality of the pancreatic beta cell. The recent FDA approval of the first hybrid closed-loop system makes the Artificial Pancreas a realistic therapeutic option for people with type 1 diabetes. In anticipation of its advent into clinical care, we provide a primer and appraisal of this novel therapeutic approach in type 1 diabetes for healthcare professionals and non-specialists in the field. Randomised clinical studies in outpatient and home settings have shown improved glycaemic outcomes, reduced risk of hypoglycaemia and positive user attitudes. User input and interaction with existing closed-loop systems, however, are still required. Therefore, management of user expectations, as well as training and support by healthcare providers are key to ensure optimal uptake, satisfaction and acceptance of the technology. An overview of closed-loop technology and its clinical implications are discussed, complemented by our extensive hands-on experience with closed-loop system use during free daily living. The introduction of the artificial pancreas into clinical practice represents a milestone towards the goal of improving the care of people with type 1 diabetes. There remains a need to understand the impact of user interaction with the technology, and its implication on current diabetes management and care.

Turbofan engine control system design using the LQG/LTR methodology

NASA Technical Reports Server (NTRS)

Garg, Sanjay

1989-01-01

Application of the linear-quadratic-Gaussian with loop-transfer-recovery methodology to design of a control system for a simplified turbofan engine model is considered. The importance of properly scaling the plant to achieve the desired target feedback loop is emphasized. The steps involved in the application of the methodology are discussed via an example, and evaluation results are presented for a reduced-order compensator. The effect of scaling the plant on the stability robustness evaluation of the closed-loop system is studied in detail.

Turbofan engine control system design using the LQG/LTR methodology

NASA Technical Reports Server (NTRS)

Garg, Sanjay

1989-01-01

Application of the Linear-Quadratic-Gaussian with Loop-Transfer-Recovery methodology to design of a control system for a simplified turbofan engine model is considered. The importance of properly scaling the plant to achieve the desired Target-Feedback-Loop is emphasized. The steps involved in the application of the methodology are discussed via an example, and evaluation results are presented for a reduced-order compensator. The effect of scaling the plant on the stability robustness evaluation of the closed-loop system is studied in detail.

Analyses of shuttle orbiter approach and landing conditions

NASA Technical Reports Server (NTRS)

Teper, G. L.; Dimarco, R. J.; Ashkenas, I. L.; Hoh, R. H.

1981-01-01

A study of one shuttle orbiter approach and landing conditions are summarized. Causes of observed PIO like flight deficiencies are identified and potential cures are examined. Closed loop pilot/vehicle analyses are described and path/attitude stability boundaries defined. The latter novel technique proved of great value in delineating and illustrating the basic causes of this multiloop pilot control problem. The analytical results are shown to be consistent with flight test and fixed base simulation. Conclusions are drawn relating to possible improvements of the shuttle orbiter/digital flight control system.

Back-stepping active disturbance rejection control design for integrated missile guidance and control system via reduced-order ESO.

PubMed

Xingling, Shao; Honglun, Wang

2015-07-01

This paper proposes a novel composite integrated guidance and control (IGC) law for missile intercepting against unknown maneuvering target with multiple uncertainties and control constraint. First, by using back-stepping technique, the proposed IGC law design is separated into guidance loop and control loop. The unknown target maneuvers and variations of aerodynamics parameters in guidance and control loop are viewed as uncertainties, which are estimated and compensated by designed model-assisted reduced-order extended state observer (ESO). Second, based on the principle of active disturbance rejection control (ADRC), enhanced feedback linearization (FL) based control law is implemented for the IGC model using the estimates generated by reduced-order ESO. In addition, performance analysis and comparisons between ESO and reduced-order ESO are examined. Nonlinear tracking differentiator is employed to construct the derivative of virtual control command in the control loop. Third, the closed-loop stability for the considered system is established. Finally, the effectiveness of the proposed IGC law in enhanced interception performance such as smooth interception course, improved robustness against multiple uncertainties as well as reduced control consumption during initial phase are demonstrated through simulations. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Antenna Linear-Quadratic-Gaussian (LQG) Ccontrollers: Properties, Limits of Performance, and Tuning

NASA Technical Reports Server (NTRS)

Gawronski, Wodek K.

2004-01-01

The LQG controllers significantly improve antenna tracking precision, but their tuning is a trial-and-error process. A control engineer has two tools to tune an LQG controller: the choice of coordinate system of the controller, and the selection of weights of the LQG performance index. The paper selects the coordinates of the open-loop model that simplify the shaping of the closed-loop performance. and analyzes the impact of thc weights on the antenna closed-loop bandwidth, disturbance rejection properties, and antenna acceleration. Finally, it presents the LQG controller tuning procedure that rationally shapes the closed-loop performance.

Closing the Referral Loop: an Analysis of Primary Care Referrals to Specialists in a Large Health System.

PubMed

Patel, Malhar P; Schettini, Priscille; O'Leary, Colin P; Bosworth, Hayden B; Anderson, John B; Shah, Kevin P

2018-05-01

Ideally, a referral from a primary care physician (PCP) to a specialist results in a completed specialty appointment with results available to the PCP. This is defined as "closing the referral loop." As health systems grow more complex, regulatory bodies increase vigilance, and reimbursement shifts towards value, closing the referral loop becomes a patient safety, regulatory, and financial imperative. To assess the ability of a large health system to close the referral loop, we used electronic medical record (EMR)-generated data to analyze referrals from a large primary care network to 20 high-volume specialties between July 1, 2015 and June 30, 2016. The primary metric was documented specialist appointment completion rate. Explanatory analyses included documented appointment scheduling rate, individual clinic differences, appointment wait times, and geographic distance to appointments. Of the 103,737 analyzed referral scheduling attempts, only 36,072 (34.8%) resulted in documented complete appointments. Low documented appointment scheduling rates (38.9% of scheduling attempts lacked appointment dates), individual clinic differences in closing the referral loop, and significant differences in wait times and distances to specialists between complete and incomplete appointments drove this gap. Other notable findings include high variation in wait times among specialties and correlation between high wait times and low documented appointment completion rates. The rate of closing the referral loop in this health system is low. Low appointment scheduling rates, individual clinic differences, and patient access issues of wait times and geographic proximity explain much of the gap. This problem is likely common among large health systems with complex provider networks and referral scheduling. Strategies that improve scheduling, decrease variation among clinics, and improve patient access will likely improve rates of closing the referral loop. More research is necessary to determine the impact of these changes and other potential driving factors.

Comparison of the Shack-Hartmann and plenoptic sensor in closed-loop adaptive optics system

NASA Astrophysics Data System (ADS)

Jiang, Pengzhi; Xu, Jieping; Liang, Yonghui; Mao, Hongjun

2016-03-01

The wavefront sensor is used in adaptive optics (AO) to detect the atmospheric distortion, which feeds back to the deformable mirror to compensate for this distortion. While the Shack-Hartmann sensor has been widely used, the plenoptic sensor was proposed in recent years. The two different wavefront sensing methods have different interpretations and numerical consequences, though they are both slope-based. The plenoptic sensor is compared with the Shack-Hartmann sensor in a closed-loop AO system. Simulations are performed to investigate their performances under closed-loop conditions. The plenoptic sensors both without and with modulation are discussed. The results show that the closed-loop performance of the plenoptic sensor without modulation is worse than that of the Shack-Hartmann sensor when the star for observation is brighter than magnitude 7, but better when the star is fainter. The closed-loop performance of the plenoptic sensor could be improved by modulation, except for the faint star. In summary, the limiting magnitude of the astronomical AO system may be improved by using the plenoptic sensor instead of the Shack-Hartmann sensor, and the modulation of the plenoptic sensor is more suitable for the bright star.

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

PubMed

Chen, Juan; Cui, Baotong; Chen, YangQuan

2018-06-11

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

Dynamic simulation of perturbation responses in a closed-loop virtual arm model.

PubMed

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

2010-01-01

A closed-loop virtual arm (VA) model has been developed in SIMULINK environment by adding spinal reflex circuits and propriospinal neural networks to the open-loop VA model developed in early study [1]. An improved virtual muscle model (VM4.0) is used to speed up simulation and to generate more precise recruitment of muscle force at low levels of muscle activation. Time delays in the reflex loops are determined by their synaptic connections and afferent transmission back to the spinal cord. Reflex gains are properly selected so that closed-loop responses are stable. With the closed-loop VA model, we are developing an approach to evaluate system behaviors by dynamic simulation of perturbation responses. Joint stiffness is calculated based on simulated perturbation responses by a least-squares algorithm in MATLAB. This method of dynamic simulation will be essential for further evaluation of feedforward and reflex control of arm movement and position.

Piloted simulator evaluation of a relaxed static stability fighter at high angle-of-attack

NASA Technical Reports Server (NTRS)

Lapins, M.; Klein, R. W.; Martorella, R. P.; Cangelosi, J.; Neely, W. R., Jr.

1982-01-01

A piloted simulator evaluation of the stability and control characteristics of a relaxed static stability fighter aircraft was conducted using a differential maneuvering simulator. The primary purpose of the simulation was to evaluate the effectiveness of the limiters in preventing departure from controlled flight. The simulation was conducted in two phases, the first consisting of open-loop point stability evaluations over a range of subsonic flight conditions, the second concentrating on closed-loop tracking of a preprogrammed target in low speed, high angle-of-attack air combat maneuvering. The command limiters were effective in preventing departure from controlled flight while permitting competent levels of sustained maneuvering. Parametric variations during the study included the effects of pitch control power and wing-body static margin. Stability and control issues were clearly shown to impact the configuration design.

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

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

Comparison of closed loop model with flight test results

NASA Technical Reports Server (NTRS)

George, F. L.

1981-01-01

An analytic technique capable of predicting the landing characteristics of proposed aircraft configurations in the early stages of design was developed. In this analysis, a linear pilot-aircraft closed loop model was evaluated using experimental data generated with the NT-33 variable stability in-flight simulator. The pilot dynamics are modeled as inner and outer servo loop closures around aircraft pitch attitude, and altitude rate-of-change respectively. The landing flare maneuver is of particular interest as recent experience with military and other highly augmented vehicles shows this task to be relatively demanding, and potentially a critical design point. A unique feature of the pilot model is the incorporation of an internal model of the pilot's desired flight path for the flare maneuver.

Strong stabilization servo controller with optimization of performance criteria.

PubMed

Sarjaš, Andrej; Svečko, Rajko; Chowdhury, Amor

2011-07-01

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

Dynamic stability and handling qualities tests on a highly augmented, statically unstable airplane

NASA Technical Reports Server (NTRS)

Gera, Joseph; Bosworth, John T.

1987-01-01

Novel flight test and analysis techniques in the flight dynamics and handling qualities area are described. These techniques were utilized at NASA Ames-Dryden during the initial flight envelope clearance of the X-29A aircraft. It is shown that the open-loop frequency response of an aircraft with highly relaxed static stability can be successfully computed on the ground from telemetry data. Postflight closed-loop frequency response data were obtained from pilot-generated frequency sweeps and it is found that the current handling quality requirements for high-maneuverability aircraft are generally applicable to the X-29A.

Relative position control design of receiver UAV in flying-boom aerial refueling phase.

PubMed

An, Shuai; Yuan, Suozhong

2018-02-01

This paper proposes the design of the relative position-keeping control of the receiver unmanned aerial vehicle (UAV) with the time-varying mass in the refueling phase utilizing an inner-outer loop structure. Firstly, the model of the receiver in the refueling phase is established. And then tank model is set up to analyze the influence of fuel transfer on the receiver. Subsequently, double power reaching law based sliding mode controller is designed to control receiver translational motion relative to tanker aircraft in the outer loop while active disturbance rejection control technique is applied to the inner loop to stabilize the receiver. In addition, the closed-loop stabilities of the subsystems are established, respectively. Finally, an aerial refueling model under various refueling strategies is utilized. Simulations and comparative analysis demonstrate the effectiveness and robustness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Does Mckuer's Law Hold for Heart Rate Control via Biofeedback Display?

NASA Technical Reports Server (NTRS)

Courter, B. J.; Jex, H. R.

1984-01-01

Some persons can control their pulse rate with the aid of a biofeedback display. If the biofeedback display is modified to show the error between a command pulse-rate and the measured rate, a compensatory (error correcting) heart rate tracking control loop can be created. The dynamic response characteristics of this control loop when subjected to step and quasi-random disturbances were measured. The control loop includes a beat-to-beat cardiotachmeter differenced with a forcing function from a quasi-random input generator; the resulting error pulse-rate is displayed as feedback. The subject acts to null the displayed pulse-rate error, thereby closing a compensatory control loop. McRuer's Law should hold for this case. A few subjects already skilled in voluntary pulse-rate control were tested for heart-rate control response. Control-law properties are derived, such as: crossover frequency, stability margins, and closed-loop bandwidth. These are evaluated for a range of forcing functions and for step as well as random disturbances.

Development of a Prototype Miniature Silicon Microgyroscope

PubMed Central

Xia, Dunzhu; Chen, Shuling; Wang, Shourong

2009-01-01

A miniature vacuum-packaged silicon microgyroscope (SMG) with symmetrical and decoupled structure was designed to prevent unintended coupling between drive and sense modes. To ensure high resonant stability and strong disturbance resisting capacity, a self-oscillating closed-loop circuit including an automatic gain control (AGC) loop based on electrostatic force feedback is adopted in drive mode, while, dual-channel decomposition and reconstruction closed loops are applied in sense mode. Moreover, the temperature effect on its zero bias was characterized experimentally and a practical compensation method is given. The testing results demonstrate that the useful signal and quadrature signal will not interact with each other because their phases are decoupled. Under a scale factor condition of 9.6 mV/°/s, in full measurement range of ± 300 deg/s, the zero bias stability reaches 15°/h with worse-case nonlinearity of 400 ppm, and the temperature variation trend of the SMG bias is thus largely eliminated, so that the maximum bias value is reduced to one tenth of the original after compensation from -40 °C to 80 °C. PMID:22408543

The design of delay-dependent wide-area DOFC with prescribed degree of stability α for damping inter-area low-frequency oscillations in power system.

PubMed

Sun, Miaoping; Nian, Xiaohong; Dai, Liqiong; Guo, Hua

2017-05-01

In this paper, the delay-dependent wide-area dynamic output feedback controller (DOFC) with prescribed degree of stability is proposed for interconnected power system to damp inter-area low-frequency oscillations. Here, the prescribed degree of stability α is used to maintain all the poles on the left of s=-α in the s-plane. Firstly, residue approach is adopted to select input-output control signals and the schur balanced truncation model reduction method is utilized to obtain the reduced power system model. Secondly, based on Lyapunov stability theory and transformation operation in complex plane, the sufficient condition of asymptotic stability for closed-loop power system with prescribed degree of stability α is derived. Then, a novel method based on linear matrix inequalities (LMIs) is presented to obtain the parameters of DOFC and calculate delay margin of the closed-loop system considering the prescribed degree of stability α. Finally, case studies are carried out on the two-area four-machine system, which is controlled by classical wide-area power system stabilizer (WAPSS) in reported reference and our proposed DOFC respectively. The effectiveness and advantages of the proposed method are verified by the simulation results under different operating conditions. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Environmental control system transducer development study. [for space shuttles

NASA Technical Reports Server (NTRS)

Brudnicki, M. J.

1974-01-01

A development test program of transducers for aerospace projects is described. Stability and performance of existing transducers, and improvements compatible with shuttle ECS requirements are investigated. These requirements incorporate design and development features into the transducers, and include the following: (1) improvement of overall transducer ruggedness and reliability; (2) common transducers for all ECS fluids that will be unaffected by long quiescent periods in the space environment, that will require no maintenance or refurbishing for at least 100 launches; and (3) appropriate self-check features that simplify checkout and maintenance. Models of three different transducers, a three-way valve for pressure transducers from closed liquid loops, surface-type platinum-wire resistance temperature sensors, and a nuclenics gaging system are evaluated. Tests and development improvements are described.

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

NASA Technical Reports Server (NTRS)

Burns, John A.; Kang, Sungkwon

1990-01-01

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

A study of digital gyro compensation loops. [data conversion routines and breadboard models

NASA Technical Reports Server (NTRS)

1975-01-01

The feasibility is discussed of replacing existing state-of-the-art analog gyro compensation loops with digital computations. This was accomplished by designing appropriate compensation loops for the dry turned TDF gyro, selecting appropriate data conversion and processing techniques and algorithms, and breadboarding the design for laboratory evaluation. A breadboard design was established in which one axis of a Teledyne turned-gimbal TDF gyro was caged digitally while the other was caged using conventional analog electronics. The digital loop was designed analytically to closely resemble the analog loop in performance. The breadboard was subjected to various static and dynamic tests in order to establish the relative stability characteristics and frequency responses of the digital and analog loops. Several variations of the digital loop configuration were evaluated. The results were favorable.

Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification.

PubMed

Bagherpoor, H M; Salmasi, Farzad R

2015-07-01

In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Creating stable stem regions for loop elongation in Fcabs — Insights from combining yeast surface display, in silico loop reconstruction and molecular dynamics simulations

PubMed Central

Hasenhindl, Christoph; Lai, Balder; Delgado, Javier; Traxlmayr, Michael W.; Stadlmayr, Gerhard; Rüker, Florian; Serrano, Luis; Oostenbrink, Chris; Obinger, Christian

2014-01-01

Fcabs (Fc antigen binding) are crystallizable fragments of IgG where the C-terminal structural loops of the CH3 domain are engineered for antigen binding. For the design of libraries it is beneficial to know positions that will permit loop elongation to increase the potential interaction surface with antigen. However, the insertion of additional loop residues might impair the immunoglobulin fold. In the present work we have probed whether stabilizing mutations flanking the randomized and elongated loop region improve the quality of Fcab libraries. In detail, 13 libraries were constructed having the C-terminal part of the EF loop randomized and carrying additional residues (1, 2, 3, 5 or 10, respectively) in the absence and presence of two flanking mutations. The latter have been demonstrated to increase the thermal stability of the CH3 domain of the respective solubly expressed proteins. Assessment of the stability of the libraries expressed on the surface of yeast cells by flow cytometry demonstrated that loop elongation was considerably better tolerated in the stabilized libraries. By using in silico loop reconstruction and mimicking randomization together with MD simulations the underlying molecular dynamics were investigated. In the presence of stabilizing stem residues the backbone flexibility of the engineered EF loop as well as the fluctuation between its accessible conformations were decreased. In addition the CD loop (but not the AB loop) and most of the framework regions were rigidified. The obtained data are discussed with respect to the design of Fcabs and available data on the relation between flexibility and affinity of CDR loops in Ig-like molecules. PMID:24792385

Creating stable stem regions for loop elongation in Fcabs - insights from combining yeast surface display, in silico loop reconstruction and molecular dynamics simulations.

PubMed

Hasenhindl, Christoph; Lai, Balder; Delgado, Javier; Traxlmayr, Michael W; Stadlmayr, Gerhard; Rüker, Florian; Serrano, Luis; Oostenbrink, Chris; Obinger, Christian

2014-09-01

Fcabs (Fc antigen binding) are crystallizable fragments of IgG where the C-terminal structural loops of the CH3 domain are engineered for antigen binding. For the design of libraries it is beneficial to know positions that will permit loop elongation to increase the potential interaction surface with antigen. However, the insertion of additional loop residues might impair the immunoglobulin fold. In the present work we have probed whether stabilizing mutations flanking the randomized and elongated loop region improve the quality of Fcab libraries. In detail, 13 libraries were constructed having the C-terminal part of the EF loop randomized and carrying additional residues (1, 2, 3, 5 or 10, respectively) in the absence and presence of two flanking mutations. The latter have been demonstrated to increase the thermal stability of the CH3 domain of the respective solubly expressed proteins. Assessment of the stability of the libraries expressed on the surface of yeast cells by flow cytometry demonstrated that loop elongation was considerably better tolerated in the stabilized libraries. By using in silico loop reconstruction and mimicking randomization together with MD simulations the underlying molecular dynamics were investigated. In the presence of stabilizing stem residues the backbone flexibility of the engineered EF loop as well as the fluctuation between its accessible conformations were decreased. In addition the CD loop (but not the AB loop) and most of the framework regions were rigidified. The obtained data are discussed with respect to the design of Fcabs and available data on the relation between flexibility and affinity of CDR loops in Ig-like molecules. Copyright © 2014. Published by Elsevier B.V.

Glucose-responsive microgels integrated with enzyme nanocapsules for closed-loop insulin delivery.

PubMed

Gu, Zhen; Dang, Tram T; Ma, Minglin; Tang, Benjamin C; Cheng, Hao; Jiang, Shan; Dong, Yizhou; Zhang, Yunlong; Anderson, Daniel G

2013-08-27

A glucose-responsive closed-loop insulin delivery system represents the ideal treatment of type 1 diabetes mellitus. In this study, we develop uniform injectable microgels for controlled glucose-responsive release of insulin. Monodisperse microgels (256 ± 18 μm), consisting of a pH-responsive chitosan matrix, enzyme nanocapsules, and recombinant human insulin, were fabricated through a one-step electrospray procedure. Glucose-specific enzymes were covalently encapsulated into the nanocapsules to improve enzymatic stability by protecting from denaturation and immunogenicity as well as to minimize loss due to diffusion from the matrix. The microgel system swelled when subjected to hyperglycemic conditions, as a result of the enzymatic conversion of glucose into gluconic acid and protonation of the chitosan network. Acting as a self-regulating valve system, microgels were adjusted to release insulin at basal release rates under normoglycemic conditions and at higher rates under hyperglycemic conditions. Finally, we demonstrated that these microgels with enzyme nanocapsules facilitate insulin release and result in a reduction of blood glucose levels in a mouse model of type 1 diabetes.

The development of a closed-loop flight controller with panel method integration for gust alleviation using biomimetic feathers on aircraft wings

NASA Astrophysics Data System (ADS)

Blower, Christopher J.; Lee, Woody; Wickenheiser, Adam M.

2012-04-01

This paper presents the development of a biomimetic closed-loop flight controller that integrates gust alleviation and flight control into a single distributed system. Modern flight controllers predominantly rely on and respond to perturbations in the global states, resulting in rotation or displacement of the entire aircraft prior to the response. This bio-inspired gust alleviation system (GAS) employs active deflection of electromechanical feathers that react to changes in the airflow, i.e. the local states. The GAS design is a skeletal wing structure with a network of featherlike panels installed on the wing's surfaces, creating the airfoil profile and replacing the trailing-edge flaps. In this study, a dynamic model of the GAS-integrated wing is simulated to compute gust-induced disturbances. The system implements continuous adjustment to flap orientation to perform corrective responses to inbound gusts. MATLAB simulations, using a closed-loop LQR integrated with a 2D adaptive panel method, allow analysis of the morphing structure's aerodynamic data. Non-linear and linear dynamic models of the GAS are compared to a traditional single control surface baseline wing. The feedback loops synthesized rely on inertial changes in the global states; however, variations in number and location of feather actuation are compared. The bio-inspired system's distributed control effort allows the flight controller to interchange between the single and dual trailing edge flap profiles, thereby offering an improved efficiency to gust response in comparison to the traditional wing configuration. The introduction of aero-braking during continuous gusting flows offers a 25% reduction in x-velocity deviation; other flight parameters can be reduced in magnitude and deviation through control weighting optimization. Consequently, the GAS demonstrates enhancements to maneuverability and stability in turbulent intensive environments.

Disaggregating Assessment to Close the Loop and Improve Student Learning

ERIC Educational Resources Information Center

Rawls, Janita; Hammons, Stacy

2015-01-01

This study examined student learning outcomes for accelerated degree students as compared to conventional undergraduate students, disaggregated by class levels, to develop strategies for then closing the loop with assessment. Using the National Survey of Student Engagement, critical thinking and oral and written communication outcomes were…

Simulating closed- and open-loop voluntary movement: a nonlinear control-systems approach.

PubMed

Davidson, Paul R; Jones, Richard D; Andreae, John H; Sirisena, Harsha R

2002-11-01

In many recent human motor control models, including feedback-error learning and adaptive model theory (AMT), feedback control is used to correct errors while an inverse model is simultaneously tuned to provide accurate feedforward control. This popular and appealing hypothesis, based on a combination of psychophysical observations and engineering considerations, predicts that once the tuning of the inverse model is complete the role of feedback control is limited to the correction of disturbances. This hypothesis was tested by looking at the open-loop behavior of the human motor system during adaptation. An experiment was carried out involving 20 normal adult subjects who learned a novel visuomotor relationship on a pursuit tracking task with a steering wheel for input. During learning, the response cursor was periodically blanked, removing all feedback about the external system (i.e., about the relationship between hand motion and response cursor motion). Open-loop behavior was not consistent with a progressive transfer from closed- to open-loop control. Our recently developed computational model of the brain--a novel nonlinear implementation of AMT--was able to reproduce the observed closed- and open-loop results. In contrast, other control-systems models exhibited only minimal feedback control following adaptation, leading to incorrect open-loop behavior. This is because our model continues to use feedback to control slow movements after adaptation is complete. This behavior enhances the internal stability of the inverse model. In summary, our computational model is currently the only motor control model able to accurately simulate the closed- and open-loop characteristics of the experimental response trajectories.

A combined-slip predictive control of vehicle stability with experimental verification

NASA Astrophysics Data System (ADS)

Jalali, Milad; Hashemi, Ehsan; Khajepour, Amir; Chen, Shih-ken; Litkouhi, Bakhtiar

2018-02-01

In this paper, a model predictive vehicle stability controller is designed based on a combined-slip LuGre tyre model. Variations in the lateral tyre forces due to changes in tyre slip ratios are considered in the prediction model of the controller. It is observed that the proposed combined-slip controller takes advantage of the more accurate tyre model and can adjust tyre slip ratios based on lateral forces of the front axle. This results in an interesting closed-loop response that challenges the notion of braking only the wheels on one side of the vehicle in differential braking. The performance of the proposed controller is evaluated in software simulations and is compared to a similar pure-slip controller. Furthermore, experimental tests are conducted on a rear-wheel drive electric Chevrolet Equinox equipped with differential brakes to evaluate the closed-loop response of the model predictive control controller.

A novel guidance law using fast terminal sliding mode control with impact angle constraints.

PubMed

Sun, Lianghua; Wang, Weihong; Yi, Ran; Xiong, Shaofeng

2016-09-01

This paper is concerned with the question of, for a missile interception with impact angle constraints, how to design a guidance law. Firstly, missile interception with impact angle constraints is modeled; secondly, a novel guidance law using fast terminal sliding mode control based on extended state observer is proposed to optimize the trajectory and time of interception; finally, for stationary targets, constant velocity targets and maneuvering targets, the guidance law and the stability of the closed loop system is analyzed and the stability of the closed loop system is analyzed, respectively. Simulation results show that when missile and target are on a collision course, the novel guidance law using fast terminal sliding mode control with extended state observer has more optimized trajectory and effectively reduces the time of interception which has a great significance in modern warfare. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Feedback module for evaluating optical-power stabilization methods

NASA Astrophysics Data System (ADS)

Downing, John

2016-03-01

A feedback module for evaluating the efficacy of optical-power stabilization without thermoelectric coolers (TECs) is described. The module comprises a pickoff optic for sampling a light beam, a photodiode for converting the sample power to electrical current, and a temperature sensor. The components are mounted on an optical bench that makes accurate (0.05°) beam alignment practical as well as providing high thermal-conductivity among the components. The module can be mounted on existing light sources or the components can be incorporated in new designs. Evaluations of optical and electronic stabilization methods are also reported. The optical method combines a novel, weakly reflective, weakly polarizing coating on the pickoff optic with a photodiode and an automatic-power-control (APC) circuit in a closed loop. The shift of emitter wavelength with temperature, coupled with the wavelength-dependent reflectance of the pickoff optic, enable the APC circuit to compensate for temperature errors. In the electronic method, a mixed-signal processor in a quasiclosed loop generates a control signal from temperature and photocurrent inputs and feeds it back to an APC circuit to compensate for temperature errors. These methods result in temperature coefficients less than 20 ppm/°C and relative rms power equal to 05% for the optical method and 0.02% for the electronic method. The later value represents an order of magnitude improvement over rms specifications for cooled, laser-diode modules and a five-fold improvement in wall-plug efficiency is achieved by eliminating TECs.

Optical frequency locked loop for long-term stabilization of broad-line DFB laser frequency difference

NASA Astrophysics Data System (ADS)

Lipka, Michał; Parniak, Michał; Wasilewski, Wojciech

2017-09-01

We present an experimental realization of the optical frequency locked loop applied to long-term frequency difference stabilization of broad-line DFB lasers along with a new independent method to characterize relative phase fluctuations of two lasers. The presented design is based on a fast photodiode matched with an integrated phase-frequency detector chip. The locking setup is digitally tunable in real time, insensitive to environmental perturbations and compatible with commercially available laser current control modules. We present a simple model and a quick method to optimize the loop for a given hardware relying exclusively on simple measurements in time domain. Step response of the system as well as phase characteristics closely agree with the theoretical model. Finally, frequency stabilization for offsets within 4-15 GHz working range achieving <0.1 Hz long-term stability of the beat note frequency for 500 s averaging time period is demonstrated. For these measurements we employ an I/Q mixer that allows us to precisely and independently measure the full phase trace of the beat note signal.

Analyses of Shuttle Orbiter approach and landing

NASA Technical Reports Server (NTRS)

Ashkenas, I. L.; Hoh, R. H.; Teper, G. L.

1982-01-01

A study of the Shuttle Orbiter approach and landing conditions is summarized. The causes of observed PIO-like flight deficiencies are listed, and possible corrective measures are examined. Closed-loop pilot/vehicle analyses are described, and a description is given of path-attitude stability boundaries. The latter novel approach is found to be of great value in delineating and illustrating the basic causes of this multiloop pilot control problem. It is shown that the analytical results are consistent with flight test and fixed-base simulation. Conclusions are drawn concerning possible improvements in the Shuttle Orbiter/Digital Flight Control System.

Hybrid Control for Multi-Agent Systems in Complex Sensing Environments

DTIC Science & Technology

2012-02-28

controllers , the overall closed-loop system is time -varying but can potentially exhibit better stability and performance... system is time -varying and yet, once 4 feedback-interconnected with a suitable controller , it can potentially yield better stability and performance...resolution Sensing, Control and Switched Systems 13 4 Metric-Based Receding Horizon Control 14 5 Decentralized Control and Finite Wordlength Channels 15

Closed-loop regulation of arterial pressure after acute brain death.

PubMed

Soltesz, Kristian; Sjöberg, Trygve; Jansson, Tomas; Johansson, Rolf; Robertsson, Anders; Paskevicius, Audrius; Liao, Quiming; Qin, Guangqi; Steen, Stig

2018-06-01

The purpose of this concept study was to investigate the possibility of automatic mean arterial pressure (MAP) regulation in a porcine heart-beating brain death (BD) model. Hemodynamic stability of BD donors is necessary for maintaining acceptable quality of donated organs for transplantation. Manual stabilization is challenging, due to the lack of vasomotor function in BD donors. Closed-loop stabilization therefore has the potential of increasing availability of acceptable donor organs, and serves to indicate feasibility within less demanding patient groups. A dynamic model of nitroglycerine pharmacology, suitable for controller synthesis, was identified from an experiment involving an anesthetized pig, using a gradient-based output error method. The model was used to synthesize a robust PID controller for hypertension prevention, evaluated in a second experiment, on a second, brain dead, pig. Hypotension was simultaneously prevented using closed-loop controlled infusion of noradrenaline, by means of a previously published controller. A linear model of low order, with variable (uncertain) gain, was sufficient to describe the dynamics to be controlled. The robustly tuned PID controller utilized in the second experiment kept the MAP within a user-defined range. The system was able to prevent hypertension, exceeding a reference of 100 mmHg by more than 10%, during 98% of a 12 h experiment. This early work demonstrates feasibility of the investigated modelling and control synthesis approach, for the purpose of maintaining normotension in a porcine BD model. There remains a need to characterize individual variability, in order to ensure robust performance over the expected population.

Passivity-Based Control for Two-Wheeled Robot Stabilization

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

A study of a steering system algorithm for pleasure boats based on stability analysis of a human-machine system model

NASA Astrophysics Data System (ADS)

Ikeda, Fujio; Toyama, Shigehiro; Ishiduki, Souta; Seta, Hiroaki

2016-09-01

Maritime accidents of small ships continue to increase in number. One of the major factors is poor manoeuvrability of the Manual Hydraulic Steering Mechanism (MHSM) in common use. The manoeuvrability can be improved by using the Electronic Control Steering Mechanism (ECSM). This paper conducts stability analyses of a pleasure boat controlled by human models in view of path following on a target course, in order to establish design guidelines for the ECSM. First, to analyse the stability region, the research derives the linear approximated model in a planar global coordinate system. Then, several human models are assumed to develop closed-loop human-machine controlled systems. These human models include basic proportional, derivative, integral and time-delay actions. The stability analysis simulations for those human-machine systems are carried out. The results show that the stability region tends to spread as a ship's velocity increases in the case of the basic proportional human model. The derivative action and time-delay action of human models are effective in spreading the stability region in their respective ranges of frontal gazing points.

Control of a 30 cm diameter mercury bombardment thruster

NASA Technical Reports Server (NTRS)

Terdan, F. F.; Bechtel, R. T.

1973-01-01

Increased thruster performance has made closed-loop automatic control more difficult than previously. Specifically, high perveance optics tend to make reliable recycling more difficult. Control logic functions were established for three automatic modes of operation of a 30-cm thruster using a power conditioner console with flight-like characteristics. The three modes provide (1) automatic startup to reach thermal stability, (2) steady-state closed-loop control, and (3) the reliable recycling of the high voltages following an arc breakdown to reestablish normal operation. Power supply impedance characteristics necessary for stable operation and the effect of the magnetic baffle on the reliable recycling was studied.

Home Use of Day-and-Night Hybrid Closed-Loop Insulin Delivery in Suboptimally Controlled Adolescents With Type 1 Diabetes: A 3-Week, Free-Living, Randomized Crossover Trial.

PubMed

Tauschmann, Martin; Allen, Janet M; Wilinska, Malgorzata E; Thabit, Hood; Acerini, Carlo L; Dunger, David B; Hovorka, Roman

2016-11-01

This study evaluated the feasibility, safety, and efficacy of day-and-night hybrid closed-loop insulin delivery in adolescents with type 1 diabetes under free-living conditions. In an open-label randomized crossover study, 12 suboptimally controlled adolescents on insulin pump therapy (mean ± SD age 14.6 ± 3.1 years; HbA 1c 69 ± 8 mmol/mol [8.5 ± 0.7%]; duration of diabetes 7.8 ± 3.5 years) underwent two 21-day periods in which hybrid closed-loop insulin delivery was compared with sensor-augmented insulin pump therapy in random order. During the closed-loop intervention, a model predictive algorithm automatically directed insulin delivery between meals and overnight. Participants used a bolus calculator to administer prandial boluses. The proportion of time that sensor glucose was in the target range (3.9-10 mmol/L; primary end point) was increased during the closed-loop intervention compared with sensor-augmented insulin pump therapy by 18.8 ± 9.8 percentage points (mean ± SD; P < 0.001), the mean sensor glucose level was reduced by 1.8 ± 1.3 mmol/L (P = 0.001), and the time spent above target was reduced by 19.3 ± 11.3 percentage points (P < 0.001). The time spent with sensor glucose levels below 3.9 mmol/L was low and comparable between interventions (median difference 0.4 [interquartile range -2.2 to 1.3] percentage points; P = 0.33). Improved glucose control during closed-loop was associated with increased variability of basal insulin delivery (P < 0.001) and an increase in the total daily insulin dose (53.5 [39.5-72.1] vs. 51.5 [37.6-64.3] units/day; P = 0.006). Participants expressed positive attitudes and experience with the closed-loop system. Free-living home use of day-and-night closed-loop in suboptimally controlled adolescents with type 1 diabetes is safe, feasible, and improves glucose control without increasing the risk of hypoglycemia. Larger and longer studies are warranted. © 2016 by the American Diabetes Association.

Closing the Feedback Loop: Ensuring Effective Action from Student Feedback

ERIC Educational Resources Information Center

Watson, Sarah

2003-01-01

Feedback from students can inform improvement in higher education institutions and be part of the students' role in university management. To be effective it is important to"close the loop": from student views, through identifying issues and delegating responsibility for action, to informing students of the action resulting from their expressed…

Modeling and Compensation Design for a Power Hardware-in-the-Loop Simulation of an AC Distribution System

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

Ainsworth, Nathan; Hariri, Ali; Prabakar, Kumaraguru

Power hardware-in-the-loop (PHIL) simulation, where actual hardware under text is coupled with a real-time digital model in closed loop, is a powerful tool for analyzing new methods of control for emerging distributed power systems. However, without careful design and compensation of the interface between the simulated and actual systems, PHIL simulations may exhibit instability and modeling inaccuracies. This paper addresses issues that arise in the PHIL simulation of a hardware battery inverter interfaced with a simulated distribution feeder. Both the stability and accuracy issues are modeled and characterized, and a methodology for design of PHIL interface compensation to ensure stabilitymore » and accuracy is presented. The stability and accuracy of the resulting compensated PHIL simulation is then shown by experiment.« less

Modeling and Compensation Design for a Power Hardware-in-the-Loop Simulation of an AC Distribution System: Preprint

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

Prabakar, Kumaraguru; Ainsworth, Nathan; Pratt, Annabelle

Power hardware-in-the-loop (PHIL) simulation, where actual hardware under text is coupled with a real-time digital model in closed loop, is a powerful tool for analyzing new methods of control for emerging distributed power systems. However, without careful design and compensation of the interface between the simulated and actual systems, PHIL simulations may exhibit instability and modeling inaccuracies. This paper addresses issues that arise in the PHIL simulation of a hardware battery inverter interfaced with a simulated distribution feeder. Both the stability and accuracy issues are modeled and characterized, and a methodology for design of PHIL interface compensation to ensure stabilitymore » and accuracy is presented. The stability and accuracy of the resulting compensated PHIL simulation is then shown by experiment.« less

Structural consequences of cutting a binding loop: two circularly permuted variants of streptavidin

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

Le Trong, Isolde; University of Washington, Box 357742, Seattle, WA 98195-7742; Chu, Vano

2013-06-01

The crystal structures of two circularly permuted streptavidins probe the role of a flexible loop in the tight binding of biotin. Molecular-dynamics calculations for one of the mutants suggests that increased fluctuations in a hydrogen bond between the protein and biotin are associated with cleavage of the binding loop. Circular permutation of streptavidin was carried out in order to investigate the role of a main-chain amide in stabilizing the high-affinity complex of the protein and biotin. Mutant proteins CP49/48 and CP50/49 were constructed to place new N-termini at residues 49 and 50 in a flexible loop involved in stabilizing themore » biotin complex. Crystal structures of the two mutants show that half of each loop closes over the binding site, as observed in wild-type streptavidin, while the other half adopts the open conformation found in the unliganded state. The structures are consistent with kinetic and thermodynamic data and indicate that the loop plays a role in enthalpic stabilization of the bound state via the Asn49 amide–biotin hydrogen bond. In wild-type streptavidin, the entropic penalties of immobilizing a flexible portion of the protein to enhance binding are kept to a manageable level by using a contiguous loop of medium length (six residues) which is already constrained by its anchorage to strands of the β-barrel protein. A molecular-dynamics simulation for CP50/49 shows that cleavage of the binding loop results in increased structural fluctuations for Ser45 and that these fluctuations destabilize the streptavidin–biotin complex.« less

Structural features of the DNA hairpin d(ATCCTA-GTTA-TAGGAT): formation of a G-A base pair in the loop.

PubMed Central

van Dongen, M J; Mooren, M M; Willems, E F; van der Marel, G A; van Boom, J H; Wijmenga, S S; Hilbers, C W

1997-01-01

The three-dimensional structure of the hairpin formed by d(ATCCTA-GTTA-TAGGAT) has been determined by means of two-dimensional NMR studies, distance geometry and molecular dynamics calculations. The first and the last residues of the tetraloop of this hairpin form a sheared G-A base pair on top of the six Watson-Crick base pairs in the stem. The glycosidic torsion angles of the guanine and adenine residues in the G-A base pair reside in the anti and high- anti domain ( approximately -60 degrees ) respectively. Several dihedral angles in the loop adopt non-standard values to accommodate this base pair. The first and second residue in the loop are stacked in a more or less normal helical fashion; the fourth loop residue also stacks upon the stem, while the third residue is directed away from the loop region. The loop structure can be classified as a so-called type-I loop, in which the bases at the 5'-end of the loop stack in a continuous fashion. In this situation, loop stability is unlikely to depend heavily on the nature of the unpaired bases in the loop. Moreover, the present study indicates that the influence of the polarity of a closing A.T pair is much less significant than that of a closing C.G base pair. PMID:9092659

A new approach to the CZ crystal growth weighing control

NASA Astrophysics Data System (ADS)

Kasimkin, P. V.; Moskovskih, V. A.; Vasiliev, Y. V.; Shlegel, V. N.; Yuferev, V. S.; Vasiliev, M. G.; Zhdankov, V. N.

2014-03-01

The aim of a new approach was to improve the robustness of the weighing control of CZ growth especially for semiconductors, for which the “anomalous“ behavior of the apparent weight provokes instability of the servo-loop. In the described method, the periodic reciprocating measuring motion of small amplitude is superposed on the uniform pull-rod movement. The cross-sectional area is determined from the weight sensor responses that are modulated mainly by the forces of hydrostatic pressure. By the example of germanium crystal growth, it is shown that in the control system, based on such a way of the diameter measuring, a simple PI control law provides a good close loop system's stability and dynamics for the materials with the “anomalous” behavior of a weighing signal. The effect of a meniscus on the modulation measuring of a crystal diameter is also discussed.

A family of asymptotically stable control laws for flexible robots based on a passivity approach

NASA Technical Reports Server (NTRS)

Lanari, Leonardo; Wen, John T.

1991-01-01

A general family of asymptotically stabilizing control laws is introduced for a class of nonlinear Hamiltonian systems. The inherent passivity property of this class of systems and the Passivity Theorem are used to show the closed-loop input/output stability which is then related to the internal state space stability through the stabilizability and detectability condition. Applications of these results include fully actuated robots, flexible joint robots, and robots with link flexibility.

Improved Speech Coding Based on Open-Loop Parameter Estimation

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Chen, Ya-Chin; Longman, Richard W.

2000-01-01

A nonlinear optimization algorithm for linear predictive speech coding was developed early that not only optimizes the linear model coefficients for the open loop predictor, but does the optimization including the effects of quantization of the transmitted residual. It also simultaneously optimizes the quantization levels used for each speech segment. In this paper, we present an improved method for initialization of this nonlinear algorithm, and demonstrate substantial improvements in performance. In addition, the new procedure produces monotonically improving speech quality with increasing numbers of bits used in the transmitted error residual. Examples of speech encoding and decoding are given for 8 speech segments and signal to noise levels as high as 47 dB are produced. As in typical linear predictive coding, the optimization is done on the open loop speech analysis model. Here we demonstrate that minimizing the error of the closed loop speech reconstruction, instead of the simpler open loop optimization, is likely to produce negligible improvement in speech quality. The examples suggest that the algorithm here is close to giving the best performance obtainable from a linear model, for the chosen order with the chosen number of bits for the codebook.

Eigenspace techniques for active flutter suppression

NASA Technical Reports Server (NTRS)

Garrard, William L.; Liebst, Bradley S.; Farm, Jerome A.

1987-01-01

The use of eigenspace techniques for the design of an active flutter suppression system for a hypothetical research drone is discussed. One leading edge and two trailing edge aerodynamic control surfaces and four sensors (accelerometers) are available for each wing. Full state control laws are designed by selecting feedback gains which place closed loop eigenvalues and shape closed loop eigenvectors so as to stabilize wing flutter and reduce gust loads at the wing root while yielding accepatable robustness and satisfying constrains on rms control surface activity. These controllers are realized by state estimators designed using an eigenvalue placement/eigenvector shaping technique which results in recovery of the full state loop transfer characteristics. The resulting feedback compensators are shown to perform almost as well as the full state designs. They also exhibit acceptable performance in situations in which the failure of an actuator is simulated.

Analytical solutions to optimal underactuated spacecraft formation reconfiguration

NASA Astrophysics Data System (ADS)

Huang, Xu; Yan, Ye; Zhou, Yang

2015-11-01

Underactuated systems can generally be defined as systems with fewer number of control inputs than that of the degrees of freedom to be controlled. In this paper, analytical solutions to optimal underactuated spacecraft formation reconfiguration without either the radial or the in-track control are derived. By using a linear dynamical model of underactuated spacecraft formation in circular orbits, controllability analysis is conducted for either underactuated case. Indirect optimization methods based on the minimum principle are then introduced to generate analytical solutions to optimal open-loop underactuated reconfiguration problems. Both fixed and free final conditions constraints are considered for either underactuated case and comparisons between these two final conditions indicate that the optimal control strategies with free final conditions require less control efforts than those with the fixed ones. Meanwhile, closed-loop adaptive sliding mode controllers for both underactuated cases are designed to guarantee optimal trajectory tracking in the presence of unmatched external perturbations, linearization errors, and system uncertainties. The adaptation laws are designed via a Lyapunov-based method to ensure the overall stability of the closed-loop system. The explicit expressions of the terminal convergent regions of each system states have also been obtained. Numerical simulations demonstrate the validity and feasibility of the proposed open-loop and closed-loop control schemes for optimal underactuated spacecraft formation reconfiguration in circular orbits.

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

NASA Technical Reports Server (NTRS)

Ng, P. T. P.

1981-01-01

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

Improving the Critic Learning for Event-Based Nonlinear $H_{\\infty }$ Control Design.

PubMed

Wang, Ding; He, Haibo; Liu, Derong

2017-10-01

In this paper, we aim at improving the critic learning criterion to cope with the event-based nonlinear H ∞ state feedback control design. First of all, the H ∞ control problem is regarded as a two-player zero-sum game and the adaptive critic mechanism is used to achieve the minimax optimization under event-based environment. Then, based on an improved updating rule, the event-based optimal control law and the time-based worst-case disturbance law are obtained approximately by training a single critic neural network. The initial stabilizing control is no longer required during the implementation process of the new algorithm. Next, the closed-loop system is formulated as an impulsive model and its stability issue is handled by incorporating the improved learning criterion. The infamous Zeno behavior of the present event-based design is also avoided through theoretical analysis on the lower bound of the minimal intersample time. Finally, the applications to an aircraft dynamics and a robot arm plant are carried out to verify the efficient performance of the present novel design method.

Plasticity of 150-loop in influenza neuraminidase explored by Hamiltonian replica exchange molecular dynamics simulations.

PubMed

Han, Nanyu; Mu, Yuguang

2013-01-01

Neuraminidase (NA) of influenza is a key target for antiviral inhibitors, and the 150-cavity in group-1 NA provides new insight in treating this disease. However, NA of 2009 pandemic influenza (09N1) was found lacking this cavity in a crystal structure. To address the issue of flexibility of the 150-loop, Hamiltonian replica exchange molecular dynamics simulations were performed on different groups of NAs. Free energy landscape calculated based on the volume of 150-cavity indicates that 09N1 prefers open forms of 150-loop. The turn A (residues 147-150) of the 150-loop is discovered as the most dynamical motif which induces the inter-conversion of this loop among different conformations. In the turn A, the backbone dynamic of residue 149 is highly related with the shape of 150-loop, thus can function as a marker for the conformation of 150-loop. As a contrast, the closed conformation of 150-loop is more energetically favorable in N2, one of group-2 NAs. The D147-H150 salt bridge is found having no correlation with the conformation of 150-loop. Instead the intimate salt bridge interaction between the 150 and 430 loops in N2 variant contributes the stabilizing factor for the closed form of 150-loop. The clustering analysis elaborates the structural plasticity of the loop. This enhanced sampling simulation provides more information in further structural-based drug discovery on influenza virus.

Plasticity of 150-Loop in Influenza Neuraminidase Explored by Hamiltonian Replica Exchange Molecular Dynamics Simulations

PubMed Central

Han, Nanyu; Mu, Yuguang

2013-01-01

Neuraminidase (NA) of influenza is a key target for antiviral inhibitors, and the 150-cavity in group-1 NA provides new insight in treating this disease. However, NA of 2009 pandemic influenza (09N1) was found lacking this cavity in a crystal structure. To address the issue of flexibility of the 150-loop, Hamiltonian replica exchange molecular dynamics simulations were performed on different groups of NAs. Free energy landscape calculated based on the volume of 150-cavity indicates that 09N1 prefers open forms of 150-loop. The turn A (residues 147–150) of the 150-loop is discovered as the most dynamical motif which induces the inter-conversion of this loop among different conformations. In the turn A, the backbone dynamic of residue 149 is highly related with the shape of 150-loop, thus can function as a marker for the conformation of 150-loop. As a contrast, the closed conformation of 150-loop is more energetically favorable in N2, one of group-2 NAs. The D147-H150 salt bridge is found having no correlation with the conformation of 150-loop. Instead the intimate salt bridge interaction between the 150 and 430 loops in N2 variant contributes the stabilizing factor for the closed form of 150-loop. The clustering analysis elaborates the structural plasticity of the loop. This enhanced sampling simulation provides more information in further structural-based drug discovery on influenza virus. PMID:23593372

An ecologically-controlled exoskeleton can improve balance recovery after slippage

NASA Astrophysics Data System (ADS)

Monaco, V.; Tropea, P.; Aprigliano, F.; Martelli, D.; Parri, A.; Cortese, M.; Molino-Lova, R.; Vitiello, N.; Micera, S.

2017-05-01

The evolution to bipedalism forced humans to develop suitable strategies for dynamically controlling their balance, ensuring stability, and preventing falling. The natural aging process and traumatic events such as lower-limb loss can alter the human ability to control stability significantly increasing the risk of fall and reducing the overall autonomy. Accordingly, there is an urgent need, from both end-users and society, for novel solutions that can counteract the lack of balance, thus preventing falls among older and fragile citizens. In this study, we show a novel ecological approach relying on a wearable robotic device (the Active Pelvis Orthosis, APO) aimed at facilitating balance recovery after unexpected slippages. Specifically, if the APO detects signs of balance loss, then it supplies counteracting torques at the hips to assist balance recovery. Experimental tests conducted on eight elderly persons and two transfemoral amputees revealed that stability against falls improved due to the “assisting when needed” behavior of the APO. Interestingly, our approach required a very limited personalization for each subject, and this makes it promising for real-life applications. Our findings demonstrate the potential of closed-loop controlled wearable robots to assist elderly and disabled subjects and to improve their quality of life.

Backstepping Design of Adaptive Neural Fault-Tolerant Control for MIMO Nonlinear Systems.

PubMed

Gao, Hui; Song, Yongduan; Wen, Changyun

In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in . In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.

Non-linear control of a hydraulic piezo-valve using a generalised Prandtl-Ishlinskii hysteresis model

NASA Astrophysics Data System (ADS)

Stefanski, Frederik; Minorowicz, Bartosz; Persson, Johan; Plummer, Andrew; Bowen, Chris

2017-01-01

The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalised Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.

Robust Control Systems.

DTIC Science & Technology

1981-12-01

time control system algorithms that will perform adequately (i.e., at least maintain closed-loop system stability) when ucertain parameters in the...system design models vary significantly. Such a control algorithm is said to have stability robustness-or more simply is said to be "robust". This...cas6s above, the performance is analyzed using a covariance analysis. The development of all the controllers and the performance analysis algorithms is

Development of a Comprehensive Digital Avionics Curriculum for the Aeronautical Engineer

DTIC Science & Technology

2006-03-01

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

H∞ output tracking control of discrete-time nonlinear systems via standard neural network models.

PubMed

Liu, Meiqin; Zhang, Senlin; Chen, Haiyang; Sheng, Weihua

2014-10-01

This brief proposes an output tracking control for a class of discrete-time nonlinear systems with disturbances. A standard neural network model is used to represent discrete-time nonlinear systems whose nonlinearity satisfies the sector conditions. H∞ control performance for the closed-loop system including the standard neural network model, the reference model, and state feedback controller is analyzed using Lyapunov-Krasovskii stability theorem and linear matrix inequality (LMI) approach. The H∞ controller, of which the parameters are obtained by solving LMIs, guarantees that the output of the closed-loop system closely tracks the output of a given reference model well, and reduces the influence of disturbances on the tracking error. Three numerical examples are provided to show the effectiveness of the proposed H∞ output tracking design approach.

The impact of closed-loop electronic medication management on time to first dose: a comparative study between paper and digital hospital environments.

PubMed

Austin, Jodie A; Smith, Ian R; Tariq, Amina

2018-01-22

Closed-loop electronic medication management systems (EMMS) are recognised as an effective intervention to improve medication safety, yet evidence of their effectiveness in hospitals is limited. Few studies have compared medication turnaround time for a closed-loop electronic versus paper-based medication management environment. To compare medication turnaround times in a paper-based hospital environment with a digital hospital equipped with a closed-loop EMMS, consisting of computerised physician order entry, profiled automated dispensing cabinets packaged with unit dose medications and barcode medication administration. Data were collected during 2 weeks at three private hospital sites (one with closed-loop EMMS) within the same organisation network in Queensland, Australia. Time between scheduled and actual administration times was analysed for first dose of time-critical and non-critical medications located on the ward or sourced via pharmacy. Medication turnaround times at the EMMS site were less compared to the paper-based sites (median, IQR: 35 min, 8-57 min versus 120 min, 30-180 min, P < 0.001). For time-critical medications, 77% were administered within 60 min of scheduled time at the EMMS site versus 38% for the paper-based sites. Similar difference was observed for non-critical medications, 80% were administered within 60 min of their scheduled time at the EMMS site versus 41% at the paper-based facilities. The study indicates medication turnaround times utilising a closed-loop EMMS are less compared to paper-based systems. This improvement may be attributable to increased accessibility of medications using automated dispensing cabinets and electronic medication administration records flagging tasks to nurses in real time. © 2018 Royal Pharmaceutical Society.

Closed Loop Short Rotation Woody Biomass Energy Crops

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

Brower, Michael

CRC Development LLC is pursuing commercialization of shrub willow crops to evaluate and confirm estimates of yield, harvesting, transportation and renewable energy conversion costs and to provide a diverse resource in its supply portfolio.The goal of Closed Loop Short Rotation Woody Biomass Energy Crops is supply expansion in Central New York to facilitate the commercialization of willow biomass crops as part of the mix of woody biomass feedstocks for bioenergy and bioproducts. CRC Development LLC established the first commercial willow biomass plantation acreage in North America was established on the Tug Hill in the spring of 2006 and expanded inmore » 2007. This was the first 230- acres toward the goal of 10,000 regional acres. This project replaces some 2007-drought damaged acreage and installs a total of 630-acre new planting acres in order to demonstrate to regional agricultural producers and rural land-owners the economic vitality of closed loop short rotation woody biomass energy crops when deployed commercially in order to motivate new grower entry into the market-place. The willow biomass will directly help stabilize the fuel supply for the Lyonsdale Biomass facility, which produces 19 MWe of power and exports 15,000 pph of process steam to Burrows Paper. This project will also provide feedstock to The Biorefinery in New York for the manufacture of renewable, CO2-neutral liquid transportation fuels, chemicals and polymers. This project helps end dependency on imported fossil fuels, adds to region economic and environmental vitality and contributes to national security through improved energy independence.« less

Insulin delivery and nocturnal glucose control in children and adolescents with type 1 diabetes.

PubMed

Tauschmann, Martin; Hovorka, Roman

2017-12-01

Nocturnal glucose control remains challenging in children and adolescents with type 1 diabetes due to highly variable overnight insulin requirements. The issue may be addressed by glucose responsive insulin delivery based on real-time continuous glucose measurements. Areas covered: This review outlines recent developments of glucose responsive insulin delivery systems from a paediatric perspective. We cover threshold-based suspend application, predictive low glucose suspend, and more advanced single hormone and dual-hormone closed-loop systems. Approaches are evaluated in relation to nocturnal glucose control particularly during outpatient randomised controlled trials. Expert opinion: Significant progress translating research from controlled clinical centre settings to free-living unsupervised home studies have been achieved over the past decade. Nocturnal glycaemic control can be improved whilst reducing the risk of hypoglycaemia with closed-loop systems. Following the US regulatory approval of the first hybrid closed-loop system in non-paediatric population, large multinational closed-loop clinical trials and pivotal studies including paediatric populations are underway or in preparation to facilitate the use of closed-loop systems in clinical practice.

Trajectory tracking control for underactuated stratospheric airship

NASA Astrophysics Data System (ADS)

Zheng, Zewei; Huo, Wei; Wu, Zhe

2012-10-01

Stratospheric airship is a new kind of aerospace system which has attracted worldwide developing interests for its broad application prospects. Based on the trajectory linearization control (TLC) theory, a novel trajectory tracking control method for an underactuated stratospheric airship is presented in this paper. Firstly, the TLC theory is described sketchily, and the dynamic model of the stratospheric airship is introduced with kinematics and dynamics equations. Then, the trajectory tracking control strategy is deduced in detail. The designed control system possesses a cascaded structure which consists of desired attitude calculation, position control loop and attitude control loop. Two sub-loops are designed for the position and attitude control loops, respectively, including the kinematics control loop and dynamics control loop. Stability analysis shows that the controlled closed-loop system is exponentially stable. Finally, simulation results for the stratospheric airship to track typical trajectories are illustrated to verify effectiveness of the proposed approach.

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

PubMed Central

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

2017-01-01

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

A methodology for designing robust multivariable nonlinear control systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Grunberg, D. B.

1986-01-01

A new methodology is described for the design of nonlinear dynamic controllers for nonlinear multivariable systems providing guarantees of closed-loop stability, performance, and robustness. The methodology is an extension of the Linear-Quadratic-Gaussian with Loop-Transfer-Recovery (LQG/LTR) methodology for linear systems, thus hinging upon the idea of constructing an approximate inverse operator for the plant. A major feature of the methodology is a unification of both the state-space and input-output formulations. In addition, new results on stability theory, nonlinear state estimation, and optimal nonlinear regulator theory are presented, including the guaranteed global properties of the extended Kalman filter and optimal nonlinear regulators.

Some Properties and Stability Results for Sector-Bounded LTI Systems

NASA Technical Reports Server (NTRS)

Gupta, Sandeep; Joshi, Suresh M.

1994-01-01

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

Optoelectronic oscillator with improved phase noise and frequency stability

NASA Astrophysics Data System (ADS)

Eliyahu, Danny; Sariri, Kouros; Taylor, Joseph; Maleki, Lute

2003-07-01

In this paper we report on recent improvements in phase noise and frequency stability of a 10 GHz opto-electronic oscillator. In our OEO loop, the high Q elements (the optical fiber and the narrow bandpass microwave filter) are thermally stabilized using resistive heaters and temperature controllers, keeping their temperature above ambient. The thermally stabilized free running OEO demonstrates a short-term frequency stability of 0.02 ppm (over several hours) and frequency vs. temperature slope of -0.1 ppm/°C (compared to -8.3 ppm/°C for non thermally stabilized OEO). We obtained an exceptional spectral purity with phase noise level of -143 dBc/Hz at 10 kHz of offset frequency. We also describe the multi-loop configuration that reduces dramatically the spurious level at offset frequencies related to the loop round trip harmonic frequency. The multi-loop configuration has stronger mode selectivity due to interference between signals having different cavity lengths. A drop of the spurious level below -90 dBc was demonstrated. The effect of the oscillator aging on the frequency stability was studied as well by recording the oscillator frequency (in a chamber) over several weeks. We observed reversal in aging direction with logarithmic behavior of A ln(B t+1)-C ln(D t+1), where t is the time and A, B, C, D are constants. Initially, in the first several days, the positive aging dominates. However, later the negative aging mechanism dominates. We have concluded that the long-term aging behavioral model is consistent with the experimental results.

Miniature Fourier transform spectrometer with a dual closed-loop controlled electrothermal micromirror.

PubMed

Han, Fengtian; Wang, Wei; Zhang, Xiaoyang; Xie, Huikai

2016-10-03

A large piston-displacement electrothermal micromirror with closed-loop control of both piston scan and tilting of the mirror plate is demonstrated for use in a miniature Fourier transform spectrometer. Constant scan velocity in an ultra large piston scan range has been demonstrated by the proposed closed-loop piston control scheme which can be easily implemented without considerably increasing system complexity. The experimental results show that the usable linear scan range generated by the micromirror has been extended up to 505 μm. The measured spectral resolution in a compact spectrometer reaches 20 cm^-1, or 0.57 nm at 532 nm wavelength. Compared to other presented systems, this microspectrometer will benefit from the closed-loop thermal actuator approach utilizing both the piston servo and tilt control to provide more consistent spectral response, improved spectral resolution and enhanced robustness to disturbances.

Robust fast controller design via nonlinear fractional differential equations.

PubMed

Zhou, Xi; Wei, Yiheng; Liang, Shu; Wang, Yong

2017-07-01

A new method for linear system controller design is proposed whereby the closed-loop system achieves both robustness and fast response. The robustness performance considered here means the damping ratio of closed-loop system can keep its desired value under system parameter perturbation, while the fast response, represented by rise time of system output, can be improved by tuning the controller parameter. We exploit techniques from both the nonlinear systems control and the fractional order systems control to derive a novel nonlinear fractional order controller. For theoretical analysis of the closed-loop system performance, two comparison theorems are developed for a class of fractional differential equations. Moreover, the rise time of the closed-loop system can be estimated, which facilitates our controller design to satisfy the fast response performance and maintain the robustness. Finally, numerical examples are given to illustrate the effectiveness of our methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Identifiability and Performance Analysis of Output Over-sampling Approach to Direct Closed-loop Identification

NASA Astrophysics Data System (ADS)

Sun, Lianming; Sano, Akira

Output over-sampling based closed-loop identification algorithm is investigated in this paper. Some instinct properties of the continuous stochastic noise and the plant input, output in the over-sampling approach are analyzed, and they are used to demonstrate the identifiability in the over-sampling approach and to evaluate its identification performance. Furthermore, the selection of plant model order, the asymptotic variance of estimated parameters and the asymptotic variance of frequency response of the estimated model are also explored. It shows that the over-sampling approach can guarantee the identifiability and improve the performance of closed-loop identification greatly.

Model predictive control of P-time event graphs

NASA Astrophysics Data System (ADS)

Hamri, H.; Kara, R.; Amari, S.

2016-12-01

This paper deals with model predictive control of discrete event systems modelled by P-time event graphs. First, the model is obtained by using the dater evolution model written in the standard algebra. Then, for the control law, we used the finite-horizon model predictive control. For the closed-loop control, we used the infinite-horizon model predictive control (IH-MPC). The latter is an approach that calculates static feedback gains which allows the stability of the closed-loop system while respecting the constraints on the control vector. The problem of IH-MPC is formulated as a linear convex programming subject to a linear matrix inequality problem. Finally, the proposed methodology is applied to a transportation system.

Coronal Jets in Closed Magnetic Regions on the Sun

NASA Astrophysics Data System (ADS)

Wyper, Peter Fraser; DeVore, C. R.

2015-04-01

Coronal jets are dynamic, collimated structures observed in solar EUV and X-ray emission. They appear predominantly in the open field of coronal holes, but are also observed in areas of closed field, especially active regions. A common feature of coronal jets is that they originate from the field above a parasitic polarity of opposite sign to the surrounding field. Some process - such as instability onset or flux emergence - induces explosive reconnection between the closed “anemone” field and the surrounding open field that generates the jet. The lesser number of coronal jets in closed-field regions suggests a possible stabilizing effect of the closed configuration with respect to coronal jet formation. If the scale of the jet region is small compared with the background loop length, as in for example type II spicules, the nearby magnetic field may be treated as locally open. As such, one would expect that if a stabilizing effect exists it becomes most apparent as the scale of the anemone region approaches that of the background coronal loops.To investigate if coronal jets are indeed suppressed along shorter coronal loops, we performed a number of simulations of jets driven by a rotation of the parasitic polarity (as in the previous open-jet calculations by Pariat et. al 2009, 2010, 2015) embedded in a large-scale closed bipolar field. The simulations were performed with the state of the art Adaptively Refined Magnetohydrodynamics Solver. We will report here how the magnetic configuration above the anemone region determines the nature of the jet, when it is triggered, and how much of the stored magnetic energy is released. We show that regions in which the background field and the parasitic polarity region are of comparable scale naturally suppress explosive energy release. We will also show how in the post-jet relaxation phase a combination of confined MHD waves and weak current layers are generated by the jet along the background coronal loops, both of which may have implications for coronal heating.This work was supported by an appointment to the NASA Postdoctoral Program (P.F.W.) and by NASA’s Living With a Star Targeted Research and Technology program (C.R.D.).

A Demonstration of a Versatile Low-order Wavefront Sensor Tested on Multiple Coronographs

NASA Astrophysics Data System (ADS)

Singh, Garima; Lozi, Julien; Jovanovic, Nemanja; Guyon, Olivier; Baudoz, Pierre; Martinache, Frantz; Kudo, Tomoyuki

2017-09-01

Detecting faint companions in close proximity to stars is one of the major goals of current/planned ground- and space-based high-contrast imaging instruments. High-performance coronagraphs can suppress the diffraction features and gain access to companions at small angular separation. However, the uncontrolled pointing errors degrade the coronagraphic performance by leaking starlight around the coronagraphic focal-plane mask, preventing the detection of companions at small separations. A Lyot-stop low-order wavefront sensor (LLOWFS) was therefore introduced to calibrate and measure these aberrations for focal-plane phase mask coronagraphs. This sensor quantifies the variations in wavefront error decomposed into a few Zernike modes by reimaging the diffracted starlight rejected by a reflective Lyot stop. The technique was tested with several coronagraphs on the Subaru Coronagraphic Extreme Adaptive Optics (SCExAO) system at the Subaru Telescope. The wavefront was decomposed into 15 and 35 Zernike modes with an occulting and focal-plane phase mask coronagraph, respectively, which were used to drive a closed-loop correction in the laboratory. Using a 2000-actuator deformable mirror, a closed-loop pointing stability between 10-3-10-4 λ/D was achieved in the laboratory in H-band, with sub nanometer residuals for the other Zernike modes (Noll index > 4). On-sky, the low-order control of 10+ Zernike modes for the phase-induced amplitude apodization and the vector vortex coronagraphs was demonstrated, with a closed-loop pointing stability of {10}-4λ /D under good seeing and {10}-3λ /D under moderate seeing conditions readily achievable.

Segmented saddle-shaped passive stabilization conductors for toroidal plasmas

DOEpatents

Leuer, James A.

1990-05-01

A large toroidal vacuum chamber for plasma generation and confinement is lined with a toroidal blanket for shielding using modules segmented in the toroidal direction. To provide passive stabilization in the same manner as a conductive vacuum chamber wall, saddle-shaped conductor loops are provided on blanket modules centered on a midplane of the toroidal chamber with horizontal conductive bars above and below the midplane, and vertical conductive legs on opposite sides of each module to provide return current paths between the upper and lower horizontal conductive bars. The close proximity of the vertical legs provided on adjacent modules without making physical contact cancel the electromagnetic field of adjacent vertical legs. The conductive bars spaced equally above and below the midplane simulate toroidal conductive loops or hoops that are continuous, for vertical stabilization of the plasma even though they are actually segmented.

Improved Beam Jitter Control Methods for High Energy Laser Systems

DTIC Science & Technology

2009-12-01

Figure 16. The inner loop is a rate control loop composed of a gimbal, power amplifier , controller, and servo components (gyro, motor, and encoder...system characterization experiments 1. WFOV Control Loop a. Resonance Frequency Random signals were applied to the power amplifier and output...Loop Stabilization By applying a disturbance to the input of the power amplifier and measuring torque error, one is able to determine the torque

Adaptive back-stepping control of the harmonic drive system with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Liu, Sen; Gang, Tieqiang

2018-03-01

Harmonic drives are widely used in aerospace and industrial robots. Flexibility, friction and parameter uncertainty will result in transmission performance degradation. In this paper, an adaptive back-stepping method with friction compensation is proposed to improve the tracking performance of the harmonic drive system. The nonlinear friction is described by LuGre model and compensated with a friction observer, and the uncertainty of model parameters is resolved by adaptive parameter estimation method. By using Lyapunov stability theory, it is proved that all the errors of the closed-loop system are uniformly ultimately bounded. Simulations illustrate the effectiveness of our friction compensation method.

An energy-saving nonlinear position control strategy for electro-hydraulic servo systems.

PubMed

Baghestan, Keivan; Rezaei, Seyed Mehdi; Talebi, Heidar Ali; Zareinejad, Mohammad

2015-11-01

The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Structural Damage Detection Using Virtual Passive Controllers

NASA Technical Reports Server (NTRS)

Lew, Jiann-Shiun; Juang, Jer-Nan

2001-01-01

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

Sampled-data-based vibration control for structural systems with finite-time state constraint and sensor outage.

PubMed

Weng, Falu; Liu, Mingxin; Mao, Weijie; Ding, Yuanchun; Liu, Feifei

2018-05-10

The problem of sampled-data-based vibration control for structural systems with finite-time state constraint and sensor outage is investigated in this paper. The objective of designing controllers is to guarantee the stability and anti-disturbance performance of the closed-loop systems while some sensor outages happen. Firstly, based on matrix transformation, the state-space model of structural systems with sensor outages and uncertainties appearing in the mass, damping and stiffness matrices is established. Secondly, by considering most of those earthquakes or strong winds happen in a very short time, and it is often the peak values make the structures damaged, the finite-time stability analysis method is introduced to constrain the state responses in a given time interval, and the H-infinity stability is adopted in the controller design to make sure that the closed-loop system has a prescribed level of disturbance attenuation performance during the whole control process. Furthermore, all stabilization conditions are expressed in the forms of linear matrix inequalities (LMIs), whose feasibility can be easily checked by using the LMI Toolbox. Finally, numerical examples are given to demonstrate the effectiveness of the proposed theorems. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A nonlinear control method based on ANFIS and multiple models for a class of SISO nonlinear systems and its application.

PubMed

Zhang, Yajun; Chai, Tianyou; Wang, Hong

2011-11-01

This paper presents a novel nonlinear control strategy for a class of uncertain single-input and single-output discrete-time nonlinear systems with unstable zero-dynamics. The proposed method combines adaptive-network-based fuzzy inference system (ANFIS) with multiple models, where a linear robust controller, an ANFIS-based nonlinear controller and a switching mechanism are integrated using multiple models technique. It has been shown that the linear controller can ensure the boundedness of the input and output signals and the nonlinear controller can improve the dynamic performance of the closed loop system. Moreover, it has also been shown that the use of the switching mechanism can simultaneously guarantee the closed loop stability and improve its performance. As a result, the controller has the following three outstanding features compared with existing control strategies. First, this method relaxes the assumption of commonly-used uniform boundedness on the unmodeled dynamics and thus enhances its applicability. Second, since ANFIS is used to estimate and compensate the effect caused by the unmodeled dynamics, the convergence rate of neural network learning has been increased. Third, a "one-to-one mapping" technique is adapted to guarantee the universal approximation property of ANFIS. The proposed controller is applied to a numerical example and a pulverizing process of an alumina sintering system, respectively, where its effectiveness has been justified.

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

NASA Astrophysics Data System (ADS)

Borggaard, Jeff; Gugercin, Serkan; Zietsman, Lizette

2016-11-01

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

Active vibration absorber for CSI evolutionary model: Design and experimental results

NASA Technical Reports Server (NTRS)

Bruner, Anne M.; Belvin, W. Keith; Horta, Lucas G.; Juang, Jer-Nan

1991-01-01

The development of control of large flexible structures technology must include practical demonstration to aid in the understanding and characterization of controlled structures in space. To support this effort, a testbed facility was developed to study practical implementation of new control technologies under realistic conditions. The design is discussed of a second order, acceleration feedback controller which acts as an active vibration absorber. This controller provides guaranteed stability margins for collocated sensor/actuator pairs in the absence of sensor/actuator dynamics and computational time delay. The primary performance objective considered is damping augmentation of the first nine structural modes. Comparison of experimental and predicted closed loop damping is presented, including test and simulation time histories for open and closed loop cases. Although the simulation and test results are not in full agreement, robustness of this design under model uncertainty is demonstrated. The basic advantage of this second order controller design is that the stability of the controller is model independent.

Investigation of air transportation technology at Princeton University, 1986

NASA Technical Reports Server (NTRS)

Stengel, Robert F.

1988-01-01

The Air Transportation Technology Program at Princeton proceeded along four avenues: Guidance and control strategies for penetration of microbursts and wind shear; Application of artificial intelligence in flight control systems; Computer aided control system design; and Effects of control saturation on closed loop stability and response of open loop unstable aircraft. Areas of investigation relate to guidance and control of commercial transports as well as general aviation aircraft. Interaction between the flight crew and automatic systems is a subject of prime concern.

Dynamic stability and handling qualities tests on a highly augmented, statically unstable airplane

NASA Technical Reports Server (NTRS)

Gera, Joseph; Bosworth, John T.

1987-01-01

This paper describes some novel flight tests and analysis techniques in the flight dynamics and handling qualities area. These techniques were utilized during the initial flight envelope clearance of the X-29A aircraft and were largely responsible for the completion of the flight controls clearance program without any incidents or significant delays. The resulting open-loop and closed-loop frequency responses and the time history comparison using flight and linear simulation data are discussed.

An Energy-Based Thermodynamic Stabilization Framework for Hybrid Control Design of Large-Scale Aerospace Systems

DTIC Science & Technology

2009-02-27

exchanged by means of line-of-sight sensors that experience periodic communication dropouts due to agent motion. Variation in network topology in...respiratory, and cardiovascular function by man- ual control based on the clinician’s experience and intuition. Open-loop control by clinical personnel can be...to ap- pear. [29] W. M. Haddad and J. M. Bailey, "Closed-Loop Control for Intensive Care Unit Seda- tion," Best Prac. Res. Clinical Anaesthesiology

An investigation into closed-loop treatment of neurological disorders based on sensing mitochondrial dysfunction.

PubMed

Adams, Scott D; Kouzani, Abbas Z; Tye, Susannah J; Bennet, Kevin E; Berk, Michael

2018-02-13

Dynamic feedback based closed-loop medical devices offer a number of advantages for treatment of heterogeneous neurological conditions. Closed-loop devices integrate a level of neurobiological feedback, which allows for real-time adjustments to be made with the overarching aim of improving treatment efficacy and minimizing risks for adverse events. One target which has not been extensively explored as a potential feedback component in closed-loop therapies is mitochondrial function. Several neurodegenerative and psychiatric disorders including Parkinson's disease, Major Depressive disorder and Bipolar disorder have been linked to perturbations in the mitochondrial respiratory chain. This paper investigates the potential to monitor this mitochondrial function as a method of feedback for closed-loop neuromodulation treatments. A generic model of the closed-loop treatment is developed to describe the high-level functions of any system designed to control neural function based on mitochondrial response to stimulation, simplifying comparison and future meta-analysis. This model has four key functional components including: a sensor, signal manipulator, controller and effector. Each of these components are described and several potential technologies for each are investigated. While some of these candidate technologies are quite mature, there are still technological gaps remaining. The field of closed-loop medical devices is rapidly evolving, and whilst there is a lot of interest in this area, widespread adoption has not yet been achieved due to several remaining technological hurdles. However, the significant therapeutic benefits offered by this technology mean that this will be an active area for research for years to come.

Antenna Linear-Quadratic-Gaussian (LQG) Controllers: Properties, Limits of Performance, and Tuning Procedure

NASA Technical Reports Server (NTRS)

Gawronski, W.

2004-01-01

Wind gusts are the main disturbances that depreciate tracking precision of microwave antennas and radiotelescopes. The linear-quadratic-Gaussian (LQG) controllers - as compared with the proportional-and-integral (PI) controllers significantly improve the tracking precision in wind disturbances. However, their properties have not been satisfactorily understood; consequently, their tuning is a trial-and-error process. A control engineer has two tools to tune an LQG controller: the choice of coordinate system of the controller model and the selection of weights of the LQG performance index. This article analyzes properties of an open- and closed-loop antenna. It shows that the proper choice of coordinates of the open-loop model simplifies the shaping of the closed-loop performance. The closed-loop properties are influenced by the LQG weights. The article shows the impact of the weights on the antenna closed-loop bandwidth, disturbance rejection properties, and antenna acceleration. The bandwidth and the disturbance rejection characterize the antenna performance, while the acceleration represents the performance limit set by the antenna hardware (motors). The article presents the controller tuning procedure, based on the coordinate selection and the weight properties. The procedure rationally shapes the closed-loop performance, as an alternative to the trial-and-error approach.

Effects of backlash and dead band on temperature control of the primary loop of a conceptual nuclear Brayton space powerplant

NASA Technical Reports Server (NTRS)

Petrick, E. J.

1973-01-01

An analytical study was made of the stability of a closed-loop liquid-lithium temperature control of the primary loop of a conceptual nuclear Brayton space powerplant. The operating point was varied from 20 to 120 percent of design. A describing-function technique was used to evaluate the effects of temperature dead band and control coupling backlash. From the system investigation, it was predicted that a limit cycle will not exist with a temperature dead band, but a limit cycle will not exist when backlash is present. The results compare favorably with a digital computer simulation.

Improvements To Progressive Wave Tube Performance Through Closed-Loop Control

NASA Technical Reports Server (NTRS)

Rizzi, Stephen A.

2000-01-01

This report documents recent improvements to the acoustic and thermal control systems of the Thermal Acoustic Fatigue Apparatus (TAFA), a progressive wave tube test facility at the NASA Langley Research Center, Hampton, Virginia. A brief summary of past acoustic performance is given first to serve as a basis for comparison with the new performance data using a multiple-input, closed-loop, narrow-band controller. Performance data in the form of test section acoustic power spectral densities and coherence are presented in three of six facility configurations for a variety of input spectra. Tested spectra include uniform, two cases of pink noise, three cases of narrow-band random, a simulated launch payload bay environment for an expendable launch vehicle, and a simulated external acoustic load for the aft section of a reusable launch vehicle. In addition, a new closed-loop temperature controller and thermocouple data acquisition system are described.

Apparatus for simultaneously disreefing a centrally reefed clustered parachute system

DOEpatents

Johnson, Donald W.

1988-01-01

A single multi-line cutter is connected to each of a cluster of parachutes by a separate short tether line that holds the parachutes, initially reefed by closed loop reefing lines, close to one another. The closed loop reefing lines and tether lines, one from each parachute, are disposed within the cutter to be simultaneously cut by its actuation when a central line attached between the payload and the cutter is stretched upon deployment of the cluster. A pyrotechnic or electronic time delay may be included in the cutter to delay the actual simultaneous cutting of all lines until the clustered parachutes attain a measure of stability prior to being disreefed. A second set of reefing lines and second tether lines may be provided for each parachute, to enable a two-stage, separately timed, step-by-step disreefing.

Apparatus for simultaneously disreefing a centrally reefed clustered parachute system

DOEpatents

Johnson, D.W.

1988-06-21

A single multi-line cutter is connected to each of a cluster of parachutes by a separate short tether line that holds the parachutes, initially reefed by closed loop reefing lines, close to one another. The closed loop reefing lines and tether lines, one from each parachute, are disposed within the cutter to be simultaneously cut by its actuation when a central line attached between the payload and the cutter is stretched upon deployment of the cluster. A pyrotechnic or electronic time delay may be included in the cutter to delay the actual simultaneous cutting of all lines until the clustered parachutes attain a measure of stability prior to being disreefed. A second set of reefing lines and second tether lines may be provided for each parachute, to enable a two-stage, separately timed, step-by-step disreefing. 13 figs.

Closed-Loop Control of Vortex Formation in Separated Flows

NASA Technical Reports Server (NTRS)

Colonius, Tim; Joe, Won Tae; MacMynowski, Doug; Rowley, Clancy; Taira, Sam; Ahuja, Sunil

2010-01-01

In order to phase lock the flow at the desired shedding cycle, particularly at Phi,best, We designed a feedback compensator. (Even though the open-loop forcing at Wf below Wn can lead to phase-locked limit cycles with a high average lift,) This feedback controller resulted in the phase-locked limit cycles that the open-loop control could not achieve for alpha=30 and 40 Particularly for alpha=40, the feedback was able to stabilize the limit cycle that was not stable with any of the open-loop periodic forcing. This results in stable phase-locked limit cycles for a larger range of forcing frequencies than the open-loop control. Also, it was shown that the feedback achieved the high-lift unsteady flow states that open-loop control could not sustain even after the states have been achieved for a long period of time.

Comparison of Five System Identification Algorithms for Rotorcraft Higher Harmonic Control

NASA Technical Reports Server (NTRS)

Jacklin, Stephen A.

1998-01-01

This report presents an analysis and performance comparison of five system identification algorithms. The methods are presented in the context of identifying a frequency-domain transfer matrix for the higher harmonic control (HHC) of helicopter vibration. The five system identification algorithms include three previously proposed methods: (1) the weighted-least- squares-error approach (in moving-block format), (2) the Kalman filter method, and (3) the least-mean-squares (LMS) filter method. In addition there are two new ones: (4) a generalized Kalman filter method and (5) a generalized LMS filter method. The generalized Kalman filter method and the generalized LMS filter method were derived as extensions of the classic methods to permit identification by using more than one measurement per identification cycle. Simulation results are presented for conditions ranging from the ideal case of a stationary transfer matrix and no measurement noise to the more complex cases involving both measurement noise and transfer-matrix variation. Both open-loop identification and closed- loop identification were simulated. Closed-loop mode identification was more challenging than open-loop identification because of the decreasing signal-to-noise ratio as the vibration became reduced. The closed-loop simulation considered both local-model identification, with measured vibration feedback and global-model identification with feedback of the identified uncontrolled vibration. The algorithms were evaluated in terms of their accuracy, stability, convergence properties, computation speeds, and relative ease of implementation.

A real-time and closed-loop control algorithm for cascaded multilevel inverter based on artificial neural network.

PubMed

Wang, Libing; Mao, Chengxiong; Wang, Dan; Lu, Jiming; Zhang, Junfeng; Chen, Xun

2014-01-01

In order to control the cascaded H-bridges (CHB) converter with staircase modulation strategy in a real-time manner, a real-time and closed-loop control algorithm based on artificial neural network (ANN) for three-phase CHB converter is proposed in this paper. It costs little computation time and memory. It has two steps. In the first step, hierarchical particle swarm optimizer with time-varying acceleration coefficient (HPSO-TVAC) algorithm is employed to minimize the total harmonic distortion (THD) and generate the optimal switching angles offline. In the second step, part of optimal switching angles are used to train an ANN and the well-designed ANN can generate optimal switching angles in a real-time manner. Compared with previous real-time algorithm, the proposed algorithm is suitable for a wider range of modulation index and results in a smaller THD and a lower calculation time. Furthermore, the well-designed ANN is embedded into a closed-loop control algorithm for CHB converter with variable direct voltage (DC) sources. Simulation results demonstrate that the proposed closed-loop control algorithm is able to quickly stabilize load voltage and minimize the line current's THD (<5%) when subjecting the DC sources disturbance or load disturbance. In real design stage, a switching angle pulse generation scheme is proposed and experiment results verify its correctness.

Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

NASA Astrophysics Data System (ADS)

Yue, Fengfa; Li, Xingfei; Chen, Cheng; Tan, Wenbin

2017-12-01

In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.

Stability of model-based event-triggered control systems: a separation property

NASA Astrophysics Data System (ADS)

Hao, Fei; Yu, Hao

2017-04-01

To save resource of communication, this paper investigates the model-based event-triggered control systems. Two main problems are considered in this paper. One is, for given plant and model, to design event conditions to guarantee the stability of the systems. The other is to consider the effect of the model matrices on the stability. The results show that the closed-loop systems can be asymptotically stabilised with any model matrices in compact sets if the parameters in the event conditions are within the designed ranges. Then, a separation property of model-based event-triggered control is proposed. Namely, the design of the controller gain and the event condition can be separated from the selection of the model matrices. Based on this property, an adaption mechanism is introduced to the model-based event-triggered control systems, which can further improve the sampling performance. Finally, a numerical example is given to show the efficiency and feasibility of the developed results.

[Research on the Clinical Alarm Management Mechanism Based on Closed-loop Control Theory].

PubMed

Lin, Zhongkuan; Zheng, Kun; Shen, Yunming; Wu, Yunyun

2018-05-30

This paper proposes a clinical alarm management system based on the theory of the closed loop control. The alarm management mechanism can be divided into the expected standard, improving execution rule, rule execution, medical devices with alarm functions, results analysis strategy and the output link. And, we make relevant application and discussion. Results showed that the mechanism can be operable and effective.

A New Approach to Attitude Stability and Control for Low Airspeed Vehicles

NASA Technical Reports Server (NTRS)

Lim, K. B.; Shin, Y-Y.; Moerder, D. D.; Cooper, E. G.

2004-01-01

This paper describes an approach for controlling the attitude of statically unstable thrust-levitated vehicles in hover or slow translation. The large thrust vector that characterizes such vehicles can be modulated to provide control forces and moments to the airframe, but such modulation is accompanied by significant unsteady flow effects. These effects are difficult to model, and can compromise the practical value of thrust vectoring in closed-loop attitude stability, even if the thrust vectoring machinery has sufficient bandwidth for stabilization. The stabilization approach described in this paper is based on using internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other "outer loop" control functions. The three main components of this approach are: (1) a z-body axis angular momentum bias enhances static attitude stability, reducing the amount of control activity needed for stabilization, (2) optionally, gimbaled reaction wheels provide high-bandwidth control torques for additional stabilization, or agility, and (3) the resulting strongly coupled system dynamics are controlled by a multivariable controller. A flight test vehicle is described, and nonlinear simulation results are provided that demonstrate the efficiency of the approach.

Sum-of-Squares-Based Region of Attraction Analysis for Gain-Scheduled Three-Loop Autopilot

NASA Astrophysics Data System (ADS)

Seo, Min-Won; Kwon, Hyuck-Hoon; Choi, Han-Lim

2018-04-01

A conventional method of designing a missile autopilot is to linearize the original nonlinear dynamics at several trim points, then to determine linear controllers for each linearized model, and finally implement gain-scheduling technique. The validation of such a controller is often based on linear system analysis for the linear closed-loop system at the trim conditions. Although this type of gain-scheduled linear autopilot works well in practice, validation based solely on linear analysis may not be sufficient to fully characterize the closed-loop system especially when the aerodynamic coefficients exhibit substantial nonlinearity with respect to the flight condition. The purpose of this paper is to present a methodology for analyzing the stability of a gain-scheduled controller in a setting close to the original nonlinear setting. The method is based on sum-of-squares (SOS) optimization that can be used to characterize the region of attraction of a polynomial system by solving convex optimization problems. The applicability of the proposed SOS-based methodology is verified on a short-period autopilot of a skid-to-turn missile.

Robustness Analysis and Optimally Robust Control Design via Sum-of-Squares

NASA Technical Reports Server (NTRS)

Dorobantu, Andrei; Crespo, Luis G.; Seiler, Peter J.

2012-01-01

A control analysis and design framework is proposed for systems subject to parametric uncertainty. The underlying strategies are based on sum-of-squares (SOS) polynomial analysis and nonlinear optimization to design an optimally robust controller. The approach determines a maximum uncertainty range for which the closed-loop system satisfies a set of stability and performance requirements. These requirements, de ned as inequality constraints on several metrics, are restricted to polynomial functions of the uncertainty. To quantify robustness, SOS analysis is used to prove that the closed-loop system complies with the requirements for a given uncertainty range. The maximum uncertainty range, calculated by assessing a sequence of increasingly larger ranges, serves as a robustness metric for the closed-loop system. To optimize the control design, nonlinear optimization is used to enlarge the maximum uncertainty range by tuning the controller gains. Hence, the resulting controller is optimally robust to parametric uncertainty. This approach balances the robustness margins corresponding to each requirement in order to maximize the aggregate system robustness. The proposed framework is applied to a simple linear short-period aircraft model with uncertain aerodynamic coefficients.

Advanced ECCD based NTM control in closed-loop operation at ASDEX Upgrade (AUG)

NASA Astrophysics Data System (ADS)

Reich, Matthias; Barrera-Orte, Laura; Behler, Karl; Bock, Alexander; Giannone, Louis; Maraschek, Marc; Poli, Emanuele; Rapson, Chris; Stober, Jörg; Treutterer, Wolfgang

2012-10-01

In high performance plasmas, Neoclassical Tearing Modes (NTMs) are regularly observed at reactor-grade beta-values. They limit the achievable normalized beta, which is undesirable because fusion performance scales as beta squared. The method of choice for controlling and avoiding NTMs at AUG is the deposition of ECCD inside the magnetic island for stabilization in real-time (rt). Our approach to tackling such complex control problems using real-time diagnostics allows rigorous optimization of all subsystems. Recent progress in rt-equilibrium reconstruction (< 3.5 ms), rt-localization of NTMs (< 8 ms) and rt beam tracing (< 25 ms) allows closed-loop feedback operation using multiple movable mirrors as the ECCD deposition actuator. The rt-equilibrium uses function parametrization or a fast Grad-Shafranov solver with an option to include rt-MSE measurements. The island localization is based on a correlation of ECE and filtered Mirnov signals. The rt beam-tracing module provides deposition locations and their derivative versus actuator position of multiple gyrotrons. The ``MHD controller'' finally drives the actuators. Results utilizing closed-loop operation with multiple gyrotrons and their effect on NTMs are shown.

Detection of no-model input-output pairs in closed-loop systems.

PubMed

Potts, Alain Segundo; Alvarado, Christiam Segundo Morales; Garcia, Claudio

2017-11-01

The detection of no-model input-output (IO) pairs is important because it can speed up the multivariable system identification process, since all the pairs with null transfer functions are previously discarded and it can also improve the identified model quality, thus improving the performance of model based controllers. In the available literature, the methods focus just on the open-loop case, since in this case there is not the effect of the controller forcing the main diagonal in the transfer matrix to one and all the other terms to zero. In this paper, a modification of a previous method able to detect no-model IO pairs in open-loop systems is presented, but adapted to perform this duty in closed-loop systems. Tests are performed by using the traditional methods and the proposed one to show its effectiveness. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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

PubMed

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

2017-01-01

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

Segmented saddle-shaped passive stabilization conductors for toroidal plasmas

DOEpatents

Leuer, J.A.

1990-05-01

A large toroidal vacuum chamber for plasma generation and confinement is lined with a toroidal blanket for shielding using modules segmented in the toroidal direction. To provide passive stabilization in the same manner as a conductive vacuum chamber wall, saddle-shaped conductor loops are provided on blanket modules centered on a midplane of the toroidal chamber with horizontal conductive bars above and below the midplane, and vertical conductive legs on opposite sides of each module to provide return current paths between the upper and lower horizontal conductive bars. The close proximity of the vertical legs provided on adjacent modules without making physical contact cancel the electromagnetic field of adjacent vertical legs. The conductive bars spaced equally above and below the midplane simulate toroidal conductive loops or hoops that are continuous, for vertical stabilization of the plasma even though they are actually segmented. 5 figs.

Stability of two-mode internal resonance in a nonlinear oscillator

NASA Astrophysics Data System (ADS)

Zanette, Damián H.

2018-05-01

We analyze the stability of synchronized periodic motion for two coupled oscillators, representing two interacting oscillation modes in a nonlinear vibrating beam. The main oscillation mode is governed by the forced Duffing equation, while the other mode is linear. By means of the multiple-scale approach, the system is studied in two situations: an open-loop configuration, where the excitation is an external force, and a closed-loop configuration, where the system is fed back with an excitation obtained from the oscillation itself. The latter is relevant to the functioning of time-keeping micromechanical devices. While the accessible amplitudes and frequencies of stationary oscillations are identical in the two situations, their stability properties are substantially different. Emphasis is put on resonant oscillations, where energy transfer between the two coupled modes is maximized and, consequently, the strong interdependence between frequency and amplitude caused by nonlinearity is largely suppressed.

On the conditions of exponential stability in active disturbance rejection control based on singular perturbation analysis

NASA Astrophysics Data System (ADS)

Shao, S.; Gao, Z.

2017-10-01

Stability of active disturbance rejection control (ADRC) is analysed in the presence of unknown, nonlinear, and time-varying dynamics. In the framework of singular perturbations, the closed-loop error dynamics are semi-decoupled into a relatively slow subsystem (the feedback loop) and a relatively fast subsystem (the extended state observer), respectively. It is shown, analytically and geometrically, that there exists a unique exponential stable solution if the size of the initial observer error is sufficiently small, i.e. in the same order of the inverse of the observer bandwidth. The process of developing the uniformly asymptotic solution of the system reveals the condition on the stability of the ADRC and the relationship between the rate of change in the total disturbance and the size of the estimation error. The differentiability of the total disturbance is the only assumption made.

System identification from closed-loop data with known output feedback dynamics

NASA Technical Reports Server (NTRS)

Phan, Minh; Juang, Jer-Nan; Horta, Lucas G.; Longman, Richard W.

1992-01-01

This paper presents a procedure to identify the open loop systems when it is operating under closed loop conditions. First, closed loop excitation data are used to compute the system open loop and closed loop Markov parameters. The Markov parameters, which are the pulse response samples, are then used to compute a state space representation of the open loop system. Two closed loop configurations are considered in this paper. The closed loop system can have either a linear output feedback controller or a dynamic output feedback controller. Numerical examples are provided to illustrate the proposed closed loop identification method.

LoopX: A Graphical User Interface-Based Database for Comprehensive Analysis and Comparative Evaluation of Loops from Protein Structures.

PubMed

Kadumuri, Rajashekar Varma; Vadrevu, Ramakrishna

2017-10-01

Due to their crucial role in function, folding, and stability, protein loops are being targeted for grafting/designing to create novel or alter existing functionality and improve stability and foldability. With a view to facilitate a thorough analysis and effectual search options for extracting and comparing loops for sequence and structural compatibility, we developed, LoopX a comprehensively compiled library of sequence and conformational features of ∼700,000 loops from protein structures. The database equipped with a graphical user interface is empowered with diverse query tools and search algorithms, with various rendering options to visualize the sequence- and structural-level information along with hydrogen bonding patterns, backbone φ, ψ dihedral angles of both the target and candidate loops. Two new features (i) conservation of the polar/nonpolar environment and (ii) conservation of sequence and conformation of specific residues within the loops have also been incorporated in the search and retrieval of compatible loops for a chosen target loop. Thus, the LoopX server not only serves as a database and visualization tool for sequence and structural analysis of protein loops but also aids in extracting and comparing candidate loops for a given target loop based on user-defined search options.

First Results from a Hardware-in-the-Loop Demonstration of Closed-Loop Autonomous Formation Flying

NASA Technical Reports Server (NTRS)

Gill, E.; Naasz, Bo; Ebinuma, T.

2003-01-01

A closed-loop system for the demonstration of autonomous satellite formation flying technologies using hardware-in-the-loop has been developed. Making use of a GPS signal simulator with a dual radio frequency outlet, the system includes two GPS space receivers as well as a powerful onboard navigation processor dedicated to the GPS-based guidance, navigation, and control of a satellite formation in real-time. The closed-loop system allows realistic simulations of autonomous formation flying scenarios, enabling research in the fields of tracking and orbit control strategies for a wide range of applications. The autonomous closed-loop formation acquisition and keeping strategy is based on Lyapunov's direct control method as applied to the standard set of Keplerian elements. This approach not only assures global and asymptotic stability of the control but also maintains valuable physical insight into the applied control vectors. Furthermore, the approach can account for system uncertainties and effectively avoids a computationally expensive solution of the two point boundary problem, which renders the concept particularly attractive for implementation in onboard processors. A guidance law has been developed which strictly separates the relative from the absolute motion, thus avoiding the numerical integration of a target trajectory in the onboard processor. Moreover, upon using precise kinematic relative GPS solutions, a dynamical modeling or filtering is avoided which provides for an efficient implementation of the process on an onboard processor. A sample formation flying scenario has been created aiming at the autonomous transition of a Low Earth Orbit satellite formation from an initial along-track separation of 800 m to a target distance of 100 m. Assuming a low-thrust actuator which may be accommodated on a small satellite, a typical control accuracy of less than 5 m has been achieved which proves the applicability of autonomous formation flying techniques to formations of satellites as close as 50 m.

Optimum design of high speed prop rotors including the coupling of performance, aeroelastic stability and structures

NASA Technical Reports Server (NTRS)

Chattopadhyay, Aditi; Mccarthy, Thomas R.; Madden, John F., III

1992-01-01

An optimization procedure is developed for the design of high speed prop-rotors to be used in civil tiltrotor applications. The goal is to couple aerodynamic performance, aeroelastic stability, and structural design requirements inside a closed-loop optimization procedure. The objective is to minimize the gross weight and maximize the propulsive efficiency in high speed cruise. Constraints are imposed on the rotor aeroelastic stability in both hover and cruise and rotor figure of merit in hover. Both structural and aerodynamic design variables are used.

Investigation of Inner Loop Flight Control Strategies for High-Speed Research

NASA Technical Reports Server (NTRS)

Newman, Brett; Kassem, Ayman

1999-01-01

This report describes the activities and findings conducted under contract NAS1-19858 with NASA Langley Research Center. Subject matter is the investigation of suitable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Techniques considered in this body of work are primarily conventional-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include 1) current aeroelastic vehicle modeling procedures require further emphasis and refinement, 2) traditional and nontraditional inner loop flight control strategies employing a single feedback loop do not appear sufficient for highly flexible HSCT class vehicles, 3) inner loop flight control systems will, in all likelihood, require multiple interacting feedback loops, and 4) Ref. H HSCT configuration presents major challenges to designing acceptable closed-loop flight dynamics.

Nonlinear predictive control for adaptive adjustments of deep brain stimulation parameters in basal ganglia-thalamic network.

PubMed

Su, Fei; Wang, Jiang; Niu, Shuangxia; Li, Huiyan; Deng, Bin; Liu, Chen; Wei, Xile

2018-02-01

The efficacy of deep brain stimulation (DBS) for Parkinson's disease (PD) depends in part on the post-operative programming of stimulation parameters. Closed-loop stimulation is one method to realize the frequent adjustment of stimulation parameters. This paper introduced the nonlinear predictive control method into the online adjustment of DBS amplitude and frequency. This approach was tested in a computational model of basal ganglia-thalamic network. The autoregressive Volterra model was used to identify the process model based on physiological data. Simulation results illustrated the efficiency of closed-loop stimulation methods (amplitude adjustment and frequency adjustment) in improving the relay reliability of thalamic neurons compared with the PD state. Besides, compared with the 130Hz constant DBS the closed-loop stimulation methods can significantly reduce the energy consumption. Through the analysis of inter-spike-intervals (ISIs) distribution of basal ganglia neurons, the evoked network activity by the closed-loop frequency adjustment stimulation was closer to the normal state. Copyright © 2017 Elsevier Ltd. All rights reserved.

Fiber-optic projected-fringe digital interferometry

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.; Beheim, Glenn

1990-01-01

A phase-stepped projected-fringe interferometer was developed which uses a closed-loop fiber-optic phase-control system to make very accurate surface profile measurements. The closed-loop phase-control system greatly reduces phase-stepping error, which is frequently the dominant source of error in digital interferometers. Two beams emitted from a fiber-optic coupler are combined to form an interference fringe pattern on a diffusely reflecting object. Reflections off of the fibers' output faces are used to create a phase-indicating signal for the closed-loop optical phase controller. The controller steps the phase difference between the two beams by pi/2 radians in order to determine the object's surface profile using a solid-state camera and a computer. The system combines the ease of alignment and automated data reduction of phase-stepping projected-fringe interferometry with the greatly improved phase-stepping accuracy of our closed-loop phase-controller. The system is demonstrated by measuring the profile of a plate containing several convex surfaces whose heights range from 15 to 25 micron high.

Insulin delivery route for the artificial pancreas: subcutaneous, intraperitoneal, or intravenous? Pros and cons.

PubMed

Renard, Eric

2008-07-01

Insulin delivery is a crucial component of a closed-loop system aiming at the development of an artificial pancreas. The intravenous route, which has been used in the bedside artificial pancreas model for 30 years, has clear advantages in terms of pharmacokinetics and pharmacodynamics, but cannot be used in any ambulatory system so far. Subcutaneous (SC) insulin infusion benefits from the broad expansion of insulin pump therapy that promoted the availability of constantly improving technology and fast-acting insulin analog use. However, persistent delays of insulin absorption and action, variability and shortterm stability of insulin infusion from SC-inserted catheters generate effectiveness and safety issues in view of an ambulatory, automated, glucose-controlled, artificial beta cell. Intraperitoneal insulin delivery, although still marginally used in diabetes care, may offer an interesting alternative because of its more-physiological plasma insulin profiles and sustained stability and reliability of insulin delivery.

Closed-loop mechanical ventilation for lung injury: a novel physiological-feedback mode following the principles of the open lung concept.

PubMed

Schwaiberger, David; Pickerodt, Philipp A; Pomprapa, Anake; Tjarks, Onno; Kork, Felix; Boemke, Willehad; Francis, Roland C E; Leonhardt, Steffen; Lachmann, Burkhard

2018-06-01

Adherence to low tidal volume (V T ) ventilation and selected positive end-expiratory pressures are low during mechanical ventilation for treatment of the acute respiratory distress syndrome. Using a pig model of severe lung injury, we tested the feasibility and physiological responses to a novel fully closed-loop mechanical ventilation algorithm based on the "open lung" concept. Lung injury was induced by surfactant washout in pigs (n = 8). Animals were ventilated following the principles of the "open lung approach" (OLA) using a fully closed-loop physiological feedback algorithm for mechanical ventilation. Standard gas exchange, respiratory- and hemodynamic parameters were measured. Electrical impedance tomography was used to quantify regional ventilation distribution during mechanical ventilation. Automatized mechanical ventilation provided strict adherence to low V T -ventilation for 6 h in severely lung injured pigs. Using the "open lung" approach, tidal volume delivery required low lung distending pressures, increased recruitment and ventilation of dorsal lung regions and improved arterial blood oxygenation. Physiological feedback closed-loop mechanical ventilation according to the principles of the open lung concept is feasible and provides low tidal volume ventilation without human intervention. Of importance, the "open lung approach"-ventilation improved gas exchange and reduced lung driving pressures by opening atelectasis and shifting of ventilation to dorsal lung regions.

High-speed pressure clamp.

PubMed

Besch, Stephen R; Suchyna, Thomas; Sachs, Frederick

2002-10-01

We built a high-speed, pneumatic pressure clamp to stimulate patch-clamped membranes mechanically. The key control element is a newly designed differential valve that uses a single, nickel-plated piezoelectric bending element to control both pressure and vacuum. To minimize response time, the valve body was designed with minimum dead volume. The result is improved response time and stability with a threefold decrease in actuation latency. Tight valve clearances minimize the steady-state air flow, permitting us to use small resonant-piston pumps to supply pressure and vacuum. To protect the valve from water contamination in the event of a broken pipette, an optical sensor detects water entering the valve and increases pressure rapidly to clear the system. The open-loop time constant for pressure is 2.5 ms for a 100-mmHg step, and the closed-loop settling time is 500-600 micros. Valve actuation latency is 120 micros. The system performance is illustrated for mechanically induced changes in patch capacitance.

Experimental demonstration of single-mode fiber coupling over relatively strong turbulence with adaptive optics.

PubMed

Chen, Mo; Liu, Chao; Xian, Hao

2015-10-10

High-speed free-space optical communication systems using fiber-optic components can greatly improve the stability of the system and simplify the structure. However, propagation through atmospheric turbulence degrades the spatial coherence of the signal beam and limits the single-mode fiber (SMF) coupling efficiency. In this paper, we analyze the influence of the atmospheric turbulence on the SMF coupling efficiency over various turbulences. The results show that the SMF coupling efficiency drops from 81% without phase distortion to 10% when phase root mean square value equals 0.3λ. The simulations of SMF coupling with adaptive optics (AO) indicate that it is inevitable to compensate the high-order aberrations for SMF coupling over relatively strong turbulence. The SMF coupling efficiency experiments, using an AO system with a 137-element deformable mirror and a Hartmann-Shack wavefront sensor, obtain average coupling efficiency increasing from 1.3% in open loop to 46.1% in closed loop under a relatively strong turbulence, D/r₀=15.1.

On the effect of local barrier height in scanning tunneling microscopy: Measurement methods and control implications

NASA Astrophysics Data System (ADS)

Tajaddodianfar, Farid; Moheimani, S. O. Reza; Owen, James; Randall, John N.

2018-01-01

A common cause of tip-sample crashes in a Scanning Tunneling Microscope (STM) operating in constant current mode is the poor performance of its feedback control system. We show that there is a direct link between the Local Barrier Height (LBH) and robustness of the feedback control loop. A method known as the "gap modulation method" was proposed in the early STM studies for estimating the LBH. We show that the obtained measurements are affected by controller parameters and propose an alternative method which we prove to produce LBH measurements independent of the controller dynamics. We use the obtained LBH estimation to continuously update the gains of a STM proportional-integral (PI) controller and show that while tuning the PI gains, the closed-loop system tolerates larger variations of LBH without experiencing instability. We report experimental results, conducted on two STM scanners, to establish the efficiency of the proposed PI tuning approach. Improved feedback stability is believed to help in avoiding the tip/sample crash in STMs.

An Optimized Integrator Windup Protection Technique Applied to a Turbofan Engine Control

NASA Technical Reports Server (NTRS)

Watts, Stephen R.; Garg, Sanjay

1995-01-01

This paper introduces a new technique for providing memoryless integrator windup protection which utilizes readily available optimization software tools. This integrator windup protection synthesis provides a concise methodology for creating integrator windup protection for each actuation system loop independently while assuring both controller and closed loop system stability. The individual actuation system loops' integrator windup protection can then be combined to provide integrator windup protection for the entire system. This technique is applied to an H(exp infinity) based multivariable control designed for a linear model of an advanced afterburning turbofan engine. The resulting transient characteristics are examined for the integrated system while encountering single and multiple actuation limits.

Modal Filtering for Control of Flexible Aircraft

NASA Technical Reports Server (NTRS)

Suh, Peter M.; Mavris, Dimitri N.

2013-01-01

Modal regulators and deformation trackers are designed for an open-loop fluttering wing model. The regulators are designed with modal coordinate and accelerometer inputs respectively. The modal coordinates are estimated with simulated fiber optics. The robust stability of the closed-loop systems is compared in a structured singular-value vector analysis. Performance is evaluated and compared in a gust alleviation and flutter suppression simulation. For the same wing and flight condition two wing-shape-tracking control architectures are presented, which achieve deformation control at any point on the wing.

Learning-based position control of a closed-kinematic chain robot end-effector

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

A Review of Control Strategies in Closed-Loop Neuroprosthetic Systems

PubMed Central

Wright, James; Macefield, Vaughan G.; van Schaik, André; Tapson, Jonathan C.

2016-01-01

It has been widely recognized that closed-loop neuroprosthetic systems achieve more favorable outcomes for users then equivalent open-loop devices. Improved performance of tasks, better usability, and greater embodiment have all been reported in systems utilizing some form of feedback. However, the interdisciplinary work on neuroprosthetic systems can lead to miscommunication due to similarities in well-established nomenclature in different fields. Here we present a review of control strategies in existing experimental, investigational and clinical neuroprosthetic systems in order to establish a baseline and promote a common understanding of different feedback modes and closed-loop controllers. The first section provides a brief discussion of feedback control and control theory. The second section reviews the control strategies of recent Brain Machine Interfaces, neuromodulatory implants, neuroprosthetic systems, and assistive neurorobotic devices. The final section examines the different approaches to feedback in current neuroprosthetic and neurorobotic systems. PMID:27462202

Servo control booster system for minimizing following error

DOEpatents

Wise, William L.

1985-01-01

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

An optimal open/closed-loop control method with application to a pre-stressed thin duralumin plate

NASA Astrophysics Data System (ADS)

Nadimpalli, Sruthi Raju

The excessive vibrations of a pre-stressed duralumin plate, suppressed by a combination of open-loop and closed-loop controls, also known as open/closed-loop control, is studied in this thesis. The two primary steps involved in this process are: Step (I) with an assumption that the closed-loop control law is proportional, obtain the optimal open-loop control by direct minimization of the performance measure consisting of energy at terminal time and a penalty on open-loop control force via calculus of variations. If the performance measure also involves a penalty on closed-loop control effort then a Fourier based method is utilized. Step (II) the energy at terminal time is minimized numerically to obtain optimal values of feedback gains. The optimal closed-loop control gains obtained are used to describe the displacement and the velocity of open-loop, closed-loop and open/closed-loop controlled duralumin plate.

Determination of Stability and Control Derivatives using Computational Fluid Dynamics and Automatic Differentiation

NASA Technical Reports Server (NTRS)

Park, Michael A.; Green, Lawrence L.; Montgomery, Raymond C.; Raney, David L.

1999-01-01

With the recent interest in novel control effectors there is a need to determine the stability and control derivatives of new aircraft configurations early in the design process. These derivatives are central to most control law design methods and would allow the determination of closed-loop control performance of the vehicle. Early determination of the static and dynamic behavior of an aircraft may permit significant improvement in configuration weight, cost, stealth, and performance through multidisciplinary design. The classical method of determining static stability and control derivatives - constructing and testing wind tunnel models - is expensive and requires a long lead time for the resultant data. Wind tunnel tests are also limited to the preselected control effectors of the model. To overcome these shortcomings, computational fluid dynamics (CFD) solvers are augmented via automatic differentiation, to directly calculate the stability and control derivatives. The CFD forces and moments are differentiated with respect to angle of attack, angle of sideslip, and aircraft shape parameters to form these derivatives. A subset of static stability and control derivatives of a tailless aircraft concept have been computed by two differentiated inviscid CFD codes and verified for accuracy with central finite-difference approximations and favorable comparisons to a simulation database.

On the formulation of a minimal uncertainty model for robust control with structured uncertainty

NASA Technical Reports Server (NTRS)

Belcastro, Christine M.; Chang, B.-C.; Fischl, Robert

1991-01-01

In the design and analysis of robust control systems for uncertain plants, representing the system transfer matrix in the form of what has come to be termed an M-delta model has become widely accepted and applied in the robust control literature. The M represents a transfer function matrix M(s) of the nominal closed loop system, and the delta represents an uncertainty matrix acting on M(s). The nominal closed loop system M(s) results from closing the feedback control system, K(s), around a nominal plant interconnection structure P(s). The uncertainty can arise from various sources, such as structured uncertainty from parameter variations or multiple unsaturated uncertainties from unmodeled dynamics and other neglected phenomena. In general, delta is a block diagonal matrix, but for real parameter variations delta is a diagonal matrix of real elements. Conceptually, the M-delta structure can always be formed for any linear interconnection of inputs, outputs, transfer functions, parameter variations, and perturbations. However, very little of the currently available literature addresses computational methods for obtaining this structure, and none of this literature addresses a general methodology for obtaining a minimal M-delta model for a wide class of uncertainty, where the term minimal refers to the dimension of the delta matrix. Since having a minimally dimensioned delta matrix would improve the efficiency of structured singular value (or multivariable stability margin) computations, a method of obtaining a minimal M-delta would be useful. Hence, a method of obtaining the interconnection system P(s) is required. A generalized procedure for obtaining a minimal P-delta structure for systems with real parameter variations is presented. Using this model, the minimal M-delta model can then be easily obtained by closing the feedback loop. The procedure involves representing the system in a cascade-form state-space realization, determining the minimal uncertainty matrix, delta, and constructing the state-space representation of P(s). Three examples are presented to illustrate the procedure.

Optimal spacecraft formation establishment and reconfiguration propelled by the geomagnetic Lorentz force

NASA Astrophysics Data System (ADS)

Huang, Xu; Yan, Ye; Zhou, Yang

2014-12-01

The Lorentz force acting on an electrostatically charged spacecraft as it moves through the planetary magnetic field could be utilized as propellantless electromagnetic propulsion for orbital maneuvering, such as spacecraft formation establishment and formation reconfiguration. By assuming that the Earth's magnetic field could be modeled as a tilted dipole located at the center of Earth that corotates with Earth, a dynamical model that describes the relative orbital motion of Lorentz spacecraft is developed. Based on the proposed dynamical model, the energy-optimal open-loop trajectories of control inputs, namely, the required specific charges of Lorentz spacecraft, for Lorentz-propelled spacecraft formation establishment or reconfiguration problems with both fixed and free final conditions constraints are derived via Gauss pseudospectral method. The effect of the magnetic dipole tilt angle on the optimal control inputs and the relative transfer trajectories for formation establishment or reconfiguration is also investigated by comparisons with the results derived from a nontilted dipole model. Furthermore, a closed-loop integral sliding mode controller is designed to guarantee the trajectory tracking in the presence of external disturbances and modeling errors. The stability of the closed-loop system is proved by a Lyapunov-based approach. Numerical simulations are presented to verify the validity of the proposed open-loop control methods and demonstrate the performance of the closed-loop controller. Also, the results indicate the dipole tilt angle should be considered when designing control strategies for Lorentz-propelled spacecraft formation establishment or reconfiguration.

Optimal Lorentz-augmented spacecraft formation flying in elliptic orbits

NASA Astrophysics Data System (ADS)

Huang, Xu; Yan, Ye; Zhou, Yang

2015-06-01

An electrostatically charged spacecraft accelerates as it moves through the Earth's magnetic field due to the induced Lorentz force, providing a new means of propellantless electromagnetic propulsion for orbital maneuvers. The feasibility of Lorentz-augmented spacecraft formation flying in elliptic orbits is investigated in this paper. Assuming the Earth's magnetic field as a tilted dipole corotating with Earth, a nonlinear dynamical model that characterizes the orbital motion of Lorentz spacecraft in the vicinity of arbitrary elliptic orbits is developed. To establish a predetermined formation configuration at given terminal time, pseudospectral method is used to solve the optimal open-loop trajectories of hybrid control inputs consisted of Lorentz acceleration and thruster-generated control acceleration. A nontilted dipole model is also introduced to analyze the effect of dipole tilt angle via comparisons with the tilted one. Meanwhile, to guarantee finite-time convergence and system robustness against external perturbations, a continuous fast nonsingular terminal sliding mode controller is designed and the closed-loop system stability is proved by Lyapunov theory. Numerical simulations substantiate the validity of proposed open-loop and closed-loop control schemes, and the results indicate that an almost propellantless formation establishment can be achieved by choosing appropriate objective function in the pseudospectral method. Furthermore, compared to the nonsingular terminal sliding mode controller, the closed-loop controller presents superior convergence rate with only a bit more control effort. And the proposed controller can be applied in other Lorentz-augmented relative orbital control problems.

Closed-Loop Neuromorphic Benchmarks

PubMed Central

Stewart, Terrence C.; DeWolf, Travis; Kleinhans, Ashley; Eliasmith, Chris

2015-01-01

Evaluating the effectiveness and performance of neuromorphic hardware is difficult. It is even more difficult when the task of interest is a closed-loop task; that is, a task where the output from the neuromorphic hardware affects some environment, which then in turn affects the hardware's future input. However, closed-loop situations are one of the primary potential uses of neuromorphic hardware. To address this, we present a methodology for generating closed-loop benchmarks that makes use of a hybrid of real physical embodiment and a type of “minimal” simulation. Minimal simulation has been shown to lead to robust real-world performance, while still maintaining the practical advantages of simulation, such as making it easy for the same benchmark to be used by many researchers. This method is flexible enough to allow researchers to explicitly modify the benchmarks to identify specific task domains where particular hardware excels. To demonstrate the method, we present a set of novel benchmarks that focus on motor control for an arbitrary system with unknown external forces. Using these benchmarks, we show that an error-driven learning rule can consistently improve motor control performance across a randomly generated family of closed-loop simulations, even when there are up to 15 interacting joints to be controlled. PMID:26696820

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

NASA Technical Reports Server (NTRS)

Wen, John T.

1990-01-01

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

NASA Tech Briefs, December 2013

NASA Technical Reports Server (NTRS)

2013-01-01

Topics include: Microwave Kinetic Inductance Detector With; Selective Polarization Coupling; Flexible Microstrip Circuits for; Superconducting Electronics; CFD Extraction Tool for TecPlot From DPLR Solutions; RECOVIR Software for Identifying Viruses; Enhanced Contact Graph Routing (ECGR) MACHETE Simulation Model; Orbital Debris Engineering Model (ORDEM) v.3; Scatter-Reducing Sounding Filtration Using a Genetic Algorithm and Mean Monthly Standard Deviation; Thermo-Mechanical Methodology for Stabilizing Shape Memory Alloy Response; Hermetic Seal Designs for Sample Return Sample Tubes; Silicon Alignment Pins: An Easy Way To Realize a Wafer-to-Wafer Alignment; Positive-Buoyancy Rover for Under Ice Mobility; Electric Machine With Boosted Inductance to Stabilize Current Control; International Space Station-Based Electromagnetic Launcher for Space Science Payloads; Advanced Hybrid Spacesuit Concept Featuring Integrated Open Loop and Closed Loop Ventilation Systems; Data Quality Screening Service.

Combustion Stability Innovations for Liquid Rocket

DTIC Science & Technology

2010-01-31

waves within the pipe . Acoustic time for one pass = 0.003 sec. Closed end The following figure shows the second harmonic of the quarter wave mode at...waveguides at the center of the test section. The two drivers at either end can operate at sync or at a specified phase difference. The effect of close ...preserve conservation in real time. The preconditioner operates on the inner loop driving the solution to the next time level. Sufficient number of inner

Enzymatic function of loop movement in enolase: preparation and some properties of H159N, H159A, H159F, and N207A enolases.

PubMed

Brewer, John M; Glover, Claiborne V C; Holland, Michael J; Lebioda, Lukasz

2003-05-01

The hypothesis that His159 in yeast enolase moves on a polypeptide loop to protonate the phosphoryl of 2-phosphoglycerate to initiate its conversion to phosphoenolpyruvate was tested by preparing H159N, H159A, and H159F enolases. These have 0.07%-0.25% of the native activity under standard assay conditions and the pH dependence of maximum velocities of H159A and H159N mutants is markedly altered. Activation by Mg2+ is biphasic, with the smaller Mg2+ activation constant closer to that of the "catalytic" Mg2+ binding site of native enolase and the larger in the mM range in which native enolase is inhibited. A third Mg2+ may bind to the phosphoryl, functionally replacing proton donation by His159. N207A enolase lacks an intersubunit interaction that stabilizes the closed loop(s) conformation when 2-phosphoglycerate binds. It has 21% of the native activity, also exhibits biphasic Mg2+ activation, and its reaction with the aldehyde analogue of the substrate is more strongly inhibited than is its normal enzymatic reaction. Polypeptide loop(s) closure may keep a proton from His159 interacting with the substrate phosphoryl oxygen long enough to stabilize a carbanion intermediate.

Sliding mode based trajectory linearization control for hypersonic reentry vehicle via extended disturbance observer.

PubMed

Xingling, Shao; Honglun, Wang

2014-11-01

This paper proposes a novel hybrid control framework by combing observer-based sliding mode control (SMC) with trajectory linearization control (TLC) for hypersonic reentry vehicle (HRV) attitude tracking problem. First, fewer control consumption is achieved using nonlinear tracking differentiator (TD) in the attitude loop. Second, a novel SMC that employs extended disturbance observer (EDO) to counteract the effect of uncertainties using a new sliding surface which includes the estimation error is integrated to address the tracking error stabilization issues in the attitude and angular rate loop, respectively. In addition, new results associated with EDO are examined in terms of dynamic response and noise-tolerant performance, as well as estimation accuracy. The key feature of the proposed compound control approach is that chattering free tracking performance with high accuracy can be ensured for HRV in the presence of multiple uncertainties under control constraints. Based on finite time convergence stability theory, the stability of the resulting closed-loop system is well established. Also, comparisons and extensive simulation results are presented to demonstrate the effectiveness of the control strategy. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Development of closed-loop neural interface technology in a rat model: combining motor cortex operant conditioning with visual cortex microstimulation.

PubMed

Marzullo, Timothy Charles; Lehmkuhle, Mark J; Gage, Gregory J; Kipke, Daryl R

2010-04-01

Closed-loop neural interface technology that combines neural ensemble decoding with simultaneous electrical microstimulation feedback is hypothesized to improve deep brain stimulation techniques, neuromotor prosthetic applications, and epilepsy treatment. Here we describe our iterative results in a rat model of a sensory and motor neurophysiological feedback control system. Three rats were chronically implanted with microelectrode arrays in both the motor and visual cortices. The rats were subsequently trained over a period of weeks to modulate their motor cortex ensemble unit activity upon delivery of intra-cortical microstimulation (ICMS) of the visual cortex in order to receive a food reward. Rats were given continuous feedback via visual cortex ICMS during the response periods that was representative of the motor cortex ensemble dynamics. Analysis revealed that the feedback provided the animals with indicators of the behavioral trials. At the hardware level, this preparation provides a tractable test model for improving the technology of closed-loop neural devices.

OPTICON: Pro-Matlab software for large order controlled structure design

NASA Technical Reports Server (NTRS)

Peterson, Lee D.

1989-01-01

A software package for large order controlled structure design is described and demonstrated. The primary program, called OPTICAN, uses both Pro-Matlab M-file routines and selected compiled FORTRAN routines linked into the Pro-Matlab structure. The program accepts structural model information in the form of state-space matrices and performs three basic design functions on the model: (1) open loop analyses; (2) closed loop reduced order controller synthesis; and (3) closed loop stability and performance assessment. The current controller synthesis methods which were implemented in this software are based on the Generalized Linear Quadratic Gaussian theory of Bernstein. In particular, a reduced order Optimal Projection synthesis algorithm based on a homotopy solution method was successfully applied to an experimental truss structure using a 58-state dynamic model. These results are presented and discussed. Current plans to expand the practical size of the design model to several hundred states and the intention to interface Pro-Matlab to a supercomputing environment are discussed.

The Routes of Unity

ERIC Educational Resources Information Center

McCartney, Mark; Gibson, Sharon

2006-01-01

A model for car following on a closed loop is defined. The stability of the solutions of the model is investigated by considering the evolution of the roots of the corresponding characteristic equation in the complex plane. The solution provides a motivation for investigating the behaviour of the roots of a simple class of algebraic equation.…

Adaptive robust control of a class of non-affine variable-speed variable-pitch wind turbines with unmodeled dynamics.

PubMed

Bagheri, Pedram; Sun, Qiao

2016-07-01

In this paper, a novel synthesis of Nussbaum-type functions, and an adaptive radial-basis function neural network is proposed to design controllers for variable-speed, variable-pitch wind turbines. Dynamic equations of the wind turbine are highly nonlinear, uncertain, and affected by unknown disturbance sources. Furthermore, the dynamic equations are non-affine with respect to the pitch angle, which is a control input. To address these problems, a Nussbaum-type function, along with a dynamic control law are adopted to resolve the non-affine nature of the equations. Moreover, an adaptive radial-basis function neural network is designed to approximate non-parametric uncertainties. Further, the closed-loop system is made robust to unknown disturbance sources, where no prior knowledge of disturbance bound is assumed in advance. Finally, the Lyapunov stability analysis is conducted to show the stability of the entire closed-loop system. In order to verify analytical results, a simulation is presented and the results are compared to both a PI and an existing adaptive controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Mixed H ∞ and Passive Projective Synchronization for Fractional Order Memristor-Based Neural Networks with Time-Delay and Parameter Uncertainty

NASA Astrophysics Data System (ADS)

Song, Xiao-Na; Song, Shuai; Tejado Balsera, Inés; Liu, Lei-Po

2017-10-01

This paper investigates the mixed H ∞ and passive projective synchronization problem for fractional-order (FO) memristor-based neural networks. Our aim is to design a controller such that, though the unavoidable phenomena of time-delay and parameter uncertainty are fully considered, the resulting closed-loop system is asymptotically stable with a mixed H ∞ and passive performance level. By combining active and adaptive control methods, a novel hybrid control strategy is designed, which can guarantee the robust stability of the closed-loop system and also ensure a mixed H ∞ and passive performance level. Via the application of FO Lyapunov stability theory, the projective synchronization conditions are addressed in terms of linear matrix inequality techniques. Finally, two simulation examples are given to illustrate the effectiveness of the proposed method. Supported by National Natural Science Foundation of China under Grant Nos. U1604146, U1404610, 61473115, 61203047, Science and Technology Research Project in Henan Province under Grant Nos. 152102210273, 162102410024, and Foundation for the University Technological Innovative Talents of Henan Province under Grant No. 18HASTIT019

Contribution of supraspinal systems to generation of automatic postural responses

PubMed Central

Deliagina, Tatiana G.; Beloozerova, Irina N.; Orlovsky, Grigori N.; Zelenin, Pavel V.

2014-01-01

Different species maintain a particular body orientation in space due to activity of the closed-loop postural control system. In this review we discuss the role of neurons of descending pathways in operation of this system as revealed in animal models of differing complexity: lower vertebrate (lamprey) and higher vertebrates (rabbit and cat). In the lamprey and quadruped mammals, the role of spinal and supraspinal mechanisms in the control of posture is different. In the lamprey, the system contains one closed-loop mechanism consisting of supraspino-spinal networks. Reticulospinal (RS) neurons play a key role in generation of postural corrections. Due to vestibular input, any deviation from the stabilized body orientation leads to activation of a specific population of RS neurons. Each of the neurons activates a specific motor synergy. Collectively, these neurons evoke the motor output necessary for the postural correction. In contrast to lampreys, postural corrections in quadrupeds are primarily based not on the vestibular input but on the somatosensory input from limb mechanoreceptors. The system contains two closed-loop mechanisms – spinal and spino-supraspinal networks, which supplement each other. Spinal networks receive somatosensory input from the limb signaling postural perturbations, and generate spinal postural limb reflexes. These reflexes are relatively weak, but in intact animals they are enhanced due to both tonic supraspinal drive and phasic supraspinal commands. Recent studies of these supraspinal influences are considered in this review. A hypothesis suggesting common principles of operation of the postural systems stabilizing body orientation in a particular plane in the lamprey and quadrupeds, that is interaction of antagonistic postural reflexes, is discussed. PMID:25324741

A priori stability results for PFC

NASA Astrophysics Data System (ADS)

Rossiter, J. A.

2017-02-01

Despite its popularity in industry and obvious efficacy, predictive functional control has few rigorous a priori stability results in the literature. In many cases, common sense and intuition with some trial and error are the main design tools. This paper seeks to tackle that gap by providing some analysis of the control law and showing what forms of stability assurances can be given and how these depend on the user choices of coincidence horizon and desired closed-loop pole. The conditions are separated into necessary, but not sufficient conditions for stability and, conversely, sufficient but not necessary conditions. Numerical examples demonstrate the efficacy of these conditions and the ease of use.

[An implantable micro-device using wireless power transmission for measuring aortic aneurysm sac pressure].

PubMed

Guo, Xudong; Ge, Bin; Wang, Wenxing

2013-08-01

In order to detect endoleaks after endovascular aneurysm repair (EVAR), we developed an implantable micro-device based on wireless power transmission to measure aortic aneurysm sac pressure. The implantable micro-device is composed of a miniature wireless pressure sensor, an energy transmitting coil, a data recorder and a data processing platform. Power transmission without interconnecting wires is performed by a transmitting coil and a receiving coil. The coupling efficiency of wireless power transmission depends on the coupling coefficient between the transmitting coil and the receiving coil. With theoretical analysis and experimental study, we optimized the geometry of the receiving coil to increase the coupling coefficient. In order to keep efficiency balance and satisfy the maximizing conditions, we designed a closed loop power transmission circuit, including a receiving voltage feedback module based on wireless communication. The closed loop improved the stability and reliability of transmission energy. The prototype of the micro-device has been developed and the experiment has been performed. The experiments showed that the micro-device was feasible and valid. For normal operation, the distance between the transmitting coil and the receiving coil is smaller than 8cm. Besides, the distance between the micro-device and the data recorder is within 50cm.

Highly scalable, closed-loop synthesis of drug-loaded, layer-by-layer nanoparticles.

PubMed

Correa, Santiago; Choi, Ki Young; Dreaden, Erik C; Renggli, Kasper; Shi, Aria; Gu, Li; Shopsowitz, Kevin E; Quadir, Mohiuddin A; Ben-Akiva, Elana; Hammond, Paula T

2016-02-16

Layer-by-layer (LbL) self-assembly is a versatile technique from which multicomponent and stimuli-responsive nanoscale drug carriers can be constructed. Despite the benefits of LbL assembly, the conventional synthetic approach for fabricating LbL nanoparticles requires numerous purification steps that limit scale, yield, efficiency, and potential for clinical translation. In this report, we describe a generalizable method for increasing throughput with LbL assembly by using highly scalable, closed-loop diafiltration to manage intermediate purification steps. This method facilitates highly controlled fabrication of diverse nanoscale LbL formulations smaller than 150 nm composed from solid-polymer, mesoporous silica, and liposomal vesicles. The technique allows for the deposition of a broad range of polyelectrolytes that included native polysaccharides, linear polypeptides, and synthetic polymers. We also explore the cytotoxicity, shelf life and long-term storage of LbL nanoparticles produced using this approach. We find that LbL coated systems can be reliably and rapidly produced: specifically, LbL-modified liposomes could be lyophilized, stored at room temperature, and reconstituted without compromising drug encapsulation or particle stability, thereby facilitating large scale applications. Overall, this report describes an accessible approach that significantly improves the throughput of nanoscale LbL drug-carriers that show low toxicity and are amenable to clinically relevant storage conditions.

High Performance, Robust Control of Flexible Space Structures: MSFC Center Director's Discretionary Fund

NASA Technical Reports Server (NTRS)

Whorton, M. S.

1998-01-01

Many spacecraft systems have ambitious objectives that place stringent requirements on control systems. Achievable performance is often limited because of difficulty of obtaining accurate models for flexible space structures. To achieve sufficiently high performance to accomplish mission objectives may require the ability to refine the control design model based on closed-loop test data and tune the controller based on the refined model. A control system design procedure is developed based on mixed H2/H(infinity) optimization to synthesize a set of controllers explicitly trading between nominal performance and robust stability. A homotopy algorithm is presented which generates a trajectory of gains that may be implemented to determine maximum achievable performance for a given model error bound. Examples show that a better balance between robustness and performance is obtained using the mixed H2/H(infinity) design method than either H2 or mu-synthesis control design. A second contribution is a new procedure for closed-loop system identification which refines parameters of a control design model in a canonical realization. Examples demonstrate convergence of the parameter estimation and improved performance realized by using the refined model for controller redesign. These developments result in an effective mechanism for achieving high-performance control of flexible space structures.

Structure-based design of novel naproxen derivatives targeting monomeric nucleoprotein of Influenza A virus

PubMed Central

Tarus, Bogdan; Bertrand, Hélène; Zedda, Gloria; Di Primo, Carmelo; Quideau, Stéphane; Slama-Schwok, Anny

2015-01-01

The nucleoprotein (NP) binds the viral RNA genome as oligomers assembled with the polymerase in a ribonucleoprotein complex required for transcription and replication of influenza A virus. Novel antiviral candidates targeting the nucleoprotein either induced higher order oligomers or reduced NP oligomerization by targeting the oligomerization loop and blocking its insertion into adjacent nucleoprotein subunit. In this study, we used a different structure-based approach to stabilize monomers of the nucleoprotein by drugs binding in its RNA-binding groove. We recently identified naproxen as a drug competing with RNA binding to NP with antiinflammatory and antiviral effects against influenza A virus. Here, we designed novel derivatives of naproxen by fragment extension for improved binding to NP. Molecular dynamics simulations suggested that among these derivatives, naproxen A and C0 were most promising. Their chemical synthesis is described. Both derivatives markedly stabilized NP monomer against thermal denaturation. Naproxen C0 bound tighter to NP than naproxen at a binding site predicted by MD simulations and shown by competition experiments using wt NP or single-point mutants as determined by surface plasmon resonance. MD simulations suggested that impeded oligomerization and stabilization of monomeric NP is likely to be achieved by drugs binding in the RNA grove and inducing close to their binding site conformational changes of key residues hosting the oligomerization loop as observed for the naproxen derivatives. Naproxen C0 is a potential antiviral candidate blocking influenza nucleoprotein function. PMID:25333630

Structure-based design of novel naproxen derivatives targeting monomeric nucleoprotein of Influenza A virus.

PubMed

Tarus, Bogdan; Bertrand, Hélène; Zedda, Gloria; Di Primo, Carmelo; Quideau, Stéphane; Slama-Schwok, Anny

2015-09-01

The nucleoprotein (NP) binds the viral RNA genome as oligomers assembled with the polymerase in a ribonucleoprotein complex required for transcription and replication of influenza A virus. Novel antiviral candidates targeting the nucleoprotein either induced higher order oligomers or reduced NP oligomerization by targeting the oligomerization loop and blocking its insertion into adjacent nucleoprotein subunit. In this study, we used a different structure-based approach to stabilize monomers of the nucleoprotein by drugs binding in its RNA-binding groove. We recently identified naproxen as a drug competing with RNA binding to NP with antiinflammatory and antiviral effects against influenza A virus. Here, we designed novel derivatives of naproxen by fragment extension for improved binding to NP. Molecular dynamics simulations suggested that among these derivatives, naproxen A and C0 were most promising. Their chemical synthesis is described. Both derivatives markedly stabilized NP monomer against thermal denaturation. Naproxen C0 bound tighter to NP than naproxen at a binding site predicted by MD simulations and shown by competition experiments using wt NP or single-point mutants as determined by surface plasmon resonance. MD simulations suggested that impeded oligomerization and stabilization of monomeric NP is likely to be achieved by drugs binding in the RNA grove and inducing close to their binding site conformational changes of key residues hosting the oligomerization loop as observed for the naproxen derivatives. Naproxen C0 is a potential antiviral candidate blocking influenza nucleoprotein function.

A closed-loop system for frequency tracking of piezoresistive cantilever sensors

NASA Astrophysics Data System (ADS)

Wasisto, Hutomo Suryo; Zhang, Qing; Merzsch, Stephan; Waag, Andreas; Peiner, Erwin

2013-05-01

A closed loop circuit capable of tracking resonant frequencies for MEMS-based piezoresistive cantilever resonators is developed in this work. The proposed closed-loop system is mainly based on a phase locked loop (PLL) circuit. In order to lock onto the resonant frequency of the resonator, an actuation signal generated from a voltage-controlled oscillator (VCO) is locked to the phase of the input reference signal of the cantilever sensor. In addition to the PLL component, an instrumentation amplifier and an active low pass filter (LPF) are connected to the system for gaining the amplitude and reducing the noise of the cantilever output signals. The LPF can transform a rectangular signal into a sinusoidal signal with voltage amplitudes ranging from 5 to 10 V which are sufficient for a piezoactuator input (i.e., maintaining a large output signal of the cantilever sensor). To demonstrate the functionality of the system, a self-sensing silicon cantilever resonator with a built-in piezoresistive Wheatstone bridge is fabricated and integrated with the circuit. A piezoactuator is utilized for actuating the cantilever into resonance. Implementation of this closed loop system is used to track the resonant frequency of a silicon cantilever-based sensor resonating at 9.4 kHz under a cross-sensitivity test of ambient temperature. The changes of the resonant frequency are interpreted using a frequency counter connected to the system. From the experimental results, the temperature sensitivity and coefficient of the employed sensor are 0.3 Hz/°C and 32.8 ppm/°C, respectively. The frequency stability of the system can reach up to 0.08 Hz. The development of this system will enable real-time nanoparticle monitoring systems and provide a miniaturization of the instrumentation modules for cantilever-based nanoparticle detectors.

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

NASA Astrophysics Data System (ADS)

Asghar, Haroon; McInerney, John G.

2017-09-01

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

Compact, closed-loop controlled waste incinerator

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

Schadow, K.C.; Seeker, W.R.

1999-07-01

Technologies for solid and liquid waste destruction in compact incinerators are being developed in collaboration between industry, universities, and a Government laboratory. This paper reviews progress on one technology, namely active combustion control to achieve efficient and controlled afterburning of air-starved reaction products. This technology which uses synchronized waste gas injection into acoustically stabilized air vortices was transitioned to a simplified afterburner design and practical operational conditions. The full-scale, simplified afterburner, which achieved CO and NO{sub x} emissions of about 30 ppm with a residence time of less than 50 msec, was integrated with a commercially available marine incinerator tomore » increase throughput and reduce emissions. Closed-loop active control with diode laser sensors and novel control strategies was demonstrated on a sub-scale afterburner.« less

Fault Accommodation in Control of Flexible Systems

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Sparks, Dean W., Jr.; Lim, Kyong B.

1998-01-01

New synthesis techniques for the design of fault accommodating controllers for flexible systems are developed. Three robust control design strategies, static dissipative, dynamic dissipative and mu-synthesis, are used in the approach. The approach provides techniques for designing controllers that maximize, in some sense, the tolerance of the closed-loop system against faults in actuators and sensors, while guaranteeing performance robustness at a specified performance level, measured in terms of the proximity of the closed-loop poles to the imaginary axis (the degree of stability). For dissipative control designs, nonlinear programming is employed to synthesize the controllers, whereas in mu-synthesis, the traditional D-K iteration is used. To demonstrate the feasibility of the proposed techniques, they are applied to the control design of a structural model of a flexible laboratory test structure.

Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.

PubMed

Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng

2017-07-01

In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Stabilizing an optoelectronic microwave oscillator with photonic filters

NASA Technical Reports Server (NTRS)

Strekalov, D.; Aveline, D.; Yu, N.; Thompson, R.; Matsko, A. B.; Maleki, L.

2003-01-01

This paper compares methods of active stabilization of an optoelectronic microwave oscillator (OEO) based on insertion of a source of optical group delay into an OEO loop. The performance of an OEO stabilized with either a high- optical cavity or an atomic cell is analyzed. We show that the elements play a role of narrow-band microwave filters improving an OEO stability.

An investigation of the open-loop amplification of a Reynolds number dependent process by wave distortion

NASA Technical Reports Server (NTRS)

Ventrice, M. B.; Purdy, K. R.

1974-01-01

The response of a constant-temperature hot-wire anemometer to sinusoidal and distorted sinusoidal acoustic oscillations is examined. The output of the anemometer is dependent upon the Reynolds number of the flow over the wire. The response is a measure of the interaction between the anemometer output and the acoustic pressure in the neighborhood of the wire. It is an open-loop prediction of the characteristics of actual closed-loop operation of a system. If the open-loop response is large enough, unstable closed-loop operation is predicted. The study was motivated by a need to investigate the stability limits of liquid-propellant rockets when perturbed by pressure oscillations. The sinusoidal and distorted sinusoidal acoustic oscillations used for this study are the same as those characteristic of unstable rocket combustion. Qualitatively, the results are similar--the response of the system to pure sinusoidal acoustic vibration of the fluid surrounding the wire is small, even when the magnitude of the acoustic pressure is quite large; but the response can be increased by as much as an order of magnitude with respect to the sinusoidal case by the addition of distortion. The amplitude and phase of the distortion component, relative to the fundamental component, are the dominant factors in the increase in the response.

Adaptive control of nonlinear uncertain active suspension systems with prescribed performance.

PubMed

Huang, Yingbo; Na, Jing; Wu, Xing; Liu, Xiaoqin; Guo, Yu

2015-01-01

This paper proposes adaptive control designs for vehicle active suspension systems with unknown nonlinear dynamics (e.g., nonlinear spring and piece-wise linear damper dynamics). An adaptive control is first proposed to stabilize the vertical vehicle displacement and thus to improve the ride comfort and to guarantee other suspension requirements (e.g., road holding and suspension space limitation) concerning the vehicle safety and mechanical constraints. An augmented neural network is developed to online compensate for the unknown nonlinearities, and a novel adaptive law is developed to estimate both NN weights and uncertain model parameters (e.g., sprung mass), where the parameter estimation error is used as a leakage term superimposed on the classical adaptations. To further improve the control performance and simplify the parameter tuning, a prescribed performance function (PPF) characterizing the error convergence rate, maximum overshoot and steady-state error is used to propose another adaptive control. The stability for the closed-loop system is proved and particular performance requirements are analyzed. Simulations are included to illustrate the effectiveness of the proposed control schemes. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Closed-Loop Control Better than Open-Loop Control of Profofol TCI Guided by BIS: A Randomized, Controlled, Multicenter Clinical Trial to Evaluate the CONCERT-CL Closed-Loop System

PubMed Central

Zhang, Xuena; Wu, Anshi; Yao, Shanglong; Xue, Zhanggang; Yue, Yun

2015-01-01

Background The CONCERT-CL closed-loop infusion system designed by VERYARK Technology Co., Ltd. (Guangxi, China) is an innovation using TCI combined with closed-loop controlled intravenous anesthesia under the guide of BIS. In this study we performed a randomized, controlled, multicenter study to compare closed-loop control and open-loop control of propofol by using the CONCERT-CL closed-loop infusion system. Methods 180 surgical patients from three medical centers undergone TCI intravenous anesthesia with propofol and remifentanil were randomly assigned to propofol closed-loop group and propofol opened-loop groups. Primary outcome was global score (GS, GS = (MDAPE+Wobble)/% of time of bispectral index (BIS) 40-60). Secondary outcomes were doses of the anesthetics and emergence time from anesthesia, such as, time to tracheal extubation. Results There were 89 and 86 patients in the closed-loop and opened-loop groups, respectively. GS in the closed-loop groups (22.21±8.50) were lower than that in the opened-loop group (27.19±15.26) (p=0.009). The higher proportion of time of BIS between 40 and 60 was also observed in the closed-loop group (84.11±9.50%), while that was 79.92±13.17% in the opened-loop group, (p=0.016). No significant differences in propofol dose and time of tracheal extubation were observed. The frequency of propofol regulation in the closed-loop group (31.55±9.46 times/hr) was obverse higher than that in the opened-loop group (6.84±6.21 times/hr) (p=0.000). Conclusion The CONCERT-CL closed-loop infusion system can automatically regulate the TCI of propofol, maintain the BIS value in an adequate range and reduce the workload of anesthesiologists better than open-loop system. Trial Registration ChiCTR ChiCTR-OOR-14005551 PMID:25886041

Deletion of loop fragment adjacent to active site diminishes the stability and activity of exo-inulinase.

PubMed

Arjomand, Maryam Rezaei; Habibi-Rezaei, Mehran; Ahmadian, Gholamreza; Hassanzadeh, Malihe; Karkhane, Ali Asghar; Asadifar, Mandana; Amanlou, Massoud

2016-11-01

Inulinases are classified as hydrolases and widely used in the food and medical industries. Here, we report the deletion of a six-membered adjacent active site loop fragment ( 74 YGSDVT 79 sequence) from third Ω-loop of the exo-inulinase containing aspartate residue from Aspergillus niger to study its structural and functional importance. Site-directed mutagenesis was used to create the mutant of the exo-inulinase (Δ6SL). To investigate the stability of the region spanning this loop, MD simulations were performed 80ns for 20-85 residues. Molecular docking was performed to compare the interactions in the active sites of enzymes with fructose as a ligand. Accordingly, the functional thermostability of the exo-inulinase was significantly decreased upon loop fragment deletion. Evaluation of the kinetics parameters (V max , K m , k cat and, k cat /K m ) and activation energy (E a ) of the catalysis of enzymes indicated the importance of the deleted sequence on the catalytic performance of the enzyme. In conclusion, six-membered adjacent active site loop fragment not only plays a crucial role in the stability of the enzyme, but also it involves in the enzyme catalysis through lowering the activation energy of the catalysis and effective improving the catalytic performance. Copyright © 2016. Published by Elsevier B.V.

Combining a Disturbance Observer with Triple-Loop Control Based on MEMS Accelerometers for Line-of-Sight Stabilization

PubMed Central

Huang, Yongmei; Deng, Chao; Ren, Wei; Wu, Qiongyan

2017-01-01

In the CCD-based fine tracking optical system (FTOS), the whole disturbance suppression ability (DSA) is the product of the inner loop and outer position loop. Traditionally, high sampling fiber-optic gyroscopes (FOGs) are added to the platform to stabilize the line-of-sight (LOS). However, because of the FOGs’ high cost and relatively big volume relative to the back narrow space of small rotating mirrors, we attempt in this work to utilize a cheaper and smaller micro-electro-mechanical system (MEMS) accelerometer to build the inner loop, replacing the FOG. Unfortunately, since accelerometers are susceptible to the low-frequency noise, according to the classical way of using accelerometers, the crucial low-frequency DSA of the system is insufficient. To solve this problem, in this paper, we propose an approach based on MEMS accelerometers combining disturbance observer (DOB) with triple-loop control (TLC) in which the composite velocity loop is built by acceleration integration and corrected by CCD. The DOB is firstly used to reform the platform, greatly improving the medium-frequency DSA. Then the composite velocity loop exchanges a part of medium-frequency performance for the low-frequency DSA. A detailed analysis and experiments verify the proposed method has a better DSA than the traditional way and could totally substitute FOG in the LOS stabilization. PMID:29149050

Analysis of virtual passive controllers for flexible space structures

NASA Technical Reports Server (NTRS)

Williams, Trevor W.

1992-01-01

The dynamics of flexible spacecraft are not usually well known before launch. This makes it important to develop controllers for such systems that can never be destabilized by perturbations in the structural model. Virtual passive controllers, or active vibration absorbers, possess this guaranteed stability property; they mimic a fictitious flexible structure attached to the true physical one. This report analyzes the properties of such controllers, and shows that disturbance absorption behavior can be naturally described in terms of a set of virtual zeros that they introduce into the closed-loop dynamics of the system. Based on this analysis, techniques are then derived for selecting the active vibration absorber internal parameters, i.e., the gain matrices of such controllers, so as to achieve specified control objectives. Finally, the effects on closed-loop stability of small delays in the feedback loop are investigated. Such delays would typically be introduced by a digital implementation of an active vibration absorber. It is shown that these delays only affect the real parts of the eigenvalues of a lightly-damped structure. Furthermore, it is only the high-frequency modes that are destabilized by delays; low-frequency modes are actually made more heavily damped. Eigenvalue perturbation methods are used to obtain accurate predictions of the critical delay at which a given system will become unstable; these methods also determine which mode is critical.

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

PubMed

Lehrer, Paul; Eddie, David

2013-06-01

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

Clearing the Air: New Approaches to Life Support in Outer Space

NASA Technical Reports Server (NTRS)

Knox, J.; Howard, D.

2008-01-01

This article reports on research into atmospheric revitalization systems for long-term space travel and the use ofCOMSOL Multiphysics to understand how structured sorbents can be used to improve the performance of adsorption processes via thermal management. We are developing the next generation of atmosphere revitalization systems, which will reach for new levels of resource conservation via a high percentage of loop closure. For example, a high percentage of carbon dioxide, exhaled by crew, can be converted via reaction to drinking water, closing the loop from human metabolic waste to supply. Adsorption processes play a lead role in these new/closed loop systems.

Motor-sensory confluence in tactile perception.

PubMed

Saig, Avraham; Gordon, Goren; Assa, Eldad; Arieli, Amos; Ahissar, Ehud

2012-10-03

Perception involves motor control of sensory organs. However, the dynamics underlying emergence of perception from motor-sensory interactions are not yet known. Two extreme possibilities are as follows: (1) motor and sensory signals interact within an open-loop scheme in which motor signals determine sensory sampling but are not affected by sensory processing and (2) motor and sensory signals are affected by each other within a closed-loop scheme. We studied the scheme of motor-sensory interactions in humans using a novel object localization task that enabled monitoring the relevant overt motor and sensory variables. We found that motor variables were dynamically controlled within each perceptual trial, such that they gradually converged to steady values. Training on this task resulted in improvement in perceptual acuity, which was achieved solely by changes in motor variables, without any change in the acuity of sensory readout. The within-trial dynamics is captured by a hierarchical closed-loop model in which lower loops actively maintain constant sensory coding, and higher loops maintain constant sensory update flow. These findings demonstrate interchangeability of motor and sensory variables in perception, motor convergence during perception, and a consistent hierarchical closed-loop perceptual model.

Disturbance rejection performance analyses of closed loop control systems by reference to disturbance ratio.

PubMed

Alagoz, Baris Baykant; Deniz, Furkan Nur; Keles, Cemal; Tan, Nusret

2015-03-01

This study investigates disturbance rejection capacity of closed loop control systems by means of reference to disturbance ratio (RDR). The RDR analysis calculates the ratio of reference signal energy to disturbance signal energy at the system output and provides a quantitative evaluation of disturbance rejection performance of control systems on the bases of communication channel limitations. Essentially, RDR provides a straightforward analytical method for the comparison and improvement of implicit disturbance rejection capacity of closed loop control systems. Theoretical analyses demonstrate us that RDR of the negative feedback closed loop control systems are determined by energy spectral density of controller transfer function. In this manner, authors derived design criteria for specifications of disturbance rejection performances of PID and fractional order PID (FOPID) controller structures. RDR spectra are calculated for investigation of frequency dependence of disturbance rejection capacity and spectral RDR analyses are carried out for PID and FOPID controllers. For the validation of theoretical results, simulation examples are presented. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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

NASA Astrophysics Data System (ADS)

Ružička, B.; Číp, O.; Lazar, J.

2007-03-01

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

Developments of high frequency and intensity stabilized lasers for space gravitational wave detector DECIGO/B-DECIGO

NASA Astrophysics Data System (ADS)

Suemasa, Aru; Shimo-oku, Ayumi; Nakagawa, Ken'ichi; Musha, Mitsuru

2017-12-01

In Japan, not only the ground-based gravitational wave (GW) detector mission KAGRA but also the space GW detector mission DECIGO (DECi-hertz Interferometer Gravitational wave Observatory) and its milestone mission B-DECIGO have been promoted. The designed strain sensitivity of DECIGO and B-DECIGO are δL/ L < 10-23. Since the GW detector requires high power and highly-stable light source, we have developed the light source with high frequency and intensity stability for DECIGO and B-DECIGO. The frequency of the Yb-doped fiber DFB lasers are stabilized to the iodine saturated absorption at 515 nm, and the intensity of the laser at 1 Hz (observation band) is stabilized by controlling the pump source of an Yb-doped fiber amplifier. The intensity of the laser at 200 kHz (modulation band) is also stabilized using an acousto-optic modulator to improve the frequency stability of the laser. In the consequences, we obtain the frequency stability of δf = 0.4 Hz/√Hz (in-loop) at 1 Hz, and the intensity stability of δI/ I = 1.2 × 10-7/√Hz (out-of-loop) and δI/I = 1.5 × 10-7/√Hz (in-loop) at 1 Hz and 200 kHz, respectively.

Comparison between solar utilization of a closed microalgae-based bio-loop and that of a stand-alone photovoltaic system.

PubMed

Jin, Qiang; Chen, Lei; Li, Aimin; Liu, Fuqiang; Long, Chao; Shan, Aidang; Borthwick, Alistair G L

2015-05-01

This study compared the solar energy utilization of a closed microalgae-based bio-loop for energy efficient production of biogas with fertilizer recovery against that of a stand-alone photovoltaic (PV) system. The comparison was made from the perspective of broad life cycle assessment, simultaneously taking exergy to be the functional unit. The results indicated that the bio-loop was more environmentally competitive than an equivalent stand-alone PV system, but had higher economic cost due to high energy consumption during the operational phase. To fix the problem, a patented, interior pressurization scheduling method was used to operate the bio-loop, with microalgae and aerobic bacterial placed together in the same reactor. As a result, the overall environmental impact and total investment were respectively reduced by more than 75% and 84%, a vast improvement on the bio-loop. Copyright © 2014 Elsevier Ltd. All rights reserved.

Day-and-Night Hybrid Closed-Loop Insulin Delivery in Adolescents With Type 1 Diabetes: A Free-Living, Randomized Clinical Trial.

PubMed

Tauschmann, Martin; Allen, Janet M; Wilinska, Malgorzata E; Thabit, Hood; Stewart, Zoë; Cheng, Peiyao; Kollman, Craig; Acerini, Carlo L; Dunger, David B; Hovorka, Roman

2016-07-01

To evaluate feasibility, safety, and efficacy of day-and-night hybrid closed-loop insulin delivery in adolescents with type 1 diabetes under free-living conditions without remote monitoring or supervision. In an open-label, randomized, free-living, crossover study design, 12 adolescents receiving insulin pump therapy (mean [±SD] age 15.4 ± 2.6 years; HbA1c 8.3 ± 0.9%; duration of diabetes 8.2 ± 3.4 years) underwent two 7-day periods of sensor-augmented insulin pump therapy or hybrid closed-loop insulin delivery without supervision or remote monitoring. During the closed-loop insulin delivery, a model predictive algorithm automatically directed insulin delivery between meals and overnight; prandial boluses were administered by participants using a bolus calculator. The proportion of time when the sensor glucose level was in the target range (3.9-10 mmol/L) was increased during closed-loop insulin delivery compared with sensor-augmented pump therapy (72 vs. 53%, P < 0.001; primary end point), the mean glucose concentration was lowered (8.7 vs. 10.1 mmol/L, P = 0.028), and the time spent above the target level was reduced (P = 0.005) without changing the total daily insulin amount (P = 0.55). The time spent in the hypoglycemic range was low and comparable between interventions. Unsupervised day-and-night hybrid closed-loop insulin delivery at home is feasible and safe in young people with type 1 diabetes. Compared with sensor-augmented insulin pump therapy, closed-loop insulin delivery may improve glucose control without increasing the risk of hypoglycemia in adolescents with suboptimally controlled type 1 diabetes. © 2016 by the American Diabetes Association. Readers may use this article as long as the work is properly cited, the use is educational and not for profit, and the work is not altered.

A Method for Precision Closed-Loop Irrigation Using a Modified PID Control Algorithm

NASA Astrophysics Data System (ADS)

Goodchild, Martin; Kühn, Karl; Jenkins, Malcolm; Burek, Kazimierz; Dutton, Andrew

2016-04-01

The benefits of closed-loop irrigation control have been demonstrated in grower trials which show the potential for improved crop yields and resource usage. Managing water use by controlling irrigation in response to soil moisture changes to meet crop water demands is a popular approach but requires knowledge of closed-loop control practice. In theory, to obtain precise closed-loop control of a system it is necessary to characterise every component in the control loop to derive the appropriate controller parameters, i.e. proportional, integral & derivative (PID) parameters in a classic PID controller. In practice this is often difficult to achieve. Empirical methods are employed to estimate the PID parameters by observing how the system performs under open-loop conditions. In this paper we present a modified PID controller, with a constrained integral function, that delivers excellent regulation of soil moisture by supplying the appropriate amount of water to meet the needs of the plant during the diurnal cycle. Furthermore, the modified PID controller responds quickly to changes in environmental conditions, including rainfall events which can result in: controller windup, under-watering and plant stress conditions. The experimental work successfully demonstrates the functionality of a constrained integral PID controller that delivers robust and precise irrigation control. Coir substrate strawberry growing trial data is also presented illustrating soil moisture control and the ability to match water deliver to solar radiation.

Demonstration of a vectorial optical field generator with adaptive close loop control.

PubMed

Chen, Jian; Kong, Lingjiang; Zhan, Qiwen

2017-12-01

We experimentally demonstrate a vectorial optical field generator (VOF-Gen) with an adaptive close loop control. The close loop control capability is illustrated with the calibration of polarization modulation of the system. To calibrate the polarization ratio modulation, we generate 45° linearly polarized beam and make it propagate through a linear analyzer whose transmission axis is orthogonal to the incident beam. For the retardation calibration, circularly polarized beam is employed and a circular polarization analyzer with the opposite chirality is placed in front of the CCD as the detector. In both cases, the close loop control automatically changes the value of the corresponding calibration parameters in the pre-set ranges to generate the phase patterns applied to the spatial light modulators and records the intensity distribution of the output beam by the CCD camera. The optimized calibration parameters are determined corresponding to the minimum total intensity in each case. Several typical kinds of vectorial optical beams are created with and without the obtained calibration parameters, and the full Stokes parameter measurements are carried out to quantitatively analyze the polarization distribution of the generated beams. The comparisons among these results clearly show that the obtained calibration parameters could remarkably improve the accuracy of the polarization modulation of the VOF-Gen, especially for generating elliptically polarized beam with large ellipticity, indicating the significance of the presented close loop in enhancing the performance of the VOF-Gen.

Closed-Loop Targeted Memory Reactivation during Sleep Improves Spatial Navigation.

PubMed

Shimizu, Renee E; Connolly, Patrick M; Cellini, Nicola; Armstrong, Diana M; Hernandez, Lexus T; Estrada, Rolando; Aguilar, Mario; Weisend, Michael P; Mednick, Sara C; Simons, Stephen B

2018-01-01

Sounds associated with newly learned information that are replayed during non-rapid eye movement (NREM) sleep can improve recall in simple tasks. The mechanism for this improvement is presumed to be reactivation of the newly learned memory during sleep when consolidation takes place. We have developed an EEG-based closed-loop system to precisely deliver sensory stimulation at the time of down-state to up-state transitions during NREM sleep. Here, we demonstrate that applying this technology to participants performing a realistic navigation task in virtual reality results in a significant improvement in navigation efficiency after sleep that is accompanied by increases in the spectral power especially in the fast (12-15 Hz) sleep spindle band. Our results show promise for the application of sleep-based interventions to drive improvement in real-world tasks.

Compensation for time delay in flight simulator visual-display systems

NASA Technical Reports Server (NTRS)

Crane, D. F.

1983-01-01

A piloted aircraft can be viewed as a closed-loop, man-machine control system. When a simulator pilot is performing a precision maneuver, a delay in the visual display of aircraft response to pilot-control input decreases the stability of the pilot-aircraft system. The less stable system is more difficult to control precisely. Pilot dynamic response and performance change as the pilot attempts to compensate for the decrease in system stability, and these changes bias the simulation results by influencing the pilot's rating of the handling qualities of the simulated aircraft. Delay compensation, designed to restore pilot-aircraft system stability, was evaluated in several studies which are reported here. The studies range from single-axis, tracking-task experiments (with sufficient subjects and trials to establish statistical significance of the results) to a brief evaluation of compensation of a computer-generated-imagery (CGI) visual display system in a full six-degree-of-freedom simulation. The compensation was effective - improvements in pilot performance and workload or aircraft handling-qualities rating (HQR) were observed. Results from recent aircraft handling-qualities research literature which support the compensation design approach are also reviewed.

Cooperative control theory and integrated flight and propulsion control

NASA Technical Reports Server (NTRS)

Schmidt, David K.; Schierman, John D.

1995-01-01

The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multivariable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. In these example evaluations, the significance of these interactions was underscored. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important nonlinear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multivariable techniques, including model-following formulations of LQG and/or H infinity methods, showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods. The major contributions of the second phase of the grant was the development of conditions under which no decentralized controller could achieve closed loop system requirements on stability and/or performance. Sought were conditions that depended only on properties of the plant and the requirement, and independent of any particular control law or synthesis approach. Therefore, they could be applied a priori, before synthesis of a candidate control law. Under this grant, such conditions were found regarding stability, and encouraging initial results were obtained regarding performance.

Investigation of air transportation technology at Princeton University, 1984

NASA Technical Reports Server (NTRS)

Stengel, Robert F.

1987-01-01

The Air Transportation Technology Program at Princeton University, a program emphasizing graduate and undergraduate student research, proceeded along four avenues during 1984: (1) guidance and control strategies for penetration of microbursts and wind shear; (2) application of artificial intelligence in flight control systems; (3) effects of control saturation on closed loop stability; and (4) response of open loop unstable aircraft. Areas of investigation relate to guidance and control of commercial transports as well as to general aviation aircraft. Interaction between the flight crew and automatic systems is a subject of principle concern. These areas of investigation are briefly discussed.

Investigation of air transportation technology at Princeton University, 1985

NASA Technical Reports Server (NTRS)

Stengel, Robert F.

1987-01-01

The program proceeded along five avenues during 1985. Guidance and control strategies for penetration of microbursts and wind shear, application of artificial intelligence in flight control and air traffic control systems, the use of voice recognition in the cockpit, the effects of control saturation on closed-loop stability and response of open-loop unstable aircraft, and computer aided control system design are among the topics briefly considered. Areas of investigation relate to guidance and control of commercial transports as well as general aviation aircraft. Interaction between the flight crew and automatic systems is the subject of principal concern.

Wide-beam sensors for controlling dual-delay systems

NASA Astrophysics Data System (ADS)

Edwards, J. B.; Twemlow, J. K.

1982-09-01

A class of dual delay feedback systems of open loop transfer function G(s) = k exp(-Xs)/l - exp(-Ws) is shown to be unstable if ratio X/W is noninteger. By means of z-transform techniques it is shown that, by using a feedback transducer that senses over a substantial distance either side of its central axis, closed-loop stability may be restored. Such transducers, termed widebeam sensors, include transmission, backscatter and natural radiation types as well as electromechanical conveyor belt weighers. Designing transducers for very narrow beams may not be desirable from the overall system viewpoint.

Simple Optoelectronic Feedback in Microwave Oscillators

NASA Technical Reports Server (NTRS)

Maleki, Lute; Iltchenko, Vladimir

2009-01-01

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

Modeling and stability of segmented reflector telescopes - A decentralized approach

NASA Technical Reports Server (NTRS)

Ryaciotaki-Boussalis, Helen A.; Ih, Che-Hang Charles

1990-01-01

The decentralization of a segmented reflector telescope based on a finite-element model of its structure is considered. The decentralization of the system at the panel level is considered. Each panel is originally treated as an isolated subsystem so that the controller design is performed independently at the local level, and then applied to the composite system for stability analysis. The panel-level control laws were designed by means of pole placement using local output feedback. Simulation results show a better 1000:1 vibration attenuation in panel position when compared to the open-loop system. It is shown that the overall closed-loop system is exponentially stable provided that certain conditions are met. The advantage to the decentralized approach is that the design is performed in terms of the low-dimensionality subsystems, thus drastically reducing the design computational complexities.

Improvement of mechanical performance for vibratory microgyroscope based on sense mode closed-loop control

NASA Astrophysics Data System (ADS)

Xiao, Dingbang; Su, Jianbin; Chen, Zhihua; Hou, Zhanqiang; Wang, Xinghua; Wu, Xuezhong

2013-04-01

In order to improve its structural sensitivity, a vibratory microgyroscope is commonly sealed in high vacuum to increase the drive mode quality factor. The sense mode quality factor of the microgyroscope will also increase simultaneously after vacuum sealing, which will lead to a long decay time of free response and even self-oscillation of the sense mode. As a result, the mechanical performance of the microgyroscope will be seriously degraded. In order to solve this problem, a closed-loop control technique is presented to adjust and optimize the sense mode quality factor. A velocity feedback loop was designed to increase the electric damping of the sense mode vibration. A circuit was fabricated based on this technique, and experimental results indicate that the sense mode quality factor of the microgyroscope was adjusted from 8052 to 428. The decay time of the sense mode free response was shortened from 3 to 0.5 s, and the vibration-rejecting ability of the microgyroscope was improved obviously without sensitivity degradation.

Fuzzy control for closed-loop, patient-specific hypnosis in intraoperative patients: a simulation study.

PubMed

Moore, Brett L; Pyeatt, Larry D; Doufas, Anthony G

2009-01-01

Research has demonstrated the efficacy of closed-loop control of anesthesia using bispectral index (BIS) as the controlled variable, and the recent development of model-based, patient-adaptive systems has considerably improved anesthetic control. To further explore the use of model-based control in anesthesia, we investigated the application of fuzzy control in the delivery of patient-specific propofol-induced hypnosis. In simulated intraoperative patients, the fuzzy controller demonstrated clinically acceptable performance, suggesting that further study is warranted.

Closed-Loop Aeromaneuvering for a Mars Precision Landing

NASA Technical Reports Server (NTRS)

Smith, Roy; Boussalis, Dhemetrios; Hadaegh, Fred Y.

1997-01-01

Controlled aeromaneuvering is considered as a means of achieving a precisely targeted landing on Mars. This paper presents a preliminary study of the control issues. The candidate vehicle is the existing Mars Pathfinder augmented with roll thrusters and a center of mass offset actuator. These allow control of both bank angle and lift force, giving the ability to control the range and cross-track during the aeromaneuvering entry. A preliminary control system structure is proposed and a design simulation illustrates significant targeting improvement under closed-loop control.

A review of active control approaches in stabilizing combustion systems in aerospace industry

NASA Astrophysics Data System (ADS)

Zhao, Dan; Lu, Zhengli; Zhao, He; Li, X. Y.; Wang, Bing; Liu, Peijin

2018-02-01

Self-sustained combustion instabilities are one of the most plaguing challenges and problems in lean-conditioned propulsion and land-based engine systems, such as rocket motors, gas turbines, industrial furnace and boilers, and turbo-jet thrust augmenters. Either passive or active control in open- or closed-loop configurations can be implemented to mitigate such instabilities. One of the classical disadvantages of passive control is that it is only implementable to a designed combustor over a limited frequency range and can not respond to the changes in operating conditions. Compared with passive control approaches, active control, especially in closed-loop configuration is more adaptive and has inherent capacity to be implemented in practice. The key components in closed-loop active control are 1) sensor, 2) controller (optimization algorithm) and 3) dynamic actuator. The present work is to outline the current status, technical challenges and development progress of the active control approaches (in open- or closed-loop configurations). A brief description of feedback control, adaptive control, model-based control and sliding mode control are provided first by introducing a simplified Rijke-type combustion system. The modelled combustion system provides an invaluable platform to evaluate the performance of these feedback controllers and a transient growth controller. The performance of these controllers are compared and discussed. An outline of theoretical, numerical and experimental investigations are then provided to overview the research and development progress made during the last 4 decades. Finally, potential, challenges and issues involved with the design, application and implementation of active combustion control strategies on a practical engine system are highlighted.

Open and Closed Loop Stability of Hingeless Rotor Helicopter Air and Ground Resonance

NASA Technical Reports Server (NTRS)

Young, M. I.; Bailey, D. J.; Hirschbein, M. S.

1974-01-01

The air and ground resonance instabilities of hingeless rotor helicopters are examined on a relatively broad parametric basis including the effects of blade tuning, virtual hinge locations, and blade hysteresis damping, as well as size and scale effects in the gross weight range from 5,000 to 48,000 pounds. A special case of a 72,000 pound helicopter air resonance instability is also included. The study shows that nominal to moderate and readily achieved levels of blade inertial hysteresis damping in conjunction with a variety of tuning and/or feedback conditions are highly effective in dealing with these instabilities. Tip weights and reductions in pre-coning angles are also shown to be effective means for improving the air resonance instability.

Real-time control of hind limb functional electrical stimulation using feedback from dorsal root ganglia recordings

NASA Astrophysics Data System (ADS)

Bruns, Tim M.; Wagenaar, Joost B.; Bauman, Matthew J.; Gaunt, Robert A.; Weber, Douglas J.

2013-04-01

Objective. Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach. We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results. Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance. This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability.

Real-time control of hind limb functional electrical stimulation using feedback from dorsal root ganglia recordings

PubMed Central

Bruns, Tim M; Wagenaar, Joost B; Bauman, Matthew J; Gaunt, Robert A; Weber, Douglas J

2013-01-01

Objective Functional electrical stimulation (FES) approaches often utilize an open-loop controller to drive state transitions. The addition of sensory feedback may allow for closed-loop control that can respond effectively to perturbations and muscle fatigue. Approach We evaluated the use of natural sensory nerve signals obtained with penetrating microelectrode arrays in lumbar dorsal root ganglia (DRG) as real-time feedback for closed-loop control of FES-generated hind limb stepping in anesthetized cats. Main results Leg position feedback was obtained in near real-time at 50 ms intervals by decoding the firing rates of more than 120 DRG neurons recorded simultaneously. Over 5 m of effective linear distance was traversed during closed-loop stepping trials in each of two cats. The controller compensated effectively for perturbations in the stepping path when DRG sensory feedback was provided. The presence of stimulation artifacts and the quality of DRG unit sorting did not significantly affect the accuracy of leg position feedback obtained from the linear decoding model as long as at least 20 DRG units were included in the model. Significance This work demonstrates the feasibility and utility of closed-loop FES control based on natural neural sensors. Further work is needed to improve the controller and electrode technologies and to evaluate long-term viability. PMID:23503062

Detailed ADM-based Modeling of Shock Retreat and X-ray Emission of τ Sco

NASA Astrophysics Data System (ADS)

Fletcher, C. L.; Petit, V.; Cohen, D. H.; Townsend, R. H.; Wade, G. A.

2018-01-01

Leveraging the improvement of spectropolarimeters over the past few decades, surveys have found that about 10% of OB-type stars host strong (˜ kG) and mostly dipolar surface magnetic fields. One B-type star, τ Sco, has a more complex surface magnetic field than the general population of OB stars. Interestingly, its X-ray luminosity is an order of magnitude higher than predicted from analytical models of magnetized winds. Previous studies of τ Sco's magnetosphere have predicted that the region of closed field loops should be located close to the stellar surface. However, the lack of X-ray variability and the location of the shock-heated plasma measured from forbidden-to-intercombination X-ray line ratios suggest that the hot plasma, and hence the closed magnetic loops, extend considerably farther from the stellar surface, implying a significantly lower mass loss rate than initially assumed. We present an adaptation of the Analytic Dynamical Magnetosphere model, describing the magnetic confinement of the stellar wind, for an arbitrary field loop configuration. This model is used to predict the shock-heated plasma temperatures for individual field loops, which are then compared to high resolution grating spectra from the Chandra X-ray Observatory. This comparison shows that larger closed magnetic loops are needed.

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

NASA Astrophysics Data System (ADS)

NAzari, Morad

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

Distributed model predictive control for constrained nonlinear systems with decoupled local dynamics.

PubMed

Zhao, Meng; Ding, Baocang

2015-03-01

This paper considers the distributed model predictive control (MPC) of nonlinear large-scale systems with dynamically decoupled subsystems. According to the coupled state in the overall cost function of centralized MPC, the neighbors are confirmed and fixed for each subsystem, and the overall objective function is disassembled into each local optimization. In order to guarantee the closed-loop stability of distributed MPC algorithm, the overall compatibility constraint for centralized MPC algorithm is decomposed into each local controller. The communication between each subsystem and its neighbors is relatively low, only the current states before optimization and the optimized input variables after optimization are being transferred. For each local controller, the quasi-infinite horizon MPC algorithm is adopted, and the global closed-loop system is proven to be exponentially stable. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Novel sensors to enable closed-loop active clearance control in gas turbine engines

NASA Astrophysics Data System (ADS)

Geisheimer, Jonathan; Holst, Tom

2014-06-01

Active clearance control within the turbine section of gas turbine engines presents and opportunity within aerospace and industrial applications to improve operating efficiencies and the life of downstream components. Open loop clearance control is currently employed during the development of all new large core aerospace engines; however, the ability to measure the gap between the blades and the case and close down the clearance further presents as opportunity to gain even greater efficiencies. The turbine area is one of the harshest environments for long term placement of a sensor in addition to the extreme accuracy requirements required to enable closed loop clearance control. This paper gives an overview of the challenges of clearance measurements within the turbine as well as discusses the latest developments of a microwave sensor designed for this application.

High resolution angular sensor. [reducing ring laser gyro output quantization using phase locked loops

NASA Technical Reports Server (NTRS)

Gneses, M. I.; Berg, D. S.

1981-01-01

Specifications for the pointing stabilization system of the large space telescope were used in an investigation of the feasibility of reducing ring laser gyro output quantization to the sub-arc-second level by the use of phase locked loops and associated electronics. Systems analysis procedures are discussed and a multioscillator laser gyro model is presented along with data on the oscillator noise. It is shown that a second order closed loop can meet the measurement noise requirements when the loop gain and time constant of the loop filter are appropriately chosen. The preliminary electrical design is discussed from the standpoint of circuit tradeoff considerations. Analog, digital, and hybrid designs are given and their applicability to the high resolution sensor is examined. the electrical design choice of a system configuration is detailed. The design and operation of the various modules is considered and system block diagrams are included. Phase 1 and 2 test results using the multioscillator laser gyro are included.

Servo control booster system for minimizing following error

DOEpatents

Wise, W.L.

1979-07-26

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

A novel pulsed gas metal arc welding system with direct droplet transfer close-loop control

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

Wang, Q.; Li, P.; Zhang, L.

1994-12-31

In pulsed gas metal arc welding (GMAW), a predominant parameter that has to be monitored and controlled in real time for maintaining process stability and ensuring weld quality, is droplet transfer. Based on the close correlation between droplet transfer and arc light radiant flux in GMAW of steel and aluminum, a direct closed-loop droplet transfer control system for pulsed GMAW with arc light sensor has been developed. By sensing the droplet transfer directly via the arc light signal, a pulsed GMAW process with real and exact one-pulse, one-droplet transfer has been achieved. The novel pulsed GMAW machine consists of threemore » parts: a sensing system, a controlling system, and a welding power system. The software used in this control system is capable of data sampling and processing, parameter matching, optimum parameter restoring, and resetting. A novel arc light sensing system has been developed. The sensor is small enough to be clamped to a semiautomatic welding torch. Based on thissensingn system, a closed-loop droplet transfer control system of GMAW of steel and aluminum has been built and a commercial prototype has been made. The system is capable of keeping one-pulse, one-droplet transfer against external interferences. The welding process with this control system has been proved to be stable, quiet, with no spatter, and provide good weld formation.« less

A high-speed, tunable silicon photonic ring modulator integrated with ultra-efficient active wavelength control.

PubMed

Zheng, Xuezhe; Chang, Eric; Amberg, Philip; Shubin, Ivan; Lexau, Jon; Liu, Frankie; Thacker, Hiren; Djordjevic, Stevan S; Lin, Shiyun; Luo, Ying; Yao, Jin; Lee, Jin-Hyoung; Raj, Kannan; Ho, Ron; Cunningham, John E; Krishnamoorthy, Ashok V

2014-05-19

We report the first complete 10G silicon photonic ring modulator with integrated ultra-efficient CMOS driver and closed-loop wavelength control. A selective substrate removal technique was used to improve the ring tuning efficiency. Limited by the thermal tuner driver output power, a maximum open-loop tuning range of about 4.5nm was measured with about 14mW of total tuning power including the heater driver circuit power consumption. Stable wavelength locking was achieved with a low-power mixed-signal closed-loop wavelength controller. An active wavelength tracking range of > 500GHz was demonstrated with controller energy cost of only 20fJ/bit.

Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

PubMed Central

Svečko, Rajko

2014-01-01

This paper describes the use of a multiobjective genetic algorithm for robust motion controller design. Motion controller structure is based on a disturbance observer in an RIC framework. The RIC approach is presented in the form with internal and external feedback loops, in which an internal disturbance rejection controller and an external performance controller must be synthesised. This paper involves novel objectives for robustness and performance assessments for such an approach. Objective functions for the robustness property of RIC are based on simple even polynomials with nonnegativity conditions. Regional pole placement method is presented with the aims of controllers' structures simplification and their additional arbitrary selection. Regional pole placement involves arbitrary selection of central polynomials for both loops, with additional admissible region of the optimized pole location. Polynomial deviation between selected and optimized polynomials is measured with derived performance objective functions. A multiobjective function is composed of different unrelated criteria such as robust stability, controllers' stability, and time-performance indexes of closed loops. The design of controllers and multiobjective optimization procedure involve a set of the objectives, which are optimized simultaneously with a genetic algorithm—differential evolution. PMID:24987749

Intelligent vehicle safety control strategy in various driving situations

NASA Astrophysics Data System (ADS)

Moon, Seungwuk; Cho, Wanki; Yi, Kyongsu

2010-12-01

This paper describes a safety control strategy for intelligent vehicles with the objective of optimally coordinating the throttle, brake, and active front steering actuator inputs to obtain both lateral stability and longitudinal safety. The control system consists of a supervisor, control algorithms, and a coordinator. From the measurement and estimation signals, the supervisor determines the active control modes among normal driving, longitudinal safety, lateral stability, and integrated safety control mode. The control algorithms consist of longitudinal and lateral stability controllers. The longitudinal controller is designed to improve the driver's comfort during normal, safe-driving situations, and to avoid rear-end collision in vehicle-following situations. The lateral stability controller is designed to obtain the required manoeuvrability and to limit the vehicle body's side-slip angle. To obtain both longitudinal safety and lateral stability control in various driving situations, the coordinator optimally determines the throttle, brake, and active front steering inputs based on the current status of the subject vehicle. Closed-loop simulations with the driver-vehicle-controller system are conducted to investigate the performance of the proposed control strategy. From these simulation results, it is shown that the proposed control algorithm assists the driver in combined severe braking/large steering manoeuvring so that the driver can maintain good manoeuvrability and prevent the vehicle from crashing in vehicle-following situations.

Impact of lipopolysaccharide-induced acute inflammation on baroreflex-controlled sympathetic arterial pressure regulation

PubMed Central

Tohyama, Takeshi; Kawada, Toru; Kishi, Takuya; Yoshida, Keimei; Nishikawa, Takuya; Mannoji, Hiroshi; Kamada, Kazuhiro; Sunagawa, Kenji; Tsutsui, Hiroyuki

2018-01-01

Background Lipopolysaccharide (LPS) induces acute inflammation, activates sympathetic nerve activity (SNA) and alters hemodynamics. Since the arterial baroreflex is a negative feedback system to stabilize arterial pressure (AP), examining the arterial baroreflex function is a prerequisite to understanding complex hemodynamics under LPS challenge. We investigated the impact of LPS-induced acute inflammation on SNA and AP regulation by performing baroreflex open-loop analysis. Methods Ten anesthetized Sprague-Dawley rats were used. Acute inflammation was induced by an intravenous injection of LPS (60 μg/kg). We isolated the carotid sinuses from the systemic circulation and controlled carotid sinus pressure (CSP) by a servo-controlled piston pump. We matched CSP to AP to establish the baroreflex closed-loop condition, whereas we decoupled CSP from AP to establish the baroreflex open-loop condition and changed CSP stepwise to evaluate the baroreflex open-loop function. We recorded splanchnic SNA and hemodynamic parameters under baroreflex open- and closed-loop conditions at baseline and at 60 and 120 min after LPS injection. Results In the baroreflex closed-loop condition, SNA continued to increase after LPS injection, reaching three-fold the baseline value at 120 min (baseline: 94.7 ± 3.6 vs. 120 min: 283.9 ± 31.9 a.u.). In contrast, AP increased initially (until 75 min), then declined to the baseline level. In the baroreflex open-loop condition, LPS reset the neural arc (CSP-SNA relationship) upward to higher SNA, while shifted the peripheral arc (SNA-AP relationship) downward at 120 min after the injection. As a result, the operating point determined by the intersection between function curves of neural arc and peripheral arc showed marked sympatho-excitation without substantial changes in AP. Conclusions LPS-induced acute inflammation markedly increased SNA via resetting of the baroreflex neural arc, and suppressed the peripheral arc. The balance between the augmented neural arc and suppressed peripheral arc determines SNA and hemodynamics in LPS-induced acute inflammation. PMID:29329321

Impact of lipopolysaccharide-induced acute inflammation on baroreflex-controlled sympathetic arterial pressure regulation.

PubMed

Tohyama, Takeshi; Saku, Keita; Kawada, Toru; Kishi, Takuya; Yoshida, Keimei; Nishikawa, Takuya; Mannoji, Hiroshi; Kamada, Kazuhiro; Sunagawa, Kenji; Tsutsui, Hiroyuki

2018-01-01

Lipopolysaccharide (LPS) induces acute inflammation, activates sympathetic nerve activity (SNA) and alters hemodynamics. Since the arterial baroreflex is a negative feedback system to stabilize arterial pressure (AP), examining the arterial baroreflex function is a prerequisite to understanding complex hemodynamics under LPS challenge. We investigated the impact of LPS-induced acute inflammation on SNA and AP regulation by performing baroreflex open-loop analysis. Ten anesthetized Sprague-Dawley rats were used. Acute inflammation was induced by an intravenous injection of LPS (60 μg/kg). We isolated the carotid sinuses from the systemic circulation and controlled carotid sinus pressure (CSP) by a servo-controlled piston pump. We matched CSP to AP to establish the baroreflex closed-loop condition, whereas we decoupled CSP from AP to establish the baroreflex open-loop condition and changed CSP stepwise to evaluate the baroreflex open-loop function. We recorded splanchnic SNA and hemodynamic parameters under baroreflex open- and closed-loop conditions at baseline and at 60 and 120 min after LPS injection. In the baroreflex closed-loop condition, SNA continued to increase after LPS injection, reaching three-fold the baseline value at 120 min (baseline: 94.7 ± 3.6 vs. 120 min: 283.9 ± 31.9 a.u.). In contrast, AP increased initially (until 75 min), then declined to the baseline level. In the baroreflex open-loop condition, LPS reset the neural arc (CSP-SNA relationship) upward to higher SNA, while shifted the peripheral arc (SNA-AP relationship) downward at 120 min after the injection. As a result, the operating point determined by the intersection between function curves of neural arc and peripheral arc showed marked sympatho-excitation without substantial changes in AP. LPS-induced acute inflammation markedly increased SNA via resetting of the baroreflex neural arc, and suppressed the peripheral arc. The balance between the augmented neural arc and suppressed peripheral arc determines SNA and hemodynamics in LPS-induced acute inflammation.

A design of high-precision BLDCM drive with bus voltage protection

NASA Astrophysics Data System (ADS)

Lian, Xuezheng; Wang, Haitao; Xie, Meilin; Huang, Wei; Li, Dawei; Jing, Feng

2017-11-01

In the application of space satellite turntable, the design of balance wheel is very necessary. To solve the acquisition precision of Brushless DC motor speed is low, and the encoder is also more complex, this paper improves the original hall signal measurement methods. Using the logic device to achieve the six frequency multiplication of hall signal, the signal is used as speed feedback to achieve speed closed-loop control and improve the speed stability. At the same time, in order to prevent the E.M.F of BLDC motor to raise the voltage of the bus bar when reversing or braking, and affect the normal operation of other circuit modules, the analog circuit is used to protect the bus bar voltage by the way of energy consumption braking. The experimental results are consistent with the theoretical design, and the rationality and feasibility of the frequency multiplication scheme and bus voltage protection scheme are verified.

Sliding mode controller with modified sliding function for DC-DC Buck Converter.

PubMed

Naik, B B; Mehta, A J

2017-09-01

This article presents design of Sliding Mode Controller with proportional integral type sliding function for DC-DC Buck Converter for the controlled power supply. The converter with conventional sliding mode controller results in a steady state error in load voltage. The proposed modified sliding function improves the steady state and dynamic performance of the Convertor and facilitates better choices of controller tuning parameters. The conditions for existence of sliding modes for proposed control scheme are derived. The stability of the closed loop system with proposed sliding mode control is proved and improvement in steady state performance is exemplified. The idea of adaptive tuning for the proposed controller to compensate load variations is outlined. The comparative study of conventional and proposed control strategy is presented. The efficacy of the proposed strategy is endowed by the simulation and experimental results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Day-and-night glycaemic control with closed-loop insulin delivery versus conventional insulin pump therapy in free-living adults with well controlled type 1 diabetes: an open-label, randomised, crossover study.

PubMed

Bally, Lia; Thabit, Hood; Kojzar, Harald; Mader, Julia K; Qerimi-Hyseni, Jehona; Hartnell, Sara; Tauschmann, Martin; Allen, Janet M; Wilinska, Malgorzata E; Pieber, Thomas R; Evans, Mark L; Hovorka, Roman

2017-04-01

Tight control of blood glucose concentration in people with type 1 diabetes predisposes to hypoglycaemia. We aimed to investigate whether day-and-night hybrid closed-loop insulin delivery can improve glucose control while alleviating the risk of hypoglycaemia in adults with HbA 1c below 7·5% (58 mmol/mol). In this open-label, randomised, crossover study, we recruited adults (aged ≥18 years) with type 1 diabetes and HbA 1c below 7·5% from Addenbrooke's Hospital (Cambridge, UK) and Medical University of Graz (Graz, Austria). After a 2-4 week run-in period, participants were randomly assigned (1:1), using web-based randomly permuted blocks of four, to receive insulin via the day-and-night hybrid closed-loop system or usual pump therapy for 4 weeks, followed by a 2-4 week washout period and then the other intervention for 4 weeks. Treatment interventions were unsupervised and done under free-living conditions. During the closed-loop period, a model-predictive control algorithm directed insulin delivery, and prandial insulin delivery was calculated with a standard bolus wizard. The primary outcome was the proportion of time when sensor glucose concentration was in target range (3·9-10·0 mmol/L) over the 4 week study period. Analyses were by intention to treat. This study is registered with ClinicalTrials.gov, number NCT02727231, and is completed. Between March 21 and June 24, 2016, we recruited 31 participants, of whom 29 were randomised. One participant withdrew during the first closed-loop period because of dissatisfaction with study devices and glucose control. The proportion of time when sensor glucose concentration was in target range was 10·5 percentage points higher (95% CI 7·6-13·4; p<0·0001) during closed-loop delivery compared with usual pump therapy (65·6% [SD 8·1] when participants used usual pump therapy vs 76·2% [6·4] when they used closed-loop). Compared with usual pump therapy, closed-loop delivery also reduced the proportion of time spent in hypoglycaemia: the proportion of time with glucose concentration below 3·5 mmol/L was reduced by 65% (53-74, p<0·0001) and below 2·8 mmol/L by 76% (59-86, p<0·0001). No episodes of serious hypoglycaemia or other serious adverse events occurred. Use of day-and-night hybrid closed-loop insulin delivery under unsupervised, free-living conditions for 4 weeks in adults with type 1 diabetes and HbA 1c below 7·5% is safe and well tolerated, improves glucose control, and reduces hypoglycaemia burden. Larger and longer studies are warranted. Swiss National Science Foundation (P1BEP3_165297), JDRF, UK National Institute for Health Research Cambridge Biomedical Research Centre, and Wellcome Strategic Award (100574/Z/12/Z). Copyright © 2017 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY license. Published by Elsevier Ltd.. All rights reserved.

Robust controller designs for second-order dynamic system: A virtual passive approach

NASA Technical Reports Server (NTRS)

Juang, Jer-Nan; Phan, Minh

1990-01-01

A robust controller design is presented for second-order dynamic systems. The controller is model-independent and itself is a virtual second-order dynamic system. Conditions on actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize the actual dynamic system. The control gains are interpreted as virtual mass, spring, and dashpot elements that play the same roles as actual physical elements in stability analysis. Position, velocity, and acceleration feedback are considered. Simple examples are provided to illustrate the physical meaning of this controller design.

Innovative hybrid pile oscillator technique in the Minerve reactor: open loop vs. closed loop

NASA Astrophysics Data System (ADS)

Geslot, Benoit; Gruel, Adrien; Bréaud, Stéphane; Leconte, Pierre; Blaise, Patrick

2018-01-01

Pile oscillator techniques are powerful methods to measure small reactivity worth of isotopes of interest for nuclear data improvement. This kind of experiments has long been implemented in the Mineve experimental reactor, operated by CEA Cadarache. A hybrid technique, mixing reactivity worth estimation and measurement of small changes around test samples is presented here. It was made possible after the development of high sensitivity miniature fission chambers introduced next to the irradiation channel. A test campaign, called MAESTRO-SL, took place in 2015. Its objective was to assess the feasibility of the hybrid method and investigate the possibility to separate mixed neutron effects, such as fission/capture or scattering/capture. Experimental results are presented and discussed in this paper, which focus on comparing two measurements setups, one using a power control system (closed loop) and another one where the power is free to drift (open loop). First, it is demonstrated that open loop is equivalent to closed loop. Uncertainty management and methods reproducibility are discussed. Second, results show that measuring the flux depression around oscillated samples provides valuable information regarding partial neutron cross sections. The technique is found to be very sensitive to the capture cross section at the expense of scattering, making it very useful to measure small capture effects of highly scattering samples.

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

PubMed Central

Lehrer, Paul; Eddie, David

2013-01-01

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

Continuous fractional-order Zero Phase Error Tracking Control.

PubMed

Liu, Lu; Tian, Siyuan; Xue, Dingyu; Zhang, Tao; Chen, YangQuan

2018-04-01

A continuous time fractional-order feedforward control algorithm for tracking desired time varying input signals is proposed in this paper. The presented controller cancels the phase shift caused by the zeros and poles of controlled closed-loop fractional-order system, so it is called Fractional-Order Zero Phase Tracking Controller (FZPETC). The controlled systems are divided into two categories i.e. with and without non-cancellable (non-minimum-phase) zeros which stand in unstable region or on stability boundary. Each kinds of systems has a targeted FZPETC design control strategy. The improved tracking performance has been evaluated successfully by applying the proposed controller to three different kinds of fractional-order controlled systems. Besides, a modified quasi-perfect tracking scheme is presented for those systems which may not have available future tracking trajectory information or have problem in high frequency disturbance rejection if the perfect tracking algorithm is applied. A simulation comparison and a hardware-in-the-loop thermal peltier platform are shown to validate the practicality of the proposed quasi-perfect control algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Vibration isolation and dual-stage actuation pointing system for space precision payloads

NASA Astrophysics Data System (ADS)

Kong, Yongfang; Huang, Hai

2018-02-01

Pointing and stability requirements for future space missions are becoming more and more stringent. This work follows the pointing control method which consists of a traditional spacecraft attitude control system and a payload active pointing loop, further proposing a vibration isolation and dual-stage actuation pointing system for space precision payloads based on a soft Stewart platform. Central to the concept is using the dual-stage actuator instead of the traditional voice coil motor single-stage actuator to improve the payload active pointing capability. Based on a specified payload, the corresponding platform was designed to be installed between the spacecraft bus and the payload. The performance of the proposed system is demonstrated by preliminary closed-loop control investigations in simulations. With the ordinary spacecraft bus, the line-of-sight pointing accuracy can be controlled to below a few milliarcseconds in tip and tilt. Meanwhile, utilizing the voice coil motor with the softening spring in parallel, which is a portion of the dual-stage actuator, the system effectively achieves low-frequency motion transmission and high-frequency vibration isolation along the other four degree-of-freedom directions.

Rational positive real approximations for LQG optimal compensators arising in active stabilization of flexible structures

NASA Technical Reports Server (NTRS)

Desantis, A.

1994-01-01

In this paper the approximation problem for a class of optimal compensators for flexible structures is considered. The particular case of a simply supported truss with an offset antenna is dealt with. The nonrational positive real optimal compensator transfer function is determined, and it is proposed that an approximation scheme based on a continued fraction expansion method be used. Comparison with the more popular modal expansion technique is performed in terms of stability margin and parameters sensitivity of the relative approximated closed loop transfer functions.

Control of linear uncertain systems utilizing mismatched state observers

NASA Technical Reports Server (NTRS)

Goldstein, B.

1972-01-01

The control of linear continuous dynamical systems is investigated as a problem of limited state feedback control. The equations which describe the structure of an observer are developed constrained to time-invarient systems. The optimal control problem is formulated, accounting for the uncertainty in the design parameters. Expressions for bounds on closed loop stability are also developed. The results indicate that very little uncertainty may be tolerated before divergence occurs in the recursive computation algorithms, and the derived stability bound yields extremely conservative estimates of regions of allowable parameter variations.

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

PubMed

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

2017-09-25

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

Solution NMR analyses of the anticodon arms of proteinogenic and non-proteinogenic tRNAGly

PubMed Central

Chang, Andrew T.; Nikonowicz, Edward P.

2012-01-01

Although the fate of most tRNA molecules in the cell is aminoacylation and delivery to the ribosome, some tRNAs are destined to fulfill other functional roles. In addition to their central role in translation, tRNA molecules participate in processes such as regulation of gene expression, bacterial cell wall biosynthesis, viral replication, antibiotic biosynthesis, and suppression of alternative splicing. In bacteria, glycyl-tRNA molecules with anticodon sequences GCC and UCC exhibit multiple extra-translational functions including transcriptional regulation and cell wall biosynthesis. We have determined the high-resolution structures of three glycyl-tRNA anticodon arms with anticodon sequences GCC and UCC. Two of the tRNA molecules are proteinogenic (tRNAGly,GCC and tRNAGly,UCC) and the third is non-proteinogenic (np-tRNAGly,UCC) and participates in cell wall biosynthesis. The UV-monitored thermal melting curves show that the anticodon arm of tRNAGly,UCC with a loop-closing C-A+ base pair melts at a 10 °C lower temperature than those of tRNAGly,GCC or np-tRNAGly,UCC. U-A and C-G pairs close the loops of the later two molecules and enhance stem stability. Mg2+ stabilizes the tRNAGly,UCC anticodon arm and lessens the Tm differential. The structures of the three tRNAGly anticodon arms exhibit small differences between one another, but none of them form the classical U-turn motif. The anticodon loop of tRNAGly,GCC becomes more dynamic and disordered in the presence of multivalent cations, whereas metal ion coordination in the anticodon loops of tRNAGly,UCC and np-tRNAGly,UCC establishes conformational homogeneity. The conformational similarity of the molecules is greater than their functional differences might suggest. Because aminoacylation of the full-length tRNA molecules is accomplished by one tRNA synthetase, the similar structural context of the loop may facilitate efficient recognition of each of the anticodon sequences. PMID:22468768

On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems

PubMed Central

Albattat, Ali; Gruenwald, Benjamin C.; Yucelen, Tansel

2016-01-01

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches. PMID:27537894

Semi-globally input-to-state stable controller design for flexible spacecraft attitude stabilization under bounded disturbances

NASA Astrophysics Data System (ADS)

Hu, Qinglei

2010-02-01

Semi-globally input-to-state stable (ISS) control law is derived for flexible spacecraft attitude maneuvers in the presence of parameter uncertainties and external disturbances. The modified rodrigues parameters (MRP) are used as the kinematic variables since they are nonsingular for all possible rotations. This novel simple control is a proportional-plus-derivative (PD) type controller plus a sign function through a special Lyapunov function construction involving the sum of quadratic terms in the angular velocities, kinematic parameters, modal variables and the cross state weighting. A sufficient condition under which this nonlinear PD-type control law can render the system semi-globally input-to-state stable is provided such that the closed-loop system is robust with respect to any disturbance within a quantifiable restriction on the amplitude, as well as the set of initial conditions, if the control gains are designed appropriately. In addition to detailed derivations of the new controllers design and a rigorous sketch of all the associated stability and attitude convergence proofs, extensive simulation studies have been conducted to validate the design and the results are presented to highlight the ensuring closed-loop performance benefits when compared with the conventional control schemes.

On Event-Triggered Adaptive Architectures for Decentralized and Distributed Control of Large-Scale Modular Systems.

PubMed

Albattat, Ali; Gruenwald, Benjamin C; Yucelen, Tansel

2016-08-16

The last decade has witnessed an increased interest in physical systems controlled over wireless networks (networked control systems). These systems allow the computation of control signals via processors that are not attached to the physical systems, and the feedback loops are closed over wireless networks. The contribution of this paper is to design and analyze event-triggered decentralized and distributed adaptive control architectures for uncertain networked large-scale modular systems; that is, systems consist of physically-interconnected modules controlled over wireless networks. Specifically, the proposed adaptive architectures guarantee overall system stability while reducing wireless network utilization and achieving a given system performance in the presence of system uncertainties that can result from modeling and degraded modes of operation of the modules and their interconnections between each other. In addition to the theoretical findings including rigorous system stability and the boundedness analysis of the closed-loop dynamical system, as well as the characterization of the effect of user-defined event-triggering thresholds and the design parameters of the proposed adaptive architectures on the overall system performance, an illustrative numerical example is further provided to demonstrate the efficacy of the proposed decentralized and distributed control approaches.

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

PubMed

Jagannathan, Sarangapani; He, Pingan

2008-12-01

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

A Triple-Loop Inductive Power Transmission System for Biomedical Applications.

PubMed

Lee, Byunghun; Kiani, Mehdi; Ghovanloo, Maysam

2016-02-01

A triple-loop wireless power transmission (WPT) system equipped with closed-loop global power control, adaptive transmitter (Tx) resonance compensation (TRC), and automatic receiver (Rx) resonance tuning (ART) is presented. This system not only opposes coupling and load variations but also compensates for changes in the environment surrounding the inductive link to enhance power transfer efficiency (PTE) in applications such as implantable medical devices (IMDs). The Tx was built around a commercial off-the-shelf (COTS) radio-frequency identification (RFID) reader, operating at 13.56 MHz. A local Tx loop finds the optimal capacitance in parallel with the Tx coil by adjusting a varactor. A global power control loop maintains the received power at a desired level in the presence of changes in coupling distance, coil misalignments, and loading. Moreover, a local Rx loop is implemented inside a power management integrated circuit (PMIC) to avoid PTE degradation due to the Rx coil surrounding environment and process variations. The PMIC was fabricated in a 0.35- μm 4M2P standard CMOS process with 2.54 mm(2) active area. Measurement results show that the proposed triple-loop system improves the overall PTE by up to 10.5% and 4.7% compared to a similar open- and single closed-loop system, respectively, at nominal coil distance of 2 cm. The added TRC and ART loops contribute 2.3% and 1.4% to the overall PTE of 13.5%, respectively. This is the first WPT system to include three loops to dynamically compensate for environment and circuit variations and improve the overall power efficiency all the way from the driver output in Tx to the load in Rx.

Metrics of Balance Control for Use in Screening Tests of Vestibular Function

NASA Technical Reports Server (NTRS)

Fiedler, Matthew; Cohen, Helen; Mulavara, Ajitkumar; Peters, Brian; Miller, Chris; Bloomberg, Jacob

2011-01-01

Decrements in balance control have been documented in astronauts after space flight. Reliable measures of balance control are needed for use in postflight field tests at remote landing sites. Diffusion analysis (DA) is a statistical mechanical tool that shows the average difference of the dependent variable on varying time scales. These techniques have been shown to measure differences in open-loop and closed-loop postural control in astronauts and elderly subjects. The goal of this study was to investigate the reliability of these measures of balance control. Eleven subjects were tested using the Clinical Test of Sensory Interaction on Balance: the subject stood with feet together and arms crossed on a stable or compliant surface, with eyes open or closed and with or without head movements in the pitch or yaw plane. Subjects were instrumented with inertial motion sensors attached to their trunk segment. The DA curves for linear acceleration measures were characterized by linear fits measuring open- (Ds) and closed-loop (Dl) control, and their intersection point (X-int, Y-int). Ds and Y-int showed significant differences between the test conditions. Additionally, Ds was correlated with the root mean square (RMS) of the signal, indicating that RMS was dominated by open-loop events (< 0.5 seconds). The Y-int was found to be correlated with the average linear velocity of trunk movements. Thus DA measures could be applied to derive reliable metrics of balance stability during field tests.

Active control of flexible structures using a fuzzy logic algorithm

NASA Astrophysics Data System (ADS)

Cohen, Kelly; Weller, Tanchum; Ben-Asher, Joseph Z.

2002-08-01

This study deals with the development and application of an active control law for the vibration suppression of beam-like flexible structures experiencing transient disturbances. Collocated pairs of sensors/actuators provide active control of the structure. A design methodology for the closed-loop control algorithm based on fuzzy logic is proposed. First, the behavior of the open-loop system is observed. Then, the number and locations of collocated actuator/sensor pairs are selected. The proposed control law, which is based on the principles of passivity, commands the actuator to emulate the behavior of a dynamic vibration absorber. The absorber is tuned to a targeted frequency, whereas the damping coefficient of the dashpot is varied in a closed loop using a fuzzy logic based algorithm. This approach not only ensures inherent stability associated with passive absorbers, but also circumvents the phenomenon of modal spillover. The developed controller is applied to the AFWAL/FIB 10 bar truss. Simulated results using MATLAB© show that the closed-loop system exhibits fairly quick settling times and desirable performance, as well as robustness characteristics. To demonstrate the robustness of the control system to changes in the temporal dynamics of the flexible structure, the transient response to a considerably perturbed plant is simulated. The modal frequencies of the 10 bar truss were raised as well as lowered substantially, thereby significantly perturbing the natural frequencies of vibration. For these cases, too, the developed control law provides adequate settling times and rates of vibrational energy dissipation.

Closed-loop brain-machine-body interfaces for noninvasive rehabilitation of movement disorders.

PubMed

Broccard, Frédéric D; Mullen, Tim; Chi, Yu Mike; Peterson, David; Iversen, John R; Arnold, Mike; Kreutz-Delgado, Kenneth; Jung, Tzyy-Ping; Makeig, Scott; Poizner, Howard; Sejnowski, Terrence; Cauwenberghs, Gert

2014-08-01

Traditional approaches for neurological rehabilitation of patients affected with movement disorders, such as Parkinson's disease (PD), dystonia, and essential tremor (ET) consist mainly of oral medication, physical therapy, and botulinum toxin injections. Recently, the more invasive method of deep brain stimulation (DBS) showed significant improvement of the physical symptoms associated with these disorders. In the past several years, the adoption of feedback control theory helped DBS protocols to take into account the progressive and dynamic nature of these neurological movement disorders that had largely been ignored so far. As a result, a more efficient and effective management of PD cardinal symptoms has emerged. In this paper, we review closed-loop systems for rehabilitation of movement disorders, focusing on PD, for which several invasive and noninvasive methods have been developed during the last decade, reducing the complications and side effects associated with traditional rehabilitation approaches and paving the way for tailored individual therapeutics. We then present a novel, transformative, noninvasive closed-loop framework based on force neurofeedback and discuss several future developments of closed-loop systems that might bring us closer to individualized solutions for neurological rehabilitation of movement disorders.

Closed-loop Brain-Machine-Body Interfaces for Noninvasive Rehabilitation of Movement Disorders

PubMed Central

Broccard, Frédéric D.; Mullen, Tim; Chi, Yu Mike; Peterson, David; Iversen, John R.; Arnold, Mike; Kreutz-Delgado, Kenneth; Jung, Tzyy-Ping; Makeig, Scott; Poizner, Howard; Sejnowski, Terrence; Cauwenberghs, Gert

2014-01-01

Traditional approaches for neurological rehabilitation of patients affected with movement disorders, such as Parkinson's disease (PD), dystonia, and essential tremor (ET) consist mainly of oral medication, physical therapy, and botulinum toxin injections. Recently, the more invasive method of deep brain stimulation (DBS) showed significant improvement of the physical symptoms associated with these disorders. In the past several years, the adoption of feedback control theory helped DBS protocols to take into account the progressive and dynamic nature of these neurological movement disorders that had largely been ignored so far. As a result, a more efficient and effective management of PD cardinal symptoms has emerged. In this paper, we review closed-loop systems for rehabilitation of movement disorders, focusing on PD, for which several invasive and noninvasive methods have been developed during the last decade, reducing the complications and side effects associated with traditional rehabilitation approaches and paving the way for tailored individual therapeutics. We then present a novel, transformative, noninvasive closed-loop framework based on force neurofeedback and discuss several future developments of closed-loop systems that might bring us closer to individualized solutions for neurological rehabilitation of movement disorders. PMID:24833254

Numerical Analysis of Combined Well and Open-Closed Loops Geothermal (CWG) Systems

NASA Astrophysics Data System (ADS)

Park, Yu-Chul

2016-04-01

Open-loop geothermal heat pump (GHP) system and closed-loop heat pump systems have been used in Korea to reduce emission of greenhouse gases such as carbon dioxide (CO2). The GHP systems have the pros and cons, for example, the open-loop GHP system is good energy-efficient and the closed-loop GHP system requires minimum maintenance costs. The open-loop GHP system can be used practically only with large amount of groundwater supply. The closed-loop GHP system can be used with high costs of initial installation. The performance and efficiency of the GHP system depend on the characteristics of the GHP system itself in addition to the geologic conditions. To overcome the cons of open-loop or closed-loop GHP system, the combined well and open-closed loops geothermal (CWG) system was designed. The open-loop GHP system is surrounded with closed-loop GHP systems in the CWG system. The geothermal energy in closed-loop GHP systems is supplied by the groundwater pumped by the open-loop GHP system. In this study, 2 different types of the CWG systems (small aperture hybrid CWG system and large aperture CWG system) are estimated using numerical simulation models in the aspect of energy efficiency. This work was supported by the New & Renewable Energy Core Technology Program of the Korea Institute of Energy Technology Evaluation and Planning (KETEP), granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea. (No.20153030111120).

Precision Closed-Loop Orbital Maneuvering System Design and Performance for the Magnetospheric Multi-Scale Mission (MMS) Formation

NASA Technical Reports Server (NTRS)

Chai, Dean; Queen, Steve; Placanica, Sam

2015-01-01

NASA's Magnetospheric Multi-Scale (MMS) mission successfully launched on March 13, 2015 (UTC) consists of four identically instrumented spin-stabilized observatories that function as a constellation to study magnetic reconnection in space. The need to maintain sufficiently accurate spatial and temporal formation resolution of the observatories must be balanced against the logistical constraints of executing overly-frequent maneuvers on a small fleet of spacecraft. These two considerations make for an extremely challenging maneuver design problem. This paper focuses on the design elements of a 6-DOF spacecraft attitude control and maneuvering system capable of delivering the high-precision adjustments required by the constellation designers---specifically, the design, implementation, and on-orbit performance of the closed-loop formation-class maneuvers that include initialization, maintenance, and re-sizing. The maneuvering control system flown on MMS utilizes a micro-gravity resolution accelerometer sampled at a high rate in order to achieve closed-loop velocity tracking of an inertial target with arc-minute directional and millimeter-per-second magnitude accuracy. This paper summarizes the techniques used for correcting bias drift, sensor-head offsets, and centripetal aliasing in the acceleration measurements. It also discusses the on-board pre-maneuver calibration and compensation algorithms as well as the implementation of the post-maneuver attitude adjustments.

Precision Closed-Loop Orbital Maneuvering System Design and Performance for the Magnetospheric Multiscale Formation

NASA Technical Reports Server (NTRS)

Chai, Dean J.; Queen, Steven Z.; Placanica, Samuel J.

2015-01-01

NASAs Magnetospheric Multiscale (MMS) mission successfully launched on March 13,2015 (UTC) consists of four identically instrumented spin-stabilized observatories that function as a constellation to study magnetic reconnection in space. The need to maintain sufficiently accurate spatial and temporal formation resolution of the observatories must be balanced against the logistical constraints of executing overly-frequent maneuvers on a small fleet of spacecraft. These two considerations make for an extremely challenging maneuver design problem. This paper focuses on the design elements of a 6-DOF spacecraft attitude control and maneuvering system capable of delivering the high-precision adjustments required by the constellation designers specifically, the design, implementation, and on-orbit performance of the closed-loop formation-class maneuvers that include initialization, maintenance, and re-sizing. The maneuvering control system flown on MMS utilizes a micro-gravity resolution accelerometer sampled at a high rate in order to achieve closed-loop velocity tracking of an inertial target with arc-minute directional and millimeter-per second magnitude accuracy. This paper summarizes the techniques used for correcting bias drift, sensor-head offsets, and centripetal aliasing in the acceleration measurements. It also discusses the on-board pre-maneuver calibration and compensation algorithms as well as the implementation of the post-maneuver attitude adjustments.

Retrospective Cost Adaptive Control with Concurrent Closed-Loop Identification

NASA Astrophysics Data System (ADS)

Sobolic, Frantisek M.

Retrospective cost adaptive control (RCAC) is a discrete-time direct adaptive control algorithm for stabilization, command following, and disturbance rejection. RCAC is known to work on systems given minimal modeling information which is the leading numerator coefficient and any nonminimum-phase (NMP) zeros of the plant transfer function. This information is normally needed a priori and is key in the development of the filter, also known as the target model, within the retrospective performance variable. A novel approach to alleviate the need for prior modeling of both the leading coefficient of the plant transfer function as well as any NMP zeros is developed. The extension to the RCAC algorithm is the use of concurrent optimization of both the target model and the controller coefficients. Concurrent optimization of the target model and controller coefficients is a quadratic optimization problem in the target model and controller coefficients separately. However, this optimization problem is not convex as a joint function of both variables, and therefore nonconvex optimization methods are needed. Finally, insights within RCAC that include intercalated injection between the controller numerator and the denominator, unveil the workings of RCAC fitting a specific closed-loop transfer function to the target model. We exploit this interpretation by investigating several closed-loop identification architectures in order to extract this information for use in the target model.

Integrated model reference adaptive control and time-varying angular rate estimation for micro-machined gyroscopes

NASA Astrophysics Data System (ADS)

Tsai, Nan-Chyuan; Sue, Chung-Yang

2010-02-01

Owing to the imposed but undesired accelerations such as quadrature error and cross-axis perturbation, the micro-machined gyroscope would not be unconditionally retained at resonant mode. Once the preset resonance is not sustained, the performance of the micro-gyroscope is accordingly degraded. In this article, a direct model reference adaptive control loop which is integrated with a modified disturbance estimating observer (MDEO) is proposed to guarantee the resonant oscillations at drive mode and counterbalance the undesired disturbance mainly caused by quadrature error and cross-axis perturbation. The parameters of controller are on-line innovated by the dynamic error between the MDEO output and expected response. In addition, Lyapunov stability theory is employed to examine the stability of the closed-loop control system. Finally, the efficacy of numerical evaluation on the exerted time-varying angular rate, which is to be detected and measured by the gyroscope, is verified by intensive simulations.

Effect of pole zero location on system dynamics of boost converter for micro grid

NASA Astrophysics Data System (ADS)

Lavanya, A.; Vijayakumar, K.; Navamani, J. D.; Jayaseelan, N.

2018-04-01

Green clean energy like photo voltaic, wind energy, fuel cell can be brought together by microgrid.For low voltage sources like photovoltaic cell boost converter is very much essential. This paper explores the dynamic analysis of boost converter in a continuous conduction mode (CCM). The transient performance and stability analysis is carried out in this paper using time domain analysis and frequency domain analysis techniques. Boost converter is simulated using both PSIM and MATLAB software. Furthermore, state space model obtained and the transfer function is derived. The converter behaviour when a step input is applied is analyzed and stability of the converter is analyzed from bode plot frequency for open loop. Effect of the locations of poles and zeros in the transfer function of boost converter and how the performance parameters are affected is discussed in this paper. Closed loop performance with PI controller is also analyzed for boost converter.

Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

1992-01-01

A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

Regions of attraction and ultimate boundedness for linear quadratic regulators with nonlinearities

NASA Technical Reports Server (NTRS)

Joshi, S. M.

1984-01-01

The closed-loop stability of multivariable linear time-invariant systems controlled by optimal linear quadratic (LQ) regulators is investigated for the case when the feedback loops have nonlinearities N(sigma) that violate the standard stability condition, sigma N(sigma) or = 0.5 sigma(2). The violations of the condition are assumed to occur either (1) for values of sigma away from the origin (sigma = 0) or (2) for values of sigma in a neighborhood of the origin. It is proved that there exists a region of attraction for case (1) and a region of ultimate boundedness for case (2), and estimates are obtained for these regions. The results provide methods for selecting the performance function parameters to design LQ regulators with better tolerance to nonlinearities. The results are demonstrated by application to the problem of attitude and vibration control of a large, flexible space antenna in the presence of actuator nonlinearities.

Computerized design of controllers using data models

NASA Technical Reports Server (NTRS)

Irwin, Dennis; Mitchell, Jerrel; Medina, Enrique; Allwine, Dan; Frazier, Garth; Duncan, Mark

1995-01-01

The major contributions of the grant effort have been the enhancement of the Compensator Improvement Program (CIP), which resulted in the Ohio University CIP (OUCIP) package, and the development of the Model and Data-Oriented Computer Aided Design System (MADCADS). Incorporation of direct z-domain designs into CIP was tested and determined to be numerically ill-conditioned for the type of lightly damped problems for which the development was intended. Therefore, it was decided to pursue the development of z-plane designs in the w-plane, and to make this conversion transparent to the user. The analytical development needed for this feature, as well as that needed for including compensator damping ratios and DC gain specifications, closed loop stability requirements, and closed loop disturbance rejection specifications into OUCIP are all contained in Section 3. OUCIP was successfully tested with several example systems to verify proper operation of existing and new features. The extension of the CIP philosophy and algorithmic approach to handle modern multivariable controller design criteria was implemented and tested. Several new algorithms for implementing the search approach to modern multivariable control system design were developed and tested. This analytical development, most of which was incorporated into the MADCADS software package, is described in Section 4, which also includes results of the application of MADCADS to the MSFC ACES facility and the Hubble Space Telescope.

Day and Night Closed-Loop Control Using the Integrated Medtronic Hybrid Closed-Loop System in Type 1 Diabetes at Diabetes Camp.

PubMed

Ly, Trang T; Roy, Anirban; Grosman, Benyamin; Shin, John; Campbell, Alex; Monirabbasi, Salman; Liang, Bradley; von Eyben, Rie; Shanmugham, Satya; Clinton, Paula; Buckingham, Bruce A

2015-07-01

To evaluate the feasibility and efficacy of a fully integrated hybrid closed-loop (HCL) system (Medtronic MiniMed Inc., Northridge, CA), in day and night closed-loop control in subjects with type 1 diabetes, both in an inpatient setting and during 6 days at diabetes camp. The Medtronic MiniMed HCL system consists of a fourth generation (4S) glucose sensor, a sensor transmitter, and an insulin pump using a modified proportional-integral-derivative (PID) insulin feedback algorithm with safety constraints. Eight subjects were studied over 48 h in an inpatient setting. This was followed by a study of 21 subjects for 6 days at diabetes camp, randomized to either the closed-loop control group using the HCL system or to the group using the Medtronic MiniMed 530G with threshold suspend (control group). The overall mean sensor glucose percent time in range 70-180 mg/dL was similar between the groups (73.1% vs. 69.9%, control vs. HCL, respectively) (P = 0.580). Meter glucose values between 70 and 180 mg/dL were also similar between the groups (73.6% vs. 63.2%, control vs. HCL, respectively) (P = 0.086). The mean absolute relative difference of the 4S sensor was 10.8 ± 10.2%, when compared with plasma glucose values in the inpatient setting, and 12.6 ± 11.0% compared with capillary Bayer CONTOUR NEXT LINK glucose meter values during 6 days at camp. In the first clinical study of this fully integrated system using an investigational PID algorithm, the system did not demonstrate improved glucose control compared with sensor-augmented pump therapy alone. The system demonstrated good connectivity and improved sensor performance. © 2015 by the American Diabetes Association. Readers may use this article as long as the work is properly cited, the use is educational and not for profit, and the work is not altered.

Mechanical-thermal noise in drive-mode of a silicon micro-gyroscope.

PubMed

Yang, Bo; Wang, Shourong; Li, Hongsheng; Zhou, Bailing

2009-01-01

A new closed-loop drive scheme which decouples the phase and the gain of the closed-loop driving system was designed in a Silicon Micro-Gyroscope (SMG). We deduce the system model of closed-loop driving and use stochastic averaging to obtain an approximate "slow" system that clarifies the effect of thermal noise. The effects of mechanical-thermal noise on the driving performance of the SMG, including the noise spectral density of the driving amplitude and frequency, are derived. By calculating and comparing the noise amplitude due to thermal noise both in the opened-loop driving and in the closed-loop driving, we find that the closed-loop driving does not reduce the RMS noise amplitude. We observe that the RMS noise frequency can be reduced by increasing the quality factor and the drive amplitude in the closed-loop driving system. The experiment and simulation validate the feasibility of closed-loop driving and confirm the validity of the averaged equation and its stablility criterion. The experiment and simulation results indicate the electrical noise of closed-loop driving circuitry is bigger than the mechanical-thermal noise and as the driving mass decreases, the mechanical-thermal noise may get bigger than the electrical noise of the closed-loop driving circuitry.

Molecular insights into the mechanism of thermal stability of actinomycete mannanase.

PubMed

Kumagai, Yuya; Uraji, Misugi; Wan, Kun; Okuyama, Masayuki; Kimura, Atsuo; Hatanaka, Tadashi

2016-09-01

Streptomyces thermolilacinus mannanase (StMan), which requires Ca(2+) for its enhanced thermal stability and hydrolysis activity, possesses two Ca(2+) -binding sites in loop6 and loop7. We evaluated the function of the Ca(2+) -binding site in loop7 and the hydrogen bond between residues Ser247 in loop6 and Asp279 in loop7. The Ca(2+) -binding in loop7 was involved only in thermal stability. Mutations of Ser247 or Asp279 retained the Ca(2+) -binding ability; however, mutants showed less thermal stability than StMan. Phylogenetic analysis indicated that most glycoside hydrolase family 5 subfamily 8 mannanases could be stabilized by Ca(2+) ; however, the mechanism of StMan thermal stability was found to be quite specific in some actinomycete mannanases. © 2016 Federation of European Biochemical Societies.

Thermodynamic stability of nanosized multicomponent bubbles/droplets: the square gradient theory and the capillary approach.

PubMed

Wilhelmsen, Øivind; Bedeaux, Dick; Kjelstrup, Signe; Reguera, David

2014-01-14

Formation of nanosized droplets/bubbles from a metastable bulk phase is connected to many unresolved scientific questions. We analyze the properties and stability of multicomponent droplets and bubbles in the canonical ensemble, and compare with single-component systems. The bubbles/droplets are described on the mesoscopic level by square gradient theory. Furthermore, we compare the results to a capillary model which gives a macroscopic description. Remarkably, the solutions of the square gradient model, representing bubbles and droplets, are accurately reproduced by the capillary model except in the vicinity of the spinodals. The solutions of the square gradient model form closed loops, which shows the inherent symmetry and connected nature of bubbles and droplets. A thermodynamic stability analysis is carried out, where the second variation of the square gradient description is compared to the eigenvalues of the Hessian matrix in the capillary description. The analysis shows that it is impossible to stabilize arbitrarily small bubbles or droplets in closed systems and gives insight into metastable regions close to the minimum bubble/droplet radii. Despite the large difference in complexity, the square gradient and the capillary model predict the same finite threshold sizes and very similar stability limits for bubbles and droplets, both for single-component and two-component systems.

Thermodynamic stability of nanosized multicomponent bubbles/droplets: The square gradient theory and the capillary approach

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

Wilhelmsen, Øivind, E-mail: oivind.wilhelmsen@ntnu.no; Bedeaux, Dick; Kjelstrup, Signe

Formation of nanosized droplets/bubbles from a metastable bulk phase is connected to many unresolved scientific questions. We analyze the properties and stability of multicomponent droplets and bubbles in the canonical ensemble, and compare with single-component systems. The bubbles/droplets are described on the mesoscopic level by square gradient theory. Furthermore, we compare the results to a capillary model which gives a macroscopic description. Remarkably, the solutions of the square gradient model, representing bubbles and droplets, are accurately reproduced by the capillary model except in the vicinity of the spinodals. The solutions of the square gradient model form closed loops, which showsmore » the inherent symmetry and connected nature of bubbles and droplets. A thermodynamic stability analysis is carried out, where the second variation of the square gradient description is compared to the eigenvalues of the Hessian matrix in the capillary description. The analysis shows that it is impossible to stabilize arbitrarily small bubbles or droplets in closed systems and gives insight into metastable regions close to the minimum bubble/droplet radii. Despite the large difference in complexity, the square gradient and the capillary model predict the same finite threshold sizes and very similar stability limits for bubbles and droplets, both for single-component and two-component systems.« less

Advances in bioresponsive closed-loop drug delivery systems.

PubMed

Yu, Jicheng; Zhang, Yuqi; Yan, Junjie; Kahkoska, Anna R; Gu, Zhen

2017-11-27

Controlled drug delivery systems are able to improve efficacy and safety of therapeutics by optimizing the duration and kinetics of release. Among them, closed-loop delivery strategies, also known as self-regulated administration, have proven to be a practical tool for homeostatic regulation, by tuning drug release as a function of biosignals relevant to physiological and pathological processes. A typical example is glucose-responsive insulin delivery system, which can mimic the pancreatic beta cells to release insulin with a proper dose at a proper time point by responding to plasma glucose levels. Similar self-regulated systems are also important in the treatment of other diseases including thrombosis and bacterial infection. In this review, we survey the recent advances in bioresponsive closed-loop drug delivery systems, including glucose-responsive, enzyme-activated, and other biosignal-mediated delivery systems. We also discuss the future opportunities and challenges in this field. Copyright © 2017 Elsevier B.V. All rights reserved.

Post-processing of adaptive optics images based on frame selection and multi-frame blind deconvolution

NASA Astrophysics Data System (ADS)

Tian, Yu; Rao, Changhui; Wei, Kai

2008-07-01

The adaptive optics can only partially compensate the image blurred by atmospheric turbulence due to the observing condition and hardware restriction. A post-processing method based on frame selection and multi-frames blind deconvolution to improve images partially corrected by adaptive optics is proposed. The appropriate frames which are suitable for blind deconvolution from the recorded AO close-loop frames series are selected by the frame selection technique and then do the multi-frame blind deconvolution. There is no priori knowledge except for the positive constraint in blind deconvolution. It is benefit for the use of multi-frame images to improve the stability and convergence of the blind deconvolution algorithm. The method had been applied in the image restoration of celestial bodies which were observed by 1.2m telescope equipped with 61-element adaptive optical system at Yunnan Observatory. The results show that the method can effectively improve the images partially corrected by adaptive optics.

Investigation of load current feed-forward control strategy for wind power grid connected inverter through VSC-HVDC

NASA Astrophysics Data System (ADS)

Liu, Hongbo; Liu, Haihan; Liu, Sitong; Peng, Huanhuan

2018-06-01

The VSC-HVDC connection system will be the effective transmission method for the large scale and long distance integrated wind farm. Because of the fluctuating power, the DC voltage will be over-voltage or under-voltage in transmission line which will affect the steady operation of the wind power integrating system. In order to mitigate the DC voltage variation of the grid-connected inverter on the grid side and improve the dynamic response of the system, a load current feed-forward control scheme is put forward. Firstly, this paper analyses stability of a system without additional feed-forward control based on double close loop. Secondly, the load current which can indicate the power changes is introduced to counteract the fluctuation of DC voltage in the improvement control scheme. By simulating the results show that the proposed control strategy can improve the dynamic response performance and mitigate the fluctuation of the active power output of the wind farm.

Thermostatic system of sensor in NIR spectrometer based on PID control

NASA Astrophysics Data System (ADS)

Wang, Zhihong; Qiao, Liwei; Ji, Xufei

2016-11-01

Aiming at the shortcomings of the primary sensor thermostatic control system in the near infrared (NIR) spectrometer, a novel thermostatic control system based on proportional-integral-derivative (PID) control technology was developed to improve the detection precision of the NIR spectrometer. There were five parts including bridge amplifier circuit, analog-digital conversion (ADC) circuit, microcontroller, digital-analog conversion (DAC) circuit and drive circuit in the system. The five parts formed a closed-loop control system based on PID algorithm that was used to control the error between the temperature calculated by the sampling data of ADC and the designed temperature to ensure the stability of the spectrometer's sensor. The experimental results show that, when the operating temperature of sensor is -11°, compared with the original system, the temperature control precision of the new control system is improved from ±0.64° to ±0.04° and the spectrum signal to noise ratio (SNR) is improved from 4891 to 5967.

Robust Adaptive Dynamic Programming of Two-Player Zero-Sum Games for Continuous-Time Linear Systems.

PubMed

Fu, Yue; Fu, Jun; Chai, Tianyou

2015-12-01

In this brief, an online robust adaptive dynamic programming algorithm is proposed for two-player zero-sum games of continuous-time unknown linear systems with matched uncertainties, which are functions of system outputs and states of a completely unknown exosystem. The online algorithm is developed using the policy iteration (PI) scheme with only one iteration loop. A new analytical method is proposed for convergence proof of the PI scheme. The sufficient conditions are given to guarantee globally asymptotic stability and suboptimal property of the closed-loop system. Simulation studies are conducted to illustrate the effectiveness of the proposed method.

Thermodynamics-hydration relationships within loops that affect G-quadruplexes under molecular crowding conditions.

PubMed

Fujimoto, Takeshi; Nakano, Shu-ichi; Sugimoto, Naoki; Miyoshi, Daisuke

2013-01-31

We systematically investigated the effects of loop length on the conformation, thermodynamic stability, and hydration of DNA G-quadruplexes under dilute and molecular crowding conditions in the presence of Na(+). Structural analysis showed that molecular crowding induced conformational switches of oligonucleotides with the longer guanine stretch and the shorter thymine loop. Thermodynamic parameters further demonstrated that the thermodynamic stability of G-quadruplexes increased by increasing the loop length from two to four, whereas it decreased by increasing the loop length from four to six. Interestingly, we found by osmotic pressure analysis that the number of water molecules released from the G-quadruplex decreased with increasing thermodynamic stability. We assumed that base-stacking interactions within the loops not only stabilized the whole G-quadruplex structure but also created hydration sites by accumulating nucleotide functional groups. The molecular crowding effects on the stability of G-quadruplexes composed of abasic sites, which reduce the stacking interactions at the loops, further demonstrated that G-quadruplexes with fewer stacking interactions within the loops released a larger number of water molecules upon folding. These results showed that the stacking interactions within the loops determined the thermodynamic stability and hydration of the whole G-quadruplex.

Design validation and performance of closed loop gas recirculation system

NASA Astrophysics Data System (ADS)

Kalmani, S. D.; Joshi, A. V.; Majumder, G.; Mondal, N. K.; Shinde, R. R.

2016-11-01

A pilot experimental set up of the India Based Neutrino Observatory's ICAL detector has been operational for the last 4 years at TIFR, Mumbai. Twelve glass RPC detectors of size 2 × 2 m2, with a gas gap of 2 mm are under test in a closed loop gas recirculation system. These RPCs are continuously purged individually, with a gas mixture of R134a (C2H2F4), isobutane (iC4H10) and sulphur hexafluoride (SF6) at a steady rate of 360 ml/h to maintain about one volume change a day. To economize gas mixture consumption and to reduce the effluents from being released into the atmosphere, a closed loop system has been designed, fabricated and installed at TIFR. The pressure and flow rate in the loop is controlled by mass flow controllers and pressure transmitters. The performance and integrity of RPCs in the pilot experimental set up is being monitored to assess the effect of periodic fluctuation and transients in atmospheric pressure and temperature, room pressure variation, flow pulsations, uniformity of gas distribution and power failures. The capability of closed loop gas recirculation system to respond to these changes is also studied. The conclusions from the above experiment are presented. The validations of the first design considerations and subsequent modifications have provided improved guidelines for the future design of the engineering module gas system.

Application of Design Methodologies for Feedback Compensation Associated with Linear Systems

NASA Technical Reports Server (NTRS)

Smith, Monty J.

1996-01-01

The work that follows is concerned with the application of design methodologies for feedback compensation associated with linear systems. In general, the intent is to provide a well behaved closed loop system in terms of stability and robustness (internal signals remain bounded with a certain amount of uncertainty) and simultaneously achieve an acceptable level of performance. The approach here has been to convert the closed loop system and control synthesis problem into the interpolation setting. The interpolation formulation then serves as our mathematical representation of the design process. Lifting techniques have been used to solve the corresponding interpolation and control synthesis problems. Several applications using this multiobjective design methodology have been included to show the effectiveness of these techniques. In particular, the mixed H 2-H performance criteria with algorithm has been used on several examples including an F-18 HARV (High Angle of Attack Research Vehicle) for sensitivity performance.

Relative position coordinated control for spacecraft formation flying with communication delays

NASA Astrophysics Data System (ADS)

Ran, Dechao; Chen, Xiaoqian; Misra, Arun K.; Xiao, Bing

2017-08-01

This study addresses a relative position coordinated control problem for spacecraft formation flying subject to directed communication topology. Two different kinds of communication delay cases, including time-varying delays and arbitrarily bounded delays are investigated. Using the backstepping control technique, two virtual velocity control inputs are firstly designed to achieve coordinated position tracking for the kinematic subsystem. Furthermore, a hyperbolic tangent function is introduced to guarantee the boundedness of the virtual controller. Then, a finite-time control algorithm is designed for the dynamic subsystem. It can guarantee that the virtual velocity can be followed by the real velocity after finite time. It is theoretically proved that the proposed control scheme can asymptotically stabilize the closed-loop system. Numerical simulations are further presented that not only highlight closed-loop performance benefiting from the proposed control scheme, but also illustrate its superiority in comparison with conventional formation control schemes.

Full quaternion based finite-time cascade attitude control approach via pulse modulation synthesis for a spacecraft.

PubMed

Mazinan, A H; Pasand, M; Soltani, B

2015-09-01

In the aspect of further development of investigations in the area of spacecraft modeling and analysis of the control scheme, a new hybrid finite-time robust three-axis cascade attitude control approach is proposed via pulse modulation synthesis. The full quaternion based control approach proposed here is organized in association with both the inner and the outer closed loops. It is shown that the inner closed loop, which consists of the sliding mode finite-time control approach, the pulse width pulse frequency modulator, the control allocation and finally the dynamics of the spacecraft is realized to track the three-axis referenced commands of the angular velocities. The pulse width pulse frequency modulators are in fact employed in the inner closed loop to accommodate the control signals to a number of on-off thrusters, while the control allocation algorithm provides the commanded firing times for the reaction control thrusters in the overactuated spacecraft. Hereinafter, the outer closed loop, which consists of the proportional linear control approach and the kinematics of the spacecraft is correspondingly designed to deal with the attitude angles that are presented by quaternion vector. It should be noted that the main motivation of the present research is to realize a hybrid control method by using linear and nonlinear terms and to provide a reliable and robust control structure, which is able to track time varying three-axis referenced commands. Subsequently, a stability analysis is presented to verify the performance of the overall proposed cascade attitude control approach. To prove the effectiveness of the presented approach, a thorough investigation is presented compared to a number of recent corresponding benchmarks. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Precise and long-term stabilization of the carrier-envelope phase of femtosecond laser pulses using an enhanced direct locking technique.

PubMed

Yu, Tae Jun; Hong, Kyung-Han; Choi, Hyun-Gyug; Sung, Jae Hee; Choi, Il Woo; Ko, Do-Kyeong; Lee, Jongmin; Kim, Junwon; Kim, Dong Eon; Nam, Chang Hee

2007-06-25

We demonstrate a long-term operation with reduced phase noise in the carrier-envelope-phase (CEP) stabilization process by employing a double feedback loop and an improved signal detection in the direct locking technique [Opt. Express 13, 2969 (2005)]. A homodyne balanced detection method is employed for efficiently suppressing the dc noise in the f-2f beat signal, which is converted into the CEP noise in the direct locking loop working at around zero carrier-envelope offset frequency (f(ceo)). In order to enhance the long-term stability, we have used the double feedback scheme that modulates both the oscillator pump power for a fast control and the intracavity-prism insertion depth for a slow and high-dynamic-range control. As a result, the in-loop phase jitter is reduced from 50 mrad of the previous result to 29 mrad, corresponding to 13 as in time scale, and the long-term stable operation is achieved for more than 12 hours.

Robust stability bounds for multi-delay networked control systems

NASA Astrophysics Data System (ADS)

Seitz, Timothy; Yedavalli, Rama K.; Behbahani, Alireza

2018-04-01

In this paper, the robust stability of a perturbed linear continuous-time system is examined when controlled using a sampled-data networked control system (NCS) framework. Three new robust stability bounds on the time-invariant perturbations to the original continuous-time plant matrix are presented guaranteeing stability for the corresponding discrete closed-loop augmented delay-free system (ADFS) with multiple time-varying sensor and actuator delays. The bounds are differentiated from previous work by accounting for the sampled-data nature of the NCS and for separate communication delays for each sensor and actuator, not a single delay. Therefore, this paper expands the knowledge base in multiple inputs multiple outputs (MIMO) sampled-data time delay systems. Bounds are presented for unstructured, semi-structured, and structured perturbations.

Feedback: A Systems Approach to Evaluation and Course Design. Working Papers No. 21.

ERIC Educational Resources Information Center

Holmes, John

Two types of feedback are examined, and their use in controlling the processes of instructional development and improvement are discussed. Closed-loop feedback, the most direct, uses immediate feedback about a process or product to make immediate adjustments in it. Open-loop feedback, in which input cannot be changed immediately, uses feedback to…

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.

Stability in Real Food Webs: Weak Links in Long Loops

NASA Astrophysics Data System (ADS)

Neutel, Anje-Margriet; Heesterbeek, Johan A. P.; de Ruiter, Peter C.

2002-05-01

Increasing evidence that the strengths of interactions among populations in biological communities form patterns that are crucial for system stability requires clarification of the precise form of these patterns, how they come about, and why they influence stability. We show that in real food webs, interaction strengths are organized in trophic loops in such a way that long loops contain relatively many weak links. We show and explain mathematically that this patterning enhances stability, because it reduces maximum ``loop weight'' and thus reduces the amount of intraspecific interaction needed for matrix stability. The patterns are brought about by biomass pyramids, a feature common to most ecosystems. Incorporation of biomass pyramids in 104 food-web descriptions reveals that the low weight of the long loops stabilizes complex food webs. Loop-weight analysis could be a useful tool for exploring the structure and organization of complex communities.

Velocity-free attitude coordinated tracking control for spacecraft formation flying.

PubMed

Hu, Qinglei; Zhang, Jian; Zhang, Youmin

2018-02-01

This article investigates the velocity-free attitude coordinated tracking control scheme for a group of spacecraft with the assumption that the angular velocities of the formation members are not available in control feedback. Initially, an angular velocity observer is constructed based on each individual's attitude quarternion. Then, the distributed attitude coordinated control law is designed by using the observed states, in which adaptive control method is adopted to handle the external disturbances. Stability of the overall closed-loop system is analyzed theoretically, which shows the system trajectory converges to a small set around origin with fast convergence rate. Numerical simulations are performed to demonstrate fast convergence and improved tracking performance of the proposed control strategy. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

PubMed

Amini, H; Farzaneh, B; Azimifar, F; Sarhan, A A D

2016-09-01

This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Analysis of Mesh Distribution Systems Considering Load Models and Load Growth Impact with Loops on System Performance

NASA Astrophysics Data System (ADS)

Kumar Sharma, A.; Murty, V. V. S. N.

2014-12-01

The distribution system is the final link between bulk power system and consumer end. A distinctive load flow solution method is used for analysis of the load flow of radial and weakly meshed network based on Kirchhoff's Current Law (KCL) and KVL. This method has excellent convergence characteristics for both radial as well as weakly meshed structure and is based on bus injection to branch current and branch-current to bus-voltage matrix. The main contribution of the paper is: (i) an analysis has been carried out for a weekly mesh network considering number of loops addition and its impact on the losses, kW and kVAr requirements from a system, and voltage profile, (ii) different load models, realistic ZIP load model and load growth impact on losses, voltage profile, kVA and kVAr requirements, (iii) impact of addition of loops on losses, voltage profile, kVA and kVAr requirements from substation, and (iv) comparison of system performance with radial distribution system. Voltage stability is a major concern in planning and operation of power systems. This paper also includes identifying the closeness critical bus which is the most sensitive to the voltage collapse in radial distribution networks. Node having minimum value of voltage stability index is the most sensitive node. Voltage stability index values are computed for meshed network with number of loops added in the system. The results have been obtained for IEEE 33 and 69 bus test system. The results have also been obtained for radial distribution system for comparison.

Fractional order PIλ controller synthesis for steam turbine speed governing systems.

PubMed

Chen, Kai; Tang, Rongnian; Li, Chuang; Lu, Junguo

2018-06-01

The current state of the art of fractional order stability theory is hardly to build connection between the time domain analysis and frequency domain synthesis. The existing tuning methodologies for fractional order PI λ D μ are not always satisfy the given gain crossover frequency and phase margin simultaneously. To overcome the drawbacks in the existing synthesis of fractional order controller, the synthesis of optimal fractional order PI λ controller for higher-order process is proposed. According to the specified phase margin, the corresponding upper boundary of gain crossover frequency and stability surface in parameter space are obtained. Sweeping the order parameter over λ∈(0,2), the complete set of stabilizing controller which guarantees both pre-specifying phase frequency characteristic can be collected. Whereafter, the optimal fractional order PI λ controller is applied to the speed governing systems of steam turbine generation units. The numerical simulation and hardware-in-the-loop simulation demonstrate the effectiveness and satisfactory closed-loop performance of obtained fractional order PI λ controller. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Natural selection for costly nutrient recycling in simulated microbial metacommunities.

PubMed

Boyle, Richard A; Williams, Hywel T P; Lenton, Timothy M

2012-11-07

Recycling of essential nutrients occurs at scales from microbial communities to global biogeochemical cycles, often in association with ecological interactions in which two or more species utilise each others' metabolic by-products. However, recycling loops may be unstable; sequences of reactions leading to net recycling may be parasitised by side-reactions causing nutrient loss, while some reactions in any closed recycling loop are likely to be costly to participants. Here we examine the stability of nutrient recycling loops in an individual-based ecosystem model based on microbial functional types that differ in their metabolism. A supplied nutrient is utilised by a "source" functional type, generating a secondary nutrient that is subsequently used by two other types-a "mutualist" that regenerates the initial nutrient at a growth rate cost, and a "parasite" that produces a refractory waste product but does not incur any additional cost. The three functional types are distributed across a metacommunity in which separate patches are linked by a stochastic diffusive migration process. Regions of high mutualist abundance feature high levels of nutrient recycling and increased local population density leading to greater export of individuals, allowing the source-mutualist recycling loop to spread across the system. Individual-level selection favouring parasites is balanced by patch-level selection for high productivity, indirectly favouring mutualists due to the synergistic productivity benefits of the recycling loop they support. This suggests that multi-level selection may promote nutrient cycling and thereby help to explain the apparent ubiquity and stability of nutrient recycling in nature.

Noise performance of frequency modulation Kelvin force microscopy

PubMed Central

Deresmes, Dominique; Mélin, Thierry

2014-01-01

Summary Noise performance of a phase-locked loop (PLL) based frequency modulation Kelvin force microscope (FM-KFM) is assessed. Noise propagation is modeled step by step throughout the setup using both exact closed loop noise gains and an approximation known as “noise gain” from operational amplifier (OpAmp) design that offers the advantage of decoupling the noise performance study from considerations of stability and ideal loop response. The bandwidth can be chosen depending on how much noise is acceptable and it is shown that stability is not an issue up to a limit that will be discussed. With thermal and detector noise as the only sources, both approaches yield PLL frequency noise expressions equal to the theoretical value for self-oscillating circuits and in agreement with measurement, demonstrating that the PLL components neither modify nor contribute noise. Kelvin output noise is then investigated by modeling the surrounding bias feedback loop. A design rule is proposed that allows choosing the AC modulation frequency for optimized sharing of the PLL bandwidth between Kelvin and topography loops. A crossover criterion determines as a function of bandwidth, temperature and probe parameters whether thermal or detector noise is the dominating noise source. Probe merit factors for both cases are then established, suggesting how to tackle noise performance by probe design. Typical merit factors of common probe types are compared. This comprehensive study is an encouraging step toward a more integral performance assessment and a remedy against focusing on single aspects and optimizing around randomly chosen key values. PMID:24455457

Flight Results of the NF-15B Intelligent Flight Control System (IFCS) Aircraft with Adaptation to a Longitudinally Destabilized Plant

NASA Technical Reports Server (NTRS)

Bosworth, John T.

2008-01-01

Adaptive flight control systems have the potential to be resilient to extreme changes in airplane behavior. Extreme changes could be a result of a system failure or of damage to the airplane. The goal for the adaptive system is to provide an increase in survivability in the event that these extreme changes occur. A direct adaptive neural-network-based flight control system was developed for the National Aeronautics and Space Administration NF-15B Intelligent Flight Control System airplane. The adaptive element was incorporated into a dynamic inversion controller with explicit reference model-following. As a test the system was subjected to an abrupt change in plant stability simulating a destabilizing failure. Flight evaluations were performed with and without neural network adaptation. The results of these flight tests are presented. Comparison with simulation predictions and analysis of the performance of the adaptation system are discussed. The performance of the adaptation system is assessed in terms of its ability to stabilize the vehicle and reestablish good onboard reference model-following. Flight evaluation with the simulated destabilizing failure and adaptation engaged showed improvement in the vehicle stability margins. The convergent properties of this initial system warrant additional improvement since continued maneuvering caused continued adaptation change. Compared to the non-adaptive system the adaptive system provided better closed-loop behavior with improved matching of the onboard reference model. A detailed discussion of the flight results is presented.

eIF1 Loop 2 interactions with Met-tRNAi control the accuracy of start codon selection by the scanning preinitiation complex.

PubMed

Thakur, Anil; Hinnebusch, Alan G

2018-05-01

The eukaryotic 43S preinitiation complex (PIC), bearing initiator methionyl transfer RNA (Met-tRNA i ) in a ternary complex (TC) with eukaryotic initiation factor 2 (eIF2)-GTP, scans the mRNA leader for an AUG codon in favorable context. AUG recognition evokes rearrangement from an open PIC conformation with TC in a "P OUT " state to a closed conformation with TC more tightly bound in a "P IN " state. eIF1 binds to the 40S subunit and exerts a dual role of enhancing TC binding to the open PIC conformation while antagonizing the P IN state, necessitating eIF1 dissociation for start codon selection. Structures of reconstituted PICs reveal juxtaposition of eIF1 Loop 2 with the Met-tRNA i D loop in the P IN state and predict a distortion of Loop 2 from its conformation in the open complex to avoid a clash with Met-tRNA i We show that Ala substitutions in Loop 2 increase initiation at both near-cognate UUG codons and AUG codons in poor context. Consistently, the D71A-M74A double substitution stabilizes TC binding to 48S PICs reconstituted with mRNA harboring a UUG start codon, without affecting eIF1 affinity for 40S subunits. Relatively stronger effects were conferred by arginine substitutions; and no Loop 2 substitutions perturbed the rate of TC loading on scanning 40S subunits in vivo. Thus, Loop 2-D loop interactions specifically impede Met-tRNA i accommodation in the P IN state without influencing the P OUT mode of TC binding; and Arg substitutions convert the Loop 2-tRNA i clash to an electrostatic attraction that stabilizes P IN and enhances selection of poor start codons in vivo.

A double-headed cathepsin B inhibitor devoid of warhead

PubMed Central

Schenker, Patricia; Alfarano, Pietro; Kolb, Peter; Caflisch, Amedeo; Baici, Antonio

2008-01-01

Most synthetic inhibitors of peptidases have been targeted to the active site for inhibiting catalysis through reversible competition with the substrate or by covalent modification of catalytic groups. Cathepsin B is unique among the cysteine peptidase for the presence of a flexible segment, known as the occluding loop, which can block the primed subsites of the substrate binding cleft. With the occluding loop in the open conformation cathepsin B acts as an endopeptidase, and it acts as an exopeptidase when the loop is closed. We have targeted the occluding loop of human cathepsin B at its surface, outside the catalytic center, using a high-throughput docking procedure. The aim was to identify inhibitors that would interact with the occluding loop thereby modulating enzyme activity without the help of chemical warheads against catalytic residues. From a large library of compounds, the in silico approach identified [2-[2-(2,4-dioxo-1,3-thiazolidin-3-yl)ethylamino]-2-oxoethyl] 2-(furan-2-carbonylamino) acetate, which fulfills the working hypothesis. This molecule possesses two distinct binding moieties and behaves as a reversible, double-headed competitive inhibitor of cathepsin B by excluding synthetic and protein substrates from the active center. The kinetic mechanism of inhibition suggests that the occluding loop is stabilized in its closed conformation, mainly by hydrogen bonds with the inhibitor, thus decreasing endoproteolytic activity of the enzyme. Furthermore, the dioxothiazolidine head of the compound sterically hinders binding of the C-terminal residue of substrates resulting in inhibition of the exopeptidase activity of cathepsin B in a physiopathologically relevant pH range. PMID:18796695

The Martian and extraterrestrial UV radiation environment--1. Biological and closed-loop ecosystem considerations.

PubMed

Cockell, C S; Andrady, A L

1999-01-01

The Martian surface is exposed to both UVC radiation (<280 nm) and higher doses of UVB (280-315 nm) compared to the surface of the Earth. Terrestrial organisms have not evolved to cope with such high levels of UVC and UVB and thus any attempts to introduce organisms to Mars, particularly in closed-loop life support systems that use ambient sunlight, must address this problem. Here we examine the UV radiation environment of Mars with respect to biological systems. Action spectra and UV surface fluxes are used to estimate the UV stress that both DNA and chloroplasts would experience. From this vantage point it is possible to consider appropriate measures to address the problem of the Martian UV environment for future long term human exploration and settlement strategies. Some prospects for improving the UV tolerance of organisms are also discussed. Existing artificial ecosystems such as Biosphere 2 can provide some insights into design strategies pertinent to high UV environments. Some prospects for improving the UV tolerance of organisms are also discussed. The data also have implications for the establishment of closed-loop ecosystems using natural sunlight on the lunar surface and elsewhere in the Solar System.

Stable loop in the crystal structure of the intercalated four-stranded cytosine-rich metazoan telomere

NASA Technical Reports Server (NTRS)

Kang, C.; Berger, I.; Lockshin, C.; Ratliff, R.; Moyzis, R.; Rich, A.

1995-01-01

In most metazoans, the telomeric cytosine-rich strand repeating sequence is d(TAACCC). The crystal structure of this sequence was solved to 1.9-A resolution. Four strands associate via the cytosine-containing parts to form a four-stranded intercalated structure held together by C.C+ hydrogen bonds. The base-paired strands are parallel to each other, and the two duplexes are intercalated into each other in opposite orientations. One TAA end forms a highly stabilized loop with the 5' thymine Hoogsteen-base-paired to the third adenine. The 5' end of this loop is in close proximity to the 3' end of one of the other intercalated cytosine strands. Instead of being entirely in a DNA duplex, this structure suggests the possibility of an alternative conformation for the cytosine-rich telomere strands.

Exploring the binding energy profiles of full agonists, partial agonists, and antagonists of the α7 nicotinic acetylcholine receptor.

PubMed

Tabassum, Nargis; Ma, Qianyun; Wu, Guanzhao; Jiang, Tao; Yu, Rilei

2017-09-01

Nicotinic acetylcholine receptors (nAChRs) belong to the Cys-loop receptor family and are important drug targets for the treatment of neurological diseases. However, the precise determinants of the binding efficacies of ligands for these receptors are unclear. Therefore, in this study, the binding energy profiles of various ligands (full agonists, partial agonists, and antagonists) were quantified by docking those ligands with structural ensembles of the α7 nAChR exhibiting different degrees of C-loop closure. This approximate treatment of interactions suggested that full agonists, partial agonists, and antagonists of the α7 nAChR possess distinctive binding energy profiles. Results from docking revealed that ligand binding efficacy may be related to the capacity of the ligand to stabilize conformational states with a closed C loop.

Log amplifier with pole-zero compensation

DOEpatents

Brookshier, W.

1985-02-08

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

Log amplifier with pole-zero compensation

DOEpatents

Brookshier, William

1987-01-01

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

pH-induced conformational changes in human ABO(H) blood group glycosyltransferases confirm the importance of electrostatic interactions in the formation of the semi-closed state.

PubMed

Johal, Asha R; Blackler, Ryan J; Alfaro, Javier A; Schuman, Brock; Borisova, Svetlana; Evans, Stephen V

2014-03-01

The homologous human ABO(H) A and B blood group glycosyltransferases GTA and GTB have two mobile polypeptide loops surrounding their active sites that serve to allow substrate access and product egress and to recognize and sequester substrates for catalysis. Previous studies have established that these enzymes can move from the "open" state to the "semi-closed" then "closed" states in response to addition of a substrate. The contribution of electrostatic interactions to these conformational changes has now been demonstrated by the determination at various pH of the structures of GTA, GTB and the chimeric enzyme ABBA. At near-neutral pH, GTA displays the closed state in which both mobile loops order around the active site, whereas ABBA and GTB display the open state. At low pH, the apparent protonation of the DXD motif in GTA leads to the expulsion of the donor analog to yield the open state, whereas at high pH, both ABBA and GTB form the semi-closed state in which the first mobile loop becomes an ordered α-helix. Step-wise deprotonation of GTB in increments of 0.5 between pH 6.5 and 10.0 shows that helix ordering is gradual, which indicates that the formation of the semi-closed state is dependent on electrostatic forces consistent with the binding of substrate. Spectropolarimetric studies of the corresponding stand-alone peptide in solution reveal no tendency toward helix formation from pH 7.0 to 10.0, which shows that pH-dependent stability is a product of the larger protein environment and underlines the importance of substrate in active site ordering.

Sensitivity analysis of automatic flight control systems using singular value concepts

NASA Technical Reports Server (NTRS)

Herrera-Vaillard, A.; Paduano, J.; Downing, D.

1985-01-01

A sensitivity analysis is presented that can be used to judge the impact of vehicle dynamic model variations on the relative stability of multivariable continuous closed-loop control systems. The sensitivity analysis uses and extends the singular-value concept by developing expressions for the gradients of the singular value with respect to variations in the vehicle dynamic model and the controller design. Combined with a priori estimates of the accuracy of the model, the gradients are used to identify the elements in the vehicle dynamic model and controller that could severely impact the system's relative stability. The technique is demonstrated for a yaw/roll damper stability augmentation designed for a business jet.

Assisted closed-loop optimization of SSVEP-BCI efficiency

PubMed Central

Fernandez-Vargas, Jacobo; Pfaff, Hanns U.; Rodríguez, Francisco B.; Varona, Pablo

2012-01-01

We designed a novel assisted closed-loop optimization protocol to improve the efficiency of brain-computer interfaces (BCI) based on steady state visually evoked potentials (SSVEP). In traditional paradigms, the control over the BCI-performance completely depends on the subjects' ability to learn from the given feedback cues. By contrast, in the proposed protocol both the subject and the machine share information and control over the BCI goal. Generally, the innovative assistance consists in the delivery of online information together with the online adaptation of BCI stimuli properties. In our case, this adaptive optimization process is realized by (1) a closed-loop search for the best set of SSVEP flicker frequencies and (2) feedback of actual SSVEP magnitudes to both the subject and the machine. These closed-loop interactions between subject and machine are evaluated in real-time by continuous measurement of their efficiencies, which are used as online criteria to adapt the BCI control parameters. The proposed protocol aims to compensate for variability in possibly unknown subjects' state and trait dimensions. In a study with N = 18 subjects, we found significant evidence that our protocol outperformed classic SSVEP-BCI control paradigms. Evidence is presented that it takes indeed into account interindividual variabilities: e.g., under the new protocol, baseline resting state EEG measures predict subjects' BCI performances. This paper illustrates the promising potential of assisted closed-loop protocols in BCI systems. Probably their applicability might be expanded to innovative uses, e.g., as possible new diagnostic/therapeutic tools for clinical contexts and as new paradigms for basic research. PMID:23443214

Assisted closed-loop optimization of SSVEP-BCI efficiency.

PubMed

Fernandez-Vargas, Jacobo; Pfaff, Hanns U; Rodríguez, Francisco B; Varona, Pablo

2013-01-01

We designed a novel assisted closed-loop optimization protocol to improve the efficiency of brain-computer interfaces (BCI) based on steady state visually evoked potentials (SSVEP). In traditional paradigms, the control over the BCI-performance completely depends on the subjects' ability to learn from the given feedback cues. By contrast, in the proposed protocol both the subject and the machine share information and control over the BCI goal. Generally, the innovative assistance consists in the delivery of online information together with the online adaptation of BCI stimuli properties. In our case, this adaptive optimization process is realized by (1) a closed-loop search for the best set of SSVEP flicker frequencies and (2) feedback of actual SSVEP magnitudes to both the subject and the machine. These closed-loop interactions between subject and machine are evaluated in real-time by continuous measurement of their efficiencies, which are used as online criteria to adapt the BCI control parameters. The proposed protocol aims to compensate for variability in possibly unknown subjects' state and trait dimensions. In a study with N = 18 subjects, we found significant evidence that our protocol outperformed classic SSVEP-BCI control paradigms. Evidence is presented that it takes indeed into account interindividual variabilities: e.g., under the new protocol, baseline resting state EEG measures predict subjects' BCI performances. This paper illustrates the promising potential of assisted closed-loop protocols in BCI systems. Probably their applicability might be expanded to innovative uses, e.g., as possible new diagnostic/therapeutic tools for clinical contexts and as new paradigms for basic research.

Some computational techniques for estimating human operator describing functions

NASA Technical Reports Server (NTRS)

Levison, W. H.

1986-01-01

Computational procedures for improving the reliability of human operator describing functions are described. Special attention is given to the estimation of standard errors associated with mean operator gain and phase shift as computed from an ensemble of experimental trials. This analysis pertains to experiments using sum-of-sines forcing functions. Both open-loop and closed-loop measurement environments are considered.

Closing loop base pairs in RNA loop-loop complexes: structural behavior, interaction energy and solvation analysis through molecular dynamics simulations.

PubMed

Golebiowski, Jérôme; Antonczak, Serge; Fernandez-Carmona, Juan; Condom, Roger; Cabrol-Bass, Daniel

2004-12-01

Nanosecond molecular dynamics using the Ewald summation method have been performed to elucidate the structural and energetic role of the closing base pair in loop-loop RNA duplexes neutralized by Mg2+ counterions in aqueous phases. Mismatches GA, CU and Watson-Crick GC base pairs have been considered for closing the loop of an RNA in complementary interaction with HIV-1 TAR. The simulations reveal that the mismatch GA base, mediated by a water molecule, leads to a complex that presents the best compromise between flexibility and energetic contributions. The mismatch CU base pair, in spite of the presence of an inserted water molecule, is too short to achieve a tight interaction at the closing-loop junction and seems to force TAR to reorganize upon binding. An energetic analysis has allowed us to quantify the strength of the interactions of the closing and the loop-loop pairs throughout the simulations. Although the water-mediated GA closing base pair presents an interaction energy similar to that found on fully geometry-optimized structure, the water-mediated CU closing base pair energy interaction reaches less than half the optimal value.

Adaptive tracking control for a class of stochastic switched systems

NASA Astrophysics Data System (ADS)

Zhang, Hui; Xia, Yuanqing

2018-02-01

The problem of adaptive tracking is considered for a class of stochastic switched systems, in this paper. As preliminaries, the criterion of global asymptotical practical stability in probability is first presented by the aid of common Lyapunov function method. Based on the Lyapunov stability criterion, adaptive backstepping controllers are designed to guarantee that the closed-loop system has a unique global solution, which is globally asymptotically practically stable in probability, and the tracking error in the fourth moment converges to an arbitrarily small neighbourhood of zero. Simulation examples are given to demonstrate the efficiency of the proposed schemes.

ARTICLES: Stabilization of the composition of the gaseous medium in a pulse-periodic CO2 laser by hopcalite

NASA Astrophysics Data System (ADS)

Baranov, V. Yu; Drokov, G. F.; Kuz'menko, V. A.; Mezhevov, V. S.; Pigul'skaya, V. V.

1986-05-01

The results of experiments on using hopcalite to stabilize the gas mixture composition in pulse-periodic and single-pulse CO2 lasers are reported. A study was made of the reasons for a fall in the activity of the catalyst with time under typical CO2 laser conditions and a catalyst regeneration regime was selected. The use of hopcalite ensured prolonged operation of a high-power pulse-periodic CO2 laser without replenishment of the gas mixture in a closed loop. Certain characteristic features concerning the use of hopcalite are described.

Closed Loop Software Control of the MIDEX Power System

NASA Technical Reports Server (NTRS)

Castell, Karen; Hernandez-Pellerano, Amri; Wismer, Margaret

1998-01-01

The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE) spacecraft. The design and analysis of the MAP attitude control system (ACS) have been refined since work previously reported. The full spacecraft and instrument flexible model was developed in NASTRAN, and the resulting flexible modes were plotted and reduced with the Modal Significance Analysis Package (MSAP). The reduced-order model was used to perform the linear stability analysis for each control mode, the results of which are presented in this paper. Although MAP is going to a relatively disturbance-free Lissajous orbit around the Earth-Sun L2 Lagrange point, a detailed disturbance-torque analysis is required because there are only a small number of opportunities for momentum unloading each year. Environmental torques, including solar pressure at L2, and aerodynamic and gravity gradient during phasing-loop orbits, were calculated and simulated. A simple model of fuel slosh was derived to model its effect on the motion of the spacecraft. In addition, a thruster mode linear impulse controller was developed to meet the accuracy requirements of the phasing loop burns. A dynamic attitude error limiter was added to improve the performance of the ACS during large attitude slews. The result of this analysis is a stable ACS subsystem that meets all of the mission's requirements.

Closed-Loop Control for Sonic Fatigue Testing Systems

NASA Technical Reports Server (NTRS)

Rizzi, Stephen A.; Bossaert, Guido

2001-01-01

This article documents recent improvements to the acoustic control system of the Thermal Acoustic Fatigue Apparatus (TAFA), a progressive wave tube test facility at the NASA Langley Research Center, Hampton, VA. A brief summary of past acoustic performance is first given to serve as a basis of comparison with the new performance data using a multiple-input, closed-loop, narrow-band controller. Performance data in the form of test section acoustic power spectral densities and coherence are presented for a variety of input spectra including uniform, band-limited random and an expendable launch vehicle payload bay environment.

Human life support during interplanetary travel and domicile. III - Mars expedition system trade study

NASA Technical Reports Server (NTRS)

Seshan, P. K.; Ferrall, Joseph F.; Rohatgi, Naresh K.

1991-01-01

Several alternative configurations of life-support systems (LSSs) for a Mars missions are compared analytically on a quantitative basis in terms of weight, volume, and power. A baseline technology set is utilized for the illustrations of systems including totally open loop, carbon dioxide removal only, partially closed loop, and totally closed loop. The analytical model takes advantage of a modular, top-down hierarchical breakdown of LSS subsystems into functional elements that represent individual processing technologies. The open-loop systems are not competitive in terms of weight for both long-duration orbiters and short-duration lander vehicles, and power demands are lowest with the open loop and highest with the closed loop. The closed-loop system can reduce vehicle weight by over 70,000 lbs and thereby overcome the power penalty of 1600 W; the closed-loop variety is championed as the preferred system for a Mars expedition.

Use of a Hands Free, Instantaneous, Closed-Loop Communication Device Improves Perception of Communication and Workflow Integration in an Academic Teaching Hospital: A Pilot Study.

PubMed

Fang, Daniel Z; Patil, Teja; Belitskaya-Levy, Ilana; Yeung, Marianne; Posley, Keith; Allaudeen, Nazima

2017-11-17

Efficient and effective communication between providers is critical to quality patient care within a hospital system. Hands free communication devices (HFCD) allow instantaneous, closed-loop communication between physicians and other members of a multidisciplinary team, providing a communication advantage over traditional pager systems. HFCD have been shown to decrease emergency room interruptions, improve nursing communication, improve speed of information flow, and eliminate health care waste. We evaluated the integration of an HFCD with an existing alphanumeric paging system on an acute inpatient medicine service. We conducted a prospective, observational, survey-based study over twenty-four weeks in an academic tertiary care center with attending physicians and residents. Our intervention involved the implementation of an HFCD alongside the existing paging system. Fifty-six pre and post surveys evaluated the perception of improvement in communication and the integration of the HFCD into existing workflow. We saw significant improvements in the ability of an HFCD to help physicians communicate thoughts clearly, communicate thoughts effectively, reach team members, reach ancillary staff, and stay informed about patients. Physicians also reported better workflow integration during admissions, rounds, discharge, and teaching sessions. Qualitative data from post surveys demonstrated that the greatest strengths of the HFCD included the ability to reach colleagues and staff quickly, provide instant access to individuals of the care team, and improve overall communication. Integration of an instantaneous, hands free, closed loop communication system alongside the existing pager system can provide improvements in the perceptions of communication and workflow integration in an academic medicine service. Future studies are needed to correlate these subjective findings with objective measures of quality and safety.

A vehicle stability control strategy with adaptive neural network sliding mode theory based on system uncertainty approximation

NASA Astrophysics Data System (ADS)

Ji, Xuewu; He, Xiangkun; Lv, Chen; Liu, Yahui; Wu, Jian

2018-06-01

Modelling uncertainty, parameter variation and unknown external disturbance are the major concerns in the development of an advanced controller for vehicle stability at the limits of handling. Sliding mode control (SMC) method has proved to be robust against parameter variation and unknown external disturbance with satisfactory tracking performance. But modelling uncertainty, such as errors caused in model simplification, is inevitable in model-based controller design, resulting in lowered control quality. The adaptive radial basis function network (ARBFN) can effectively improve the control performance against large system uncertainty by learning to approximate arbitrary nonlinear functions and ensure the global asymptotic stability of the closed-loop system. In this paper, a novel vehicle dynamics stability control strategy is proposed using the adaptive radial basis function network sliding mode control (ARBFN-SMC) to learn system uncertainty and eliminate its adverse effects. This strategy adopts a hierarchical control structure which consists of reference model layer, yaw moment control layer, braking torque allocation layer and executive layer. Co-simulation using MATLAB/Simulink and AMESim is conducted on a verified 15-DOF nonlinear vehicle system model with the integrated-electro-hydraulic brake system (I-EHB) actuator in a Sine With Dwell manoeuvre. The simulation results show that ARBFN-SMC scheme exhibits superior stability and tracking performance in different running conditions compared with SMC scheme.

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

NASA Technical Reports Server (NTRS)

Krishnan, Hariharan

1993-01-01

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

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

NASA Technical Reports Server (NTRS)

Wester, G. W.

1974-01-01

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

Photoacoustic-Based-Close-Loop Temperature Control for Nanoparticle Hyperthermia.

PubMed

Xiaohua, Feng; Fei, Gao; Yuanjin, Zheng

2015-07-01

Hyperthermia therapy requires tight temperature control to achieve selective killing of cancerous tissue with minimal damage on surrounding healthy tissues. To this end, accurate temperature monitoring and subsequent heating control are critical. However, an economic, portable, and real-time temperature control solution is currently lacking. To bridge this gap, we present a novel portable close-loop system for hyperthermia temperature control, in which photoacoustic technique is proposed for noninvasive real-time temperature measurement. Exploiting the high sensitivity of photoacoustics, the temperature is monitored with an accuracy of around 0.18 °C and then fed back to a controller implemented on field programmable gate array (FPGA) for temperature control. Dubbed as portable hyperthermia feedback controller (pHFC), it stabilizes the temperature at preset values by regulating the hyperthermia power with a proportional-integral-derivative (PID) algorithm; and to facilitate digital implementation, the pHFC further converts the PID output into switching values (0 and 1) with the pulse width modulation (PWM) algorithm. Proof-of-concept hyperthermia experiments demonstrate that the pHFC system is able to bring the temperature from baseline to predetermined value with an accuracy of 0.3° and a negligible temperature overshoot. The pHFC can potentially be translated to clinical applications with customized hyperthermia system design. This paper can facilitate future efforts in seamless integration of close-loop temperature control solution and various clinical hyperthermia systems.

EKF-Based Enhanced Performance Controller Design for Nonlinear Stochastic Systems

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

Zhou, Yuyang; Zhang, Qichun; Wang, Hong

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

Electronic Warfare Closed Loop Laboratory (EWCLL) Antenna Motor Software and Hardware Development

DTIC Science & Technology

2016-09-01

ARL-TN-0779 ● SEP 2016 US Army Research Laboratory Electronic Warfare Closed Loop Laboratory (EWCLL) Antenna Motor Software and...Electronic Warfare Closed Loop Laboratory (EWCLL) Antenna Motor Software and Hardware Development by Neal Tesny Sensors and Electron Devices Directorate...TITLE AND SUBTITLE Electronic Warfare Closed Loop Laboratory (EWCLL) Antenna Motor Software and Hardware Development 5a. CONTRACT NUMBER 5b

Closed-loop spontaneous baroreflex transfer function is inappropriate for system identification of neural arc but partly accurate for peripheral arc: predictability analysis

PubMed Central

Kamiya, Atsunori; Kawada, Toru; Shimizu, Shuji; Sugimachi, Masaru

2011-01-01

Abstract Although the dynamic characteristics of the baroreflex system have been described by baroreflex transfer functions obtained from open-loop analysis, the predictability of time-series output dynamics from input signals, which should confirm the accuracy of system identification, remains to be elucidated. Moreover, despite theoretical concerns over closed-loop system identification, the accuracy and the predictability of the closed-loop spontaneous baroreflex transfer function have not been evaluated compared with the open-loop transfer function. Using urethane and α-chloralose anaesthetized, vagotomized and aortic-denervated rabbits (n = 10), we identified open-loop baroreflex transfer functions by recording renal sympathetic nerve activity (SNA) while varying the vascularly isolated intracarotid sinus pressure (CSP) according to a binary random (white-noise) sequence (operating pressure ± 20 mmHg), and using a simplified equation to calculate closed-loop-spontaneous baroreflex transfer function while matching CSP with systemic arterial pressure (AP). Our results showed that the open-loop baroreflex transfer functions for the neural and peripheral arcs predicted the time-series SNA and AP outputs from measured CSP and SNA inputs, with r2 of 0.8 ± 0.1 and 0.8 ± 0.1, respectively. In contrast, the closed-loop-spontaneous baroreflex transfer function for the neural arc was markedly different from the open-loop transfer function (enhanced gain increase and a phase lead), and did not predict the time-series SNA dynamics (r2; 0.1 ± 0.1). However, the closed-loop-spontaneous baroreflex transfer function of the peripheral arc partially matched the open-loop transfer function in gain and phase functions, and had limited but reasonable predictability of the time-series AP dynamics (r2, 0.7 ± 0.1). A numerical simulation suggested that a noise predominantly in the neural arc under resting conditions might be a possible mechanism responsible for our findings. Furthermore, the predictabilities of the neural arc transfer functions obtained in open-loop and closed-loop conditions were validated by closed-loop pharmacological (phenylephrine and nitroprusside infusions) pressure interventions. Time-series SNA responses to drug-induced AP changes predicted by the open-loop transfer function matched closely the measured responses (r2, 0.9 ± 0.1), whereas SNA responses predicted by closed-loop-spontaneous transfer function deviated greatly and were the inverse of measured responses (r, −0.8 ± 0.2). These results indicate that although the spontaneous baroreflex transfer function obtained by closed-loop analysis has been believed to represent the neural arc function, it is inappropriate for system identification of the neural arc but is essentially appropriate for the peripheral arc under resting conditions, when compared with open-loop analysis. PMID:21486839

Distributed control for energy-efficient and fast consensus in wireless sensor networks

NASA Astrophysics Data System (ADS)

Manfredi, Sabato; Tucci, Edmondo Di

2017-05-01

The paper proposes a distributed control of nodes transmission radii in energy-harvesting wireless sensor networks for simultaneously coping with energy consumption and consensus responsiveness requirement. The stability of the closed-loop network under the proposed control law is proved. Simulation validations show the effectiveness of the proposed approach in nominal scenario as well as in the presence of uncertain node power requirements and harvesting system supply.

Terminal Sliding Modes In Nonlinear Control Systems

NASA Technical Reports Server (NTRS)

Venkataraman, Subramanian T.; Gulati, Sandeep

1993-01-01

Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

The development of a stepped frequency microwave radiometer and its application to remote sensing of the Earth

NASA Technical Reports Server (NTRS)

Harrington, R. F.

1980-01-01

The design, development, application, and capabilities of a variable frequency microwave radiometer are described. This radiometer demonstrated the versatility, accuracy, and stability required to provide contributions to the geophysical understanding of ocean and ice processes. A closed-loop feedback method was used, whereby noise pulses were added to the received electromagnetic radiation to achieve a null balance in a Dicke switched radiometer. Stability was achieved through the use of a constant temperature enclosure around the low loss microwave front end. The Dicke reference temperature was maintained to an absolute accuracy of 0.1 K using a closed-loop proportional temperature controller. A microprocessor based digital controller operates the radiometer and records the data on computer compatible tapes. This radiometer exhibits an absolute accuracy of better than 0.5 K when the sensitivity is 0.1 K. The sensitivity varies between 0.0125 K and 1.25 K depending upon the bandwidth and integration time selected by the digital controller. Remote sensing experiments were conducted from an aircraft platform and the first radiometeric mapping of an ocean polar front; exploratory experiments to measure the thickness of lake ice; first discrimination between first year and multiyear ice below 10 GHz; and the first known measurements of frequency sensitive characteristics of sea ice.

The polar T1 interface is linked to conformational changes that open the voltage-gated potassium channel.

PubMed

Minor, D L; Lin, Y F; Mobley, B C; Avelar, A; Jan, Y N; Jan, L Y; Berger, J M

2000-09-01

Kv voltage-gated potassium channels share a cytoplasmic assembly domain, T1. Recent mutagenesis of two T1 C-terminal loop residues implicates T1 in channel gating. However, structural alterations of these mutants leave open the question concerning direct involvement of T1 in gating. We find in mammalian Kv1.2 that gating depends critically on residues at complementary T1 surfaces in an unusually polar interface. An isosteric mutation in this interface causes surprisingly little structural alteration while stabilizing the closed channel and increasing the stability of T1 tetramers. Replacing T1 with a tetrameric coiled-coil destabilizes the closed channel. Together, these data suggest that structural changes involving the buried polar T1 surfaces play a key role in the conformational changes leading to channel opening.

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

NASA Technical Reports Server (NTRS)

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

1979-01-01

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

Calibration of the island effect: Experimental validation of closed-loop focal plane wavefront control on Subaru/SCExAO

NASA Astrophysics Data System (ADS)

N'Diaye, M.; Martinache, F.; Jovanovic, N.; Lozi, J.; Guyon, O.; Norris, B.; Ceau, A.; Mary, D.

2018-02-01

Context. Island effect (IE) aberrations are induced by differential pistons, tips, and tilts between neighboring pupil segments on ground-based telescopes, which severely limit the observations of circumstellar environments on the recently deployed exoplanet imagers (e.g., VLT/SPHERE, Gemini/GPI, Subaru/SCExAO) during the best observing conditions. Caused by air temperature gradients at the level of the telescope spiders, these aberrations were recently diagnosed with success on VLT/SPHERE, but so far no complete calibration has been performed to overcome this issue. Aims: We propose closed-loop focal plane wavefront control based on the asymmetric Fourier pupil wavefront sensor (APF-WFS) to calibrate these aberrations and improve the image quality of exoplanet high-contrast instruments in the presence of the IE. Methods: Assuming the archetypal four-quadrant aperture geometry in 8 m class telescopes, we describe these aberrations as a sum of the independent modes of piston, tip, and tilt that are distributed in each quadrant of the telescope pupil. We calibrate these modes with the APF-WFS before introducing our wavefront control for closed-loop operation. We perform numerical simulations and then experimental tests on a real system using Subaru/SCExAO to validate our control loop in the laboratory and on-sky. Results: Closed-loop operation with the APF-WFS enables the compensation for the IE in simulations and in the laboratory for the small aberration regime. Based on a calibration in the near infrared, we observe an improvement of the image quality in the visible range on the SCExAO/VAMPIRES module with a relative increase in the image Strehl ratio of 37%. Conclusions: Our first IE calibration paves the way for maximizing the science operations of the current exoplanet imagers. Such an approach and its results prove also very promising in light of the Extremely Large Telescopes (ELTs) and the presence of similar artifacts with their complex aperture geometry.

Water-soluble mercury ion sensing based on the thymine-Hg2+-thymine base pair using retroreflective Janus particle as an optical signaling probe.

PubMed

Chun, Hyeong Jin; Kim, Saemi; Han, Yong Duk; Kim, Dong Woo; Kim, Ka Ram; Kim, Hyo-Sop; Kim, Jae-Ho; Yoon, Hyun C

2018-05-01

Herein, we report an optical sensing platform for mercury ions (Hg 2+ ) in water based on the integration of Hg 2+ -mediated thymine-thymine (T-T) stabilization, a biotinylated stem-loop DNA probe, and a streptavidin-modified retroreflective Janus particle (SA-RJP). Two oligonucleotide probes, including a stem-loop DNA probe and an assistant DNA probe, were utilized. In the absence of Hg 2+ , the assistant DNA probe does not hybridize with the stem-loop probe due to their T-T mismatch, so the surface-immobilized stem-loop DNA probe remains a closed hairpin structure. In the presence of Hg 2+ , the DNA forms a double-stranded structure with the loop region via Hg 2+ -mediated T-T stabilization. This DNA hybridization induces stretching of the stem-loop DNA probe, exposing biotin. To translate these Hg 2+ -mediated structural changes in DNA probe into measurable signal, SA-RJP, an optical signaling label, is applied to recognize the exposed biotin. The number of biospecifically bound SA-RJPs is proportional to the concentration of Hg 2+ , so that the concentration of Hg 2+ can be quantitatively analyzed by counting the number of RJPs. Using the system, a highly selective and sensitive measurement of Hg 2+ was accomplished with a limit of detection of 0.027nM. Considering the simplified optical instrumentation required for retroreflection-based RJP counting, RJP-assisted Hg 2+ measurement can be accomplished in a much easier and inexpensive manner. Moreover, the detection of Hg 2+ in real drinking water samples including tap and commercial bottled water was successfully carried out. Copyright © 2018 Elsevier B.V. All rights reserved.

Chemically controlled closed-loop insulin delivery.

PubMed

Ravaine, Valérie; Ancla, Christophe; Catargi, Bogdan

2008-11-24

Alternative treatments for diabetes are currently being investigated to improve both patient comfort and avoid complications due to hyperglycaemia episodes. In the absence of a cure like pancreas or beta-islets transplants, the ideal method would be an artificial "closed-loop" system able to mimic pancreas activity. This would operate continuously and automatically, causing appropriate response to losses and gains in glucose levels. Chemically controlled closed-loop insulin delivery has been explored by two main strategies. The first one consists in delivering insulin with a glucose-responsive matrix. Polymeric hydrogels that swell or shrink according to the glucose concentration allow delivering insulin doses adapted to the glucose concentration. The second strategy consists in modifying insulin itself with glucose-sensitive functional groups that trigger its activity. Recent developments made in these areas represent significant progress in terms of biocompatibility, selectivity, pharmacokinetics, and easiness of administration, as required for in vivo applications. Although some issues still have to be overcome, this field of research is promising as a possible alternative to other approaches for diabetes treatment.

Motion compensation for robotic lung tumour radiotherapy in remote locations: A personalised medicine approach

NASA Astrophysics Data System (ADS)

Ionescu, Clara M.; Copot, Cosmin; Verellen, Dirk

2017-03-01

The purpose of this work is to integrate the concept of patient-in-the-closed-loop application with tumour treatment of cancer-diagnosed patients in remote areas. The generic closed loop control objective is effective synchronisation of the radiation focus to the movement of a lung tissue tumour during actual breathing of the patient. This is facilitated by accurate repositioning of a robotic arm manipulator, i.e. we emulate the Cyberknife Robotic Radiosurgery system. Predictive control with disturbance filter is used in this application in a minimalistic model design. Performance of the control structure is validated by means of simulation using real recorded breathing patterns from patients measured in 3D space. Latency in communication protocol is taken into account, given telerobotics involve autonomous operation of a robot interacting with a human being in different location. Our results suggest that the proposed closed loop control structure has practical potential to individualise the treatment and improves accuracy by at least 15%.

Three parameters optimizing closed-loop control in sequential segmental neuromuscular stimulation.

PubMed

Zonnevijlle, E D; Somia, N N; Perez Abadia, G; Stremel, R W; Maldonado, C J; Werker, P M; Kon, M; Barker, J H

1999-05-01

In conventional dynamic myoplasties, the force generation is poorly controlled. This causes unnecessary fatigue of the transposed/transplanted electrically stimulated muscles and causes damage to the involved tissues. We introduced sequential segmental neuromuscular stimulation (SSNS) to reduce muscle fatigue by allowing part of the muscle to rest periodically while the other parts work. Despite this improvement, we hypothesize that fatigue could be further reduced in some applications of dynamic myoplasty if the muscles were made to contract according to need. The first necessary step is to gain appropriate control over the contractile activity of the dynamic myoplasty. Therefore, closed-loop control was tested on a sequentially stimulated neosphincter to strive for the best possible control over the amount of generated pressure. A selection of parameters was validated for optimizing control. We concluded that the frequency of corrections, the threshold for corrections, and the transition time are meaningful parameters in the controlling algorithm of the closed-loop control in a sequentially stimulated myoplasty.

Closed-Loop Control of Humidification for Artifact Reduction in Capacitive ECG Measurements.

PubMed

Leicht, Lennart; Eilebrecht, Benjamin; Weyer, Soren; Leonhardt, Steffen; Teichmann, Daniel

2017-04-01

Recording biosignals without the need for direct skin contact offers new opportunities for ubiquitous health monitoring. Electrodes with capacitive coupling have been shown to be suitable for the monitoring of electrical potentials on the body surface, in particular ECG. However, due to triboelectric charge generation and motion artifacts, signal and thus diagnostic quality is inferior to galvanic coupling. Active closed-loop humidification of capacitive electrodes is proposed in this work as a new concept to improve signal quality. A capacitive ECG recording system integrated into a common car seat is presented. It can regulate the micro climate at the interface of electrode and patient by actively dispensing water vapour and monitoring humidity in a closed-loop approach. As a regenerative water reservoir, silica gel is used. The system was evaluated with respect to subjective and objective ECG signal quality. Active humidification was found to have a significant positive effect in case of previously poor quality. Also, it had no diminishing effect in case of already good signal quality.

Enhancing the effectiveness of human-robot teaming with a closed-loop system.

PubMed

Teo, Grace; Reinerman-Jones, Lauren; Matthews, Gerald; Szalma, James; Jentsch, Florian; Hancock, Peter

2018-02-01

With technological developments in robotics and their increasing deployment, human-robot teams are set to be a mainstay in the future. To develop robots that possess teaming capabilities, such as being able to communicate implicitly, the present study implemented a closed-loop system. This system enabled the robot to provide adaptive aid without the need for explicit commands from the human teammate, through the use of multiple physiological workload measures. Such measures of workload vary in sensitivity and there is large inter-individual variability in physiological responses to imposed taskload. Workload models enacted via closed-loop system should accommodate such individual variability. The present research investigated the effects of the adaptive robot aid vs. imposed aid on performance and workload. Results showed that adaptive robot aid driven by an individualized workload model for physiological response resulted in greater improvements in performance compared to aid that was simply imposed by the system. Copyright © 2017 Elsevier Ltd. All rights reserved.

Night glucose control with MD-Logic artificial pancreas in home setting: a single blind, randomized crossover trial-interim analysis.

PubMed

Nimri, Revital; Muller, Ido; Atlas, Eran; Miller, Shahar; Kordonouri, Olga; Bratina, Natasa; Tsioli, Christiana; Stefanija, Magdalena A; Danne, Thomas; Battelino, Tadej; Phillip, Moshe

2014-03-01

Artificial pancreas (AP) systems have shown an improvement in glucose control and a reduced risk of nocturnal hypoglycemia under controlled conditions but remain to be evaluated under daily-life conditions. To assess the feasibility, safety, and efficacy of the MD-Logic AP in controlling nocturnal glucose levels in the patient's home. Two-arm study, each covering four consecutive nights comparing the MD-Logic AP ('closed-loop' arm) with sensor-augmented pump therapy ('control' arm). Fifteen patients (mean age 19 ± 10.4 yr, A1c 7.5 ± 0.5% or 58 ± 5.9 mmol/mol, diabetes duration 9.9 ± 8.2 yr) were randomly assigned either to 'Group A' (first 'closed-loop', then 'control' arm) or to 'Group B' (vice versa). Investigators were masked to treatment intervention. Primary endpoints were the time spent with glucose levels below 70 mg/dL and the percentage of nights in which the mean overnight glucose levels were within 90-140 mg/dL. Endpoint analyses were based on unmodified sensor glucose readings of the four study nights. Time of glucose levels spent below 70 mg/dL was significantly shorter on the closed-loop nights than on control nights, median and interquartile range 3.8 (0, 11.6) and 48.7 (0.6, 67.9) min, respectively; p = 0.0034. The percentage of individual nights in which mean overnight glucose level was within 90-140 mg/dL was 67 (33, 88), and 50 (25, 75), under closed-loop and control nights, respectively, with no statistical difference. Secondary endpoint analyses demonstrated significant improvements in hypoglycemia parameters. No serious adverse events were reported. This interim analysis demonstrates the feasibility, safety, and efficiency of the MD-Logic AP system in home use, and demonstrates an improvement over sensor-augmented pump therapy. (ClinicalTrials.gov identifier NCT01726829). © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

The 1-loop effective potential for the Standard Model in curved spacetime

NASA Astrophysics Data System (ADS)

Markkanen, Tommi; Nurmi, Sami; Rajantie, Arttu; Stopyra, Stephen

2018-06-01

The renormalisation group improved Standard Model effective potential in an arbitrary curved spacetime is computed to one loop order in perturbation theory. The loop corrections are computed in the ultraviolet limit, which makes them independent of the choice of the vacuum state and allows the derivation of the complete set of β-functions. The potential depends on the spacetime curvature through the direct non-minimal Higgs-curvature coupling, curvature contributions to the loop diagrams, and through the curvature dependence of the renormalisation scale. Together, these lead to significant curvature dependence, which needs to be taken into account in cosmological applications, which is demonstrated with the example of vacuum stability in de Sitter space.

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

PubMed Central

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

2015-01-01

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

A digitalized silicon microgyroscope based on embedded FPGA.

PubMed

Xia, Dunzhu; Yu, Cheng; Wang, Yuliang

2012-09-27

This paper presents a novel digital miniaturization method for a prototype silicon micro-gyroscope (SMG) with the symmetrical and decoupled structure. The schematic blocks of the overall system consist of high precision analog front-end interface, high-speed 18-bit analog to digital convertor, a high-performance core Field Programmable Gate Array (FPGA) chip and other peripherals such as high-speed serial ports for transmitting data. In drive mode, the closed-loop drive circuit are implemented by automatic gain control (AGC) loop and software phase-locked loop (SPLL) based on the Coordinated Rotation Digital Computer (CORDIC) algorithm. Meanwhile, the sense demodulation module based on varying step least mean square demodulation (LMSD) are addressed in detail. All kinds of algorithms are simulated by Simulink and DSPbuilder tools, which is in good agreement with the theoretical design. The experimental results have fully demonstrated the stability and flexibility of the system.

A Digitalized Silicon Microgyroscope Based on Embedded FPGA

PubMed Central

Xia, Dunzhu; Yu, Cheng; Wang, Yuliang

2012-01-01

This paper presents a novel digital miniaturization method for a prototype silicon micro-gyroscope (SMG) with the symmetrical and decoupled structure. The schematic blocks of the overall system consist of high precision analog front-end interface, high-speed 18-bit analog to digital convertor, a high-performance core Field Programmable Gate Array (FPGA) chip and other peripherals such as high-speed serial ports for transmitting data. In drive mode, the closed-loop drive circuit are implemented by automatic gain control (AGC) loop and software phase-locked loop (SPLL) based on the Coordinated Rotation Digital Computer (CORDIC) algorithm. Meanwhile, the sense demodulation module based on varying step least mean square demodulation (LMSD) are addressed in detail. All kinds of algorithms are simulated by Simulink and DSPbuilder tools, which is in good agreement with the theoretical design. The experimental results have fully demonstrated the stability and flexibility of the system. PMID:23201990

Experimental control of a fluidic pinball using genetic programming

NASA Astrophysics Data System (ADS)

Raibaudo, Cedric; Zhong, Peng; Noack, Bernd R.; Martinuzzi, Robert J.

2017-11-01

The wake stabilization of a triangular cluster of three rotating cylinders was investigated in the present study. Experiments were performed at Reynolds number Re 6000, and compared with URANS-2D simulations at same flow conditions. 2D2C PIV measurements and constant temperature anemometry were used to characterize the flow without and with actuation. Open-loop actuation was first considered for the identification of particular control strategies. Machine learning control was also implemented for the experimental study. Linear genetic programming has been used for the optimization of open-loop parameters and closed-loop controllers. Considering a cost function J based on the fluctuations of the velocity measured by the hot-wire sensor, significant performances were achieved using the machine learning approach. The present work is supported by the senior author's (R. J. Martinuzzi) NSERC discovery Grant. C. Raibaudo acknowledges the financial support of the University of Calgary Eyes-High PDF program.

Digital control algorithms for microgravity isolation systems

NASA Technical Reports Server (NTRS)

Sinha, Alok; Wang, Yung-Peng

1992-01-01

New digital control algorithms were developed to achieve the desired acceleration transmissibility function. The attractive electromagnets have been taken as actuators. The relative displacement and the acceleration of the mass were used as feedback signals. Two approaches were developed to find that controller transfer function in Z-domain, which yields the desired transmissibility at each frequency. In the first approach, the controller transfer function is obtained by assuming that the desired transmissibility is known in Z-domain. Since the desired transmissibility H sub d(S) = 1/(tauS+1)(exp 2) is given in S-domain, the first task is to obtain the desired transmissibility in Z-domain. There are three methods to perform this task: bilinear transformation, and backward and forward rectangular rules. The bilinear transformation and backward rectangular rule lead to improper controller transfer functions, which are physically not realizable. The forward rectangular rule does lead to a physically realizable controller. However, this controller is found to be marginally stable because of a pole at Z=1. In order to eliminate this pole, a hybrid control structure is proposed. Here the control input is composed of two parts: analog and digital. The analog input simply represents the velocity (or the integral of acceleration) feedback; and the digital controller which uses only relative displacement signal, is then obtained to achieve the desired closed-loop transfer function. The stability analysis indicates that the controller transfer function is stable for typical values of sampling period. In the second approach, the aforementioned hybrid control structure is again used. First, an analog controller transfer function corresponding to relative displacement feedback is obtained to achieve the transmissibility as 1/(tauS+1)(exp 2). Then the transfer function for the digital control input is obtained by discretizing this analog controller transfer function via bilinear transformation. The stability of the resulting Z-domain closed loop system is analyzed. Also, the frequency response of the Z-domain closed-loop transfer function is determined to evaluate the performance of the control system.

Emergency Entry with One Control Torque: Non-Axisymmetric Diagonal Inertia Matrix

NASA Technical Reports Server (NTRS)

Llama, Eduardo Garcia

2011-01-01

In another work, a method was presented, primarily conceived as an emergency backup system, that addressed the problem of a space capsule that needed to execute a safe atmospheric entry from an arbitrary initial attitude and angular rate in the absence of nominal control capability. The proposed concept permits the arrest of a tumbling motion, orientation to the heat shield forward position and the attainment of a ballistic roll rate of a rigid spacecraft with the use of control in one axis only. To show the feasibility of such concept, the technique of single input single output (SISO) feedback linearization using the Lie derivative method was employed and the problem was solved for different number of jets and for different configurations of the inertia matrix: the axisymmetric inertia matrix (I(sub xx) > I(sub yy) = I(sub zz)), a partially complete inertia matrix with I(sub xx) > I(sub yy) > I(sub zz), I(sub xz) not = 0 and a realistic complete inertia matrix with I(sub xx) > I(sub yy) > I)sub zz), I(sub ij) not= 0. The closed loop stability of the proposed non-linear control on the total angle of attack, Theta, was analyzed through the zero dynamics of the internal dynamics for the case where the inertia matrix is axisymmetric (I(sub xx) > I(sub yy) = I(sub zz)). This note focuses on the problem of the diagonal non-axisymmetric inertia matrix (I(sub xx) > I(sub yy) > I(sub zz)), which is half way between the axisymmetric and the partially complete inertia matrices. In this note, the control law for this type of inertia matrix will be determined and its closed-loop stability will be analyzed using the same methods that were used in the other work. In particular, it will be proven that the control system is stable in closed-loop when the actuators only provide a roll torque.

Feasibility of overnight closed-loop control based on hourly blood glucose measurements.

PubMed

Patte, Caroline; Pleus, Stefan; Galley, Paul; Weinert, Stefan; Haug, Cornelia; Freckmann, Guido

2012-07-01

Safe and effective closed-loop control (artificial pancreas) is the ultimate goal of insulin delivery. In this study, we examined the performance of a closed-loop control algorithm used for the overnight time period to safely achieve a narrow target range of blood glucose (BG) concentrations prior to breakfast. The primary goal was to compare the quality of algorithm control during repeated overnight experiments. Twenty-three subjects with type 1 diabetes performed 2 overnight experiments on each of three visits at the study site, resulting in 138 overnight experiments. On the first evening, the subject's insulin therapy was applied; on the second, the insulin was delivered by an algorithm based on subcutaneous continuous glucose measurements (including meal control) until midnight. Overnight closed-loop control was applied between midnight and 6 a.m. based on hourly venous BG measurements during the first and second nights. The number of BG values within the target range (90-150 mg/dl) increased from 52.9% (219 out of 414 measurements) during the first nights to 72.2% (299 out of 414 measurements) during the second nights (p < .001, χ²-test). The occurrence of hypoglycemia interventions was reduced from 14 oral glucose interventions, the latest occurring at 2:36 a.m. during the first nights, to 1 intervention occurring at 1:02 a.m. during the second nights (p < .001, χ²-test). Overnight controller performance improved when optimized initial control was given; this was suggested by the better metabolic control during the second night. Adequate controller run-in time seems to be important for achieving good overnight control. In addition, the findings demonstrate that hourly BG data are sufficient for the closed-loop control algorithm tested to achieve appropriate glycemic control. © 2012 Diabetes Technology Society.

Hypnosis closed loop TCI systems in outpatient surgery.

PubMed

Ramos-Luengo, A; Asensio-Merino, F

Determine the influence of general anaesthesia with closed-loop systems in the results of outpatient varicose vein surgery. Retrospective observational study including data from 270 outpatients between 2014 and 2015. The patients were divided into 2 groups according to the type of general anaesthesia used. The CL Group included patients who received propofol in closed-loop guided by BIS and remifentanil using TCI, and the C Group received non-closed-loop anaesthesia. Age, sex, surgical time, discharge time and failure of outpatient surgery were recorded. Quantitative data were checked for normal distribution by the method of Kolmogorov-Smirnov-Lilliefors. Differences between groups were analysed by a Student-t-test or Mann-Whitney-Wilcoxon test, depending on their distribution. Categorical data were analysed by a Chi-squared test. We used Kaplan-Meier estimator and the effect size (calculated by Cohen's d) to study the discharge time. Statistical analysis was performed using R 3.2.3 binary for Mac OS X 10.9. There were no significant differences in age, sex and surgical time and failure of outpatient surgery. Discharge time was different in both groups: 200 (100) vs. 180 (82.5) minutes, C Group and CL Group, respectively (data are median and interquartile rank); P=.005. The use of closed-loop devices for the hypnotic component of anaesthesia hastens discharge time. However, for this effect to be clinically significant, some improvements still need to be made in our outpatient surgery units. Copyright © 2016 Sociedad Española de Anestesiología, Reanimación y Terapéutica del Dolor. Publicado por Elsevier España, S.L.U. All rights reserved.

Comparative assessment of the efficacy of closed helical loop and T-loop for space closure in lingual orthodontics-a finite element study.

PubMed

Chacko, Ajay; Tikku, Tripti; Khanna, Rohit; Maurya, Rana Pratap; Srivastava, Kamna

2018-05-28

Retraction in lingual orthodontics has biomechanical differences when compared to labial orthodontics, which is not yet established. Thus, we have intended to compare the biomechanical characteristics of closed helical loop and T-loop on 1 mm activation with 30° of compensatory curvatures during retraction in lingual orthodontics. STb lingual brackets were indirectly bonded to maxillary typhodont model that was scanned to obtain FEM model. Closed helical loop (2 × 7 mm) and T-loop (6 × 2 × 7 mm) of 0.016″ × 0.016″ TMA wire were modeled without preactivation bends. Preactivation bends at 30° were given in the software. Boundary conditions were set. The force (F) and moment (M) of both the loops were determined on 1 mm activation, using ANSYS software. M/F ratio was also calculated for both the loops. T-loop exerted less force, thus increased M/F ratio as compared to closed helical loop on 1 mm activation. When torque has to be preserved in the anterior segment during retraction in lingual orthodontics, T-loop can be preferred over closed helical loop.

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

PubMed

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

2016-08-01

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

Analysis and Synthesis of Memory-Based Fuzzy Sliding Mode Controllers.

PubMed

Zhang, Jinhui; Lin, Yujuan; Feng, Gang

2015-12-01

This paper addresses the sliding mode control problem for a class of Takagi-Sugeno fuzzy systems with matched uncertainties. Different from the conventional memoryless sliding surface, a memory-based sliding surface is proposed which consists of not only the current state but also the delayed state. Both robust and adaptive fuzzy sliding mode controllers are designed based on the proposed memory-based sliding surface. It is shown that the sliding surface can be reached and the closed-loop control system is asymptotically stable. Furthermore, to reduce the chattering, some continuous sliding mode controllers are also presented. Finally, the ball and beam system is used to illustrate the advantages and effectiveness of the proposed approaches. It can be seen that, with the proposed control approaches, not only can the stability be guaranteed, but also its transient performance can be improved significantly.

The role of RNA structure in the interaction of U1A protein with U1 hairpin II RNA

PubMed Central

Law, Michael J.; Rice, Andrew J.; Lin, Patti; Laird-Offringa, Ite A.

2006-01-01

The N-terminal RNA Recognition Motif (RRM1) of the spliceosomal protein U1A interacting with its target U1 hairpin II (U1hpII) has been used as a paradigm for RRM-containing proteins interacting with their RNA targets. U1A binds to U1hpII via direct interactions with a 7-nucleotide (nt) consensus binding sequence at the 5′ end of a 10-nt loop, and via hydrogen bonds with the closing C–G base pair at the top of the RNA stem. Using surface plasmon resonance (Biacore), we have examined the role of structural features of U1hpII in binding to U1A RRM1. Mutational analysis of the closing base pair suggests it plays a minor role in binding and mainly prevents “breathing” of the loop. Lengthening the stem and nontarget part of the loop suggests that the increased negative charge of the RNA might slightly aid association. However, this is offset by an increase in dissociation, which may be caused by attraction of the RRM to nontarget parts of the RNA. Studies of a single stranded target and RNAs with untethered loops indicate that structure is not very relevant for association but is important for complex stability. In particular, breaking the link between the stem and the 5′ side of the loop greatly increases complex dissociation, presumably by hindering simultaneous contacts between the RRM and stem and loop nucleotides. While binding of U1A to a single stranded target is much weaker than to U1hpII, it occurs with nanomolar affinity, supporting recent evidence that binding of unstructured RNA by U1A has physiological significance. PMID:16738410

The role of RNA structure in the interaction of U1A protein with U1 hairpin II RNA.

PubMed

Law, Michael J; Rice, Andrew J; Lin, Patti; Laird-Offringa, Ite A

2006-07-01

The N-terminal RNA Recognition Motif (RRM1) of the spliceosomal protein U1A interacting with its target U1 hairpin II (U1hpII) has been used as a paradigm for RRM-containing proteins interacting with their RNA targets. U1A binds to U1hpII via direct interactions with a 7-nucleotide (nt) consensus binding sequence at the 5' end of a 10-nt loop, and via hydrogen bonds with the closing C-G base pair at the top of the RNA stem. Using surface plasmon resonance (Biacore), we have examined the role of structural features of U1hpII in binding to U1A RRM1. Mutational analysis of the closing base pair suggests it plays a minor role in binding and mainly prevents "breathing" of the loop. Lengthening the stem and nontarget part of the loop suggests that the increased negative charge of the RNA might slightly aid association. However, this is offset by an increase in dissociation, which may be caused by attraction of the RRM to nontarget parts of the RNA. Studies of a single stranded target and RNAs with untethered loops indicate that structure is not very relevant for association but is important for complex stability. In particular, breaking the link between the stem and the 5' side of the loop greatly increases complex dissociation, presumably by hindering simultaneous contacts between the RRM and stem and loop nucleotides. While binding of U1A to a single stranded target is much weaker than to U1hpII, it occurs with nanomolar affinity, supporting recent evidence that binding of unstructured RNA by U1A has physiological significance.

Intermittent muscle activity in the feedback loop of postural control system during natural quiet standing.

PubMed

Tanabe, Hiroko; Fujii, Keisuke; Kouzaki, Motoki

2017-09-06

The origin of continual body oscillation during quiet standing is a neural-muscular-skeletal closed feedback loop system that includes insufficient joint stiffness and a time delay. Thus, muscle activity and joint oscillations are nonlinear during quiet standing, making it difficult to demonstrate the muscular-skeletal relationship experimentally. Here we experimentally revealed this relationship using intermittent control theory, in which non-actuation works to stabilize the skeletal system towards equilibrium. We found that leg muscles were activated/inactivated when the state point was located in the opposite/same direction as the direction of anatomical action, which was associated with joint torque actuating the body towards equilibrium. The derivative values of stability index defined in the phase space approximately 200 ms before muscle inactivation were also larger than those before activation for some muscles. These results indicate that bipedal standing might be achieved by monitoring the rate of change of stability/instability components and generating joint torque to stabilize the body. In conclusion, muscles are likely to activate in an event-driven manner during quiet standing and a possible metric for on/off switching is SI dot, and our methodology of EMG processing could allows us to extract such event-driven intermittent muscle activities.

Sliding mode disturbance observer-based control of a twin rotor MIMO system.

PubMed

Rashad, Ramy; El-Badawy, Ayman; Aboudonia, Ahmed

2017-07-01

This work proposes a robust tracking controller for a helicopter laboratory setup known as the twin rotor MIMO system (TRMS) using an integral sliding mode controller. To eliminate the discontinuity in the control signal, the controller is augmented by a sliding mode disturbance observer. The actuator dynamics is handled using a backstepping approach which is applicable due to the continuous chattering-free nature of the command signals generated using the disturbance observer based controller. To avoid the complexity of analytically differentiating the command signals, a first order sliding mode differentiator is used. Stability analysis of the closed loop system and the ultimate boundedness of the tracking error is proved using Lyapunov stability arguments. The proposed controller is validated by several simulation studies and is compared to other schemes in the literature. Experimental results using a hardware-in-the-loop system validate the robustness and effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A double closed loop to enhance the quality of life of Parkinson's Disease patients: REMPARK system.

PubMed

Samà, Albert; Pérez-López, Carlos; Rodríguez-Martín, Daniel; Moreno-Aróstegui, J Manuel; Rovira, Jordi; Ahlrichs, Claas; Castro, Rui; Cevada, João; Graça, Ricardo; Guimarães, Vânia; Pina, Bernardo; Counihan, Timothy; Lewy, Hadas; Annicchiarico, Roberta; Bayés, Angels; Rodríguez-Molinero, Alejandro; Cabestany, Joan

2014-01-01

This paper presents REMPARK system, a novel approach to deal with Parkinson's Disease (PD). REMPARK system comprises two closed loops of actuation onto PD. The first loop consists in a wearable system that, based on a belt-worn movement sensor, detects movement alterations that activate an auditory cueing system controlled by a smartphone in order to improve patient's gait. The belt-worn sensor analyzes patient's movement through real-time learning algorithms that were developed on the basis of a database previously collected from 93 PD patients. The second loop consists in disease management based on the data collected during long periods and that enables neurologists to tailor medication of their PD patients and follow the disease evolution. REMPARK system is going to be tested in 40 PD patients in Spain, Ireland, Italy and Israel. This paper describes the approach followed to obtain this system, its components, functionalities and trials in which the system will be validated.

Solution nuclear magnetic resonance analyses of the anticodon arms of proteinogenic and nonproteinogenic tRNA(Gly).

PubMed

Chang, Andrew T; Nikonowicz, Edward P

2012-05-01

Although the fate of most tRNA molecules in the cell is aminoacylation and delivery to the ribosome, some tRNAs are destined to fulfill other functional roles. In addition to their central role in translation, tRNA molecules participate in processes such as regulation of gene expression, bacterial cell wall biosynthesis, viral replication, antibiotic biosynthesis, and suppression of alternative splicing. In bacteria, glycyl-tRNA molecules with anticodon sequences GCC and UCC exhibit multiple extratranslational functions, including transcriptional regulation and cell wall biosynthesis. We have determined the high-resolution structures of three glycyl-tRNA anticodon arms with anticodon sequences GCC and UCC. Two of the tRNA molecules are proteinogenic (tRNA(Gly,GCC) and tRNA(Gly,UCC)), and the third is nonproteinogenic (np-tRNA(Gly,UCC)) and participates in cell wall biosynthesis. The UV-monitored thermal melting curves show that the anticodon arm of tRNA(Gly,UCC) with a loop-closing C-A(+) base pair melts at a temperature 10 °C lower than those of tRNA(Gly,GCC) and np-tRNA(Gly,UCC). U-A and C-G pairs close the loops of the latter two molecules and enhance stem stability. Mg(2+) stabilizes the tRNA(Gly,UCC) anticodon arm and reduces the T(m) differential. The structures of the three tRNA(Gly) anticodon arms exhibit small differences among one another, but none of them form the classical U-turn motif. The anticodon loop of tRNA(Gly,GCC) becomes more dynamic and disordered in the presence of multivalent cations, whereas metal ion coordination in the anticodon loops of tRNA(Gly,UCC) and np-tRNA(Gly,UCC) establishes conformational homogeneity. The conformational similarity of the molecules is greater than their functional differences might suggest. Because aminoacylation of full-length tRNA molecules is accomplished by one tRNA synthetase, the similar structural context of the loop may facilitate efficient recognition of each of the anticodon sequences.

Method and apparatus for transfer function simulator for testing complex systems

NASA Technical Reports Server (NTRS)

Kavaya, M. J. (Inventor)

1985-01-01

A method and apparatus for testing the operation of a complex stabilization circuit in a closed loop system is presented. The method is comprised of a programmed analog or digital computing system for implementing the transfer function of a load thereby providing a predictable load. The digital computing system employs a table stored in a microprocessor in which precomputed values of the load transfer function are stored for values of input signal from the stabilization circuit over the range of interest. This technique may be used not only for isolating faults in the stabilization circuit, but also for analyzing a fault in a faulty load by so varying parameters of the computing system as to simulate operation of the actual load with the fault.

The near optimality of the stabilizing control in a weakly nonlinear system with state-dependent coefficients

NASA Astrophysics Data System (ADS)

Dmitriev, Mikhail G.; Makarov, Dmitry A.

2016-08-01

We carried out analysis of near optimality of one computationally effective nonlinear stabilizing control built for weakly nonlinear systems with coefficients depending on the state and the formal small parameter. First investigation of that problem was made in [M. G. Dmitriev, and D. A. Makarov, "The suboptimality of stabilizing regulator in a quasi-linear system with state-depended coefficients," in 2016 International Siberian Conference on Control and Communications (SIBCON) Proceedings, National Research University, Moscow, 2016]. In this paper, another optimal control and gain matrix representations were used and theoretical results analogous to cited work above were obtained. Also as in the cited work above the form of quality criterion on which this close-loop control is optimal was constructed.

Efficient carrier-envelope offset frequency stabilization through gain modulation via stimulated emission.

PubMed

Karlen, Lauriane; Buchs, Gilles; Portuondo-Campa, Erwin; Lecomte, Steve

2016-01-15

A novel scheme for intracavity control of the carrier-envelope offset (CEO) frequency of a 100 MHz mode-locked Er:Yb:glass diode-pumped solid-state laser (DPSSL) based on the modulation of the laser gain via stimulated emission of the excited Er(3+) ions is demonstrated. This method allows us to bypass the ytterbium system few-kHz low-pass filter in the f(CEO) stabilization loop and thus to push the phase lock bandwidth up to a limit close to the relaxation oscillations frequency of the erbium system. A phase lock bandwidth above 70 kHz has been achieved with the fully stabilized laser, leading to an integrated phase noise [1 Hz-1 MHz] of 120 mrad.

Modelling and Control of an Annular Momentum Control Device

NASA Technical Reports Server (NTRS)

Downer, James R.; Johnson, Bruce G.

1988-01-01

The results of a modelling and control study for an advanced momentum storage device supported on magnetic bearings are documented. The control challenge posed by this device lies in its dynamics being such a strong function of flywheel rotational speed. At high rotational speed, this can lead to open loop instabilities, resulting in requirements for minimum and maximum control bandwidths and gains for the stabilizing controllers. Using recently developed analysis tools for systems described by complex coefficient differential equations, the closed properties of the controllers were analyzed and stability properties established. Various feedback controllers are investigated and discussed. Both translational and angular dynamics compensators are developed, and measures of system stability and robustness to plant and operational speed variations are presented.

Ground Source Heat Pumps vs. Conventional HVAC: A Comparison of Economic and Environmental Costs

DTIC Science & Technology

2009-03-26

of systems are surface water heat pumps (SWHPs), ground water heat pumps (GWHPs), and ground coupled heat pumps ( GCHPs ) (Kavanaugh & Rafferty, 1997...Kavanaugh & Rafferty, 1997). Ground Coupled Heat Pumps (Closed-Loop Ground Source Heat Pumps) GCHPs , otherwise known as closed-loop GSHPs, are the...Significant confusion has arisen through the use of GCHP and closed-loop GSHP terminology. Closed-loop GSHP is the preferred nomenclature for this

Sliding mode based fault detection, reconstruction and fault tolerant control scheme for motor systems.

PubMed

Mekki, Hemza; Benzineb, Omar; Boukhetala, Djamel; Tadjine, Mohamed; Benbouzid, Mohamed

2015-07-01

The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Semiautomated System for Nonurgent, Clinically Significant Pathology Results.

PubMed

O'Connor, Stacy D; Khorasani, Ramin; Pochebit, Stephen M; Lacson, Ronilda; Andriole, Katherine P; Dalal, Anuj K

2018-04-01

 Failure of timely test result follow-up has consequences including delayed diagnosis and treatment, added costs, and potential patient harm. Closed-loop communication is key to ensure clinically significant test results (CSTRs) are acknowledged and acted upon appropriately. A previous implementation of the Alert Notification of Critical Results (ANCR) system to facilitate closed-loop communication of imaging CSTRs yielded improved communication of critical radiology results and enhanced adherence to institutional CSTR policies.  This article extends the ANCR application to pathology and evaluates its impact on closed-loop communication of new malignancies, a common and important type of pathology CSTR.  This Institutional Review Board-approved study was performed at a 150-bed community, academically affiliated hospital. ANCR was adapted for pathology CSTRs. Natural language processing was used on 30,774 pathology reports 13 months pre- and 13 months postintervention, identifying 5,595 reports with malignancies. Electronic health records were reviewed for documented acknowledgment for a random sample of reports. Percent of reports with documented acknowledgment within 15 days assessed institutional policy adherence. Time to acknowledgment was compared pre- versus postintervention and postintervention with and without ANCR alerts. Pathologists were surveyed regarding ANCR use and satisfaction.  Acknowledgment within 15 days was documented for 98 of 107 (91.6%) pre- and 89 of 103 (86.4%) postintervention reports ( p  = 0.2294). Median time to acknowledgment was 7 days (interquartile range [IQR], 3, 11) preintervention and 6 days (IQR, 2, 10) postintervention ( p  = 0.5083). Postintervention, median time to acknowledgment was 2 days (IQR, 1, 6) for reports with ANCR alerts versus 6 days (IQR, 2.75, 9) for reports without alerts ( p  = 0.0351). ANCR alerts were sent on 15 of 103 (15%) postintervention reports. All pathologists reported that the ANCR system positively impacted their workflow; 75% (three-fourths) felt that the ANCR system improved efficiency of communicating CSTRs.  ANCR expansion to facilitate closed-loop communication of pathology CSTRs was favorably perceived and associated with significant improved time to documented acknowledgment for new malignancies. The rate of adherence to institutional policy did not improve. Schattauer.

Using an Improved SIFT Algorithm and Fuzzy Closed-Loop Control Strategy for Object Recognition in Cluttered Scenes

PubMed Central

Nie, Haitao; Long, Kehui; Ma, Jun; Yue, Dan; Liu, Jinguo

2015-01-01

Partial occlusions, large pose variations, and extreme ambient illumination conditions generally cause the performance degradation of object recognition systems. Therefore, this paper presents a novel approach for fast and robust object recognition in cluttered scenes based on an improved scale invariant feature transform (SIFT) algorithm and a fuzzy closed-loop control method. First, a fast SIFT algorithm is proposed by classifying SIFT features into several clusters based on several attributes computed from the sub-orientation histogram (SOH), in the feature matching phase only features that share nearly the same corresponding attributes are compared. Second, a feature matching step is performed following a prioritized order based on the scale factor, which is calculated between the object image and the target object image, guaranteeing robust feature matching. Finally, a fuzzy closed-loop control strategy is applied to increase the accuracy of the object recognition and is essential for autonomous object manipulation process. Compared to the original SIFT algorithm for object recognition, the result of the proposed method shows that the number of SIFT features extracted from an object has a significant increase, and the computing speed of the object recognition processes increases by more than 40%. The experimental results confirmed that the proposed method performs effectively and accurately in cluttered scenes. PMID:25714094

Closed-loop fiber optic gyroscope with homodyne detection

NASA Astrophysics Data System (ADS)

Zhu, Yong; Qin, BingKun; Chen, Shufen

1996-09-01

Interferometric fiber optic gyroscope (IFOG) has been analyzed with autocontrol theory in this paper. An open-loop IFOG system is not able to restrain the bias drift, but a closed-loop IFOG system can do it very well using negative feedback in order to suppress zero drift. The result of our theoretic analysis and computer simulation indicate that the bias drift of a closed-loop system is smaller than an open- loop one.

Design strategies for dynamic closed-loop optogenetic neurocontrol in vivo

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Low Speed and High Speed Correlation of SMART Active Flap Rotor Loads

NASA Technical Reports Server (NTRS)

Kottapalli, Sesi B. R.

2010-01-01

Measured, open loop and closed loop data from the SMART rotor test in the NASA Ames 40- by 80- Foot Wind Tunnel are compared with CAMRAD II calculations. One open loop high-speed case and four closed loop cases are considered. The closed loop cases include three high-speed cases and one low-speed case. Two of these high-speed cases include a 2 deg flap deflection at 5P case and a test maximum-airspeed case. This study follows a recent, open loop correlation effort that used a simple correction factor for the airfoil pitching moment Mach number. Compared to the earlier effort, the current open loop study considers more fundamental corrections based on advancing blade aerodynamic conditions. The airfoil tables themselves have been studied. Selected modifications to the HH-06 section flap airfoil pitching moment table are implemented. For the closed loop condition, the effect of the flap actuator is modeled by increased flap hinge stiffness. Overall, the open loop correlation is reasonable, thus confirming the basic correctness of the current semi-empirical modifications; the closed loop correlation is also reasonable considering that the current flap model is a first generation model. Detailed correlation results are given in the paper.

Shortening a loop can increase protein native state entropy.

PubMed

Gavrilov, Yulian; Dagan, Shlomi; Levy, Yaakov

2015-12-01

Protein loops are essential structural elements that influence not only function but also protein stability and folding rates. It was recently reported that shortening a loop in the AcP protein may increase its native state conformational entropy. This effect on the entropy of the folded state can be much larger than the lower entropic penalty of ordering a shorter loop upon folding, and can therefore result in a more pronounced stabilization than predicted by polymer model for loop closure entropy. In this study, which aims at generalizing the effect of loop length shortening on native state dynamics, we use all-atom molecular dynamics simulations to study how gradual shortening a very long or solvent-exposed loop region in four different proteins can affect their stability. For two proteins, AcP and Ubc7, we show an increase in native state entropy in addition to the known effect of the loop length on the unfolded state entropy. However, for two permutants of SH3 domain, shortening a loop results only with the expected change in the entropy of the unfolded state, which nicely reproduces the observed experimental stabilization. Here, we show that an increase in the native state entropy following loop shortening is not unique to the AcP protein, yet nor is it a general rule that applies to all proteins following the truncation of any loop. This modification of the loop length on the folded state and on the unfolded state may result with a greater effect on protein stability. © 2015 Wiley Periodicals, Inc.

High precision locating control system based on VCM for Talbot lithography

NASA Astrophysics Data System (ADS)

Yao, Jingwei; Zhao, Lixin; Deng, Qian; Hu, Song

2016-10-01

Aiming at the high precision and efficiency requirements of Z-direction locating in Talbot lithography, a control system based on Voice Coil Motor (VCM) was designed. In this paper, we built a math model of VCM and its moving characteristic was analyzed. A double-closed loop control strategy including position loop and current loop were accomplished. The current loop was implemented by driver, in order to achieve the rapid follow of the system current. The position loop was completed by the digital signal processor (DSP) and the position feedback was achieved by high precision linear scales. Feed forward control and position feedback Proportion Integration Differentiation (PID) control were applied in order to compensate for dynamic lag and improve the response speed of the system. And the high precision and efficiency of the system were verified by simulation and experiments. The results demonstrated that the performance of Z-direction gantry was obviously improved, having high precision, quick responses, strong real-time and easily to expend for higher precision.

Simultaneous gains tuning in boiler/turbine PID-based controller clusters using iterative feedback tuning methodology.

PubMed

Zhang, Shu; Taft, Cyrus W; Bentsman, Joseph; Hussey, Aaron; Petrus, Bryan

2012-09-01

Tuning a complex multi-loop PID based control system requires considerable experience. In today's power industry the number of available qualified tuners is dwindling and there is a great need for better tuning tools to maintain and improve the performance of complex multivariable processes. Multi-loop PID tuning is the procedure for the online tuning of a cluster of PID controllers operating in a closed loop with a multivariable process. This paper presents the first application of the simultaneous tuning technique to the multi-input-multi-output (MIMO) PID based nonlinear controller in the power plant control context, with the closed-loop system consisting of a MIMO nonlinear boiler/turbine model and a nonlinear cluster of six PID-type controllers. Although simplified, the dynamics and cross-coupling of the process and the PID cluster are similar to those used in a real power plant. The particular technique selected, iterative feedback tuning (IFT), utilizes the linearized version of the PID cluster for signal conditioning, but the data collection and tuning is carried out on the full nonlinear closed-loop system. Based on the figure of merit for the control system performance, the IFT is shown to deliver performance favorably comparable to that attained through the empirical tuning carried out by an experienced control engineer. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Integrated otpical monitoring of MEMS for closed-loop control

NASA Astrophysics Data System (ADS)

Dawson, Jeremy M.; Wang, Limin; McCormick, W. B.; Rittenhouse, S. A.; Famouri, Parviz F.; Hornak, Lawrence A.

2003-01-01

Robust control and failure assessment of MEMS employed in physically demanding, mission critical applications will allow for higher degrees of quality assurance in MEMS operation. Device fault detection and closed-loop control require detailed knowledge of the operational states of MEMS over the lifetime of the device, obtained by a means decoupled from the system. Preliminary through-wafer optical monitoring research efforts have shown that through-wafer optical probing is suitable for characterizing and monitoring the behavior of MEMS, and can be implemented in an integrated optical monitoring package for continuous in-situ device monitoring. This presentation will discuss research undertaken to establish integrated optical device metrology for closed-loop control of a MUMPS fabricated lateral harmonic oscillator. Successful linear closed-loop control results using a through-wafer optical microprobe position feedback signal will be presented. A theoretical optical output field intensity study of grating structures, fabricated on the shuttle of the resonator, was performed to improve the position resolution of the optical microprobe position signal. Through-wafer microprobe signals providing a positional resolution of 2 μm using grating structures will be shown, along with initial binary Fresnel diffractive optical microelement design layout, process development, and testing results. Progress in the design, fabrication, and test of integrated optical elements for multiple microprobe signal delivery and recovery will be discussed, as well as simulation of device system model parameter changes for failure assessment.

Advancing the Food-Energy-Water Nexus: Closing Nutrient Loops in Arid River Corridors.

PubMed

Mortensen, Jacob G; González-Pinzón, Ricardo; Dahm, Clifford N; Wang, Jingjing; Zeglin, Lydia H; Van Horn, David J

2016-08-16

Closing nutrient loops in terrestrial and aquatic ecosystems is integral to achieve resource security in the food-energy-water (FEW) nexus. We performed multiyear (2005-2008), monthly sampling of instream dissolved inorganic nutrient concentrations (NH4-N, NO3-N, soluble reactive phosphorus-SRP) along a ∼ 300-km arid-land river (Rio Grande, NM) and generated nutrient budgets to investigate how the net source/sink behavior of wastewater and irrigated agriculture can be holistically managed to improve water quality and close nutrient loops. Treated wastewater on average contributed over 90% of the instream dissolved inorganic nutrients (101 kg/day NH4-N, 1097 kg/day NO3-N, 656 kg/day SRP). During growing seasons, the irrigation network downstream of wastewater outfalls retained on average 37% of NO3-N and 45% of SRP inputs, with maximum retention exceeding 60% and 80% of NO3-N and SRP inputs, respectively. Accurate quantification of NH4-N retention was hindered by low loading and high variability. Nutrient retention in the irrigation network and instream processes together limited downstream export during growing seasons, with total retention of 33-99% of NO3-N inputs and 45-99% of SRP inputs. From our synoptic analysis, we identify trade-offs associated with wastewater reuse for agriculture within the scope of the FEW nexus and propose strategies for closing nutrient loops in arid-land rivers.

Closed-loop control of propofol anaesthesia.

PubMed

Kenny, G N; Mantzaridis, H

1999-08-01

We describe the use of a closed-loop system to control depth of propofol anaesthesia automatically. We used the auditory evoked potential index (AEPindex) as the input signal of this system to validate it as a true measure of depth of anaesthesia. Auditory evoked potentials were acquired and processed in real time to provide the AEPindex. The AEPindex was used in a proportional integral (PI) controller to determine the target blood concentration of propofol required to induce and maintain general anaesthesia automatically. We studied 100 spontaneously breathing patients. The mean AEPindex before induction of anaesthesia was 73.5 (SD 17.6), during surgical anaesthesia 37.8 (4.5) and at recovery of consciousness 89.7 (17.9). Twenty-two patients required assisted ventilation before incision. After incision, ventilation was assisted in four of these 22 patients for more than 5 min. There was no incidence of intraoperative awareness and all patients were prepared to have the same anaesthetic in future. Movement interfering with surgery was minimal. Cardiovascular stability and overall control of anaesthesia were satisfactory.

The Extended-Image Tracking Technique Based on the Maximum Likelihood Estimation

NASA Technical Reports Server (NTRS)

Tsou, Haiping; Yan, Tsun-Yee

2000-01-01

This paper describes an extended-image tracking technique based on the maximum likelihood estimation. The target image is assume to have a known profile covering more than one element of a focal plane detector array. It is assumed that the relative position between the imager and the target is changing with time and the received target image has each of its pixels disturbed by an independent additive white Gaussian noise. When a rotation-invariant movement between imager and target is considered, the maximum likelihood based image tracking technique described in this paper is a closed-loop structure capable of providing iterative update of the movement estimate by calculating the loop feedback signals from a weighted correlation between the currently received target image and the previously estimated reference image in the transform domain. The movement estimate is then used to direct the imager to closely follow the moving target. This image tracking technique has many potential applications, including free-space optical communications and astronomy where accurate and stabilized optical pointing is essential.

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

DOEpatents

Barkman, William E.

1980-01-01

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

Guidance/Navigation Requirements Study Final Report. Volume III. Appendices

DTIC Science & Technology

1978-04-30

shown Figure G-2. The free-flight simulation program FFSIM uses quaternions to calculate the body attitude as a function of time. To calculate the...the lack of open-loop damping, the existence of a feedback controller which will stabilize the closed-loon system depends upon the satisfaction of a...re-entry vehicle has dynamic pecularitles which tend to discourage the use of "linear-quadratic" feedback regulators in guidance. The disadvantageous

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

NASA Astrophysics Data System (ADS)

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

2016-07-01

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

Designing of a self-adaptive digital filter using genetic algorithm

NASA Astrophysics Data System (ADS)

Geng, Xuemei; Li, Hongguang; Xu, Chi

2018-04-01

This paper presents a novel methodology applying non-linear model for closed loop Sigma-Delta modulator that is based on genetic algorithm, which offers opportunity to simplify the process of tuning parameters and further improve the noise performance. The proposed Sigma-Delta modulator is able to quickly and efficiently design high performance, high order, closed loop that are robust to sensor fabrication tolerances. Simulation results with respect to the proposed Sigma-Delta modulator, SNR>122dB and the noise floor under -170dB are obtained in frequency range of [5-150Hz]. In further simulation, the robustness of the proposed Sigma-Delta modulator is analyzed.

Does the brain use sliding variables for the control of movements?

PubMed

Hanneton, S; Berthoz, A; Droulez, J; Slotine, J J

1997-12-01

Delays in the transmission of sensory and motor information prevent errors from being instantaneously available to the central nervous system (CNS) and can reduce the stability of a closed-loop control strategy. On the other hand, the use of a pure feedforward control (inverse dynamics) requires a perfect knowledge of the dynamic behavior of the body and of manipulated objects. Sensory feedback is essential both to accommodate unexpected errors and events and to compensate for uncertainties about the dynamics of the body. Experimental observations concerning the control of posture, gaze and limbs have shown that the CNS certainly uses a combination of closed-loop and open-loop control. Feedforward components of movement, such as eye saccades, occur intermittently and present a stereotyped kinematic profile. In visuo-manual tracking tasks, hand movements exhibit velocity peaks that occur intermittently. When a delay or a slow dynamics are inserted in the visuo-manual control loop, intermittent step-and-hold movements appear clearly in the hand trajectory. In this study, we investigated strategies used by human subjects involved in the control of a particular dynamic system. We found strong evidence for substantial nonlinearities in the commands produced. The presence of step-and-hold movements seemed to be the major source of nonlinearities in the control loop. Furthermore, the stereotyped ballistic-like kinematics of these rapid and corrective movements suggests that they were produced in an open-loop way by the CNS. We analyzed the generation of ballistic movements in the light of sliding control theory assuming that they occurred when a sliding variable exceeded a constant threshold. In this framework, a sliding variable is defined as a composite variable (a combination of the instantaneous tracking error and its temporal derivatives) that fulfills a specific stability criterion. Based on this hypothesis and on the assumption of a constant reaction time, the tracking error and its derivatives should be correlated at a particular time lag before movement onset. A peak of correlation was found for a physiologically plausible reaction time, corresponding to a stable composite variable. The direction and amplitude of the ongoing stereotyped movements seemed also be adjusted in order to minimize this variable. These findings suggest that, during visually guided movements, human subjects attempt to minimize such a composite variable and not the instantaneous error. This minimization seems to be obtained by the execution of stereotyped corrective movements.

Strain actuated aeroelastic control

NASA Technical Reports Server (NTRS)

Lazarus, Kenneth B.

1992-01-01

Viewgraphs on strain actuated aeroelastic control are presented. Topics covered include: structural and aerodynamic modeling; control law design methodology; system block diagram; adaptive wing test article; bench-top experiments; bench-top disturbance rejection: open and closed loop response; bench-top disturbance rejection: state cost versus control cost; wind tunnel experiments; wind tunnel gust alleviation: open and closed loop response at 60 mph; wind tunnel gust alleviation: state cost versus control cost at 60 mph; wind tunnel command following: open and closed loop error at 60 mph; wind tunnel flutter suppression: open loop flutter speed; and wind tunnel flutter suppression: closed loop state cost curves.

Design and Calibration of the US Army Research Laboratory (ARL) Closed Loop Laboratory Radio Frequency (RF) Propagation Section

DTIC Science & Technology

2016-10-01

ARL-TR-7860 ● OCT 2016 US Army Research Laboratory Design and Calibration of the US Army Research Laboratory (ARL) Closed Loop ...ARL-TR-7860 ● OCT 2016 US Army Research Laboratory Design and Calibration of the US Army Research Laboratory (ARL) Closed Loop Laboratory...Design and Calibration of the US Army Research Laboratory (ARL) Closed Loop Laboratory Radio Frequency (RF) Propagation Section 5a. CONTRACT NUMBER

Hypoglycaemia incidence and recovery during home use of hybrid closed-loop insulin delivery in adults with type 1 diabetes.

PubMed

Ruan, Yue; Bally, Lia; Thabit, Hood; Leelarathna, Lalantha; Hartnell, Sara; Tauschmann, Martin; Wilinska, Malgorzata E; Evans, Mark L; Mader, Julia K; Kojzar, Harald; Dellweg, Sibylle; Benesch, Carsten; Arnolds, Sabine; Pieber, Thomas R; Hovorka, Roman

2018-03-25

Glucose excursion was assessed prior to and post hypoglycaemia to increase understanding of hypoglycaemia incidence and recovery during hybrid closed-loop insulin delivery. We retrospectively analysed data from 60 adults with type 1 diabetes who received, in a crossover randomized design, day-and-night hybrid closed-loop insulin delivery and insulin pump therapy, the latter with or without real-time continuous glucose monitoring. Over 4-week study periods, we identified hypoglycaemic episodes, defined as sensor glucose <3.0 mmol/L, and analysed sensor glucose relative to the onset of hypoglycaemia. We identified 377 hypoglycaemic episodes during hybrid closed-loop intervention vs 662 during control intervention (P < .001), with a predominant reduction of nocturnal hypoglycaemia. The slope of sensor glucose prior to hypoglycaemia was steeper during closed-loop intervention than during control intervention (P < .01), while insulin delivery was reduced (P < .01). During both day and night, participants recovered from hypoglycaemia faster when treated by closed-loop intervention. At 120 minutes post hypoglycaemia, sensor glucose levels were higher during closed-loop intervention compared to the control period (P < .05). In conclusion, closed-loop intervention reduces the risk of hypoglycaemia, particularly overnight, with swift recovery from hypoglycaemia leading to higher 2-hour post-hypoglycaemia glucose levels. © 2018 John Wiley & Sons Ltd.

A uniform LMI formulation for tuning PID, multi-term fractional-order PID, and Tilt-Integral-Derivative (TID) for integer and fractional-order processes.

PubMed

Merrikh-Bayat, Farshad

2017-05-01

In this paper first the Multi-term Fractional-Order PID (MFOPID) whose transfer function is equal to [Formula: see text] , where k j and α j are unknown and known real parameters respectively, is introduced. Without any loss of generality, a special form of MFOPID with transfer function k p +k i /s+k d1 s+k d2 s μ where k p , k i , k d1 , and k d2 are unknown real and μ is a known positive real parameter, is considered. Similar to PID and TID, MFOPID is also linear in its parameters which makes it possible to study all of them in a same framework. Tuning the parameters of PID, TID, and MFOPID based on loop shaping using Linear Matrix Inequalities (LMIs) is discussed. For this purpose separate LMIs for closed-loop stability (of sufficient type) and adjusting different aspects of the open-loop frequency response are developed. The proposed LMIs for stability are obtained based on the Nyquist stability theorem and can be applied to both integer and fractional-order (not necessarily commensurate) processes which are either stable or have one unstable pole. Numerical simulations show that the performance of the four-variable MFOPID can compete the trivial five-variable FOPID and often excels PID and TID. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Study on real-time force feedback for a master-slave interventional surgical robotic system.

PubMed

Guo, Shuxiang; Wang, Yuan; Xiao, Nan; Li, Youxiang; Jiang, Yuhua

2018-04-13

In robot-assisted catheterization, haptic feedback is important, but is currently lacking. In addition, conventional interventional surgical robotic systems typically employ a master-slave architecture with an open-loop force feedback, which results in inaccurate control. We develop herein a novel real-time master-slave (RTMS) interventional surgical robotic system with a closed-loop force feedback that allows a surgeon to sense the true force during remote operation, provide adequate haptic feedback, and improve control accuracy in robot-assisted catheterization. As part of this system, we also design a unique master control handle that measures the true force felt by a surgeon, providing the basis for the closed-loop control of the entire system. We use theoretical and empirical methods to demonstrate that the proposed RTMS system provides a surgeon (using the master control handle) with a more accurate and realistic force sensation, which subsequently improves the precision of the master-slave manipulation. The experimental results show a substantial increase in the control accuracy of the force feedback and an increase in operational efficiency during surgery.

Efficient Computation of Closed-loop Frequency Response for Large Order Flexible Systems

NASA Technical Reports Server (NTRS)

Maghami, Peiman G.; Giesy, Daniel P.

1997-01-01

An efficient and robust computational scheme is given for the calculation of the frequency response function of a large order, flexible system implemented with a linear, time invariant control system. Advantage is taken of the highly structured sparsity of the system matrix of the plant based on a model of the structure using normal mode coordinates. The computational time per frequency point of the new computational scheme is a linear function of system size, a significant improvement over traditional, full-matrix techniques whose computational times per frequency point range from quadratic to cubic functions of system size. This permits the practical frequency domain analysis of systems of much larger order than by traditional, full-matrix techniques. Formulations are given for both open and closed loop loop systems. Numerical examples are presented showing the advantages of the present formulation over traditional approaches, both in speed and in accuracy. Using a model with 703 structural modes, a speed-up of almost two orders of magnitude was observed while accuracy improved by up to 5 decimal places.

Closed-loop Separation Control Using Oscillatory Flow Excitation

NASA Technical Reports Server (NTRS)

Allan, Brian G.; Juang, Jer-Nan; Raney, David L.; Seifert, Avi; Pack, latunia G.; Brown, Donald E.

2000-01-01

Design and implementation of a digital feedback controller for a flow control experiment was performed. The experiment was conducted in a cryogenic pressurized wind tunnel on a generic separated configuration at a chord Reynolds number of 16 million and a Mach number of 0.25. The model simulates the upper surface of a 20% thick airfoil at zero angle-of-attack. A moderate favorable pressure gradient, up to 55% of the chord, is followed by a severe adverse pressure gradient which is relaxed towards the trailing edge. The turbulent separation bubble, behind the adverse pressure gradient, is then reduced by introducing oscillatory flow excitation just upstream of the point of flow separation. The degree of reduction in the separation region can be controlled by the amplitude of the oscillatory excitation. A feedback controller was designed to track a given trajectory for the desired degree of flow reattachment and to improve the transient behavior of the flow system. Closed-loop experiments demonstrated that the feedback controller was able to track step input commands and improve the transient behavior of the open-loop response.

Body-freedom flutter of a 1/2-scale forward-swept-wing model, an experimental and analytical study

NASA Technical Reports Server (NTRS)

Chipman, R.; Rauch, F.; Rimer, M.; Muniz, B.

1984-01-01

The aeroelastic phenomenon known as body-freedom flutter (BFF), a dynamic instability involving aircraft-pitch and wing-bending motions which, though rarely experienced on conventional vehicles, is characteristic of forward swept wing (FSW) aircraft was investigated. Testing was conducted in the Langley transonic dynamics tunnel on a flying, cable-mounted, 1/2-scale model of a FSW configuration with and without relaxed static stability (RSS). The BFF instability boundaries were found to occur at significantly lower airspeeds than those associated with aeroelastic wing divergence on the same model. For those cases with RSS, a canard-based stability augmentation system (SAS) was incorporated in the model. This SAS was designed using aerodynamic data measured during a preliminary tunnel test in which the model was attached to a force balance. Data from the subsequent flutter test indicated that BFF speed was not dependent on open-loop static margin but, rather, on the equivalent closed-loop dynamics provided by the SAS. Servo-aeroelastic stability analyses of the flying model were performed using a computer code known as SEAL and predicted the onset of BFF reasonably well.

Estimating power capability of aged lithium-ion batteries in presence of communication delays

NASA Astrophysics Data System (ADS)

Fridholm, Björn; Wik, Torsten; Kuusisto, Hannes; Klintberg, Anton

2018-04-01

Efficient control of electrified powertrains requires accurate estimation of the power capability of the battery for the next few seconds into the future. When implemented in a vehicle, the power estimation is part of a control loop that may contain several networked controllers which introduces time delays that may jeopardize stability. In this article, we present and evaluate an adaptive power estimation method that robustly can handle uncertain health status and time delays. A theoretical analysis shows that stability of the closed loop system can be lost if the resistance of the model is under-estimated. Stability can, however, be restored by filtering the estimated power at the expense of slightly reduced bandwidth of the signal. The adaptive algorithm is experimentally validated in lab tests using an aged lithium-ion cell subject to a high power load profile in temperatures from -20 to +25 °C. The upper voltage limit was set to 4.15 V and the lower voltage limit to 2.6 V, where significant non-linearities are occurring and the validity of the model is limited. After an initial transient when the model parameters are adapted, the prediction accuracy is within ± 2 % of the actually available power.

Suppression of the noise-induced effects in an electrostatic micro-plate using an adaptive back-stepping sliding mode control.

PubMed

Nwagoum Tuwa, Peguy Roussel; Woafo, P

2018-01-01

In this work, an adaptive backstepping sliding mode control approach is applied through the piezoelectric layer in order to control and to stabilize an electrostatic micro-plate. The mathematical model of the system by taking into account the small fluctuations in the gap considered as bounded noise is carried out. The accuracy of the proposed modal equation is proven using the method of lines. By using both approaches, the effects of noise are presented. It is found that they lead to pull-in instability as well as to random chaos. A suitable backstepping approach to improve the tracking performance is integrated to the adaptive sliding mode control in order to eliminate chattering phenomena and reinforce the robustness of the system in presence of uncertainties and external random disturbances. It is proved that all the variables of the closed-loop system are bounded and the system can follow the given reference signals as close as possible. Numerical simulations are provided to show the effectiveness of proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Advancing viral RNA structure prediction: measuring the thermodynamics of pyrimidine-rich internal loops

PubMed Central

Phan, Andy; Mailey, Katherine; Saeki, Jessica; Gu, Xiaobo

2017-01-01

Accurate thermodynamic parameters improve RNA structure predictions and thus accelerate understanding of RNA function and the identification of RNA drug binding sites. Many viral RNA structures, such as internal ribosome entry sites, have internal loops and bulges that are potential drug target sites. Current models used to predict internal loops are biased toward small, symmetric purine loops, and thus poorly predict asymmetric, pyrimidine-rich loops with >6 nucleotides (nt) that occur frequently in viral RNA. This article presents new thermodynamic data for 40 pyrimidine loops, many of which can form UU or protonated CC base pairs. Uracil and protonated cytosine base pairs stabilize asymmetric internal loops. Accurate prediction rules are presented that account for all thermodynamic measurements of RNA asymmetric internal loops. New loop initiation terms for loops with >6 nt are presented that do not follow previous assumptions that increasing asymmetry destabilizes loops. Since the last 2004 update, 126 new loops with asymmetry or sizes greater than 2 × 2 have been measured. These new measurements significantly deepen and diversify the thermodynamic database for RNA. These results will help better predict internal loops that are larger, pyrimidine-rich, and occur within viral structures such as internal ribosome entry sites. PMID:28213527

Simple piezoelectric-actuated mirror with 180 kHz servo bandwidth.

PubMed

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

2010-05-10

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

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

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

Zhang, Qichun; Zhou, Jinglin; Wang, Hong

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

Free-flight investigation of forebody blowing for stability and control

NASA Technical Reports Server (NTRS)

Brandon, Jay M.; Simon, James M.; Owens, D. Bruce; Kiddy, Jason S.

1996-01-01

A free-flight wind-tunnel investigation was conducted on a generic fighter model with forebody pneumatic vortex control for high angle-of-attack directional control. This is believed to be the first flight demonstration of a forebody blowing concept integrated into a closed-loop flight control system for stability augmentation and control. The investigation showed that the static wind tunnel estimates of the yaw control available generally agreed with flight results. The control scheme for the blowing nozzles consisted of an on/off control with a deadband. Controlled flight was obtained for the model using forebody blowing for directional control to beyond 45 deg. angle of attack.

New class of control laws for robotic manipulators. I - Nonadaptive case. II - Adaptive case

NASA Technical Reports Server (NTRS)

Wen, John T.; Bayard, David S.

1988-01-01

A new class of exponentially stabilizing control laws for joint level control of robot arms is discussed. Closed-loop exponential stability has been demonstrated for both the set point and tracking control problems by a slight modification of the energy Lyapunov function and the use of a lemma which handles third-order terms in the Lyapunov function derivatives. In the second part, these control laws are adapted in a simple fashion to achieve asymptotically stable adaptive control. The analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and uses a parameterization based on physical (time-invariant) quantities.

Decentralized adaptive control of interconnected nonlinear systems with unknown control directions.

PubMed

Huang, Jiangshuai; Wang, Qing-Guo

2018-03-01

In this paper, we propose a decentralized adaptive control scheme for a class of interconnected strict-feedback nonlinear systems without a priori knowledge of subsystems' control directions. To address this problem, a novel Nussbaum-type function is proposed and a key theorem is drawn which involves quantifying the interconnections of multiple Nussbaum-type functions of the subsystems with different control directions in a single inequality. Global stability of the closed-loop system and asymptotic stabilization of subsystems' output are proved and a simulation example is given to illustrate the effectiveness of the proposed control scheme. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

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

NASA Astrophysics Data System (ADS)

Pyragas, Viktoras; Pyragas, Kestutis

2018-02-01

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

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

NASA Astrophysics Data System (ADS)

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

2012-10-01

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

A Closed-loop Brain Computer Interface to a Virtual Reality Avatar: Gait Adaptation to Visual Kinematic Perturbations

PubMed Central

Luu, Trieu Phat; He, Yongtian; Brown, Samuel; Nakagome, Sho; Contreras-Vidal, Jose L.

2016-01-01

The control of human bipedal locomotion is of great interest to the field of lower-body brain computer interfaces (BCIs) for rehabilitation of gait. While the feasibility of a closed-loop BCI system for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a virtual reality (BCI-VR) environment has yet to be demonstrated. In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control the walking movements of a virtual avatar. Moreover, virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. These findings have implications for the development of BCI-VR systems for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI system. PMID:27713915

Virtual grasping: closed-loop force control using electrotactile feedback.

PubMed

Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

2014-01-01

Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking.

PubMed

Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

2016-01-01

Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works.

Intelligent Photovoltaic Systems by Combining the Improved Perturbation Method of Observation and Sun Location Tracking

PubMed Central

Wang, Yajie; Shi, Yunbo; Yu, Xiaoyu; Liu, Yongjie

2016-01-01

Currently, tracking in photovoltaic (PV) systems suffers from some problems such as high energy consumption, poor anti-interference performance, and large tracking errors. This paper presents a solar PV tracking system on the basis of an improved perturbation and observation method, which maximizes photoelectric conversion efficiency. According to the projection principle, we design a sensor module with a light-intensity-detection module for environmental light-intensity measurement. The effect of environmental factors on the system operation is reduced, and intelligent identification of the weather is realized. This system adopts the discrete-type tracking method to reduce power consumption. A mechanical structure with a level-pitch double-degree-of-freedom is designed, and attitude correction is performed by closed-loop control. A worm-and-gear mechanism is added, and the reliability, stability, and precision of the system are improved. Finally, the perturbation and observation method designed and improved by this study was tested by simulated experiments. The experiments verified that the photoelectric sensor resolution can reach 0.344°, the tracking error is less than 2.5°, the largest improvement in the charge efficiency can reach 44.5%, and the system steadily and reliably works. PMID:27327657

Performance of an Ambulatory Dry-EEG Device for Auditory Closed-Loop Stimulation of Sleep Slow Oscillations in the Home Environment

PubMed Central

Debellemaniere, Eden; Chambon, Stanislas; Pinaud, Clemence; Thorey, Valentin; Dehaene, David; Léger, Damien; Chennaoui, Mounir; Arnal, Pierrick J.; Galtier, Mathieu N.

2018-01-01

Recent research has shown that auditory closed-loop stimulation can enhance sleep slow oscillations (SO) to improve N3 sleep quality and cognition. Previous studies have been conducted in lab environments. The present study aimed to validate and assess the performance of a novel ambulatory wireless dry-EEG device (WDD), for auditory closed-loop stimulation of SO during N3 sleep at home. The performance of the WDD to detect N3 sleep automatically and to send auditory closed-loop stimulation on SO were tested on 20 young healthy subjects who slept with both the WDD and a miniaturized polysomnography (part 1) in both stimulated and sham nights within a double blind, randomized and crossover design. The effects of auditory closed-loop stimulation on delta power increase were assessed after one and 10 nights of stimulation on an observational pilot study in the home environment including 90 middle-aged subjects (part 2).The first part, aimed at assessing the quality of the WDD as compared to a polysomnograph, showed that the sensitivity and specificity to automatically detect N3 sleep in real-time were 0.70 and 0.90, respectively. The stimulation accuracy of the SO ascending-phase targeting was 45 ± 52°. The second part of the study, conducted in the home environment, showed that the stimulation protocol induced an increase of 43.9% of delta power in the 4 s window following the first stimulation (including evoked potentials and SO entrainment effect). The increase of SO response to auditory stimulation remained at the same level after 10 consecutive nights. The WDD shows good performances to automatically detect in real-time N3 sleep and to send auditory closed-loop stimulation on SO accurately. These stimulation increased the SO amplitude during N3 sleep without any adaptation effect after 10 consecutive nights. This tool provides new perspectives to figure out novel sleep EEG biomarkers in longitudinal studies and can be interesting to conduct broad studies on the effects of auditory stimulation during sleep. PMID:29568267

Bandwidth controller for phase-locked-loop

NASA Technical Reports Server (NTRS)

Brockman, Milton H. (Inventor)

1992-01-01

A phase locked loop utilizing digital techniques to control the closed loop bandwidth of the RF carrier phase locked loop in a receiver provides high sensitivity and a wide dynamic range for signal reception. After analog to digital conversion, a digital phase locked loop bandwidth controller provides phase error detection with automatic RF carrier closed loop tracking bandwidth control to accommodate several modes of transmission.

Enhancing automatic closed-loop glucose control in type 1 diabetes with an adaptive meal bolus calculator - in silico evaluation under intra-day variability.

PubMed

Herrero, Pau; Bondia, Jorge; Adewuyi, Oloruntoba; Pesl, Peter; El-Sharkawy, Mohamed; Reddy, Monika; Toumazou, Chris; Oliver, Nick; Georgiou, Pantelis

2017-07-01

Current prototypes of closed-loop systems for glucose control in type 1 diabetes mellitus, also referred to as artificial pancreas systems, require a pre-meal insulin bolus to compensate for delays in subcutaneous insulin absorption in order to avoid initial post-prandial hyperglycemia. Computing such a meal bolus is a challenging task due to the high intra-subject variability of insulin requirements. Most closed-loop systems compute this pre-meal insulin dose by a standard bolus calculation, as is commonly found in insulin pumps. However, the performance of these calculators is limited due to a lack of adaptiveness in front of dynamic changes in insulin requirements. Despite some initial attempts to include adaptation within these calculators, challenges remain. In this paper we present a new technique to automatically adapt the meal-priming bolus within an artificial pancreas. The technique consists of using a novel adaptive bolus calculator based on Case-Based Reasoning and Run-To-Run control, within a closed-loop controller. Coordination between the adaptive bolus calculator and the controller was required to achieve the desired performance. For testing purposes, the clinically validated Imperial College Artificial Pancreas controller was employed. The proposed system was evaluated against itself but without bolus adaptation. The UVa-Padova T1DM v3.2 system was used to carry out a three-month in silico study on 11 adult and 11 adolescent virtual subjects taking into account inter-and intra-subject variability of insulin requirements and uncertainty on carbohydrate intake. Overall, the closed-loop controller enhanced by an adaptive bolus calculator improves glycemic control when compared to its non-adaptive counterpart. In particular, the following statistically significant improvements were found (non-adaptive vs. adaptive). Adults: mean glucose 142.2 ± 9.4vs. 131.8 ± 4.2mg/dl; percentage time in target [70, 180]mg/dl, 82.0 ± 7.0vs. 89.5 ± 4.2; percentage time above target 17.7 ± 7.0vs. 10.2 ± 4.1. Adolescents: mean glucose 158.2 ± 21.4vs. 140.5 ± 13.0mg/dl; percentage time in target, 65.9 ± 12.9vs. 77.5 ± 12.2; percentage time above target, 31.7 ± 13.1vs. 19.8 ± 10.2. Note that no increase in percentage time in hypoglycemia was observed. Using an adaptive meal bolus calculator within a closed-loop control system has the potential to improve glycemic control in type 1 diabetes when compared to its non-adaptive counterpart. Copyright © 2017 Elsevier B.V. All rights reserved.

Multisession, noninvasive closed-loop neuroprosthetic control of grasping by upper limb amputees.

PubMed

Agashe, H A; Paek, A Y; Contreras-Vidal, J L

2016-01-01

Upper limb amputation results in a severe reduction in the quality of life of affected individuals due to their inability to easily perform activities of daily living. Brain-machine interfaces (BMIs) that translate grasping intent from the brain's neural activity into prosthetic control may increase the level of natural control currently available in myoelectric prostheses. Current BMI techniques demonstrate accurate arm position and single degree-of-freedom grasp control but are invasive and require daily recalibration. In this study we tested if transradial amputees (A1 and A2) could control grasp preshaping in a prosthetic device using a noninvasive electroencephalography (EEG)-based closed-loop BMI system. Participants attempted to grasp presented objects by controlling two grasping synergies, in 12 sessions performed over 5 weeks. Prior to closed-loop control, the first six sessions included a decoder calibration phase using action observation by the participants; thereafter, the decoder was fixed to examine neuroprosthetic performance in the absence of decoder recalibration. Ability of participants to control the prosthetic was measured by the success rate of grasping; ie, the percentage of trials within a session in which presented objects were successfully grasped. Participant A1 maintained a steady success rate (63±3%) across sessions (significantly above chance [41±5%] for 11 sessions). Participant A2, who was under the influence of pharmacological treatment for depression, hormone imbalance, pain management (for phantom pain as well as shoulder joint inflammation), and drug dependence, achieved a success rate of 32±2% across sessions (significantly above chance [27±5%] in only two sessions). EEG signal quality was stable across sessions, but the decoders created during the first six sessions showed variation, indicating EEG features relevant to decoding at a smaller timescale (100ms) may not be stable. Overall, our results show that (a) an EEG-based BMI for grasping is a feasible strategy for further investigation of prosthetic control by amputees, and (b) factors that may affect brain activity such as medication need further examination to improve accuracy and stability of BMI performance. © 2016 Elsevier B.V. All rights reserved.

A Residue in Loop 9 of the β2-Subunit Stabilizes the Closed State of the GABAA Receptor*

PubMed Central

Williams, Carrie A.; Bell, Shannon V.; Jenkins, Andrew

2010-01-01

In γ-aminobutyric acid type A (GABAA) receptors, the structural elements that couple ligand binding to channel opening remain poorly defined. Here, site-directed mutagenesis was used to determine if Loop 9 on the non-GABA binding site interface of the β2-subunit may be involved in GABAA receptor activation. Specifically, residues Gly170-Gln185 of the β2-subunit were mutated to alanine, co-expressed with wild-type α1- and γ2S-subunits in human embryonic kidney (HEK) 293 cells and assayed for their activation by GABA, the intravenous anesthetic propofol and the endogenous neurosteroid pregnanolone using whole cell macroscopic recordings. Three mutants, G170A, V175A, and G177A, produced 2.5-, 6.7-, and 5.6-fold increases in GABA EC50 whereas one mutant, Q185A, produced a 5.2-fold decrease in GABA EC50. None of the mutations affected the ability of propofol or pregnanolone to potentiate a submaximal GABA response, but the Q185A mutant exhibited 8.3- and 3.5-fold increases in the percent direct activation by propofol and pregnanolone, respectively. Mutant Q185A receptors also had an increased leak current that was sensitive to picrotoxin, indicating an increased gating efficiency. Further Q185E, Q185L, and Q185W substitutions revealed a strong correlation between the hydropathy of the amino acid at this position and the GABA EC50. Taken together, these results indicate that β2 Loop 9 is involved in receptor activation by GABA, propofol, and pregnanolone and that β2(Q185) participates in hydrophilic interactions that are important for stabilizing the closed state of the GABAA receptor. PMID:20007704

Iterative LQG Controller Design Through Closed-Loop Identification

NASA Technical Reports Server (NTRS)

Hsiao, Min-Hung; Huang, Jen-Kuang; Cox, David E.

1996-01-01

This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.

Closed-loop carrier phase synchronization techniques motivated by likelihood functions

NASA Technical Reports Server (NTRS)

Tsou, H.; Hinedi, S.; Simon, M.

1994-01-01

This article reexamines the notion of closed-loop carrier phase synchronization motivated by the theory of maximum a posteriori phase estimation with emphasis on the development of new structures based on both maximum-likelihood and average-likelihood functions. The criterion of performance used for comparison of all the closed-loop structures discussed is the mean-squared phase error for a fixed-loop bandwidth.

Formation of prismatic loops from C15 Laves phase interstitial clusters in body-centered cubic iron

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

Zhang, Yongfeng; Bai, Xian-Ming; Tonks, Michael R.

2015-03-01

This Letter reports the transition of C15 phase self-interstitial clusters to loops in body-centered-cubic Iron. Molecular dynamics simulations are performed to evaluate the relative stabilities of difference interstitial cluster configurations including C15 phase structure and <100> and <111>/2 loops. Within a certain size range, C15 cluster are found more stable than loops, and the relative stabilities are reversed beyond that range. In accordance to the crossover in relative stabilities, C15 clusters may grow by absorbing individual interstitials at small sizes and transitions into loops eventually. The transition takes place by nucleation and reaction of <111>/2 loop segments. These observations explainmore » the absence of C15 phase interstitial clusters predicted by density-functional-theory calculations in previous experimental observations. More importantly, the current results provide a new formation mechanism of <100> loops which requires no interaction of loops.« less

Perturbative study of the QCD phase diagram for heavy quarks at nonzero chemical potential: Two-loop corrections

NASA Astrophysics Data System (ADS)

Maelger, J.; Reinosa, U.; Serreau, J.

2018-04-01

We extend a previous investigation [U. Reinosa et al., Phys. Rev. D 92, 025021 (2015), 10.1103/PhysRevD.92.025021] of the QCD phase diagram with heavy quarks in the context of background field methods by including the two-loop corrections to the background field effective potential. The nonperturbative dynamics in the pure-gauge sector is modeled by a phenomenological gluon mass term in the Landau-DeWitt gauge-fixed action, which results in an improved perturbative expansion. We investigate the phase diagram at nonzero temperature and (real or imaginary) chemical potential. Two-loop corrections yield an improved agreement with lattice data as compared to the leading-order results. We also compare with the results of nonperturbative continuum approaches. We further study the equation of state as well as the thermodynamic stability of the system at two-loop order. Finally, using simple thermodynamic arguments, we show that the behavior of the Polyakov loops as functions of the chemical potential complies with their interpretation in terms of quark and antiquark free energies.

Rational design for the stability improvement of Armillariella tabescens β-mannanase MAN47 based on N-glycosylation modification.

PubMed

Hu, Weixiong; Liu, Xiaoyun; Li, Yufeng; Liu, Daling; Kuang, Zhihe; Qian, Chuiwen; Yao, Dongsheng

2017-02-01

β-Mannanase has been widely used in industries such as food and feed processing and thus has been a target enzyme for biotechnological development. In this study, we sought to improve the stability and protease resistance of a recombinant β-mannanase, MAN47 from Armillariella tabescens, through rationally designed N-glycosylation. Based on homology modeling, molecular docking, secondary structure analysis and glycosylation feasibility analysis, an enhanced aromatic sequon sequence was introduced into specific MAN47 loop regions to facilitate N-glycosylation. The mutant enzymes were expressed in Pichia pastoris SMD1168, and their thermal stability, pH stability, trypsin resistance and pepsin resistance were determined. Two mutant MAN47 enzymes, g-123 and g-347, were glycosylated as expected when expressed in yeast, and their thermal stability, pH stability, and protease resistance were significantly improved compared to the wild-type enzyme. An enzyme with multiple stability characterizations has broad prospects in practical applications, and the rational design N-glycosylation strategy may have applications in simultaneously improving several properties of other biotechnological targets. Copyright © 2016 Elsevier Inc. All rights reserved.

Improvement of transport-corrected scattering stability and performance using a Jacobi inscatter algorithm for 2D-MOC

DOE PAGES

Stimpson, Shane; Collins, Benjamin; Kochunas, Brendan

2017-03-10

The MPACT code, being developed collaboratively by the University of Michigan and Oak Ridge National Laboratory, is the primary deterministic neutron transport solver being deployed within the Virtual Environment for Reactor Applications (VERA) as part of the Consortium for Advanced Simulation of Light Water Reactors (CASL). In many applications of the MPACT code, transport-corrected scattering has proven to be an obstacle in terms of stability, and considerable effort has been made to try to resolve the convergence issues that arise from it. Most of the convergence problems seem related to the transport-corrected cross sections, particularly when used in the 2Dmore » method of characteristics (MOC) solver, which is the focus of this work. Here in this paper, the stability and performance of the 2-D MOC solver in MPACT is evaluated for two iteration schemes: Gauss-Seidel and Jacobi. With the Gauss-Seidel approach, as the MOC solver loops over groups, it uses the flux solution from the previous group to construct the inscatter source for the next group. Alternatively, the Jacobi approach uses only the fluxes from the previous outer iteration to determine the inscatter source for each group. Consequently for the Jacobi iteration, the loop over groups can be moved from the outermost loop$-$as is the case with the Gauss-Seidel sweeper$-$to the innermost loop, allowing for a substantial increase in efficiency by minimizing the overhead of retrieving segment, region, and surface index information from the ray tracing data. Several test problems are assessed: (1) Babcock & Wilcox 1810 Core I, (2) Dimple S01A-Sq, (3) VERA Progression Problem 5a, and (4) VERA Problem 2a. The Jacobi iteration exhibits better stability than Gauss-Seidel, allowing for converged solutions to be obtained over a much wider range of iteration control parameters. Additionally, the MOC solve time with the Jacobi approach is roughly 2.0-2.5× faster per sweep. While the performance and stability of the Jacobi iteration are substantially improved compared to the Gauss-Seidel iteration, it does yield a roughly 8$-$10% increase in the overall memory requirement.« less

Improving Children's Working Memory and Classroom Performance

ERIC Educational Resources Information Center

St Clair-Thompson, Helen; Stevens, Ruth; Hunt, Alexandra; Bolder, Emma

2010-01-01

Previous research has demonstrated close relationships between working memory and children's scholastic attainment. The aim of the present study was to explore a method of improving working memory, using memory strategy training. Two hundred and fifty-four children aged five to eight years were tested on measures of the phonological loop,…

Thermal Interface Evaluation of Heat Transfer from a Pumped Loop to Titanium-Water Thermosyphons

NASA Technical Reports Server (NTRS)

Jaworske, Donald A.; Sanzi, James L.; Gibson, Marc A.; Sechkar, Edward A.

2009-01-01

Titanium-water thermosyphons are being considered for use in the heat rejection system for lunar outpost fission surface power. Key to their use is heat transfer between a closed loop heat source and the heat pipe evaporators. This work describes laboratory testing of several interfaces that were evaluated for their thermal performance characteristics, in the temperature range of 350 to 400 K, utilizing a water closed loop heat source and multiple thermosyphon evaporator geometries. A gas gap calorimeter was used to measure heat flow at steady state. Thermocouples in the closed loop heat source and on the evaporator were used to measure thermal conductance. The interfaces were in two generic categories, those immersed in the water closed loop heat source and those clamped to the water closed loop heat source with differing thermal conductive agents. In general, immersed evaporators showed better overall performance than their clamped counterparts. Selected clamped evaporator geometries offered promise.

A comparative approach to closed-loop computation.

PubMed

Roth, E; Sponberg, S; Cowan, N J

2014-04-01

Neural computation is inescapably closed-loop: the nervous system processes sensory signals to shape motor output, and motor output consequently shapes sensory input. Technological advances have enabled neuroscientists to close, open, and alter feedback loops in a wide range of experimental preparations. The experimental capability of manipulating the topology-that is, how information can flow between subsystems-provides new opportunities to understand the mechanisms and computations underlying behavior. These experiments encompass a spectrum of approaches from fully open-loop, restrained preparations to the fully closed-loop character of free behavior. Control theory and system identification provide a clear computational framework for relating these experimental approaches. We describe recent progress and new directions for translating experiments at one level in this spectrum to predictions at another level. Operating across this spectrum can reveal new understanding of how low-level neural mechanisms relate to high-level function during closed-loop behavior. Copyright © 2013 Elsevier Ltd. All rights reserved.

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

Calabrese, G.; Capineri, L., E-mail: lorenzo.capineri@unifi.it; Granato, M.

This paper describes the design of a system for the characterization of magnetic hysteresis behavior in soft ferrite magnetic cores. The proposed setup can test magnetic materials exciting them with controlled arbitrary magnetic field waveforms, including the capability of providing a DC bias, in a frequency bandwidth up to 500 kHz, with voltages up to 32 V peak-to-peak, and currents up to 10 A peak-to-peak. In order to have an accurate control of the magnetic field waveform, the system is based on a voltage controlled current source. The electronic design is described focusing on closed loop feedback stabilization and passivemore » components choice. The system has real-time hysteretic loop acquisition and visualization. The comparisons between measured hysteresis loops of sample magnetic materials and datasheet available ones are shown. Results showing frequency and thermal behavior of the hysteresis of a test sample prove the system capabilities. Moreover, the B-H loops obtained with a multiple waveforms excitation signal, including DC bias, are reported. The proposal is a low-cost and replicable solution for hysteresis characterization of magnetic materials used in power electronics.« less

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

NASA Technical Reports Server (NTRS)

Gettman, Chang-Ching LO

1993-01-01

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

Speckle interferometry using fiber optic phase stepping

NASA Technical Reports Server (NTRS)

Mercer, Carolyn R.; Beheim, Glenn

1989-01-01

A system employing closed-loop phase-stepping is used to measure the out-of-plane deformation of a diffusely reflecting object. Optical fibers are used to provide reference and object beam illumination for a standard two-beam speckle interferometer, providing set-up flexibility and ease of alignment. Piezoelectric fiber-stretchers and a phase-measurement/servo system are used to provide highly accurate phase steps. Intensity data is captured with a charge-injection-device camera, and is converted into a phase map using a desktop computer. The closed-loop phase-stepping system provides 90 deg phase steps which are accurate to 0.02 deg, greatly improving this system relative to open-loop interferometers. The system is demonstrated on a speckle interferometer, measuring the rigid-body translation of a diffusely reflecting object with an accuracy + or - 10 deg, or roughly + or - 15 nanometers. This accuracy is achieved without the use of a pneumatically mounted optics table.

ACSYNT inner loop flight control design study

NASA Technical Reports Server (NTRS)

Bortins, Richard; Sorensen, John A.

1993-01-01

The NASA Ames Research Center developed the Aircraft Synthesis (ACSYNT) computer program to synthesize conceptual future aircraft designs and to evaluate critical performance metrics early in the design process before significant resources are committed and cost decisions made. ACSYNT uses steady-state performance metrics, such as aircraft range, payload, and fuel consumption, and static performance metrics, such as the control authority required for the takeoff rotation and for landing with an engine out, to evaluate conceptual aircraft designs. It can also optimize designs with respect to selected criteria and constraints. Many modern aircraft have stability provided by the flight control system rather than by the airframe. This may allow the aircraft designer to increase combat agility, or decrease trim drag, for increased range and payload. This strategy requires concurrent design of the airframe and the flight control system, making trade-offs of performance and dynamics during the earliest stages of design. ACSYNT presently lacks means to implement flight control system designs but research is being done to add methods for predicting rotational degrees of freedom and control effector performance. A software module to compute and analyze the dynamics of the aircraft and to compute feedback gains and analyze closed loop dynamics is required. The data gained from these analyses can then be fed back to the aircraft design process so that the effects of the flight control system and the airframe on aircraft performance can be included as design metrics. This report presents results of a feasibility study and the initial design work to add an inner loop flight control system (ILFCS) design capability to the stability and control module in ACSYNT. The overall objective is to provide a capability for concurrent design of the aircraft and its flight control system, and enable concept designers to improve performance by exploiting the interrelationships between aircraft and flight control system design parameters.

Output Feedback Pole-Placement in the Design of Compensators for Suboptimal Linear Quadratic Regulators.

DTIC Science & Technology

1979-06-01

also extended to the class of stabilizable systems and the required compensator shown to possess a separation property. Finally the design methodology...Page 1.1. Block diagram of transfer function given in (1.28) ........... 15 3.3.1. Compensator structure for controllable and stabilizable systems ...response will be stable. The implemented output feedback control law will stabilize the total closed loop system . n nn Let [uin and iJi= 1 be the

Experimental investigation of control/display augmentation effects in a compensatory tracking task

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Schmidt, David K.

1988-01-01

The effects of control/display augmentation on human performance and workload have been investigated for closed-loop, continuous-tracking tasks by a real-time, man-in-the-loop simulation study. The experimental results obtained indicate that only limited improvement in actual tracking performance is obtainable through display augmentation alone; with a very high level of display augmentation, tracking error will actually deteriorate. Tracking performance improves when status information is furnished for reasonable levels of display quickening; again, very high quickening levels lead to tracking error deterioration due to the incompatibility between the status information and the quickened signal.

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

NASA Astrophysics Data System (ADS)

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

2012-12-01

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

Verifiable Adaptive Control with Analytical Stability Margins by Optimal Control Modification

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2010-01-01

This paper presents a verifiable model-reference adaptive control method based on an optimal control formulation for linear uncertain systems. A predictor model is formulated to enable a parameter estimation of the system parametric uncertainty. The adaptation is based on both the tracking error and predictor error. Using a singular perturbation argument, it can be shown that the closed-loop system tends to a linear time invariant model asymptotically under an assumption of fast adaptation. A stability margin analysis is given to estimate a lower bound of the time delay margin using a matrix measure method. Using this analytical method, the free design parameter n of the optimal control modification adaptive law can be determined to meet a specification of stability margin for verification purposes.

Adaptive Fuzzy Control Design for Stochastic Nonlinear Switched Systems With Arbitrary Switchings and Unmodeled Dynamics.

PubMed

Li, Yongming; Sui, Shuai; Tong, Shaocheng

2017-02-01

This paper deals with the problem of adaptive fuzzy output feedback control for a class of stochastic nonlinear switched systems. The controlled system in this paper possesses unmeasured states, completely unknown nonlinear system functions, unmodeled dynamics, and arbitrary switchings. A state observer which does not depend on the switching signal is constructed to tackle the unmeasured states. Fuzzy logic systems are employed to identify the completely unknown nonlinear system functions. Based on the common Lyapunov stability theory and stochastic small-gain theorem, a new robust adaptive fuzzy backstepping stabilization control strategy is developed. The stability of the closed-loop system on input-state-practically stable in probability is proved. The simulation results are given to verify the efficiency of the proposed fuzzy adaptive control scheme.

Multiday Fully Closed Loop Insulin Delivery in Monitored Outpatient Conditions

ClinicalTrials.gov

2014-04-29

To Demonstrate That the Closed Loop System Can be Used Safely Over a Few Consecutive Days.; To Assess Effectiveness in Maintaining Patients' Glucose Levels in the Target Range of 70 to 180 mg/dl, Measured by Blood Glucose Sensor.; To Evaluate the User Experience With a Closed Loop System

Closed Loop Vibrational Control: Theory and Applications

DTIC Science & Technology

1993-10-01

the open loop system dynamics will be close to that of Bit. However, in general, in a closed loop system with a specified feedback co-’ - oller , for...Juang, and G. Rodriguez , "Formulations and Applications of Large Structure Actuator and Sensor Placements," Second VPI & SU/AIAA Symposium on Dynamics

Digital phase-locked-loop speed sensor for accuracy improvement in analog speed controls. [feedback control and integrated circuits

NASA Technical Reports Server (NTRS)

Birchenough, A. G.

1975-01-01

A digital speed control that can be combined with a proportional analog controller is described. The stability and transient response of the analog controller were retained and combined with the long-term accuracy of a crystal-controlled integral controller. A relatively simple circuit was developed by using phase-locked-loop techniques and total error storage. The integral digital controller will maintain speed control accuracy equal to that of the crystal reference oscillator.