Cassini Radio Occultation by Enceladus Plume

NASA Astrophysics Data System (ADS)

Kliore, A.; Armstrong, J.; Flasar, F.; French, R.; Marouf, E.; Nagy, A.; Rappaport, N.; McGhee, C.; Schinder, P.; Anabtawi, A.; Asmar, S.; Barbinis, E.; Fleischman, D.; Goltz, G.; Aguilar, R.; Rochblatt, D.

2006-12-01

A fortuitous Cassini radio occultation by Enceladus plume occurs on September 15, 2006. The occultation track (the spacecraft trajectory in the plane of the sky as viewed from the Earth) has been designed to pass behind the plume (to pass above the south polar region of Enceladus) in a roughly symmetrical geometry centered on a minimum altitude above the surface of about 20 km. The minimum altitude was selected primarily to ensure probing much of the plume with good confidence given the uncertainty in the spacecraft trajectory. Three nearly-pure sinusoidal signals of 0.94, 3.6, and 13 cm-wavelength (Ka-, X-, and S-band, respectively) are simultaneously transmitted from Cassini and are monitored at two 34-m Earth receiving stations of the Deep Space Network (DSN) in Madrid, Spain (DSS-55 and DSS-65). The occultation of the visible plume is extremely fast, lasting less than about two minutes. The actual observation time extends over a much longer time interval, however, to provide a good reference baseline for potential detection of signal perturbations introduced by the tenuous neutral and ionized plume environment. Given the likely very small fraction of optical depth due to neutral particles of sizes larger than about 1 mm, detectable changes in signal intensity is perhaps unlikely. Detection of plume plasma along the radio path as perturbations in the signals frequency/phase is more likely and the magnitude will depend on the electron columnar density probed. The occultation time occurs not far from solar conjunction time (Sun-Earth-probe angle of about 33 degrees), causing phase scintillations due to the solar wind to be the primary limiting noise source. We estimate a delectability limit of about 1 to 3E16 electrons per square meter columnar density assuming about 100 seconds integration time. Potential measurement of the profile of electron columnar density along the occultation track is an exciting prospect at this time.

Simultaneous Detection and Tracking of Pedestrian from Panoramic Laser Scanning Data

NASA Astrophysics Data System (ADS)

Xiao, Wen; Vallet, Bruno; Schindler, Konrad; Paparoditis, Nicolas

2016-06-01

Pedestrian traffic flow estimation is essential for public place design and construction planning. Traditional data collection by human investigation is tedious, inefficient and expensive. Panoramic laser scanners, e.g. Velodyne HDL-64E, which scan surroundings repetitively at a high frequency, have been increasingly used for 3D object tracking. In this paper, a simultaneous detection and tracking (SDAT) method is proposed for precise and automatic pedestrian trajectory recovery. First, the dynamic environment is detected using two different methods, Nearest-point and Max-distance. Then, all the points on moving objects are transferred into a space-time (x, y, t) coordinate system. The pedestrian detection and tracking amounts to assign the points belonging to pedestrians into continuous trajectories in space-time. We formulate the point assignment task as an energy function which incorporates the point evidence, trajectory number, pedestrian shape and motion. A low energy trajectory will well explain the point observations, and have plausible trajectory trend and length. The method inherently filters out points from other moving objects and false detections. The energy function is solved by a two-step optimization process: tracklet detection in a short temporal window; and global tracklet association through the whole time span. Results demonstrate that the proposed method can automatically recover the pedestrians trajectories with accurate positions and low false detections and mismatches.

Design and Analysis of Optimal Ascent Trajectories for Stratospheric Airships

NASA Astrophysics Data System (ADS)

Mueller, Joseph Bernard

Stratospheric airships are lighter-than-air vehicles that have the potential to provide a long-duration airborne presence at altitudes of 18-22 km. Designed to operate on solar power in the calm portion of the lower stratosphere and above all regulated air traffic and cloud cover, these vehicles represent an emerging platform that resides between conventional aircraft and satellites. A particular challenge for airship operation is the planning of ascent trajectories, as the slow moving vehicle must traverse the high wind region of the jet stream. Due to large changes in wind speed and direction across altitude and the susceptibility of airship motion to wind, the trajectory must be carefully planned, preferably optimized, in order to ensure that the desired station be reached within acceptable performance bounds of flight time and energy consumption. This thesis develops optimal ascent trajectories for stratospheric airships, examines the structure and sensitivity of these solutions, and presents a strategy for onboard guidance. Optimal ascent trajectories are developed that utilize wind energy to achieve minimum-time and minimum-energy flights. The airship is represented by a three-dimensional point mass model, and the equations of motion include aerodynamic lift and drag, vectored thrust, added mass effects, and accelerations due to mass flow rate, wind rates, and Earth rotation. A representative wind profile is developed based on historical meteorological data and measurements. Trajectory optimization is performed by first defining an optimal control problem with both terminal and path constraints, then using direct transcription to develop an approximate nonlinear parameter optimization problem of finite dimension. Optimal ascent trajectories are determined using SNOPT for a variety of upwind, downwind, and crosswind launch locations. Results of extensive optimization solutions illustrate definitive patterns in the ascent path for minimum time flights across varying launch locations, and show that significant energy savings can be realized with minimum-energy flights, compared to minimum-time time flights, given small increases in flight time. The performance of the optimal trajectories are then studied with respect to solar energy production during ascent, as well as sensitivity of the solutions to small changes in drag coefficient and wind model parameters. Results of solar power model simulations indicate that solar energy is sufficient to power ascent flights, but that significant energy loss can occur for certain types of trajectories. Sensitivity to the drag and wind model is approximated through numerical simulations, showing that optimal solutions change gradually with respect to changing wind and drag parameters and providing deeper insight into the characteristics of optimal airship flights. Finally, alternative methods are developed to generate near-optimal ascent trajectories in a manner suitable for onboard implementation. The structures and characteristics of previously developed minimum-time and minimum-energy ascent trajectories are used to construct simplified trajectory models, which are efficiently solved in a smaller numerical optimization problem. Comparison of these alternative solutions to the original SNOPT solutions show excellent agreement, suggesting the alternate formulations are an effective means to develop near-optimal solutions in an onboard setting.

Ascent trajectory optimization for stratospheric airship with thermal effects

NASA Astrophysics Data System (ADS)

Guo, Xiao; Zhu, Ming

2013-09-01

Ascent trajectory optimization with thermal effects is addressed for a stratospheric airship. Basic thermal characteristics of the stratospheric airship are introduced. Besides, the airship’s equations of motion are constructed by including the factors about aerodynamic force, added mass and wind profiles which are developed based on horizontal-wind model. For both minimum-time and minimum-energy flights during ascent, the trajectory optimization problem is described with the path and terminal constraints in different scenarios and then, is converted into a parameter optimization problem by a direct collocation method. Sparse Nonlinear OPTimizer(SNOPT) is employed as a nonlinear programming solver and two scenarios are adopted. The solutions obtained illustrate that the trajectories are greatly affected by the thermal behaviors which prolong the daytime minimum-time flights of about 20.8% compared with that of nighttime in scenario 1 and of about 10.5% in scenario 2. And there is the same trend for minimum-energy flights. For the energy consumption of minimum-time flights, 6% decrease is abstained in scenario 1 and 5% decrease in scenario 2. However, a few energy consumption reduction is achieved for minimum-energy flights. Solar radiation is the principal component and the natural wind also affects the thermal behaviors of stratospheric airship during ascent. The relationship between take-off time and performance of airship during ascent is discussed. it is found that the take-off time at dusk is best choice for stratospheric airship. And in addition, for saving energy, airship prefers to fly downwind.

Minimum impulse trajectories for Mars round trip missions

NASA Technical Reports Server (NTRS)

Horvat, Glen M.; Alexander, Stephen W.

1992-01-01

Data are presented for minimum-impulse earth-Mars round-trip trajectories for the 2010 to 2027 Mars launch opportunities. Round-trip mission times from 120 to 600 days, including a 30-day rendezvous at Mars, for direct trajectories and trajectories utilizing a Venus gravitational assist are considered. Optimal planetary launch and arrival dates and total impulse requirements are based on all maneuvers being performed propulsively with no finite burn or other losses. Direct trajectories have the lowest impulse requirements for shorter mission times and Venus gravitational assist trajectories have the lowest impulse requirements for longer mission times. It is shown that one can depart on trajectories to Mars, beginning with lower energy trajectories to the moon. The fuel savings varies, depending on the final energy level required and on the swingby procedure used. Procedures discussed include single lunar swingbys, double-powered or unpowered lunar swingbys, third lunar flybys a year later, and gravity assists by Venus and earth after the final lunar swingby.

Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances

NASA Astrophysics Data System (ADS)

Ou, Meiying; Sun, Haibin; Gu, Shengwei; Zhang, Yangyi

2017-11-01

This paper investigates the distributed finite-time trajectory tracking control for a group of nonholonomic mobile robots with time-varying unknown parameters and external disturbances. At first, the tracking error system is derived for each mobile robot with the aid of a global invertible transformation, which consists of two subsystems, one is a first-order subsystem and another is a second-order subsystem. Then, the two subsystems are studied respectively, and finite-time disturbance observers are proposed for each robot to estimate the external disturbances. Meanwhile, distributed finite-time tracking controllers are developed for each mobile robot such that all states of each robot can reach the desired value in finite time, where the desired reference value is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers, and the followers are assumed to have only local interaction. The effectiveness of the theoretical results is finally illustrated by numerical simulations.

Optimal short-range trajectories for helicopters

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

Slater, G.L.; Erzberger, H.

1982-12-01

An optimal flight path algorithm using a simplified altitude state model and a priori climb cruise descent flight profile was developed and applied to determine minimum fuel and minimum cost trajectories for a helicopter flying a fixed range trajectory. In addition, a method was developed for obtaining a performance model in simplified form which is based on standard flight manual data and which is applicable to the computation of optimal trajectories. The entire performance optimization algorithm is simple enough that on line trajectory optimization is feasible with a relatively small computer. The helicopter model used is the Silorsky S-61N. Themore » results show that for this vehicle the optimal flight path and optimal cruise altitude can represent a 10% fuel saving on a minimum fuel trajectory. The optimal trajectories show considerable variability because of helicopter weight, ambient winds, and the relative cost trade off between time and fuel. In general, reasonable variations from the optimal velocities and cruise altitudes do not significantly degrade the optimal cost. For fuel optimal trajectories, the optimum cruise altitude varies from the maximum (12,000 ft) to the minimum (0 ft) depending on helicopter weight.« less

Robot trajectory tracking with self-tuning predicted control

NASA Technical Reports Server (NTRS)

Cui, Xianzhong; Shin, Kang G.

1988-01-01

A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

Trajectory Specification for High-Capacity Air Traffic Control

NASA Technical Reports Server (NTRS)

Paielli, Russell A.

2004-01-01

In the current air traffic management system, the fundamental limitation on airspace capacity is the cognitive ability of human air traffic controllers to maintain safe separation with high reliability. The doubling or tripling of airspace capacity that will be needed over the next couple of decades will require that tactical separation be at least partially automated. Standardized conflict-free four-dimensional trajectory assignment will be needed to accomplish that objective. A trajectory specification format based on the Extensible Markup Language is proposed for that purpose. This format can be used to downlink a trajectory request, which can then be checked on the ground for conflicts and approved or modified, if necessary, then uplinked as the assigned trajectory. The horizontal path is specified as a series of geodetic waypoints connected by great circles, and the great-circle segments are connected by turns of specified radius. Vertical profiles for climb and descent are specified as low-order polynomial functions of along-track position, which is itself specified as a function of time. Flight technical error tolerances in the along-track, cross-track, and vertical axes define a bounding space around the reference trajectory, and conformance will guarantee the required separation for a period of time known as the conflict time horizon. An important safety benefit of this regimen is that the traffic will be able to fly free of conflicts for at least several minutes even if all ground systems and the entire communication infrastructure fail. Periodic updates in the along-track axis will adjust for errors in the predicted along-track winds.

Trajectory Adjustments Underlying Task-Specific Intermittent Force Behaviors and Muscular Rhythms

PubMed Central

Chen, Yi-Ching; Lin, Yen-Ting; Huang, Chien-Ting; Shih, Chia-Li; Yang, Zong-Ru; Hwang, Ing-Shiou

2013-01-01

Force intermittency is one of the major causes of motor variability. Focusing on the dynamics of force intermittency, this study was undertaken to investigate how force trajectory is fine-tuned for static and dynamic force-tracking of a comparable physical load. Twenty-two healthy adults performed two unilateral resistance protocols (static force-tracking at 75% maximal effort and dynamic force-tracking in the range of 50%–100% maximal effort) using the left hand. The electromyographic activity and force profile of the designated hand were monitored. Gripping force was off-line decomposed into a primary movement spectrally identical to the target motion and a force intermittency profile containing numerous force pulses. The results showed that dynamic force-tracking exhibited greater intermittency amplitude and force pulse but a smaller amplitude ratio of primary movement to force intermittency than static force-tracking. Multi-scale entropy analysis revealed that force intermittency during dynamic force-tracking was more complex on a low time scale but more regular on a high time scale than that of static force-tracking. Together with task-dependent force intermittency properties, dynamic force-tracking exhibited a smaller 8–12 Hz muscular oscillation but a more potentiated muscular oscillation at 35–50 Hz than static force-tracking. In conclusion, force intermittency reflects differing trajectory controls for static and dynamic force-tracking. The target goal of dynamic tracking is achieved through trajectory adjustments that are more intricate and more frequent than those of static tracking, pertaining to differing organizations and functioning of muscular oscillations in the alpha and gamma bands. PMID:24098640

Adaptive fixed-time trajectory tracking control of a stratospheric airship.

PubMed

Zheng, Zewei; Feroskhan, Mir; Sun, Liang

2018-05-01

This paper addresses the fixed-time trajectory tracking control problem of a stratospheric airship. By extending the method of adding a power integrator to a novel adaptive fixed-time control method, the convergence of a stratospheric airship to its reference trajectory is guaranteed to be achieved within a fixed time. The control algorithm is firstly formulated without the consideration of external disturbances to establish the stability of the closed-loop system in fixed-time and demonstrate that the convergence time of the airship is essentially independent of its initial conditions. Subsequently, a smooth adaptive law is incorporated into the proposed fixed-time control framework to provide the system with robustness to external disturbances. Theoretical analyses demonstrate that under the adaptive fixed-time controller, the tracking errors will converge towards a residual set in fixed-time. The results of a comparative simulation study with other recent methods illustrate the remarkable performance and superiority of the proposed control method. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

An optimal model-based trajectory following architecture synthesising the lateral adaptive preview strategy and longitudinal velocity planning for highly automated vehicle

NASA Astrophysics Data System (ADS)

Cao, Haotian; Song, Xiaolin; Zhao, Song; Bao, Shan; Huang, Zhi

2017-08-01

Automated driving has received a broad of attentions from the academia and industry, since it is effective to greatly reduce the severity of potential traffic accidents and achieve the ultimate automobile safety and comfort. This paper presents an optimal model-based trajectory following architecture for highly automated vehicle in its driving tasks such as automated guidance or lane keeping, which includes a velocity-planning module, a steering controller and a velocity-tracking controller. The velocity-planning module considering the optimal time-consuming and passenger comforts simultaneously could generate a smooth velocity profile. The robust sliding mode control (SMC) steering controller with adaptive preview time strategy could not only track the target path well, but also avoid a big lateral acceleration occurred in its path-tracking progress due to a fuzzy-adaptive preview time mechanism introduced. In addition, an SMC controller with input-output linearisation method for velocity tracking is built and validated. Simulation results show this trajectory following architecture are effective and feasible for high automated driving vehicle, comparing with the Driver-in-the-Loop simulations performed by an experienced driver and novice driver, respectively. The simulation results demonstrate that the present trajectory following architecture could plan a satisfying longitudinal speed profile, track the target path well and safely when dealing with different road geometry structure, it ensures a good time efficiency and driving comfort simultaneously.

Eye-hand coupling during closed-loop drawing: evidence of shared motor planning?

PubMed

Reina, G Anthony; Schwartz, Andrew B

2003-04-01

Previous paradigms have used reaching movements to study coupling of eye-hand kinematics. In the present study, we investigated eye-hand kinematics as curved trajectories were drawn at normal speeds. Eye and hand movements were tracked as a monkey traced ellipses and circles with the hand in free space while viewing the hand's position on a computer monitor. The results demonstrate that the movement of the hand was smooth and obeyed the 2/3 power law. Eye position, however, was restricted to 2-3 clusters along the hand's trajectory and fixed approximately 80% of the time in one of these clusters. The eye remained stationary as the hand moved away from the fixation for up to 200 ms and saccaded ahead of the hand position to the next fixation along the trajectory. The movement from one fixation cluster to another consistently occurred just after the tangential hand velocity had reached a local minimum, but before the next segment of the hand's trajectory began. The next fixation point was close to an area of high curvature along the hand's trajectory even though the hand had not reached that point along the path. A visuo-motor illusion of hand movement demonstrated that the eye movement was influenced by hand movement and not simply by visual input. During the task, neural activity of pre-motor cortex (area F4) was recorded using extracellular electrodes and used to construct a population vector of the hand's trajectory. The results suggest that the saccade onset is correlated in time with maximum curvature in the population vector trajectory for the hand movement. We hypothesize that eye and arm movements may have common, or shared, information in forming their motor plans.

Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

NASA Astrophysics Data System (ADS)

Ou, Meiying; Li, Shihua; Wang, Chaoli

2013-12-01

This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

Method and apparatus for adaptive force and position control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1989-01-01

The present invention discloses systematic methods and apparatus for the design of real time controllers. Real-time control employs adaptive force/position by use of feedforward and feedback controllers, with the feedforward controller being the inverse of the linearized model of robot dynamics and containing only proportional-double-derivative terms is disclosed. The feedback controller, of the proportional-integral-derivative type, ensures that manipulator joints follow reference trajectories and the feedback controller achieves robust tracking of step-plus-exponential trajectories, all in real time. The adaptive controller includes adaptive force and position control within a hybrid control architecture. The adaptive controller, for force control, achieves tracking of desired force setpoints, and the adaptive position controller accomplishes tracking of desired position trajectories. Circuits in the adaptive feedback and feedforward controllers are varied by adaptation laws.

Efficient Optimization of Low-Thrust Spacecraft Trajectories

NASA Technical Reports Server (NTRS)

Lee, Seungwon; Fink, Wolfgang; Russell, Ryan; Terrile, Richard; Petropoulos, Anastassios; vonAllmen, Paul

2007-01-01

A paper describes a computationally efficient method of optimizing trajectories of spacecraft driven by propulsion systems that generate low thrusts and, hence, must be operated for long times. A common goal in trajectory-optimization problems is to find minimum-time, minimum-fuel, or Pareto-optimal trajectories (here, Pareto-optimality signifies that no other solutions are superior with respect to both flight time and fuel consumption). The present method utilizes genetic and simulated-annealing algorithms to search for globally Pareto-optimal solutions. These algorithms are implemented in parallel form to reduce computation time. These algorithms are coupled with either of two traditional trajectory- design approaches called "direct" and "indirect." In the direct approach, thrust control is discretized in either arc time or arc length, and the resulting discrete thrust vectors are optimized. The indirect approach involves the primer-vector theory (introduced in 1963), in which the thrust control problem is transformed into a co-state control problem and the initial values of the co-state vector are optimized. In application to two example orbit-transfer problems, this method was found to generate solutions comparable to those of other state-of-the-art trajectory-optimization methods while requiring much less computation time.

TH-AB-202-05: BEST IN PHYSICS (JOINT IMAGING-THERAPY): First Online Ultrasound-Guided MLC Tracking for Real-Time Motion Compensation in Radiotherapy

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

Ipsen, S; Bruder, R; Schweikard, A

Purpose: While MLC tracking has been successfully used for motion compensation of moving targets, current real-time target localization methods rely on correlation models with x-ray imaging or implanted electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging yields volumetric data in real-time (4D) without ionizing radiation. We report the first results of online 4D ultrasound-guided MLC tracking in a phantom. Methods: A real-time tracking framework was installed on a 4D ultrasound station (Vivid7 dimension, GE) and used to detect a 2mm spherical lead marker inside a water tank. The volumetric frame rate was 21.3Hz (47ms). The marker wasmore » rigidly attached to a motion stage programmed to reproduce nine tumor trajectories (five prostate, four lung). The 3D marker position from ultrasound was used for real-time MLC aperture adaption. The tracking system latency was measured and compensated by prediction for lung trajectories. To measure geometric accuracy, anterior and lateral conformal fields with 10cm circular aperture were delivered for each trajectory. The tracking error was measured as the difference between marker position and MLC aperture in continuous portal imaging. For dosimetric evaluation, 358° VMAT fields were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using a 3%/3 mm γ-test. Results: The tracking system latency was 170ms. The mean root-mean-square tracking error was 1.01mm (0.75mm prostate, 1.33mm lung). Tracking reduced the mean γ-failure rate from 13.9% to 4.6% for prostate and from 21.8% to 0.6% for lung with high-modulation VMAT plans and from 5% (prostate) and 18% (lung) to 0% with low modulation. Conclusion: Real-time ultrasound tracking was successfully integrated with MLC tracking for the first time and showed similar accuracy and latency as other methods while holding the potential to measure target motion non-invasively. SI was supported by the Graduate School for Computing in Medicine and Life Science, German Excellence Initiative [grant DFG GSC 235/1].« less

Hurricane track forecast cones from fluctuations

PubMed Central

Meuel, T.; Prado, G.; Seychelles, F.; Bessafi, M.; Kellay, H.

2012-01-01

Trajectories of tropical cyclones may show large deviations from predicted tracks leading to uncertainty as to their landfall location for example. Prediction schemes usually render this uncertainty by showing track forecast cones representing the most probable region for the location of a cyclone during a period of time. By using the statistical properties of these deviations, we propose a simple method to predict possible corridors for the future trajectory of a cyclone. Examples of this scheme are implemented for hurricane Ike and hurricane Jimena. The corridors include the future trajectory up to at least 50 h before landfall. The cones proposed here shed new light on known track forecast cones as they link them directly to the statistics of these deviations. PMID:22701776

On the Optimization of Aerospace Plane Ascent Trajectory

NASA Astrophysics Data System (ADS)

Al-Garni, Ahmed; Kassem, Ayman Hamdy

A hybrid heuristic optimization technique based on genetic algorithms and particle swarm optimization has been developed and tested for trajectory optimization problems with multi-constraints and a multi-objective cost function. The technique is used to calculate control settings for two types for ascending trajectories (constant dynamic pressure and minimum-fuel-minimum-heat) for a two-dimensional model of an aerospace plane. A thorough statistical analysis is done on the hybrid technique to make comparisons with both basic genetic algorithms and particle swarm optimization techniques with respect to convergence and execution time. Genetic algorithm optimization showed better execution time performance while particle swarm optimization showed better convergence performance. The hybrid optimization technique, benefiting from both techniques, showed superior robust performance compromising convergence trends and execution time.

Trajectory Specification for Terminal Air Traffic: Pairwise Conflict Detection and Resolution

NASA Technical Reports Server (NTRS)

Paielli, Russell A.; Erzberger, Heinz

2017-01-01

Trajectory Specification is the explicit bounding and control of aircraft trajectories such that the position at any point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft navigation capabilities and the current traffic situation. Assuming conformance, Trajectory Specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) system or datalink failure; hence it can help to achieve the high level of safety and reliability needed for ATC automation. It can also reduce the reliance on tactical backup systems during normal operation. This paper applies it to the terminal area around a major airport and presents algorithms and software for detecting and resolving conflicts. A representative set of pairwise conflicts was generated, and a fast-time simulation was run on them. All conflicts were successfully resolved in real time, demonstrating the computational feasibility of the concept.

New method for finding multiple meaningful trajectories

NASA Astrophysics Data System (ADS)

Bao, Zhonghao; Flachs, Gerald M.; Jordan, Jay B.

1995-07-01

Mathematical foundations and algorithms for efficiently finding multiple meaningful trajectories (FMMT) in a sequence of digital images are presented. A meaningful trajectory is motion created by a sentient being or by a device under the control of a sentient being. It is smooth and predictable over short time intervals. A meaningful trajectory can suddenly appear or disappear in sequence images. The development of the FMMT is based on these assumptions. A finite state machine in the FMMT is used to model the trajectories under the conditions of occlusions and false targets. Each possible trajectory is associated with an initial state of a finite state machine. When two frames of data are available, a linear predictor is used to predict the locations of all possible trajectories. All trajectories within a certain error bound are moved to a monitoring trajectory state. When trajectories attain three consecutive good predictions, they are moved to a valid trajectory state and considered to be locked into a tracking mode. If an object is occluded while in the valid trajectory state, the predicted position is used to continue to track; however, the confidence in the trajectory is lowered. If the trajectory confidence falls below a lower limit, the trajectory is terminated. Results are presented that illustrate the FMMT applied to track multiple munitions fired from a missile in a sequence of images. Accurate trajectories are determined even in poor images where the probabilities of miss and false alarm are very high.

Near-Optimal Re-Entry Trajectories for Reusable Launch Vehicles

NASA Technical Reports Server (NTRS)

Chou, H.-C.; Ardema, M. D.; Bowles, J. V.

1997-01-01

A near-optimal guidance law for the descent trajectory for earth orbit re-entry of a fully reusable single-stage-to-orbit pure rocket launch vehicle is derived. A methodology is developed to investigate using both bank angle and altitude as control variables and selecting parameters that maximize various performance functions. The method is based on the energy-state model of the aircraft equations of motion. The major task of this paper is to obtain optimal re-entry trajectories under a variety of performance goals: minimum time, minimum surface temperature, minimum heating, and maximum heading change; four classes of trajectories were investigated: no banking, optimal left turn banking, optimal right turn banking, and optimal bank chattering. The cost function is in general a weighted sum of all performance goals. In particular, the trade-off between minimizing heat load into the vehicle and maximizing cross range distance is investigated. The results show that the optimization methodology can be used to derive a wide variety of near-optimal trajectories.

Connecting the dots across time: reconstruction of single-cell signalling trajectories using time-stamped data

NASA Astrophysics Data System (ADS)

Mukherjee, Sayak; Stewart, David; Stewart, William; Lanier, Lewis L.; Das, Jayajit

2017-08-01

Single-cell responses are shaped by the geometry of signalling kinetic trajectories carved in a multidimensional space spanned by signalling protein abundances. It is, however, challenging to assay a large number (more than 3) of signalling species in live-cell imaging, which makes it difficult to probe single-cell signalling kinetic trajectories in large dimensions. Flow and mass cytometry techniques can measure a large number (4 to more than 40) of signalling species but are unable to track single cells. Thus, cytometry experiments provide detailed time-stamped snapshots of single-cell signalling kinetics. Is it possible to use the time-stamped cytometry data to reconstruct single-cell signalling trajectories? Borrowing concepts of conserved and slow variables from non-equilibrium statistical physics we develop an approach to reconstruct signalling trajectories using snapshot data by creating new variables that remain invariant or vary slowly during the signalling kinetics. We apply this approach to reconstruct trajectories using snapshot data obtained from in silico simulations, live-cell imaging measurements, and, synthetic flow cytometry datasets. The application of invariants and slow variables to reconstruct trajectories provides a radically different way to track objects using snapshot data. The approach is likely to have implications for solving matching problems in a wide range of disciplines.

Human body motion capture from multi-image video sequences

NASA Astrophysics Data System (ADS)

D'Apuzzo, Nicola

2003-01-01

In this paper is presented a method to capture the motion of the human body from multi image video sequences without using markers. The process is composed of five steps: acquisition of video sequences, calibration of the system, surface measurement of the human body for each frame, 3-D surface tracking and tracking of key points. The image acquisition system is currently composed of three synchronized progressive scan CCD cameras and a frame grabber which acquires a sequence of triplet images. Self calibration methods are applied to gain exterior orientation of the cameras, the parameters of internal orientation and the parameters modeling the lens distortion. From the video sequences, two kinds of 3-D information are extracted: a three-dimensional surface measurement of the visible parts of the body for each triplet and 3-D trajectories of points on the body. The approach for surface measurement is based on multi-image matching, using the adaptive least squares method. A full automatic matching process determines a dense set of corresponding points in the triplets. The 3-D coordinates of the matched points are then computed by forward ray intersection using the orientation and calibration data of the cameras. The tracking process is also based on least squares matching techniques. Its basic idea is to track triplets of corresponding points in the three images through the sequence and compute their 3-D trajectories. The spatial correspondences between the three images at the same time and the temporal correspondences between subsequent frames are determined with a least squares matching algorithm. The results of the tracking process are the coordinates of a point in the three images through the sequence, thus the 3-D trajectory is determined by computing the 3-D coordinates of the point at each time step by forward ray intersection. Velocities and accelerations are also computed. The advantage of this tracking process is twofold: it can track natural points, without using markers; and it can track local surfaces on the human body. In the last case, the tracking process is applied to all the points matched in the region of interest. The result can be seen as a vector field of trajectories (position, velocity and acceleration). The last step of the process is the definition of selected key points of the human body. A key point is a 3-D region defined in the vector field of trajectories, whose size can vary and whose position is defined by its center of gravity. The key points are tracked in a simple way: the position at the next time step is established by the mean value of the displacement of all the trajectories inside its region. The tracked key points lead to a final result comparable to the conventional motion capture systems: 3-D trajectories of key points which can be afterwards analyzed and used for animation or medical purposes.

Co-state initialization for the minimum-time low-thrust trajectory optimization

NASA Astrophysics Data System (ADS)

Taheri, Ehsan; Li, Nan I.; Kolmanovsky, Ilya

2017-05-01

This paper presents an approach for co-state initialization which is a critical step in solving minimum-time low-thrust trajectory optimization problems using indirect optimal control numerical methods. Indirect methods used in determining the optimal space trajectories typically result in two-point boundary-value problems and are solved by single- or multiple-shooting numerical methods. Accurate initialization of the co-state variables facilitates the numerical convergence of iterative boundary value problem solvers. In this paper, we propose a method which exploits the trajectory generated by the so-called pseudo-equinoctial and three-dimensional finite Fourier series shape-based methods to estimate the initial values of the co-states. The performance of the approach for two interplanetary rendezvous missions from Earth to Mars and from Earth to asteroid Dionysus is compared against three other approaches which, respectively, exploit random initialization of co-states, adjoint-control transformation and a standard genetic algorithm. The results indicate that by using our proposed approach the percent of the converged cases is higher for trajectories with higher number of revolutions while the computation time is lower. These features are advantageous for broad trajectory search in the preliminary phase of mission designs.

Motion control of the rabbit ankle joint with a flat interface nerve electrode.

PubMed

Park, Hyun-Joo; Durand, Dominique M

2015-12-01

A flat interface nerve electrode (FINE) has been shown to improve fascicular and subfascicular selectivity. A recently developed novel control algorithm for FINE was applied to motion control of the rabbit ankle. A 14-contact FINE was placed on the rabbit sciatic nerve (n = 8), and ankle joint motion was controlled for sinusoidal trajectories and filtered random trajectories. To this end, a real-time controller was implemented with a multiple-channel current stimulus isolator. The performance test results showed good tracking performance of rabbit ankle joint motion for filtered random trajectories and sinusoidal trajectories (0.5 Hz and 1.0 Hz) with <10% average root-mean-square (RMS) tracking error, whereas the average range of ankle joint motion was between -20.0 ± 9.3° and 18.1 ± 8.8°. The proposed control algorithm enables the use of a multiple-contact nerve electrode for motion trajectory tracking control of musculoskeletal systems. © 2015 Wiley Periodicals, Inc.

Haptic Guidance Improves the Visuo-Manual Tracking of Trajectories

PubMed Central

Bluteau, Jérémy; Coquillart, Sabine; Payan, Yohan; Gentaz, Edouard

2008-01-01

Background Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during visuo-motor learning tasks. The effects of two types of haptic guidances-control in position (HGP) or in force (HGF)–on visuo-manual tracking (“following”) of trajectories are still under debate. Methodology/Principals Findings Three training techniques of haptic guidance (HGP, HGF or control condition, NHG, without haptic guidance) were evaluated in two experiments. Movements produced by adults were assessed in terms of shapes (dynamic time warping) and kinematics criteria (number of velocity peaks and mean velocity) before and after the training sessions. Trajectories consisted of two Arabic and two Japanese-inspired letters in Experiment 1 and ellipses in Experiment 2. We observed that the use of HGF globally improves the fluency of the visuo-manual tracking of trajectories while no significant improvement was found for HGP or NHG. Conclusion/Significance These results show that the addition of haptic information, probably encoded in force coordinates, play a crucial role on the visuo-manual tracking of new trajectories. PMID:18335049

A Lyapunov-Based Approach for Time-Coordinated 3D Path-Following of Multiple Quadrotors

DTIC Science & Technology

2012-12-01

presented in [10] as solutions for accommodating the nonlinear disturbances for outdoor altitude control . Finally, in [11] a trajectory- tracking ... control algorithm is formulated using the Special Orthogonal group SO(3) for attitude representation, leading to a simple and singularity-free solution for...the trajectory tracking problem. Cooperation between multiple unmanned vehicles has also received significant attention in the control community in

Real-time trajectory optimization on parallel processors

NASA Technical Reports Server (NTRS)

Psiaki, Mark L.

1993-01-01

A parallel algorithm has been developed for rapidly solving trajectory optimization problems. The goal of the work has been to develop an algorithm that is suitable to do real-time, on-line optimal guidance through repeated solution of a trajectory optimization problem. The algorithm has been developed on an INTEL iPSC/860 message passing parallel processor. It uses a zero-order-hold discretization of a continuous-time problem and solves the resulting nonlinear programming problem using a custom-designed augmented Lagrangian nonlinear programming algorithm. The algorithm achieves parallelism of function, derivative, and search direction calculations through the principle of domain decomposition applied along the time axis. It has been encoded and tested on 3 example problems, the Goddard problem, the acceleration-limited, planar minimum-time to the origin problem, and a National Aerospace Plane minimum-fuel ascent guidance problem. Execution times as fast as 118 sec of wall clock time have been achieved for a 128-stage Goddard problem solved on 32 processors. A 32-stage minimum-time problem has been solved in 151 sec on 32 processors. A 32-stage National Aerospace Plane problem required 2 hours when solved on 32 processors. A speed-up factor of 7.2 has been achieved by using 32-nodes instead of 1-node to solve a 64-stage Goddard problem.

Numerical approach of collision avoidance and optimal control on robotic manipulators

NASA Technical Reports Server (NTRS)

Wang, Jyhshing Jack

1990-01-01

Collision-free optimal motion and trajectory planning for robotic manipulators are solved by a method of sequential gradient restoration algorithm. Numerical examples of a two degree-of-freedom (DOF) robotic manipulator are demonstrated to show the excellence of the optimization technique and obstacle avoidance scheme. The obstacle is put on the midway, or even further inward on purpose, of the previous no-obstacle optimal trajectory. For the minimum-time purpose, the trajectory grazes by the obstacle and the minimum-time motion successfully avoids the obstacle. The minimum-time is longer for the obstacle avoidance cases than the one without obstacle. The obstacle avoidance scheme can deal with multiple obstacles in any ellipsoid forms by using artificial potential fields as penalty functions via distance functions. The method is promising in solving collision-free optimal control problems for robotics and can be applied to any DOF robotic manipulators with any performance indices and mobile robots as well. Since this method generates optimum solution based on Pontryagin Extremum Principle, rather than based on assumptions, the results provide a benchmark against which any optimization techniques can be measured.

A Class of Prediction-Correction Methods for Time-Varying Convex Optimization

NASA Astrophysics Data System (ADS)

Simonetto, Andrea; Mokhtari, Aryan; Koppel, Alec; Leus, Geert; Ribeiro, Alejandro

2016-09-01

This paper considers unconstrained convex optimization problems with time-varying objective functions. We propose algorithms with a discrete time-sampling scheme to find and track the solution trajectory based on prediction and correction steps, while sampling the problem data at a constant rate of $1/h$, where $h$ is the length of the sampling interval. The prediction step is derived by analyzing the iso-residual dynamics of the optimality conditions. The correction step adjusts for the distance between the current prediction and the optimizer at each time step, and consists either of one or multiple gradient steps or Newton steps, which respectively correspond to the gradient trajectory tracking (GTT) or Newton trajectory tracking (NTT) algorithms. Under suitable conditions, we establish that the asymptotic error incurred by both proposed methods behaves as $O(h^2)$, and in some cases as $O(h^4)$, which outperforms the state-of-the-art error bound of $O(h)$ for correction-only methods in the gradient-correction step. Moreover, when the characteristics of the objective function variation are not available, we propose approximate gradient and Newton tracking algorithms (AGT and ANT, respectively) that still attain these asymptotical error bounds. Numerical simulations demonstrate the practical utility of the proposed methods and that they improve upon existing techniques by several orders of magnitude.

Tracking of Ball and Players in Beach Volleyball Videos

PubMed Central

Gomez, Gabriel; Herrera López, Patricia; Link, Daniel; Eskofier, Bjoern

2014-01-01

This paper presents methods for the determination of players' positions and contact time points by tracking the players and the ball in beach volleyball videos. Two player tracking methods are compared, a classical particle filter and a rigid grid integral histogram tracker. Due to mutual occlusion of the players and the camera perspective, results are best for the front players, with 74,6% and 82,6% of correctly tracked frames for the particle method and the integral histogram method, respectively. Results suggest an improved robustness against player confusion between different particle sets when tracking with a rigid grid approach. Faster processing and less player confusions make this method superior to the classical particle filter. Two different ball tracking methods are used that detect ball candidates from movement difference images using a background subtraction algorithm. Ball trajectories are estimated and interpolated from parabolic flight equations. The tracking accuracy of the ball is 54,2% for the trajectory growth method and 42,1% for the Hough line detection method. Tracking results of over 90% from the literature could not be confirmed. Ball contact frames were estimated from parabolic trajectory intersection, resulting in 48,9% of correctly estimated ball contact points. PMID:25426936

Mars Observer trajectory and orbit design

NASA Technical Reports Server (NTRS)

Beerer, Joseph G.; Roncoli, Ralph B.

1991-01-01

The Mars Observer launch, interplanetary, Mars orbit insertion, and mapping orbit designs are described. The design objective is to enable a near-maximum spacecraft mass to be placed in orbit about Mars. This is accomplished by keeping spacecraft propellant requirements to a minimum, selecting a minimum acceptable launch period, equalizing the spacecraft velocity change requirement at the beginning and end of the launch period, and constraining the orbit insertion maneuvers to be coplanar. The mapping orbit design objective is to provide the opportunity for global observation of the planet by the science instruments while facilitating the spacecraft design. This is realized with a sun-synchronous near-polar orbit whose ground-track pattern covers the planet at progressively finer resolution.

A composite controller for trajectory tracking applied to the Furuta pendulum.

PubMed

Aguilar-Avelar, Carlos; Moreno-Valenzuela, Javier

2015-07-01

In this paper, a new composite scheme is proposed, where the total control action is composed of the sum of a feedback-linearization-based controller and an energy-based compensation. This new proposition is applied to the rotary inverted pendulum or Furuta pendulum. The Furuta pendulum is a well-known underactuated mechanical system with two degrees of freedom. The control objective in this case is the tracking of a desired periodic trajectory in the actuated joint, while the unactuated link is regulated at the upward position. The closed-loop system is analyzed showing uniformly ultimately boundedness of the error trajectories. The design procedure is shown in a constructive form, such that it may be applied to other underactuated mechanical systems, with the proper definitions of the output function and the energy function. Numerical simulations and real-time experiments show the practical viability of the controller. Finally, the proposed algorithm is compared with a tracking controller previously reported in the literature. The new algorithm shows better performance in both arm trajectory tracking and pendulum regulation. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

A comparison of optimal and noise-abatement trajectories of a tilt-rotor aircraft

NASA Technical Reports Server (NTRS)

Schmitz, F. H.; Stepniewski, W. Z.; Gibs, J.; Hinterkeuser, W. Z.

1972-01-01

The potential benefits of flight path control to optimize performance and/or reduce the noise of a tilt-rotor aircraft operating in the takeoff and landing phases of flight are investigated. A theoretical performance-acoustic model is developed and then mathematically flown to yield representative takeoff and landing profiles. Minimum-time and minimum-fuel trajectories are compared to proposed noise-abatement profiles to assess the reductions in annoyance possible through flight path control. Significant reductions are feasible if a nearly vertical-takeoff flight profile is flown near the landing site; however, the time expended and fuel consumed increase.

Indirect iterative learning control for a discrete visual servo without a camera-robot model.

PubMed

Jiang, Ping; Bamforth, Leon C A; Feng, Zuren; Baruch, John E F; Chen, YangQuan

2007-08-01

This paper presents a discrete learning controller for vision-guided robot trajectory imitation with no prior knowledge of the camera-robot model. A teacher demonstrates a desired movement in front of a camera, and then, the robot is tasked to replay it by repetitive tracking. The imitation procedure is considered as a discrete tracking control problem in the image plane, with an unknown and time-varying image Jacobian matrix. Instead of updating the control signal directly, as is usually done in iterative learning control (ILC), a series of neural networks are used to approximate the unknown Jacobian matrix around every sample point in the demonstrated trajectory, and the time-varying weights of local neural networks are identified through repetitive tracking, i.e., indirect ILC. This makes repetitive segmented training possible, and a segmented training strategy is presented to retain the training trajectories solely within the effective region for neural network approximation. However, a singularity problem may occur if an unmodified neural-network-based Jacobian estimation is used to calculate the robot end-effector velocity. A new weight modification algorithm is proposed which ensures invertibility of the estimation, thus circumventing the problem. Stability is further discussed, and the relationship between the approximation capability of the neural network and the tracking accuracy is obtained. Simulations and experiments are carried out to illustrate the validity of the proposed controller for trajectory imitation of robot manipulators with unknown time-varying Jacobian matrices.

Exact-Output Tracking Theory for Systems with Parameter Jumps

NASA Technical Reports Server (NTRS)

Devasia, Santosh; Paden, Brad; Rossi, Carlo

1996-01-01

In this paper we consider the exact output tracking problem for systems with parameter jumps. Necessary and sufficient conditions are derived for the elimination of switching-introduced output transient. Previous works have studied this problem by developing a regulator that maintains exact tracking through parameter jumps (switches). Such techniques are, however, only applicable to minimum-phase systems. In contrast, our approach is applicable to nonminimum-phase systems and obtains bounded but possibly non-causal solutions. If the reference trajectories are generated by an exo-system, then we develop an exact-tracking controller in a feedback form. As in standard regulator theory, we obtain a linear map from the states of the exo-system to the desired system state which is defined via a matrix differential equation. The constant solution of this differential equation provides asymptotic tracking, and coincides with the feedback law used in standard regulator theory. The obtained results are applied to a simple flexible manipulator with jumps in the pay-load mass.

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Trajectory Control of Rendezvous with Maneuver Target Spacecraft

NASA Technical Reports Server (NTRS)

Zhou, Zhinqiang

2012-01-01

In this paper, a nonlinear trajectory control algorithm of rendezvous with maneuvering target spacecraft is presented. The disturbance forces on the chaser and target spacecraft and the thrust forces on the chaser spacecraft are considered in the analysis. The control algorithm developed in this paper uses the relative distance and relative velocity between the target and chaser spacecraft as the inputs. A general formula of reference relative trajectory of the chaser spacecraft to the target spacecraft is developed and applied to four different proximity maneuvers, which are in-track circling, cross-track circling, in-track spiral rendezvous and cross-track spiral rendezvous. The closed-loop differential equations of the proximity relative motion with the control algorithm are derived. It is proven in the paper that the tracking errors between the commanded relative trajectory and the actual relative trajectory are bounded within a constant region determined by the control gains. The prediction of the tracking errors is obtained. Design examples are provided to show the implementation of the control algorithm. The simulation results show that the actual relative trajectory tracks the commanded relative trajectory tightly. The predicted tracking errors match those calculated in the simulation results. The control algorithm developed in this paper can also be applied to interception of maneuver target spacecraft and relative trajectory control of spacecraft formation flying.

Tracking career performance of successful triathletes.

PubMed

Malcata, Rita M; Hopkins, Will G; Pearson, Simon N

2014-06-01

Tracking athletes' performances over time is important but problematic for sports with large environmental effects. Here we have developed career performance trajectories for elite triathletes, investigating changes in swim, cycle, run stages, and total performance times while accounting for environmental and other external factors. Performance times of 337 female and 427 male triathletes competing in 419 international races between 2000 and 2012 were obtained from triathlon.org. Athletes were categorized according to any top 16 placing at World Championships or Olympics between 2008 and 2012. A mixed linear model accounting for race distance (sprint and Olympic), level of competition, calendar-year trend, athlete's category, and clustering of times within athletes and races was used to derive athletes' individual quadratic performance trajectories. These trajectories provided estimates of age of peak performance and predictions for the 2012 London Olympic Games. By markedly reducing the scatter of individual race times, the model produced well-fitting trajectories suitable for comparison of triathletes. Trajectories for top 16 triathletes showed different patterns for race stages and differed more among women than among men, but ages of peak total performance were similar for men and women (28 ± 3 yr, mean ± SD). Correlations between observed and predicted placings at Olympics were slightly higher than those provided by placings in races before the Olympics. Athletes' trajectories will help identify talented athletes and their weakest and strongest stages. The wider range of trajectories among women should be taken into account when setting talent identification criteria. Trajectories offer a small advantage over usual race placings for predicting men's performance. Further refinements, such as accounting for individual responses to race conditions, may improve utility of performance trajectories.

A discrete-time adaptive control scheme for robot manipulators

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Singular perturbation techniques for real time aircraft trajectory optimization and control

NASA Technical Reports Server (NTRS)

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

1982-01-01

The usefulness of singular perturbation methods for developing real time computer algorithms to control and optimize aircraft flight trajectories is examined. A minimum time intercept problem using F-8 aerodynamic and propulsion data is used as a baseline. This provides a framework within which issues relating to problem formulation, solution methodology and real time implementation are examined. Theoretical questions relating to separability of dynamics are addressed. With respect to implementation, situations leading to numerical singularities are identified, and procedures for dealing with them are outlined. Also, particular attention is given to identifying quantities that can be precomputed and stored, thus greatly reducing the on-board computational load. Numerical results are given to illustrate the minimum time algorithm, and the resulting flight paths. An estimate is given for execution time and storage requirements.

Fuel-conservative guidance system for powered-lift aircraft

NASA Technical Reports Server (NTRS)

Erzberger, H.; Mclean, J. D.

1979-01-01

A concept for automatic terminal area guidance, comprising two modes of operation, was developed and evaluated in flight tests. In the predictive mode, fuel efficient approach trajectories are synthesized in fast time. In the tracking mode, the synthesized trajectories are reconstructed and tracked automatically. An energy rate performance model derived from the lift, drag, and propulsion system characteristics of the aircraft is used in the synthesis algorithm. The method optimizes the trajectory for the initial aircraft position and wind and temperature profiles encountered during each landing approach. The design theory and the results of simulations and flight tests using the Augmentor Wing Jet STOL Research Aircraft are described.

Computation of optimal Mars trajectories via combined chemical/electrical propulsion, Part 3: Compromise solutions

NASA Astrophysics Data System (ADS)

Miele, A.; Wang, T.; Williams, P. N.

2005-12-01

The success of the solar-electric ion engine powering the DS1 spacecraft has paved the way toward the use of low-thrust electrical engines in future planetary/interplanetary missions. Vis-à-vis a chemical engine, an electrical engine has a higher specific impulse, implying a possible decrease in propellant mass; however, the low-thrust aspect discourages the use of an electrical engine in the near-planet phases of a trip, since this might result in an increase in flight time. Therefore, a fundamental design problem is to find the best combination of chemical propulsion and electrical propulsion for a given mission, for example, a mission from Earth to Mars. With this in mind, this paper is the third of a series dealing with the optimization of Earth Mars missions via the use of hybrid engines, namely the combination of high-thrust chemical engines for planetary flight and low-thrust electrical engines for interplanetary flight. We look at the deep-space interplanetary portion of the trajectory under rather idealized conditions. The two major performance indexes, the propellant mass and the flight time, are in conflict with one another for the following reason: any attempt at reducing the former causes an increase in the latter and vice versa. Therefore, it is natural to consider a compromise performance index involving the scaled values of the propellant mass and flight time weighted respectively by the compromise factor C and its complement 1-C. We use the compromise factor as the parameter of the one-parameter family of compromise trajectories. Analyses carried out with the sequential gradient-restoration algorithm for optimal control problems lead to results which can be highlighted as follows. Thrust profile. Generally speaking, the thrust profile of the compromise trajectory includes three subarcs: the first subarc is characterized by maximum thrust in conjunction with positive (upward) thrust direction; the second subarc is characterized by zero thrust (coasting flight); the third subarc is characterized by maximum thrust in conjunction with negative (downward) thrust direction. Effect of the compromise factor. As the compromise factor increases, the propellant mass decreases and the flight time increases; correspondingly, the following changes in the thrust profile take place: (a) the time lengths of the first and third subarcs (powered phases) decrease slightly, meaning that thrust application occurs for shorter duration; also, the average value of the thrust direction in the first and third subarcs decreases, implying higher efficiency of thrust application wrt the spacecraft energy level; as a result, the total propellant mass decreases; (b) the time length of the second subarc (coasting) increases considerably, resulting in total time increase. Minimum time trajectory. If C=0, the resulting minimum time trajectory has the following characteristics: (a) the time length of the coasting subarc reduces to zero and the three-subarc trajectory degenerates into a two-subarc trajectory; (b) maximum thrust is applied at all times and the thrust direction switches from upward to downward at midcourse. Minimum propellant mass trajectory. If C=1, the resulting minimum propellant mass trajectory has the following characteristics: (a) the thrust magnitude has a bang-zero-bang profile; (b) for the powered subarcs, the thrust direction is tangent to the flight path at all times.

Preview-Based Stable-Inversion for Output Tracking

NASA Technical Reports Server (NTRS)

Zou, Qing-Ze; Devasia, Santosh

1999-01-01

Stable Inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is non-causal - hence the inverse has to be pre-computed using a pre-specified desired-output trajectory. This requirement for pre-specification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the present article, it is shown that preview information of the desired output can be used to achieve online inversion-based output tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.

Trajectory Specification for Terminal Air Traffic: Pairwise Conflict Detection and Resolution

NASA Technical Reports Server (NTRS)

Paielli, Russ; Erzberger, Heinz

2017-01-01

Trajectory specification is the explicit bounding and control of aircraft trajectories such that the position at each point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft navigation capabilities and the current traffic situation. A standard language will be developed to represent these specifications and to communicate them by datalink. Assuming conformance, trajectory specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) system or datalink failure, hence it can help to achieve the high level of safety and reliability needed for ATC automation. As a more proactive form of ATC, it can also maximize airspace capacity and reduce the reliance on tactical backup systems during normal operation. It applies to both enroute airspace and the terminal area around airports, but this paper focuses on the terminal area and presents algorithms and software for spacing arrivals and deconflicting both arrivals and departures.

Minimum time acceleration of aircraft turbofan engines by using an algorithm based on nonlinear programming

NASA Technical Reports Server (NTRS)

Teren, F.

1977-01-01

Minimum time accelerations of aircraft turbofan engines are presented. The calculation of these accelerations was made by using a piecewise linear engine model, and an algorithm based on nonlinear programming. Use of this model and algorithm allows such trajectories to be readily calculated on a digital computer with a minimal expenditure of computer time.

Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

PubMed

Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

2016-01-01

This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

Construction of a WMR for trajectory tracking control: experimental results.

PubMed

Silva-Ortigoza, R; Márquez-Sánchez, C; Marcelino-Aranda, M; Marciano-Melchor, M; Silva-Ortigoza, G; Bautista-Quintero, R; Ramos-Silvestre, E R; Rivera-Díaz, J C; Muñoz-Carrillo, D

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

Construction of a WMR for Trajectory Tracking Control: Experimental Results

PubMed Central

Silva-Ortigoza, R.; Márquez-Sánchez, C.; Marcelino-Aranda, M.; Marciano-Melchor, M.; Silva-Ortigoza, G.; Bautista-Quintero, R.; Ramos-Silvestre, E. R.; Rivera-Díaz, J. C.; Muñoz-Carrillo, D.

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software. PMID:23997679

Ulysses orbit determination at high declinations

NASA Technical Reports Server (NTRS)

Mcelrath, Timothy P.; Lewis, George D.

1995-01-01

The trajectory of the Ulysses spacecraft caused its geocentric declination to exceed 60 deg South for over two months during the Fall of 1994, permitting continuous tracking from a single site. During this time, spacecraft operations constraints allowed only Doppler tracking data to be collected, and imposed a high radial acceleration uncertainty on the orbit determination process. The unusual aspects of this situation have motivated a re-examination of the Hamilton-Melbourne results, which have been used before to estimate the information content of Doppler tracking for trajectories closer to the ecliptic. The addition of an acceleration term to this equation is found to significantly increase the declination uncertainty for symmetric passes. In addition, a simple means is described to transform the symmetric results when the tracking pass is non-symmetric. The analytical results are then compared against numerical studies of this tracking geometry and found to be in good agreement for the angular uncertainties. The results of this analysis are applicable to the Near Earth Asteroid Rendezvous (NEAR) mission and to any other missions with high declination trajectories, as well as to missions using short tracking passes and/or one-way Doppler data.

Quadrotor trajectory tracking using PID cascade control

NASA Astrophysics Data System (ADS)

Idres, M.; Mustapha, O.; Okasha, M.

2017-12-01

Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.

Target tracking and surveillance by fusing stereo and RFID information

NASA Astrophysics Data System (ADS)

Raza, Rana H.; Stockman, George C.

2012-06-01

Ensuring security in high risk areas such as an airport is an important but complex problem. Effectively tracking personnel, containers, and machines is a crucial task. Moreover, security and safety require understanding the interaction of persons and objects. Computer vision (CV) has been a classic tool; however, variable lighting, imaging, and random occlusions present difficulties for real-time surveillance, resulting in erroneous object detection and trajectories. Determining object ID via CV at any instance of time in a crowded area is computationally prohibitive, yet the trajectories of personnel and objects should be known in real time. Radio Frequency Identification (RFID) can be used to reliably identify target objects and can even locate targets at coarse spatial resolution, while CV provides fuzzy features for target ID at finer resolution. Our research demonstrates benefits obtained when most objects are "cooperative" by being RFID tagged. Fusion provides a method to simplify the correspondence problem in 3D space. A surveillance system can query for unique object ID as well as tag ID information, such as target height, texture, shape and color, which can greatly enhance scene analysis. We extend geometry-based tracking so that intermittent information on ID and location can be used in determining a set of trajectories of N targets over T time steps. We show that partial-targetinformation obtained through RFID can reduce computation time (by 99.9% in some cases) and also increase the likelihood of producing correct trajectories. We conclude that real-time decision-making should be possible if the surveillance system can integrate information effectively between the sensor level and activity understanding level.

Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

NASA Astrophysics Data System (ADS)

Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

2014-07-01

Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.

Single particle tracking of internalized metallic nanoparticles reveals heterogeneous directed motion after clathrin dependent endocytosis in mouse chromaffin cells

NASA Astrophysics Data System (ADS)

Gabriel, Manuela; Moya-Díaz, José; Gallo, Luciana I.; Marengo, Fernando D.; Estrada, Laura C.

2018-01-01

Most accepted single particle tracking methods are able to obtain high-resolution trajectories for relatively short periods of time. In this work we apply a straightforward combination of single-particle tracking microscopy and metallic nanoparticles internalization on mouse chromaffin cells to unveil the intracellular trafficking mechanism of metallic-nanoparticle-loaded vesicles (MNP-V) complexes after clathrin dependent endocytosis. We found that directed transport is the major route of MNP-Vs intracellular trafficking after stimulation (92.6% of the trajectories measured). We then studied the MNP-V speed at each point along the trajectory, and found that the application of a second depolarization stimulus during the tracking provokes an increase in the percentage of low-speed trajectory points in parallel with a decrease in the number of high-speed trajectory points. This result suggests that stimulation may facilitate the compartmentalization of internalized MNPs in a more restricted location such as was already demonstrated in neuronal and neuroendocrine cells (Bronfman et al 2003 J. Neurosci. 23 3209-20). Although further experiments will be required to address the mechanisms underlying this transport dynamics, our studies provide quantitative evidence of the heterogeneous behavior of vesicles mobility after endocytosis in chromaffin cells highlighting the potential of MNPs as alternative labels in optical microscopy to provide new insights into the vesicles dynamics in a wide variety of cellular environments.

Tracking Debris Shed by a Space-Shuttle Launch Vehicle

NASA Technical Reports Server (NTRS)

Stuart, Phillip C.; Rogers, Stuart E.

2009-01-01

The DEBRIS software predicts the trajectories of debris particles shed by a space-shuttle launch vehicle during ascent, to aid in assessing potential harm to the space-shuttle orbiter and crew. The user specifies the location of release and other initial conditions for a debris particle. DEBRIS tracks the particle within an overset grid system by means of a computational fluid dynamics (CFD) simulation of the local flow field and a ballistic simulation that takes account of the mass of the particle and its aerodynamic properties in the flow field. The computed particle trajectory is stored in a file to be post-processed by other software for viewing and analyzing the trajectory. DEBRIS supplants a prior debris tracking code that took .15 minutes to calculate a single particle trajectory: DEBRIS can calculate 1,000 trajectories in .20 seconds on a desktop computer. Other improvements over the prior code include adaptive time-stepping to ensure accuracy, forcing at least one step per grid cell to ensure resolution of all CFD-resolved flow features, ability to simulate rebound of debris from surfaces, extensive error checking, a builtin suite of test cases, and dynamic allocation of memory.

Fuel-conservative guidance system for powered-lift aircraft

NASA Technical Reports Server (NTRS)

Erzberger, H.; Mclean, J. D.

1979-01-01

A concept for automatic terminal-area guidance, comprising two modes of operation, has been developed and evaluated in flight tests. In the first or predictive mode, fuel-efficient approach trajectories are synthesized in fast time. In the second or tracking mode, the synthesized trajectories are reconstructed and tracked automatically. An energy rate performance model derived from the lift, drag, and propulsion-system characteristics of the aircraft is used in the synthesis algorithm. The method optimizes the trajectory for the initial aircraft position and wind and temperature profiles encountered during each landing approach. The paper describes the design theory and discusses the results of simulations and flight tests using the Augmentor Wing Jet STOL Research Aircraft.

Trajectory Specification for Automation of Terminal Air Traffic Control

NASA Technical Reports Server (NTRS)

Paielli, Russell A.

2016-01-01

"Trajectory specification" is the explicit bounding and control of aircraft tra- jectories such that the position at each point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft nav- igation capabilities and the current traffic situation. A standard language will be developed to represent these specifications and to communicate them by datalink. Assuming conformance, trajectory specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) sys- tem or datalink failure, hence it can help to achieve the high level of safety and reliability needed for ATC automation. As a more proactive form of ATC, it can also maximize airspace capacity and reduce the reliance on tactical backup systems during normal operation. It applies to both enroute airspace and the terminal area around airports, but this paper focuses on arrival spacing in the terminal area and presents ATC algorithms and software for achieving a specified delay of runway arrival time.

A discrete time-varying internal model-based approach for high precision tracking of a multi-axis servo gantry.

PubMed

Zhang, Zhen; Yan, Peng; Jiang, Huan; Ye, Peiqing

2014-09-01

In this paper, we consider the discrete time-varying internal model-based control design for high precision tracking of complicated reference trajectories generated by time-varying systems. Based on a novel parallel time-varying internal model structure, asymptotic tracking conditions for the design of internal model units are developed, and a low order robust time-varying stabilizer is further synthesized. In a discrete time setting, the high precision tracking control architecture is deployed on a Voice Coil Motor (VCM) actuated servo gantry system, where numerical simulations and real time experimental results are provided, achieving the tracking errors around 3.5‰ for frequency-varying signals. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Miss-distance indicator for tank main gun systems

NASA Astrophysics Data System (ADS)

Bornstein, Jonathan A.; Hillis, David B.

1994-07-01

The initial development of a passive, automated system to track bullet trajectories near a target to determine the `miss distance,' and the corresponding correction necessary to bring the following round `on target' is discussed. The system consists of a visible wavelength CCD sensor, long focal length optics, and a separate IR sensor to detect the muzzle flash of the firing event; this is coupled to a `PC' based image processing and automatic tracking system designed to follow the projectile trajectory by intelligently comparing frame to frame variation of the projectile tracer image. An error analysis indicates that the device is particularly sensitive to variation of the projectile time of flight to the target, and requires development of algorithms to estimate this value from the 2D images employed by the sensor to monitor the projectile trajectory. Initial results obtained by using a brassboard prototype to track training ammunition are promising.

A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

PubMed Central

Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth; Suzuki, Ryusuke; Matsuura, Taeko; Toramatsu, Chie; Takao, Seishin; Nihongi, Hideaki; Shimizu, Shinichi; Umegaki, Kikuo; Shirato, Hiroki

2015-01-01

In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. PMID:25129556

A real-time dynamic-MLC control algorithm for delivering IMRT to targets undergoing 2D rigid motion in the beam's eye view.

PubMed

McMahon, Ryan; Berbeco, Ross; Nishioka, Seiko; Ishikawa, Masayori; Papiez, Lech

2008-09-01

An MLC control algorithm for delivering intensity modulated radiation therapy (IMRT) to targets that are undergoing two-dimensional (2D) rigid motion in the beam's eye view (BEV) is presented. The goal of this method is to deliver 3D-derived fluence maps over a moving patient anatomy. Target motion measured prior to delivery is first used to design a set of planned dynamic-MLC (DMLC) sliding-window leaf trajectories. During actual delivery, the algorithm relies on real-time feedback to compensate for target motion that does not agree with the motion measured during planning. The methodology is based on an existing one-dimensional (ID) algorithm that uses on-the-fly intensity calculations to appropriately adjust the DMLC leaf trajectories in real-time during exposure delivery [McMahon et al., Med. Phys. 34, 3211-3223 (2007)]. To extend the 1D algorithm's application to 2D target motion, a real-time leaf-pair shifting mechanism has been developed. Target motion that is orthogonal to leaf travel is tracked by appropriately shifting the positions of all MLC leaves. The performance of the tracking algorithm was tested for a single beam of a fractionated IMRT treatment, using a clinically derived intensity profile and a 2D target trajectory based on measured patient data. Comparisons were made between 2D tracking, 1D tracking, and no tracking. The impact of the tracking lag time and the frequency of real-time imaging were investigated. A study of the dependence of the algorithm's performance on the level of agreement between the motion measured during planning and delivery was also included. Results demonstrated that tracking both components of the 2D motion (i.e., parallel and orthogonal to leaf travel) results in delivered fluence profiles that are superior to those that track the component of motion that is parallel to leaf travel alone. Tracking lag time effects may lead to relatively large intensity delivery errors compared to the other sources of error investigated. However, the algorithm presented is robust in the sense that it does not rely on a high level of agreement between the target motion measured during treatment planning and delivery.

A miniature shoe-mounted orientation determination system for accurate indoor heading and trajectory tracking.

PubMed

Zhang, Shengzhi; Yu, Shuai; Liu, Chaojun; Liu, Sheng

2016-06-01

Tracking the position of pedestrian is urgently demanded when the most commonly used GPS (Global Position System) is unavailable. Benefited from the small size, low-power consumption, and relatively high reliability, micro-electro-mechanical system sensors are well suited for GPS-denied indoor pedestrian heading estimation. In this paper, a real-time miniature orientation determination system (MODS) was developed for indoor heading and trajectory tracking based on a novel dual-linear Kalman filter. The proposed filter precludes the impact of geomagnetic distortions on pitch and roll that the heading is subjected to. A robust calibration approach was designed to improve the accuracy of sensors measurements based on a unified sensor model. Online tests were performed on the MODS with an improved turntable. The results demonstrate that the average RMSE (root-mean-square error) of heading estimation is less than 1°. Indoor heading experiments were carried out with the MODS mounted on the shoe of pedestrian. Besides, we integrated the existing MODS into an indoor pedestrian dead reckoning application as an example of its utility in realistic actions. A human attitude-based walking model was developed to calculate the walking distance. Test results indicate that mean percentage error of indoor trajectory tracking achieves 2% of the total walking distance. This paper provides a feasible alternative for accurate indoor heading and trajectory tracking.

Bivariate Gaussian bridges: directional factorization of diffusion in Brownian bridge models.

PubMed

Kranstauber, Bart; Safi, Kamran; Bartumeus, Frederic

2014-01-01

In recent years high resolution animal tracking data has become the standard in movement ecology. The Brownian Bridge Movement Model (BBMM) is a widely adopted approach to describe animal space use from such high resolution tracks. One of the underlying assumptions of the BBMM is isotropic diffusive motion between consecutive locations, i.e. invariant with respect to the direction. Here we propose to relax this often unrealistic assumption by separating the Brownian motion variance into two directional components, one parallel and one orthogonal to the direction of the motion. Our new model, the Bivariate Gaussian bridge (BGB), tracks movement heterogeneity across time. Using the BGB and identifying directed and non-directed movement within a trajectory resulted in more accurate utilisation distributions compared to dynamic Brownian bridges, especially for trajectories with a non-isotropic diffusion, such as directed movement or Lévy like movements. We evaluated our model with simulated trajectories and observed tracks, demonstrating that the improvement of our model scales with the directional correlation of a correlated random walk. We find that many of the animal trajectories do not adhere to the assumptions of the BBMM. The proposed model improves accuracy when describing the space use both in simulated correlated random walks as well as observed animal tracks. Our novel approach is implemented and available within the "move" package for R.

An Experimental Approach to Determine the Flight Dynamics of NASA’s Mars Science Lab Capsule

DTIC Science & Technology

2014-01-01

simulated trajectories...........................................................................................10 Figure 13. Height vs . range from...Height vs . range from tracking radar. ...........................................................................24 Figure 31. Drift vs . range from...tracking radar. ..............................................................................24 vi Figure 32. In-bore axial acceleration vs . time

Robust Task Space Trajectory Tracking Control of Robotic Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2016-08-01

This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Beyond Group: Multiple Person Tracking via Minimal Topology-Energy-Variation.

PubMed

Gao, Shan; Ye, Qixiang; Xing, Junliang; Kuijper, Arjan; Han, Zhenjun; Jiao, Jianbin; Ji, Xiangyang

2017-12-01

Tracking multiple persons is a challenging task when persons move in groups and occlude each other. Existing group-based methods have extensively investigated how to make group division more accurately in a tracking-by-detection framework; however, few of them quantify the group dynamics from the perspective of targets' spatial topology or consider the group in a dynamic view. Inspired by the sociological properties of pedestrians, we propose a novel socio-topology model with a topology-energy function to factor the group dynamics of moving persons and groups. In this model, minimizing the topology-energy-variance in a two-level energy form is expected to produce smooth topology transitions, stable group tracking, and accurate target association. To search for the strong minimum in energy variation, we design the discrete group-tracklet jump moves embedded in the gradient descent method, which ensures that the moves reduce the energy variation of group and trajectory alternately in the varying topology dimension. Experimental results on both RGB and RGB-D data sets show the superiority of our proposed model for multiple person tracking in crowd scenes.

Real-time particle tracking for studying intracellular trafficking of pharmaceutical nanocarriers.

PubMed

Huang, Feiran; Watson, Erin; Dempsey, Christopher; Suh, Junghae

2013-01-01

Real-time particle tracking is a technique that combines fluorescence microscopy with object tracking and computing and can be used to extract quantitative transport parameters for small particles inside cells. Since the success of a nanocarrier can often be determined by how effectively it delivers cargo to the target organelle, understanding the complex intracellular transport of pharmaceutical nanocarriers is critical. Real-time particle tracking provides insight into the dynamics of the intracellular behavior of nanoparticles, which may lead to significant improvements in the design and development of novel delivery systems. Unfortunately, this technique is not often fully understood, limiting its implementation by researchers in the field of nanomedicine. In this chapter, one of the most complicated aspects of particle tracking, the mean square displacement (MSD) calculation, is explained in a simple manner designed for the novice particle tracker. Pseudo code for performing the MSD calculation in MATLAB is also provided. This chapter contains clear and comprehensive instructions for a series of basic procedures in the technique of particle tracking. Instructions for performing confocal microscopy of nanoparticle samples are provided, and two methods of determining particle trajectories that do not require commercial particle-tracking software are provided. Trajectory analysis and determination of the tracking resolution are also explained. By providing comprehensive instructions needed to perform particle-tracking experiments, this chapter will enable researchers to gain new insight into the intracellular dynamics of nanocarriers, potentially leading to the development of more effective and intelligent therapeutic delivery vectors.

Association between mild cognitive impairment and trajectory-based spatial parameters during timed up and go test using a laser range sensor.

PubMed

Nishiguchi, Shu; Yorozu, Ayanori; Adachi, Daiki; Takahashi, Masaki; Aoyama, Tomoki

2017-08-08

The Timed Up and Go (TUG) test may be a useful tool to detect not only mobility impairment but also possible cognitive impairment. In this cross-sectional study, we used the TUG test to investigate the associations between trajectory-based spatial parameters measured by laser range sensor (LRS) and cognitive impairment in community-dwelling older adults. The participants were 63 community-dwelling older adults (mean age, 73.0 ± 6.3 years). The trajectory-based spatial parameters during the TUG test were measured using an LRS. In each forward and backward phase, we calculated the minimum distance from the marker, the maximum distance from the x-axis (center line), the length of the trajectories, and the area of region surrounded by the trajectory of the center of gravity and the x-axis (center line). We measured mild cognitive impairment using the Mini-Mental State Examination score (26/27 was the cut-off score for defining mild cognitive impairment). Compared with participants with normal cognitive function, those with mild cognitive impairment exhibited the following trajectory-based spatial parameters: short minimum distance from the marker (p = 0.044), narrow area of center of gravity in the forward phase (p = 0.012), and a large forward/whole phase ratio of the area of the center of gravity (p = 0.026) during the TUG test. In multivariate logistic regression analyses, a short minimum distance from the marker (odds ratio [OR]: 0.82, 95% confidence interval [CI]: 0.69-0.98), narrow area of the center of gravity in the forward phase (OR: 0.01, 95% CI: 0.00-0.36), and large forward/whole phase ratio of the area of the center of gravity (OR: 0.94, 95% CI: 0.88-0.99) were independently associated with mild cognitive impairment. In conclusion, our results indicate that some of the trajectory-based spatial parameters measured by LRS during the TUG test were independently associated with cognitive impairment in older adults. In particular, older adults with cognitive impairment exhibit shorter minimum distances from the marker and asymmetrical trajectories during the TUG test.

Flyback CCM inverter for AC module applications: iterative learning control and convergence analysis

NASA Astrophysics Data System (ADS)

Lee, Sung-Ho; Kim, Minsung

2017-12-01

This paper presents an iterative learning controller (ILC) for an interleaved flyback inverter operating in continuous conduction mode (CCM). The flyback CCM inverter features small output ripple current, high efficiency, and low cost, and hence it is well suited for photovoltaic power applications. However, it exhibits the non-minimum phase behaviour, because its transfer function from control duty to output current has the right-half-plane (RHP) zero. Moreover, the flyback CCM inverter suffers from the time-varying grid voltage disturbance. Thus, conventional control scheme results in inaccurate output tracking. To overcome these problems, the ILC is first developed and applied to the flyback inverter operating in CCM. The ILC makes use of both predictive and current learning terms which help the system output to converge to the reference trajectory. We take into account the nonlinear averaged model and use it to construct the proposed controller. It is proven that the system output globally converges to the reference trajectory in the absence of state disturbances, output noises, or initial state errors. Numerical simulations are performed to validate the proposed control scheme, and experiments using 400-W AC module prototype are carried out to demonstrate its practical feasibility.

Trajectory planning and optimal tracking for an industrial mobile robot

NASA Astrophysics Data System (ADS)

Hu, Huosheng; Brady, J. Michael; Probert, Penelope J.

1994-02-01

This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints. We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics; and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems. The tracking performance of the proposed guidance system is analyzed by simulation.

Mars double-aeroflyby free returns

NASA Astrophysics Data System (ADS)

Jesick, Mark

2017-09-01

Mars double-flyby free-return trajectories that pass twice through the Martian atmosphere are documented. This class of trajectories is advantageous for potential Mars atmospheric sample return missions because of its low geocentric energy at departure and arrival, because it would enable two sample collections at unique locations during different Martian seasons, and because of its lack of deterministic maneuvers. Free return opportunities are documented over Earth departure dates ranging from 2015 through 2100, with viable missions available every Earth-Mars synodic period. After constraining the maximum lift-to-drag ratio to be less than one, the minimum observed Earth departure hyperbolic excess speed is 3.23 km/s, the minimum Earth atmospheric entry speed is 11.42 km/s, and the minimum round-trip flight time is 805 days. An algorithm using simplified dynamics is developed along with a method to derive an initial estimate for trajectories in a more realistic dynamic model. Multiple examples are presented, including free returns that pass outside and inside of Mars's appreciable atmosphere.

Accuracy of a Real-Time, Computerized, Binocular, Three-Dimensional Trajectory-Tracking Device for Recording Functional Mandibular Movements

PubMed Central

Zhao, Tian; Yang, Huifang; Sui, Huaxin; Salvi, Satyajeet Sudhir; Wang, Yong; Sun, Yuchun

2016-01-01

Objective Developments in digital technology have permitted researchers to study mandibular movements. Here, the accuracy of a real-time, computerized, binocular, three-dimensional (3D) trajectory-tracking device for recording functional mandibular movements was evaluated. Methods An occlusal splint without the occlusal region was created based on a plaster cast of the lower dentition. The splint was rigidly connected with a target on its labial side and seated on the cast. The cast was then rigidly attached to the stage of a high-precision triaxial electronic translator, which was used to move the target-cast-stage complex. Half-circular movements (5.00-mm radius) in three planes (XOY, XOZ, YOZ) and linear movements along the x-axis were performed at 5.00 mm/s. All trajectory points were recorded with the binocular 3D trajectory-tracking device and fitted to arcs or lines, respectively, with the Imageware software. To analyze the accuracy of the trajectory-tracking device, the mean distances between the trajectory points and the fitted arcs or lines were measured, and the mean differences between the lengths of the fitted arcs’ radii and a set value (5.00 mm) were then calculated. A one-way analysis of variance was used to evaluate the spatial consistency of the recording accuracy in three different planes. Results The mean distances between the trajectory points and fitted arcs or lines were 0.076 ± 0.033 mm or 0.089 ± 0.014 mm. The mean difference between the lengths of the fitted arcs’ radii and the set value (5.00 mm) was 0.025 ± 0.071 mm. A one-way ANOVA showed that the recording errors in three different planes were not statistically significant. Conclusion These results suggest that the device can record certain movements at 5.00 mm/s, which is similar to the speed of functional mandibular movements. In addition, the recordings had an error of <0.1 mm and good spatial consistency. Thus, the device meets some of the requirements necessary for recording human mandibular movements. PMID:27701462

Numerical simulation of microcarrier motion in a rotating wall vessel bioreactor.

PubMed

Ju, Zhi-Hao; Liu, Tian-Qing; Ma, Xue-Hu; Cui, Zhan-Feng

2006-06-01

To analyze the forces of rotational wall vessel (RWV) bioreactor on small tissue pieces or microcarrier particles and to determine the tracks of microcarrier particles in RWV bioreactor. The motion of the microcarrier in the rotating wall vessel (RWV) bioreactor with both the inner and outer cylinders rotating was modeled by numerical simulation. The continuous trajectory of microcarrier particles, including the possible collision with the wall was obtained. An expression between the minimum rotational speed difference of the inner and outer cylinders and the microcarrier particle or aggregate radius could avoid collisions with either wall. The range of microcarrier radius or tissue size, which could be safely cultured in the RWV bioreactor, in terms of shear stress level, was determined. The model works well in describing the trajectory of a heavier microcarrier particle in rotating wall vessel.

System Identification and Steering Control Characteristic of Rice Combine Harvester Model

NASA Astrophysics Data System (ADS)

Sutisna, S. P.; Setiawan, R. P. A.; Subrata, I. D. M.; Mandang, T.

2018-05-01

This study is a preliminary research of rice combine harvester trajectory. A vehicle model of rice combine used crawler with differential steering. Turning process of differential steering used speed difference of right and left tracks This study aims to learn of rice combine harvester steering control. In real condition, the hydraulic break on each track produced the speed difference. The model used two DC motors with maximum speed 100 rpm for each tracks. A rotary encoder with resolution 600 pulse/rotation was connected to each DC motors shaft to monitor the speed of tracks and connected to the input shaft of a gearbox with ratio 1:46. The motor speed control for each track used pulse width modulation to produce the speed difference. A gyroscope sensor with resolution 0.01° was used to determine the model orientation angle. Like the real rice combine, the tracks can not rotate to the opposite direction at the same time so it makes the model can not perform the pivot turn. The turn radius of the model was 28 cm and the forward maximum speed was 17.8 cm/s. The model trajectory control used PID odometry controller. Parameters input were the speed of each track and the orientation of the vehicle. The straight line test showed the controller can control the rice combine model trajectory with the average error 0.67 cm.

Evaluation of helmet-mounted display targeting symbology based on eye tracking technology

NASA Astrophysics Data System (ADS)

Wang, Lijing; Wen, Fuzhen; Ma, Caixin; Zhao, Shengchu; Liu, Xiaodong

2014-06-01

The purpose of this paper is to find the Target Locator Lines (TLLs) which perform best by contrasting and comparing experiment based on three kinds of TTLs of fighter HMD. 10 university students, male, with an average age of 21-23, corrected visual acuity 1.5, participated in the experiment. In the experiment, head movement data was obtained by TrackIR. The geometric relationship between the coordinates of the real world and coordinates of the visual display was obtained by calculating the distance from viewpoint to midpoint of both eyes and the head movement data. Virtual helmet system simulation experiment environment was created by drawing TLLs of fighter HMD in the flight simulator visual scene. In the experiment, eye tracker was used to record the time and saccade trajectory. The results were evaluated by the duration of the time and saccade trajectory. The results showed that the symbol"locator line with digital vector length indication" cost most time and had the longest length of the saccade trajectory. It is the most ineffective and most unacceptable way. "Locator line with extending head vector length symbol" cost less time and had less length of the saccade trajectory. It is effective and acceptable;"Locator line with reflected vector length symbol" cost the least time and had the least length of the saccade trajectory. It is the most effective and most acceptable way. "Locator line with reflected vector length symbol" performs best. The results will provide reference value for the research of TTLs in future.

Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Sugimoto, Takeaki; Tadakuma, Susumu

This paper describes a novel trajectory control scheme for power assisted wheelchair. Human input torque patterns are always intermittent in power assisted wheelchairs, therefore, the suitable trajectories must be generated also after the human decreases his/her input torque. This paper tries to solve this significant problem based on minimum jerk model minimizing the changing rate of acceleration. The proposed control system based on minimum jerk trajectory is expected to improve the ride quality, stability and safety. Some experiments show the effectiveness of the proposed method.

M-Track: A New Software for Automated Detection of Grooming Trajectories in Mice

PubMed Central

Zhang, Lin

2016-01-01

Grooming is a complex and robust innate behavior, commonly performed by most vertebrate species. In mice, grooming consists of a series of stereotyped patterned strokes, performed along the rostro-caudal axis of the body. The frequency and duration of each grooming episode is sensitive to changes in stress levels, social interactions and pharmacological manipulations, and is therefore used in behavioral studies to gain insights into the function of brain regions that control movement execution and anxiety. Traditional approaches to analyze grooming rely on manually scoring the time of onset and duration of each grooming episode, and are often performed on grooming episodes triggered by stress exposure, which may not be entirely representative of spontaneous grooming in freely-behaving mice. This type of analysis is time-consuming and provides limited information about finer aspects of grooming behaviors, which are important to understand movement stereotypy and bilateral coordination in mice. Currently available commercial and freeware video-tracking software allow automated tracking of the whole body of a mouse or of its head and tail, not of individual forepaws. Here we describe a simple experimental set-up and a novel open-source code, named M-Track, for simultaneously tracking the movement of individual forepaws during spontaneous grooming in multiple freely-behaving mice. This toolbox provides a simple platform to perform trajectory analysis of forepaw movement during distinct grooming episodes. By using M-track we show that, in C57BL/6 wild type mice, the speed and bilateral coordination of the left and right forepaws remain unaltered during the execution of distinct grooming episodes. Stress exposure induces a profound increase in the length of the forepaw grooming trajectories. M-Track provides a valuable and user-friendly interface to streamline the analysis of spontaneous grooming in biomedical research studies. PMID:27636358

Robust Target Tracking with Multi-Static Sensors under Insufficient TDOA Information.

PubMed

Shin, Hyunhak; Ku, Bonhwa; Nelson, Jill K; Ko, Hanseok

2018-05-08

This paper focuses on underwater target tracking based on a multi-static sonar network composed of passive sonobuoys and an active ping. In the multi-static sonar network, the location of the target can be estimated using TDOA (Time Difference of Arrival) measurements. However, since the sensor network may obtain insufficient and inaccurate TDOA measurements due to ambient noise and other harsh underwater conditions, target tracking performance can be significantly degraded. We propose a robust target tracking algorithm designed to operate in such a scenario. First, track management with track splitting is applied to reduce performance degradation caused by insufficient measurements. Second, a target location is estimated by a fusion of multiple TDOA measurements using a Gaussian Mixture Model (GMM). In addition, the target trajectory is refined by conducting a stack-based data association method based on multiple-frames measurements in order to more accurately estimate target trajectory. The effectiveness of the proposed method is verified through simulations.

Axial to transverse energy mixing dynamics in octupole-based magnetostatic antihydrogen traps

NASA Astrophysics Data System (ADS)

Zhong, M.; Fajans, J.; Zukor, A. F.

2018-05-01

The nature of the trajectories of antihydrogen atoms confined in an octupole minimum-B trap is of great importance for upcoming spectroscopy, cooling, and gravity experiments. Of particular interest is the mixing time between the axial and transverse energies for the antiatoms. Here, using computer simulations, we establish that almost all trajectories are chaotic, and then quantify the characteristic mixing time between the axial and transverse energies. We find that there are two classes of trajectories: for trajectories whose axial energy is higher than about 20% of the total energy, the axial energy substantially mixes within about 10 s, whereas for trajectories whose axial energy is lower than about 10% of the total energy, the axial energy remains nearly constant for 1000 s or longer.

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

NASA Astrophysics Data System (ADS)

Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

2017-08-01

This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

Neural network-based optimal adaptive output feedback control of a helicopter UAV.

PubMed

Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

2013-07-01

Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

Flight Evaluation of Center-TRACON Automation System Trajectory Prediction Process

NASA Technical Reports Server (NTRS)

Williams, David H.; Green, Steven M.

1998-01-01

Two flight experiments (Phase 1 in October 1992 and Phase 2 in September 1994) were conducted to evaluate the accuracy of the Center-TRACON Automation System (CTAS) trajectory prediction process. The Transport Systems Research Vehicle (TSRV) Boeing 737 based at Langley Research Center flew 57 arrival trajectories that included cruise and descent segments; at the same time, descent clearance advisories from CTAS were followed. Actual trajectories of the airplane were compared with the trajectories predicted by the CTAS trajectory synthesis algorithms and airplane Flight Management System (FMS). Trajectory prediction accuracy was evaluated over several levels of cockpit automation that ranged from a conventional cockpit to performance-based FMS vertical navigation (VNAV). Error sources and their magnitudes were identified and measured from the flight data. The major source of error during these tests was found to be the predicted winds aloft used by CTAS. The most significant effect related to flight guidance was the cross-track and turn-overshoot errors associated with conventional VOR guidance. FMS lateral navigation (LNAV) guidance significantly reduced both the cross-track and turn-overshoot error. Pilot procedures and VNAV guidance were found to significantly reduce the vertical profile errors associated with atmospheric and airplane performance model errors.

Inverse Proportional Relationship Between Switching-Time Length and Fractal-Like Structure for Continuous Tracking Movement

NASA Astrophysics Data System (ADS)

Hirakawa, Takehito; Suzuki, Hiroo; Gohara, Kazutoshi; Yamamoto, Yuji

We investigate the relationship between the switching-time length T and the fractal-like feature that characterizes the behavior of dissipative dynamical systems excited by external temporal inputs for tracking movement. Seven healthy right-handed male participants were asked to continuously track light-emitting diodes that were located on the right and left sides in front of them. These movements were performed under two conditions: when the same input pattern was repeated (the periodic-input condition) and when two different input patterns were switched stochastically (the switching-input condition). The repeated time lengths of input patterns during these conditions were 2.00, 1.00, 0.75, 0.50, 0.35, and 0.25s. The movements of a lever held between a participant’s thumb and index finger were measured by a motion-capture system and were analyzed with respect to position and velocity. The condition in which the same input was repeated revealed that two different stable trajectories existed in a cylindrical state space, while the condition in which the inputs were switched induced transitions between these two trajectories. These two different trajectories were considered as excited attractors. The transitions between the two excited attractors produced eight trajectories; they were then characterized by a fractal-like feature as a third-order sequence effect. Moreover, correlation dimensions, which are typically used to evaluate fractal-like features, calculated from the set on the Poincaré section increased as the switching-time length T decreased. These results suggest that an inverse proportional relationship exists between the switching-time length T and the fractal-like feature of human movement.

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

PubMed

Hu, Qinglei; Zhang, Jian

2015-01-01

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

Real-time physics-based 3D biped character animation using an inverted pendulum model.

PubMed

Tsai, Yao-Yang; Lin, Wen-Chieh; Cheng, Kuangyou B; Lee, Jehee; Lee, Tong-Yee

2010-01-01

We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.

A mathematical theory of learning control for linear discrete multivariable systems

NASA Technical Reports Server (NTRS)

Phan, Minh; Longman, Richard W.

1988-01-01

When tracking control systems are used in repetitive operations such as robots in various manufacturing processes, the controller will make the same errors repeatedly. Here consideration is given to learning controllers that look at the tracking errors in each repetition of the process and adjust the control to decrease these errors in the next repetition. A general formalism is developed for learning control of discrete-time (time-varying or time-invariant) linear multivariable systems. Methods of specifying a desired trajectory (such that the trajectory can actually be performed by the discrete system) are discussed, and learning controllers are developed. Stability criteria are obtained which are relatively easy to use to insure convergence of the learning process, and proper gain settings are discussed in light of measurement noise and system uncertainties.

Adaptive tracking for complex systems using reduced-order models

NASA Technical Reports Server (NTRS)

Carnigan, Craig R.

1990-01-01

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track a payload trajectory using a four-parameter model instead of the full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.

Adaptive tracking for complex systems using reduced-order models

NASA Technical Reports Server (NTRS)

Carignan, Craig R.

1990-01-01

Reduced-order models are considered in the context of parameter adaptive controllers for tracking workspace trajectories. A dual-arm manipulation task is used to illustrate the methodology and provide simulation results. A parameter adaptive controller is designed to track the desired position trajectory of a payload using a four-parameter model instead of a full-order, nine-parameter model. Several simulations with different payload-to-arm mass ratios are used to illustrate the capabilities of the reduced-order model in tracking the desired trajectory.

Detecting multiple moving objects in crowded environments with coherent motion regions

DOEpatents

Cheriyadat, Anil M.; Radke, Richard J.

2013-06-11

Coherent motion regions extend in time as well as space, enforcing consistency in detected objects over long time periods and making the algorithm robust to noisy or short point tracks. As a result of enforcing the constraint that selected coherent motion regions contain disjoint sets of tracks defined in a three-dimensional space including a time dimension. An algorithm operates directly on raw, unconditioned low-level feature point tracks, and minimizes a global measure of the coherent motion regions. At least one discrete moving object is identified in a time series of video images based on the trajectory similarity factors, which is a measure of a maximum distance between a pair of feature point tracks.

SU-G-BRA-17: Tracking Multiple Targets with Independent Motion in Real-Time Using a Multi-Leaf Collimator

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

Ge, Y; Keall, P; Poulsen, P

Purpose: Multiple targets with large intrafraction independent motion are often involved in advanced prostate, lung, abdominal, and head and neck cancer radiotherapy. Current standard of care treats these with the originally planned fields, jeopardizing the treatment outcomes. A real-time multi-leaf collimator (MLC) tracking method has been developed to address this problem for the first time. This study evaluates the geometric uncertainty of the multi-target tracking method. Methods: Four treatment scenarios are simulated based on a prostate IMAT plan to treat a moving prostate target and static pelvic node target: 1) real-time multi-target MLC tracking; 2) real-time prostate-only MLC tracking; 3)more » correcting for prostate interfraction motion at setup only; and 4) no motion correction. The geometric uncertainty of the treatment is assessed by the sum of the erroneously underexposed target area and overexposed healthy tissue areas for each individual target. Two patient-measured prostate trajectories of average 2 and 5 mm motion magnitude are used for simulations. Results: Real-time multi-target tracking accumulates the least uncertainty overall. As expected, it covers the static nodes similarly well as no motion correction treatment and covers the moving prostate similarly well as the real-time prostate-only tracking. Multi-target tracking reduces >90% of uncertainty for the static nodal target compared to the real-time prostate-only tracking or interfraction motion correction. For prostate target, depending on the motion trajectory which affects the uncertainty due to leaf-fitting, multi-target tracking may or may not perform better than correcting for interfraction prostate motion by shifting patient at setup, but it reduces ∼50% of uncertainty compared to no motion correction. Conclusion: The developed real-time multi-target MLC tracking can adapt for the independently moving targets better than other available treatment adaptations. This will enable PTV margin reduction to minimize health tissue toxicity while remain tumor coverage when treating advanced disease with independently moving targets involved. The authors acknowledge funding support from the Australian NHMRC Australia Fellowship and NHMRC Project Grant No. APP1042375.« less

Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity.

PubMed

Moreno-Valenzuela, Javier; González-Hernández, Luis

2011-01-01

In this paper, a new control algorithm for operational space trajectory tracking control of robot arms is introduced. The new algorithm does not require velocity measurement and is based on (1) a primary controller which incorporates an algorithm to obtain synthesized velocity from joint position measurements and (2) a secondary controller which computes the desired joint acceleration and velocity required to achieve operational space motion control. The theory of singularly perturbed systems is crucial for the analysis of the closed-loop system trajectories. In addition, the practical viability of the proposed algorithm is explored through real-time experiments in a two degrees-of-freedom horizontal planar direct-drive arm. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

On-Board Entry Trajectory Planning Expanded to Sub-orbital Flight

NASA Technical Reports Server (NTRS)

Lu, Ping; Shen, Zuojun

2003-01-01

A methodology for on-board planning of sub-orbital entry trajectories is developed. The algorithm is able to generate in a time frame consistent with on-board environment a three-degree-of-freedom (3DOF) feasible entry trajectory, given the boundary conditions and vehicle modeling. This trajectory is then tracked by feedback guidance laws which issue guidance commands. The current trajectory planning algorithm complements the recently developed method for on-board 3DOF entry trajectory generation for orbital missions, and provides full-envelope autonomous adaptive entry guidance capability. The algorithm is validated and verified by extensive high fidelity simulations using a sub-orbital reusable launch vehicle model and difficult mission scenarios including failures and aborts.

A high-order time-accurate interrogation method for time-resolved PIV

NASA Astrophysics Data System (ADS)

Lynch, Kyle; Scarano, Fulvio

2013-03-01

A novel method is introduced for increasing the accuracy and extending the dynamic range of time-resolved particle image velocimetry (PIV). The approach extends the concept of particle tracking velocimetry by multiple frames to the pattern tracking by cross-correlation analysis as employed in PIV. The working principle is based on tracking the patterned fluid element, within a chosen interrogation window, along its individual trajectory throughout an image sequence. In contrast to image-pair interrogation methods, the fluid trajectory correlation concept deals with variable velocity along curved trajectories and non-zero tangential acceleration during the observed time interval. As a result, the velocity magnitude and its direction are allowed to evolve in a nonlinear fashion along the fluid element trajectory. The continuum deformation (namely spatial derivatives of the velocity vector) is accounted for by adopting local image deformation. The principle offers important reductions of the measurement error based on three main points: by enlarging the temporal measurement interval, the relative error becomes reduced; secondly, the random and peak-locking errors are reduced by the use of least-squares polynomial fits to individual trajectories; finally, the introduction of high-order (nonlinear) fitting functions provides the basis for reducing the truncation error. Lastly, the instantaneous velocity is evaluated as the temporal derivative of the polynomial representation of the fluid parcel position in time. The principal features of this algorithm are compared with a single-pair iterative image deformation method. Synthetic image sequences are considered with steady flow (translation, shear and rotation) illustrating the increase of measurement precision. An experimental data set obtained by time-resolved PIV measurements of a circular jet is used to verify the robustness of the method on image sequences affected by camera noise and three-dimensional motions. In both cases, it is demonstrated that the measurement time interval can be significantly extended without compromising the correlation signal-to-noise ratio and with no increase of the truncation error. The increase of velocity dynamic range scales more than linearly with the number of frames included for the analysis, which supersedes by one order of magnitude the pair correlation by window deformation. The main factors influencing the performance of the method are discussed, namely the number of images composing the sequence and the polynomial order chosen to represent the motion throughout the trajectory.

Autonomous optimal trajectory design employing convex optimization for powered descent on an asteroid

NASA Astrophysics Data System (ADS)

Pinson, Robin Marie

Mission proposals that land spacecraft on asteroids are becoming increasingly popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site with pinpoint precision. The problem under investigation is how to design a propellant (fuel) optimal powered descent trajectory that can be quickly computed onboard the spacecraft, without interaction from ground control. The goal is to autonomously design the optimal powered descent trajectory onboard the spacecraft immediately prior to the descent burn for use during the burn. Compared to a planetary powered landing problem, the challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies, and low thrust vehicles. The nonlinear gravity fields cannot be represented by a constant gravity model nor a Newtonian model. The trajectory design algorithm needs to be robust and efficient to guarantee a designed trajectory and complete the calculations in a reasonable time frame. This research investigates the following questions: Can convex optimization be used to design the minimum propellant powered descent trajectory for a soft landing on an asteroid? Is this method robust and reliable to allow autonomy onboard the spacecraft without interaction from ground control? This research designed a convex optimization based method that rapidly generates the propellant optimal asteroid powered descent trajectory. The solution to the convex optimization problem is the thrust magnitude and direction, which designs and determines the trajectory. The propellant optimal problem was formulated as a second order cone program, a subset of convex optimization, through relaxation techniques by including a slack variable, change of variables, and incorporation of the successive solution method. Convex optimization solvers, especially second order cone programs, are robust, reliable, and are guaranteed to find the global minimum provided one exists. In addition, an outer optimization loop using Brent's method determines the optimal flight time corresponding to the minimum propellant usage over all flight times. Inclusion of additional trajectory constraints, solely vertical motion near the landing site and glide slope, were evaluated. Through a theoretical proof involving the Minimum Principle from Optimal Control Theory and the Karush-Kuhn-Tucker conditions it was shown that the relaxed problem is identical to the original problem at the minimum point. Therefore, the optimal solution of the relaxed problem is an optimal solution of the original problem, referred to as lossless convexification. A key finding is that this holds for all levels of gravity model fidelity. The designed thrust magnitude profiles were the bang-bang predicted by Optimal Control Theory. The first high fidelity gravity model employed was the 2x2 spherical harmonics model assuming a perfect triaxial ellipsoid and placement of the coordinate frame at the asteroid's center of mass and aligned with the semi-major axes. The spherical harmonics model is not valid inside the Brillouin sphere and this becomes relevant for irregularly shaped asteroids. Then, a higher fidelity model was implemented combining the 4x4 spherical harmonics gravity model with the interior spherical Bessel gravity model. All gravitational terms in the equations of motion are evaluated with the position vector from the previous iteration, creating the successive solution method. Methodology success was shown by applying the algorithm to three triaxial ellipsoidal asteroids with four different rotation speeds using the 2x2 gravity model. Finally, the algorithm was tested using the irregularly shaped asteroid, Castalia.

A time domain inverse dynamic method for the end point tracking control of a flexible manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo; Book, Wayne J.

1991-01-01

The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.

The Solar Stormwatch CME catalogue: Results from the first space weather citizen science project

NASA Astrophysics Data System (ADS)

Barnard, L.; Scott, C.; Owens, M.; Lockwood, M.; Tucker-Hood, K.; Thomas, S.; Crothers, S.; Davies, J. A.; Harrison, R.; Lintott, C.; Simpson, R.; O'Donnell, J.; Smith, A. M.; Waterson, N.; Bamford, S.; Romeo, F.; Kukula, M.; Owens, B.; Savani, N.; Wilkinson, J.; Baeten, E.; Poeffel, L.; Harder, B.

2014-12-01

Solar Stormwatch was the first space weather citizen science project, the aim of which is to identify and track coronal mass ejections (CMEs) observed by the Heliospheric Imagers aboard the STEREO satellites. The project has now been running for approximately 4 years, with input from >16,000 citizen scientists, resulting in a data set of >38,000time-elongation profiles of CME trajectories, observed over 18 preselected position angles. We present our method for reducing this data set into a CME catalogue. The resulting catalogue consists of 144 CMEs over the period January 2007 to February 2010, of which 110 were observed by STEREO-A and 77 were observed by STEREO-B. For each CME, the time-elongation profiles generated by the citizen scientists are averaged into a consensus profile along each position angle that the event was tracked. We consider this catalogue to be unique, being at present the only citizen science-generated CME catalogue, tracking CMEs over an elongation range of 4° out to a maximum of approximately 70°. Using single spacecraft fitting techniques, we estimate the speed, direction, solar source region, and latitudinal width of each CME. This shows that at present, the Solar Stormwatch catalogue (which covers only solar minimum years) contains almost exclusively slow CMEs, with a mean speed of approximately 350 km s-1. The full catalogue is available for public access at www.met.reading.ac.uk/~spate/solarstormwatch. This includes, for each event, the unprocessed time-elongation profiles generated by Solar Stormwatch, the consensus time-elongation profiles, and a set of summary plots, as well as the estimated CME properties.

Feedback tracking control for dynamic morphing of piezocomposite actuated flexible wings

NASA Astrophysics Data System (ADS)

Wang, Xiaoming; Zhou, Wenya; Wu, Zhigang

2018-03-01

Aerodynamic properties of flexible wings can be improved via shape morphing using piezocomposite materials. Dynamic shape control of flexible wings is investigated in this study by considering the interactions between structural dynamics, unsteady aerodynamics and piezo-actuations. A novel antisymmetric angle-ply bimorph configuration of piezocomposite actuators is presented to realize coupled bending-torsional shape control. The active aeroelastic model is derived using finite element method and Theodorsen unsteady aerodynamic loads. A time-varying linear quadratic Gaussian (LQG) tracking control system is designed to enhance aerodynamic lift with pre-defined trajectories. Proof-of-concept simulations of static and dynamic shape control are presented for a scaled high-aspect-ratio wing model. Vibrations of the wing and fluctuations in aerodynamic forces are caused by using the static voltages directly in dynamic shape control. The lift response has tracked the trajectories well with favorable dynamic morphing performance via feedback tracking control.

Direct model reference adaptive control of robotic arms

NASA Technical Reports Server (NTRS)

Kaufman, Howard; Swift, David C.; Cummings, Steven T.; Shankey, Jeffrey R.

1993-01-01

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Consensus seeking, formation keeping, and trajectory tracking in multiple vehicle cooperative control

NASA Astrophysics Data System (ADS)

Ren, Wei

Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control problems such as task assignment, cooperative transport, cooperative role assignment, air traffic control, cooperative timing, and cooperative search. The cooperative control of multiple vehicle systems poses significant theoretical and practical challenges. For cooperative control strategies to be successful, numerous issues must be addressed. We consider three important and correlated issues: consensus seeking, formation keeping, and trajectory tracking. For consensus seeking, we investigate algorithms and protocols so that a team of vehicles can reach consensus on the values of the coordination data in the presence of imperfect sensors, communication dropout, sparse communication topologies, and noisy and unreliable communication links. The main contribution of this dissertation in this area is that we show necessary and/or sufficient conditions for consensus seeking with limited, unidirectional, and unreliable information exchange under fixed and switching interaction topologies (through either communication or sensing). For formation keeping, we apply a so-called "virtual structure" approach to spacecraft formation flying and multi-vehicle formation maneuvers. As a result, single vehicle path planning and trajectory generation techniques can be employed for the virtual structure while trajectory tracking strategies can be employed for each vehicle. The main contribution of this dissertation in this area is that we propose a decentralized architecture for multiple spacecraft formation flying in deep space with formation feedback introduced. This architecture ensures the necessary precision in the presence of actuator saturation, internal and external disturbances, and stringent inter-vehicle communication limitations. A constructive approach based on the satisficing control paradigm is also applied to multi-robot coordination in hardware. For trajectory tracking, we investigate nonlinear tracking controllers for fixed wing unmanned air vehicles and nonholonomic mobile robots with velocity and heading rate constraints. The main contribution of this dissertation in this area is that our proposed tracking controllers are shown to be robust to input uncertainties and measurement noise, and are computationally simple and can be implemented with low-cost, low-power microcontrollers. In addition, our approach allows piecewise continuous reference velocity and heading rate and can be extended to derive a variety of other trajectory tracking strategies.

Effect of width and boundary conditions on meeting maneuvers on two-way separated cycle tracks.

PubMed

Garcia, Alfredo; Gomez, Fernando Agustin; Llorca, Carlos; Angel-Domenech, Antonio

2015-05-01

Cycle track design guidelines are rarely based on scientific studies. In the case of off-road two-way cycle tracks, a minimum width must facilitate both passing and meeting maneuvers, being meeting maneuvers the most frequent. This study developed a methodology to observe meeting maneuvers using an instrumented bicycle, equipped with video cameras, a GPS tracker, laser rangefinders and speed sensors. This bicycle collected data on six two-way cycle tracks ranging 1.3-2.15m width delimitated by different boundary conditions. The meeting maneuvers between the instrumented bicycle and every oncoming bicycle were characterized by the meeting clearance between the two bicycles, the speed of opposing bicycle and the reaction of the opposing rider: change in trajectory, stop pedaling or braking. The results showed that meeting clearance increased with the cycle track width and decreased if the cycle track had lateral obstacles, especially if they were higher than the bicycle handlebar. The speed of opposing bicycle shown the same tendency, although were more disperse. Opposing cyclists performed more reaction maneuvers on narrower cycle tracks and on cycle tracks with lateral obstacles to the handlebar height. Conclusions suggested avoiding cycle tracks narrower than 1.6m, as they present lower meeting clearances, lower bicycle speeds and frequent reaction maneuvers. Copyright © 2015 Elsevier Ltd. All rights reserved.

Trajectory Reconstruction and Uncertainty Analysis Using Mars Science Laboratory Pre-Flight Scale Model Aeroballistic Testing

NASA Technical Reports Server (NTRS)

Lugo, Rafael A.; Tolson, Robert H.; Schoenenberger, Mark

2013-01-01

As part of the Mars Science Laboratory (MSL) trajectory reconstruction effort at NASA Langley Research Center, free-flight aeroballistic experiments of instrumented MSL scale models was conducted at Aberdeen Proving Ground in Maryland. The models carried an inertial measurement unit (IMU) and a flush air data system (FADS) similar to the MSL Entry Atmospheric Data System (MEADS) that provided data types similar to those from the MSL entry. Multiple sources of redundant data were available, including tracking radar and on-board magnetometers. These experimental data enabled the testing and validation of the various tools and methodologies that will be used for MSL trajectory reconstruction. The aerodynamic parameters Mach number, angle of attack, and sideslip angle were estimated using minimum variance with a priori to combine the pressure data and pre-flight computational fluid dynamics (CFD) data. Both linear and non-linear pressure model terms were also estimated for each pressure transducer as a measure of the errors introduced by CFD and transducer calibration. Parameter uncertainties were estimated using a "consider parameters" approach.

Grouping and trajectory storage in multiple object tracking: impairments due to common item motions.

PubMed

Suganuma, Mutsumi; Yokosawa, Kazuhiko

2006-01-01

In our natural viewing, we notice that objects change their locations across space and time. However, there has been relatively little consideration of the role of motion information in the construction and maintenance of object representations. We investigated this question in the context of the multiple object tracking (MOT) paradigm, wherein observers must keep track of target objects as they move randomly amid featurally identical distractors. In three experiments, we observed impairments in tracking ability when the motions of the target and distractor items shared particular properties. Specifically, we observed impairments when the target and distractor items were in a chasing relationship or moved in a uniform direction. Surprisingly, tracking ability was impaired by these manipulations even when observers failed to notice them. Our results suggest that differentiable trajectory information is an important factor in successful performance of MOT tasks. More generally, these results suggest that various types of common motion can serve as cues to form more global object representations even in the absence of other grouping cues.

Reconstruction of the geometry of volcanic vents by trajectory tracking of fast ejecta - the case of the Eyjafjallajökull 2010 eruption (Iceland)

NASA Astrophysics Data System (ADS)

Dürig, Tobias; Gudmundsson, Magnus T.; Dellino, Pierfrancesco

2015-05-01

Two methods are introduced to estimate the depth of origin of ejecta trajectories (depth to magma level in conduit) and the diameter of a conduit in an erupting crater, using analysis of videos from the Eyjafjallajökull 2010 eruption to evaluate their applicability. Both methods rely on the identification of straight, initial trajectories of fast ejecta, observed near the crater rims before they are appreciably bent by air drag and gravity. In the first method, through tracking these straight trajectories and identifying a cut-off angle, the inner diameter and the depth level of the vent can be constrained. In the second method, the intersection point of straight trajectories from individual pulses is used to determine the maximum possible depth from which the tracked ejecta originated and the width of the region from which the pulses emanated. The two methods give nearly identical results on the depth to magma level in the crater of Eyjafjallajökull on 8 to 10 May of 51 ± 7 m. The inner vent diameter, at the level of origin of the pulses and ejecta, is found to have been 8 to 15 m. These methods open up the possibility to feed (near) real-time monitoring systems with otherwise inaccessible information about vent geometry during an ongoing eruption and help defining important eruption source parameters.

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.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

Performance evaluation of the inverse dynamics method for optimal spacecraft reorientation

NASA Astrophysics Data System (ADS)

Ventura, Jacopo; Romano, Marcello; Walter, Ulrich

2015-05-01

This paper investigates the application of the inverse dynamics in the virtual domain method to Euler angles, quaternions, and modified Rodrigues parameters for rapid optimal attitude trajectory generation for spacecraft reorientation maneuvers. The impact of the virtual domain and attitude representation is numerically investigated for both minimum time and minimum energy problems. Owing to the nature of the inverse dynamics method, it yields sub-optimal solutions for minimum time problems. Furthermore, the virtual domain improves the optimality of the solution, but at the cost of more computational time. The attitude representation also affects solution quality and computational speed. For minimum energy problems, the optimal solution can be obtained without the virtual domain with any considered attitude representation.

2011 Mars Science Laboratory Trajectory Reconstruction and Performance from Launch Through Landing

NASA Technical Reports Server (NTRS)

Abilleira, Fernando

2013-01-01

The Mars Science Laboratory (MSL) mission successfully launched on an Atlas V 541 Expendable Evolved Launch Vehicle (EELV) from the Eastern Test Range (ETR) at Cape Canaveral Air Force Station (CCAFS) in Florida at 15:02:00 UTC on November 26th, 2011. At 15:52:06 UTC, six minutes after the MSL spacecraft separated from the Centaur upper stage, the spacecraft transmitter was turned on and in less than 20 s spacecraft carrier lock was achieved at the Universal Space Network (USN) Dongara tracking station located in Western Australia. MSL, carrying the most sophisticated rover ever sent to Mars, entered the Martian atmosphere at 05:10:46 SpaceCraft Event Time (SCET) UTC, and landed inside Gale Crater at 05:17:57 SCET UTC on August 6th, 2012. Confirmation of nominal landing was received at the Deep Space Network (DSN) Canberra tracking station via the Mars Odyssey relay spacecraft at 05:31:45 Earth Received Time (ERT) UTC. This paper summarizes in detail the actual vs. predicted trajectory performance in terms of launch vehicle events, launch vehicle injection performance, actual DSN/USN spacecraft lockup, trajectory correction maneuver performance, Entry, Descent, and Landing events, and overall trajectory and geometry characteristics.

Simulation evaluation of a low-altitude helicopter flight guidance system adapted for a helmet-mounted display

NASA Technical Reports Server (NTRS)

Swenson, Harry N.; Zelenka, Richard E.; Hardy, Gordon H.; Dearing, Munro G.

1992-01-01

A computer aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generation algorithm based upon dynamic programming and a helmet-mounted display (HMD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor guidance symbology. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission way points that seeks valleys to minimize threat exposure. The pilot evaluation was conducted at NASA ARC moving base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, the Air Force, and the helicopter industry. The pilots manually tracked the trajectory generated by the algorithm utilizing the HMD symbology. The pilots were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world.

Computer aiding for low-altitude helicopter flight

NASA Technical Reports Server (NTRS)

Swenson, Harry N.

1991-01-01

A computer-aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generated algorithm based on dynamic programming, and a head-up display (HUD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor symbol. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission waypoints that minimizes threat exposure by seeking valleys. The pilot evaluation was conducted at NASA Ames Research Center's Sim Lab facility in both the fixed-base Interchangeable Cab (ICAB) simulator and the moving-base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, and the U.S. Air Force. The pilots manually tracked the trajectory generated by the algorithm utilizing the HUD symbology. They were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world.

Revealing nonergodic dynamics in living cells from a single particle trajectory

NASA Astrophysics Data System (ADS)

Lanoiselée, Yann; Grebenkov, Denis S.

2016-05-01

We propose the improved ergodicity and mixing estimators to identify nonergodic dynamics from a single particle trajectory. The estimators are based on the time-averaged characteristic function of the increments and can thus capture additional information on the process as compared to the conventional time-averaged mean-square displacement. The estimators are first investigated and validated for several models of anomalous diffusion, such as ergodic fractional Brownian motion and diffusion on percolating clusters, and nonergodic continuous-time random walks and scaled Brownian motion. The estimators are then applied to two sets of earlier published trajectories of mRNA molecules inside live Escherichia coli cells and of Kv2.1 potassium channels in the plasma membrane. These statistical tests did not reveal nonergodic features in the former set, while some trajectories of the latter set could be classified as nonergodic. Time averages along such trajectories are thus not representative and may be strongly misleading. Since the estimators do not rely on ensemble averages, the nonergodic features can be revealed separately for each trajectory, providing a more flexible and reliable analysis of single-particle tracking experiments in microbiology.

Optimizing Mars Airplane Trajectory with the Application Navigation System

NASA Technical Reports Server (NTRS)

Frumkin, Michael; Riley, Derek

2004-01-01

Planning complex missions requires a number of programs to be executed in concert. The Application Navigation System (ANS), developed in the NAS Division, can execute many interdependent programs in a distributed environment. We show that the ANS simplifies user effort and reduces time in optimization of the trajectory of a martian airplane. We use a software package, Cart3D, to evaluate trajectories and a shortest path algorithm to determine the optimal trajectory. ANS employs the GridScape to represent the dynamic state of the available computer resources. Then, ANS uses a scheduler to dynamically assign ready task to machine resources and the GridScape for tracking available resources and forecasting completion time of running tasks. We demonstrate system capability to schedule and run the trajectory optimization application with efficiency exceeding 60% on 64 processors.

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

PubMed

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

2015-11-01

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

OPTIMAL AIRCRAFT TRAJECTORIES FOR SPECIFIED RANGE

NASA Technical Reports Server (NTRS)

Lee, H.

1994-01-01

For an aircraft operating over a fixed range, the operating costs are basically a sum of fuel cost and time cost. While minimum fuel and minimum time trajectories are relatively easy to calculate, the determination of a minimum cost trajectory can be a complex undertaking. This computer program was developed to optimize trajectories with respect to a cost function based on a weighted sum of fuel cost and time cost. As a research tool, the program could be used to study various characteristics of optimum trajectories and their comparison to standard trajectories. It might also be used to generate a model for the development of an airborne trajectory optimization system. The program could be incorporated into an airline flight planning system, with optimum flight plans determined at takeoff time for the prevailing flight conditions. The use of trajectory optimization could significantly reduce the cost for a given aircraft mission. The algorithm incorporated in the program assumes that a trajectory consists of climb, cruise, and descent segments. The optimization of each segment is not done independently, as in classical procedures, but is performed in a manner which accounts for interaction between the segments. This is accomplished by the application of optimal control theory. The climb and descent profiles are generated by integrating a set of kinematic and dynamic equations, where the total energy of the aircraft is the independent variable. At each energy level of the climb and descent profiles, the air speed and power setting necessary for an optimal trajectory are determined. The variational Hamiltonian of the problem consists of the rate of change of cost with respect to total energy and a term dependent on the adjoint variable, which is identical to the optimum cruise cost at a specified altitude. This variable uniquely specifies the optimal cruise energy, cruise altitude, cruise Mach number, and, indirectly, the climb and descent profiles. If the optimum cruise cost is specified, an optimum trajectory can easily be generated; however, the range obtained for a particular optimum cruise cost is not known a priori. For short range flights, the program iteratively varies the optimum cruise cost until the computed range converges to the specified range. For long-range flights, iteration is unnecessary since the specified range can be divided into a cruise segment distance and full climb and descent distances. The user must supply the program with engine fuel flow rate coefficients and an aircraft aerodynamic model. The program currently includes coefficients for the Pratt-Whitney JT8D-7 engine and an aerodynamic model for the Boeing 727. Input to the program consists of the flight range to be covered and the prevailing flight conditions including pressure, temperature, and wind profiles. Information output by the program includes: optimum cruise tables at selected weights, optimal cruise quantities as a function of cruise weight and cruise distance, climb and descent profiles, and a summary of the complete synthesized optimal trajectory. This program is written in FORTRAN IV for batch execution and has been implemented on a CDC 6000 series computer with a central memory requirement of approximately 100K (octal) of 60 bit words. This aircraft trajectory optimization program was developed in 1979.

Zebrafish tracking using convolutional neural networks.

PubMed

Xu, Zhiping; Cheng, Xi En

2017-02-17

Keeping identity for a long term after occlusion is still an open problem in the video tracking of zebrafish-like model animals, and accurate animal trajectories are the foundation of behaviour analysis. We utilize the highly accurate object recognition capability of a convolutional neural network (CNN) to distinguish fish of the same congener, even though these animals are indistinguishable to the human eye. We used data augmentation and an iterative CNN training method to optimize the accuracy for our classification task, achieving surprisingly accurate trajectories of zebrafish of different size and age zebrafish groups over different time spans. This work will make further behaviour analysis more reliable.

Zebrafish tracking using convolutional neural networks

NASA Astrophysics Data System (ADS)

Xu, Zhiping; Cheng, Xi En

2017-02-01

Keeping identity for a long term after occlusion is still an open problem in the video tracking of zebrafish-like model animals, and accurate animal trajectories are the foundation of behaviour analysis. We utilize the highly accurate object recognition capability of a convolutional neural network (CNN) to distinguish fish of the same congener, even though these animals are indistinguishable to the human eye. We used data augmentation and an iterative CNN training method to optimize the accuracy for our classification task, achieving surprisingly accurate trajectories of zebrafish of different size and age zebrafish groups over different time spans. This work will make further behaviour analysis more reliable.

Observing single quantum trajectories of a superconducting quantum bit

NASA Astrophysics Data System (ADS)

Murch, K. W.; Weber, S. J.; Macklin, C.; Siddiqi, I.

2013-10-01

The length of time that a quantum system can exist in a superposition state is determined by how strongly it interacts with its environment. This interaction entangles the quantum state with the inherent fluctuations of the environment. If these fluctuations are not measured, the environment can be viewed as a source of noise, causing random evolution of the quantum system from an initially pure state into a statistical mixture--a process known as decoherence. However, by accurately measuring the environment in real time, the quantum system can be maintained in a pure state and its time evolution described by a `quantum trajectory' determined by the measurement outcome. Here we use weak measurements to monitor a microwave cavity containing a superconducting quantum bit (qubit), and track the individual quantum trajectories of the system. In this set-up, the environment is dominated by the fluctuations of a single electromagnetic mode of the cavity. Using a near-quantum-limited parametric amplifier, we selectively measure either the phase or the amplitude of the cavity field, and thereby confine trajectories to either the equator or a meridian of the Bloch sphere. We perform quantum state tomography at discrete times along the trajectory to verify that we have faithfully tracked the state of the quantum system as it diffuses on the surface of the Bloch sphere. Our results demonstrate that decoherence can be mitigated by environmental monitoring, and validate the foundation of quantum feedback approaches based on Bayesian statistics. Moreover, our experiments suggest a new means of implementing `quantum steering'--the harnessing of action at a distance to manipulate quantum states through measurement.

Observing single quantum trajectories of a superconducting quantum bit.

PubMed

Murch, K W; Weber, S J; Macklin, C; Siddiqi, I

2013-10-10

The length of time that a quantum system can exist in a superposition state is determined by how strongly it interacts with its environment. This interaction entangles the quantum state with the inherent fluctuations of the environment. If these fluctuations are not measured, the environment can be viewed as a source of noise, causing random evolution of the quantum system from an initially pure state into a statistical mixture--a process known as decoherence. However, by accurately measuring the environment in real time, the quantum system can be maintained in a pure state and its time evolution described by a 'quantum trajectory' determined by the measurement outcome. Here we use weak measurements to monitor a microwave cavity containing a superconducting quantum bit (qubit), and track the individual quantum trajectories of the system. In this set-up, the environment is dominated by the fluctuations of a single electromagnetic mode of the cavity. Using a near-quantum-limited parametric amplifier, we selectively measure either the phase or the amplitude of the cavity field, and thereby confine trajectories to either the equator or a meridian of the Bloch sphere. We perform quantum state tomography at discrete times along the trajectory to verify that we have faithfully tracked the state of the quantum system as it diffuses on the surface of the Bloch sphere. Our results demonstrate that decoherence can be mitigated by environmental monitoring, and validate the foundation of quantum feedback approaches based on Bayesian statistics. Moreover, our experiments suggest a new means of implementing 'quantum steering'--the harnessing of action at a distance to manipulate quantum states through measurement.

Evaluation of an active magnetic resonance tracking system for interstitial brachytherapy.

PubMed

Wang, Wei; Viswanathan, Akila N; Damato, Antonio L; Chen, Yue; Tse, Zion; Pan, Li; Tokuda, Junichi; Seethamraju, Ravi T; Dumoulin, Charles L; Schmidt, Ehud J; Cormack, Robert A

2015-12-01

In gynecologic cancers, magnetic resonance (MR) imaging is the modality of choice for visualizing tumors and their surroundings because of superior soft-tissue contrast. Real-time MR guidance of catheter placement in interstitial brachytherapy facilitates target coverage, and would be further improved by providing intraprocedural estimates of dosimetric coverage. A major obstacle to intraprocedural dosimetry is the time needed for catheter trajectory reconstruction. Herein the authors evaluate an active MR tracking (MRTR) system which provides rapid catheter tip localization and trajectory reconstruction. The authors assess the reliability and spatial accuracy of the MRTR system in comparison to standard catheter digitization using magnetic resonance imaging (MRI) and CT. The MRTR system includes a stylet with microcoils mounted on its shaft, which can be inserted into brachytherapy catheters and tracked by a dedicated MRTR sequence. Catheter tip localization errors of the MRTR system and their dependence on catheter locations and orientation inside the MR scanner were quantified with a water phantom. The distances between the tracked tip positions of the MRTR stylet and the predefined ground-truth tip positions were calculated for measurements performed at seven locations and with nine orientations. To evaluate catheter trajectory reconstruction, fifteen brachytherapy catheters were placed into a gel phantom with an embedded catheter fixation framework, with parallel or crossed paths. The MRTR stylet was then inserted sequentially into each catheter. During the removal of the MRTR stylet from within each catheter, a MRTR measurement was performed at 40 Hz to acquire the instantaneous stylet tip position, resulting in a series of three-dimensional (3D) positions along the catheter's trajectory. A 3D polynomial curve was fit to the tracked positions for each catheter, and equally spaced dwell points were then generated along the curve. High-resolution 3D MRI of the phantom was performed followed by catheter digitization based on the catheter's imaging artifacts. The catheter trajectory error was characterized in terms of the mean distance between corresponding dwell points in MRTR-generated catheter trajectory and MRI-based catheter digitization. The MRTR-based catheter trajectory reconstruction process was also performed on three gynecologic cancer patients, and then compared with catheter digitization based on MRI and CT. The catheter tip localization error increased as the MRTR stylet moved further off-center and as the stylet's orientation deviated from the main magnetic field direction. Fifteen catheters' trajectories were reconstructed by MRTR. Compared with MRI-based digitization, the mean 3D error of MRTR-generated trajectories was 1.5 ± 0.5 mm with an in-plane error of 0.7 ± 0.2 mm and a tip error of 1.7 ± 0.5 mm. MRTR resolved ambiguity in catheter assignment due to crossed catheter paths, which is a common problem in image-based catheter digitization. In the patient studies, the MRTR-generated catheter trajectory was consistent with digitization based on both MRI and CT. The MRTR system provides accurate catheter tip localization and trajectory reconstruction in the MR environment. Relative to the image-based methods, it improves the speed, safety, and reliability of the catheter trajectory reconstruction in interstitial brachytherapy. MRTR may enable in-procedural dosimetric evaluation of implant target coverage.

Evaluation of an active magnetic resonance tracking system for interstitial brachytherapy

PubMed Central

Wang, Wei; Viswanathan, Akila N.; Damato, Antonio L.; Chen, Yue; Tse, Zion; Pan, Li; Tokuda, Junichi; Seethamraju, Ravi T.; Dumoulin, Charles L.; Schmidt, Ehud J.; Cormack, Robert A.

2015-01-01

Purpose: In gynecologic cancers, magnetic resonance (MR) imaging is the modality of choice for visualizing tumors and their surroundings because of superior soft-tissue contrast. Real-time MR guidance of catheter placement in interstitial brachytherapy facilitates target coverage, and would be further improved by providing intraprocedural estimates of dosimetric coverage. A major obstacle to intraprocedural dosimetry is the time needed for catheter trajectory reconstruction. Herein the authors evaluate an active MR tracking (MRTR) system which provides rapid catheter tip localization and trajectory reconstruction. The authors assess the reliability and spatial accuracy of the MRTR system in comparison to standard catheter digitization using magnetic resonance imaging (MRI) and CT. Methods: The MRTR system includes a stylet with microcoils mounted on its shaft, which can be inserted into brachytherapy catheters and tracked by a dedicated MRTR sequence. Catheter tip localization errors of the MRTR system and their dependence on catheter locations and orientation inside the MR scanner were quantified with a water phantom. The distances between the tracked tip positions of the MRTR stylet and the predefined ground-truth tip positions were calculated for measurements performed at seven locations and with nine orientations. To evaluate catheter trajectory reconstruction, fifteen brachytherapy catheters were placed into a gel phantom with an embedded catheter fixation framework, with parallel or crossed paths. The MRTR stylet was then inserted sequentially into each catheter. During the removal of the MRTR stylet from within each catheter, a MRTR measurement was performed at 40 Hz to acquire the instantaneous stylet tip position, resulting in a series of three-dimensional (3D) positions along the catheter’s trajectory. A 3D polynomial curve was fit to the tracked positions for each catheter, and equally spaced dwell points were then generated along the curve. High-resolution 3D MRI of the phantom was performed followed by catheter digitization based on the catheter’s imaging artifacts. The catheter trajectory error was characterized in terms of the mean distance between corresponding dwell points in MRTR-generated catheter trajectory and MRI-based catheter digitization. The MRTR-based catheter trajectory reconstruction process was also performed on three gynecologic cancer patients, and then compared with catheter digitization based on MRI and CT. Results: The catheter tip localization error increased as the MRTR stylet moved further off-center and as the stylet’s orientation deviated from the main magnetic field direction. Fifteen catheters’ trajectories were reconstructed by MRTR. Compared with MRI-based digitization, the mean 3D error of MRTR-generated trajectories was 1.5 ± 0.5 mm with an in-plane error of 0.7 ± 0.2 mm and a tip error of 1.7 ± 0.5 mm. MRTR resolved ambiguity in catheter assignment due to crossed catheter paths, which is a common problem in image-based catheter digitization. In the patient studies, the MRTR-generated catheter trajectory was consistent with digitization based on both MRI and CT. Conclusions: The MRTR system provides accurate catheter tip localization and trajectory reconstruction in the MR environment. Relative to the image-based methods, it improves the speed, safety, and reliability of the catheter trajectory reconstruction in interstitial brachytherapy. MRTR may enable in-procedural dosimetric evaluation of implant target coverage. PMID:26632065

Evaluation of an active magnetic resonance tracking system for interstitial brachytherapy

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

Wang, Wei, E-mail: wwang21@partners.org; Viswanathan, Akila N.; Damato, Antonio L.

2015-12-15

Purpose: In gynecologic cancers, magnetic resonance (MR) imaging is the modality of choice for visualizing tumors and their surroundings because of superior soft-tissue contrast. Real-time MR guidance of catheter placement in interstitial brachytherapy facilitates target coverage, and would be further improved by providing intraprocedural estimates of dosimetric coverage. A major obstacle to intraprocedural dosimetry is the time needed for catheter trajectory reconstruction. Herein the authors evaluate an active MR tracking (MRTR) system which provides rapid catheter tip localization and trajectory reconstruction. The authors assess the reliability and spatial accuracy of the MRTR system in comparison to standard catheter digitization usingmore » magnetic resonance imaging (MRI) and CT. Methods: The MRTR system includes a stylet with microcoils mounted on its shaft, which can be inserted into brachytherapy catheters and tracked by a dedicated MRTR sequence. Catheter tip localization errors of the MRTR system and their dependence on catheter locations and orientation inside the MR scanner were quantified with a water phantom. The distances between the tracked tip positions of the MRTR stylet and the predefined ground-truth tip positions were calculated for measurements performed at seven locations and with nine orientations. To evaluate catheter trajectory reconstruction, fifteen brachytherapy catheters were placed into a gel phantom with an embedded catheter fixation framework, with parallel or crossed paths. The MRTR stylet was then inserted sequentially into each catheter. During the removal of the MRTR stylet from within each catheter, a MRTR measurement was performed at 40 Hz to acquire the instantaneous stylet tip position, resulting in a series of three-dimensional (3D) positions along the catheter’s trajectory. A 3D polynomial curve was fit to the tracked positions for each catheter, and equally spaced dwell points were then generated along the curve. High-resolution 3D MRI of the phantom was performed followed by catheter digitization based on the catheter’s imaging artifacts. The catheter trajectory error was characterized in terms of the mean distance between corresponding dwell points in MRTR-generated catheter trajectory and MRI-based catheter digitization. The MRTR-based catheter trajectory reconstruction process was also performed on three gynecologic cancer patients, and then compared with catheter digitization based on MRI and CT. Results: The catheter tip localization error increased as the MRTR stylet moved further off-center and as the stylet’s orientation deviated from the main magnetic field direction. Fifteen catheters’ trajectories were reconstructed by MRTR. Compared with MRI-based digitization, the mean 3D error of MRTR-generated trajectories was 1.5 ± 0.5 mm with an in-plane error of 0.7 ± 0.2 mm and a tip error of 1.7 ± 0.5 mm. MRTR resolved ambiguity in catheter assignment due to crossed catheter paths, which is a common problem in image-based catheter digitization. In the patient studies, the MRTR-generated catheter trajectory was consistent with digitization based on both MRI and CT. Conclusions: The MRTR system provides accurate catheter tip localization and trajectory reconstruction in the MR environment. Relative to the image-based methods, it improves the speed, safety, and reliability of the catheter trajectory reconstruction in interstitial brachytherapy. MRTR may enable in-procedural dosimetric evaluation of implant target coverage.« less

Trajectory of social isolation following hip fracture: an analysis of the English Longitudinal Study of Ageing (ELSA) cohort.

PubMed

Smith, Toby O; Dainty, Jack R; MacGregor, Alex

2018-01-01

social isolation is defined as a lack of meaningful and sustained communication or interactions with social networks. There is limited understanding on the prevalence of social isolation and loneliness in people following hip fracture and no previous understanding of how this changes over time. to determine the prevalence and trajectory of social isolation and loneliness before a hip fracture, during the recovery phase and a minimum of 2 years post-hip fracture in an English population. data were from the English Longitudinal Study of Ageing (ELSA) cohort (2004/5-2014/15). The sample comprised of 215 participants who had sustained a hip fracture. Measures of social isolation and loneliness were analysed through multilevel modelling to determine their trajectories during three-time intervals (pre-fracture; interval at hip fracture and recovery; minimum 2 years post-fracture). The prevalence of social isolation and loneliness were determined pre- and post-fracture. prevalence of social isolation was 19% post-hip fracture and loneliness 13% post-hip fracture. There was no statistically significant change in social isolation pre-fracture compared to a minimum of 2 years post-fracture (P = 0.78). Similarly, there was no statistically significant change in loneliness pre-fracture compared to a minimum of 2 years post-fracture (P = 0.12). this analysis has determined that whilst social isolation and loneliness do not change over time following hip fracture, these remain a significant problem for this population. Interventions are required to address these physical and psychological health needs. This is important as they may have short and longer term health benefits for people post-hip fracture. © The Author 2017. Published by Oxford University Press on behalf of the British Geriatrics Society.All rights reserved. For permissions, please email: journals.permissions@oup.com

Effect of suspension kinematic on 14 DOF vehicle model

NASA Astrophysics Data System (ADS)

Wongpattananukul, T.; Chantharasenawong, C.

2017-12-01

Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.

Improved Conflict Detection for Reducing Operational Errors in Air Traffic Control

NASA Technical Reports Server (NTRS)

Paielli, Russell A.; Erzberger, Hainz

2003-01-01

An operational error is an incident in which an air traffic controller allows the separation between two aircraft to fall below the minimum separation standard. The rates of such errors in the US have increased significantly over the past few years. This paper proposes new detection methods that can help correct this trend by improving on the performance of Conflict Alert, the existing software in the Host Computer System that is intended to detect and warn controllers of imminent conflicts. In addition to the usual trajectory based on the flight plan, a "dead-reckoning" trajectory (current velocity projection) is also generated for each aircraft and checked for conflicts. Filters for reducing common types of false alerts were implemented. The new detection methods were tested in three different ways. First, a simple flightpath command language was developed t o generate precisely controlled encounters for the purpose of testing the detection software. Second, written reports and tracking data were obtained for actual operational errors that occurred in the field, and these were "replayed" to test the new detection algorithms. Finally, the detection methods were used to shadow live traffic, and performance was analysed, particularly with regard to the false-alert rate. The results indicate that the new detection methods can provide timely warnings of imminent conflicts more consistently than Conflict Alert.

Automated, contour-based tracking and analysis of cell behaviour over long time scales in environments of varying complexity and cell density.

PubMed

Baker, Richard M; Brasch, Megan E; Manning, M Lisa; Henderson, James H

2014-08-06

Understanding single and collective cell motility in model environments is foundational to many current research efforts in biology and bioengineering. To elucidate subtle differences in cell behaviour despite cell-to-cell variability, we introduce an algorithm for tracking large numbers of cells for long time periods and present a set of physics-based metrics that quantify differences in cell trajectories. Our algorithm, termed automated contour-based tracking for in vitro environments (ACTIVE), was designed for adherent cell populations subject to nuclear staining or transfection. ACTIVE is distinct from existing tracking software because it accommodates both variability in image intensity and multi-cell interactions, such as divisions and occlusions. When applied to low-contrast images from live-cell experiments, ACTIVE reduced error in analysing cell occlusion events by as much as 43% compared with a benchmark-tracking program while simultaneously tracking cell divisions and resulting daughter-daughter cell relationships. The large dataset generated by ACTIVE allowed us to develop metrics that capture subtle differences between cell trajectories on different substrates. We present cell motility data for thousands of cells studied at varying densities on shape-memory-polymer-based nanotopographies and identify several quantitative differences, including an unanticipated difference between two 'control' substrates. We expect that ACTIVE will be immediately useful to researchers who require accurate, long-time-scale motility data for many cells. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Feedback laws for fuel minimization for transport aircraft

NASA Technical Reports Server (NTRS)

Price, D. B.; Gracey, C.

1984-01-01

The Theoretical Mechanics Branch has as one of its long-range goals to work toward solving real-time trajectory optimization problems on board an aircraft. This is a generic problem that has application to all aspects of aviation from general aviation through commercial to military. Overall interest is in the generic problem, but specific problems to achieve concrete results are examined. The problem is to develop control laws that generate approximately optimal trajectories with respect to some criteria such as minimum time, minimum fuel, or some combination of the two. These laws must be simple enough to be implemented on a computer that is flown on board an aircraft, which implies a major simplification from the two point boundary value problem generated by a standard trajectory optimization problem. In addition, the control laws allow for changes in end conditions during the flight, and changes in weather along a planned flight path. Therefore, a feedback control law that generates commands based on the current state rather than a precomputed open-loop control law is desired. This requirement, along with the need for order reduction, argues for the application of singular perturbation techniques.

Trajectory tracking control for a nonholonomic mobile robot under ROS

NASA Astrophysics Data System (ADS)

Lakhdar Besseghieur, Khadir; Trębiński, Radosław; Kaczmarek, Wojciech; Panasiuk, Jarosław

2018-05-01

In this paper, the implementation of the trajectory tracking control strategy on a ROS-based mobile robot is considered. Our test-bench is the nonholonomic mobile robot ‘TURTLEBOT’. ROS facilitates considerably setting-up a suitable environment to test the designed controller. Our aim is to develop a framework using ROS concepts so that a trajectory tracking controller can be implemented on any ROS-enabled mobile robot. Practical experiments with ‘TURTLEBOT’ are conducted to assess the framework reliability.

Investigation of abort procedures for space shuttle-type vehicles

NASA Technical Reports Server (NTRS)

Powell, R. W.; Eide, D. G.

1974-01-01

An investigation has been made of abort procedures for space shuttle-type vehicles using a point mass trajectory optimization program known as POST. This study determined the minimum time gap between immediate and once-around safe return to the launch site from a baseline due-East launch trajectory for an alternate space shuttle concept which experiences an instantaneous loss of 25 percent of the total main engine thrust.

Multi-objective trajectory optimization for the space exploration vehicle

NASA Astrophysics Data System (ADS)

Qin, Xiaoli; Xiao, Zhen

2016-07-01

The research determines temperature-constrained optimal trajectory for the space exploration vehicle by developing an optimal control formulation and solving it using a variable order quadrature collocation method with a Non-linear Programming(NLP) solver. The vehicle is assumed to be the space reconnaissance aircraft that has specified takeoff/landing locations, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom aircraft model is adapted from previous work and includes flight dynamics, and thermal constraints.Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and exploration of space targets. In addition, the vehicle models include the environmental models(gravity and atmosphere). How these models are appropriately employed is key to gaining confidence in the results and conclusions of the research. Optimal trajectories are developed using several performance costs in the optimal control formation,minimum time,minimum time with control penalties,and maximum distance.The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for large-scale space exloration.

High-precision tracking of brownian boomerang colloidal particles confined in quasi two dimensions.

PubMed

Chakrabarty, Ayan; Wang, Feng; Fan, Chun-Zhen; Sun, Kai; Wei, Qi-Huo

2013-11-26

In this article, we present a high-precision image-processing algorithm for tracking the translational and rotational Brownian motion of boomerang-shaped colloidal particles confined in quasi-two-dimensional geometry. By measuring mean square displacements of an immobilized particle, we demonstrate that the positional and angular precision of our imaging and image-processing system can achieve 13 nm and 0.004 rad, respectively. By analyzing computer-simulated images, we demonstrate that the positional and angular accuracies of our image-processing algorithm can achieve 32 nm and 0.006 rad. Because of zero correlations between the displacements in neighboring time intervals, trajectories of different videos of the same particle can be merged into a very long time trajectory, allowing for long-time averaging of different physical variables. We apply this image-processing algorithm to measure the diffusion coefficients of boomerang particles of three different apex angles and discuss the angle dependence of these diffusion coefficients.

Tracking Genomic Cancer Evolution for Precision Medicine: The Lung TRACERx Study

PubMed Central

Jamal-Hanjani, Mariam; Hackshaw, Alan; Ngai, Yenting; Shaw, Jacqueline; Dive, Caroline; Quezada, Sergio; Middleton, Gary; de Bruin, Elza; Le Quesne, John; Shafi, Seema; Falzon, Mary; Horswell, Stuart; Blackhall, Fiona; Khan, Iftekhar; Janes, Sam; Nicolson, Marianne; Lawrence, David; Forster, Martin; Fennell, Dean; Lee, Siow-Ming; Lester, Jason; Kerr, Keith; Muller, Salli; Iles, Natasha; Smith, Sean; Murugaesu, Nirupa; Mitter, Richard; Salm, Max; Stuart, Aengus; Matthews, Nik; Adams, Haydn; Ahmad, Tanya; Attanoos, Richard; Bennett, Jonathan; Birkbak, Nicolai Juul; Booton, Richard; Brady, Ged; Buchan, Keith; Capitano, Arrigo; Chetty, Mahendran; Cobbold, Mark; Crosbie, Philip; Davies, Helen; Denison, Alan; Djearman, Madhav; Goldman, Jacki; Haswell, Tom; Joseph, Leena; Kornaszewska, Malgorzata; Krebs, Matthew; Langman, Gerald; MacKenzie, Mairead; Millar, Joy; Morgan, Bruno; Naidu, Babu; Nonaka, Daisuke; Peggs, Karl; Pritchard, Catrin; Remmen, Hardy; Rowan, Andrew; Shah, Rajesh; Smith, Elaine; Summers, Yvonne; Taylor, Magali; Veeriah, Selvaraju; Waller, David; Wilcox, Ben; Wilcox, Maggie; Woolhouse, Ian; McGranahan, Nicholas; Swanton, Charles

2014-01-01

The importance of intratumour genetic and functional heterogeneity is increasingly recognised as a driver of cancer progression and survival outcome. Understanding how tumour clonal heterogeneity impacts upon therapeutic outcome, however, is still an area of unmet clinical and scientific need. TRACERx (TRAcking non-small cell lung Cancer Evolution through therapy [Rx]), a prospective study of patients with primary non-small cell lung cancer (NSCLC), aims to define the evolutionary trajectories of lung cancer in both space and time through multiregion and longitudinal tumour sampling and genetic analysis. By following cancers from diagnosis to relapse, tracking the evolutionary trajectories of tumours in relation to therapeutic interventions, and determining the impact of clonal heterogeneity on clinical outcomes, TRACERx may help to identify novel therapeutic targets for NSCLC and may also serve as a model applicable to other cancer types. PMID:25003521

Trajectory data analyses for pedestrian space-time activity study.

PubMed

Qi, Feng; Du, Fei

2013-02-25

It is well recognized that human movement in the spatial and temporal dimensions has direct influence on disease transmission(1-3). An infectious disease typically spreads via contact between infected and susceptible individuals in their overlapped activity spaces. Therefore, daily mobility-activity information can be used as an indicator to measure exposures to risk factors of infection. However, a major difficulty and thus the reason for paucity of studies of infectious disease transmission at the micro scale arise from the lack of detailed individual mobility data. Previously in transportation and tourism research detailed space-time activity data often relied on the time-space diary technique, which requires subjects to actively record their activities in time and space. This is highly demanding for the participants and collaboration from the participants greatly affects the quality of data(4). Modern technologies such as GPS and mobile communications have made possible the automatic collection of trajectory data. The data collected, however, is not ideal for modeling human space-time activities, limited by the accuracies of existing devices. There is also no readily available tool for efficient processing of the data for human behavior study. We present here a suite of methods and an integrated ArcGIS desktop-based visual interface for the pre-processing and spatiotemporal analyses of trajectory data. We provide examples of how such processing may be used to model human space-time activities, especially with error-rich pedestrian trajectory data, that could be useful in public health studies such as infectious disease transmission modeling. The procedure presented includes pre-processing, trajectory segmentation, activity space characterization, density estimation and visualization, and a few other exploratory analysis methods. Pre-processing is the cleaning of noisy raw trajectory data. We introduce an interactive visual pre-processing interface as well as an automatic module. Trajectory segmentation(5) involves the identification of indoor and outdoor parts from pre-processed space-time tracks. Again, both interactive visual segmentation and automatic segmentation are supported. Segmented space-time tracks are then analyzed to derive characteristics of one's activity space such as activity radius etc. Density estimation and visualization are used to examine large amount of trajectory data to model hot spots and interactions. We demonstrate both density surface mapping(6) and density volume rendering(7). We also include a couple of other exploratory data analyses (EDA) and visualizations tools, such as Google Earth animation support and connection analysis. The suite of analytical as well as visual methods presented in this paper may be applied to any trajectory data for space-time activity studies.

Flight Test Results: CTAS Cruise/Descent Trajectory Prediction Accuracy for En route ATC Advisories

NASA Technical Reports Server (NTRS)

Green, S.; Grace, M.; Williams, D.

1999-01-01

The Center/TRACON Automation System (CTAS), under development at NASA Ames Research Center, is designed to assist controllers with the management and control of air traffic transitioning to/from congested airspace. This paper focuses on the transition from the en route environment, to high-density terminal airspace, under a time-based arrival-metering constraint. Two flight tests were conducted at the Denver Air Route Traffic Control Center (ARTCC) to study trajectory-prediction accuracy, the key to accurate Decision Support Tool advisories such as conflict detection/resolution and fuel-efficient metering conformance. In collaboration with NASA Langley Research Center, these test were part of an overall effort to research systems and procedures for the integration of CTAS and flight management systems (FMS). The Langley Transport Systems Research Vehicle Boeing 737 airplane flew a combined total of 58 cruise-arrival trajectory runs while following CTAS clearance advisories. Actual trajectories of the airplane were compared to CTAS and FMS predictions to measure trajectory-prediction accuracy and identify the primary sources of error for both. The research airplane was used to evaluate several levels of cockpit automation ranging from conventional avionics to a performance-based vertical navigation (VNAV) FMS. Trajectory prediction accuracy was analyzed with respect to both ARTCC radar tracking and GPS-based aircraft measurements. This paper presents detailed results describing the trajectory accuracy and error sources. Although differences were found in both accuracy and error sources, CTAS accuracy was comparable to the FMS in terms of both meter-fix arrival-time performance (in support of metering) and 4D-trajectory prediction (key to conflict prediction). Overall arrival time errors (mean plus standard deviation) were measured to be approximately 24 seconds during the first flight test (23 runs) and 15 seconds during the second flight test (25 runs). The major source of error during these tests was found to be the predicted winds aloft used by CTAS. Position and velocity estimates of the airplane provided to CTAS by the ATC Host radar tracker were found to be a relatively insignificant error source for the trajectory conditions evaluated. Airplane performance modeling errors within CTAS were found to not significantly affect arrival time errors when the constrained descent procedures were used. The most significant effect related to the flight guidance was observed to be the cross-track and turn-overshoot errors associated with conventional VOR guidance. Lateral navigation (LNAV) guidance significantly reduced both the cross-track and turn-overshoot error. Pilot procedures and VNAV guidance were found to significantly reduce the vertical profile errors associated with atmospheric and aircraft performance model errors.

Barriers and dispersal surfaces in minimum-time interception. [for optimizing aircraft flight paths

NASA Technical Reports Server (NTRS)

Rajan, N.; Ardema, M. D.

1984-01-01

A method is proposed for mapping the barrier, dispersal, and control-level surfaces for a class of minimum-time interception and pursuit-evasion problems. Minimum-time interception of a target moving in a horizontal plane is formulated in a coordinate system whose origin is at the interceptor's terminal position and whose x-axis is along the terminal line of sight. This approach makes it possible to discuss the nature of the interceptor's extremals, using its extremal trajectory maps (ETMs), independently of target motion. The game surfaces are constructed by drawing sections of the isochrones, or constant minimum-time loci, from the interceptor and target ETMs. In this way, feedback solutions for the optimal controls are obtained. An example involving the interception of a target moving in a straight line at constant speed is presented.

Infrared Imagery of Shuttle (IRIS). Task 1

NASA Technical Reports Server (NTRS)

Chocol, C. J.

1977-01-01

Assessment of available IR sensor technology showed that the four aerothermodynamic conditions of interest during the entry trajectory of space shuttle can be accommodated by an aircraft flying parallel to the orbiter reentry ground track. Thermal information from the sides of the vehicle can be obtained with degraded performance (temperatures below 800 K) by flying the C-141 aircraft on the opposite side of the shuttle ground track and in the direction opposite that which is optimum for lower surface viewing. An acquisition system using a 6.25-cm aperture telescope and a single indium antimonide detector were designed to meet the acquisition requirements and interface with the 91.5-cm telescope with minimum modification. An image plane system using 600 indium antimonide detectors in two arrays which requires no modification to the existing telescope was also designed. Currently available components were used in a data handling system with interfaces with the experimentors station and the HP2100 computer.

Tracking Image Correlation: Combining Single-Particle Tracking and Image Correlation

PubMed Central

Dupont, A.; Stirnnagel, K.; Lindemann, D.; Lamb, D.C.

2013-01-01

The interactions and coordination of biomolecules are crucial for most cellular functions. The observation of protein interactions in live cells may provide a better understanding of the underlying mechanisms. After fluorescent labeling of the interacting partners and live-cell microscopy, the colocalization is generally analyzed by quantitative global methods. Recent studies have addressed questions regarding the individual colocalization of moving biomolecules, usually by using single-particle tracking (SPT) and comparing the fluorescent intensities in both color channels. Here, we introduce a new method that combines SPT and correlation methods to obtain a dynamical 3D colocalization analysis along single trajectories of dual-colored particles. After 3D tracking, the colocalization is computed at each particle’s position via the local 3D image cross correlation of the two detection channels. For every particle analyzed, the output consists of the 3D trajectory, the time-resolved 3D colocalization information, and the fluorescence intensity in both channels. In addition, the cross-correlation analysis shows the 3D relative movement of the two fluorescent labels with an accuracy of 30 nm. We apply this method to the tracking of viral fusion events in live cells and demonstrate its capacity to obtain the time-resolved colocalization status of single particles in dense and noisy environments. PMID:23746509

Torque-based optimal acceleration control for electric vehicle

NASA Astrophysics Data System (ADS)

Lu, Dongbin; Ouyang, Minggao

2014-03-01

The existing research of the acceleration control mainly focuses on an optimization of the velocity trajectory with respect to a criterion formulation that weights acceleration time and fuel consumption. The minimum-fuel acceleration problem in conventional vehicle has been solved by Pontryagin's maximum principle and dynamic programming algorithm, respectively. The acceleration control with minimum energy consumption for battery electric vehicle(EV) has not been reported. In this paper, the permanent magnet synchronous motor(PMSM) is controlled by the field oriented control(FOC) method and the electric drive system for the EV(including the PMSM, the inverter and the battery) is modeled to favor over a detailed consumption map. The analytical algorithm is proposed to analyze the optimal acceleration control and the optimal torque versus speed curve in the acceleration process is obtained. Considering the acceleration time, a penalty function is introduced to realize a fast vehicle speed tracking. The optimal acceleration control is also addressed with dynamic programming(DP). This method can solve the optimal acceleration problem with precise time constraint, but it consumes a large amount of computation time. The EV used in simulation and experiment is a four-wheel hub motor drive electric vehicle. The simulation and experimental results show that the required battery energy has little difference between the acceleration control solved by analytical algorithm and that solved by DP, and is greatly reduced comparing with the constant pedal opening acceleration. The proposed analytical and DP algorithms can minimize the energy consumption in EV's acceleration process and the analytical algorithm is easy to be implemented in real-time control.

Real-time detecting and tracking ball with OpenCV and Kinect

NASA Astrophysics Data System (ADS)

Osiecki, Tomasz; Jankowski, Stanislaw

2016-09-01

This paper presents a way to detect and track ball with using the OpenCV and Kinect. Object and people recognition, tracking are more and more popular topics nowadays. Described solution makes it possible to detect ball based on the range, which is set by the user and capture information about ball position in three dimensions. It can be store in the computer and use for example to display trajectory of the ball.

Computing Satellite Maneuvers For A Repeating Ground Track

NASA Technical Reports Server (NTRS)

Shapiro, Bruce

1994-01-01

TOPEX/POSEIDON Ground Track Maintenance Maneuver Targeting Program (GTARG) assists in designing maneuvers to maintain orbit of TOPEX/POSEIDON satellite. Targeting strategies used either maximize time between maneuvers or force control band exit to occur at specified intervals. Runout mode allows for ground-track propagation without targeting. GTARG incorporates analytic mean-element propagation algorithm accounting for all perturbations known to cause significant variations in ground track. Perturbations include oblateness of Earth, luni-solar gravitation, drag, thrusts associated with impulsive maneuvers, and unspecified fixed forces acting on satellite in direction along trajectory. Written in VAX-FORTRAN.

Trajectory tracking in quadrotor platform by using PD controller and LQR control approach

NASA Astrophysics Data System (ADS)

Islam, Maidul; Okasha, Mohamed; Idres, Moumen Mohammad

2017-11-01

The purpose of the paper is to discuss a comparative evaluation of performance of two different controllers i.e. Proportional-Derivative Controller (PD) and Linear Quadratic Regulation (LQR) in Quadrotor dynamic system that is under-actuated with high nonlinearity. As only four states can be controlled at the same time in the Quadrotor, the trajectories are designed on the basis of the four states whereas three dimensional position and rotation along an axis, known as yaw movement are considered. In this work, both the PD controller and LQR control approach are used for Quadrotor nonlinear model to track the trajectories. LQR control approach for nonlinear model is designed on the basis of a linear model of the Quadrotor because the performance of linear model and nonlinear model around certain nominal point is almost similar. Simulink and MATLAB software is used to design the controllers and to evaluate the performance of both the controllers.

A stochastic model for tropical cyclone tracks based on Reanalysis data and GCM output

NASA Astrophysics Data System (ADS)

Ito, K.; Nakano, S.; Ueno, G.

2014-12-01

In the present study, we try to express probability distribution of tropical cyclone (TC) trajectories estimated on the basis of GCM output. The TC tracks are mainly controlled by the atmospheric circulation such as the trade winds and the Westerlies as well as are influenced to move northward by the Beta effect. The TC tracks, which calculated with trajectory analysis, would thus correspond to the movement of TCs due to the atmospheric circulation. Comparing the result of the trajectory analysis from reanalysis data with the Best Track (BT) of TC in the present climate, the structure of the trajectory seems to be similar to the BT. However, here is a significant problem for the calculation of a trajectory in the reanalysis wind field because there are many rotation elements including TCs in the reanalysis data. We assume that a TC would move along the steering current and the rotations would not have a great influence on the direction of moving. We are designing a state-space model based on the trajectory analysis and put an adjustment parameter for the moving vector. Here, a simple track generation model is developed. This model has a possibility to gain the probability distributions of calculated TC tracks by fitting to the BT using data assimilation. This work was conducted under the framework of the "Development of Basic Technology for Risk Information on Climate Change" supported by the SOUSEI Program of the Ministry of Education, Culture, Sports, Science, and Technology.

Driver face tracking using semantics-based feature of eyes on single FPGA

NASA Astrophysics Data System (ADS)

Yu, Ying-Hao; Chen, Ji-An; Ting, Yi-Siang; Kwok, Ngaiming

2017-06-01

Tracking driver's face is one of the essentialities for driving safety control. This kind of system is usually designed with complicated algorithms to recognize driver's face by means of powerful computers. The design problem is not only about detecting rate but also from parts damages under rigorous environments by vibration, heat, and humidity. A feasible strategy to counteract these damages is to integrate entire system into a single chip in order to achieve minimum installation dimension, weight, power consumption, and exposure to air. Meanwhile, an extraordinary methodology is also indispensable to overcome the dilemma of low-computing capability and real-time performance on a low-end chip. In this paper, a novel driver face tracking system is proposed by employing semantics-based vague image representation (SVIR) for minimum hardware resource usages on a FPGA, and the real-time performance is also guaranteed at the same time. Our experimental results have indicated that the proposed face tracking system is viable and promising for the smart car design in the future.

Optimal cooperative time-fixed impulsive rendezvous

NASA Technical Reports Server (NTRS)

Mirfakhraie, Koorosh; Conway, Bruce A.

1990-01-01

New capabilities have been added to a method that had been developed for determining optimal, i.e., minimum fuel, trajectories for the fixed-time cooperative rendezvous of two spacecraft. The method utilizes the primer vector theory. The new capabilities enable the method to accomodate cases in which there are fuel constraints on the spacecraft and/or enable the addition of a mid-course impulse to one of the vehicle's trajectories. Results are presented for a large number of cases, and the effect of varying parameters, such as vehicle fuel constraints, vehicle initial masses, and time allowed for the rendezvous, is demonstrated.

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

A comparison of time-optimal interception trajectories for the F-8 and F-15

NASA Technical Reports Server (NTRS)

Calise, Anthony J.; Pettengill, James B.

1990-01-01

The simulation results of a real time control algorithm for onboard computation of time-optimal intercept trajectories for the F-8 and F-15 aircraft are given. Due to the inherent aerodynamic and propulsion differences in the aircraft, there are major differences in their optimal trajectories. The significant difference in the two aircrafts are their flight envelopes. The F-8's optimal cruise velocity is thrust limited, while the F-15's optimal cruise velocity is at the intersection of the Mach and dynamic pressure constraint boundaries. This inherent difference necessitated the development of a proportional thrust controller for use as the F-15 approaches it's optimal cruise energy. Documented here is the application of singular perturbation theory to the trajectory optimization problem, along with a summary of the control algorithms. Numerical results for the two aircraft are compared to illustrate the performance of the minimum time algorithm, and to compute the resulting flight paths.

Tracking and visualization of space-time activities for a micro-scale flu transmission study.

PubMed

Qi, Feng; Du, Fei

2013-02-07

Infectious diseases pose increasing threats to public health with increasing population density and more and more sophisticated social networks. While efforts continue in studying the large scale dissemination of contagious diseases, individual-based activity and behaviour study benefits not only disease transmission modelling but also the control, containment, and prevention decision making at the local scale. The potential for using tracking technologies to capture detailed space-time trajectories and model individual behaviour is increasing rapidly, as technological advances enable the manufacture of small, lightweight, highly sensitive, and affordable receivers and the routine use of location-aware devices has become widespread (e.g., smart cellular phones). The use of low-cost tracking devices in medical research has also been proved effective by more and more studies. This study describes the use of tracking devices to collect data of space-time trajectories and the spatiotemporal processing of such data to facilitate micro-scale flu transmission study. We also reports preliminary findings on activity patterns related to chances of influenza infection in a pilot study. Specifically, this study employed A-GPS tracking devices to collect data on a university campus. Spatiotemporal processing was conducted for data cleaning and segmentation. Processed data was validated with traditional activity diaries. The A-GPS data set was then used for visual explorations including density surface visualization and connection analysis to examine space-time activity patterns in relation to chances of influenza infection. When compared to diary data, the segmented tracking data demonstrated to be an effective alternative and showed greater accuracies in time as well as the details of routes taken by participants. A comparison of space-time activity patterns between participants who caught seasonal influenza and those who did not revealed interesting patterns. This study proved that tracking technology an effective technique for obtaining data for micro-scale influenza transmission research. The findings revealed micro-scale transmission hotspots on a university campus and provided insights for local control and prevention strategies.

The Co-simulation of Humanoid Robot Based on Solidworks, ADAMS and Simulink

NASA Astrophysics Data System (ADS)

Song, Dalei; Zheng, Lidan; Wang, Li; Qi, Weiwei; Li, Yanli

A simulation method of adaptive controller is proposed for the humanoid robot system based on co-simulation of Solidworks, ADAMS and Simulink. A complex mathematical modeling process is avoided by this method, and the real time dynamic simulating function of Simulink would be exerted adequately. This method could be generalized to other complicated control system. This method is adopted to build and analyse the model of humanoid robot. The trajectory tracking and adaptive controller design also proceed based on it. The effect of trajectory tracking is evaluated by fitting-curve theory of least squares method. The anti-interference capability of the robot is improved a lot through comparative analysis.

Experimental and Theoretical Results in Output-Trajectory Redesign for Flexible Structures

NASA Technical Reports Server (NTRS)

Dewey, J. S.; Devasia, Santosh

1996-01-01

In this paper we study the optimal redesign of output trajectory for linear invertible systems. This is particularly important for tracking control of flexible structures because the input-state trajectories that achieve the required output may cause excessive vibrations in the structure. A trade-off is then required between tracking and vibrations reduction. We pose and solve this problem as the minimization of a quadratic cost function. The theory is developed and applied to the output tracking of a flexible structure and experimental results are presented.

Preliminary clinical trial in percutaneous nephrolithotomy using a real-time navigation system for percutaneous kidney access

NASA Astrophysics Data System (ADS)

Rodrigues, Pedro L.; Moreira, António H. J.; Rodrigues, Nuno F.; Pinho, A. C. M.; Fonseca, Jaime C.; Lima, Estevão.; Vilaça, João. L.

2014-03-01

Background: Precise needle puncture of renal calyces is a challenging and essential step for successful percutaneous nephrolithotomy. This work tests and evaluates, through a clinical trial, a real-time navigation system to plan and guide percutaneous kidney puncture. Methods: A novel system, entitled i3DPuncture, was developed to aid surgeons in establishing the desired puncture site and the best virtual puncture trajectory, by gathering and processing data from a tracked needle with optical passive markers. In order to navigate and superimpose the needle to a preoperative volume, the patient, 3D image data and tracker system were previously registered intraoperatively using seven points that were strategically chosen based on rigid bone structures and nearby kidney area. In addition, relevant anatomical structures for surgical navigation were automatically segmented using a multi-organ segmentation algorithm that clusters volumes based on statistical properties and minimum description length criterion. For each cluster, a rendering transfer function enhanced the visualization of different organs and surrounding tissues. Results: One puncture attempt was sufficient to achieve a successful kidney puncture. The puncture took 265 seconds, and 32 seconds were necessary to plan the puncture trajectory. The virtual puncture path was followed correctively until the needle tip reached the desired kidney calyceal. Conclusions: This new solution provided spatial information regarding the needle inside the body and the possibility to visualize surrounding organs. It may offer a promising and innovative solution for percutaneous punctures.

Implementation of optimal trajectory control of series resonant converter

NASA Technical Reports Server (NTRS)

Oruganti, Ramesh; Yang, James J.; Lee, Fred C.

1987-01-01

Due to the presence of a high-frequency LC tank circuit, the dynamics of a resonant converter are unpredictable. There is often a large surge of tank energy during transients. Using state-plane analysis technique, an optimal trajectory control utilizing the desired solution trajectory as the control law was previously proposed for the series resonant converters. The method predicts the fastest response possible with minimum energy surge in the resonant tank. The principle of the control and its experimental implementation are described here. The dynamics of the converter are shown to be close to time-optimal.

Ice Cloud Formation and Dehydration in the Tropical Tropopause Layer

NASA Technical Reports Server (NTRS)

Jensen, Eric; Gore, Warren J. (Technical Monitor)

2002-01-01

Stratospheric water vapor is important not only for its greenhouse forcing, but also because it plays a significant role in stratospheric chemistry. Several recent studies have focused on the potential for dehydration due to ice cloud formation in air rising slowly through the tropical tropopause layer (TTL). Holton and Gettelman showed that temperature variations associated with horizontal transport of air in the TTL can drive ice cloud formation and dehydration, and Gettelman et al. recently examined the cloud formation and dehydration along kinematic trajectories using simple assumptions about the cloud properties. In this study, a Lagrangian, one-dimensional cloud model has been used to further investigate cloud formation and dehydration as air is transported horizontally and vertically through the TTL. Time-height curtains of temperature are extracted from meteorological analyses. The model tracks the growth, advection, and sedimentation of individual cloud particles. The regional distribution of clouds simulated in the model is comparable to the subvisible cirrus distribution indicated by SAGE II. The simulated cloud properties and cloud frequencies depend strongly on the assumed supersaturation threshold for ice nucleation. The clouds typically do not dehydrate the air along trajectories down to the temperature minimum saturation mixing ratio. Rather the water vapor mixing ratio crossing the tropopause along trajectories is 10-50% larger than the saturation mixing ratio. I will also discuss the impacts of Kelvin waves and gravity waves on cloud properties and dehydration efficiency. These simulations can be used to determine whether observed lower stratospheric water vapor mixing ratios can be explained by dehydration associated with in situ TTL cloud formation alone.

Novel algorithm and MATLAB-based program for automated power law analysis of single particle, time-dependent mean-square displacement

NASA Astrophysics Data System (ADS)

Umansky, Moti; Weihs, Daphne

2012-08-01

In many physical and biophysical studies, single-particle tracking is utilized to reveal interactions, diffusion coefficients, active modes of driving motion, dynamic local structure, micromechanics, and microrheology. The basic analysis applied to those data is to determine the time-dependent mean-square displacement (MSD) of particle trajectories and perform time- and ensemble-averaging of similar motions. The motion of particles typically exhibits time-dependent power-law scaling, and only trajectories with qualitatively and quantitatively comparable MSD should be ensembled. Ensemble averaging trajectories that arise from different mechanisms, e.g., actively driven and diffusive, is incorrect and can result inaccurate correlations between structure, mechanics, and activity. We have developed an algorithm to automatically and accurately determine power-law scaling of experimentally measured single-particle MSD. Trajectories can then categorized and grouped according to user defined cutoffs of time, amplitudes, scaling exponent values, or combinations. Power-law fits are then provided for each trajectory alongside categorized groups of trajectories, histograms of power laws, and the ensemble-averaged MSD of each group. The codes are designed to be easily incorporated into existing user codes. We expect that this algorithm and program will be invaluable to anyone performing single-particle tracking, be it in physical or biophysical systems. Catalogue identifier: AEMD_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/AEMD_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 25 892 No. of bytes in distributed program, including test data, etc.: 5 572 780 Distribution format: tar.gz Programming language: MATLAB (MathWorks Inc.) version 7.11 (2010b) or higher, program should also be backwards compatible. Symbolic Math Toolboxes (5.5) is required. The Curve Fitting Toolbox (3.0) is recommended. Computer: Tested on Windows only, yet should work on any computer running MATLAB. In Windows 7, should be used as administrator, if the user is not the administrator the program may not be able to save outputs and temporary outputs to all locations. Operating system: Any supporting MATLAB (MathWorks Inc.) v7.11 / 2010b or higher. Supplementary material: Sample output files (approx. 30 MBytes) are available. Classification: 12 External routines: Several MATLAB subfunctions (m-files), freely available on the web, were used as part of and included in, this code: count, NaN suite, parseArgs, roundsd, subaxis, wcov, wmean, and the executable pdfTK.exe. Nature of problem: In many physical and biophysical areas employing single-particle tracking, having the time-dependent power-laws governing the time-averaged meansquare displacement (MSD) of a single particle is crucial. Those power laws determine the mode-of-motion and hint at the underlying mechanisms driving motion. Accurate determination of the power laws that describe each trajectory will allow categorization into groups for further analysis of single trajectories or ensemble analysis, e.g. ensemble and time-averaged MSD. Solution method: The algorithm in the provided program automatically analyzes and fits time-dependent power laws to single particle trajectories, then group particles according to user defined cutoffs. It accepts time-dependent trajectories of several particles, each trajectory is run through the program, its time-averaged MSD is calculated, and power laws are determined in regions where the MSD is linear on a log-log scale. Our algorithm searches for high-curvature points in experimental data, here time-dependent MSD. Those serve as anchor points for determining the ranges of the power-law fits. Power-law scaling is then accurately determined and error estimations of the parameters and quality of fit are provided. After all single trajectory time-averaged MSDs are fit, we obtain cutoffs from the user to categorize and segment the power laws into groups; cutoff are either in exponents of the power laws, time of appearance of the fits, or both together. The trajectories are sorted according to the cutoffs and the time- and ensemble-averaged MSD of each group is provided, with histograms of the distributions of the exponents in each group. The program then allows the user to generate new trajectory files with trajectories segmented according to the determined groups, for any further required analysis. Additional comments: README file giving the names and a brief description of all the files that make-up the package and clear instructions on the installation and execution of the program is included in the distribution package. Running time: On an i5 Windows 7 machine with 4 GB RAM the automated parts of the run (excluding data loading and user input) take less than 45 minutes to analyze and save all stages for an 844 trajectory file, including optional PDF save. Trajectory length did not affect run time (tested up to 3600 frames/trajectory), which was on average 3.2±0.4 seconds per trajectory.

Toward a method for tracking virus evolutionary trajectory applied to the pandemic H1N1 2009 influenza virus.

PubMed

Squires, R Burke; Pickett, Brett E; Das, Sajal; Scheuermann, Richard H

2014-12-01

In 2009 a novel pandemic H1N1 influenza virus (H1N1pdm09) emerged as the first official influenza pandemic of the 21st century. Early genomic sequence analysis pointed to the swine origin of the virus. Here we report a novel computational approach to determine the evolutionary trajectory of viral sequences that uses data-driven estimations of nucleotide substitution rates to track the gradual accumulation of observed sequence alterations over time. Phylogenetic analysis and multiple sequence alignments show that sequences belonging to the resulting evolutionary trajectory of the H1N1pdm09 lineage exhibit a gradual accumulation of sequence variations and tight temporal correlations in the topological structure of the phylogenetic trees. These results suggest that our evolutionary trajectory analysis (ETA) can more effectively pinpoint the evolutionary history of viruses, including the host and geographical location traversed by each segment, when compared against either BLAST or traditional phylogenetic analysis alone. Copyright © 2014 Elsevier B.V. All rights reserved.

Post-flight trajectory reconstruction of suborbital free-flyers using GPS raw data

NASA Astrophysics Data System (ADS)

Ivchenko, N.; Yuan, Y.; Linden, E.

2017-08-01

This paper describes the reconstruction of postflight trajectories of suborbital free flying units by using logged GPS raw data. We took the reconstruction as a global least squares optimization problem, using both the pseudo-range and Doppler observables, and solved it by using the trust-region-reflective algorithm, which enabled navigational solutions of high accuracy. The code tracking was implemented with a large number of correlators and least squares curve fitting, in order to improve the precision of the code start times, while a more conventional phased lock loop was used for Doppler tracking. We proposed a weighting scheme to account for fast signal strength variation due to free-flier fast rotation, and a penalty for jerk to achieve a smooth solution. We applied these methods to flight data of two suborbital free flying units launched on REXUS 12 sounding rocket, reconstructing the trajectory, receiver clock error and wind up rates. The trajectory exhibits a parabola with the apogee around 80 km, and the velocity profile shows the details of payloadwobbling. The wind up rates obtained match the measurements from onboard angular rate sensors.

Oxygen Nanobubble Tracking by Light Scattering in Single Cells and Tissues.

PubMed

Bhandari, Pushpak; Wang, Xiaolei; Irudayaraj, Joseph

2017-03-28

Oxygen nanobubbles (ONBs) have significant potential in targeted imaging and treatment in cancer diagnosis and therapy. Precise localization and tracking of single ONBs is demonstrated based on hyperspectral dark-field microscope (HSDFM) to image and track single oxygen nanobubbles in single cells. ONBs were proposed as promising contrast-generating imaging agents due to their strong light scattering generated from nonuniformity of refractive index at the interface. With this powerful platform, we have revealed the trajectories and quantities of ONBs in cells, and demonstrated the relation between the size and diffusion coefficient. We have also evaluated the presence of ONBs in the nucleus with respect to an increase in incubation time and have quantified the uptake in single cells in ex vivo tumor tissues. Our results demonstrate that HSDFM can be a versatile platform to detect and measure cellulosic nanoparticles at the single-cell level and to assess the dynamics and trajectories of this delivery system.

Robotic excavator trajectory control using an improved GA based PID controller

NASA Astrophysics Data System (ADS)

Feng, Hao; Yin, Chen-Bo; Weng, Wen-wen; Ma, Wei; Zhou, Jun-jing; Jia, Wen-hua; Zhang, Zi-li

2018-05-01

In order to achieve excellent trajectory tracking performances, an improved genetic algorithm (IGA) is presented to search for the optimal proportional-integral-derivative (PID) controller parameters for the robotic excavator. Firstly, the mathematical model of kinematic and electro-hydraulic proportional control system of the excavator are analyzed based on the mechanism modeling method. On this basis, the actual model of the electro-hydraulic proportional system are established by the identification experiment. Furthermore, the population, the fitness function, the crossover probability and mutation probability of the SGA are improved: the initial PID parameters are calculated by the Ziegler-Nichols (Z-N) tuning method and the initial population is generated near it; the fitness function is transformed to maintain the diversity of the population; the probability of crossover and mutation are adjusted automatically to avoid premature convergence. Moreover, a simulation study is carried out to evaluate the time response performance of the proposed controller, i.e., IGA based PID against the SGA and Z-N based PID controllers with a step signal. It was shown from the simulation study that the proposed controller provides the least rise time and settling time of 1.23 s and 1.81 s, respectively against the other tested controllers. Finally, two types of trajectories are designed to validate the performances of the control algorithms, and experiments are performed on the excavator trajectory control experimental platform. It was demonstrated from the experimental work that the proposed IGA based PID controller improves the trajectory accuracy of the horizontal line and slope line trajectories by 23.98% and 23.64%, respectively in comparison to the SGA tuned PID controller. The results further indicate that the proposed IGA tuning based PID controller is effective for improving the tracking accuracy, which may be employed in the trajectory control of an actual excavator.

Dictionary learning-based spatiotemporal regularization for 3D dense speckle tracking

NASA Astrophysics Data System (ADS)

Lu, Allen; Zontak, Maria; Parajuli, Nripesh; Stendahl, John C.; Boutagy, Nabil; Eberle, Melissa; O'Donnell, Matthew; Sinusas, Albert J.; Duncan, James S.

2017-03-01

Speckle tracking is a common method for non-rigid tissue motion analysis in 3D echocardiography, where unique texture patterns are tracked through the cardiac cycle. However, poor tracking often occurs due to inherent ultrasound issues, such as image artifacts and speckle decorrelation; thus regularization is required. Various methods, such as optical flow, elastic registration, and block matching techniques have been proposed to track speckle motion. Such methods typically apply spatial and temporal regularization in a separate manner. In this paper, we propose a joint spatiotemporal regularization method based on an adaptive dictionary representation of the dense 3D+time Lagrangian motion field. Sparse dictionaries have good signal adaptive and noise-reduction properties; however, they are prone to quantization errors. Our method takes advantage of the desirable noise suppression, while avoiding the undesirable quantization error. The idea is to enforce regularization only on the poorly tracked trajectories. Specifically, our method 1.) builds data-driven 4-dimensional dictionary of Lagrangian displacements using sparse learning, 2.) automatically identifies poorly tracked trajectories (outliers) based on sparse reconstruction errors, and 3.) performs sparse reconstruction of the outliers only. Our approach can be applied on dense Lagrangian motion fields calculated by any method. We demonstrate the effectiveness of our approach on a baseline block matching speckle tracking and evaluate performance of the proposed algorithm using tracking and strain accuracy analysis.

Trajectory Optimization of an Interstellar Mission Using Solar Electric Propulsion

NASA Technical Reports Server (NTRS)

Kluever, Craig A.

1996-01-01

This paper presents several mission designs for heliospheric boundary exploration using spacecraft with low-thrust ion engines as the primary mode of propulsion The mission design goal is to transfer a 200-kg spacecraft to the heliospheric boundary in minimum time. The mission design is a combined trajectory and propulsion system optimization problem. Trajectory design variables include launch date, launch energy, burn and coast arc switch times, thrust steering direction, and planetary flyby conditions. Propulsion system design parameters include input power and specific impulse. Both SEP and NEP spacecraft arc considered and a wide range of launch vehicle options are investigated. Numerical results are presented and comparisons with the all chemical heliospheric missions from Ref 9 are made.

A minimalist approach to bias estimation for passive sensor measurements with targets of opportunity

NASA Astrophysics Data System (ADS)

Belfadel, Djedjiga; Osborne, Richard W.; Bar-Shalom, Yaakov

2013-09-01

In order to carry out data fusion, registration error correction is crucial in multisensor systems. This requires estimation of the sensor measurement biases. It is important to correct for these bias errors so that the multiple sensor measurements and/or tracks can be referenced as accurately as possible to a common tracking coordinate system. This paper provides a solution for bias estimation for the minimum number of passive sensors (two), when only targets of opportunity are available. The sensor measurements are assumed time-coincident (synchronous) and perfectly associated. Since these sensors provide only line of sight (LOS) measurements, the formation of a single composite Cartesian measurement obtained from fusing the LOS measurements from different sensors is needed to avoid the need for nonlinear filtering. We evaluate the Cramer-Rao Lower Bound (CRLB) on the covariance of the bias estimate, i.e., the quantification of the available information about the biases. Statistical tests on the results of simulations show that this method is statistically efficient, even for small sample sizes (as few as two sensors and six points on the trajectory of a single target of opportunity). We also show that the RMS position error is significantly improved with bias estimation compared with the target position estimation using the original biased measurements.

Robust adaptive uniform exact tracking control for uncertain Euler-Lagrange system

NASA Astrophysics Data System (ADS)

Yang, Yana; Hua, Changchun; Li, Junpeng; Guan, Xinping

2017-12-01

This paper offers a solution to the robust adaptive uniform exact tracking control for uncertain nonlinear Euler-Lagrange (EL) system. An adaptive finite-time tracking control algorithm is designed by proposing a novel nonsingular integral terminal sliding-mode surface. Moreover, a new adaptive parameter tuning law is also developed by making good use of the system tracking errors and the adaptive parameter estimation errors. Thus, both the trajectory tracking and the parameter estimation can be achieved in a guaranteed time adjusted arbitrarily based on practical demands, simultaneously. Additionally, the control result for the EL system proposed in this paper can be extended to high-order nonlinear systems easily. Finally, a test-bed 2-DOF robot arm is set-up to demonstrate the performance of the new control algorithm.

Wavelet-based tracking of bacteria in unreconstructed off-axis holograms.

PubMed

Marin, Zach; Wallace, J Kent; Nadeau, Jay; Khalil, Andre

2018-03-01

We propose an automated wavelet-based method of tracking particles in unreconstructed off-axis holograms to provide rough estimates of the presence of motion and particle trajectories in digital holographic microscopy (DHM) time series. The wavelet transform modulus maxima segmentation method is adapted and tailored to extract Airy-like diffraction disks, which represent bacteria, from DHM time series. In this exploratory analysis, the method shows potential for estimating bacterial tracks in low-particle-density time series, based on a preliminary analysis of both living and dead Serratia marcescens, and for rapidly providing a single-bit answer to whether a sample chamber contains living or dead microbes or is empty. Copyright © 2017 Elsevier Inc. All rights reserved.

Registration of 4D time-series of cardiac images with multichannel Diffeomorphic Demons.

PubMed

Peyrat, Jean-Marc; Delingette, Hervé; Sermesant, Maxime; Pennec, Xavier; Xu, Chenyang; Ayache, Nicholas

2008-01-01

In this paper, we propose a generic framework for intersubject non-linear registration of 4D time-series images. In this framework, spatio-temporal registration is defined by mapping trajectories of physical points as opposed to spatial registration that solely aims at mapping homologous points. First, we determine the trajectories we want to register in each sequence using a motion tracking algorithm based on the Diffeomorphic Demons algorithm. Then, we perform simultaneously pairwise registrations of corresponding time-points with the constraint to map the same physical points over time. We show this trajectory registration can be formulated as a multichannel registration of 3D images. We solve it using the Diffeomorphic Demons algorithm extended to vector-valued 3D images. This framework is applied to the inter-subject non-linear registration of 4D cardiac CT sequences.

Research on target tracking in coal mine based on optical flow method

NASA Astrophysics Data System (ADS)

Xue, Hongye; Xiao, Qingwei

2015-03-01

To recognize, track and count the bolting machine in coal mine video images, a real-time target tracking method based on the Lucas-Kanade sparse optical flow is proposed in this paper. In the method, we judge whether the moving target deviate from its trajectory, predicate and correct the position of the moving target. The method solves the problem of failure to track the target or lose the target because of the weak light, uneven illumination and blocking. Using the VC++ platform and Opencv lib we complete the recognition and tracking. The validity of the method is verified by the result of the experiment.

Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program (update to automatic flight trajectory design, performance prediction, and vehicle sizing for support of Shuttle and Shuttle derived vehicles) engineering manual

NASA Technical Reports Server (NTRS)

Lyons, J. T.

1993-01-01

The Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program and its predecessors, the ROBOT and the RAGMOP programs, have had a long history of supporting MSFC in the simulation of space boosters for the purpose of performance evaluation. The ROBOT program was used in the simulation of the Saturn 1B and Saturn 5 vehicles in the 1960's and provided the first utilization of the minimum Hamiltonian (or min-H) methodology and the steepest ascent technique to solve the optimum trajectory problem. The advent of the Space Shuttle in the 1970's and its complex airplane design required a redesign of the trajectory simulation code since aerodynamic flight and controllability were required for proper simulation. The RAGMOP program was the first attempt to incorporate the complex equations of the Space Shuttle into an optimization tool by using an optimization method based on steepest ascent techniques (but without the min-H methodology). Development of the complex partial derivatives associated with the Space Shuttle configuration and using techniques from the RAGMOP program, the ROBOT program was redesigned to incorporate these additional complexities. This redesign created the MASTRE program, which was referred to as the Minimum Hamiltonian Ascent Shuttle TRajectory Evaluation program at that time. Unique to this program were first-stage (or booster) nonlinear aerodynamics, upper-stage linear aerodynamics, engine control via moment balance, liquid and solid thrust forces, variable liquid throttling to maintain constant acceleration limits, and a total upgrade of the equations used in the forward and backward integration segments of the program. This modification of the MASTRE code has been used to simulate the new space vehicles associated with the National Launch Systems (NLS). Although not as complicated as the Space Shuttle, the simulation and analysis of the NLS vehicles required additional modifications to the MASTRE program in the areas of providing additional flexibility in the use of the program, allowing additional optimization options, and providing special options for the NLS configuration.

Adaptive control of dual-arm robots

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

Genetic algorithm with maximum-minimum crossover (GA-MMC) applied in optimization of radiation pattern control of phased-array radars for rocket tracking systems.

PubMed

Silva, Leonardo W T; Barros, Vitor F; Silva, Sandro G

2014-08-18

In launching operations, Rocket Tracking Systems (RTS) process the trajectory data obtained by radar sensors. In order to improve functionality and maintenance, radars can be upgraded by replacing antennas with parabolic reflectors (PRs) with phased arrays (PAs). These arrays enable the electronic control of the radiation pattern by adjusting the signal supplied to each radiating element. However, in projects of phased array radars (PARs), the modeling of the problem is subject to various combinations of excitation signals producing a complex optimization problem. In this case, it is possible to calculate the problem solutions with optimization methods such as genetic algorithms (GAs). For this, the Genetic Algorithm with Maximum-Minimum Crossover (GA-MMC) method was developed to control the radiation pattern of PAs. The GA-MMC uses a reconfigurable algorithm with multiple objectives, differentiated coding and a new crossover genetic operator. This operator has a different approach from the conventional one, because it performs the crossover of the fittest individuals with the least fit individuals in order to enhance the genetic diversity. Thus, GA-MMC was successful in more than 90% of the tests for each application, increased the fitness of the final population by more than 20% and reduced the premature convergence.

Genetic Algorithm with Maximum-Minimum Crossover (GA-MMC) Applied in Optimization of Radiation Pattern Control of Phased-Array Radars for Rocket Tracking Systems

PubMed Central

Silva, Leonardo W. T.; Barros, Vitor F.; Silva, Sandro G.

2014-01-01

In launching operations, Rocket Tracking Systems (RTS) process the trajectory data obtained by radar sensors. In order to improve functionality and maintenance, radars can be upgraded by replacing antennas with parabolic reflectors (PRs) with phased arrays (PAs). These arrays enable the electronic control of the radiation pattern by adjusting the signal supplied to each radiating element. However, in projects of phased array radars (PARs), the modeling of the problem is subject to various combinations of excitation signals producing a complex optimization problem. In this case, it is possible to calculate the problem solutions with optimization methods such as genetic algorithms (GAs). For this, the Genetic Algorithm with Maximum-Minimum Crossover (GA-MMC) method was developed to control the radiation pattern of PAs. The GA-MMC uses a reconfigurable algorithm with multiple objectives, differentiated coding and a new crossover genetic operator. This operator has a different approach from the conventional one, because it performs the crossover of the fittest individuals with the least fit individuals in order to enhance the genetic diversity. Thus, GA-MMC was successful in more than 90% of the tests for each application, increased the fitness of the final population by more than 20% and reduced the premature convergence. PMID:25196013

Singular-Arc Time-Optimal Trajectory of Aircraft in Two-Dimensional Wind Field

NASA Technical Reports Server (NTRS)

Nguyen, Nhan

2006-01-01

This paper presents a study of a minimum time-to-climb trajectory analysis for aircraft flying in a two-dimensional altitude dependent wind field. The time optimal control problem possesses a singular control structure when the lift coefficient is taken as a control variable. A singular arc analysis is performed to obtain an optimal control solution on the singular arc. Using a time-scale separation with the flight path angle treated as a fast state, the dimensionality of the optimal control solution is reduced by eliminating the lift coefficient control. A further singular arc analysis is used to decompose the original optimal control solution into the flight path angle solution and a trajectory solution as a function of the airspeed and altitude. The optimal control solutions for the initial and final climb segments are computed using a shooting method with known starting values on the singular arc The numerical results of the shooting method show that the optimal flight path angle on the initial and final climb segments are constant. The analytical approach provides a rapid means for analyzing a time optimal trajectory for aircraft performance.

Development of Advanced Methods of Structural and Trajectory Analysis for Transport Aircraft

NASA Technical Reports Server (NTRS)

Ardema, Mark D.; Windhorst, Robert; Phillips, James

1998-01-01

This paper develops a near-optimal guidance law for generating minimum fuel, time, or cost fixed-range trajectories for supersonic transport aircraft. The approach uses a choice of new state variables along with singular perturbation techniques to time-scale decouple the dynamic equations into multiple equations of single order (second order for the fast dynamics). Application of the maximum principle to each of the decoupled equations, as opposed to application to the original coupled equations, avoids the two point boundary value problem and transforms the problem from one of a functional optimization to one of multiple function optimizations. It is shown that such an approach produces well known aircraft performance results such as minimizing the Brequet factor for minimum fuel consumption and the energy climb path. Furthermore, the new state variables produce a consistent calculation of flight path angle along the trajectory, eliminating one of the deficiencies in the traditional energy state approximation. In addition, jumps in the energy climb path are smoothed out by integration of the original dynamic equations at constant load factor. Numerical results performed for a supersonic transport design show that a pushover dive followed by a pullout at nominal load factors are sufficient maneuvers to smooth the jump.

Optimization of Supersonic Transport Trajectories

NASA Technical Reports Server (NTRS)

Ardema, Mark D.; Windhorst, Robert; Phillips, James

1998-01-01

This paper develops a near-optimal guidance law for generating minimum fuel, time, or cost fixed-range trajectories for supersonic transport aircraft. The approach uses a choice of new state variables along with singular perturbation techniques to time-scale decouple the dynamic equations into multiple equations of single order (second order for the fast dynamics). Application of the maximum principle to each of the decoupled equations, as opposed to application to the original coupled equations, avoids the two point boundary value problem and transforms the problem from one of a functional optimization to one of multiple function optimizations. It is shown that such an approach produces well known aircraft performance results such as minimizing the Brequet factor for minimum fuel consumption and the energy climb path. Furthermore, the new state variables produce a consistent calculation of flight path angle along the trajectory, eliminating one of the deficiencies in the traditional energy state approximation. In addition, jumps in the energy climb path are smoothed out by integration of the original dynamic equations at constant load factor. Numerical results performed for a supersonic transport design show that a pushover dive followed by a pullout at nominal load factors are sufficient maneuvers to smooth the jump.

Master-slave control with trajectory planning and Bouc-Wen model for tracking control of piezo-driven stage

NASA Astrophysics Data System (ADS)

Lu, Xiaojun; Liu, Changli; Chen, Lei

2018-04-01

In this paper, a redundant Piezo-driven stage having 3RRR compliant mechanism is introduced, we propose the master-slave control with trajectory planning (MSCTP) strategy and Bouc-Wen model to improve its micro-motion tracking performance. The advantage of the proposed controller lies in that its implementation only requires a simple control strategy without the complexity of modeling to avoid the master PEA's tracking error. The dynamic model of slave PEA system with Bouc-Wen hysteresis is established and identified via particle swarm optimization (PSO) approach. The Piezo-driven stage with operating period T=1s and 2s is implemented to track a prescribed circle. The simulation results show that MSCTP with Bouc-Wen model reduces the trajectory tracking errors to the range of the accuracy of our available measurement.

SU-E-J-136: Evaluation of a Non-Invasive Method on Lung Tumor Tracking.

PubMed

Zhao, T; White, B; Low, D

2012-06-01

to develop a non-invasive method to track lung motion in free-breathing patients. A free-breathing breathing model has been developed to use tidal volume and air flow rate as surrogates for lung trajectories. In this study, 4D CT data sets were acquired during simulation and were reconstructed into 10 phases. Total lung capacities were calculated from the reconstructed images. Continuous signals from the abdominal pneumatic belt were correlated to the volumes and were therefore converted into a curve of tidal volumes. Air flow rate were calculated as the first order derivative of the tidal volume curve. Lung trajectories in the 10 reconstructed images were obtained using B-Spline registration. Parameters of the free-breathing lung motion model were fit from the tidal volumes, airflow rates and lung trajectories using the simulation data. Patients were rescanned every week during the treatment. Prediction of lung trajectories from the model were given and compared to the actual positions in BEV. Trajectories of lung were predicted with residual error of 1.49mm at 95th percentile of all tracked points. Tracking was stable and reproducible over two weeks. Non-invasive tumor tracking based on a free-breathing lung motion model is feasible and stable over weeks. © 2012 American Association of Physicists in Medicine.

Accurately tracking single-cell movement trajectories in microfluidic cell sorting devices.

PubMed

Jeong, Jenny; Frohberg, Nicholas J; Zhou, Enlu; Sulchek, Todd; Qiu, Peng

2018-01-01

Microfluidics are routinely used to study cellular properties, including the efficient quantification of single-cell biomechanics and label-free cell sorting based on the biomechanical properties, such as elasticity, viscosity, stiffness, and adhesion. Both quantification and sorting applications require optimal design of the microfluidic devices and mathematical modeling of the interactions between cells, fluid, and the channel of the device. As a first step toward building such a mathematical model, we collected video recordings of cells moving through a ridged microfluidic channel designed to compress and redirect cells according to cell biomechanics. We developed an efficient algorithm that automatically and accurately tracked the cell trajectories in the recordings. We tested the algorithm on recordings of cells with different stiffness, and showed the correlation between cell stiffness and the tracked trajectories. Moreover, the tracking algorithm successfully picked up subtle differences of cell motion when passing through consecutive ridges. The algorithm for accurately tracking cell trajectories paves the way for future efforts of modeling the flow, forces, and dynamics of cell properties in microfluidics applications.

Improved Leg Tracking Considering Gait Phase and Spline-Based Interpolation during Turning Motion in Walk Tests.

PubMed

Yorozu, Ayanori; Moriguchi, Toshiki; Takahashi, Masaki

2015-09-04

Falling is a common problem in the growing elderly population, and fall-risk assessment systems are needed for community-based fall prevention programs. In particular, the timed up and go test (TUG) is the clinical test most often used to evaluate elderly individual ambulatory ability in many clinical institutions or local communities. This study presents an improved leg tracking method using a laser range sensor (LRS) for a gait measurement system to evaluate the motor function in walk tests, such as the TUG. The system tracks both legs and measures the trajectory of both legs. However, both legs might be close to each other, and one leg might be hidden from the sensor. This is especially the case during the turning motion in the TUG, where the time that a leg is hidden from the LRS is longer than that during straight walking and the moving direction rapidly changes. These situations are likely to lead to false tracking and deteriorate the measurement accuracy of the leg positions. To solve these problems, a novel data association considering gait phase and a Catmull-Rom spline-based interpolation during the occlusion are proposed. From the experimental results with young people, we confirm   that the proposed methods can reduce the chances of false tracking. In addition, we verify the measurement accuracy of the leg trajectory compared to a three-dimensional motion analysis system (VICON).

Unscented Kalman Filter-Trained Neural Networks for Slip Model Prediction

PubMed Central

Li, Zhencai; Wang, Yang; Liu, Zhen

2016-01-01

The purpose of this work is to investigate the accurate trajectory tracking control of a wheeled mobile robot (WMR) based on the slip model prediction. Generally, a nonholonomic WMR may increase the slippage risk, when traveling on outdoor unstructured terrain (such as longitudinal and lateral slippage of wheels). In order to control a WMR stably and accurately under the effect of slippage, an unscented Kalman filter and neural networks (NNs) are applied to estimate the slip model in real time. This method exploits the model approximating capabilities of nonlinear state–space NN, and the unscented Kalman filter is used to train NN’s weights online. The slip parameters can be estimated and used to predict the time series of deviation velocity, which can be used to compensate control inputs of a WMR. The results of numerical simulation show that the desired trajectory tracking control can be performed by predicting the nonlinear slip model. PMID:27467703

A Lagrangian analysis of cold cloud clusters and their life cycles with satellite observations

PubMed Central

Esmaili, Rebekah Bradley; Tian, Yudong; Vila, Daniel Alejandro; Kim, Kyu-Myong

2018-01-01

Cloud movement and evolution signify the complex water and energy transport in the atmosphere-ocean-land system. Detecting, clustering, and tracking clouds as semi-coherent cluster objects enables study of their evolution which can complement climate model simulations and enhance satellite retrieval algorithms, where there are large gaps between overpasses. Using an area-overlap cluster tracking algorithm, in this study we examine the trajectories, horizontal extent, and brightness temperature variations of millions of individual cloud clusters over their lifespan, from infrared satellite observations at 30-minute, 4-km resolution, for a period of 11 years. We found that the majority of cold clouds were both small and short-lived and that their frequency and location are influenced by El Niño. More importantly, this large sample of individually tracked clouds shows their horizontal size and temperature evolution. Longer lived clusters tended to achieve their temperature and size maturity milestones at different times, while these stages often occurred simultaneously in shorter lived clusters. On average, clusters with this lag also exhibited a greater rainfall contribution than those where minimum temperature and maximum size stages occurred simultaneously. Furthermore, by examining the diurnal cycle of cluster development over Africa and the Indian subcontinent, we observed differences in the local timing of the maximum occurrence at different life cycle stages. Over land there was a strong diurnal peak in the afternoon while over the ocean there was a semi-diurnal peak composed of longer-lived clusters in the early morning hours and shorter-lived clusters in the afternoon. Building on regional specific work, this study provides a long-term, high-resolution, and global survey of object-based cloud characteristics. PMID:29744257

A Lagrangian analysis of cold cloud clusters and their life cycles with satellite observations.

PubMed

Esmaili, Rebekah Bradley; Tian, Yudong; Vila, Daniel Alejandro; Kim, Kyu-Myong

2016-10-16

Cloud movement and evolution signify the complex water and energy transport in the atmosphere-ocean-land system. Detecting, clustering, and tracking clouds as semi-coherent cluster objects enables study of their evolution which can complement climate model simulations and enhance satellite retrieval algorithms, where there are large gaps between overpasses. Using an area-overlap cluster tracking algorithm, in this study we examine the trajectories, horizontal extent, and brightness temperature variations of millions of individual cloud clusters over their lifespan, from infrared satellite observations at 30-minute, 4-km resolution, for a period of 11 years. We found that the majority of cold clouds were both small and short-lived and that their frequency and location are influenced by El Niño. More importantly, this large sample of individually tracked clouds shows their horizontal size and temperature evolution. Longer lived clusters tended to achieve their temperature and size maturity milestones at different times, while these stages often occurred simultaneously in shorter lived clusters. On average, clusters with this lag also exhibited a greater rainfall contribution than those where minimum temperature and maximum size stages occurred simultaneously. Furthermore, by examining the diurnal cycle of cluster development over Africa and the Indian subcontinent, we observed differences in the local timing of the maximum occurrence at different life cycle stages. Over land there was a strong diurnal peak in the afternoon while over the ocean there was a semi-diurnal peak composed of longer-lived clusters in the early morning hours and shorter-lived clusters in the afternoon. Building on regional specific work, this study provides a long-term, high-resolution, and global survey of object-based cloud characteristics.

A Lagrangian Analysis of Cold Cloud Clusters and Their Life Cycles With Satellite Observations

NASA Technical Reports Server (NTRS)

Esmaili, Rebekah Bradley; Tian, Yudong; Vila, Daniel Alejandro; Kim, Kyu-Myong

2016-01-01

Cloud movement and evolution signify the complex water and energy transport in the atmosphere-ocean-land system. Detecting, clustering, and tracking clouds as semi coherent cluster objects enables study of their evolution which can complement climate model simulations and enhance satellite retrieval algorithms, where there are large gaps between overpasses. Using an area-overlap cluster tracking algorithm, in this study we examine the trajectories, horizontal extent, and brightness temperature variations of millions of individual cloud clusters over their lifespan, from infrared satellite observations at 30-minute, 4-km resolution, for a period of 11 years. We found that the majority of cold clouds were both small and short-lived and that their frequency and location are influenced by El Nino. More importantly, this large sample of individually tracked clouds shows their horizontal size and temperature evolution. Longer lived clusters tended to achieve their temperature and size maturity milestones at different times, while these stages often occurred simultaneously in shorter lived clusters. On average, clusters with this lag also exhibited a greater rainfall contribution than those where minimum temperature and maximum size stages occurred simultaneously. Furthermore, by examining the diurnal cycle of cluster development over Africa and the Indian subcontinent, we observed differences in the local timing of the maximum occurrence at different life cycle stages. Over land there was a strong diurnal peak in the afternoon while over the ocean there was a semi-diurnal peak composed of longer-lived clusters in the early morning hours and shorter-lived clusters in the afternoon. Building on regional specific work, this study provides a long-term, high-resolution, and global survey of object-based cloud characteristics.

Supervised Learning Applied to Air Traffic Trajectory Classification

NASA Technical Reports Server (NTRS)

Bosson, Christabelle S.; Nikoleris, Tasos

2018-01-01

Given the recent increase of interest in introducing new vehicle types and missions into the National Airspace System, a transition towards a more autonomous air traffic control system is required in order to enable and handle increased density and complexity. This paper presents an exploratory effort of the needed autonomous capabilities by exploring supervised learning techniques in the context of aircraft trajectories. In particular, it focuses on the application of machine learning algorithms and neural network models to a runway recognition trajectory-classification study. It investigates the applicability and effectiveness of various classifiers using datasets containing trajectory records for a month of air traffic. A feature importance and sensitivity analysis are conducted to challenge the chosen time-based datasets and the ten selected features. The study demonstrates that classification accuracy levels of 90% and above can be reached in less than 40 seconds of training for most machine learning classifiers when one track data point, described by the ten selected features at a particular time step, per trajectory is used as input. It also shows that neural network models can achieve similar accuracy levels but at higher training time costs.

Distributed Time-Varying Formation Robust Tracking for General Linear Multiagent Systems With Parameter Uncertainties and External Disturbances.

PubMed

Hua, Yongzhao; Dong, Xiwang; Li, Qingdong; Ren, Zhang

2017-05-18

This paper investigates the time-varying formation robust tracking problems for high-order linear multiagent systems with a leader of unknown control input in the presence of heterogeneous parameter uncertainties and external disturbances. The followers need to accomplish an expected time-varying formation in the state space and track the state trajectory produced by the leader simultaneously. First, a time-varying formation robust tracking protocol with a totally distributed form is proposed utilizing the neighborhood state information. With the adaptive updating mechanism, neither any global knowledge about the communication topology nor the upper bounds of the parameter uncertainties, external disturbances and leader's unknown input are required in the proposed protocol. Then, in order to determine the control parameters, an algorithm with four steps is presented, where feasible conditions for the followers to accomplish the expected time-varying formation tracking are provided. Furthermore, based on the Lyapunov-like analysis theory, it is proved that the formation tracking error can converge to zero asymptotically. Finally, the effectiveness of the theoretical results is verified by simulation examples.

Shaping low-thrust trajectories with thrust-handling feature

NASA Astrophysics Data System (ADS)

Taheri, Ehsan; Kolmanovsky, Ilya; Atkins, Ella

2018-02-01

Shape-based methods are becoming popular in low-thrust trajectory optimization due to their fast computation speeds. In existing shape-based methods constraints are treated at the acceleration level but not at the thrust level. These two constraint types are not equivalent since spacecraft mass decreases over time as fuel is expended. This paper develops a shape-based method based on a Fourier series approximation that is capable of representing trajectories defined in spherical coordinates and that enforces thrust constraints. An objective function can be incorporated to minimize overall mission cost, i.e., achieve minimum ΔV . A representative mission from Earth to Mars is studied. The proposed Fourier series technique is demonstrated capable of generating feasible and near-optimal trajectories. These attributes can facilitate future low-thrust mission designs where different trajectory alternatives must be rapidly constructed and evaluated.

Launching lunar missions from Space Station Freedom

NASA Technical Reports Server (NTRS)

Friedlander, Alan; Young, Archie

1990-01-01

The relative orbital motion of Space Station Freedom and the moon places practical constraints on the timing of launch/return transfer trajectories. This paper describes the timing characteristics as well as the Delta-V variations over a representative cycle of launch/return opportunities. On average, the minimum-Delta-V transfer opportunities occur at intervals of 9 days. However, there is a significant nonuniform variation in this timing interval, as well as the minimum stay time at the moon, over the short cycle (51 days) and the long cycle (18.6 years). The advantage of three-impulse transfers for extending the launch window is also described.

Adaptive control of space-based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-DOF system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator-joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory-tracking capability of the controller.

State-dependent differential Riccati equation to track control of time-varying systems with state and control nonlinearities.

PubMed

Korayem, M H; Nekoo, S R

2015-07-01

This work studies an optimal control problem using the state-dependent Riccati equation (SDRE) in differential form to track for time-varying systems with state and control nonlinearities. The trajectory tracking structure provides two nonlinear differential equations: the state-dependent differential Riccati equation (SDDRE) and the feed-forward differential equation. The independence of the governing equations and stability of the controller are proven along the trajectory using the Lyapunov approach. Backward integration (BI) is capable of solving the equations as a numerical solution; however, the forward solution methods require the closed-form solution to fulfill the task. A closed-form solution is introduced for SDDRE, but the feed-forward differential equation has not yet been obtained. Different ways of solving the problem are expressed and analyzed. These include BI, closed-form solution with corrective assumption, approximate solution, and forward integration. Application of the tracking problem is investigated to control robotic manipulators possessing rigid or flexible joints. The intention is to release a general program for automatic implementation of an SDDRE controller for any manipulator that obeys the Denavit-Hartenberg (D-H) principle when only D-H parameters are received as input data. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Decoding with limited neural data: a mixture of time-warped trajectory models for directional reaches.

PubMed

Corbett, Elaine A; Perreault, Eric J; Körding, Konrad P

2012-06-01

Neuroprosthetic devices promise to allow paralyzed patients to perform the necessary functions of everyday life. However, to allow patients to use such tools it is necessary to decode their intent from neural signals such as electromyograms (EMGs). Because these signals are noisy, state of the art decoders integrate information over time. One systematic way of doing this is by taking into account the natural evolution of the state of the body--by using a so-called trajectory model. Here we use two insights about movements to enhance our trajectory model: (1) at any given time, there is a small set of likely movement targets, potentially identified by gaze; (2) reaches are produced at varying speeds. We decoded natural reaching movements using EMGs of muscles that might be available from an individual with spinal cord injury. Target estimates found from tracking eye movements were incorporated into the trajectory model, while a mixture model accounted for the inherent uncertainty in these estimates. Warping the trajectory model in time using a continuous estimate of the reach speed enabled accurate decoding of faster reaches. We found that the choice of richer trajectory models, such as those incorporating target or speed, improves decoding particularly when there is a small number of EMGs available.

Power spectral density of a single Brownian trajectory: what one can and cannot learn from it

NASA Astrophysics Data System (ADS)

Krapf, Diego; Marinari, Enzo; Metzler, Ralf; Oshanin, Gleb; Xu, Xinran; Squarcini, Alessio

2018-02-01

The power spectral density (PSD) of any time-dependent stochastic process X t is a meaningful feature of its spectral content. In its text-book definition, the PSD is the Fourier transform of the covariance function of X t over an infinitely large observation time T, that is, it is defined as an ensemble-averaged property taken in the limit T\\to ∞ . A legitimate question is what information on the PSD can be reliably obtained from single-trajectory experiments, if one goes beyond the standard definition and analyzes the PSD of a single trajectory recorded for a finite observation time T. In quest for this answer, for a d-dimensional Brownian motion (BM) we calculate the probability density function of a single-trajectory PSD for arbitrary frequency f, finite observation time T and arbitrary number k of projections of the trajectory on different axes. We show analytically that the scaling exponent for the frequency-dependence of the PSD specific to an ensemble of BM trajectories can be already obtained from a single trajectory, while the numerical amplitude in the relation between the ensemble-averaged and single-trajectory PSDs is a fluctuating property which varies from realization to realization. The distribution of this amplitude is calculated exactly and is discussed in detail. Our results are confirmed by numerical simulations and single-particle tracking experiments, with remarkably good agreement. In addition we consider a truncated Wiener representation of BM, and the case of a discrete-time lattice random walk. We highlight some differences in the behavior of a single-trajectory PSD for BM and for the two latter situations. The framework developed herein will allow for meaningful physical analysis of experimental stochastic trajectories.

Left Atrial trajectory impairment in Hypertrophic Cardiomyopathy disclosed by Geometric Morphometrics and Parallel Transport

NASA Astrophysics Data System (ADS)

Piras, Paolo; Torromeo, Concetta; Re, Federica; Evangelista, Antonietta; Gabriele, Stefano; Esposito, Giuseppe; Nardinocchi, Paola; Teresi, Luciano; Madeo, Andrea; Chialastri, Claudia; Schiariti, Michele; Varano, Valerio; Uguccioni, Massimo; Puddu, Paolo E.

2016-10-01

The analysis of full Left Atrium (LA) deformation and whole LA deformational trajectory in time has been poorly investigated and, to the best of our knowledge, seldom discussed in patients with Hypertrophic Cardiomyopathy. Therefore, we considered 22 patients with Hypertrophic Cardiomyopathy (HCM) and 46 healthy subjects, investigated them by three-dimensional Speckle Tracking Echocardiography, and studied the derived landmark clouds via Geometric Morphometrics with Parallel Transport. Trajectory shape and trajectory size were different in Controls versus HCM and their classification powers had high AUC (Area Under the Receiving Operator Characteristic Curve) and accuracy. The two trajectories were much different at the transition between LA conduit and booster pump functions. Full shape and deformation analyses with trajectory analysis enabled a straightforward perception of pathophysiological consequences of HCM condition on LA functioning. It might be worthwhile to apply these techniques to look for novel pathophysiological approaches that may better define atrio-ventricular interaction.

Fluorescent image tracking velocimeter

DOEpatents

Shaffer, Franklin D.

1994-01-01

A multiple-exposure fluorescent image tracking velocimeter (FITV) detects and measures the motion (trajectory, direction and velocity) of small particles close to light scattering surfaces. The small particles may follow the motion of a carrier medium such as a liquid, gas or multi-phase mixture, allowing the motion of the carrier medium to be observed, measured and recorded. The main components of the FITV include: (1) fluorescent particles; (2) a pulsed fluorescent excitation laser source; (3) an imaging camera; and (4) an image analyzer. FITV uses fluorescing particles excited by visible laser light to enhance particle image detectability near light scattering surfaces. The excitation laser light is filtered out before reaching the imaging camera allowing the fluoresced wavelengths emitted by the particles to be detected and recorded by the camera. FITV employs multiple exposures of a single camera image by pulsing the excitation laser light for producing a series of images of each particle along its trajectory. The time-lapsed image may be used to determine trajectory and velocity and the exposures may be coded to derive directional information.

Real-time depth camera tracking with geometrically stable weight algorithm

NASA Astrophysics Data System (ADS)

Fu, Xingyin; Zhu, Feng; Qi, Feng; Wang, Mingming

2017-03-01

We present an approach for real-time camera tracking with depth stream. Existing methods are prone to drift in sceneries without sufficient geometric information. First, we propose a new weight method for an iterative closest point algorithm commonly used in real-time dense mapping and tracking systems. By detecting uncertainty in pose and increasing weight of points that constrain unstable transformations, our system achieves accurate and robust trajectory estimation results. Our pipeline can be fully parallelized with GPU and incorporated into the current real-time depth camera tracking system seamlessly. Second, we compare the state-of-the-art weight algorithms and propose a weight degradation algorithm according to the measurement characteristics of a consumer depth camera. Third, we use Nvidia Kepler Shuffle instructions during warp and block reduction to improve the efficiency of our system. Results on the public TUM RGB-D database benchmark demonstrate that our camera tracking system achieves state-of-the-art results both in accuracy and efficiency.

Neuro-Analogical Gate Tuning of Trajectory Data Fusion for a Mecanum-Wheeled Special Needs Chair

PubMed Central

ElSaharty, M. A.; zakzouk, Ezz Eldin

2017-01-01

Trajectory tracking of mobile wheeled chairs using internal shaft encoder and inertia measurement unit(IMU), exhibits several complications and accumulated errors in the tracking process due to wheel slippage, offset drift and integration approximations. These errors can be realized when comparing localization results from such sensors with a camera tracking system. In long trajectory tracking, such errors can accumulate and result in significant deviations which make data from these sensors unreliable for tracking. Meanwhile the utilization of an external camera tracking system is not always a feasible solution depending on the implementation environment. This paper presents a novel sensor fusion method that combines the measurements of internal sensors to accurately predict the location of the wheeled chair in an environment. The method introduces a new analogical OR gate structured with tuned parameters using multi-layer feedforward neural network denoted as “Neuro-Analogical Gate” (NAG). The resulting system minimize any deviation error caused by the sensors, thus accurately tracking the wheeled chair location without the requirement of an external camera tracking system. The fusion methodology has been tested with a prototype Mecanum wheel-based chair, and significant improvement over tracking response, error and performance has been observed. PMID:28045973

A model-based approach for automated in vitro cell tracking and chemotaxis analyses.

PubMed

Debeir, Olivier; Camby, Isabelle; Kiss, Robert; Van Ham, Philippe; Decaestecker, Christine

2004-07-01

Chemotaxis may be studied in two main ways: 1) counting cells passing through an insert (e.g., using Boyden chambers), and 2) directly observing cell cultures (e.g., using Dunn chambers), both in response to stationary concentration gradients. This article promotes the use of Dunn chambers and in vitro cell-tracking, achieved by video microscopy coupled with automatic image analysis software, in order to extract quantitative and qualitative measurements characterizing the response of cells to a diffusible chemical agent. Previously, we set up a videomicroscopy system coupled with image analysis software that was able to compute cell trajectories from in vitro cell cultures. In the present study, we are introducing a new software increasing the application field of this system to chemotaxis studies. This software is based on an adapted version of the active contour methodology, enabling each cell to be efficiently tracked for hours and resulting in detailed descriptions of individual cell trajectories. The major advantages of this method come from an improved robustness with respect to variability in cell morphologies between different cell lines and dynamical changes in cell shape during cell migration. Moreover, the software includes a very small number of parameters which do not require overly sensitive tuning. Finally, the running time of the software is very short, allowing improved possibilities in acquisition frequency and, consequently, improved descriptions of complex cell trajectories, i.e. trajectories including cell division and cell crossing. We validated this software on several artificial and real cell culture experiments in Dunn chambers also including comparisons with manual (human-controlled) analyses. We developed new software and data analysis tools for automated cell tracking which enable cell chemotaxis to be efficiently analyzed. Copyright 2004 Wiley-Liss, Inc.

A video multitracking system for quantification of individual behavior in a large fish shoal: advantages and limits.

PubMed

Delcourt, Johann; Becco, Christophe; Vandewalle, Nicolas; Poncin, Pascal

2009-02-01

The capability of a new multitracking system to track a large number of unmarked fish (up to 100) is evaluated. This system extrapolates a trajectory from each individual and analyzes recorded sequences that are several minutes long. This system is very efficient in statistical individual tracking, where the individual's identity is important for a short period of time in comparison with the duration of the track. Individual identification is typically greater than 99%. Identification is largely efficient (more than 99%) when the fish images do not cross the image of a neighbor fish. When the images of two fish merge (occlusion), we consider that the spot on the screen has a double identity. Consequently, there are no identification errors during occlusions, even though the measurement of the positions of each individual is imprecise. When the images of these two merged fish separate (separation), individual identification errors are more frequent, but their effect is very low in statistical individual tracking. On the other hand, in complete individual tracking, where individual fish identity is important for the entire trajectory, each identification error invalidates the results. In such cases, the experimenter must observe whether the program assigns the correct identification, and, when an error is made, must edit the results. This work is not too costly in time because it is limited to the separation events, accounting for fewer than 0.1% of individual identifications. Consequently, in both statistical and rigorous individual tracking, this system allows the experimenter to gain time by measuring the individual position automatically. It can also analyze the structural and dynamic properties of an animal group with a very large sample, with precision and sampling that are impossible to obtain with manual measures.

Interactive, computer-assisted tracking of speckle trajectories in fluorescence microscopy: application to actin polymerization and membrane fusion.

PubMed

Smith, Matthew B; Karatekin, Erdem; Gohlke, Andrea; Mizuno, Hiroaki; Watanabe, Naoki; Vavylonis, Dimitrios

2011-10-05

Analysis of particle trajectories in images obtained by fluorescence microscopy reveals biophysical properties such as diffusion coefficient or rates of association and dissociation. Particle tracking and lifetime measurement is often limited by noise, large mobilities, image inhomogeneities, and path crossings. We present Speckle TrackerJ, a tool that addresses some of these challenges using computer-assisted techniques for finding positions and tracking particles in different situations. A dynamic user interface assists in the creation, editing, and refining of particle tracks. The following are results from application of this program: 1), Tracking single molecule diffusion in simulated images. The shape of the diffusing marker on the image changes from speckle to cloud, depending on the relationship of the diffusion coefficient to the camera exposure time. We use these images to illustrate the range of diffusion coefficients that can be measured. 2), We used the program to measure the diffusion coefficient of capping proteins in the lamellipodium. We found values ∼0.5 μm(2)/s, suggesting capping protein association with protein complexes or the membrane. 3), We demonstrate efficient measuring of appearance and disappearance of EGFP-actin speckles within the lamellipodium of motile cells that indicate actin monomer incorporation into the actin filament network. 4), We marked appearance and disappearance events of fluorescently labeled vesicles to supported lipid bilayers and tracked single lipids from the fused vesicle on the bilayer. This is the first time, to our knowledge, that vesicle fusion has been detected with single molecule sensitivity and the program allowed us to perform a quantitative analysis. 5), By discriminating between undocking and fusion events, dwell times for vesicle fusion after vesicle docking to membranes can be measured. Copyright © 2011 Biophysical Society. Published by Elsevier Inc. All rights reserved.

Evaluation of Dose Uncertainty to the Target Associated With Real-Time Tracking Intensity-Modulated Radiation Therapy Using the CyberKnife Synchrony System.

PubMed

Iwata, Hiromitsu; Inoue, Mitsuhiro; Shiomi, Hiroya; Murai, Taro; Tatewaki, Koshi; Ohta, Seiji; Okawa, Kohei; Yokota, Naoki; Shibamoto, Yuta

2016-02-01

We investigated the dose uncertainty caused by errors in real-time tracking intensity-modulated radiation therapy (IMRT) using the CyberKnife Synchrony Respiratory Tracking System (SRTS). Twenty lung tumors that had been treated with non-IMRT real-time tracking using CyberKnife SRTS were used for this study. After validating the tracking error in each case, we did 40 IMRT planning using 8 different collimator sizes for the 20 patients. The collimator size was determined for each planning target volume (PTV); smaller ones were one-half, and larger ones three-quarters, of the PTV diameter. The planned dose was 45 Gy in 4 fractions prescribed at 95% volume border of the PTV. Thereafter, the tracking error in each case was substituted into calculation software developed in house and randomly added in the setting of each beam. The IMRT planning incorporating tracking errors was simulated 1000 times, and various dose data on the clinical target volume (CTV) were compared with the original data. The same simulation was carried out by changing the fraction number from 1 to 6 in each IMRT plan. Finally, a total of 240 000 plans were analyzed. With 4 fractions, the change in the CTV maximum and minimum doses was within 3.0% (median) for each collimator. The change in D99 and D95 was within 2.0%. With decreases in the fraction number, the CTV coverage rate and the minimum dose decreased and varied greatly. The accuracy of real-time tracking IMRT delivered in 4 fractions using CyberKnife SRTS was considered to be clinically acceptable. © The Author(s) 2014.

Trifocal Tensor-Based Adaptive Visual Trajectory Tracking Control of Mobile Robots.

PubMed

Chen, Jian; Jia, Bingxi; Zhang, Kaixiang

2017-11-01

In this paper, a trifocal tensor-based approach is proposed for the visual trajectory tracking task of a nonholonomic mobile robot equipped with a roughly installed monocular camera. The desired trajectory is expressed by a set of prerecorded images, and the robot is regulated to track the desired trajectory using visual feedback. Trifocal tensor is exploited to obtain the orientation and scaled position information used in the control system, and it works for general scenes owing to the generality of trifocal tensor. In the previous works, the start, current, and final images are required to share enough visual information to estimate the trifocal tensor. However, this requirement can be easily violated for perspective cameras with limited field of view. In this paper, key frame strategy is proposed to loosen this requirement, extending the workspace of the visual servo system. Considering the unknown depth and extrinsic parameters (installing position of the camera), an adaptive controller is developed based on Lyapunov methods. The proposed control strategy works for almost all practical circumstances, including both trajectory tracking and pose regulation tasks. Simulations are made based on the virtual experimentation platform (V-REP) to evaluate the effectiveness of the proposed approach.

Multi-Objective Trajectory Optimization of a Hypersonic Reconnaissance Vehicle with Temperature Constraints

NASA Astrophysics Data System (ADS)

Masternak, Tadeusz J.

This research determines temperature-constrained optimal trajectories for a scramjet-based hypersonic reconnaissance vehicle by developing an optimal control formulation and solving it using a variable order Gauss-Radau quadrature collocation method with a Non-Linear Programming (NLP) solver. The vehicle is assumed to be an air-breathing reconnaissance aircraft that has specified takeoff/landing locations, airborne refueling constraints, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom scramjet aircraft model is adapted from previous work and includes flight dynamics, aerodynamics, and thermal constraints. Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and coverage of high-value targets. To solve the optimal control formulation, a MATLAB-based package called General Pseudospectral Optimal Control Software (GPOPS-II) is used, which transcribes continuous time optimal control problems into an NLP problem. In addition, since a mission profile can have varying vehicle dynamics and en-route imposed constraints, the optimal control problem formulation can be broken up into several "phases" with differing dynamics and/or varying initial/final constraints. Optimal trajectories are developed using several different performance costs in the optimal control formulation: minimum time, minimum time with control penalties, and maximum range. The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for larger-scale operational and campaign planning and execution.

Pulse width modulation-based temperature tracking for feedback control of a shape memory alloy actuator.

PubMed

Ayvali, Elif; Desai, Jaydev P

2014-04-01

This work presents a temperature-feedback approach to control the radius of curvature of an arc-shaped shape memory alloy (SMA) wire. The nonlinear properties of the SMA such as phase transformation and its dependence on temperature and stress make SMA actuators difficult to control. Tracking a desired trajectory is more challenging than controlling just the position of the SMA actuator since the desired path is continuously changing. Consequently, tracking the desired strain directly or tracking the parameters such as temperature and electrical resistance that are related to strain with a model is a challenging task. Temperature-feedback is an attractive approach when direct measurement of strain is not practical. Pulse width modulation (PWM) is an effective method for SMA actuation and it can be used along with a compensator to control the temperature of the SMA. Using the constitutive model of the SMA, the desired temperature profile can be obtained for a given strain trajectory. A PWM-based nonlinear PID controller with a feed-forward heat transfer model is proposed to use temperature-feedback for tracking a desired temperature trajectory. The proposed controller is used during the heating phase of the SMA actuator. The controller proves to be effective in tracking step-wise and continuous trajectories.

Real Time Optima Tracking Using Harvesting Models of the Genetic Algorithm

NASA Technical Reports Server (NTRS)

Baskaran, Subbiah; Noever, D.

1999-01-01

Tracking optima in real time propulsion control, particularly for non-stationary optimization problems is a challenging task. Several approaches have been put forward for such a study including the numerical method called the genetic algorithm. In brief, this approach is built upon Darwinian-style competition between numerical alternatives displayed in the form of binary strings, or by analogy to 'pseudogenes'. Breeding of improved solution is an often cited parallel to natural selection in.evolutionary or soft computing. In this report we present our results of applying a novel model of a genetic algorithm for tracking optima in propulsion engineering and in real time control. We specialize the algorithm to mission profiling and planning optimizations, both to select reduced propulsion needs through trajectory planning and to explore time or fuel conservation strategies.

Fusing human and machine skills for remote robotic operations

NASA Technical Reports Server (NTRS)

Schenker, Paul S.; Kim, Won S.; Venema, Steven C.; Bejczy, Antal K.

1991-01-01

The question of how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions is addressed. Computer graphics techniques which enable the human operator to both visualize and predict detailed 3D trajectories in real-time are reported. Man-machine interactive control procedures for better management of manipulator contact forces and positioning are also described. It is found that collectively, these novel advanced teleoperations techniques both enhance system performance and significantly reduce control problems long associated with teleoperations under time delay. Ongoing robotic simulations of the 1984 space shuttle Solar Maximum EVA Repair Mission are briefly described.

EmbryoMiner: A new framework for interactive knowledge discovery in large-scale cell tracking data of developing embryos.

PubMed

Schott, Benjamin; Traub, Manuel; Schlagenhauf, Cornelia; Takamiya, Masanari; Antritter, Thomas; Bartschat, Andreas; Löffler, Katharina; Blessing, Denis; Otte, Jens C; Kobitski, Andrei Y; Nienhaus, G Ulrich; Strähle, Uwe; Mikut, Ralf; Stegmaier, Johannes

2018-04-01

State-of-the-art light-sheet and confocal microscopes allow recording of entire embryos in 3D and over time (3D+t) for many hours. Fluorescently labeled structures can be segmented and tracked automatically in these terabyte-scale 3D+t images, resulting in thousands of cell migration trajectories that provide detailed insights to large-scale tissue reorganization at the cellular level. Here we present EmbryoMiner, a new interactive open-source framework suitable for in-depth analyses and comparisons of entire embryos, including an extensive set of trajectory features. Starting at the whole-embryo level, the framework can be used to iteratively focus on a region of interest within the embryo, to investigate and test specific trajectory-based hypotheses and to extract quantitative features from the isolated trajectories. Thus, the new framework provides a valuable new way to quantitatively compare corresponding anatomical regions in different embryos that were manually selected based on biological prior knowledge. As a proof of concept, we analyzed 3D+t light-sheet microscopy images of zebrafish embryos, showcasing potential user applications that can be performed using the new framework.

Flight Deck Surface Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Foyle, David C.; Hooey, Becky L.; Bakowski, Deborah L.

2017-01-01

Surface Trajectory-Based Operations (STBO) is a future concept for surface operations where time requirements are incorporated into taxi operations to support surface planning and coordination. Pilot-in-the-loop flight deck simulations have been conducted to study flight deck displays algorithms to aid pilots in complying with the time requirements of time-based taxi operations (i.e., at discrete locations in 3 12 D operations or at all points along the route in 4DT operations). The results of these studies (conformance, time-of-arrival error, eye-tracking data, and safety ratings) are presented. Flight deck simulation work done in collaboration with DLR is described. Flight deck research issues in future auto-taxi operations are also introduced.

Comparison of Two Alternative Methods for Tracking Toe Trajectory

NASA Technical Reports Server (NTRS)

Miller, Chris; Peters, Brian; Brady, Rachel; Mulavara, Ajitkumar; Warren, Liz; Feiveson, Al; Bloomberg, Jacob

2007-01-01

Toe trajectory during the swing phase of locomotion has been identified as a precise motor control task (Karst, et al., 1999). The standard method for tracking toe trajectory is to place a marker on the superior aspect of the distal end of the 2nd toe itself (Karst, et al., 1999; Winter, 1992). However, others have based their toe trajectory results either on a marker positioned on the lateral aspect of the 5th metatarsal head (Dingwell, et al., 1999; Osaki, et al., 2007), or on a virtual toe marker computed at the anterior tip of the second toe based on the positions of other real foot markers (Miller, et al., 2006). While these methods for tracking the toe may seem similar, their results may not be directly comparable. The purpose of this study was to compute toe trajectory parameters using a 5th metatarsal marker and a virtual toe marker, and compare their results with those of the standard toe marker.

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

NASA Astrophysics Data System (ADS)

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

2017-03-01

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

Time-Critical Cooperative Path Following of Multiple Unmanned Aerial Vehicles over Time-Varying Networks

DTIC Science & Technology

2013-03-01

Ciência e a Tecnologia . References [1] Kaminer, I., Pascoal, A.M., Hallberg, E., and Silvestreo, C., “Trajectory Tracking for Autonomous Vehicles: An...for publication). [53] Cichella, V., Xargay, E., Dobrokhodov, V., Kaminer, I., Pascoal, A. M., and Hovakimyan, N., “Geometric 3D Path-Following

Ice Cloud Formation and Dehydration in the Tropical Tropopause Layer

NASA Technical Reports Server (NTRS)

Jensen, Eric; Pfister, Leonhard; Gore, Warren J. (Technical Monitor)

2002-01-01

Stratospheric water vapor is important not only for its greenhouse forcing, but also because it plays a significant role in stratospheric chemistry. several recent studies have focused on the potential for dehydration due to ice cloud formation in air rising slowly through the tropical tropopause layer. Holton and Gettelman showed that temperature variations associated with horizontal transport of air in the tropopause layer can drive ice cloud formation and dehydration, and Gettelman et al. recently examined the cloud formation and dehydration along kinematic trajectories using simple assumptions about the cloud properties. In this study, we use a Lagrangian, one-dimensional cloud model to further investigate cloud formation and dehydration as air is transported horizontally and vertically through the tropical tropopause layer. Time-height curtains of temperature are extracted from meteorological analyses. The model tracks the growth and sedimentation of individual cloud particles. The regional distribution of clouds simulated in the model is comparable to the subvisible cirrus distribution indicated by SAGE II. The simulated cloud properties depend strongly on the assumed ice supersaturation threshold for ice nucleation. with effective nuclei present (low supersaturation threshold), ice number densities are high (0.1--10 cm(circumflex)-3), and ice crystals do not grow large enough to fall very far, resulting in limited dehydration. With higher supersaturation thresholds, ice number densities are much lower (less than 0.01 cm(circumflex)-3), and ice crystals grow large enough to fall substantially; however, supersaturated air often crosses the tropopause without cloud formation. The clouds typically do not dehydrate the air along trajectories down to the temperature minimum saturation mixing ratio. Rather the water vapor mixing ratio crossing the tropopause along trajectories is typically 10-50% larger than the saturation mixing ratio.

Adaptive Neural Network Control for the Trajectory Tracking of the Furuta Pendulum.

PubMed

Moreno-Valenzuela, Javier; Aguilar-Avelar, Carlos; Puga-Guzman, Sergio A; Santibanez, Victor

2016-12-01

The purpose of this paper is to introduce a novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system. Adaptation laws for the input and output weights are also provided. The proposed controller is able to guarantee tracking of a reference signal for the arm while the pendulum remains in the upright position. The key aspect of the derivation of the controller is the definition of an output function that depends on the position and velocity errors. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectories. By using real-time experiments, the new scheme is compared with other control methodologies, therein demonstrating the improved performance of the proposed adaptive algorithm.

WE-G-17A-05: Real-Time Catheter Localization Using An Active MR Tracker for Interstitial Brachytherapy

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

Wang, W; Damato, A; Viswanathan, A

2014-06-15

Purpose: To develop a novel active MR-tracking system which can provide accurate and rapid localization of brachytherapy catheters, and assess its reliability and spatial accuracy in comparison to standard catheter digitization using MR images. Methods: An active MR tracker for brachytherapy was constructed by adding three printed-circuit micro-coils to the shaft of a commercial metallic stylet. A gel phantom with an embedded framework was built, into which fifteen 14-Gauge catheters were placed, following either with parallel or crossed paths. The tracker was inserted sequentially into each catheter, with MR-tracking running continuously. Tracking was also performed during the tracker's removal frommore » each catheter. Catheter trajectories measured from the insertion and the removal procedures using the same micro-coil were compared, as well as trajectories obtained using different micro-coils. A 3D high-resolution MR image dataset of the phantom was acquired and imported into a treatment planning system (TPS) for catheter digitization. A comparison between MR-tracked positions and positions digitized from MR images by TPS was performed. Results: The MR tracking shows good consistency for varying catheter paths and for all micro-coils (mean difference ∼1.1 mm). The average distance between the MR-tracking trajectory and catheter digitization from the MR images was 1.1 mm. Ambiguity in catheter assignment from images due to crossed paths was resolved by active tracking. When tracking was interleaved with imaging, real-time images were continuously acquired at the instantaneous tip positions and displayed on an external workstation. Conclusion: The active MR tracker may be used to provide an independent measurement of catheter location in the MR environment, potentially eliminating the need for subsequent CT. It may also be used to control realtime imaging of catheter placement. This will enable MR-based brachytherapy planning of interstitial implants without ionizing radiation, with the potential to enable dosimetric guidance of catheter placement. We gratefully acknowledge support from the American Heart Association SDG 10SDG2610139, NIH 1R21CA158987-01A1, U41-RR019703, and R21 CA 167800, as well as a BWH Department of Radiation Oncology post-doctoral fellowship support. Li Pan and Wesley Gilson are employees of Siemens Corporation, Corporate Technology. Ravi Seethamraju is an employee of Siemens Healthcare.« less

Two-degrees-of-freedom piezo-driven fast steering mirror with cross-axis decoupling capability

NASA Astrophysics Data System (ADS)

Shao, Shubao; Tian, Zheng; Song, Siyang; Xu, Minglong

2018-05-01

Because mechanical cross coupling between its axes would lead to degradation of the scanning precision of a piezo-driven fast steering mirror (PFSM), a two-degrees-of-freedom (2-DoF) PFSM with a cross-axis decoupling capability, in which 2-DoF flexure hinges are used, is proposed in this work. The overall structure of the proposed PFSM is first introduced and then both static and dynamic models are established analytically; in addition, the decoupling mechanism is described in detail and the low dynamic cross coupling ratios that occur between the two DoFs are shown. Because of the decoupling property of the PFSM, the 2-DoF motion is treated as a combination of two independent one-degree-of-freedom (1-DoF) motions and two independent proportional-integral-derivative controllers are thus used separately in the control of the two DoFs. Based on this control strategy, experiments involving both 1-DoF trajectory tracking and 2-DoF trajectory tracking are implemented. The test results show that the proposed PFSM can achieve the tilt range of ±7 mrad for both axes with the low coupling ratios that are less than 2% (-34 dB), and the bandwidths of both axes are higher than 810 Hz; in addition, the maximal tracking full scale range errors for 1-DoF trajectory tracking and 2-DoF trajectory tracking are less than 0.2% and 1%, respectively, where the larger error of 2-DoF trajectory tracking is mainly caused by the remaining cross coupling between axes.

Minimum-Time and Vibration Avoidance Attitude Maneuver for Spacecraft with Torque and Momentum Limit Constraints in Redundant Reaction Wheel Configuration

NASA Technical Reports Server (NTRS)

Ha, Kong Q.; Femiano, Michael D.; Mosier, Gary E.

2004-01-01

In this paper, we present an optimal open-loop slew trajectory algorithm developed at GSFC for the so-called "Yardstick design" of the James Webb Space Telescope (JWST). JWST is an orbiting infrared observatory featuring a lightweight, segmented primary mirror approximately 6 meters in diameter and a sunshield approximately the size of a tennis court. This large, flexible structure will have significant number of lightly damped, dominant flexible modes. With very stringent requirements on pointing accuracy and image quality, it is important that slewing be done within the required time constraint and with minimal induced vibration in order to maximize observing efficiency. With reaction wheels as control actuators, initial wheel speeds as well as individual wheel torque and momentum limits become dominant constraints in slew performance. These constraints must be taken into account when performing slews to ensure that unexpected reaction wheel saturation does not occur, since such saturation leads to control failure in accurately tracking commanded motion and produces high frequency torque components capable of exciting structural modes. A minimum-time constraint is also included and coupled with reaction wheel limit constraints in the optimization to minimize both the effect of the control torque on the flexible body motion and the maneuver time. The optimization is on slew command parameters, such as maximum slew velocity and acceleration, for a given redundant reaction wheel configuration and is based on the dynamic interaction between the spacecraft and reaction wheel motion. Analytical development of the slew algorithm to generate desired slew position, rate, and acceleration profiles to command a feedback/feed forward control system is described. High-fidelity simulation and experimental results are presented to show that the developed slew law achieves the objectives.

Dual-arm manipulators with adaptive control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

Method and apparatus for adaptive force and position control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1995-01-01

The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

On-Line Tracking Controller for Brushless DC Motor Drives Using Artificial Neural Networks

NASA Technical Reports Server (NTRS)

Rubaai, Ahmed

1996-01-01

A real-time control architecture is developed for time-varying nonlinear brushless dc motors operating in a high performance drives environment. The developed control architecture possesses the capabilities of simultaneous on-line identification and control. The dynamics of the motor are modeled on-line and controlled using an artificial neural network, as the system runs. The control architecture combines the experience and dependability of adaptive tracking systems with potential and promise of the neural computing technology. The sensitivity of real-time controller to parametric changes that occur during training is investigated. Such changes are usually manifested by rapid changes in the load of the brushless motor drives. This sudden change in the external load is simulated for the sigmoidal and sinusoidal reference tracks. The ability of the neuro-controller to maintain reasonable tracking accuracy in the presence of external noise is also verified for a number of desired reference trajectories.

Development of an algorithm to model an aircraft equipped with a generic CDTI display

NASA Technical Reports Server (NTRS)

Driscoll, W. C.; Houck, J. A.

1986-01-01

A model of human pilot performance of a tracking task using a generic Cockpit Display of Traffic Information (CDTI) display is developed from experimental data. The tracking task is to use CDTI in tracking a leading aircraft at a nominal separation of three nautical miles over a prescribed trajectory in space. The analysis of the data resulting from a factorial design of experiments reveals that the tracking task performance depends on the pilot and his experience at performing the task. Performance was not strongly affected by the type of control system used (velocity vector control wheel steering versus 3D automatic flight path guidance and control). The model that is developed and verified results in state trajectories whose difference from the experimental state trajectories is small compared to the variation due to the pilot and experience factors.

A new method for discovering behavior patterns among animal movements

USGS Publications Warehouse

Wang, Y.; Luo, Ze; Takekawa, John Y.; Prosser, Diann J.; Xiong, Y.; Newman, S.; Xiao, X.; Batbayar, N.; Spragens, Kyle A.; Balachandran, S.; Yan, B.

2016-01-01

Advanced satellite tracking technologies enable biologists to track animal movements at fine spatial and temporal scales. The resultant data present opportunities and challenges for understanding animal behavioral mechanisms. In this paper, we develop a new method to elucidate animal movement patterns from tracking data. Here, we propose the notion of continuous behavior patterns as a concise representation of popular migration routes and underlying sequential behaviors during migration. Each stage in the pattern is characterized in terms of space (i.e., the places traversed during movements) and time (i.e. the time spent in those places); that is, the behavioral state corresponding to a stage is inferred according to the spatiotemporal and sequential context. Hence, the pattern may be interpreted predictably. We develop a candidate generation and refinement framework to derive all continuous behavior patterns from raw trajectories. In the framework, we first define the representative spots to denote the underlying potential behavioral states that are extracted from individual trajectories according to the similarity of relaxed continuous locations in certain distinct time intervals. We determine the common behaviors of multiple individuals according to the spatiotemporal proximity of representative spots and apply a projection-based extension approach to generate candidate sequential behavior sequences as candidate patterns. Finally, the candidate generation procedure is combined with a refinement procedure to derive continuous behavior patterns. We apply an ordered processing strategy to accelerate candidate refinement. The proposed patterns and discovery framework are evaluated through conceptual experiments on both real GPS-tracking and large synthetic datasets.

A new method for discovering behavior patterns among animal movements.

PubMed

Wang, Yuwei; Luo, Ze; Takekawa, John; Prosser, Diann; Xiong, Yan; Newman, Scott; Xiao, Xiangming; Batbayar, Nyambayar; Spragens, Kyle; Balachandran, Sivananinthaperumal; Yan, Baoping

Advanced satellite tracking technologies enable biologists to track animal movements at fine spatial and temporal scales. The resultant data present opportunities and challenges for understanding animal behavioral mechanisms. In this paper, we develop a new method to elucidate animal movement patterns from tracking data. Here, we propose the notion of continuous behavior patterns as a concise representation of popular migration routes and underlying sequential behaviors during migration. Each stage in the pattern is characterized in terms of space (i.e., the places traversed during movements) and time (i.e. the time spent in those places); that is, the behavioral state corresponding to a stage is inferred according to the spatiotemporal and sequential context. Hence, the pattern may be interpreted predictably. We develop a candidate generation and refinement framework to derive all continuous behavior patterns from raw trajectories. In the framework, we first define the representative spots to denote the underlying potential behavioral states that are extracted from individual trajectories according to the similarity of relaxed continuous locations in certain distinct time intervals. We determine the common behaviors of multiple individuals according to the spatiotemporal proximity of representative spots and apply a projection-based extension approach to generate candidate sequential behavior sequences as candidate patterns. Finally, the candidate generation procedure is combined with a refinement procedure to derive continuous behavior patterns. We apply an ordered processing strategy to accelerate candidate refinement. The proposed patterns and discovery framework are evaluated through conceptual experiments on both real GPS-tracking and large synthetic datasets.

A new method for discovering behavior patterns among animal movements

PubMed Central

Wang, Yuwei; Luo, Ze; Takekawa, John; Prosser, Diann; Xiong, Yan; Newman, Scott; Xiao, Xiangming; Batbayar, Nyambayar; Spragens, Kyle; Balachandran, Sivananinthaperumal; Yan, Baoping

2016-01-01

Advanced satellite tracking technologies enable biologists to track animal movements at fine spatial and temporal scales. The resultant data present opportunities and challenges for understanding animal behavioral mechanisms. In this paper, we develop a new method to elucidate animal movement patterns from tracking data. Here, we propose the notion of continuous behavior patterns as a concise representation of popular migration routes and underlying sequential behaviors during migration. Each stage in the pattern is characterized in terms of space (i.e., the places traversed during movements) and time (i.e. the time spent in those places); that is, the behavioral state corresponding to a stage is inferred according to the spatiotemporal and sequential context. Hence, the pattern may be interpreted predictably. We develop a candidate generation and refinement framework to derive all continuous behavior patterns from raw trajectories. In the framework, we first define the representative spots to denote the underlying potential behavioral states that are extracted from individual trajectories according to the similarity of relaxed continuous locations in certain distinct time intervals. We determine the common behaviors of multiple individuals according to the spatiotemporal proximity of representative spots and apply a projection-based extension approach to generate candidate sequential behavior sequences as candidate patterns. Finally, the candidate generation procedure is combined with a refinement procedure to derive continuous behavior patterns. We apply an ordered processing strategy to accelerate candidate refinement. The proposed patterns and discovery framework are evaluated through conceptual experiments on both real GPS-tracking and large synthetic datasets. PMID:27217810

Transfers between libration-point orbits in the elliptic restricted problem

NASA Astrophysics Data System (ADS)

Hiday, L. A.; Howell, K. C.

The present time-fixed impulsive transfers between 3D libration point orbits in the vicinity of the interior L(1) libration point of the sun-earth-moon barycenter system are 'optimal' in that the total characteristic velocity required for implementation of the transfer exhibits a local minimum. The conditions necessary for a time-fixed, two-impulse transfer trajectory to be optimal are stated in terms of the primer vector, and the conditions necessary for satisfying the local optimality of a transfer trajectory containing additional impulses are addressed by requiring continuity of the Hamiltonian and the derivative of the primer vector at all interior impulses.

Quantifying kinematics of purposeful movements to real, imagined, or absent functional objects: implications for modelling trajectories for robot-assisted ADL tasks.

PubMed

Wisneski, Kimberly J; Johnson, Michelle J

2007-03-23

Robotic therapy is at the forefront of stroke rehabilitation. The Activities of Daily Living Exercise Robot (ADLER) was developed to improve carryover of gains after training by combining the benefits of Activities of Daily Living (ADL) training (motivation and functional task practice with real objects), with the benefits of robot mediated therapy (repeatability and reliability). In combining these two therapy techniques, we seek to develop a new model for trajectory generation that will support functional movements to real objects during robot training. We studied natural movements to real objects and report on how initial reaching movements are affected by real objects and how these movements deviate from the straight line paths predicted by the minimum jerk model, typically used to generate trajectories in robot training environments. We highlight key issues that to be considered in modelling natural trajectories. Movement data was collected as eight normal subjects completed ADLs such as drinking and eating. Three conditions were considered: object absent, imagined, and present. This data was compared to predicted trajectories generated from implementing the minimum jerk model. The deviations in both the plane of the table (XY) and the sagittal plane of torso (XZ) were examined for both reaches to a cup and to a spoon. Velocity profiles and curvature were also quantified for all trajectories. We hypothesized that movements performed with functional task constraints and objects would deviate from the minimum jerk trajectory model more than those performed under imaginary or object absent conditions. Trajectory deviations from the predicted minimum jerk model for these reaches were shown to depend on three variables: object presence, object orientation, and plane of movement. When subjects completed the cup reach their movements were more curved than for the spoon reach. The object present condition for the cup reach showed more curvature than in the object imagined and absent conditions. Curvature in the XZ plane of movement was greater than curvature in the XY plane for all movements. The implemented minimum jerk trajectory model was not adequate for generating functional trajectories for these ADLs. The deviations caused by object affordance and functional task constraints must be accounted for in order to allow subjects to perform functional task training in robotic therapy environments. The major differences that we have highlighted include trajectory dependence on: object presence, object orientation, and the plane of movement. With the ability to practice ADLs on the ADLER environment we hope to provide patients with a therapy paradigm that will produce optimal results and recovery.

TU-AB-201-04: Optimizing the Number of Catheter Implants and Their Tracks for Prostate HDR Brachytherapy

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

Riofrio, D; Luan, S; Zhou, J

Purpose: In prostate HDR brachytherapy, interstitial implants are placed manually on the fly. The aim for this research is to develop a computer algorithm to find optimal and reliable implant trajectories using minimal number of implants. Methods: Our new algorithm mainly uses these key ideas: (1) positive charged static particles are uniformly placed on the surface of prostate and critical structures such as urethra, bladder, and rectum. (2) Positive charged kinetic particles are placed at a cross-section of the prostate with an initial velocity parallel to the principal implant direction. (3) The kinetic particles move through the prostate, interacting withmore » each other, spreading out, while staying away from the prostate surface and critical structures. The initial velocity ensures that the trajectories observe the curvature constraints of typical implant procedures. (4) The finial trajectories of kinetic particles are smoothed using a third-degree polynomial regression, which become the implant trajectories. (5) The dwelling times and final dose distribution are calculated using least-distance programming. Results: (1) We experimented with previously treated cases. Our plan achieves all prescription goals while reducing the number of implants by 41%! Our plan also has less uniform target dose, which implies a higher dose is delivered to the prostate. (2) We expect future implant procedures will be performed under the guidance of such pre-calculated trajectories. To assess the applicability, we randomly perturb the tracks to mimic the manual implant errors. Our studies showed the impact of these perturbations are negligible, which is compensated by the least distance programming. Conclusions: We developed a new inverse planning system for prostate HDR therapy that can find optimal implant trajectories while minimizing the number of implants. For future work, we plan to integrate our new inverse planning system with an existing needle tracking system.« less

Free terminal time optimal control problem of an HIV model based on a conjugate gradient method.

PubMed

Jang, Taesoo; Kwon, Hee-Dae; Lee, Jeehyun

2011-10-01

The minimum duration of treatment periods and the optimal multidrug therapy for human immunodeficiency virus (HIV) type 1 infection are considered. We formulate an optimal tracking problem, attempting to drive the states of the model to a "healthy" steady state in which the viral load is low and the immune response is strong. We study an optimal time frame as well as HIV therapeutic strategies by analyzing the free terminal time optimal tracking control problem. The minimum duration of treatment periods and the optimal multidrug therapy are found by solving the corresponding optimality systems with the additional transversality condition for the terminal time. We demonstrate by numerical simulations that the optimal dynamic multidrug therapy can lead to the long-term control of HIV by the strong immune response after discontinuation of therapy.

The trajectory and atmospheric impact of asteroid 2014 AA

NASA Astrophysics Data System (ADS)

Farnocchia, Davide; Chesley, Steven R.; Brown, Peter G.; Chodas, Paul W.

2016-08-01

Near-Earth asteroid 2014 AA entered the Earth's atmosphere on 2014 January 2, only 21 h after being discovered by the Catalina Sky Survey. In this paper we compute the trajectory of 2014 AA by combining the available optical astrometry, seven ground-based observations over 69 min, and the International Monitoring System detection of the atmospheric impact infrasonic airwaves in a least-squares orbit estimation filter. The combination of these two sources of observations results in a tremendous improvement in the orbit uncertainties. The impact time is 3:05 UT with a 1σ uncertainty of 6 min, while the impact location corresponds to a west longitude of 44.2° and a latitude of 13.1° with a 1σ uncertainty of 140 km. The minimum impact energy estimated from the infrasound data and the impact velocity result in an estimated minimum mass of 22.6 t. By propagating the trajectory of 2014 AA backwards we find that the only window for finding precovery observations is for the three days before its discovery.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope.

PubMed

Liu, C; Liu, Y-L; Perillo, E P; Jiang, N; Dunn, A K; Yeh, H-C

2015-10-12

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we have precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico . Our method can be generally applied to other 3D single-particle tracking techniques.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope

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

Liu, C.; Liu, Y.-L.; Perillo, E. P.

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we havemore » precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico. Our method can be generally applied to other 3D single-particle tracking techniques.« less

Back-tracking of primary particle trajectories for muons detected at the Earth surface

NASA Astrophysics Data System (ADS)

Shutenko, V. V.

2017-01-01

Investigations of cosmic rays on the surface of the Earth allow to derive information of applied character on the conditions of the interplanetary magnetic field and of the geomagnetic field. For this purpose, it is necessary to collate trajectories of particles detected in the ground-based detector to trajectories of primary cosmic rays in the heliosphere. This problem is solved by means of various back-tracking methods. In this work, one of such methods is presented.

Target tracking and 3D trajectory acquisition of cabbage butterfly (P. rapae) based on the KCF-BS algorithm.

PubMed

Guo, Yang-Yang; He, Dong-Jian; Liu, Cong

2018-06-25

Insect behaviour is an important research topic in plant protection. To study insect behaviour accurately, it is necessary to observe and record their flight trajectory quantitatively and precisely in three dimensions (3D). The goal of this research was to analyse frames extracted from videos using Kernelized Correlation Filters (KCF) and Background Subtraction (BS) (KCF-BS) to plot the 3D trajectory of cabbage butterfly (P. rapae). Considering the experimental environment with a wind tunnel, a quadrature binocular vision insect video capture system was designed and applied in this study. The KCF-BS algorithm was used to track the butterfly in video frames and obtain coordinates of the target centroid in two videos. Finally the 3D trajectory was calculated according to the matching relationship in the corresponding frames of two angles in the video. To verify the validity of the KCF-BS algorithm, Compressive Tracking (CT) and Spatio-Temporal Context Learning (STC) algorithms were performed. The results revealed that the KCF-BS tracking algorithm performed more favourably than CT and STC in terms of accuracy and robustness.

Observing single quantum trajectories of a superconducting qubit: ensemble properties and driven dynamics

NASA Astrophysics Data System (ADS)

Weber, Steven; Murch, K. W.; Chantasri, A.; Dressel, J.; Jordan, A. N.; Siddiqi, I.

2014-03-01

We use weak measurements to track individual quantum trajectories of a superconducting qubit embedded in a microwave cavity. Using a near-quantum-limited parametric amplifier, we selectively measure either the phase or amplitude of the cavity field, and thereby confine trajectories to either the equator or a meridian of the Bloch sphere. We analyze ensembles of trajectories to determine statistical properties such as the most likely path and most likely time connecting pre and post-selected quantum states. We compare our results with theoretical predictions derived from an action principle for continuous quantum measurement. Furthermore, by introducing a qubit drive, we investigate the interplay between unitary state evolution and non-unitary measurement dynamics. This work was supported by the IARPA CSQ program and the ONR.

Online two-stage association method for robust multiple people tracking

NASA Astrophysics Data System (ADS)

Lv, Jingqin; Fang, Jiangxiong; Yang, Jie

2011-07-01

Robust multiple people tracking is very important for many applications. It is a challenging problem due to occlusion and interaction in crowded scenarios. This paper proposes an online two-stage association method for robust multiple people tracking. In the first stage, short tracklets generated by linking people detection responses grow longer by particle filter based tracking, with detection confidence embedded into the observation model. And, an examining scheme runs at each frame for the reliability of tracking. In the second stage, multiple people tracking is achieved by linking tracklets to generate trajectories. An online tracklet association method is proposed to solve the linking problem, which allows applications in time-critical scenarios. This method is evaluated on the popular CAVIAR dataset. The experimental results show that our two-stage method is robust.

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

NASA Astrophysics Data System (ADS)

Shao, Xingling; Liu, Jun; Wang, Honglun

2018-05-01

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

Automated Planar Tracking the Waving Bodies of Multiple Zebrafish Swimming in Shallow Water.

PubMed

Wang, Shuo Hong; Cheng, Xi En; Qian, Zhi-Ming; Liu, Ye; Chen, Yan Qiu

2016-01-01

Zebrafish (Danio rerio) is one of the most widely used model organisms in collective behavior research. Multi-object tracking with high speed camera is currently the most feasible way to accurately measure their motion states for quantitative study of their collective behavior. However, due to difficulties such as their similar appearance, complex body deformation and frequent occlusions, it is a big challenge for an automated system to be able to reliably track the body geometry of each individual fish. To accomplish this task, we propose a novel fish body model that uses a chain of rectangles to represent fish body. Then in detection stage, the point of maximum curvature along fish boundary is detected and set as fish nose point. Afterwards, in tracking stage, we firstly apply Kalman filter to track fish head, then use rectangle chain fitting to fit fish body, which at the same time further judge the head tracking results and remove the incorrect ones. At last, a tracklets relinking stage further solves trajectory fragmentation due to occlusion. Experiment results show that the proposed tracking system can track a group of zebrafish with their body geometry accurately even when occlusion occurs from time to time.

Automated Planar Tracking the Waving Bodies of Multiple Zebrafish Swimming in Shallow Water

PubMed Central

Wang, Shuo Hong; Cheng, Xi En; Qian, Zhi-Ming; Liu, Ye; Chen, Yan Qiu

2016-01-01

Zebrafish (Danio rerio) is one of the most widely used model organisms in collective behavior research. Multi-object tracking with high speed camera is currently the most feasible way to accurately measure their motion states for quantitative study of their collective behavior. However, due to difficulties such as their similar appearance, complex body deformation and frequent occlusions, it is a big challenge for an automated system to be able to reliably track the body geometry of each individual fish. To accomplish this task, we propose a novel fish body model that uses a chain of rectangles to represent fish body. Then in detection stage, the point of maximum curvature along fish boundary is detected and set as fish nose point. Afterwards, in tracking stage, we firstly apply Kalman filter to track fish head, then use rectangle chain fitting to fit fish body, which at the same time further judge the head tracking results and remove the incorrect ones. At last, a tracklets relinking stage further solves trajectory fragmentation due to occlusion. Experiment results show that the proposed tracking system can track a group of zebrafish with their body geometry accurately even when occlusion occurs from time to time. PMID:27128096

Satellite tour design for the Cassini mission. [Saturn

NASA Technical Reports Server (NTRS)

Diehl, R. E.

1985-01-01

The mission design for the Cassini satellite tour of Saturn is described. The use of Titan encounters for gravity-assisted trajectory shaping to satisfy atmosphere, magnetosphere, and satellite science requirements is discussed. Three candidate satellite tours that illustrate the tradeoffs between different strategies to satisfy the science objectives are presented. Tour characteristics for a 4yr mission include at least 30 Titan encounters to provide a minimum of 90 deg orbit rotation for either a magnetotail petal orbit or noon petal orbit; evenly distributed Titan ground tracks for radar mapping coverage; at least 2 Iapetus and 1 Enceladus close flybys; inclined orbits during the first 3 yr to provide Earth and Sun occultations by Saturn and its rings; and Polar orbits during the fourth year.

Quantum Trajectories and Their Statistics for Remotely Entangled Quantum Bits

NASA Astrophysics Data System (ADS)

Chantasri, Areeya; Kimchi-Schwartz, Mollie E.; Roch, Nicolas; Siddiqi, Irfan; Jordan, Andrew N.

2016-10-01

We experimentally and theoretically investigate the quantum trajectories of jointly monitored transmon qubits embedded in spatially separated microwave cavities. Using nearly quantum-noise-limited superconducting amplifiers and an optimized setup to reduce signal loss between cavities, we can efficiently track measurement-induced entanglement generation as a continuous process for single realizations of the experiment. The quantum trajectories of transmon qubits naturally split into low and high entanglement classes. The distribution of concurrence is found at any given time, and we explore the dynamics of entanglement creation in the state space. The distribution exhibits a sharp cutoff in the high concurrence limit, defining a maximal concurrence boundary. The most-likely paths of the qubits' trajectories are also investigated, resulting in three probable paths, gradually projecting the system to two even subspaces and an odd subspace, conforming to a "half-parity" measurement. We also investigate the most-likely time for the individual trajectories to reach their most entangled state, and we find that there are two solutions for the local maximum, corresponding to the low and high entanglement routes. The theoretical predictions show excellent agreement with the experimental entangled-qubit trajectory data.

Growth in Perceived Control across 25 Years from the Late Teens to Midlife: The Role of Personal and Parents' Education

ERIC Educational Resources Information Center

Vargas Lascano, Dayuma I.; Galambos, Nancy L.; Krahn, Harvey J.; Lachman, Margie E.

2015-01-01

This study examined trajectories of perceived control and their association with parents' education and personal educational experience (educational attainment and years of full-time postsecondary education) in 971 Canadian high school seniors tracked 7 times across 25 years. Latent growth models showed that, on average, perceived control…

Using Response Times to Assess Learning Progress: A Joint Model for Responses and Response Times

ERIC Educational Resources Information Center

Wang, Shiyu; Zhang, Susu; Douglas, Jeff; Culpepper, Steven

2018-01-01

Analyzing students' growth remains an important topic in educational research. Most recently, Diagnostic Classification Models (DCMs) have been used to track skill acquisition in a longitudinal fashion, with the purpose to provide an estimate of students' learning trajectories in terms of the change of fine-grained skills overtime. Response time…

Approximate optimal tracking control for near-surface AUVs with wave disturbances

NASA Astrophysics Data System (ADS)

Yang, Qing; Su, Hao; Tang, Gongyou

2016-10-01

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.

Benefits of Using Pairwise Trajectory Management in the Central East Pacific

NASA Technical Reports Server (NTRS)

Chartrand, Ryan; Ballard, Kathryn

2016-01-01

Pairwise Trajectory Management (PTM) is a concept that utilizes airborne and ground-based capabilities to enable airborne spacing operations in oceanic regions. The goal of PTM is to use enhanced surveillance, along with airborne tools, to manage the spacing between aircraft. Due to the enhanced airborne surveillance of Automatic Dependent Surveillance-Broadcast (ADS-B) information and reduced communication, the PTM minimum spacing distance will be less than distances currently required of an air traffic controller. Reduced minimum distance will increase the capacity of aircraft operations at a given altitude or volume of airspace, thereby increasing time on desired trajectory and overall flight efficiency. PTM is designed to allow a flight crew to resolve a specific traffic conflict (or conflicts), identified by the air traffic controller, while maintaining the flight crew's desired altitude. The air traffic controller issues a PTM clearance to a flight crew authorized to conduct PTM operations in order to resolve a conflict for the pair (or pairs) of aircraft (i.e., the PTM aircraft and a designated target aircraft). This clearance requires the flight crew of the PTM aircraft to use their ADS-B-enabled onboard equipment to manage their spacing relative to the designated target aircraft to ensure spacing distances that are no closer than the PTM minimum distance. When the air traffic controller determines that PTM is no longer required, the controller issues a clearance to cancel the PTM operation.

Evaluation of Real-Time Hand Motion Tracking Using a Range Camera and the Mean-Shift Algorithm

NASA Astrophysics Data System (ADS)

Lahamy, H.; Lichti, D.

2011-09-01

Several sensors have been tested for improving the interaction between humans and machines including traditional web cameras, special gloves, haptic devices, cameras providing stereo pairs of images and range cameras. Meanwhile, several methods are described in the literature for tracking hand motion: the Kalman filter, the mean-shift algorithm and the condensation algorithm. In this research, the combination of a range camera and the simple version of the mean-shift algorithm has been evaluated for its capability for hand motion tracking. The evaluation was assessed in terms of position accuracy of the tracking trajectory in x, y and z directions in the camera space and the time difference between image acquisition and image display. Three parameters have been analyzed regarding their influence on the tracking process: the speed of the hand movement, the distance between the camera and the hand and finally the integration time of the camera. Prior to the evaluation, the required warm-up time of the camera has been measured. This study has demonstrated the suitability of the range camera used in combination with the mean-shift algorithm for real-time hand motion tracking but for very high speed hand movement in the traverse plane with respect to the camera, the tracking accuracy is low and requires improvement.

Feature point based 3D tracking of multiple fish from multi-view images

PubMed Central

Qian, Zhi-Ming

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly. PMID:28665966

Feature point based 3D tracking of multiple fish from multi-view images.

PubMed

Qian, Zhi-Ming; Chen, Yan Qiu

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly.

Decentralised consensus-based formation tracking of multiple differential drive robots

NASA Astrophysics Data System (ADS)

Chu, Xing; Peng, Zhaoxia; Wen, Guoguang; Rahmani, Ahmed

2017-11-01

This article investigates the control problem for formation tracking of multiple nonholonomic robots under distributed manner which means each robot only needs local information exchange. A class of general state and input transform is introduced to convert the formation-tracking issue of multi-robot systems into the consensus-like problem with time-varying reference. The distributed observer-based protocol with nonlinear dynamics is developed for each robot to achieve the consensus tracking of the new system, which namely means a group of nonholonomic mobile robots can form the desired formation configuration with its centroid moving along the predefined reference trajectory. The finite-time stability of observer and control law is analysed rigorously by using the Lyapunov direct method, algebraic graph theory and matrix analysis. Numerical examples are finally provided to illustrate the effectiveness of the theory results proposed in this paper.

Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

NASA Astrophysics Data System (ADS)

Chen, Hongbin

2018-03-01

Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

Lagrangian 3D tracking of fluorescent microscopic objects in motion

NASA Astrophysics Data System (ADS)

Darnige, T.; Figueroa-Morales, N.; Bohec, P.; Lindner, A.; Clément, E.

2017-05-01

We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in microfluidic devices. The system is based on real-time image processing, determining the displacement of a x, y mechanical stage to keep the chosen object at a fixed position in the observation frame. The z displacement is based on the refocusing of the fluorescent object determining the displacement of a piezo mover keeping the moving object in focus. Track coordinates of the object with respect to the microfluidic device as well as images of the object are obtained at a frequency of several tenths of Hertz. This device is particularly well adapted to obtain trajectories of motile micro-organisms in microfluidic devices with or without flow.

Lagrangian 3D tracking of fluorescent microscopic objects in motion.

PubMed

Darnige, T; Figueroa-Morales, N; Bohec, P; Lindner, A; Clément, E

2017-05-01

We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in microfluidic devices. The system is based on real-time image processing, determining the displacement of a x, y mechanical stage to keep the chosen object at a fixed position in the observation frame. The z displacement is based on the refocusing of the fluorescent object determining the displacement of a piezo mover keeping the moving object in focus. Track coordinates of the object with respect to the microfluidic device as well as images of the object are obtained at a frequency of several tenths of Hertz. This device is particularly well adapted to obtain trajectories of motile micro-organisms in microfluidic devices with or without flow.

Automated identification and tracking of polar-cap plasma patches at solar minimum

NASA Astrophysics Data System (ADS)

Burston, R.; Hodges, K.; Astin, I.; Jayachandran, P. T.

2014-03-01

A method of automatically identifying and tracking polar-cap plasma patches, utilising data inversion and feature-tracking methods, is presented. A well-established and widely used 4-D ionospheric imaging algorithm, the Multi-Instrument Data Assimilation System (MIDAS), inverts slant total electron content (TEC) data from ground-based Global Navigation Satellite System (GNSS) receivers to produce images of the free electron distribution in the polar-cap ionosphere. These are integrated to form vertical TEC maps. A flexible feature-tracking algorithm, TRACK, previously used extensively in meteorological storm-tracking studies is used to identify and track maxima in the resulting 2-D data fields. Various criteria are used to discriminate between genuine patches and "false-positive" maxima such as the continuously moving day-side maximum, which results from the Earth's rotation rather than plasma motion. Results for a 12-month period at solar minimum, when extensive validation data are available, are presented. The method identifies 71 separate structures consistent with patch motion during this time. The limitations of solar minimum and the consequent small number of patches make climatological inferences difficult, but the feasibility of the method for patches larger than approximately 500 km in scale is demonstrated and a larger study incorporating other parts of the solar cycle is warranted. Possible further optimisation of discrimination criteria, particularly regarding the definition of a patch in terms of its plasma concentration enhancement over the surrounding background, may improve results.

New robust algorithm for tracking cells in videos of Drosophila morphogenesis based on finding an ideal path in segmented spatio-temporal cellular structures.

PubMed

Bellaïche, Yohanns; Bosveld, Floris; Graner, François; Mikula, Karol; Remesíková, Mariana; Smísek, Michal

2011-01-01

In this paper, we present a novel algorithm for tracking cells in time lapse confocal microscopy movie of a Drosophila epithelial tissue during pupal morphogenesis. We consider a 2D + time video as a 3D static image, where frames are stacked atop each other, and using a spatio-temporal segmentation algorithm we obtain information about spatio-temporal 3D tubes representing evolutions of cells. The main idea for tracking is the usage of two distance functions--first one from the cells in the initial frame and second one from segmented boundaries. We track the cells backwards in time. The first distance function attracts the subsequently constructed cell trajectories to the cells in the initial frame and the second one forces them to be close to centerlines of the segmented tubular structures. This makes our tracking algorithm robust against noise and missing spatio-temporal boundaries. This approach can be generalized to a 3D + time video analysis, where spatio-temporal tubes are 4D objects.

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.

Evaluation of a computer-generated perspective tunnel display for flight path following

NASA Technical Reports Server (NTRS)

Grunwald, A. J.; Robertson, J. B.; Hatfield, J. J.

1980-01-01

The display was evaluated by monitoring pilot performance in a fixed base simulator with the vehicle dynamics of a CH-47 tandem rotor helicopter. Superposition of the predicted future vehicle position on the tunnel image was also investigated to determine whether, and to what extent, it contributes to better system performance (the best predicted future vehicle position was sought). Three types of simulator experiments were conducted: following a desired trajectory in the presence of disturbances; entering the trajectory from a random position, outside the trajectory; detecting and correcting failures in automatic flight. The tunnel display with superimposed predictor/director symbols was shown to be a very successful combination, which outperformed the other two displays in all three experiments. A prediction time of 4 to 7 sec. was found to optimize trajectory tracking for the given vehicle dynamics and flight condition. Pilot acceptance of the tunnel plus predictor/director display was found to be favorable and the time the pilot needed for familiarization with the display was found to be relatively short.

Experimental and Theoretical Results in Output Trajectory Redesign for Flexible Structures

NASA Technical Reports Server (NTRS)

Dewey, J. S.; Leang, K.; Devasia, S.

1998-01-01

In this paper we study the optimal redesign of output trajectories for linear invertible systems. This is particularly important for tracking control of flexible structures because the input-state trajectores, that achieve tracking of the required output may cause excessive vibrations in the structure. We pose and solve this problem, in the context of linear systems, as the minimization of a quadratic cost function. The theory is developed and applied to the output tracking of a flexible structure and experimental results are presented.

Airborne Antenna System for Minimum-Cycle-Slip GPS Reception

NASA Technical Reports Server (NTRS)

Wright, C. Wayne

2009-01-01

A system that includes a Global Positioning System (GPS) antenna and associated apparatus for keeping the antenna aimed upward has been developed for use aboard a remote-sensing-survey airplane. The purpose served by the system is to enable minimum- cycle-slip reception of GPS signals used in precise computation of the trajectory of the airplane, without having to restrict the airplane to maneuvers that increase the flight time needed to perform a survey. Cycle slip signifies loss of continuous track of the phase of a signal. Minimum-cycle-slip reception is desirable because maintaining constant track of the phase of the carrier signal from each available GPS satellite is necessary for surveying to centimeter or subcentimeter precision. Even a loss of signal for as short a time as a nanosecond can cause cycle slip. Cycle slips degrade the quality and precision of survey data acquired during a flight. The two principal causes of cycle slip are weakness of signals and multipath propagation. Heretofore, it has been standard practice to mount a GPS antenna rigidly on top of an airplane, and the radiation pattern of the antenna is typically hemispherical, so that all GPS satellites above the horizon are viewed by the antenna during level flight. When the airplane must be banked for a turn or other maneuver, the reception hemisphere becomes correspondingly tilted; hence, the antenna no longer views satellites that may still be above the Earth horizon but are now below the equatorial plane of the tilted reception hemisphere. Moreover, part of the reception hemisphere (typically, on the inside of a turn) becomes pointed toward ground, with a consequent increase in received noise and, therefore, degradation of GPS measurements. To minimize the likelihood of loss of signal and cycle slip, bank angles of remote-sensing survey airplanes have generally been limited to 10 or less, resulting in skidding or slipping uncoordinated turns. An airplane must be banked in order to make a coordinated turn. For small-radius, short-time coordinated turns, it is necessary to employ banks as steep as 45 , and turns involving such banks are times and for confining airplanes as closely as possible to areas to be surveyed. The idea underlying the design is that if the antenna can be kept properly aimed, then the incidence of cycle slips caused by loss or weakness of signals can be minimized. The system includes an articulating GPS antenna and associated electronic circuitry mounted under a radome atop an airplane. The electronic circuitry includes a microprocessor-based interface-circuit-and-data-translation module. The system receives data on the current attitude of the airplane from the inertial navigation system of the airplane. The microprocessor decodes the attitude data and uses them to compute commands for the GPS-antenna-articulating mechanism to tilt the antenna, relative to the airplane, in opposition to the roll or bank of the airplane to keep the antenna pointed toward the zenith. The system was tested aboard the hurricane- hunting airplane of the National Oceanic and Atmospheric Administration (NOAA) [see figure] during an 11-hour flight to observe the landfall of Hurricane Bret in late summer of 1999. No bank-angle restrictions were imposed during the flight. Post-flight analysis of the GPS trajectory data revealed that no cycle slip had occurred.considered normal maneuvers. These steep banks are highly desirable for minimizing flight

Intelligent Control of Flexible-Joint Robotic Manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Gallegos, G.

1997-01-01

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Performance capabilities of a JPL dual-arm advanced teleoperation system

NASA Technical Reports Server (NTRS)

Szakaly, Z. F.; Bejczy, A. K.

1991-01-01

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

Dawn Orbit Determination Team: Trajectory Modeling and Reconstruction Processes at Vesta

NASA Technical Reports Server (NTRS)

Abrahamson, Matthew J.; Ardito, Alessandro; Han, Dongsuk; Haw, Robert; Kennedy, Brian; Mastrodemos, Nick; Nandi, Sumita; Park, Ryan; Rush, Brian; Vaughan, Andrew

2013-01-01

The Dawn spacecraft spent over a year in orbit around Vesta from July 2011 through August 2012. In order to maintain the designated science reference orbits and enable the transfers between those orbits, precise and timely orbit determination was required. Challenges included low-thrust ion propulsion modeling, estimation of relatively unknown Vesta gravity and rotation models, track-ing data limitations, incorporation of real-time telemetry into dynamics model updates, and rapid maneuver design cycles during transfers. This paper discusses the dynamics models, filter configuration, and data processing implemented to deliver a rapid orbit determination capability to the Dawn project.

Kinematically Optimal Robust Control of Redundant Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Coherent structure coloring: identification of coherent structures from sparse flow trajectories using graph theory

NASA Astrophysics Data System (ADS)

Schlueter, Kristy; Dabiri, John

2016-11-01

Coherent structure identification is important in many fluid dynamics applications, including transport phenomena in ocean flows and mixing and diffusion in turbulence. However, many of the techniques currently available for measuring such flows, including ocean drifter datasets and particle tracking velocimetry, only result in sparse velocity data. This is often insufficient for the use of current coherent structure detection algorithms based on analysis of the deformation gradient. Here, we present a frame-invariant method for detecting coherent structures from Lagrangian flow trajectories that can be sparse in number. The method, based on principles used in graph coloring algorithms, examines a measure of the kinematic dissimilarity of all pairs of flow trajectories, either measured experimentally, e.g. using particle tracking velocimetry; or numerically, by advecting fluid particles in the Eulerian velocity field. Coherence is assigned to groups of particles whose kinematics remain similar throughout the time interval for which trajectory data is available, regardless of their physical proximity to one another. Through the use of several analytical and experimental validation cases, this algorithm is shown to robustly detect coherent structures using significantly less flow data than is required by existing methods. This research was supported by the Department of Defense (DoD) through the National Defense Science & Engineering Graduate Fellowship (NDSEG) Program.

A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories.

PubMed

Yang, Wei; Ai, Tinghua; Lu, Wei

2018-04-19

Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT). First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS) traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction) by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality.

A Method for Extracting Road Boundary Information from Crowdsourcing Vehicle GPS Trajectories

PubMed Central

Yang, Wei

2018-01-01

Crowdsourcing trajectory data is an important approach for accessing and updating road information. In this paper, we present a novel approach for extracting road boundary information from crowdsourcing vehicle traces based on Delaunay triangulation (DT). First, an optimization and interpolation method is proposed to filter abnormal trace segments from raw global positioning system (GPS) traces and interpolate the optimization segments adaptively to ensure there are enough tracking points. Second, constructing the DT and the Voronoi diagram within interpolated tracking lines to calculate road boundary descriptors using the area of Voronoi cell and the length of triangle edge. Then, the road boundary detection model is established integrating the boundary descriptors and trajectory movement features (e.g., direction) by DT. Third, using the boundary detection model to detect road boundary from the DT constructed by trajectory lines, and a regional growing method based on seed polygons is proposed to extract the road boundary. Experiments were conducted using the GPS traces of taxis in Beijing, China, and the results show that the proposed method is suitable for extracting the road boundary from low-frequency GPS traces, multi-type road structures, and different time intervals. Compared with two existing methods, the automatically extracted boundary information was proved to be of higher quality. PMID:29671792

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles

PubMed Central

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-01-01

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle. PMID:27110793

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

PubMed

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Trajectory optimization and guidance for an aerospace plane

NASA Technical Reports Server (NTRS)

Mease, Kenneth D.; Vanburen, Mark A.

1989-01-01

The first step in the approach to developing guidance laws for a horizontal take-off, air breathing single-stage-to-orbit vehicle is to characterize the minimum-fuel ascent trajectories. The capability to generate constrained, minimum fuel ascent trajectories for a single-stage-to-orbit vehicle was developed. A key component of this capability is the general purpose trajectory optimization program OTIS. The pre-production version, OTIS 0.96 was installed and run on a Convex C-1. A propulsion model was developed covering the entire flight envelope of a single-stage-to-orbit vehicle. Three separate propulsion modes, corresponding to an after burning turbojet, a ramjet and a scramjet, are used in the air breathing propulsion phase. The Generic Hypersonic Aerodynamic Model Example aerodynamic model of a hypersonic air breathing single-stage-to-orbit vehicle was obtained and implemented. Preliminary results pertaining to the effects of variations in acceleration constraints, available thrust level and fuel specific impulse on the shape of the minimum-fuel ascent trajectories were obtained. The results show that, if the air breathing engines are sized for acceleration to orbital velocity, it is the acceleration constraint rather than the dynamic pressure constraint that is active during ascent.

Back-trajectory modelling and DNA-based species-specific detection methods allow tracking of fungal spore transport in air masses.

PubMed

Grinn-Gofroń, Agnieszka; Sadyś, Magdalena; Kaczmarek, Joanna; Bednarz, Aleksandra; Pawłowska, Sylwia; Jedryczka, Malgorzata

2016-11-15

Recent advances in molecular detection of living organisms facilitate the introduction of novel methods to studies of the transport of fungal spores over large distances. Monitoring the migration of airborne fungi using microscope based spore identification is limited when different species produce very similar spores. In our study, DNA-based monitoring with the use of species-specific probes allowed us to track the aerial movements of two important fungal pathogens of oilseed rape (Brassica napus L.), i.e., Leptosphaeria maculans and Leptosphaeria biglobosa, which have identical spore shape and size. The fungi were identified using dual-labelled fluorescent probes that were targeted to a β-tubulin gene fragment of either Leptosphaeria species. Spore identification by Real-Time PCR techniques capable of detecting minute amounts of DNA of selected fungal species was combined with back-trajectory analysis, allowing the tracking of past movements of air masses using the Hybrid Single Particle Lagrangian Integrated Trajectory model. Over a study period spanning the previous decade (2006-2015) we investigated two specific events relating to the long distance transport of Leptosphaeria spp. spores to Szczecin in North-West Poland. Based on the above mentioned methods and the results obtained with the additional spore sampler located in nearby Szczecin, and operating at the ground level in an oilseed rape field, we have demonstrated that on both occasions the L. biglobosa spores originated from the Jutland Peninsula. This is the first successful attempt to combine analysis of back-trajectories of air masses with DNA-based identification of economically important pathogens of oilseed rape in Europe. In our studies, the timing of L. biglobosa ascospore dispersal in the air was unlikely to result in the infection of winter oilseed rape grown as a crop plant. However, the fungus could infect other host plants, such as vegetable brassicas, cruciferous weeds, spring rapeseed and winter rapeseed growing as a volunteer plant. Copyright © 2016 Elsevier B.V. All rights reserved.

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

NASA Technical Reports Server (NTRS)

Chung, Ching-Luan

1990-01-01

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

Research of maneuvering target prediction and tracking technology based on IMM algorithm

NASA Astrophysics Data System (ADS)

Cao, Zheng; Mao, Yao; Deng, Chao; Liu, Qiong; Chen, Jing

2016-09-01

Maneuvering target prediction and tracking technology is widely used in both military and civilian applications, the study of those technologies is all along the hotspot and difficulty. In the Electro-Optical acquisition-tracking-pointing system (ATP), the primary traditional maneuvering targets are ballistic target, large aircraft and other big targets. Those targets have the features of fast velocity and a strong regular trajectory and Kalman Filtering and polynomial fitting have good effects when they are used to track those targets. In recent years, the small unmanned aerial vehicles developed rapidly for they are small, nimble and simple operation. The small unmanned aerial vehicles have strong maneuverability in the observation system of ATP although they are close-in, slow and small targets. Moreover, those vehicles are under the manual operation, therefore, the acceleration of them changes greatly and they move erratically. So the prediction and tracking precision is low when traditional algorithms are used to track the maneuvering fly of those targets, such as speeding up, turning, climbing and so on. The interacting multiple model algorithm (IMM) use multiple models to match target real movement trajectory, there are interactions between each model. The IMM algorithm can switch model based on a Markov chain to adapt to the change of target movement trajectory, so it is suitable to solve the prediction and tracking problems of the small unmanned aerial vehicles because of the better adaptability of irregular movement. This paper has set up model set of constant velocity model (CV), constant acceleration model (CA), constant turning model (CT) and current statistical model. And the results of simulating and analyzing the real movement trajectory data of the small unmanned aerial vehicles show that the prediction and tracking technology based on the interacting multiple model algorithm can get relatively lower tracking error and improve tracking precision comparing with traditional algorithms.

Real-time path planning and autonomous control for helicopter autorotation

NASA Astrophysics Data System (ADS)

Yomchinda, Thanan

Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

A guidance and navigation system for continuous low-thrust vehicles. M.S. Thesis

NASA Technical Reports Server (NTRS)

Jack-Chingtse, C.

1973-01-01

A midcourse guidance and navigation system for continuous low thrust vehicles was developed. The equinoctial elements are the state variables. Uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time trajectory is defined; equations of motion and measurements are linearized about this trajectory. An exponential cost criterion is constructed and a linear feedback quidance law is derived. An extended Kalman filter is used for state estimation. A short mission using this system is simulated. It is indicated that this system is efficient for short missions, but longer missions require accurate trajectory and ground based measurements.

Predicting drifter trajectories and particle dispersion in the Caribbean using a high resolution coastal ocean forecasting system

NASA Astrophysics Data System (ADS)

Solano, M.

2016-02-01

The present study discusses the accuracy of a high-resolution ocean forecasting system in predicting floating drifter trajectories and the uncertainty of modeled particle dispersion in coastal areas. Trajectories were calculated using an offline particle-tracking algorithm coupled to the operational model developed for the region of Puerto Rico by CariCOOS. Both, a simple advection algorithm as well as the Larval TRANSport (LTRANS) model, a more sophisticated offline particle-tracking application, were coupled to the ocean model. Numerical results are compared with 12 floating drifters deployed in the near-shore of Puerto Rico during February and March 2015, and tracked for several days using Global Positioning Systems mounted on the drifters. In addition the trajectories have also been calculated with the AmSeas Navy Coastal Ocean Model (NCOM). The operational model is based on the Regional Ocean Modeling System (ROMS) with a uniform horizontal resolution of 1/100 degrees (1.1km). Initial, surface and open boundary conditions are taken from NCOM, except for wind stress, which is computed using winds from the National Digital Forecasting Database. Probabilistic maps were created to quantify the uncertainty of particle trajectories at different locations. Results show that the forecasted trajectories are location dependent, with tidally active regions having the largest error. The predicted trajectories by both the ROMS and NCOM models show good agreement on average, however both perform differently at particular locations. The effect of wind stress on the drifter trajectories is investigated to account for wind slippage. Furthermore, a real case scenario is presented where simulated trajectories show good agreement when compared to the actual drifter trajectories.

Artificial light on water attracts turtle hatchlings during their near shore transit

PubMed Central

Thums, Michele; Whiting, Scott D.; Reisser, Julia; Pendoley, Kellie L.; Proietti, Maira; Hetzel, Yasha; Fisher, Rebecca; Meekan, Mark G.

2016-01-01

We examined the effect of artificial light on the near shore trajectories of turtle hatchlings dispersing from natal beaches. Green turtle (Chelonia mydas) hatchlings were tagged with miniature acoustic transmitters and their movements tracked within an underwater array of 36 acoustic receivers placed in the near shore zone. A total of 40 hatchlings were tracked, 20 of which were subjected to artificial light during their transit of the array. At the same time, we measured current speed and direction, which were highly variable within and between experimental nights and treatments. Artificial lighting affected hatchling behaviour, with 88% of individual trajectories oriented towards the light and spending, on average, 23% more time in the 2.25 ha tracking array (19.5 ± 5 min) than under ambient light conditions (15.8 ± 5 min). Current speed had little to no effect on the bearing (angular direction) of the hatchling tracks when artificial light was present, but under ambient conditions it influenced the bearing of the tracks when current direction was offshore and above speeds of approximately 32.5 cm s−1. This is the first experimental evidence that wild turtle hatchlings are attracted to artificial light after entering the ocean, a behaviour that is likely to subject them to greater risk of predation. The experimental protocol described in this study can be used to assess the effect of anthropogenic (light pollution, noise, etc.) and natural (wave action, current, wind, moonlight) influences on the in-water movements of sea turtle hatchlings during the early phase of dispersal. PMID:27293795

Artificial light on water attracts turtle hatchlings during their near shore transit.

PubMed

Thums, Michele; Whiting, Scott D; Reisser, Julia; Pendoley, Kellie L; Pattiaratchi, Charitha B; Proietti, Maira; Hetzel, Yasha; Fisher, Rebecca; Meekan, Mark G

2016-05-01

We examined the effect of artificial light on the near shore trajectories of turtle hatchlings dispersing from natal beaches. Green turtle (Chelonia mydas) hatchlings were tagged with miniature acoustic transmitters and their movements tracked within an underwater array of 36 acoustic receivers placed in the near shore zone. A total of 40 hatchlings were tracked, 20 of which were subjected to artificial light during their transit of the array. At the same time, we measured current speed and direction, which were highly variable within and between experimental nights and treatments. Artificial lighting affected hatchling behaviour, with 88% of individual trajectories oriented towards the light and spending, on average, 23% more time in the 2.25 ha tracking array (19.5 ± 5 min) than under ambient light conditions (15.8 ± 5 min). Current speed had little to no effect on the bearing (angular direction) of the hatchling tracks when artificial light was present, but under ambient conditions it influenced the bearing of the tracks when current direction was offshore and above speeds of approximately 32.5 cm s(-1). This is the first experimental evidence that wild turtle hatchlings are attracted to artificial light after entering the ocean, a behaviour that is likely to subject them to greater risk of predation. The experimental protocol described in this study can be used to assess the effect of anthropogenic (light pollution, noise, etc.) and natural (wave action, current, wind, moonlight) influences on the in-water movements of sea turtle hatchlings during the early phase of dispersal.

MapSentinel: Can the Knowledge of Space Use Improve Indoor Tracking Further?

PubMed Central

Jia, Ruoxi; Jin, Ming; Zou, Han; Yesilata, Yigitcan; Xie, Lihua; Spanos, Costas

2016-01-01

Estimating an occupant’s location is arguably the most fundamental sensing task in smart buildings. The applications for fine-grained, responsive building operations require the location sensing systems to provide location estimates in real time, also known as indoor tracking. Existing indoor tracking systems require occupants to carry specialized devices or install programs on their smartphone to collect inertial sensing data. In this paper, we propose MapSentinel, which performs non-intrusive location sensing based on WiFi access points and ultrasonic sensors. MapSentinel combines the noisy sensor readings with the floormap information to estimate locations. One key observation supporting our work is that occupants exhibit distinctive motion characteristics at different locations on the floormap, e.g., constrained motion along the corridor or in the cubicle zones, and free movement in the open space. While extensive research has been performed on using a floormap as a tool to obtain correct walking trajectories without wall-crossings, there have been few attempts to incorporate the knowledge of space use available from the floormap into the location estimation. This paper argues that the knowledge of space use as an additional information source presents new opportunities for indoor tracking. The fusion of heterogeneous information is theoretically formulated within the Factor Graph framework, and the Context-Augmented Particle Filtering algorithm is developed to efficiently solve real-time walking trajectories. Our evaluation in a large office space shows that the MapSentinel can achieve accuracy improvement of 31.3% compared with the purely WiFi-based tracking system. PMID:27049387

MapSentinel: Can the Knowledge of Space Use Improve Indoor Tracking Further?

PubMed

Jia, Ruoxi; Jin, Ming; Zou, Han; Yesilata, Yigitcan; Xie, Lihua; Spanos, Costas

2016-04-02

Estimating an occupant's location is arguably the most fundamental sensing task in smart buildings. The applications for fine-grained, responsive building operations require the location sensing systems to provide location estimates in real time, also known as indoor tracking. Existing indoor tracking systems require occupants to carry specialized devices or install programs on their smartphone to collect inertial sensing data. In this paper, we propose MapSentinel, which performs non-intrusive location sensing based on WiFi access points and ultrasonic sensors. MapSentinel combines the noisy sensor readings with the floormap information to estimate locations. One key observation supporting our work is that occupants exhibit distinctive motion characteristics at different locations on the floormap, e.g., constrained motion along the corridor or in the cubicle zones, and free movement in the open space. While extensive research has been performed on using a floormap as a tool to obtain correct walking trajectories without wall-crossings, there have been few attempts to incorporate the knowledge of space use available from the floormap into the location estimation. This paper argues that the knowledge of space use as an additional information source presents new opportunities for indoor tracking. The fusion of heterogeneous information is theoretically formulated within the Factor Graph framework, and the Context-Augmented Particle Filtering algorithm is developed to efficiently solve real-time walking trajectories. Our evaluation in a large office space shows that the MapSentinel can achieve accuracy improvement of 31.3% compared with the purely WiFi-based tracking system.

The BUMP model of response planning: intermittent predictive control accounts for 10 Hz physiological tremor.

PubMed

Bye, Robin T; Neilson, Peter D

2010-10-01

Physiological tremor during movement is characterized by ∼10 Hz oscillation observed both in the electromyogram activity and in the velocity profile. We propose that this particular rhythm occurs as the direct consequence of a movement response planning system that acts as an intermittent predictive controller operating at discrete intervals of ∼100 ms. The BUMP model of response planning describes such a system. It forms the kernel of Adaptive Model Theory which defines, in computational terms, a basic unit of motor production or BUMP. Each BUMP consists of three processes: (1) analyzing sensory information, (2) planning a desired optimal response, and (3) execution of that response. These processes operate in parallel across successive sequential BUMPs. The response planning process requires a discrete-time interval in which to generate a minimum acceleration trajectory to connect the actual response with the predicted future state of the target and compensate for executional error. We have shown previously that a response planning time of 100 ms accounts for the intermittency observed experimentally in visual tracking studies and for the psychological refractory period observed in double stimulation reaction time studies. We have also shown that simulations of aimed movement, using this same planning interval, reproduce experimentally observed speed-accuracy tradeoffs and movement velocity profiles. Here we show, by means of a simulation study of constant velocity tracking movements, that employing a 100 ms planning interval closely reproduces the measurement discontinuities and power spectra of electromyograms, joint-angles, and angular velocities of physiological tremor reported experimentally. We conclude that intermittent predictive control through sequential operation of BUMPs is a fundamental mechanism of 10 Hz physiological tremor in movement. Copyright © 2010 Elsevier B.V. All rights reserved.

Virtual decoupling flight control via real-time trajectory synthesis and tracking

NASA Astrophysics Data System (ADS)

Zhang, Xuefu

The production of the General Aviation industry has declined in the past 25 years. Ironically, however, the increasing demand for air travel as a fast, safe, and high-quality mode of transportation has been far from satisfied. Addressing this demand shortfall with personal air transportation necessitates advanced systems for navigation, guidance, control, flight management, and flight traffic control. Among them, an effective decoupling flight control system will not only improve flight quality, safety, and simplicity, and increase air space usage, but also reduce expenses on pilot initial and current training, and thus expand the current market and explore new markets. Because of the formidable difficulties encountered in the actual decoupling of non-linear, time-variant, and highly coupled flight control systems through traditional approaches, a new approach, which essentially converts the decoupling problem into a real-time trajectory synthesis and tracking problem, is employed. Then, the converted problem is solved and a virtual decoupling effect is achieved. In this approach, a trajectory in inertial space can be predefined and dynamically modified based on the flight mission and the pilot's commands. A feedforward-feedback control architecture is constructed to guide the airplane along the trajectory as precisely as possible. Through this approach, the pilot has much simpler, virtually decoupled control of the airplane in terms of speed, flight path angle and horizontal radius of curvature. To verify and evaluate this approach, extensive computer simulation is performed. A great deal of test cases are designed for the flight control under different flight conditions. The simulation results show that our decoupling strategy is satisfactory and promising, and therefore the research can serve as a consolidated foundation for future practical applications.

Closed-form recursive formula for an optimal tracker with terminal constraints

NASA Technical Reports Server (NTRS)

Juang, J.-N.; Turner, J. D.; Chun, H. M.

1984-01-01

Feedback control laws are derived for a class of optimal finite time tracking problems with terminal constraints. Analytical solutions are obtained for the feedback gain and the closed-loop response trajectory. Such formulations are expressed in recursive forms so that a real-time computer implementation becomes feasible. Two examples are given to illustrate the validity and usefulness of the formulations.

TrackTable Trajectory Analysis

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

Wilson, Andrew T.

Tracktable is designed for analysis and rendering of the trajectories of moving objects such as planes, trains, automobiles and ships. Its purpose is to operate on large sets of trajectories (millions) to help a user detect, analyze and display patterns. It will also be used to disseminate trajectory research results from Sandia's PANTHER Grand Challenge LDRD.

Cosmic ray particle dosimetry and trajectory tracing. [cosmic ray track analysis for Apollo 17 BIOCORE

NASA Technical Reports Server (NTRS)

Cruty, M. R.; Benton, E. V.; Turnbill, C. E.; Philpott, D. E.

1975-01-01

Five pocket mice (Perognathus longimembris) were flown on Apollo XVII, each with a solid-state (plastic) nuclear track detector implanted beneath its scalp. The subscalp detectors were sensitive to HZE cosmic ray particles with a LET greater than or approximately equal to 0.15 million electron volts per micrometer (MeV/micron). A critical aspect of the dosimetry of the experiment involved tracing individual particle trajectories through each mouse head from particle tracks registered in the individual subscalp detectors, thereby establishing a one-to-one correspondence between a trajectory location in the tissue and the presence or absence of a lesion. The other major aspect was the identification of each registered particle. An average of 16 particles with Z greater than or equal to 6 and 2.2 particles with Z greater than or equal to 20 were found per detector. The track density, 29 tracks/sq cm, when adjusted for detection volume, was in agreement with the photographic emulsion data from an area dosimeter located next to the flight package.

Spacecraft Station-Keeping Trajectory and Mission Design Tools

NASA Technical Reports Server (NTRS)

Chung, Min-Kun J.

2009-01-01

Two tools were developed for designing station-keeping trajectories and estimating delta-v requirements for designing missions to a small body such as a comet or asteroid. This innovation uses NPOPT, a non-sparse, general-purpose sequential quadratic programming (SQP) optimizer and the Two-Level Differential Corrector (T-LDC) in LTool (Libration point mission design Tool) to design three kinds of station-keeping scripts: vertical hovering, horizontal hovering, and orbiting. The T-LDC is used to differentially correct several trajectory legs that join hovering points. In a vertical hovering, the maximum and minimum range points must be connected smoothly while maintaining the spacecrafts range from a small body, all within the law of gravity and the solar radiation pressure. The same is true for a horizontal hover. A PatchPoint is an LTool class that denotes a space-time event with some extra information for differential correction, including a set of constraints to be satisfied by T-LDC. Given a set of PatchPoints, each with its own constraint, the T-LDC differentially corrects the entire trajectory by connecting each trajectory leg joined by PatchPoints while satisfying all specified constraints at the same time. Vertical and horizontal hover both are needed to minimize delta-v spent for station keeping. A Python I/F to NPOPT has been written to be used from an LTool script. In vertical hovering, the spacecraft stays along the line joining the Sun and a small body. An instantaneous delta-v toward the anti- Sun direction is applied at the closest approach to the small body for station keeping. For example, the spacecraft hovers between the minimum range (2 km) point and the maximum range (2.5 km) point from the asteroid 1989ML. Horizontal hovering buys more time for a spacecraft to recover if, for any reason, a planned thrust fails, by returning almost to the initial position after some time later via a near elliptical orbit around the small body. The mapping or staging orbit may be similarly generated using T-LDC with a set of constraints. Some delta-v tables are generated for several different asteroid masses.

Mesoscale numerical investigations of air traffic emissions over the North Atlantic during SONEX flight 8: A case study

NASA Astrophysics Data System (ADS)

Bieberbach, George; Fuelberg, Henry E.; Thompson, Anne M.; Schmitt, Alfons; Hannan, John R.; Gregory, G. L.; Kondo, Yutaka; Knabb, Richard D.; Sachse, G. W.; Talbot, R. W.

2000-02-01

Chemical data from flight 8 of NASA's Subsonic Assessment (SASS) Ozone and Nitrogen Oxide Experiment (SONEX) exhibited signatures consistent with aircraft emissions, stratospheric air, and surface-based pollution. These signatures are examined in detail, focusing on the broad aircraft emission signatures that are several hundred kilometers in length. A mesoscale meteorological model provides high-resolution wind data that are used to calculate backward trajectories arriving at locations along the flight track. These trajectories are compared to aircraft locations in the North Atlantic Flight Corridor (NAFC) over a 27-33 hour period. Time series of flight level NO and the number of trajectory/aircraft encounters within the NAFC show excellent agreement. Trajectories arriving within the stratospheric and surface-based pollution regions are found to experience very few aircraft encounters. Conversely, there are many trajectory/aircraft encounters within the two chemical signatures corresponding to aircraft emissions. Even many detailed fluctuations of NO within the two aircraft signature regions correspond to similar fluctuations in aircraft encountered. These NO spikes are due to the superposition of 14 to 25 aircraft plumes transported to the DC-8 flight track during the previous 33 hours. Results confirm that aircraft emissions were responsible for two chemical signatures observed during SONEX flight 8. They also indicate that high-resolution meteorological modeling, when coupled with detailed aircraft location data, is useful for understanding chemical signatures from aircraft emissions at scales of several hundred kilometers.

Tracking hand movements captures the response dynamics of the evaluative priming effect.

PubMed

Kawakami, Naoaki; Miura, Emi

2018-06-08

We tested the response dynamics of the evaluative priming effect (i.e. facilitation of target responses following evaluatively congruent compared with evaluatively incongruent primes) using a mouse tracking procedure that records hand movements during the execution of categorisation tasks. In Experiment 1, when participants performed the evaluative categorisation task but not the non-evaluative semantic categorisation task, their mouse trajectories for evaluatively incongruent trials curved more toward the opposite response than those for evaluatively congruent trials, indicating the emergence of evaluative priming effects based on response competition. In Experiment 2, implementing a task-switching procedure in which evaluative and non-evaluative categorisation tasks were intermixed, we obtained reliable evaluative priming effects in the non-evaluative semantic categorisation task as well as in the evaluative categorisation task when participants assigned attention to the evaluative stimulus dimension. Analyses of hand movements revealed that the evaluative priming effects in the evaluative categorisation task were reflected in the mouse trajectories, while evaluative priming effects in the non-evaluative categorisation tasks were reflected in initiation times (i.e. the time elapsed between target onset and first mouse movement). Based on these findings, we discuss the methodological benefits of the mouse tracking procedure and the underlying processes of evaluative priming effects.

A guidance and navigation system for continuous low thrust vehicles. M.S. Thesis

NASA Technical Reports Server (NTRS)

Tse, C. J. C.

1973-01-01

A midcourse guidance and navigation system for continuous low thrust vehicles is described. A set of orbit elements, known as the equinoctial elements, are selected as the state variables. The uncertainties are modelled statistically by random vector and stochastic processes. The motion of the vehicle and the measurements are described by nonlinear stochastic differential and difference equations respectively. A minimum time nominal trajectory is defined and the equation of motion and the measurement equation are linearized about this nominal trajectory. An exponential cost criterion is constructed and a linear feedback guidance law is derived to control the thrusting direction of the engine. Using this guidance law, the vehicle will fly in a trajectory neighboring the nominal trajectory. The extended Kalman filter is used for state estimation. Finally a short mission using this system is simulated. The results indicate that this system is very efficient for short missions.

Optimal nodal flyby with near-Earth asteroids using electric sail

NASA Astrophysics Data System (ADS)

Mengali, Giovanni; Quarta, Alessandro A.

2014-11-01

The aim of this paper is to quantify the performance of an Electric Solar Wind Sail for accomplishing flyby missions toward one of the two orbital nodes of a near-Earth asteroid. Assuming a simplified, two-dimensional mission scenario, a preliminary mission analysis has been conducted involving the whole known population of those asteroids at the beginning of the 2013 year. The analysis of each mission scenario has been performed within an optimal framework, by calculating the minimum-time trajectory required to reach each orbital node of the target asteroid. A considerable amount of simulation data have been collected, using the spacecraft characteristic acceleration as a parameter to quantify the Electric Solar Wind Sail propulsive performance. The minimum time trajectory exhibits a different structure, which may or may not include a solar wind assist maneuver, depending both on the Sun-node distance and the value of the spacecraft characteristic acceleration. Simulations show that over 60% of near-Earth asteroids can be reached with a total mission time less than 100 days, whereas the entire population can be reached in less than 10 months with a spacecraft characteristic acceleration of 1 mm/s2.

Using simplified Chaos Theory to manage nursing services.

PubMed

Haigh, Carol A

2008-04-01

The purpose of this study was to evaluate the part simplified chaos theory could play in the management of nursing services. As nursing care becomes more complex, practitioners need to become familiar with business planning and objective time management. There are many time-limited methods that facilitate this type of planning but few that can help practitioners to forecast the end-point outcome of the service they deliver. A growth model was applied to a specialist service to plot service trajectory. Components of chaos theory can play a role in forecasting service outcomes and consequently the impact upon the management of such services. The ability to (1) track the trajectory of a service and (2) manipulate that trajectory by introducing new variables can allow managers to forward plan for service development and to evaluate the effectiveness of a service by plotting its end-point state.

Low-thrust trajectory analysis for the geosynchronous mission

NASA Technical Reports Server (NTRS)

Jasper, T. P.

1973-01-01

Methodology employed in development of a computer program designed to analyze optimal low-thrust trajectories is described, and application of the program to a Solar Electric Propulsion Stage (SEPS) geosynchronous mission is discussed. To avoid the zero inclination and eccentricity singularities which plague many small-force perturbation techniques, a special set of state variables (equinoctial) is used. Adjoint equations are derived for the minimum time problem and are also free from the singularities. Solutions to the state and adjoint equations are obtained by both orbit averaging and precision numerical integration; an evaluation of these approaches is made.

An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

NASA Technical Reports Server (NTRS)

Kyriakopoulos, K. J.; Saridis, G. N.

1991-01-01

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

Analysis of the trajectory of Drosophila melanogaster in a circular open field arena.

PubMed

Valente, Dan; Golani, Ilan; Mitra, Partha P

2007-10-24

Obtaining a complete phenotypic characterization of a freely moving organism is a difficult task, yet such a description is desired in many neuroethological studies. Many metrics currently used in the literature to describe locomotor and exploratory behavior are typically based on average quantities or subjectively chosen spatial and temporal thresholds. All of these measures are relatively coarse-grained in the time domain. It is advantageous, however, to employ metrics based on the entire trajectory that an organism takes while exploring its environment. To characterize the locomotor behavior of Drosophila melanogaster, we used a video tracking system to record the trajectory of a single fly walking in a circular open field arena. The fly was tracked for two hours. Here, we present techniques with which to analyze the motion of the fly in this paradigm, and we discuss the methods of calculation. The measures we introduce are based on spatial and temporal probability distributions and utilize the entire time-series trajectory of the fly, thus emphasizing the dynamic nature of locomotor behavior. Marginal and joint probability distributions of speed, position, segment duration, path curvature, and reorientation angle are examined and related to the observed behavior. The measures discussed in this paper provide a detailed profile of the behavior of a single fly and highlight the interaction of the fly with the environment. Such measures may serve as useful tools in any behavioral study in which the movement of a fly is an important variable and can be incorporated easily into many setups, facilitating high-throughput phenotypic characterization.

An Innovative Context-Based Crystal-Growth Activity Space Method for Environmental Exposure Assessment: A Study Using GIS and GPS Trajectory Data Collected in Chicago.

PubMed

Wang, Jue; Kwan, Mei-Po; Chai, Yanwei

2018-04-09

Scholars in the fields of health geography, urban planning, and transportation studies have long attempted to understand the relationships among human movement, environmental context, and accessibility. One fundamental question for this research area is how to measure individual activity space, which is an indicator of where and how people have contact with their social and physical environments. Conventionally, standard deviational ellipses, road network buffers, minimum convex polygons, and kernel density surfaces have been used to represent people's activity space, but they all have shortcomings. Inconsistent findings of the effects of environmental exposures on health behaviors/outcomes suggest that the reliability of existing studies may be affected by the uncertain geographic context problem (UGCoP). This paper proposes the context-based crystal-growth activity space as an innovative method for generating individual activity space based on both GPS trajectories and the environmental context. This method not only considers people's actual daily activity patterns based on GPS tracks but also takes into account the environmental context which either constrains or encourages people's daily activity. Using GPS trajectory data collected in Chicago, the results indicate that the proposed new method generates more reasonable activity space when compared to other existing methods. This can help mitigate the UGCoP in environmental health studies.

An Innovative Context-Based Crystal-Growth Activity Space Method for Environmental Exposure Assessment: A Study Using GIS and GPS Trajectory Data Collected in Chicago

PubMed Central

Chai, Yanwei

2018-01-01

Scholars in the fields of health geography, urban planning, and transportation studies have long attempted to understand the relationships among human movement, environmental context, and accessibility. One fundamental question for this research area is how to measure individual activity space, which is an indicator of where and how people have contact with their social and physical environments. Conventionally, standard deviational ellipses, road network buffers, minimum convex polygons, and kernel density surfaces have been used to represent people’s activity space, but they all have shortcomings. Inconsistent findings of the effects of environmental exposures on health behaviors/outcomes suggest that the reliability of existing studies may be affected by the uncertain geographic context problem (UGCoP). This paper proposes the context-based crystal-growth activity space as an innovative method for generating individual activity space based on both GPS trajectories and the environmental context. This method not only considers people’s actual daily activity patterns based on GPS tracks but also takes into account the environmental context which either constrains or encourages people’s daily activity. Using GPS trajectory data collected in Chicago, the results indicate that the proposed new method generates more reasonable activity space when compared to other existing methods. This can help mitigate the UGCoP in environmental health studies. PMID:29642530

On bifurcation delay: An alternative approach using Geometric Singular Perturbation Theory

NASA Astrophysics Data System (ADS)

Hsu, Ting-Hao

2017-02-01

To explain the phenomenon of bifurcation delay, which occurs in planar systems of the form x ˙ = ɛf (x , z , ɛ), z ˙ = g (x , z , ɛ) z, where f (x , 0 , 0) > 0 and g (x , 0 , 0) changes sign at least once on the x-axis, we use the Exchange Lemma in Geometric Singular Perturbation Theory to track the limiting behavior of the solutions. Using the trick of extending dimension to overcome the degeneracy at the turning point, we show that the limiting attracting and repulsion points are given by the well-known entry-exit function, and the minimum of z on the trajectory is of order exp ⁡ (- 1 / ɛ). Also we prove smoothness of the return map up to arbitrary finite order in ɛ.

Real-time motion compensation for EM bronchoscope tracking with smooth output - ex-vivo validation

NASA Astrophysics Data System (ADS)

Reichl, Tobias; Gergel, Ingmar; Menzel, Manuela; Hautmann, Hubert; Wegner, Ingmar; Meinzer, Hans-Peter; Navab, Nassir

2012-02-01

Navigated bronchoscopy provides benefits for endoscopists and patients, but accurate tracking information is needed. We present a novel real-time approach for bronchoscope tracking combining electromagnetic (EM) tracking, airway segmentation, and a continuous model of output. We augment a previously published approach by including segmentation information in the tracking optimization instead of image similarity. Thus, the new approach is feasible in real-time. Since the true bronchoscope trajectory is continuous, the output is modeled using splines and the control points are optimized with respect to displacement from EM tracking measurements and spatial relation to segmented airways. Accuracy of the proposed method and its components is evaluated on a ventilated porcine ex-vivo lung with respect to ground truth data acquired from a human expert. We demonstrate the robustness of the output of the proposed method against added artificial noise in the input data. Smoothness in terms of inter-frame distance is shown to remain below 2 mm, even when up to 5 mm of Gaussian noise are added to the input. The approach is shown to be easily extensible to include other measures like image similarity.

Comparison of TOPEX/Poseidon orbit determination solutions obtained by the Goddard Space Flight Center Flight Dynamics Division and Precision Orbit Determination Teams

NASA Technical Reports Server (NTRS)

Doll, C.; Mistretta, G.; Hart, R.; Oza, D.; Cox, C.; Nemesure, M.; Bolvin, D.; Samii, Mina V.

1993-01-01

Orbit determination results are obtained by the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) using the Goddard Trajectory Determination System (GTDS) and a real-time extended Kalman filter estimation system to process Tracking Data and Relay Satellite (TDRS) System (TDRSS) measurements in support of the Ocean Topography Experiment (TOPEX)/Poseidon spacecraft navigation and health and safety operations. GTDS is the operational orbit determination system used by the FDD, and the extended Kalman fliter was implemented in an analysis prototype system, the Real-Time Orbit Determination System/Enhanced (RTOD/E). The Precision Orbit Determination (POD) team within the GSFC Space Geodesy Branch generates an independent set of high-accuracy trajectories to support the TOPEX/Poseidon scientific data. These latter solutions use the Geodynamics (GEODYN) orbit determination system with laser ranging tracking data. The TOPEX/Poseidon trajectories were estimated for the October 22 - November 1, 1992, timeframe, for which the latest preliminary POD results were available. Independent assessments were made of the consistencies of solutions produced by the batch and sequential methods. The batch cases were assessed using overlap comparisons, while the sequential cases were assessed with covariances and the first measurement residuals. The batch least-squares and forward-filtered RTOD/E orbit solutions were compared with the definitive POD orbit solutions. The solution differences were generally less than 10 meters (m) for the batch least squares and less than 18 m for the sequential estimation solutions. The differences among the POD, GTDS, and RTOD/E solutions can be traced to differences in modeling and tracking data types, which are being analyzed in detail.

Beam tracking with micromegas & wire chambers in secondary electron detection configuration

NASA Astrophysics Data System (ADS)

Voštinar, M.; Fernández, B.; Pancin, J.; Alvarez, M. A. G.; Chaminade, T.; Damoy, S.; Doré, D.; Drouart, A.; Druillole, F.; Frémont, G.; Kebbiri, M.; Materna, T.; Monmarthe, E.; Panebianco, S.; Papaevangelou, T.; Riallot, M.; Savajols, H.; Spitaels, C.

2013-12-01

The focal plane of S3 (Super Separator Spectrometer), a new experimental area of SPIRAL2 at GANIL, will be used for identification of nuclei, and requires the reconstruction of their trajectories and velocities by the Time Of Flight (TOF) method. Classical tracking detectors used in-beam would generate a lot of angular and energy straggling due to their thickness. One solution is the use of a SED (Secondary Electron Detection), which consists of a thin emissive foil in beam coupled to a low pressure gaseous detector out of the beam, for the detection of secondary electrons ejected from the foil. Moreover, this type of detector can be used for classical beam tracking at low energies, or for example at NFS (GANIL) for the FALSTAFF experiment for the reconstruction of fission fragments trajectories. Several low pressure gaseous detectors such as wire chambers and Micromegas have been constructed and tested since 2008. High counting rate capabilities and good time resolution obtained in previous tests motivated the construction of a new real-size 2D prototype wire chamber and a 2D bulk Micromegas at low pressure. For the first time, spatial resolution of the Micromegas at low pressure (below 20 mbar) in the SED configuration was measured. Different tests have been performed in order to characterize time and spatial properties of both prototypes, giving spatial resolution in the horizontal (X) direction of 0.90(0.02) mm FWHM for the real size prototype and 0.72(0.08) mm FWHM for Micromegas, and a time resolution of ~ 110(25) ps for the real size prototype.

Intelligent nonsingular terminal sliding-mode control using MIMO Elman neural network for piezo-flexural nanopositioning stage.

PubMed

Lin, Faa-Jeng; Lee, Shih-Yang; Chou, Po-Huan

2012-12-01

The objective of this study is to develop an intelligent nonsingular terminal sliding-mode control (INTSMC) system using an Elman neural network (ENN) for the threedimensional motion control of a piezo-flexural nanopositioning stage (PFNS). First, the dynamic model of the PFNS is derived in detail. Then, to achieve robust, accurate trajectory-tracking performance, a nonsingular terminal sliding-mode control (NTSMC) system is proposed for the tracking of the reference contours. The steady-state response of the control system can be improved effectively because of the addition of the nonsingularity in the NTSMC. Moreover, to relax the requirements of the bounds and discard the switching function in NTSMC, an INTSMC system using a multi-input-multioutput (MIMO) ENN estimator is proposed to improve the control performance and robustness of the PFNS. The ENN estimator is proposed to estimate the hysteresis phenomenon and lumped uncertainty, including the system parameters and external disturbance of the PFNS online. Furthermore, the adaptive learning algorithms for the training of the parameters of the ENN online are derived using the Lyapunov stability theorem. In addition, two robust compensators are proposed to confront the minimum reconstructed errors in INTSMC. Finally, some experimental results for the tracking of various contours are given to demonstrate the validity of the proposed INTSMC system for PFNS.

Electron Trajectory Reconstruction for Advanced Compton Imaging of Gamma Rays

NASA Astrophysics Data System (ADS)

Plimley, Brian Christopher

Gamma-ray imaging is useful for detecting, characterizing, and localizing sources in a variety of fields, including nuclear physics, security, nuclear accident response, nuclear medicine, and astronomy. Compton imaging in particular provides sensitivity to weak sources and good angular resolution in a large field of view. However, the photon origin in a single event sequence is normally only limited to the surface of a cone. If the initial direction of the Compton-scattered electron can be measured, the cone can be reduced to a cone segment with width depending on the uncertainty in the direction measurement, providing a corresponding increase in imaging sensitivity. Measurement of the electron's initial direction in an efficient detection material requires very fine position resolution due to the electron's short range and tortuous path. A thick (650 mum), fully-depleted charge-coupled device (CCD) developed for infrared astronomy has 10.5-mum position resolution in two dimensions, enabling the initial trajectory measurement of electrons of energy as low as 100 keV. This is the first time the initial trajectories of electrons of such low energies have been measured in a solid material. In this work, the CCD's efficacy as a gamma-ray detector is demonstrated experimentally, using a reconstruction algorithm to measure the initial electron direction from the CCD track image. In addition, models of fast electron interaction physics, charge transport and readout were used to generate modeled tracks with known initial direction. These modeled tracks allowed the development and refinement of the reconstruction algorithm. The angular sensitivity of the reconstruction algorithm is evaluated extensively with models for tracks below 480 keV, showing a FWHM as low as 20° in the pixel plane, and 30° RMS sensitivity to the magnitude of the out-of-plane angle. The measurement of the trajectories of electrons with energies as low as 100 keV have the potential to make electron track Compton imaging an effective means of reducing image background for photons of energy as low as 500 keV, or even less. The angular sensitivity of the reconstruction algorithm was also evaluated experimentally, by measuring electron tracks in the CCD in coincidence with the scattered photon in a germanium double-sided strip detector. By this method, electron tracks could be measured with the true initial direction known to within 3° FWHM, and the angular response of the algorithm compared to the known direction. The challenge of this experiment lay in the low geometric efficiency for photons scattering into the germanium, the poor time resolution in the current CCD implementation, and the resulting signal-to-background ratio of about 10--4 for photons scattered from the CCD into the germanium detector. Nonetheless, 87 events were measured in the FWHM of the total energy deposited and the angular resolution measure, with electron tracks between 160 keV and 360 keV in energy. The electron tracks from true coincident event sequences showed a FWHM in the pixel plane of 23°, and excellent agreement with the distribution calculated with models, with likelihood p-values of 0.44 and 0.73. Thus, the models used for the more thorough evaluation of angular sensitivities are shown to be consistent with the measured tracks from true coincident event sequences.

Upper limb stroke rehabilitation: the effectiveness of Stimulation Assistance through Iterative Learning (SAIL).

PubMed

Meadmore, Katie L; Cai, Zhonglun; Tong, Daisy; Hughes, Ann-Marie; Freeman, Chris T; Rogers, Eric; Burridge, Jane H

2011-01-01

A novel system has been developed which combines robotic therapy with electrical stimulation (ES) for upper limb stroke rehabilitation. This technology, termed SAIL: Stimulation Assistance through Iterative Learning, employs advanced model-based iterative learning control (ILC) algorithms to precisely assist participant's completion of 3D tracking tasks with their impaired arm. Data is reported from a preliminary study with unimpaired participants, and also from a single hemiparetic stroke participant with reduced upper limb function who has used the system in a clinical trial. All participants completed tasks which involved moving their (impaired) arm to follow an image of a slowing moving sphere along a trajectory. The participants' arm was supported by a robot and ES was applied to the triceps brachii and anterior deltoid muscles. During each task, the same tracking trajectory was repeated 6 times and ILC was used to compute the stimulation signals to be applied on the next iteration. Unimpaired participants took part in a single, one hour training session and the stroke participant undertook 18, 1 hour treatment sessions composed of tracking tasks varying in length, orientation and speed. The results reported describe changes in tracking ability and demonstrate feasibility of the SAIL system for upper limb rehabilitation. © 2011 IEEE

Decentralized adaptive control of manipulators - Theory, simulation, and experimentation

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

The author presents a simple decentralized adaptive-control scheme for multijoint robot manipulators based on the independent joint control concept. The control objective is to achieve accurate tracking of desired joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simply by a PID (proportional-integral-derivative) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. Simulation results are given for a two-link direct-drive manipulator under adaptive independent joint control. The results illustrate trajectory tracking under coupled dynamics and varying payload. The proposed scheme is implemented on a MicroVAX II computer for motion control of the three major joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite coupled nonlinear joint dynamics.

Trajectory design for the Deep Space Program Science Experiment (DSPSE) mission

NASA Astrophysics Data System (ADS)

Carrington, D.; Carrico, J.; Jen, J.; Roberts, C.; Seacord, A.; Sharer, P.; Newman, L.; Richon, K.; Kaufman, B.; Middour, J.

In 1994, the Deep Space Program Science Experiment (DSPSE) spacecraft will become the first spacecraft to perform, in succession, both a lunar orbiting mission and a deep-space asteroid encounter mission. The primary mission objective is to perform a long-duration flight-test of various new-technology lightweight components, such as sensors, in a deep-space environment. The mission has two secondary science objectives: to provide high-resolution imaging of the entire lunar surface for mapping purposes and flyby imaging of the asteroid 1620 Geographos. The DSPSE mission is sponsored by the Strategic Defense Initiative Organization (SDIO). As prime contractor, the Naval Research Laboratory (NRL) is building the spacecraft and will conduct mission operations. The Goddard Space Flight Center's (GSFC) Flight Dynamics Division is supporting NRL in the areas of The Deep Space Network (DSN) will provide tracking support. The DSPSE mission will begin with a launch from the Western Test Range in late January 1994. Following a minimum 1.5-day stay in a low-Earth parking orbit, a solid kick motor burn will boost DSPSE into an 18-day, 2.5-revolution phasing orbit transfer trajectory to the Moon. Two burns to insert DSPSE into a lunar polar orbit suitable for the mapping mission will be followed by mapping orbit maintenance and adjustment operations over a period of 2 sidereal months. In May 1994, a lunar orbit departure maneuver, in conjunction with a lunar swingby 26 days later, will propel DSPSE onto a heliocentric transfer that will intercept Geographos on September 1, 1994. This paper presents the characteristics, deterministic delta-Vs, and design details of each trajectory phase of this unique mission, together with the requirements, constraints, and design considerations to which each phase is subject. Numerous trajectory plots and tables of significant trajectory events are included. Following a discussion of the results of a preliminary launch window analysis, a summary of the deterministic impulsive delta-V budget required to establish the baseline mission trajectory design is presented.

Region of Interest Imaging for a General Trajectory with the Rebinned BPF Algorithm*

PubMed Central

Bian, Junguo; Xia, Dan; Sidky, Emil Y; Pan, Xiaochuan

2010-01-01

The back-projection-filtration (BPF) algorithm has been applied to image reconstruction for cone-beam configurations with general source trajectories. The BPF algorithm can reconstruct 3-D region-of-interest (ROI) images from data containing truncations. However, like many other existing algorithms for cone-beam configurations, the BPF algorithm involves a back-projection with a spatially varying weighting factor, which can result in the non-uniform noise levels in reconstructed images and increased computation time. In this work, we propose a BPF algorithm to eliminate the spatially varying weighting factor by using a rebinned geometry for a general scanning trajectory. This proposed BPF algorithm has an improved noise property, while retaining the advantages of the original BPF algorithm such as minimum data requirement. PMID:20617122

Region of Interest Imaging for a General Trajectory with the Rebinned BPF Algorithm.

PubMed

Bian, Junguo; Xia, Dan; Sidky, Emil Y; Pan, Xiaochuan

2010-02-01

The back-projection-filtration (BPF) algorithm has been applied to image reconstruction for cone-beam configurations with general source trajectories. The BPF algorithm can reconstruct 3-D region-of-interest (ROI) images from data containing truncations. However, like many other existing algorithms for cone-beam configurations, the BPF algorithm involves a back-projection with a spatially varying weighting factor, which can result in the non-uniform noise levels in reconstructed images and increased computation time. In this work, we propose a BPF algorithm to eliminate the spatially varying weighting factor by using a rebinned geometry for a general scanning trajectory. This proposed BPF algorithm has an improved noise property, while retaining the advantages of the original BPF algorithm such as minimum data requirement.

Optimization of the interplanetary trajectories of spacecraft with a solar electric propulsion power plant of minimal power

NASA Astrophysics Data System (ADS)

Ivanyukhin, A. V.; Petukhov, V. G.

2016-12-01

The problem of optimizing the interplanetary trajectories of a spacecraft (SC) with a solar electric propulsion system (SEPS) is examined. The problem of investigating the permissible power minimum of the solar electric propulsion power plant required for a successful flight is studied. Permissible ranges of thrust and exhaust velocity are analyzed for the given range of flight time and final mass of the spacecraft. The optimization is performed according to Portnyagin's maximum principle, and the continuation method is used for reducing the boundary problem of maximal principle to the Cauchy problem and to study the solution/ parameters dependence. Such a combination results in the robust algorithm that reduces the problem of trajectory optimization to the numerical integration of differential equations by the continuation method.

AAA gunnermodel based on observer theory. [predicting a gunner's tracking response

NASA Technical Reports Server (NTRS)

Kou, R. S.; Glass, B. C.; Day, C. N.; Vikmanis, M. M.

1978-01-01

The Luenberger observer theory is used to develop a predictive model of a gunner's tracking response in antiaircraft artillery systems. This model is composed of an observer, a feedback controller and a remnant element. An important feature of the model is that the structure is simple, hence a computer simulation requires only a short execution time. A parameter identification program based on the least squares curve fitting method and the Gauss Newton gradient algorithm is developed to determine the parameter values of the gunner model. Thus, a systematic procedure exists for identifying model parameters for a given antiaircraft tracking task. Model predictions of tracking errors are compared with human tracking data obtained from manned simulation experiments. Model predictions are in excellent agreement with the empirical data for several flyby and maneuvering target trajectories.

Bias estimation for moving optical sensor measurements with targets of opportunity

NASA Astrophysics Data System (ADS)

Belfadel, Djedjiga; Osborne, Richard W.; Bar-Shalom, Yaakov

2014-06-01

Integration of space based sensors into a Ballistic Missile Defense System (BMDS) allows for detection and tracking of threats over a larger area than ground based sensors [1]. This paper examines the effect of sensor bias error on the tracking quality of a Space Tracking and Surveillance System (STSS) for the highly non-linear problem of tracking a ballistic missile. The STSS constellation consists of two or more satellites (on known trajectories) for tracking ballistic targets. Each satellite is equipped with an IR sensor that provides azimuth and elevation to the target. The tracking problem is made more difficult due to a constant or slowly varying bias error present in each sensor's line of sight measurements. It is important to correct for these bias errors so that the multiple sensor measurements and/or tracks can be referenced as accurately as possible to a common tracking coordinate system. The measurements provided by these sensors are assumed time-coincident (synchronous) and perfectly associated. The line of sight (LOS) measurements from the sensors can be fused into measurements which are the Cartesian target position, i.e., linear in the target state. We evaluate the Cramér-Rao Lower Bound (CRLB) on the covariance of the bias estimates, which serves as a quantification of the available information about the biases. Statistical tests on the results of simulations show that this method is statistically efficient, even for small sample sizes (as few as two sensors and six points on the (unknown) trajectory of a single target of opportunity). We also show that the RMS position error is significantly improved with bias estimation compared with the target position estimation using the original biased measurements.

Mobile phone tracking: in support of modelling traffic-related air pollution contribution to individual exposure and its implications for public health impact assessment.

PubMed

Liu, Hai-Ying; Skjetne, Erik; Kobernus, Mike

2013-11-04

We propose a new approach to assess the impact of traffic-related air pollution on public health by mapping personal trajectories using mobile phone tracking technology in an urban environment. Although this approach is not based on any empirical studies, we believe that this method has great potential and deserves serious attention. Mobile phone tracking technology makes it feasible to generate millions of personal trajectories and thereby cover a large fraction of an urban population. Through analysis, personal trajectories are not only associated to persons, but it can also be associated with vehicles, vehicle type, vehicle speed, vehicle emission rates, and sources of vehicle emissions. Pollution levels can be estimated by dispersion models from calculated traffic emissions. Traffic pollution exposure to individuals can be estimated based on the exposure along the individual human trajectories in the estimated pollution concentration fields by utilizing modelling tools. By data integration, one may identify trajectory patterns of particularly exposed human groups. The approach of personal trajectories may open a new paradigm in understanding urban dynamics and new perspectives in population-wide empirical public health research. This new approach can be further applied to individual commuter route planning, land use planning, urban traffic network planning, and used by authorities to formulate air pollution mitigation policies and regulations.

Mobile phone tracking: in support of modelling traffic-related air pollution contribution to individual exposure and its implications for public health impact assessment

PubMed Central

2013-01-01

We propose a new approach to assess the impact of traffic-related air pollution on public health by mapping personal trajectories using mobile phone tracking technology in an urban environment. Although this approach is not based on any empirical studies, we believe that this method has great potential and deserves serious attention. Mobile phone tracking technology makes it feasible to generate millions of personal trajectories and thereby cover a large fraction of an urban population. Through analysis, personal trajectories are not only associated to persons, but it can also be associated with vehicles, vehicle type, vehicle speed, vehicle emission rates, and sources of vehicle emissions. Pollution levels can be estimated by dispersion models from calculated traffic emissions. Traffic pollution exposure to individuals can be estimated based on the exposure along the individual human trajectories in the estimated pollution concentration fields by utilizing modelling tools. By data integration, one may identify trajectory patterns of particularly exposed human groups. The approach of personal trajectories may open a new paradigm in understanding urban dynamics and new perspectives in population-wide empirical public health research. This new approach can be further applied to individual commuter route planning, land use planning, urban traffic network planning, and used by authorities to formulate air pollution mitigation policies and regulations. PMID:24188173

Optimal Interception of a Maneuvering Long-range Missile

NASA Astrophysics Data System (ADS)

X. Vinh, Nguyen; T. Kabamba, Pierre; Takehira, Tetsuya

2001-01-01

In a Newtonian central force field, the minimum-fuel interception of a satellite, or a ballistic missile, in elliptic trajectory can be obtained via Lawden's theory of primer vector. To secure interception when the target performs evasive maneuvers, a new control law, with explicit solutions, is implemented. It is shown that by a rotation of coordinate system, the problem of three-dimensional interception is reduced to a planar problem. The general case of planar interception of a long-range ballistic missile is then studied. Examples of interception at a specified time, head-on interception and minimum-fuel interception are presented. In each case, the requirement for the thrust acceleration is expressed explicitly as a function of time.

Why do people appear not to extrapolate trajectories during multiple object tracking? A computational investigation

PubMed Central

Zhong, Sheng-hua; Ma, Zheng; Wilson, Colin; Liu, Yan; Flombaum, Jonathan I

2014-01-01

Intuitively, extrapolating object trajectories should make visual tracking more accurate. This has proven to be true in many contexts that involve tracking a single item. But surprisingly, when tracking multiple identical items in what is known as “multiple object tracking,” observers often appear to ignore direction of motion, relying instead on basic spatial memory. We investigated potential reasons for this behavior through probabilistic models that were endowed with perceptual limitations in the range of typical human observers, including noisy spatial perception. When we compared a model that weights its extrapolations relative to other sources of information about object position, and one that does not extrapolate at all, we found no reliable difference in performance, belying the intuition that extrapolation always benefits tracking. In follow-up experiments we found this to be true for a variety of models that weight observations and predictions in different ways; in some cases we even observed worse performance for models that use extrapolations compared to a model that does not at all. Ultimately, the best performing models either did not extrapolate, or extrapolated very conservatively, relying heavily on observations. These results illustrate the difficulty and attendant hazards of using noisy inputs to extrapolate the trajectories of multiple objects simultaneously in situations with targets and featurally confusable nontargets. PMID:25311300

Tracking and data system support for the Pioneer project. Volume 3: Pioneer 10 from 1 April 1972 through the Jupiter encounter period, January 1974

NASA Technical Reports Server (NTRS)

Miller, R. B.

1975-01-01

The Tracking and Data Systems support of the Pioneer 10 mission from April 1, 1972 through the Jupiter encounter period which ended January 5, 1974 is described. The period covered involves operations in the interplanetary environment from the time of completion of the second trajectory correction to the start of Jupiter encounter; the implementation, planning, and testing that lead to the Jupiter encounter; and the operations during the 60 day encounter period.

NEOPROP: A NEO Propagator for Space Situational Awareness

NASA Astrophysics Data System (ADS)

Zuccarelli, Valentino; Bancelin, David; Weikert, Sven; Thuillot, William; Hestroffer, Daniel; Yabar Valle, Celia; Koschny, Detlef

2013-09-01

The overall aim of the Space Situational Awareness (SSA) Preparatory Programme is to support the European independent utilisation of and access to space for research or services, through providing timely and quality data, information, services and knowledge regarding the environment, the threats and the sustainable exploitation of the outer space surrounding our planet Earth. The SSA system will comprise three main segments:• Space Weather (SWE) monitoring and forecast• Near-Earth Objects (NEO) survey and follow-up• Space Surveillance and Tracking (SST) of man-made space objectsCurrently, there are over 600.000 asteroids known in our Solar System, where more than 9.500 of these are NEOs. These could potentially hit our planet and depending on their size could produce considerable damage. For this reason NEOs deserve active detection and tracking efforts.The role of the SSA programme is to provide warning services against potential asteroid impact hazards, including discovery, identification, orbit prediction and civil alert capabilities. ESA is now working to develop a NEO Coordination Centre which will later evolve into a SSA-NEO Small Bodies Data Centre (SBDC), located at ESA/ESRIN, Italy. The Software prototype developed in the frame of this activity may be later implemented as a part of the SSA-NEO programme simulators aimed at assessing the trajectory of asteroids. There already exist different algorithms to predict orbits for NEOs. The objective of this activity is to come up with a different trajectory prediction algorithm, which allows an independent validation of the current algorithms within the SSA-NEO segment (e.g. NEODyS, JPL Sentry System).The key objective of this activity was to design, develop, test, verify, and validate trajectory prediction algorithm of NEOs in order to be able to computeanalytically and numerically the minimum orbital intersection distances (MOIDs).The NEOPROP software consists of two separate modules/tools:1. The Analytical Module makes use of analytical algorithms in order to rapidly assess the impact risk of a NEO. It is responsible for the preliminary analysis. Orbit Determination algorithms, as the Gauss and the Linear Least Squares (LLS) methods, will determine the initial state (from MPC observations), along with its uncertainty, and the MOID of the NEO (analytically).2. The Numerical Module makes use of numerical algorithms in order to refine and to better assess the impact probabilities. The initial state provided by the orbit determination process will be used to numerically propagate the trajectory. The numerical propagation can be run in two modes: one faster ("fast analysis"), in order to get a fast evaluation of the trajectory and one more precise ("complete analysis") taking into consideration more detailed perturbation models. Moreover, a configurable number of Virtual Asteroids (VAs) will be numerically propagated in order to determine the Earth closest approach. This new "MOID" computation differs from the analytical one since it takes into consideration the full dynamics of the problem.

Automated tracking, segmentation and trajectory classification of pelvic organs on dynamic MRI.

PubMed

Nekooeimehr, Iman; Lai-Yuen, Susana; Bao, Paul; Weitzenfeld, Alfredo; Hart, Stuart

2016-08-01

Pelvic organ prolapse is a major health problem in women where pelvic floor organs (bladder, uterus, small bowel, and rectum) fall from their normal position and bulge into the vagina. Dynamic Magnetic Resonance Imaging (DMRI) is presently used to analyze the organs' movements from rest to maximum strain providing complementary support for diagnosis. However, there is currently no automated or quantitative approach to measure the movement of the pelvic organs and their correlation with the severity of prolapse. In this paper, a two-stage method is presented to automatically track and segment pelvic organs on DMRI followed by a multiple-object trajectory classification method to improve the diagnosis of pelvic organ prolapse. Organs are first tracked using particle filters and K-means clustering with prior information. Then, they are segmented using the convex hull of the cluster of particles. Finally, the trajectories of the pelvic organs are modeled using a new Coupled Switched Hidden Markov Model (CSHMM) to classify the severity of pelvic organ prolapse. The tracking and segmentation results are validated using Dice Similarity Index (DSI) whereas the classification results are compared with two manual clinical measurements. Results demonstrate that the presented method is able to automatically track and segment pelvic organs with a DSI above 82% for 26 out of 46 cases and DSI above 75% for all 46 tested cases. The accuracy of the trajectory classification model is also better than current manual measurements.

Real-time seam tracking control system based on line laser visions

NASA Astrophysics Data System (ADS)

Zou, Yanbiao; Wang, Yanbo; Zhou, Weilin; Chen, Xiangzhi

2018-07-01

A set of six-degree-of-freedom robotic welding automatic tracking platform was designed in this study to realize the real-time tracking of weld seams. Moreover, the feature point tracking method and the adaptive fuzzy control algorithm in the welding process were studied and analyzed. A laser vision sensor and its measuring principle were designed and studied, respectively. Before welding, the initial coordinate values of the feature points were obtained using morphological methods. After welding, the target tracking method based on Gaussian kernel was used to extract the real-time feature points of the weld. An adaptive fuzzy controller was designed to input the deviation value of the feature points and the change rate of the deviation into the controller. The quantization factors, scale factor, and weight function were adjusted in real time. The input and output domains, fuzzy rules, and membership functions were constantly updated to generate a series of smooth bias robot voltage. Three groups of experiments were conducted on different types of curve welds in a strong arc and splash noise environment using the welding current of 120 A short-circuit Metal Active Gas (MAG) Arc Welding. The tracking error was less than 0.32 mm and the sensor's metrical frequency can be up to 20 Hz. The end of the torch run smooth during welding. Weld trajectory can be tracked accurately, thereby satisfying the requirements of welding applications.

25 CFR 543.12 - What are the minimum internal control standards for gaming promotions and player tracking systems?

Code of Federal Regulations, 2013 CFR

2013-04-01

... 25 Indians 2 2013-04-01 2013-04-01 false What are the minimum internal control standards for gaming promotions and player tracking systems? 543.12 Section 543.12 Indians NATIONAL INDIAN GAMING COMMISSION, DEPARTMENT OF THE INTERIOR HUMAN SERVICES MINIMUM INTERNAL CONTROL STANDARDS FOR CLASS II GAMING § 543.12 What are the minimum internal contro...

25 CFR 543.12 - What are the minimum internal control standards for gaming promotions and player tracking systems?

Code of Federal Regulations, 2014 CFR

2014-04-01

... 25 Indians 2 2014-04-01 2014-04-01 false What are the minimum internal control standards for gaming promotions and player tracking systems? 543.12 Section 543.12 Indians NATIONAL INDIAN GAMING COMMISSION, DEPARTMENT OF THE INTERIOR HUMAN SERVICES MINIMUM INTERNAL CONTROL STANDARDS FOR CLASS II GAMING § 543.12 What are the minimum internal contro...

White matter fiber tracking computation based on diffusion tensor imaging for clinical applications.

PubMed

Dellani, Paulo R; Glaser, Martin; Wille, Paulo R; Vucurevic, Goran; Stadie, Axel; Bauermann, Thomas; Tropine, Andrei; Perneczky, Axel; von Wangenheim, Aldo; Stoeter, Peter

2007-03-01

Fiber tracking allows the in vivo reconstruction of human brain white matter fiber trajectories based on magnetic resonance diffusion tensor imaging (MR-DTI), but its application in the clinical routine is still in its infancy. In this study, we present a new software for fiber tracking, developed on top of a general-purpose DICOM (digital imaging and communications in medicine) framework, which can be easily integrated into existing picture archiving and communication system (PACS) of radiological institutions. Images combining anatomical information and the localization of different fiber tract trajectories can be encoded and exported in DICOM and Analyze formats, which are valuable resources in the clinical applications of this method. Fiber tracking was implemented based on existing line propagation algorithms, but it includes a heuristic for fiber crossings in the case of disk-shaped diffusion tensors. We successfully performed fiber tracking on MR-DTI data sets from 26 patients with different types of brain lesions affecting the corticospinal tracts. In all cases, the trajectories of the central spinal tract (pyramidal tract) were reconstructed and could be applied at the planning phase of the surgery as well as in intraoperative neuronavigation.

Direct adaptive robust tracking control for 6 DOF industrial robot with enhanced accuracy.

PubMed

Yin, Xiuxing; Pan, Li

2018-01-01

A direct adaptive robust tracking control is proposed for trajectory tracking of 6 DOF industrial robot in the presence of parametric uncertainties, external disturbances and uncertain nonlinearities. The controller is designed based on the dynamic characteristics in the working space of the end-effector of the 6 DOF robot. The controller includes robust control term and model compensation term that is developed directly based on the input reference or desired motion trajectory. A projection-type parametric adaptation law is also designed to compensate for parametric estimation errors for the adaptive robust control. The feasibility and effectiveness of the proposed direct adaptive robust control law and the associated projection-type parametric adaptation law have been comparatively evaluated based on two 6 DOF industrial robots. The test results demonstrate that the proposed control can be employed to better maintain the desired trajectory tracking even in the presence of large parametric uncertainties and external disturbances as compared with PD controller and nonlinear controller. The parametric estimates also eventually converge to the real values along with the convergence of tracking errors, which further validate the effectiveness of the proposed parametric adaption law. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Optimizing Likelihood Models for Particle Trajectory Segmentation in Multi-State Systems.

PubMed

Young, Dylan Christopher; Scrimgeour, Jan

2018-06-19

Particle tracking offers significant insight into the molecular mechanics that govern the behav- ior of living cells. The analysis of molecular trajectories that transition between different motive states, such as diffusive, driven and tethered modes, is of considerable importance, with even single trajectories containing significant amounts of information about a molecule's environment and its interactions with cellular structures. Hidden Markov models (HMM) have been widely adopted to perform the segmentation of such complex tracks. In this paper, we show that extensive analysis of hidden Markov model outputs using data derived from multi-state Brownian dynamics simulations can be used both for the optimization of the likelihood models used to describe the states of the system and for characterization of the technique's failure mechanisms. This analysis was made pos- sible by the implementation of parallelized adaptive direct search algorithm on a Nvidia graphics processing unit. This approach provides critical information for the visualization of HMM failure and successful design of particle tracking experiments where trajectories contain multiple mobile states. © 2018 IOP Publishing Ltd.

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami

1990-01-01

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

Actor-critic-based optimal tracking for partially unknown nonlinear discrete-time systems.

PubMed

Kiumarsi, Bahare; Lewis, Frank L

2015-01-01

This paper presents a partially model-free adaptive optimal control solution to the deterministic nonlinear discrete-time (DT) tracking control problem in the presence of input constraints. The tracking error dynamics and reference trajectory dynamics are first combined to form an augmented system. Then, a new discounted performance function based on the augmented system is presented for the optimal nonlinear tracking problem. In contrast to the standard solution, which finds the feedforward and feedback terms of the control input separately, the minimization of the proposed discounted performance function gives both feedback and feedforward parts of the control input simultaneously. This enables us to encode the input constraints into the optimization problem using a nonquadratic performance function. The DT tracking Bellman equation and tracking Hamilton-Jacobi-Bellman (HJB) are derived. An actor-critic-based reinforcement learning algorithm is used to learn the solution to the tracking HJB equation online without requiring knowledge of the system drift dynamics. That is, two neural networks (NNs), namely, actor NN and critic NN, are tuned online and simultaneously to generate the optimal bounded control policy. A simulation example is given to show the effectiveness of the proposed method.

Trajectory specification for high capacity air traffic control

NASA Technical Reports Server (NTRS)

Paielli, Russell A. (Inventor)

2010-01-01

Method and system for analyzing and processing information on one or more aircraft flight paths, using a four-dimensional coordinate system including three Cartesian or equivalent coordinates (x, y, z) and a fourth coordinate .delta. that corresponds to a distance estimated along a reference flight path to a nearest reference path location corresponding to a present location of the aircraft. Use of the coordinate .delta., rather than elapsed time t, avoids coupling of along-track error into aircraft altitude and reduces effects of errors on an aircraft landing site. Along-track, cross-track and/or altitude errors are estimated and compared with a permitted error bounding space surrounding the reference flight path.

Retrodiction for Bayesian multiple-hypothesis/multiple-target tracking in densely cluttered environment

NASA Astrophysics Data System (ADS)

Koch, Wolfgang

1996-05-01

Sensor data processing in a dense target/dense clutter environment is inevitably confronted with data association conflicts which correspond with the multiple hypothesis character of many modern approaches (MHT: multiple hypothesis tracking). In this paper we analyze the efficiency of retrodictive techniques that generalize standard fixed interval smoothing to MHT applications. 'Delayed estimation' based on retrodiction provides uniquely interpretable and accurate trajectories from ambiguous MHT output if a certain time delay is tolerated. In a Bayesian framework the theoretical background of retrodiction and its intimate relation to Bayesian MHT is sketched. By a simulated example with two closely-spaced targets, relatively low detection probabilities, and rather high false return densities, we demonstrate the benefits of retrodiction and quantitatively discuss the achievable track accuracies and the time delays involved for typical radar parameters.

Dynamic optimization approach for integrated supplier selection and tracking control of single product inventory system with product discount

NASA Astrophysics Data System (ADS)

Sutrisno; Widowati; Heru Tjahjana, R.

2017-01-01

In this paper, we propose a mathematical model in the form of dynamic/multi-stage optimization to solve an integrated supplier selection problem and tracking control problem of single product inventory system with product discount. The product discount will be stated as a piece-wise linear function. We use dynamic programming to solve this proposed optimization to determine the optimal supplier and the optimal product volume that will be purchased from the optimal supplier for each time period so that the inventory level tracks a reference trajectory given by decision maker with minimal total cost. We give a numerical experiment to evaluate the proposed model. From the result, the optimal supplier was determined for each time period and the inventory level follows the given reference well.

Mining continuous activity patterns from animal trajectory data

USGS Publications Warehouse

Wang, Y.; Luo, Ze; Baoping, Yan; Takekawa, John Y.; Prosser, Diann J.; Newman, Scott H.

2014-01-01

The increasing availability of animal tracking data brings us opportunities and challenges to intuitively understand the mechanisms of animal activities. In this paper, we aim to discover animal movement patterns from animal trajectory data. In particular, we propose a notion of continuous activity pattern as the concise representation of underlying similar spatio-temporal movements, and develop an extension and refinement framework to discover the patterns. We first preprocess the trajectories into significant semantic locations with time property. Then, we apply a projection-based approach to generate candidate patterns and refine them to generate true patterns. A sequence graph structure and a simple and effective processing strategy is further developed to reduce the computational overhead. The proposed approaches are extensively validated on both real GPS datasets and large synthetic datasets.

Parameter Identification of Static Friction Based on An Optimal Exciting Trajectory

NASA Astrophysics Data System (ADS)

Tu, X.; Zhao, P.; Zhou, Y. F.

2017-12-01

In this paper, we focus on how to improve the identification efficiency of friction parameters in a robot joint. First, the static friction model that has only linear dependencies with respect to their parameters is adopted so that the servomotor dynamics can be linearized. In this case, the traditional exciting trajectory based on Fourier series is modified by replacing the constant term with quintic polynomial to ensure the boundary continuity of speed and acceleration. Then, the Fourier-related parameters are optimized by genetic algorithm(GA) in which the condition number of regression matrix is set as the fitness function. At last, compared with the constant-velocity tracking experiment, the friction parameters from the exciting trajectory experiment has the similar result with the advantage of time reduction.

Electromagnetic guided couch and multileaf collimator tracking on a TrueBeam accelerator

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

Hansen, Rune; Ravkilde, Thomas; Worm, Esben Schjødt

2016-05-15

Purpose: Couch and MLC tracking are two promising methods for real-time motion compensation during radiation therapy. So far, couch and MLC tracking experiments have mainly been performed by different research groups, and no direct comparison of couch and MLC tracking of volumetric modulated arc therapy (VMAT) plans has been published. The Varian TrueBeam 2.0 accelerator includes a prototype tracking system with selectable couch or MLC compensation. This study provides a direct comparison of the two tracking types with an otherwise identical setup. Methods: Several experiments were performed to characterize the geometric and dosimetric performance of electromagnetic guided couch and MLCmore » tracking on a TrueBeam accelerator equipped with a Millennium MLC. The tracking system latency was determined without motion prediction as the time lag between sinusoidal target motion and the compensating motion of the couch or MLC as recorded by continuous MV portal imaging. The geometric and dosimetric tracking accuracies were measured in tracking experiments with motion phantoms that reproduced four prostate and four lung tumor trajectories. The geometric tracking error in beam’s eye view was determined as the distance between an embedded gold marker and a circular MLC aperture in continuous MV images. The dosimetric tracking error was quantified as the measured 2%/2 mm gamma failure rate of a low and a high modulation VMAT plan delivered with the eight motion trajectories using a static dose distribution as reference. Results: The MLC tracking latency was approximately 146 ms for all sinusoidal period lengths while the couch tracking latency increased from 187 to 246 ms with decreasing period length due to limitations in the couch acceleration. The mean root-mean-square geometric error was 0.80 mm (couch tracking), 0.52 mm (MLC tracking), and 2.75 mm (no tracking) parallel to the MLC leaves and 0.66 mm (couch), 1.14 mm (MLC), and 2.41 mm (no tracking) perpendicular to the leaves. The motion-induced gamma failure rate was in mean 0.1% (couch tracking), 8.1% (MLC tracking), and 30.4% (no tracking) for prostate motion and 2.9% (couch), 2.4% (MLC), and 41.2% (no tracking) for lung tumor motion. The residual tracking errors were mainly caused by inadequate adaptation to fast lung tumor motion for couch tracking and to prostate motion perpendicular to the MLC leaves for MLC tracking. Conclusions: Couch and MLC tracking markedly improved the geometric and dosimetric accuracies of VMAT delivery. However, the two tracking types have different strengths and weaknesses. While couch tracking can correct perfectly for slowly moving targets such as the prostate, MLC tracking may have considerably larger dose errors for persistent target shift perpendicular to the MLC leaves. Advantages of MLC tracking include faster dynamics with better adaptation to fast moving targets, the avoidance of moving the patient, and the potential to track target rotations and deformations.« less

Closed-form recursive formula for an optimal tracker with terminal constraints

NASA Technical Reports Server (NTRS)

Juang, J. N.; Turner, J. D.; Chun, H. M.

1986-01-01

Feedback control laws are derived for a class of optimal finite time tracking problems with terminal constraints. Analytical solutions are obtained for the feedback gain and the closed-loop response trajectory. Such formulations are expressed in recursive forms so that a real-time computer implementation becomes feasible. An example involving the feedback slewing of a flexible spacecraft is given to illustrate the validity and usefulness of the formulations.

Predictive Compensator Optimization for Head Tracking Lag in Virtual Environments

NASA Technical Reports Server (NTRS)

Adelstein, Barnard D.; Jung, Jae Y.; Ellis, Stephen R.

2001-01-01

We examined the perceptual impact of plant noise parameterization for Kalman Filter predictive compensation of time delays intrinsic to head tracked virtual environments (VEs). Subjects were tested in their ability to discriminate between the VE system's minimum latency and conditions in which artificially added latency was then predictively compensated back to the system minimum. Two head tracking predictors were parameterized off-line according to cost functions that minimized prediction errors in (1) rotation, and (2) rotation projected into translational displacement with emphasis on higher frequency human operator noise. These predictors were compared with a parameterization obtained from the VE literature for cost function (1). Results from 12 subjects showed that both parameterization type and amount of compensated latency affected discrimination. Analysis of the head motion used in the parameterizations and the subsequent discriminability results suggest that higher frequency predictor artifacts are contributory cues for discriminating the presence of predictive compensation.

Analytical investigations in aircraft and spacecraft trajectory optimization and optimal guidance

NASA Technical Reports Server (NTRS)

Markopoulos, Nikos; Calise, Anthony J.

1995-01-01

A collection of analytical studies is presented related to unconstrained and constrained aircraft (a/c) energy-state modeling and to spacecraft (s/c) motion under continuous thrust. With regard to a/c unconstrained energy-state modeling, the physical origin of the singular perturbation parameter that accounts for the observed 2-time-scale behavior of a/c during energy climbs is identified and explained. With regard to the constrained energy-state modeling, optimal control problems are studied involving active state-variable inequality constraints. Departing from the practical deficiencies of the control programs for such problems that result from the traditional formulations, a complete reformulation is proposed for these problems which, in contrast to the old formulation, will presumably lead to practically useful controllers that can track an inequality constraint boundary asymptotically, and even in the presence of 2-sided perturbations about it. Finally, with regard to s/c motion under continuous thrust, a thrust program is proposed for which the equations of 2-dimensional motion of a space vehicle in orbit, viewed as a point mass, afford an exact analytic solution. The thrust program arises under the assumption of tangential thrust from the costate system corresponding to minimum-fuel, power-limited, coplanar transfers between two arbitrary conics. The thrust program can be used not only with power-limited propulsion systems, but also with any propulsion system capable of generating continuous thrust of controllable magnitude, and, for propulsion types and classes of transfers for which it is sufficiently optimal the results of this report suggest a method of maneuvering during planetocentric or heliocentric orbital operations, requiring a minimum amount of computation; thus uniquely suitable for real-time feedback guidance implementations.

Motion-based prediction explains the role of tracking in motion extrapolation.

PubMed

Khoei, Mina A; Masson, Guillaume S; Perrinet, Laurent U

2013-11-01

During normal viewing, the continuous stream of visual input is regularly interrupted, for instance by blinks of the eye. Despite these frequents blanks (that is the transient absence of a raw sensory source), the visual system is most often able to maintain a continuous representation of motion. For instance, it maintains the movement of the eye such as to stabilize the image of an object. This ability suggests the existence of a generic neural mechanism of motion extrapolation to deal with fragmented inputs. In this paper, we have modeled how the visual system may extrapolate the trajectory of an object during a blank using motion-based prediction. This implies that using a prior on the coherency of motion, the system may integrate previous motion information even in the absence of a stimulus. In order to compare with experimental results, we simulated tracking velocity responses. We found that the response of the motion integration process to a blanked trajectory pauses at the onset of the blank, but that it quickly recovers the information on the trajectory after reappearance. This is compatible with behavioral and neural observations on motion extrapolation. To understand these mechanisms, we have recorded the response of the model to a noisy stimulus. Crucially, we found that motion-based prediction acted at the global level as a gain control mechanism and that we could switch from a smooth regime to a binary tracking behavior where the dot is tracked or lost. Our results imply that a local prior implementing motion-based prediction is sufficient to explain a large range of neural and behavioral results at a more global level. We show that the tracking behavior deteriorates for sensory noise levels higher than a certain value, where motion coherency and predictability fail to hold longer. In particular, we found that motion-based prediction leads to the emergence of a tracking behavior only when enough information from the trajectory has been accumulated. Then, during tracking, trajectory estimation is robust to blanks even in the presence of relatively high levels of noise. Moreover, we found that tracking is necessary for motion extrapolation, this calls for further experimental work exploring the role of noise in motion extrapolation. Copyright © 2013 Elsevier Ltd. All rights reserved.

Singularity-free backstepping controller for model helicopters.

PubMed

Zou, Yao; Huo, Wei

2016-11-01

This paper develops a backstepping controller for model helicopters to achieve trajectory tracking without singularity, which occurs in the attitude representation when the roll or pitch reaches ±π2. Based on a simplified model with unmodeled dynamics, backstepping technique is introduced to exploit the controller and hyperbolic tangent functions are utilized to compensate the unmodeled dynamics. Firstly, a position loop controller is designed for the position tracking, where an auxiliary dynamic system with suitable parameters is introduced to warrant the singularity-free requirement for the extracted command attitude. Then, a novel attitude loop controller is proposed to obviate singularity. It is demonstrated that, based on the established criteria for selecting controller parameters and desired trajectories, the proposed controller realizes the singularity-free trajectory tracking of the model helicopter. Simulations confirm the theoretical results. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Differential correction capability of the GTDS using TDRSS data

NASA Technical Reports Server (NTRS)

Liu, S. Y.; Soskey, D. G.; Jacintho, J.

1980-01-01

A differential correction (DC) capability was implemented in the Goddard Trajectory Determination System (GTDS) to process satellite tracking data acquired via the Tracking and Data Relay Satellite System (TRDRSS). Configuration of the TDRSS is reviewed, observation modeling is presented, and major features of the capability are discussed. The following types of TDRSS data can be processed by GTDS: two way relay range and Doppler measurements, hybrid relay range and Doppler measurements, one way relay Doppler measurements, and differenced one way relay Doppler measurements. These data may be combined with conventional ground based direct tracking data. By using Bayesian weighted least squares techniques, the software allows the simultaneous determination of the trajectories of up to four different satellites - one user satellite and three relay satellites. In addition to satellite trajectories, the following parameters can be optionally solved: for drag coefficient, reflectivity of a satellite for solar radiation pressure, transponder delay, station position, and biases.

Sensitivity of peptide conformational dynamics on clustering of a classical molecular dynamics trajectory

NASA Astrophysics Data System (ADS)

Jensen, Christian H.; Nerukh, Dmitry; Glen, Robert C.

2008-03-01

We investigate the sensitivity of a Markov model with states and transition probabilities obtained from clustering a molecular dynamics trajectory. We have examined a 500ns molecular dynamics trajectory of the peptide valine-proline-alanine-leucine in explicit water. The sensitivity is quantified by varying the boundaries of the clusters and investigating the resulting variation in transition probabilities and the average transition time between states. In this way, we represent the effect of clustering using different clustering algorithms. It is found that in terms of the investigated quantities, the peptide dynamics described by the Markov model is sensitive to the clustering; in particular, the average transition times are found to vary up to 46%. Moreover, inclusion of nonphysical sparsely populated clusters can lead to serious errors of up to 814%. In the investigation, the time step used in the transition matrix is determined by the minimum time scale on which the system behaves approximately Markovian. This time step is found to be about 100ps. It is concluded that the description of peptide dynamics with transition matrices should be performed with care, and that using standard clustering algorithms to obtain states and transition probabilities may not always produce reliable results.

Droplet morphometry and velocimetry (DMV): a video processing software for time-resolved, label-free tracking of droplet parameters.

PubMed

Basu, Amar S

2013-05-21

Emerging assays in droplet microfluidics require the measurement of parameters such as drop size, velocity, trajectory, shape deformation, fluorescence intensity, and others. While micro particle image velocimetry (μPIV) and related techniques are suitable for measuring flow using tracer particles, no tool exists for tracking droplets at the granularity of a single entity. This paper presents droplet morphometry and velocimetry (DMV), a digital video processing software for time-resolved droplet analysis. Droplets are identified through a series of image processing steps which operate on transparent, translucent, fluorescent, or opaque droplets. The steps include background image generation, background subtraction, edge detection, small object removal, morphological close and fill, and shape discrimination. A frame correlation step then links droplets spanning multiple frames via a nearest neighbor search with user-defined matching criteria. Each step can be individually tuned for maximum compatibility. For each droplet found, DMV provides a time-history of 20 different parameters, including trajectory, velocity, area, dimensions, shape deformation, orientation, nearest neighbour spacing, and pixel statistics. The data can be reported via scatter plots, histograms, and tables at the granularity of individual droplets or by statistics accrued over the population. We present several case studies from industry and academic labs, including the measurement of 1) size distributions and flow perturbations in a drop generator, 2) size distributions and mixing rates in drop splitting/merging devices, 3) efficiency of single cell encapsulation devices, 4) position tracking in electrowetting operations, 5) chemical concentrations in a serial drop dilutor, 6) drop sorting efficiency of a tensiophoresis device, 7) plug length and orientation of nonspherical plugs in a serpentine channel, and 8) high throughput tracking of >250 drops in a reinjection system. Performance metrics show that highest accuracy and precision is obtained when the video resolution is >300 pixels per drop. Analysis time increases proportionally with video resolution. The current version of the software provides throughputs of 2-30 fps, suggesting the potential for real time analysis.

Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data

PubMed Central

Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul

2017-01-01

Abstract Target motion–induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. PMID:28201522

Aircraft symmetric flight optimization. [gradient techniques for supersonic aircraft control

NASA Technical Reports Server (NTRS)

Falco, M.; Kelley, H. J.

1973-01-01

Review of the development of gradient techniques and their application to aircraft optimal performance computations in the vertical plane of flight. Results obtained using the method of gradients are presented for attitude- and throttle-control programs which extremize the fuel, range, and time performance indices subject to various trajectory and control constraints, including boundedness of engine throttle control. A penalty function treatment of state inequality constraints which generally appear in aircraft performance problems is outlined. Numerical results for maximum-range, minimum-fuel, and minimum-time climb paths for a hypothetical supersonic turbojet interceptor are presented and discussed. In addition, minimum-fuel climb paths subject to various levels of ground overpressure intensity constraint are indicated for a representative supersonic transport. A variant of the Gel'fand-Tsetlin 'method of ravines' is reviewed, and two possibilities for further development of continuous gradient processes are cited - namely, a projection version of conjugate gradients and a curvilinear search.

Analysis of Tropical Cyclone Tracks in the North Indian Ocean

NASA Astrophysics Data System (ADS)

Patwardhan, A.; Paliwal, M.; Mohapatra, M.

2011-12-01

Cyclones are regarded as one of the most dangerous meteorological phenomena of the tropical region. The probability of landfall of a tropical cyclone depends on its movement (trajectory). Analysis of trajectories of tropical cyclones could be useful for identifying potentially predictable characteristics. There is long history of analysis of tropical cyclones tracks. A common approach is using different clustering techniques to group the cyclone tracks on the basis of certain characteristics. Various clustering method have been used to study the tropical cyclones in different ocean basins like western North Pacific ocean (Elsner and Liu, 2003; Camargo et al., 2007), North Atlantic Ocean (Elsner, 2003; Gaffney et al. 2007; Nakamura et al., 2009). In this study, tropical cyclone tracks in the North Indian Ocean basin, for the period 1961-2010 have been analyzed and grouped into clusters based on their spatial characteristics. A tropical cyclone trajectory is approximated as an open curve and described by its first two moments. The resulting clusters have different centroid locations and also differently shaped variance ellipses. These track characteristics are then used in the standard clustering algorithms which allow the whole track shape, length, and location to be incorporated into the clustering methodology. The resulting clusters have different genesis locations and trajectory shapes. We have also examined characteristics such as life span, maximum sustained wind speed, landfall, seasonality, many of which are significantly different across the identified clusters. The clustering approach groups cyclones with higher maximum wind speed and longest life span in to one cluster. Another cluster includes short duration cyclonic events that are mostly deep depressions and significant for rainfall over Eastern and Central India. The clustering approach is likely to prove useful for analysis of events of significance with regard to impacts.

Learning a trajectory using adjoint functions and teacher forcing

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad B.; Barhen, Jacob

1992-01-01

A new methodology for faster supervised temporal learning in nonlinear neural networks is presented which builds upon the concept of adjoint operators to allow fast computation of the gradients of an error functional with respect to all parameters of the neural architecture, and exploits the concept of teacher forcing to incorporate information on the desired output into the activation dynamics. The importance of the initial or final time conditions for the adjoint equations is discussed. A new algorithm is presented in which the adjoint equations are solved simultaneously (i.e., forward in time) with the activation dynamics of the neural network. We also indicate how teacher forcing can be modulated in time as learning proceeds. The results obtained show that the learning time is reduced by one to two orders of magnitude with respect to previously published results, while trajectory tracking is significantly improved. The proposed methodology makes hardware implementation of temporal learning attractive for real-time applications.

A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

NASA Technical Reports Server (NTRS)

Hein, C.; Meystel, A.

1994-01-01

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.

Reentry trajectory optimization with waypoint and no-fly zone constraints using multiphase convex programming

NASA Astrophysics Data System (ADS)

Zhao, Dang-Jun; Song, Zheng-Yu

2017-08-01

This study proposes a multiphase convex programming approach for rapid reentry trajectory generation that satisfies path, waypoint and no-fly zone (NFZ) constraints on Common Aerial Vehicles (CAVs). Because the time when the vehicle reaches the waypoint is unknown, the trajectory of the vehicle is divided into several phases according to the prescribed waypoints, rendering a multiphase optimization problem with free final time. Due to the requirement of rapidity, the minimum flight time of each phase index is preferred over other indices in this research. The sequential linearization is used to approximate the nonlinear dynamics of the vehicle as well as the nonlinear concave path constraints on the heat rate, dynamic pressure, and normal load; meanwhile, the convexification techniques are proposed to relax the concave constraints on control variables. Next, the original multiphase optimization problem is reformulated as a standard second-order convex programming problem. Theoretical analysis is conducted to show that the original problem and the converted problem have the same solution. Numerical results are presented to demonstrate that the proposed approach is efficient and effective.

Variational nature, integration, and properties of Newton reaction path

NASA Astrophysics Data System (ADS)

Bofill, Josep Maria; Quapp, Wolfgang

2011-02-01

The distinguished coordinate path and the reduced gradient following path or its equivalent formulation, the Newton trajectory, are analyzed and unified using the theory of calculus of variations. It is shown that their minimum character is related to the fact that the curve is located in a valley region. In this case, we say that the Newton trajectory is a reaction path with the category of minimum energy path. In addition to these findings a Runge-Kutta-Fehlberg algorithm to integrate these curves is also proposed.

Variational nature, integration, and properties of Newton reaction path.

PubMed

Bofill, Josep Maria; Quapp, Wolfgang

2011-02-21

The distinguished coordinate path and the reduced gradient following path or its equivalent formulation, the Newton trajectory, are analyzed and unified using the theory of calculus of variations. It is shown that their minimum character is related to the fact that the curve is located in a valley region. In this case, we say that the Newton trajectory is a reaction path with the category of minimum energy path. In addition to these findings a Runge-Kutta-Fehlberg algorithm to integrate these curves is also proposed.

Spatiotemporal Interpolation Methods for Solar Event Trajectories

NASA Astrophysics Data System (ADS)

Filali Boubrahimi, Soukaina; Aydin, Berkay; Schuh, Michael A.; Kempton, Dustin; Angryk, Rafal A.; Ma, Ruizhe

2018-05-01

This paper introduces four spatiotemporal interpolation methods that enrich complex, evolving region trajectories that are reported from a variety of ground-based and space-based solar observatories every day. Our interpolation module takes an existing solar event trajectory as its input and generates an enriched trajectory with any number of additional time–geometry pairs created by the most appropriate method. To this end, we designed four different interpolation techniques: MBR-Interpolation (Minimum Bounding Rectangle Interpolation), CP-Interpolation (Complex Polygon Interpolation), FI-Interpolation (Filament Polygon Interpolation), and Areal-Interpolation, which are presented here in detail. These techniques leverage k-means clustering, centroid shape signature representation, dynamic time warping, linear interpolation, and shape buffering to generate the additional polygons of an enriched trajectory. Using ground-truth objects, interpolation effectiveness is evaluated through a variety of measures based on several important characteristics that include spatial distance, area overlap, and shape (boundary) similarity. To our knowledge, this is the first research effort of this kind that attempts to address the broad problem of spatiotemporal interpolation of solar event trajectories. We conclude with a brief outline of future research directions and opportunities for related work in this area.

Sleepless in Chicago: Tracking the Effects of Adolescent Sleep Loss During the Middle School Years

ERIC Educational Resources Information Center

Fredriksen, Katia; Rhodes, Jean; Reddy, Ranjini; Way, Niobe

2004-01-01

The influence of the sleep patterns of 2,259 students, aged 11 to 14 years, on trajectories of depressive symptoms, self-esteem, and grades was longitudinally examined using latent growth cross-domain models. Consistent with previous research, sleep decreased over time. Students who obtained less sleep in sixth grade exhibited lower initial…

Optimizing Aircraft Trajectories with Multiple Cruise Altitudes in the Presence of Winds

NASA Technical Reports Server (NTRS)

Ng, Hok K.; Sridhar, Banavar; Grabbe, Shon

2014-01-01

This study develops a trajectory optimization algorithm for approximately minimizing aircraft travel time and fuel burn by combining a method for computing minimum-time routes in winds on multiple horizontal planes, and an aircraft fuel burn model for generating fuel-optimal vertical profiles. It is applied to assess the potential benefits of flying user-preferred routes for commercial cargo flights operating between Anchorage, Alaska and major airports in Asia and the contiguous United States. Flying wind optimal trajectories with a fuel-optimal vertical profile reduces average fuel burn of international flights cruising at a single altitude by 1-3 percent. The potential fuel savings of performing en-route step climbs are not significant for many shorter domestic cargo flights that have only one step climb. Wind-optimal trajectories reduce fuel burn and travel time relative to the flight plan route by up to 3 percent for the domestic cargo flights. However, for trans-oceanic traffic, the fuel burn savings could be as much as 10 percent. The actual savings in operations will vary from the simulation results due to differences in the aircraft models and user defined cost indices. In general, the savings are proportional to trip length, and depend on the en-route wind conditions and aircraft types.

The trajectory of hope: pathways to find meaning and reconstructing the self after a spinal cord injury.

PubMed

Parashar, D

2015-07-01

This is a qualitative study. To evaluate and track the importance and the continuum of hope, and its trajectory, from the point of view of the individual with a spinal cord injury (SCI) and a rehabilitation psychologist. This study was conducted in the Indian Spinal Injuries Centre, New Delhi, India, and in patients' homes in the National Capital Region, India. Twenty individuals with an SCI were interviewed for the study at intervals of 2 weeks, 6 months, 1 year and 2 years since the time of the injury. Semi-structured interviews were conducted, in which the following theoretical research questions were investigated: 'What is the meaning, relevance and significance of hope in the individual's life following an SCI? Does the meaning and subject of hope change at different points in time?' Three distinctive themes markedly emerged in the trajectory of hope: (1) Hope for a complete recovery; (2) hope for self-reliance despite the injury; and (3) hope for an optimum quality of life. The make-up of each theme, its significance and contribution to recovery and/or rehabilitation, while tracking the influence of time since injury, family and friends, as well as other agencies and pathways, are discussed. After sustaining a life-altering injury, hope becomes the force that spurs individuals. Psychologists and rehabilitation counselors need to focus on instilling realistic hope, goal setting, sustaining motivation, enabling adaptive appraisals and problem-solving. Further recommendations include developing and testing interventions against the context of the continuum of hope.

The Detection of Transport Land-Use Data Using Crowdsourcing Taxi Trajectory

NASA Astrophysics Data System (ADS)

Ai, T.; Yang, W.

2016-06-01

This study tries to explore the question of transport land-use change detection by large volume of vehicle trajectory data, presenting a method based on Deluanay triangulation. The whole method includes three steps. The first one is to pre-process the vehicle trajectory data including the point anomaly removing and the conversion of trajectory point to track line. Secondly, construct Deluanay triangulation within the vehicle trajectory line to detect neighborhood relation. Considering the case that some of the trajectory segments are too long, we use a interpolation measure to add more points for the improved triangulation. Thirdly, extract the transport road by cutting short triangle edge and organizing the polygon topology. We have conducted the experiment of transport land-use change discovery using the data of taxi track in Beijing City. We extract not only the transport land-use area but also the semantic information such as the transformation speed, the traffic jam distribution, the main vehicle movement direction and others. Compared with the existed transport network data, such as OpenStreet Map, our method is proved to be quick and accurate.

Classification of nanoparticle diffusion processes in vital cells by a multifeature random forests approach: application to simulated data, darkfield, and confocal laser scanning microscopy

NASA Astrophysics Data System (ADS)

Wagner, Thorsten; Kroll, Alexandra; Wiemann, Martin; Lipinski, Hans-Gerd

2016-04-01

Darkfield and confocal laser scanning microscopy both allow for a simultaneous observation of live cells and single nanoparticles. Accordingly, a characterization of nanoparticle uptake and intracellular mobility appears possible within living cells. Single particle tracking makes it possible to characterize the particle and the surrounding cell. In case of free diffusion, the mean squared displacement for each trajectory of a nanoparticle can be measured which allows computing the corresponding diffusion coefficient and, if desired, converting it into the hydrodynamic diameter using the Stokes-Einstein equation and the viscosity of the fluid. However, within the more complex system of a cell's cytoplasm unrestrained diffusion is scarce and several other types of movements may occur. Thus, confined or anomalous diffusion (e.g. diffusion in porous media), active transport, and combinations thereof were described by several authors. To distinguish between these types of particle movement we developed an appropriate classification method, and simulated three types of particle motion in a 2D plane using a Monte Carlo approach: (1) normal diffusion, using random direction and step-length, (2) subdiffusion, using confinements like a reflective boundary with defined radius or reflective objects in the closer vicinity, and (3) superdiffusion, using a directed flow added to the normal diffusion. To simulate subdiffusion we devised a new method based on tracks of different length combined with equally probable obstacle interaction. Next we estimated the fractal dimension, elongation and the ratio of long-time / short-time diffusion coefficients. These features were used to train a random forests classification algorithm. The accuracy for simulated trajectories with 180 steps was 97% (95%-CI: 0.9481-0.9884). The balanced accuracy was 94%, 99% and 98% for normal-, sub- and superdiffusion, respectively. Nanoparticle tracking analysis was used with 100 nm polystyrene particles to get trajectories for normal diffusion. As a next step we identified diffusion types of nanoparticles in vital cells and incubated V79 fibroblasts with 50 nm gold nanoparticles, which appeared as intensely bright objects due to their surface plasmon resonance. The movement of particles in both the extracellular and intracellular space was observed by dark field and confocal laser scanning microscopy. After reducing background noise from the video it became possible to identify individual particle spots by a maximum detection algorithm and trace them using the robust single-particle tracking algorithm proposed by Jaqaman, which is able to handle motion heterogeneity and particle disappearance. The particle trajectories inside cells indicated active transport (superdiffusion) as well as subdiffusion. Eventually, the random forest classification algorithm, after being trained by the above simulations, successfully classified the trajectories observed in live cells.

Detection of Diffusion Heterogeneity in Single Particle Tracking Trajectories Using a Hidden Markov Model with Measurement Noise Propagation

PubMed Central

Slator, Paddy J.; Cairo, Christopher W.; Burroughs, Nigel J.

2015-01-01

We develop a Bayesian analysis framework to detect heterogeneity in the diffusive behaviour of single particle trajectories on cells, implementing model selection to classify trajectories as either consistent with Brownian motion or with a two-state (diffusion coefficient) switching model. The incorporation of localisation accuracy is essential, as otherwise false detection of switching within a trajectory was observed and diffusion coefficient estimates were inflated. Since our analysis is on a single trajectory basis, we are able to examine heterogeneity between trajectories in a quantitative manner. Applying our method to the lymphocyte function-associated antigen 1 (LFA-1) receptor tagged with latex beads (4 s trajectories at 1000 frames s−1), both intra- and inter-trajectory heterogeneity were detected; 12–26% of trajectories display clear switching between diffusive states dependent on condition, whilst the inter-trajectory variability is highly structured with the diffusion coefficients being related by D 1 = 0.68D 0 − 1.5 × 104 nm2 s−1, suggestive that on these time scales we are detecting switching due to a single process. Further, the inter-trajectory variability of the diffusion coefficient estimates (1.6 × 102 − 2.6 × 105 nm2 s−1) is very much larger than the measurement uncertainty within trajectories, suggesting that LFA-1 aggregation and cytoskeletal interactions are significantly affecting mobility, whilst the timescales of these processes are distinctly different giving rise to inter- and intra-trajectory variability. There is also an ‘immobile’ state (defined as D < 3.0 × 103 nm2 s−1) that is rarely involved in switching, immobility occurring with the highest frequency (47%) under T cell activation (phorbol-12-myristate-13-acetate (PMA) treatment) with enhanced cytoskeletal attachment (calpain inhibition). Such ‘immobile’ states frequently display slow linear drift, potentially reflecting binding to a dynamic actin cortex. Our methods allow significantly more information to be extracted from individual trajectories (ultimately limited by time resolution and time-series length), and allow statistical comparisons between trajectories thereby quantifying inter-trajectory heterogeneity. Such methods will be highly informative for the construction and fitting of molecule mobility models within membranes incorporating aggregation, binding to the cytoskeleton, or traversing membrane microdomains. PMID:26473352

3D Tracking of Diatom Motion in Turbulent Flow

NASA Astrophysics Data System (ADS)

Variano, E. A.; Brandt, L.; Sardina, G.; Ardekani, M.; Pujara, N.; Ayers, S.; Du Clos, K.; Karp-Boss, L.; Jumars, P. A.

2016-02-01

We present laboratory measurements of single-celled and chain forming diatom motion in a stirred turbulence tank. The overarching goal is to explore whether diatoms track flow with fidelity (passive tracers) or whether interactions with cell density and shape result in biased trajectories that alter settling velocities. Diatom trajectories are recorded in 3D using a stereoscopic, calibrated tracking tool. Turbulence is created in a novel stirred tank, designed to create motions that match those found in the ocean surface mixed layer at scales less than 10 cm. The data are analyzed for evidence of enhanced particle clustering, an indicator of turbulently altered settling rates

Titan Explorer Entry, Descent and Landing Trajectory Design

NASA Technical Reports Server (NTRS)

Fisher, Jody L.; Lindberg, Robert E.; Lockwood, Mary Kae

2006-01-01

The Titan Explorer mission concept includes an orbiter, entry probe and inflatable airship designed to take remote and in-situ measurements of Titan's atmosphere. A modified entry, descent and landing trajectory at Titan that incorporates mid-air airship inflation (under a parachute) and separation is developed and examined for Titan Explorer. The feasibility of mid-air inflation and deployment of an airship under a parachute is determined by implementing and validating an airship buoyancy and inflation model in the trajectory simulation program, Program to Optimize Simulated Trajectories II (POST2). A nominal POST2 trajectory simulation case study is generated which examines different descent scenarios by varying airship inflation duration, orientation, and separation. The buoyancy model incorporation into POST2 is new to the software and may be used in future trajectory simulations. Each case from the nominal POST2 trajectory case study simulates a successful separation between the parachute and airship systems with sufficient velocity change as to alter their paths to avoid collision throughout their descent. The airship and heatshield also separate acceptably with a minimum distance of separation from the parachute system of 1.5 km. This analysis shows the feasibility of airship inflation on a parachute for different orientations, airship separation at various inflation times, and preparation for level-flight at Titan.

Trajectory Optimization Using Adjoint Method and Chebyshev Polynomial Approximation for Minimizing Fuel Consumption During Climb

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Hornby, Gregory; Ishihara, Abe

2013-01-01

This paper describes two methods of trajectory optimization to obtain an optimal trajectory of minimum-fuel- to-climb for an aircraft. The first method is based on the adjoint method, and the second method is based on a direct trajectory optimization method using a Chebyshev polynomial approximation and cubic spine approximation. The approximate optimal trajectory will be compared with the adjoint-based optimal trajectory which is considered as the true optimal solution of the trajectory optimization problem. The adjoint-based optimization problem leads to a singular optimal control solution which results in a bang-singular-bang optimal control.

Adaptive Tracking Control for Robots With an Interneural Computing Scheme.

PubMed

Tsai, Feng-Sheng; Hsu, Sheng-Yi; Shih, Mau-Hsiang

2018-04-01

Adaptive tracking control of mobile robots requires the ability to follow a trajectory generated by a moving target. The conventional analysis of adaptive tracking uses energy minimization to study the convergence and robustness of the tracking error when the mobile robot follows a desired trajectory. However, in the case that the moving target generates trajectories with uncertainties, a common Lyapunov-like function for energy minimization may be extremely difficult to determine. Here, to solve the adaptive tracking problem with uncertainties, we wish to implement an interneural computing scheme in the design of a mobile robot for behavior-based navigation. The behavior-based navigation adopts an adaptive plan of behavior patterns learning from the uncertainties of the environment. The characteristic feature of the interneural computing scheme is the use of neural path pruning with rewards and punishment interacting with the environment. On this basis, the mobile robot can be exploited to change its coupling weights in paths of neural connections systematically, which can then inhibit or enhance the effect of flow elimination in the dynamics of the evolutionary neural network. Such dynamical flow translation ultimately leads to robust sensory-to-motor transformations adapting to the uncertainties of the environment. A simulation result shows that the mobile robot with the interneural computing scheme can perform fault-tolerant behavior of tracking by maintaining suitable behavior patterns at high frequency levels.

Tests of the Hardware and Software for the Reconstruction of Trajectories in the Experiment MINERvA (in Portuguese)

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

Palomino Gallo, Jose Luis; /Rio de Janeiro, CBPF

MINERvA experiment has a highly segmented and high precision neutrino detector able to record events with high statistic (over 13 millions in a four year run). MINERvA uses FERMILAB NuMI beamline. The detector will allow a detailed study of neutrino-nucleon interactions. Moreover, the detector has a target with different materials allowing, for the first time, the study of nuclear effects in neutrino interactions. We present here the work done with the MINERvA reconstruction group that has resulted in: (a) development of new codes to be added to the RecPack package so it can be adapted to the MINERvA detector structure;more » (b) finding optimum values for two of the MegaTracker reconstruction package variables: PEcut = 4 (minimum number of photo electrons for a signal to be accepted) and Chi2Cut = 200 (maximum value of {chi}{sup 2} for a track to be accepted); (c) testing of the multi anode photomultiplier tubes used at MINERvA in order to determine the correlation between different channels and for checking the device's dark counts.« less

The impact trajectory of asteroid 2008 TC3

NASA Astrophysics Data System (ADS)

Farnocchia, Davide; Jenniskens, Peter; Robertson, Darrel K.; Chesley, Steven R.; Dimare, Linda; Chodas, Paul W.

2017-09-01

The impact of asteroid 2008 TC3 was an unprecedented event-the first ever predicted impact of a near-Earth object. When it was first detected about 20 h before impact, 2008 TC3 was still farther away than the Moon. Once it was recognized as an impactor and announced as such, 2008 TC3 began to receive considerable attention from astronomical observers. Using the unprecedented dataset of nearly 900 astrometric observations and the latest observation debiasing and weighting techniques, we estimate the precise trajectory of 2008 TC3 and its impact ground track. At the entry point into the atmosphere, the 3-σ formal uncertainty in predicted position is an ellipse only 1.4 km × 0.15 km in size. The locations of the many meteorites recovered from the desert floor mark the asteroid's actual ground track and provide a unique opportunity to validate trajectory models. We find that the second-order zonal harmonics of the Earth gravity field moves the ground track by more than 1 km and the location along the ground track by more than 2 km, while non-zonal and higher order harmonics change the impact prediction by less than 20 m. The contribution of atmospheric drag to the trajectory of 2008 TC3 is similar to the numerical integration error level, a few meters, down to an altitude of 50 km. Integrating forward to lower altitudes and ignoring the break-up of 2008 TC3, atmospheric drag causes an along-track deviation that can be as large as a few kilometers at sea level.

Nerve Fiber Flux Analysis Using Wide-Field Swept-Source Optical Coherence Tomography.

PubMed

Tan, Ou; Liu, Liang; Liu, Li; Huang, David

2018-02-01

To devise a method to quantify nerve fibers over their arcuate courses over an extended peripapillary area using optical coherence tomography (OCT). Participants were imaged with 8 × 8-mm volumetric OCT scans centered at the optic disc. A new quantity, nerve fiber flux (NFF), represents the cross-sectional area transected perpendicular to the nerve fibers. The peripapillary area was divided into 64 tracks with equal flux. An iterative algorithm traced the trajectory of the tracks assuming that the relative distribution of the NFF was conserved with compensation for fiber connections to ganglion cells on the macular side. Average trajectory was averaged from normal eyes and use to calculate the NFF maps for glaucomatous eyes. The NFF maps were divided into eight sectors that correspond to visual field regions. There were 24 healthy and 10 glaucomatous eyes enrolled. The algorithm converged on similar patterns of NFL tracks for all healthy eyes. In glaucomatous eyes, NFF correlated with visual field sensitivity in the arcuate sectors (Spearman ρ = 0.53-0.62). Focal nerve fiber loss in glaucomatous eyes appeared as uniform tracks of NFF defects that followed the expected arcuate fiber trajectory. Using an algorithm based on the conservation of flux, we derived nerve fiber trajectories in the peripapillary area. The NFF map is useful for the visualization of focal defects and quantification of sector nerve fiber loss from wide-area volumetric OCT scans. NFF provides a cumulative measure of volumetric loss along nerve fiber tracks and could improve the detection of focal glaucoma damage.

Simultaneous acquisition of trajectory and fluorescence lifetime of moving single particles

NASA Astrophysics Data System (ADS)

Wu, Qianqian; Qi, Jing; Lin, Danying; Yan, Wei; Hu, Rui; Peng, Xiao; Qu, Junle

2017-02-01

Fluorescence lifetime imaging (FLIM) has been a powerful tool in life science because it can reveal the interactions of an excited fluorescent molecule and its environment. The combination with two-photon excitation (TPE) and timecorrelated single photon counting (TCSPC) provides it the ability of optical sectioning, high time resolution and detection efficiency. In previous work, we have introduced a two-dimensional acousto-optic deflector (AOD) into TCSPC-based FLIM to achieve fast and flexible FLIM. In this work, we combined the AOD-FLIM system with a single particle tracking (SPT) setup and algorithm and developed an SPT-FLIM system. Using the system, we acquired the trajectory and fluorescence lifetime of a moving particle simultaneously and reconstructed a life-time-marked pseudocolored trajectory, which might reflect dynamic interaction between the moving particle and its local environment along its motion trail. The results indicated the potential of the technique for studying the interaction between specific moving biological macromolecules and the ambient micro-environment in live cells.

49 CFR 384.229 - Skills test examiner auditing and monitoring.

Code of Federal Regulations, 2011 CFR

2011-10-01

... must be performed at least once every year; (c) Establish and maintain a database to track pass/fail... maintain a database of all third party testers and examiners, which at a minimum tracks the dates and... and maintain a database of all State CDL skills examiners, which at a minimum tracks the dates and...

49 CFR 384.229 - Skills test examiner auditing and monitoring.

Code of Federal Regulations, 2012 CFR

2012-10-01

... must be performed at least once every year; (c) Establish and maintain a database to track pass/fail... maintain a database of all third party testers and examiners, which at a minimum tracks the dates and... and maintain a database of all State CDL skills examiners, which at a minimum tracks the dates and...

Control Relevant Modeling and Design of Scramjet-Powered Hypersonic Vehicles

NASA Astrophysics Data System (ADS)

Dickeson, Jeffrey James

This report provides an overview of scramjet-powered hypersonic vehicle modeling and control challenges. Such vehicles are characterized by unstable non-minimum phase dynamics with significant coupling and low thrust margins. Recent trends in hypersonic vehicle research are summarized. To illustrate control relevant design issues and tradeoffs, a generic nonlinear 3DOF longitudinal dynamics model capturing aero-elastic-propulsive interactions for wedge-shaped vehicle is used. Limitations of the model are discussed and numerous modifications have been made to address control relevant needs. Two different baseline configurations are examined over a two-stage to orbit ascent trajectory. The report highlights how vehicle level-flight static (trim) and dynamic properties change over the trajectory. Thermal choking constraints are imposed on control system design as a direct consequence of having a finite FER margin. The implication of this state-dependent nonlinear FER margin constraint, the right half plane (RHP) zero, and lightly damped flexible modes, on control system bandwidth (BW) and FPA tracking has been discussed. A control methodology has been proposed that addresses the above dynamics while providing some robustness to modeling uncertainty. Vehicle closure (the ability to fly a trajectory segment subject to constraints) is provided through a proposed vehicle design methodology. The design method attempts to use open loop metrics whenever possible to design the vehicle. The design method is applied to a vehicle/control law closed loop nonlinear simulation for validation. The 3DOF longitudinal modeling results are validated against a newly released NASA 6DOF code.

7. VAL CAMERA CAR, DETAIL OF 'FLARE' OR TRAJECTORY CAMERA ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

7. VAL CAMERA CAR, DETAIL OF 'FLARE' OR TRAJECTORY CAMERA INSIDE CAMERA CAR. - Variable Angle Launcher Complex, Camera Car & Track, CA State Highway 39 at Morris Reservior, Azusa, Los Angeles County, CA

Impulsive time-free transfers between halo orbits

NASA Astrophysics Data System (ADS)

Hiday, L. A.; Howell, K. C.

1992-08-01

A methodology is developed to design optimal time-free impulsive transfers between three-dimensional halo orbits in the vicinity of the interior L1 libration point of the sun-earth/moon barycenter system. The transfer trajectories are optimal in the sense that the total characteristics velocity required to implement the transfer exhibits a local minimum. Criteria are established whereby the implementation of a coast in the initial orbit, a coast in the final orbit, or dual coasts accomplishes a reduction in fuel expenditure. The optimality of a reference two-impulse transfer can be determined by examining the slope at the endpoints of a plot of the magnitude of the primer vector on the reference trajectory. If the initial and final slopes of the primer magnitude are zero, the transfer trajectory is optimal; otherwise, the execution of coasts is warranted. The optimal time of flight on the time-free transfer, and consequently, the departure and arrival locations on the halo orbits are determined by the unconstrained minimization of a function of two variables using a multivariable search technique. Results indicate that the cost can be substantially diminished by the allowance for coasts in the initial and final libration-point orbits.

Impulsive Time-Free Transfers Between Halo Orbits

NASA Astrophysics Data System (ADS)

Hiday-Johnston, L. A.; Howell, K. C.

1996-12-01

A methodology is developed to design optimal time-free impulsive transfers between three-dimensional halo orbits in the vicinity of the interior L 1 libration point of the Sun-Earth/Moon barycenter system. The transfer trajectories are optimal in the sense that the total characteristic velocity required to implement the transfer exhibits a local minimum. Criteria are established whereby the implementation of a coast in the initial orbit, a coast in the final orbit, or dual coasts accomplishes a reduction in fuel expenditure. The optimality of a reference two-impulse transfer can be determined by examining the slope at the endpoints of a plot of the magnitude of the primer vector on the reference trajectory. If the initial and final slopes of the primer magnitude are zero, the transfer trajectory is optimal; otherwise, the execution of coasts is warranted. The optimal time of flight on the time-free transfer, and consequently, the departure and arrival locations on the halo orbits are determined by the unconstrained minimization of a function of two variables using a multivariable search technique. Results indicate that the cost can be substantially diminished by the allowance for coasts in the initial and final libration-point orbits.

Spectral-clustering approach to Lagrangian vortex detection.

PubMed

Hadjighasem, Alireza; Karrasch, Daniel; Teramoto, Hiroshi; Haller, George

2016-06-01

One of the ubiquitous features of real-life turbulent flows is the existence and persistence of coherent vortices. Here we show that such coherent vortices can be extracted as clusters of Lagrangian trajectories. We carry out the clustering on a weighted graph, with the weights measuring pairwise distances of fluid trajectories in the extended phase space of positions and time. We then extract coherent vortices from the graph using tools from spectral graph theory. Our method locates all coherent vortices in the flow simultaneously, thereby showing high potential for automated vortex tracking. We illustrate the performance of this technique by identifying coherent Lagrangian vortices in several two- and three-dimensional flows.

Linear quadratic Gaussian and feedforward controllers for the DSS-13 antenna

NASA Technical Reports Server (NTRS)

Gawronski, W. K.; Racho, C. S.; Mellstrom, J. A.

1994-01-01

The controller development and the tracking performance evaluation for the DSS-13 antenna are presented. A trajectory preprocessor, linear quadratic Gaussian (LQG) controller, feedforward controller, and their combination were designed, built, analyzed, and tested. The antenna exhibits nonlinear behavior when the input to the antenna and/or the derivative of this input exceeds the imposed limits; for slewing and acquisition commands, these limits are typically violated. A trajectory preprocessor was designed to ensure that the antenna behaves linearly, just to prevent nonlinear limit cycling. The estimator model for the LQG controller was identified from the data obtained from the field test. Based on an LQG balanced representation, a reduced-order LQG controller was obtained. The feedforward controller and the combination of the LQG and feedforward controller were also investigated. The performance of the controllers was evaluated with the tracking errors (due to following a trajectory) and the disturbance errors (due to the disturbances acting on the antenna). The LQG controller has good disturbance rejection properties and satisfactory tracking errors. The feedforward controller has small tracking errors but poor disturbance rejection properties. The combined LQG and feedforward controller exhibits small tracking errors as well as good disturbance rejection properties. However, the cost for this performance is the complexity of the controller.

Containment control of networked autonomous underwater vehicles: A predictor-based neural DSC design.

PubMed

Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu

2015-11-01

This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Tracking single Kv2.1 channels in live cells reveals anomalous subdiffusion and ergodicity breaking

NASA Astrophysics Data System (ADS)

Weigel, Aubrey; Simon, Blair; Tamkun, Michael; Krapf, Diego

2011-03-01

The dynamic organization of the plasma membrane is responsible for essential cellular processes, such as receptor trafficking and signaling. By studying the dynamics of transmembrane proteins a greater understanding of these processes as a whole can be achieved. It is broadly observed that the diffusion pattern of membrane protein displays anomalous subdiffusion. However, the mechanisms responsible for this behavior are not yet established. We explore the dynamics of the voltage gated potassium channel Kv2.1 by using single-particle tracking. We analyze Kv2.1 channel trajectories in terms of the time and ensemble distributions of square displacements. Our results reveal that all Kv2.1 channels experience anomalous subdiffusion and we observe that the Kv2.1 diffusion pattern is non-ergodic. We further investigated the role of the actin cytoskeleton in these channel dynamics by applying actin depolymerizing drugs. It is seen that with the breakdown of the actin cytoskeleton the Kv2.1 channel trajectories recover ergodicity.

Eye movements and manual interception of ballistic trajectories: effects of law of motion perturbations and occlusions.

PubMed

Delle Monache, Sergio; Lacquaniti, Francesco; Bosco, Gianfranco

2015-02-01

Manual interceptions are known to depend critically on integration of visual feedback information and experience-based predictions of the interceptive event. Within this framework, coupling between gaze and limb movements might also contribute to the interceptive outcome, since eye movements afford acquisition of high-resolution visual information. We investigated this issue by analyzing subjects' head-fixed oculomotor behavior during manual interceptions. Subjects moved a mouse cursor to intercept computer-generated ballistic trajectories either congruent with Earth's gravity or perturbed with weightlessness (0 g) or hypergravity (2 g) effects. In separate sessions, trajectories were either fully visible or occluded before interception to enforce visual prediction. Subjects' oculomotor behavior was classified in terms of amounts of time they gazed at different visual targets and of overall number of saccades. Then, by way of multivariate analyses, we assessed the following: (1) whether eye movement patterns depended on targets' laws of motion and occlusions; and (2) whether interceptive performance was related to the oculomotor behavior. First, we found that eye movement patterns depended significantly on targets' laws of motion and occlusion, suggesting predictive mechanisms. Second, subjects coupled differently oculomotor and interceptive behavior depending on whether targets were visible or occluded. With visible targets, subjects made smaller interceptive errors if they gazed longer at the mouse cursor. Instead, with occluded targets, they achieved better performance by increasing the target's tracking accuracy and by avoiding gaze shifts near interception, suggesting that precise ocular tracking provided better trajectory predictions for the interceptive response.

Tracking of multiple targets using online learning for reference model adaptation.

PubMed

Pernkopf, Franz

2008-12-01

Recently, much work has been done in multiple object tracking on the one hand and on reference model adaptation for a single-object tracker on the other side. In this paper, we do both tracking of multiple objects (faces of people) in a meeting scenario and online learning to incrementally update the models of the tracked objects to account for appearance changes during tracking. Additionally, we automatically initialize and terminate tracking of individual objects based on low-level features, i.e., face color, face size, and object movement. Many methods unlike our approach assume that the target region has been initialized by hand in the first frame. For tracking, a particle filter is incorporated to propagate sample distributions over time. We discuss the close relationship between our implemented tracker based on particle filters and genetic algorithms. Numerous experiments on meeting data demonstrate the capabilities of our tracking approach. Additionally, we provide an empirical verification of the reference model learning during tracking of indoor and outdoor scenes which supports a more robust tracking. Therefore, we report the average of the standard deviation of the trajectories over numerous tracking runs depending on the learning rate.

A minimum propellant solution to an orbit-to-orbit transfer using a low thrust propulsion system

NASA Technical Reports Server (NTRS)

Cobb, Shannon S.

1991-01-01

The Space Exploration Initiative is considering the use of low thrust (nuclear electric, solar electric) and intermediate thrust (nuclear thermal) propulsion systems for transfer to Mars and back. Due to the duration of such a mission, a low thrust minimum-fuel solution is of interest; a savings of fuel can be substantial if the propulsion system is allowed to be turned off and back on. This switching of the propulsion system helps distinguish the minimal-fuel problem from the well-known minimum-time problem. Optimal orbit transfers are also of interest to the development of a guidance system for orbital maneuvering vehicles which will be needed, for example, to deliver cargoes to the Space Station Freedom. The problem of optimizing trajectories for an orbit-to-orbit transfer with minimum-fuel expenditure using a low thrust propulsion system is addressed.

Tracking and data system support for the Pioneer project. Volume 4: Pioneer 10, from January 1974 - January 1975 and Pioneer 11, from 1 May 1973 through Jupiter encounter period January 1975

NASA Technical Reports Server (NTRS)

Miller, R. B.; Barton, W. R.; Cloonan, E. A.; Nash, J. C.

1975-01-01

The Tracking and Data Systems support of Pioneer 10 from January 1974 through January 1975 is described along with Pioneer 11 support from May 1973 through Jupiter encounter. Topics covered include: operations in the interplanetary environment from the time of completion of the second trajectory correction to the start of Jupiter encounter; the implementation, planning, and testing that led to Jupiter encounter; and the operations during the 60-day encounter period for Pioneer 11.

The optimisation of low-acceleration interstellar relativistic rocket trajectories using genetic algorithms

NASA Astrophysics Data System (ADS)

Fung, Kenneth K. H.; Lewis, Geraint F.; Wu, Xiaofeng

2017-04-01

A vast wealth of literature exists on the topic of rocket trajectory optimisation, particularly in the area of interplanetary trajectories due to its relevance today. Studies on optimising interstellar and intergalactic trajectories are usually performed in flat spacetime using an analytical approach, with very little focus on optimising interstellar trajectories in a general relativistic framework. This paper examines the use of low-acceleration rockets to reach galactic destinations in the least possible time, with a genetic algorithm being employed for the optimisation process. The fuel required for each journey was calculated for various types of propulsion systems to determine the viability of low-acceleration rockets to colonise the Milky Way. The results showed that to limit the amount of fuel carried on board, an antimatter propulsion system would likely be the minimum technological requirement to reach star systems tens of thousands of light years away. However, using a low-acceleration rocket would require several hundreds of thousands of years to reach these star systems, with minimal time dilation effects since maximum velocities only reached about 0.2 c . Such transit times are clearly impractical, and thus, any kind of colonisation using low acceleration rockets would be difficult. High accelerations, on the order of 1 g, are likely required to complete interstellar journeys within a reasonable time frame, though they may require prohibitively large amounts of fuel. So for now, it appears that humanity's ultimate goal of a galactic empire may only be possible at significantly higher accelerations, though the propulsion technology requirement for a journey that uses realistic amounts of fuel remains to be determined.

Development of a Stereo Vision Measurement System for a 3D Three-Axial Pneumatic Parallel Mechanism Robot Arm

PubMed Central

Chiang, Mao-Hsiung; Lin, Hao-Ting; Hou, Chien-Lun

2011-01-01

In this paper, a stereo vision 3D position measurement system for a three-axial pneumatic parallel mechanism robot arm is presented. The stereo vision 3D position measurement system aims to measure the 3D trajectories of the end-effector of the robot arm. To track the end-effector of the robot arm, the circle detection algorithm is used to detect the desired target and the SAD algorithm is used to track the moving target and to search the corresponding target location along the conjugate epipolar line in the stereo pair. After camera calibration, both intrinsic and extrinsic parameters of the stereo rig can be obtained, so images can be rectified according to the camera parameters. Thus, through the epipolar rectification, the stereo matching process is reduced to a horizontal search along the conjugate epipolar line. Finally, 3D trajectories of the end-effector are computed by stereo triangulation. The experimental results show that the stereo vision 3D position measurement system proposed in this paper can successfully track and measure the fifth-order polynomial trajectory and sinusoidal trajectory of the end-effector of the three- axial pneumatic parallel mechanism robot arm. PMID:22319408

Investigation of safety analysis methods using computer vision techniques

NASA Astrophysics Data System (ADS)

Shirazi, Mohammad Shokrolah; Morris, Brendan Tran

2017-09-01

This work investigates safety analysis methods using computer vision techniques. The vision-based tracking system is developed to provide the trajectory of road users including vehicles and pedestrians. Safety analysis methods are developed to estimate time to collision (TTC) and postencroachment time (PET) that are two important safety measurements. Corresponding algorithms are presented and their advantages and drawbacks are shown through their success in capturing the conflict events in real time. The performance of the tracking system is evaluated first, and probability density estimation of TTC and PET are shown for 1-h monitoring of a Las Vegas intersection. Finally, an idea of an intersection safety map is introduced, and TTC values of two different intersections are estimated for 1 day from 8:00 a.m. to 6:00 p.m.

PTM Along Track Algorithm to Maintain Spacing During Same Direction Pair-Wise Trajectory Management Operations

NASA Technical Reports Server (NTRS)

Carreno, Victor A.

2015-01-01

Pair-wise Trajectory Management (PTM) is a cockpit based delegated responsibility separation standard. When an air traffic service provider gives a PTM clearance to an aircraft and the flight crew accepts the clearance, the flight crew will maintain spacing and separation from a designated aircraft. A PTM along track algorithm will receive state information from the designated aircraft and from the own ship to produce speed guidance for the flight crew to maintain spacing and separation

Muon reconstruction in the Daya Bay water pools

DOE PAGES

Hackenburg, R. W.

2017-08-12

Muon reconstruction in the Daya Bay water pools would serve to verify the simulated muon fluxes and offer the possibility of studying cosmic muons in general. This reconstruction is, however, complicated by many optical obstacles and the small coverage of photomultiplier tubes (PMTs) as compared to other large water Cherenkov detectors. The PMTs’ timing information is useful only in the case of direct, unreflected Cherenkov light. This requires PMTs to be added and removed as an hypothesized muon trajectory is iteratively improved, to account for the changing effects of obstacles and direction of light. Therefore, muon reconstruction in the Dayamore » Bay water pools does not lend itself to a general fitting procedure employing smoothly varying functions with continuous derivatives. Here, we describe an algorithm which overcomes these complications. It employs the method of Least Mean Squares to determine an hypothesized trajectory from the PMTs’ charge-weighted positions. This initially hypothesized trajectory is then iteratively refined using the PMTs’ timing information. Reconstructions with simulated data reproduce the simulated trajectory to within about 5° in direction and about 45 cm in position at the pool surface, with a bias that tends to pull tracks away from the vertical by about 3°.« less

Muon reconstruction in the Daya Bay water pools

NASA Astrophysics Data System (ADS)

Hackenburg, R. W.

2017-11-01

Muon reconstruction in the Daya Bay water pools would serve to verify the simulated muon fluxes and offer the possibility of studying cosmic muons in general. This reconstruction is, however, complicated by many optical obstacles and the small coverage of photomultiplier tubes (PMTs) as compared to other large water Cherenkov detectors. The PMTs' timing information is useful only in the case of direct, unreflected Cherenkov light. This requires PMTs to be added and removed as an hypothesized muon trajectory is iteratively improved, to account for the changing effects of obstacles and direction of light. Therefore, muon reconstruction in the Daya Bay water pools does not lend itself to a general fitting procedure employing smoothly varying functions with continuous derivatives. Here, an algorithm is described which overcomes these complications. It employs the method of Least Mean Squares to determine an hypothesized trajectory from the PMTs' charge-weighted positions. This initially hypothesized trajectory is then iteratively refined using the PMTs' timing information. Reconstructions with simulated data reproduce the simulated trajectory to within about 5°in direction and about 45 cm in position at the pool surface, with a bias that tends to pull tracks away from the vertical by about 3°.

Multi-objective four-dimensional vehicle motion planning in large dynamic environments.

PubMed

Wu, Paul P-Y; Campbell, Duncan; Merz, Torsten

2011-06-01

This paper presents Multi-Step A∗ (MSA∗), a search algorithm based on A∗ for multi-objective 4-D vehicle motion planning (three spatial and one time dimensions). The research is principally motivated by the need for offline and online motion planning for autonomous unmanned aerial vehicles (UAVs). For UAVs operating in large dynamic uncertain 4-D environments, the motion plan consists of a sequence of connected linear tracks (or trajectory segments). The track angle and velocity are important parameters that are often restricted by assumptions and a grid geometry in conventional motion planners. Many existing planners also fail to incorporate multiple decision criteria and constraints such as wind, fuel, dynamic obstacles, and the rules of the air. It is shown that MSA∗ finds a cost optimal solution using variable length, angle, and velocity trajectory segments. These segments are approximated with a grid-based cell sequence that provides an inherent tolerance to uncertainty. The computational efficiency is achieved by using variable successor operators to create a multiresolution memory-efficient lattice sampling structure. The simulation studies on the UAV flight planning problem show that MSA∗ meets the time constraints of online replanning and finds paths of equivalent cost but in a quarter of the time (on average) of a vector neighborhood-based A∗.

A Pilot Study of Horizontal Head and Eye Rotations in Baseball Batting.

PubMed

Fogt, Nick; Persson, Tyler W

2017-08-01

The purpose of the study was to measure and compare horizontal head and eye tracking movements as baseball batters "took" pitches and swung at baseball pitches. Two former college baseball players were tested in two conditions. A pitching machine was used to project tennis balls toward the subjects. In the first condition, subjects acted as if they were taking (i.e., not swinging) the pitches. In the second condition, subjects attempted to bat the pitched balls. Head movements were measured with an inertial sensor; eye movements were measured with a video eye tracker. For each condition, the relationship between the horizontal head and eye rotations was similar for the two subjects, as were the overall head-, eye-, and gaze-tracking strategies. In the "take" condition, head movements in the direction of the ball were larger than eye movements for much of the pitch trajectory. Large eye movements occurred only late in the pitch trajectory. Gaze was directed near the ball until approximately 150 milliseconds before the ball arrived at the batter, at which time gaze was directed ahead of the ball to a location near that occupied when the ball crosses the plate. In the "swing" condition, head movements in the direction of the ball were larger than eye movements throughout the pitch trajectory. Gaze was directed near the ball until approximately 50 to 60 milliseconds prior to pitch arrival at the batter. Horizontal head rotations were larger than horizontal eye rotations in both the "take" and "swing" conditions. Gaze was directed ahead of the ball late in the pitch trajectory in the "take" condition, whereas gaze was directed near the ball throughout much of the pitch trajectory in the "swing" condition.

8. VAL CAMERA CAR, CLOSEUP VIEW OF 'FLARE' OR TRAJECTORY ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

8. VAL CAMERA CAR, CLOSE-UP VIEW OF 'FLARE' OR TRAJECTORY CAMERA ON SLIDING MOUNT. - Variable Angle Launcher Complex, Camera Car & Track, CA State Highway 39 at Morris Reservior, Azusa, Los Angeles County, CA

Analysis of Video-Based Microscopic Particle Trajectories Using Kalman Filtering

PubMed Central

Wu, Pei-Hsun; Agarwal, Ashutosh; Hess, Henry; Khargonekar, Pramod P.; Tseng, Yiider

2010-01-01

Abstract The fidelity of the trajectories obtained from video-based particle tracking determines the success of a variety of biophysical techniques, including in situ single cell particle tracking and in vitro motility assays. However, the image acquisition process is complicated by system noise, which causes positioning error in the trajectories derived from image analysis. Here, we explore the possibility of reducing the positioning error by the application of a Kalman filter, a powerful algorithm to estimate the state of a linear dynamic system from noisy measurements. We show that the optimal Kalman filter parameters can be determined in an appropriate experimental setting, and that the Kalman filter can markedly reduce the positioning error while retaining the intrinsic fluctuations of the dynamic process. We believe the Kalman filter can potentially serve as a powerful tool to infer a trajectory of ultra-high fidelity from noisy images, revealing the details of dynamic cellular processes. PMID:20550894

Possible influences on bullet trajectory deflection in ballistic gelatine.

PubMed

Riva, Fabiano; Kerkhoff, Wim; Bolck, Annabel; Mattijssen, Erwin J A T

2017-02-01

The influence of the distance to the top and bottom of a gelatine block and to bullet tracks from previously fired shots on a bullet's trajectory, when passing through ballistic gelatine, was studied. No significant difference in deflection was found when trajectories of 9mm Luger bullets, fired at a 3.5cm distance to the top and bottom of a gelatine block and to bullet tracks from previously fired shots, were compared to trajectories of bullets fired 7cm or more away from any of the aforementioned aspects. A surprisingly consistent 6.5° absolute deflection angle was found when these bullets passed through 22.5 to 23.5cm of ballistic gelatine. The projection angle, determined by the direction of the deflection, appeared to be random. The consistent absolute angle, in combination with the random projection angle, resulted in a cone-like deflection pattern. Copyright © 2017 Elsevier Ireland Ltd. All rights reserved.

Lower Limb Rehabilitation Using Patient Data

PubMed Central

Saadat, Mozafar

2016-01-01

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm. PMID:27721648

[Research Award providing funds for a tracking video camera

NASA Technical Reports Server (NTRS)

Collett, Thomas

2000-01-01

The award provided funds for a tracking video camera. The camera has been installed and the system calibrated. It has enabled us to follow in real time the tracks of individual wood ants (Formica rufa) within a 3m square arena as they navigate singly in-doors guided by visual cues. To date we have been using the system on two projects. The first is an analysis of the navigational strategies that ants use when guided by an extended landmark (a low wall) to a feeding site. After a brief training period, ants are able to keep a defined distance and angle from the wall, using their memory of the wall's height on the retina as a controlling parameter. By training with walls of one height and length and testing with walls of different heights and lengths, we can show that ants adjust their distance from the wall so as to keep the wall at the height that they learned during training. Thus, their distance from the base of a tall wall is further than it is from the training wall, and the distance is shorter when the wall is low. The stopping point of the trajectory is defined precisely by the angle that the far end of the wall makes with the trajectory. Thus, ants walk further if the wall is extended in length and not so far if the wall is shortened. These experiments represent the first case in which the controlling parameters of an extended trajectory can be defined with some certainty. It raises many questions for future research that we are now pursuing.

Development and clinical evaluation of a simple optical method to detect and measure patient external motion.

PubMed

Barbés, Benigno; Azcona, Juan Diego; Prieto, Elena; de Foronda, José Manuel; García, Marina; Burguete, Javier

2015-09-08

A simple and independent system to detect and measure the position of a number of points in space was devised and implemented. Its application aimed to detect patient motion during radiotherapy treatments, alert of out-of-tolerances motion, and record the trajectories for subsequent studies. The system obtains the 3D position of points in space, through its projections in 2D images recorded by two cameras. It tracks black dots on a white sticker placed on the surface of the moving object. The system was tested with linear displacements of a phantom, circular trajectories of a rotating disk, oscillations of an in-house phantom, and oscillations of a 4D phantom. It was also used to track 461 trajectories of points on the surface of patients during their radiotherapy treatments. Trajectories of several points were reproduced with accuracy better than 0.3 mm in the three spatial directions. The system was able to follow periodic motion with amplitudes lower than 0.5 mm, to follow trajectories of rotating points at speeds up to 11.5 cm/s, and to track accurately the motion of a respiratory phantom. The technique has been used to track the motion of patients during radiotherapy and to analyze that motion. The method is flexible. Its installation and calibration are simple and quick. It is easy to use and can be implemented at a very affordable price. Data collection does not involve any discomfort to the patient and does not delay the treatment, so the system can be used routinely in all treatments. It has an accuracy similar to that of other, more sophisticated, commercially available systems. It is suitable to implement a gating system or any other application requiring motion detection, such as 4D CT, MRI or PET.

Real-Time Correction By Optical Tracking with Integrated Geometric Distortion Correction for Reducing Motion Artifacts in fMRI

NASA Astrophysics Data System (ADS)

Rotenberg, David J.

Artifacts caused by head motion are a substantial source of error in fMRI that limits its use in neuroscience research and clinical settings. Real-time scan-plane correction by optical tracking has been shown to correct slice misalignment and non-linear spin-history artifacts, however residual artifacts due to dynamic magnetic field non-uniformity may remain in the data. A recently developed correction technique, PLACE, can correct for absolute geometric distortion using the complex image data from two EPI images, with slightly shifted k-space trajectories. We present a correction approach that integrates PLACE into a real-time scan-plane update system by optical tracking, applied to a tissue-equivalent phantom undergoing complex motion and an fMRI finger tapping experiment with overt head motion to induce dynamic field non-uniformity. Experiments suggest that including volume by volume geometric distortion correction by PLACE can suppress dynamic geometric distortion artifacts in a phantom and in vivo and provide more robust activation maps.

Normal and tumoral melanocytes exhibit q-Gaussian random search patterns.

PubMed

da Silva, Priscila C A; Rosembach, Tiago V; Santos, Anésia A; Rocha, Márcio S; Martins, Marcelo L

2014-01-01

In multicellular organisms, cell motility is central in all morphogenetic processes, tissue maintenance, wound healing and immune surveillance. Hence, failures in its regulation potentiates numerous diseases. Here, cell migration assays on plastic 2D surfaces were performed using normal (Melan A) and tumoral (B16F10) murine melanocytes in random motility conditions. The trajectories of the centroids of the cell perimeters were tracked through time-lapse microscopy. The statistics of these trajectories was analyzed by building velocity and turn angle distributions, as well as velocity autocorrelations and the scaling of mean-squared displacements. We find that these cells exhibit a crossover from a normal to a super-diffusive motion without angular persistence at long time scales. Moreover, these melanocytes move with non-Gaussian velocity distributions. This major finding indicates that amongst those animal cells supposedly migrating through Lévy walks, some of them can instead perform q-Gaussian walks. Furthermore, our results reveal that B16F10 cells infected by mycoplasmas exhibit essentially the same diffusivity than their healthy counterparts. Finally, a q-Gaussian random walk model was proposed to account for these melanocytic migratory traits. Simulations based on this model correctly describe the crossover to super-diffusivity in the cell migration tracks.

Validation of percutaneous puncture trajectory during renal access using 4D ultrasound reconstruction

NASA Astrophysics Data System (ADS)

Rodrigues, Pedro L.; Rodrigues, Nuno F.; Fonseca, Jaime C.; Vilaça, João. L.

2015-03-01

An accurate percutaneous puncture is essential for disintegration and removal of renal stones. Although this procedure has proven to be safe, some organs surrounding the renal target might be accidentally perforated. This work describes a new intraoperative framework where tracked surgical tools are superimposed within 4D ultrasound imaging for security assessment of the percutaneous puncture trajectory (PPT). A PPT is first generated from the skin puncture site towards an anatomical target, using the information retrieved by electromagnetic motion tracking sensors coupled to surgical tools. Then, 2D ultrasound images acquired with a tracked probe are used to reconstruct a 4D ultrasound around the PPT under GPU processing. Volume hole-filling was performed in different processing time intervals by a tri-linear interpolation method. At spaced time intervals, the volume of the anatomical structures was segmented to ascertain if any vital structure is in between PPT and might compromise the surgical success. To enhance the volume visualization of the reconstructed structures, different render transfer functions were used. Results: Real-time US volume reconstruction and rendering with more than 25 frames/s was only possible when rendering only three orthogonal slice views. When using the whole reconstructed volume one achieved 8-15 frames/s. 3 frames/s were reached when one introduce the segmentation and detection if some structure intersected the PPT. The proposed framework creates a virtual and intuitive platform that can be used to identify and validate a PPT to safely and accurately perform the puncture in percutaneous nephrolithotomy.

Tracking control of time-varying knee exoskeleton disturbed by interaction torque.

PubMed

Li, Zhan; Ma, Wenhao; Yin, Ziguang; Guo, Hongliang

2017-11-01

Knee exoskeletons have been increasingly applied as assistive devices to help lower-extremity impaired people to make their knee joints move through providing external movement compensation. Tracking control of knee exoskeletons guided by human intentions often encounters time-varying (time-dependent) issues and the disturbance interaction torque, which may dramatically put an influence up on their dynamic behaviors. Inertial and viscous parameters of knee exoskeletons can be estimated to be time-varying due to unexpected mechanical vibrations and contact interactions. Moreover, the interaction torque produced from knee joint of wearers has an evident disturbance effect on regular motions of knee exoskeleton. All of these points can increase difficultly of accurate control of knee exoskeletons to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-varying inertial and viscous coefficients disturbed by interaction torque. Such designed controller is able to make the tracking error of joint angle of knee exoskeletons exponentially converge to zero. Meanwhile, the proposed approach is robust to guarantee the tracking error bounded when the interaction torque exists. Illustrative simulation and experiment results are presented to show efficiency of the proposed controller. Additionally, comparisons with gradient dynamic (GD) approach and other methods are also presented to demonstrate efficiency and superiority of the proposed control strategy for tracking joint angle of knee exoskeleton. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Phenology of Succession: Tracking the Recovery of Dryland Forests after Wildfire Events

NASA Astrophysics Data System (ADS)

Walker, J.; Brown, J. F.; Sankey, J. B.; Wallace, C.; Weltzin, J. F.

2016-12-01

The frequency, size, and intensity of forest wildfires in the U.S. Southwest have increased over the past 30 years. In the coming decades, burn effects and altered climatic conditions may increasingly divert vegetation recovery trajectories from pre-disturbance forested ecosystems toward grassland or shrub woodlands. Dryland herbaceous and woody vegetation species exhibit different phenological responses to precipitation, resulting in temporal and spatial shifts in landscape phenology patterns as the proportions of plant functional groups change over time. We have developed time series of Normalized Difference Vegetation Index (NDVI) and Soil-Adjusted Vegetation Index (SAVI) greenness measures derived from satellite imagery from 1984 - 2015 to record the phenological signatures that characterize recovery trajectories towards predominantly grassland, shrubland, or forest land cover types. We leveraged the data and computational resources available through the Google Earth Engine cloud-based platform to analyze time series of Landsat Thematic Mapper and Enhanced Thematic Mapper Plus imagery collected over maturing (40 years or more post-fire) dryland forests in Arizona and New Mexico, USA. These time series provided the basis for long-term comparisons of phenology behavior in different successional trajectories and enabled the assessment of climatic influence on the eventual outcomes.

An inverse dynamics approach to trajectory optimization for an aerospace plane

NASA Technical Reports Server (NTRS)

Lu, Ping

1992-01-01

An inverse dynamics approach for trajectory optimization is proposed. This technique can be useful in many difficult trajectory optimization and control problems. The application of the approach is exemplified by ascent trajectory optimization for an aerospace plane. Both minimum-fuel and minimax types of performance indices are considered. When rocket augmentation is available for ascent, it is shown that accurate orbital insertion can be achieved through the inverse control of the rocket in the presence of disturbances.

Optimal Trajectories For Orbital Transfers Using Low And Medium Thrust Propulsion Systems

NASA Technical Reports Server (NTRS)

Cobb, Shannon S.

1992-01-01

For many problems it is reasonable to expect that the minimum time solution is also the minimum fuel solution. However, if one allows the propulsion system to be turned off and back on, it is clear that these two solutions may differ. In general, high thrust transfers resemble the well-known impulsive transfers where the burn arcs are of very short duration. The low and medium thrust transfers differ in that their thrust acceleration levels yield longer burn arcs which will require more revolutions, thus making the low thrust transfer computational intensive. Here, we consider optimal low and medium thrust orbital transfers.

Regularity results for the minimum time function with Hörmander vector fields

NASA Astrophysics Data System (ADS)

Albano, Paolo; Cannarsa, Piermarco; Scarinci, Teresa

2018-03-01

In a bounded domain of Rn with boundary given by a smooth (n - 1)-dimensional manifold, we consider the homogeneous Dirichlet problem for the eikonal equation associated with a family of smooth vector fields {X1 , … ,XN } subject to Hörmander's bracket generating condition. We investigate the regularity of the viscosity solution T of such problem. Due to the presence of characteristic boundary points, singular trajectories may occur. First, we characterize these trajectories as the closed set of all points at which the solution loses point-wise Lipschitz continuity. Then, we prove that the local Lipschitz continuity of T, the local semiconcavity of T, and the absence of singular trajectories are equivalent properties. Finally, we show that the last condition is satisfied whenever the characteristic set of {X1 , … ,XN } is a symplectic manifold. We apply our results to several examples.

Optimal reorientation of asymmetric underactuated spacecraft using differential flatness and receding horizon control

NASA Astrophysics Data System (ADS)

Cai, Wei-wei; Yang, Le-ping; Zhu, Yan-wei

2015-01-01

This paper presents a novel method integrating nominal trajectory optimization and tracking for the reorientation control of an underactuated spacecraft with only two available control torque inputs. By employing a pseudo input along the uncontrolled axis, the flatness property of a general underactuated spacecraft is extended explicitly, by which the reorientation trajectory optimization problem is formulated into the flat output space with all the differential constraints eliminated. Ultimately, the flat output optimization problem is transformed into a nonlinear programming problem via the Chebyshev pseudospectral method, which is improved by the conformal map and barycentric rational interpolation techniques to overcome the side effects of the differential matrix's ill-conditions on numerical accuracy. Treating the trajectory tracking control as a state regulation problem, we develop a robust closed-loop tracking control law using the receding-horizon control method, and compute the feedback control at each control cycle rapidly via the differential transformation method. Numerical simulation results show that the proposed control scheme is feasible and effective for the reorientation maneuver.

Minimum deltaV Burn Planning for the International Space Station Using a Hybrid Optimization Technique, Level 1

NASA Technical Reports Server (NTRS)

Brown, Aaron J.

2015-01-01

The International Space Station's (ISS) trajectory is coordinated and executed by the Trajectory Operations and Planning (TOPO) group at NASA's Johnson Space Center. TOPO group personnel routinely generate look-ahead trajectories for the ISS that incorporate translation burns needed to maintain its orbit over the next three to twelve months. The burns are modeled as in-plane, horizontal burns, and must meet operational trajectory constraints imposed by both NASA and the Russian Space Agency. In generating these trajectories, TOPO personnel must determine the number of burns to model, each burn's Time of Ignition (TIG), and magnitude (i.e. deltaV) that meet these constraints. The current process for targeting these burns is manually intensive, and does not take advantage of more modern techniques that can reduce the workload needed to find feasible burn solutions, i.e. solutions that simply meet the constraints, or provide optimal burn solutions that minimize the total DeltaV while simultaneously meeting the constraints. A two-level, hybrid optimization technique is proposed to find both feasible and globally optimal burn solutions for ISS trajectory planning. For optimal solutions, the technique breaks the optimization problem into two distinct sub-problems, one for choosing the optimal number of burns and each burn's optimal TIG, and the other for computing the minimum total deltaV burn solution that satisfies the trajectory constraints. Each of the two aforementioned levels uses a different optimization algorithm to solve one of the sub-problems, giving rise to a hybrid technique. Level 2, or the outer level, uses a genetic algorithm to select the number of burns and each burn's TIG. Level 1, or the inner level, uses the burn TIGs from Level 2 in a sequential quadratic programming (SQP) algorithm to compute a minimum total deltaV burn solution subject to the trajectory constraints. The total deltaV from Level 1 is then used as a fitness function by the genetic algorithm in Level 2 to select the number of burns and their TIGs for the next generation. In this manner, the two levels solve their respective sub-problems separately but collaboratively until a burn solution is found that globally minimizes the deltaV across the entire trajectory. Feasible solutions can also be found by simply using the SQP algorithm in Level 1 with a zero cost function. This paper discusses the formulation of the Level 1 sub-problem and the development of a prototype software tool to solve it. The Level 2 sub-problem will be discussed in a future work. Following the Level 1 formulation and solution, several look-ahead trajectory examples for the ISS are explored. In each case, the burn targeting results using the current process are compared against a feasible solution found using Level 1 in the proposed technique. Level 1 is then used to find a minimum deltaV solution given the fixed number of burns and burn TIGs. The optimal solution is compared with the previously found feasible solution to determine the deltaV (and therefore propellant) savings. The proposed technique seeks to both improve the current process for targeting ISS burns, and to add the capability to optimize ISS burns in a novel fashion. The optimal solutions found using this technique can potentially save hundreds of kilograms of propellant over the course of the ISS mission compared to feasible solutions alone. While the software tool being developed to implement this technique is specific to ISS, the concept is extensible to other long-duration, central-body orbiting missions that must perform orbit maintenance burns to meet operational trajectory constraints.

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

Yan, H; Chen, Z; Nath, R

Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertaintymore » through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the tumor is within the margin or initialize motion compensation if it is out of the margin.« less

Classification and Segmentation of Nanoparticle Diffusion Trajectories in Cellular Micro Environments

PubMed Central

Kroll, Alexandra; Haramagatti, Chandrashekara R.; Lipinski, Hans-Gerd; Wiemann, Martin

2017-01-01

Darkfield and confocal laser scanning microscopy both allow for a simultaneous observation of live cells and single nanoparticles. Accordingly, a characterization of nanoparticle uptake and intracellular mobility appears possible within living cells. Single particle tracking allows to measure the size of a diffusing particle close to a cell. However, within the more complex system of a cell’s cytoplasm normal, confined or anomalous diffusion together with directed motion may occur. In this work we present a method to automatically classify and segment single trajectories into their respective motion types. Single trajectories were found to contain more than one motion type. We have trained a random forest with 9 different features. The average error over all motion types for synthetic trajectories was 7.2%. The software was successfully applied to trajectories of positive controls for normal- and constrained diffusion. Trajectories captured by nanoparticle tracking analysis served as positive control for normal diffusion. Nanoparticles inserted into a diblock copolymer membrane was used to generate constrained diffusion. Finally we segmented trajectories of diffusing (nano-)particles in V79 cells captured with both darkfield- and confocal laser scanning microscopy. The software called “TraJClassifier” is freely available as ImageJ/Fiji plugin via https://git.io/v6uz2. PMID:28107406

A manned maneuvering unit proximity operations planning and flight guidance display and control system

NASA Technical Reports Server (NTRS)

Gershzohn, Gary R.; Sirko, Robert J.; Zimmerman, K.; Jones, A. D.

1990-01-01

This task concerns the design, development, testing, and evaluation of a new proximity operations planning and flight guidance display and control system for manned space operations. A forecast, derivative manned maneuvering unit (MMU) was identified as a candidate for the application of a color, highway-in-the-sky display format for the presentation of flight guidance information. A silicon graphics 4D/20-based simulation is being developed to design and test display formats and operations concepts. The simulation includes the following: (1) real-time color graphics generation to provide realistic, dynamic flight guidance displays and control characteristics; (2) real-time graphics generation of spacecraft trajectories; (3) MMU flight dynamics and control characteristics; (4) control algorithms for rotational and translational hand controllers; (5) orbital mechanics effects for rendezvous and chase spacecraft; (6) inclusion of appropriate navigation aids; and (7) measurement of subject performance. The flight planning system under development provides for: (1) selection of appropriate operational modes, including minimum cost, optimum cost, minimum time, and specified ETA; (2) automatic calculation of rendezvous trajectories, en route times, and fuel requirements; (3) and provisions for manual override. Man/machine function allocations in planning and en route flight segments are being evaluated. Planning and en route data are presented on one screen composed of two windows: (1) a map display presenting a view perpendicular to the orbital plane, depicting flight planning trajectory and time data attitude display presenting attitude and course data for use en route; and (2) an attitude display presenting local vertical-local horizontal attitude data superimposed on a highway-in-the-sky or flight channel representation of the flight planned course. Both display formats are presented while the MMU is en route. In addition to these displays, several original display elements are being developed, including a 3DOF flight detector for attitude commanding, a different flight detector for translation commands, and a pictorial representation of velocity deviations.

Analytical Approach to the Fuel Optimal Impulsive Transfer Problem Using Primer Vector Method

NASA Astrophysics Data System (ADS)

Fitrianingsih, E.; Armellin, R.

2018-04-01

One of the objectives of mission design is selecting an optimum orbital transfer which often translated as a transfer which requires minimum propellant consumption. In order to assure the selected trajectory meets the requirement, the optimality of transfer should first be analyzed either by directly calculating the ΔV of the candidate trajectories and select the one that gives a minimum value or by evaluating the trajectory according to certain criteria of optimality. The second method is performed by analyzing the profile of the modulus of the thrust direction vector which is known as primer vector. Both methods come with their own advantages and disadvantages. However, it is possible to use the primer vector method to verify if the result from the direct method is truly optimal or if the ΔV can be reduced further by implementing correction maneuver to the reference trajectory. In addition to its capability to evaluate the transfer optimality without the need to calculate the transfer ΔV, primer vector also enables us to identify the time and position to apply correction maneuver in order to optimize a non-optimum transfer. This paper will present the analytical approach to the fuel optimal impulsive transfer using primer vector method. The validity of the method is confirmed by comparing the result to those from the numerical method. The investigation of the optimality of direct transfer is used to give an example of the application of the method. The case under study is the prograde elliptic transfers from Earth to Mars. The study enables us to identify the optimality of all the possible transfers.

A Hidden Markov Model for Single Particle Tracks Quantifies Dynamic Interactions between LFA-1 and the Actin Cytoskeleton

PubMed Central

Das, Raibatak; Cairo, Christopher W.; Coombs, Daniel

2009-01-01

The extraction of hidden information from complex trajectories is a continuing problem in single-particle and single-molecule experiments. Particle trajectories are the result of multiple phenomena, and new methods for revealing changes in molecular processes are needed. We have developed a practical technique that is capable of identifying multiple states of diffusion within experimental trajectories. We model single particle tracks for a membrane-associated protein interacting with a homogeneously distributed binding partner and show that, with certain simplifying assumptions, particle trajectories can be regarded as the outcome of a two-state hidden Markov model. Using simulated trajectories, we demonstrate that this model can be used to identify the key biophysical parameters for such a system, namely the diffusion coefficients of the underlying states, and the rates of transition between them. We use a stochastic optimization scheme to compute maximum likelihood estimates of these parameters. We have applied this analysis to single-particle trajectories of the integrin receptor lymphocyte function-associated antigen-1 (LFA-1) on live T cells. Our analysis reveals that the diffusion of LFA-1 is indeed approximately two-state, and is characterized by large changes in cytoskeletal interactions upon cellular activation. PMID:19893741

Connection-based and object-based grouping in multiple-object tracking: A developmental study.

PubMed

Van der Hallen, Ruth; Reusens, Julie; Evers, Kris; de-Wit, Lee; Wagemans, Johan

2018-03-30

Developmental research on Gestalt laws has previously revealed that, even as young as infancy, we are bound to group visual elements into unitary structures in accordance with a variety of organizational principles. Here, we focus on the developmental trajectory of both connection-based and object-based grouping, and investigate their impact on object formation in participants, aged 9-21 years old (N = 113), using a multiple-object tracking paradigm. Results reveal a main effect of both age and grouping type, indicating that 9- to 21-year-olds are sensitive to both connection-based and object-based grouping interference, and tracking ability increases with age. In addition to its importance for typical development, these results provide an informative baseline to understand clinical aberrations in this regard. Statement of contribution What is already known on this subject? The origin of the Gestalt principles is still an ongoing debate: Are they innate, learned over time, or both? Developmental research has revealed how each Gestalt principle has its own trajectory and unique relationship to visual experience. Both connectedness and object-based grouping play an important role in object formation during childhood. What does this study add? The study identifies how sensitivity to connectedness and object-based grouping evolves in individuals, aged 9-21 years old. Using multiple-object tracking, results reveal that the ability to track multiple objects increases with age. These results provide an informative baseline to understand clinical aberrations in different types of grouping. © 2018 The Authors. British Journal of Developmental Psychology published by John Wiley & Sons Ltd on behalf of British Psychological Society.

Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data.

PubMed

Cho, Junsang; Cheon, Wonjoong; Ahn, Sanghee; Jung, Hyunuk; Sheen, Heesoon; Park, Hee Chul; Han, Youngyih

2017-09-01

Target motion-induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment. © The Author 2017. Published by Oxford University Press on behalf of The Japan Radiation Research Society and Japanese Society for Radiation Oncology.

A minimum attention control law for ball catching.

PubMed

Jang, Cheongjae; Lee, Jee-eun; Lee, Sohee; Park, F C

2015-10-06

Digital implementations of control laws typically involve discretization with respect to both time and space, and a control law that can achieve a task at coarser levels of discretization can be said to require less control attention, and also reduced implementation costs. One means of quantitatively capturing the attention of a control law is to measure the rate of change of the control with respect to changes in state and time. In this paper we present an attention-minimizing control law for ball catching and other target tracking tasks based on Brockett's attention criterion. We first highlight the connections between this attention criterion and some well-known principles from human motor control. Under the assumption that the optimal control law is the sum of a linear time-varying feedback term and a time-varying feedforward term, we derive an LQR-based minimum attention tracking control law that is stable, and obtained efficiently via a finite-dimensional optimization over the symmetric positive-definite matrices. Taking ball catching as our primary task, we perform numerical experiments comparing the performance of the various control strategies examined in the paper. Consistent with prevailing theories about human ball catching, our results exhibit several familiar features, e.g., the transition from open-loop to closed-loop control during the catching movement, and improved robustness to spatiotemporal discretization. The presented control laws are applicable to more general tracking problems that are subject to limited communication resources.

Selection and trajectory design to mission secondary targets

NASA Astrophysics Data System (ADS)

Victorino Sarli, Bruno; Kawakatsu, Yasuhiro

2017-02-01

Recently, with new trajectory design techniques and use of low-thrust propulsion systems, missions have become more efficient and cheaper with respect to propellant. As a way to increase the mission's value and scientific return, secondary targets close to the main trajectory are often added with a small change in the transfer trajectory. As a result of their large number, importance and facility to perform a flyby, asteroids are commonly used as such targets. This work uses the Primer Vector theory to define the direction and magnitude of the thrust for a minimum fuel consumption problem. The design of a low-thrust trajectory with a midcourse asteroid flyby is not only challenging for the low-thrust problem solution, but also with respect to the selection of a target and its flyby point. Currently more than 700,000 minor bodies have been identified, which generates a very large number of possible flyby points. This work uses a combination of reachability, reference orbit, and linear theory to select appropriate candidates, drastically reducing the simulation time, to be later included in the main trajectory and optimized. Two test cases are presented using the aforementioned selection process and optimization to add and design a secondary flyby to a mission with the primary objective of 3200 Phaethon flyby and 25143 Itokawa rendezvous.

Analysis of Trajectory Parameters for Probe and Round-Trip Missions to Venus

NASA Technical Reports Server (NTRS)

Dugan, James F., Jr.; Simsic, Carl R.

1960-01-01

For one-way transfers between Earth and Venus, charts are obtained that show velocity, time, and angle parameters as functions of the eccentricity and semilatus rectum of the Sun-focused vehicle conic. From these curves, others are obtained that are useful in planning one-way and round-trip missions to Venus. The analysis is characterized by circular coplanar planetary orbits, successive two-body approximations, impulsive velocity changes, and circular parking orbits at 1.1 planet radii. For round trips the mission time considered ranges from 65 to 788 days, while wait time spent in the parking orbit at Venus ranges from 0 to 467 days. Individual velocity increments, one-way travel times, and departure dates are presented for round trips requiring the minimum total velocity increment. For both single-pass and orbiting Venusian probes, the time span available for launch becomes appreciable with only a small increase in velocity-increment capability above the minimum requirement. Velocity-increment increases are much more effective in reducing travel time for single-pass probes than they are for orbiting probes. Round trips composed of a direct route along an ellipse tangent to Earth's orbit and an aphelion route result in the minimum total velocity increment for wait times less than 100 days and mission times ranging from 145 to 612 days. Minimum-total-velocity-increment trips may be taken along perihelion-perihelion routes for wait times ranging from 300 to 467 days. These wait times occur during missions lasting from 640 to 759 days.

Discrete time learning control in nonlinear systems

NASA Technical Reports Server (NTRS)

Longman, Richard W.; Chang, Chi-Kuang; Phan, Minh

1992-01-01

In this paper digital learning control methods are developed primarily for use in single-input, single-output nonlinear dynamic systems. Conditions for convergence of the basic form of learning control based on integral control concepts are given, and shown to be satisfied by a large class of nonlinear problems. It is shown that it is not the gross nonlinearities of the differential equations that matter in the convergence, but rather the much smaller nonlinearities that can manifest themselves during the short time interval of one sample time. New algorithms are developed that eliminate restrictions on the size of the learning gain, and on knowledge of the appropriate sign of the learning gain, for convergence to zero error in tracking a feasible desired output trajectory. It is shown that one of the new algorithms can give guaranteed convergence in the presence of actuator saturation constraints, and indicate when the requested trajectory is beyond the actuator capabilities.

SU-G-JeP1-12: Head-To-Head Performance Characterization of Two Multileaf Collimator Tracking Algorithms for Radiotherapy

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

Caillet, V; Colvill, E; Royal North Shore Hospital, St Leonards, Sydney

2016-06-15

Purpose: Multi-leaf collimator (MLC) tracking is being clinically pioneered to continuously compensate for thoracic and abdominal motion during radiotherapy. The purpose of this work is to characterize the performance of two MLC tracking algorithms for cancer radiotherapy, based on a direct optimization and a piecewise leaf fitting approach respectively. Methods: To test the algorithms, both physical and in silico experiments were performed. Previously published high and low modulation VMAT plans for lung and prostate cancer cases were used along with eight patient-measured organ-specific trajectories. For both MLC tracking algorithm, the plans were run with their corresponding patient trajectories. The physicalmore » experiments were performed on a Trilogy Varian linac and a programmable phantom (HexaMotion platform). For each MLC tracking algorithm, plan and patient trajectory, the tracking accuracy was quantified as the difference in aperture area between ideal and fitted MLC. To compare algorithms, the average cumulative tracking error area for each experiment was calculated. The two-sample Kolmogorov-Smirnov (KS) test was used to evaluate the cumulative tracking errors between algorithms. Results: Comparison of tracking errors for the physical and in silico experiments showed minor differences between the two algorithms. The KS D-statistics for the physical experiments were below 0.05 denoting no significant differences between the two distributions pattern and the average error area (direct optimization/piecewise leaf-fitting) were comparable (66.64 cm2/65.65 cm2). For the in silico experiments, the KS D-statistics were below 0.05 and the average errors area were also equivalent (49.38 cm2/48.98 cm2). Conclusion: The comparison between the two leaf fittings algorithms demonstrated no significant differences in tracking errors, neither in a clinically realistic environment nor in silico. The similarities in the two independent algorithms give confidence in the use of either algorithm for clinical implementation.« less

Placement Stability, Cumulative Time in Care, and Permanency: Using Administrative Data from CPS to Track Placement Trajectories

PubMed Central

Hélie, Sonia; Poirier, Marie-Andrée; Esposito, Tonino; Turcotte, Daniel

2017-01-01

Objectives: The Quebec Youth Protection Act was amended in 2007. The main goal of this reform was to improve placement stability for children who are removed from their home for their protection. Among several legal provisions introduced was the establishment of maximum age-specific durations of out-of-home care, after which a plan must be established to provide stability for children placed in substitute care by finding permanent homes for them. The purpose of this study is (1) to examine trends in placement use and placement stability since the reform and (2) to document the current frequency of each type of placement setting, the cumulative time in care before the exit to permanency, and the sustainability of the permanency outcome. Methods: The study relies on 3 entry cohorts of all children investigated who received protection measures in the province of Quebec during 3 specific time frames before and after the reform (n = 9620, 8676, 8425). Cohorts were observed for a period varying from 3 to 4 years. Administrative data from all 16 child protection agencies were used to track placement trajectory indicators and to compare cohorts. Results: There has been a decrease in the proportion of children receiving protection measures who were placed in care since the reform, and placement in kinship care has become more frequent among children placed. Placement stability improved slightly after the reform. Overall, for infants, the most frequent type of permanency attained is adoption, while reunification is the option most often indicated for older children. Some children are at a greater risk of experiencing unstable placement trajectories: young children have a high rate of reunification breakdown, some wait a long time to be adopted, and adolescents are frequently removed from the substitute care setting where they were supposed to stay until the age of 18. Conclusions: The results suggest interesting avenues for policy makers and service providers to improve the stability of placement trajectories. Advantages and disadvantages of administrative data are discussed. PMID:29149070

Minimum Hamiltonian ascent trajectory evaluation (MASTRE) program (update to automatic flight trajectory design, performance prediction, and vehicle sizing for support of shuttle and shuttle derived vehicles) users manual

NASA Technical Reports Server (NTRS)

Lyons, J. T.; Borchers, William R.

1993-01-01

Documentation for the User Interface Program for the Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) is provided. The User Interface Program is a separate software package designed to ease the user input requirements when using the MASTRE Trajectory Program. This document supplements documentation on the MASTRE Program that consists of the MASTRE Engineering Manual and the MASTRE Programmers Guide. The User Interface Program provides a series of menus and tables using the VAX Screen Management Guideline (SMG) software. These menus and tables allow the user to modify the MASTRE Program input without the need for learning the various program dependent mnemonics. In addition, the User Interface Program allows the user to modify and/or review additional input Namelist and data files, to build and review command files, to formulate and calculate mass properties related data, and to have a plotting capability.

Using an external surrogate for predictor model training in real-time motion management of lung tumors.

PubMed

Rottmann, Joerg; Berbeco, Ross

2014-12-01

Precise prediction of respiratory motion is a prerequisite for real-time motion compensation techniques such as beam, dynamic couch, or dynamic multileaf collimator tracking. Collection of tumor motion data to train the prediction model is required for most algorithms. To avoid exposure of patients to additional dose from imaging during this procedure, the feasibility of training a linear respiratory motion prediction model with an external surrogate signal is investigated and its performance benchmarked against training the model with tumor positions directly. The authors implement a lung tumor motion prediction algorithm based on linear ridge regression that is suitable to overcome system latencies up to about 300 ms. Its performance is investigated on a data set of 91 patient breathing trajectories recorded from fiducial marker tracking during radiotherapy delivery to the lung of ten patients. The expected 3D geometric error is quantified as a function of predictor lookahead time, signal sampling frequency and history vector length. Additionally, adaptive model retraining is evaluated, i.e., repeatedly updating the prediction model after initial training. Training length for this is gradually increased with incoming (internal) data availability. To assess practical feasibility model calculation times as well as various minimum data lengths for retraining are evaluated. Relative performance of model training with external surrogate motion data versus tumor motion data is evaluated. However, an internal-external motion correlation model is not utilized, i.e., prediction is solely driven by internal motion in both cases. Similar prediction performance was achieved for training the model with external surrogate data versus internal (tumor motion) data. Adaptive model retraining can substantially boost performance in the case of external surrogate training while it has little impact for training with internal motion data. A minimum adaptive retraining data length of 8 s and history vector length of 3 s achieve maximal performance. Sampling frequency appears to have little impact on performance confirming previously published work. By using the linear predictor, a relative geometric 3D error reduction of about 50% was achieved (using adaptive retraining, a history vector length of 3 s and with results averaged over all investigated lookahead times and signal sampling frequencies). The absolute mean error could be reduced from (2.0 ± 1.6) mm when using no prediction at all to (0.9 ± 0.8) mm and (1.0 ± 0.9) mm when using the predictor trained with internal tumor motion training data and external surrogate motion training data, respectively (for a typical lookahead time of 250 ms and sampling frequency of 15 Hz). A linear prediction model can reduce latency induced tracking errors by an average of about 50% in real-time image guided radiotherapy systems with system latencies of up to 300 ms. Training a linear model for lung tumor motion prediction with an external surrogate signal alone is feasible and results in similar performance as training with (internal) tumor motion. Particularly for scenarios where motion data are extracted from fluoroscopic imaging with ionizing radiation, this may alleviate the need for additional imaging dose during the collection of model training data.

Does Helicobacter pylori exhibit corkscrew motion while swimming?

NASA Astrophysics Data System (ADS)

Constantino, Maira; Hardcastle, Joseph; Bansil, Rama

2015-03-01

Helicobacter pylori is a spiral shaped bacterium associated with ulcers, gastric cancer, gastritis among other diseases. In order to colonize the harsh acidic environment of the stomach H. pylori has to go across the viscoelastic mucus layer of the stomach. Many studies have been conducted on the swimming of H. pylori in viscous media however none have taken into account the influence of cell-body shape on the trajectory. We present an experimental study of the effects of body shape in the swimming trajectory of H. pylori in viscous media by a quantitative analysis of the bacterium rotation and translation in gels using phase contrast microscopy and particle tracking techniques. Preliminary microscopic tracking measurements show very well defined helical trajectories in the spiral-shaped wild type H. pylori. These helical trajectories are not seen in rod-shaped mutants which sometimes display whirling motion about one end acting as a hinge. We will present an analysis of the different trajectories for bacteria swimming in media with different viscoelastic parameters. Supported by the National Science Foundation PHY PoLS.

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.

Procedures for One-Pass Vehicle Cone Index (VCI1) Determination for Acquisition Support

DTIC Science & Technology

2013-08-01

the VCI of tracked vehicles can be directly compared to that of wheeled vehicles; Priddy and Willoughby, 2006). Measurement of the minimum soil...of the wheel , or number of revolutions per unit time divided by 2π for a track v = forward velocity of vehicle or wheel axle. 12. Trafficability...be tested at the expected gross vehicle weight (GVW) and, for wheeled vehicles, at an appropriate soft-soil tire pressure. For wheeled vehicles

Control of a HexaPOD treatment couch for robot-assisted radiotherapy.

PubMed

Hermann, Christian; Ma, Lei; Wilbert, Jürgen; Baier, Kurt; Schilling, Klaus

2012-10-01

Moving tumors, for example in the vicinity of the lungs, pose a challenging problem in radiotherapy, as healthy tissue should not be irradiated. Apart from gating approaches, one standard method is to irradiate the complete volume within which a tumor moves plus a safety margin containing a considerable volume of healthy tissue. This work deals with a system for tumor motion compensation using the HexaPOD® robotic treatment couch (Medical Intelligence GmbH, Schwabmünchen, Germany). The HexaPOD, carrying the patient during treatment, is instructed to perform translational movements such that the tumor motion, from the beams-eye view of the linear accelerator, is eliminated. The dynamics of the HexaPOD are characterized by time delays, saturations, and other non-linearities that make the design of control a challenging task. The focus of this work lies on two control methods for the HexaPOD that can be used for reference tracking. The first method uses a model predictive controller based on a model gained through system identification methods, and the second method uses a position control scheme useful for reference tracking. We compared the tracking performance of both methods in various experiments with real hardware using ideal reference trajectories, prerecorded patient trajectories, and human volunteers whose breathing motion was compensated by the system.

VisibleWind: wind profile measurements at low altitude

NASA Astrophysics Data System (ADS)

Wilkerson, Tom; Bradford, Bill; Marchant, Alan; Apedaile, Tom; Wright, Cordell

2009-09-01

VisibleWindTM is developing an inexpensive rapid response system, for accurately characterizing wind shear and small scale wind phenomena in the boundary layer and for prospecting suitable locations for wind power turbines. The ValidWind system can also collect reliable "ground truth" for other remote wind sensors. The system employs small (0.25 m dia.) lightweight balloons and a tracker consisting of an Impulse 200 XL laser rangefinder coupled to a PC for automated data recording. Experiments on balloon trajectories demonstrate that the laser detection of range (+/- 0.5 m), together with measured azimuth and altitude, is an inexpensive, convenient, and capable alternative to other wind tracking methods. The maximum detection range has been increased to 2200 meters using micro-corner-cube retroreflector tape on balloons. Low power LEDs enable nighttime tracking. To avoid large balloon gyrations about the mean trajectory, we use balloons having low ascent rates and subcritical Reynolds numbers. Trajectory points are typically recorded every 4 - 7 seconds. Atmospheric features observed under conditions of inversions or "light and variable winds" include abrupt onsets of shear at altitudes of 100-250 m, velocity changes of order 1-3 m/s within layers of 10-20 m thickness, and veering of the wind direction by 180 degrees or more as altitude increases from 300 to 500 m. We have previously reported comparisons of balloon-based wind profiles with the output of a co-located sodar. Even with the Impulse rangefinder, our system still requires a "man in the loop" to track the balloon. A future system enhancement will automate balloon tracking, so that laser returns are obtained automatically at 1 Hz. While balloon measurements of large-scale, high altitude wind profiles are well known, this novel measurement system provides high-resolution, real-time characterization of the fluctuating local wind fields at the bottom of the boundary layer where wind power turbines and other remote wind sensors must operate.

A low cost real-time motion tracking approach using webcam technology.

PubMed

Krishnan, Chandramouli; Washabaugh, Edward P; Seetharaman, Yogesh

2015-02-05

Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject's limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training. Copyright © 2014 Elsevier Ltd. All rights reserved.

A low cost real-time motion tracking approach using webcam technology

PubMed Central

Krishnan, Chandramouli; Washabaugh, Edward P.; Seetharaman, Yogesh

2014-01-01

Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subject’s limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training. PMID:25555306

An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments.

PubMed

Cong, Li; Li, Xin; Jin, Tian; Yue, Song; Xue, Rui

2016-01-23

As the weak link in global navigation satellite system (GNSS) signal processing, the phase-locked loop (PLL) is easily influenced with frequent cycle slips and loss of lock as a result of higher vehicle dynamics and lower signal-to-noise ratios. With inertial navigation system (INS) aid, PLLs' tracking performance can be improved. However, for harsh environments with high dynamics and signal attenuation, the traditional INS-aided PLL with fixed loop parameters has some limitations to improve the tracking adaptability. In this paper, an adaptive INS-aided PLL capable of adjusting its noise bandwidth and coherent integration time has been proposed. Through theoretical analysis, the relation between INS-aided PLL phase tracking error and carrier to noise density ratio (C/N₀), vehicle dynamics, aiding information update time, noise bandwidth, and coherent integration time has been built. The relation formulae are used to choose the optimal integration time and bandwidth for a given application under the minimum tracking error criterion. Software and hardware simulation results verify the correctness of the theoretical analysis, and demonstrate that the adaptive tracking method can effectively improve the PLL tracking ability and integrated GNSS/INS navigation performance. For harsh environments, the tracking sensitivity is increased by 3 to 5 dB, velocity errors are decreased by 36% to 50% and position errors are decreased by 6% to 24% when compared with other INS-aided PLL methods.

Multilayer Insulation Ascent Venting Model

NASA Technical Reports Server (NTRS)

Tramel, R. W.; Sutherlin, S. G.; Johnson, W. L.

2017-01-01

The thermal and venting transient experienced by tank-applied multilayer insulation (MLI) in the Earth-to-orbit environment is very dynamic and not well characterized. This new predictive code is a first principles-based engineering model which tracks the time history of the mass and temperature (internal energy) of the gas in each MLI layer. A continuum-based model is used for early portions of the trajectory while a kinetic theory-based model is used for the later portions of the trajectory, and the models are blended based on a reference mean free path. This new capability should improve understanding of the Earth-to-orbit transient and enable better insulation system designs for in-space cryogenic propellant systems.

Adverse trajectories of mental health problems predict subsequent burnout and work-family conflict - a longitudinal study of employed women with children followed over 18 years.

PubMed

Nilsen, Wendy; Skipstein, Anni; Demerouti, Evangelia

2016-11-08

The long-term consequence of experiencing mental health problems may lead to several adverse outcomes. The current study aims to validate previous identified trajectories of mental health problems from 1993 to 2006 in women by examining their implications on subsequent work and family-related outcomes in 2011. Employed women (n = 439) with children were drawn from the Tracking Opportunities and Problems-Study (TOPP), a community-based longitudinal study following Norwegian families across 18 years. Previous identified latent profiles of mental health trajectories (i.e., High; Moderate; Low-rising and Low levels of mental health problems over time) measured at six time points between 1993 and 2006 were examined as predictors of burnout (e.g., exhaustion and disengagement from work) and work-family conflict in 2011 in univariate and multivariate analyses of variance adjusted for potential confounders (age, job demands, and negative emotionality). We found that having consistently High and Moderate symptoms as well as Low-Rising symptoms from 1993 to 2006 predicted higher levels of exhaustion, disengagement from work and work-family conflict in 2011. Findings remained unchanged when adjusting for several potential confounders, but when adjusting for current mental health problems only levels of exhaustion were predicted by the mental health trajectories. The study expands upon previous studies on the field by using a longer time span and by focusing on employed women with children who experience different patterns of mental health trajectories. The long-term effect of these trajectories highlight and validate the importance of early identification and prevention in women experiencing adverse patterns of mental health problems with regards to subsequent work and family-related outcomes.

Growing Typhoon Influence on East Asia

NASA Technical Reports Server (NTRS)

Wu, Liguang; Wang, BIn; Geng, Shuqin

2005-01-01

Numerical model studies have suggested that the ongoing global warming will likely affect tropical cyclone activity. But so far little observed evidence has been detected to support the projected future changes. Using satellite-supported best-track data from 1965 to 2003, we show for the first time that over the past four decades the two prevailing typhoon tracks in the western North Pacific (WNP) have shifted westward significantly; the typhoon activity over the South China Sea has considerably decreased; and East Asia has experienced increasing typhoon influence. Our trajectory model simulation indicates that the long-term shifts in the typhoon tracks result primarily from the changes in the mean translation velocity of typhoons or the large-scale steering flow, which is associated with the westward expansion and strengthening of the WNP subtropical high.

Trajectory control of robot manipulators with closed-kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

1987-01-01

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

Optimum Value of Original Events on the Pept Technique

NASA Astrophysics Data System (ADS)

Sadremomtaz, Alireza; Taherparvar, Payvand

2011-12-01

Do Positron emission particle tracking (PEPT) has been used to track the motion of a single radioactively labeled tracer particle within a bed of similar particles. In this paper, the effect of the original event fraction on the results precise in two experiments has been reviewed. Results showed that the algorithm can no longer distinguish some corrupt trajectories, in addition to; further iteration reduces the statistical significance of the sample without improving its quality. Results show that the optimum value of trajectories depends on the type of experiment.

Assessment of Automated Analyses of Cell Migration on Flat and Nanostructured Surfaces

PubMed Central

Grădinaru, Cristian; Łopacińska, Joanna M.; Huth, Johannes; Kestler, Hans A.; Flyvbjerg, Henrik; Mølhave, Kristian

2012-01-01

Motility studies of cells often rely on computer software that analyzes time-lapse recorded movies and establishes cell trajectories fully automatically. This raises the question of reproducibility of results, since different programs could yield significantly different results of such automated analysis. The fact that the segmentation routines of such programs are often challenged by nanostructured surfaces makes the question more pertinent. Here we illustrate how it is possible to track cells on bright field microscopy images with image analysis routines implemented in an open-source cell tracking program, PACT (Program for Automated Cell Tracking). We compare the automated motility analysis of three cell tracking programs, PACT, Autozell, and TLA, using the same movies as input for all three programs. We find that different programs track overlapping, but different subsets of cells due to different segmentation methods. Unfortunately, population averages based on such different cell populations, differ significantly in some cases. Thus, results obtained with one software package are not necessarily reproducible by other software. PMID:24688640

Exploring dynamics in living cells by tracking single particles.

PubMed

Levi, Valeria; Gratton, Enrico

2007-01-01

In the last years, significant advances in microscopy techniques and the introduction of a novel technology to label living cells with genetically encoded fluorescent proteins revolutionized the field of Cell Biology. Our understanding on cell dynamics built from snapshots on fixed specimens has evolved thanks to our actual capability to monitor in real time the evolution of processes in living cells. Among these new tools, single particle tracking techniques were developed to observe and follow individual particles. Hence, we are starting to unravel the mechanisms driving the motion of a wide variety of cellular components ranging from organelles to protein molecules by following their way through the cell. In this review, we introduce the single particle tracking technology to new users. We briefly describe the instrumentation and explain some of the algorithms commonly used to locate and track particles. Also, we present some common tools used to analyze trajectories and illustrate with some examples the applications of single particle tracking to study dynamics in living cells.

Trajectory analysis of transfers between L4 and L5 and low lunar orbit

NASA Technical Reports Server (NTRS)

1988-01-01

The flight characteristics and spacecraft performance during missions involving flight between the equilateral libration points and the Moon are discussed. The conclusions drawn will show that a minimum energy trajectory is the most efficient transfer technique for this type of flight.

Aircraft flight test trajectory control

NASA Technical Reports Server (NTRS)

Menon, P. K. A.; Walker, R. A.

1988-01-01

Two design techniques for linear flight test trajectory controllers (FTTCs) are described: Eigenstructure assignment and the minimum error excitation technique. The two techniques are used to design FTTCs for an F-15 aircraft model for eight different maneuvers at thirty different flight conditions. An evaluation of the FTTCs is presented.

A Motion Tracking and Sensor Fusion Module for Medical Simulation.

PubMed

Shen, Yunhe; Wu, Fan; Tseng, Kuo-Shih; Ye, Ding; Raymond, John; Konety, Badrinath; Sweet, Robert

2016-01-01

Here we introduce a motion tracking or navigation module for medical simulation systems. Our main contribution is a sensor fusion method for proximity or distance sensors integrated with inertial measurement unit (IMU). Since IMU rotation tracking has been widely studied, we focus on the position or trajectory tracking of the instrument moving freely within a given boundary. In our experiments, we have found that this module reliably tracks instrument motion.

A Near-Term Concept for Trajectory Based Operations with Air/Ground Data Link Communication

NASA Technical Reports Server (NTRS)

McNally, David; Mueller, Eric; Thipphavong, David; Paielli, Russell; Cheng, Jinn-Hwei; Lee, Chuhan; Sahlman, Scott; Walton, Joe

2010-01-01

An operating concept and required system components for trajectory-based operations with air/ground data link for today's en route and transition airspace is proposed. Controllers are fully responsible for separation as they are today, and no new aircraft equipage is required. Trajectory automation computes integrated solutions to problems like metering, weather avoidance, traffic conflicts and the desire to find and fly more time/fuel efficient flight trajectories. A common ground-based system supports all levels of aircraft equipage and performance including those equipped and not equipped for data link. User interface functions for the radar controller's display make trajectory-based clearance advisories easy to visualize, modify if necessary, and implement. Laboratory simulations (without human operators) were conducted to test integrated operation of selected system components with uncertainty modeling. Results are based on 102 hours of Fort Worth Center traffic recordings involving over 37,000 individual flights. The presence of uncertainty had a marginal effect (5%) on minimum-delay conflict resolution performance, and windfavorable routes had no effect on detection and resolution metrics. Flight plan amendments and clearances were substantially reduced compared to today s operations. Top-of-descent prediction errors are the largest cause of failure indicating that better descent predictions are needed to reliably achieve fuel-efficient descent profiles in medium to heavy traffic. Improved conflict detections for climbing flights could enable substantially more continuous climbs to cruise altitude. Unlike today s Conflict Alert, tactical automation must alert when an altitude amendment is entered, but before the aircraft starts the maneuver. In every other failure case tactical automation prevented losses of separation. A real-time prototype trajectory trajectory-automation system is running now and could be made ready for operational testing at an en route Center in 1-2 years.

Fault Tolerance Analysis of L1 Adaptive Control System for Unmanned Aerial Vehicles

NASA Astrophysics Data System (ADS)

Krishnamoorthy, Kiruthika

Trajectory tracking is a critical element for the better functionality of autonomous vehicles. The main objective of this research study was to implement and analyze L1 adaptive control laws for autonomous flight under normal and upset flight conditions. The West Virginia University (WVU) Unmanned Aerial Vehicle flight simulation environment was used for this purpose. A comparison study between the L1 adaptive controller and a baseline conventional controller, which relies on position, proportional, and integral compensation, has been performed for a reduced size jet aircraft, the WVU YF-22. Special attention was given to the performance of the proposed control laws in the presence of abnormal conditions. The abnormal conditions considered are locked actuators (stabilator, aileron, and rudder) and excessive turbulence. Several levels of abnormal condition severity have been considered. The performance of the control laws was assessed over different-shape commanded trajectories. A set of comprehensive evaluation metrics was defined and used to analyze the performance of autonomous flight control laws in terms of control activity and trajectory tracking errors. The developed L1 adaptive control laws are supported by theoretical stability guarantees. The simulation results show that L1 adaptive output feedback controller achieves better trajectory tracking with lower level of control actuation as compared to the baseline linear controller under nominal and abnormal conditions.

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

NASA Technical Reports Server (NTRS)

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

2018-01-01

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

Extracting Fluorescent Reporter Time Courses of Cell Lineages from High-Throughput Microscopy at Low Temporal Resolution

PubMed Central

Downey, Mike J.; Jeziorska, Danuta M.; Ott, Sascha; Tamai, T. Katherine; Koentges, Georgy; Vance, Keith W.; Bretschneider, Till

2011-01-01

The extraction of fluorescence time course data is a major bottleneck in high-throughput live-cell microscopy. Here we present an extendible framework based on the open-source image analysis software ImageJ, which aims in particular at analyzing the expression of fluorescent reporters through cell divisions. The ability to track individual cell lineages is essential for the analysis of gene regulatory factors involved in the control of cell fate and identity decisions. In our approach, cell nuclei are identified using Hoechst, and a characteristic drop in Hoechst fluorescence helps to detect dividing cells. We first compare the efficiency and accuracy of different segmentation methods and then present a statistical scoring algorithm for cell tracking, which draws on the combination of various features, such as nuclear intensity, area or shape, and importantly, dynamic changes thereof. Principal component analysis is used to determine the most significant features, and a global parameter search is performed to determine the weighting of individual features. Our algorithm has been optimized to cope with large cell movements, and we were able to semi-automatically extract cell trajectories across three cell generations. Based on the MTrackJ plugin for ImageJ, we have developed tools to efficiently validate tracks and manually correct them by connecting broken trajectories and reassigning falsely connected cell positions. A gold standard consisting of two time-series with 15,000 validated positions will be released as a valuable resource for benchmarking. We demonstrate how our method can be applied to analyze fluorescence distributions generated from mouse stem cells transfected with reporter constructs containing transcriptional control elements of the Msx1 gene, a regulator of pluripotency, in mother and daughter cells. Furthermore, we show by tracking zebrafish PAC2 cells expressing FUCCI cell cycle markers, our framework can be easily adapted to different cell types and fluorescent markers. PMID:22194797

Time synchronization via lunar radar.

NASA Technical Reports Server (NTRS)

Higa, W. H.

1972-01-01

The advent of round-trip radar measurements has permitted the determination of the ranges to the nearby planets with greater precision than was previously possible. When the distances to the planets are known with high precision, the propagation delay for electromagnetic waves reflected by the planets may be calculated and used to synchronize remotely located clocks. Details basic to the operation of a lunar radar indicate a capability for clock synchronization to plus or minus 20 microsec. One of the design goals for this system was to achieve a simple semiautomatic receiver for remotely located tracking stations. The lunar radar system is in operational use for deep space tracking at Jet Propulsion Laboratory and synchronizes five world-wide tracking stations with a master clock at Goldstone, Calif. Computers are programmed to correct the Goldstone transmissions for transit time delay and Doppler shifts so as to be received on time at the tracking stations; this dictates that only one station can be synchronized at a given time period and that the moon must be simultaneously visible to both the transmitter and receiver for a minimum time of 10 min.-

Single-particle tracking of endocytosis and exocytosis of single-walled carbon nanotubes in NIH-3T3 cells.

PubMed

Jin, Hong; Heller, Daniel A; Strano, Michael S

2008-06-01

Over 10000 individual trajectories of nonphotobleaching single-walled carbon nanotubes (SWNT) were tracked as they are incorporated into and expelled from NIH-3T3 cells in real time on a perfusion microscope stage. An analysis of mean square displacement allows the complete construction of the mechanistic steps involved from single duration experiments. We observe the first conclusive evidence of SWNT exocytosis and show that the rate closely matches the endocytosis rate with negligible temporal offset. We identify and study the endocytosis and exocytosis pathway that leads to the previously observed aggregation and accumulation of SWNT within the cells.

Decentralized robust nonlinear model predictive controller for unmanned aerial systems

NASA Astrophysics Data System (ADS)

Garcia Garreton, Gonzalo A.

The nonlinear and unsteady nature of aircraft aerodynamics together with limited practical range of controls and state variables make the use of the linear control theory inadequate especially in the presence of external disturbances, such as wind. In the classical approach, aircraft are controlled by multiple inner and outer loops, designed separately and sequentially. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicles control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to track complex tight trajectories in the presence of internal and external perturbance. The Flight System developed in this work achieves the above performance by using: 1. A nonlinear guidance algorithm that enables the vehicle to follow an arbitrary trajectory shaped by moving points; 2. A formulation that embeds the guidance logic and trajectory information in the aircraft model, avoiding cross coupling and control degradation; 3. An artificial neural network, designed to adaptively estimate and provide aerodynamic and propulsive forces in real-time; and 4. A mixed sensitivity approach that enhances the robustness for a nonlinear model predictive controller overcoming the effect of un-modeled dynamics, external disturbances such as wind, and measurement additive perturbations, such as noise and biases. These elements have been integrated and tested in simulation and with previously stored flight test data and shown to be feasible.

Image sequence analysis workstation for multipoint motion analysis

NASA Astrophysics Data System (ADS)

Mostafavi, Hassan

1990-08-01

This paper describes an application-specific engineering workstation designed and developed to analyze motion of objects from video sequences. The system combines the software and hardware environment of a modem graphic-oriented workstation with the digital image acquisition, processing and display techniques. In addition to automation and Increase In throughput of data reduction tasks, the objective of the system Is to provide less invasive methods of measurement by offering the ability to track objects that are more complex than reflective markers. Grey level Image processing and spatial/temporal adaptation of the processing parameters is used for location and tracking of more complex features of objects under uncontrolled lighting and background conditions. The applications of such an automated and noninvasive measurement tool include analysis of the trajectory and attitude of rigid bodies such as human limbs, robots, aircraft in flight, etc. The system's key features are: 1) Acquisition and storage of Image sequences by digitizing and storing real-time video; 2) computer-controlled movie loop playback, freeze frame display, and digital Image enhancement; 3) multiple leading edge tracking in addition to object centroids at up to 60 fields per second from both live input video or a stored Image sequence; 4) model-based estimation and tracking of the six degrees of freedom of a rigid body: 5) field-of-view and spatial calibration: 6) Image sequence and measurement data base management; and 7) offline analysis software for trajectory plotting and statistical analysis.

Computationally-Efficient Minimum-Time Aircraft Routes in the Presence of Winds

NASA Technical Reports Server (NTRS)

Jardin, Matthew R.

2004-01-01

A computationally efficient algorithm for minimizing the flight time of an aircraft in a variable wind field has been invented. The algorithm, referred to as Neighboring Optimal Wind Routing (NOWR), is based upon neighboring-optimal-control (NOC) concepts and achieves minimum-time paths by adjusting aircraft heading according to wind conditions at an arbitrary number of wind measurement points along the flight route. The NOWR algorithm may either be used in a fast-time mode to compute minimum- time routes prior to flight, or may be used in a feedback mode to adjust aircraft heading in real-time. By traveling minimum-time routes instead of direct great-circle (direct) routes, flights across the United States can save an average of about 7 minutes, and as much as one hour of flight time during periods of strong jet-stream winds. The neighboring optimal routes computed via the NOWR technique have been shown to be within 1.5 percent of the absolute minimum-time routes for flights across the continental United States. On a typical 450-MHz Sun Ultra workstation, the NOWR algorithm produces complete minimum-time routes in less than 40 milliseconds. This corresponds to a rate of 25 optimal routes per second. The closest comparable optimization technique runs approximately 10 times slower. Airlines currently use various trial-and-error search techniques to determine which of a set of commonly traveled routes will minimize flight time. These algorithms are too computationally expensive for use in real-time systems, or in systems where many optimal routes need to be computed in a short amount of time. Instead of operating in real-time, airlines will typically plan a trajectory several hours in advance using wind forecasts. If winds change significantly from forecasts, the resulting flights will no longer be minimum-time. The need for a computationally efficient wind-optimal routing algorithm is even greater in the case of new air-traffic-control automation concepts. For air-traffic-control automation, thousands of wind-optimal routes may need to be computed and checked for conflicts in just a few minutes. These factors motivated the need for a more efficient wind-optimal routing algorithm.

Method and apparatus for optimizing a train trip using signal information

DOEpatents

Kumar, Ajith Kuttannair; Daum, Wolfgang; Otsubo, Tom; Hershey, John Erik; Hess, Gerald James

2014-06-10

A system is provided for operating a railway network including a first railway vehicle during a trip along track segments. The system includes a first element for determining travel parameters of the first railway vehicle, a second element for determining travel parameters of a second railway vehicle relative to the track segments to be traversed by the first vehicle during the trip, a processor for receiving information from the first and the second elements and for determining a relationship between occupation of a track segment by the second vehicle and later occupation of the same track segment by the first vehicle and an algorithm embodied within the processor having access to the information to create a trip plan that determines a speed trajectory for the first vehicle. The speed trajectory is responsive to the relationship and further in accordance with one or more operational criteria for the first vehicle.

Tracking control of WMRs on loose soil based on mixed H2/H∞ control with longitudinal slip ratio estimation

NASA Astrophysics Data System (ADS)

Gao, Haibo; Chen, Chao; Ding, Liang; Li, Weihua; Yu, Haitao; Xia, Kerui; Liu, Zhen

2017-11-01

Wheeled mobile robots (WMRs) often suffer from the longitudinal slipping when moving on the loose soil of the surface of the moon during exploration. Longitudinal slip is the main cause of WMRs' delay in trajectory tracking. In this paper, a nonlinear extended state observer (NESO) is introduced to estimate the longitudinal velocity in order to estimate the slip ratio and the derivative of the loss of velocity which are used in modelled disturbance compensation. Owing to the uncertainty and disturbance caused by estimation errors, a multi-objective controller using the mixed H2/H∞ method is employed to ensure the robust stability and performance of the WMR system. The final inputs of the trajectory tracking consist of the feedforward compensation, compensation for the modelled disturbances and designed multi-objective control inputs. Finally, the simulation results demonstrate the effectiveness of the controller, which exhibits a satisfactory tracking performance.

Studying precipitation recycling over the Tibetan Plateau using evaporation-tagging and back-trajectory analysis

NASA Astrophysics Data System (ADS)

Gao, Y.

2017-12-01

Regional precipitation recycling (i.e., the contribution of local evaporation to local precipitation) is an important component of water cycle over the Tibetan Plateau (TP). Two methods were used to investigate regional precipitation recycling: 1) tracking of tagged atmospheric water parcels originating from evaporation in a source region (i.e., E-tagging), and 2) back-trajectory approach to track the evaporative sources contributed to precipitation in a specific region. These two methods were applied to Weather Research and Forecasting (WRF) regional climate simulations to quantify the precipitation recycling ratio in the TP for three selected years: climatologically normal, dry and wet year. The simulation region is characterized by high average elevation above 4000 m and complex terrain. The back-trajectory approach is also calculated over three sub-regions over the TP: namely western, northeastern and southeastern TP, and the E-tagging approach could provide recycling-ratio distributions over the whole TP. Three aspects are investigated to characterize the precipitation recycling: annual mean, seasonal variations and spatial distributions. Averaged over the TP, the precipitation recycling ratio estimated by the E-tagging approach is higher than that from the back-trajectory method. The back-trajectory approach uses a precipitation threshold as total precipitation in five days divided by a random number, and this number was set to 500 as a tread off between equilibrium and computational efficiency. Lower recycling ratio derived from the back-trajectory approach is related to the precipitation threshold used. The E-tagging, however, tracks every air parcel of evaporation regardless of the precipitation amount. There is no obvious seasonal variation in the recycling ratio using both methods. The E-tagging approach shows high recycling ratios in the center TP, indicating stronger land-atmospheric interactions than elsewhere.

Mesoscale Numerical Investigations of Air Traffic Emissions over the North Atlantic during SONEX Flight 8: A Case Study

NASA Technical Reports Server (NTRS)

Bieberbach, George, Jr.; Fuelberg, Henry E.; Thompson, Anne M.; Schmitt, Alf; Hannan, John R.; Gregory, G. L.; Kondo, Yutaka; Knabb, Richard D.; Sachse, G. W.; Talbot, R. W.

1999-01-01

Chemical data from flight 8 of NASA's Subsonic Assessment (SASS) Ozone and Nitrogen Oxide Experiment (SONEX) exhibited signatures consistent with aircraft emissions, stratospheric air, and surface-based pollution. These signatures are examined in detail, focussing on the broad aircraft emission signatures that are several hundred kilometers in length. A mesoscale meteorological model provides high resolution wind data that are used to calculate backward trajectories arriving at locations along the flight track. These trajectories are compared to aircraft locations in the North Atlantic Flight Corridor over a 27-33 hour period. Time series of flight level NO and the number of trajectory/aircraft encounters within the NAFC show excellent agreement. Trajectories arriving within the stratospheric and surface-based pollution regions are found to experience very few aircraft encounters. Conversely, there are many trajectory/aircraft encounters within the two chemical signatures corresponding to aircraft emissions. Even many detailed fluctuations of NO within the two aircraft signature regions correspond to similar fluctuations in aircraft encountered during the previous 27-33 hours. Results indicate that high resolution meteorological modeling, when coupled with detailed aircraft location data, is useful for understanding chemical signatures from aircraft emissions at scales of several hundred kilometers.

Adaptive Trajectory Tracking of Nonholonomic Mobile Robots Using Vision-Based Position and Velocity Estimation.

PubMed

Li, Luyang; Liu, Yun-Hui; Jiang, Tianjiao; Wang, Kai; Fang, Mu

2018-02-01

Despite tremendous efforts made for years, trajectory tracking control (TC) of a nonholonomic mobile robot (NMR) without global positioning system remains an open problem. The major reason is the difficulty to localize the robot by using its onboard sensors only. In this paper, a newly designed adaptive trajectory TC method is proposed for the NMR without its position, orientation, and velocity measurements. The controller is designed on the basis of a novel algorithm to estimate position and velocity of the robot online from visual feedback of an omnidirectional camera. It is theoretically proved that the proposed algorithm yields the TC errors to asymptotically converge to zero. Real-world experiments are conducted on a wheeled NMR to validate the feasibility of the control system.

Long-Term Tracking of a Specific Vehicle Using Airborne Optical Camera Systems

NASA Astrophysics Data System (ADS)

Kurz, F.; Rosenbaum, D.; Runge, H.; Cerra, D.; Mattyus, G.; Reinartz, P.

2016-06-01

In this paper we present two low cost, airborne sensor systems capable of long-term vehicle tracking. Based on the properties of the sensors, a method for automatic real-time, long-term tracking of individual vehicles is presented. This combines the detection and tracking of the vehicle in low frame rate image sequences and applies the lagged Cell Transmission Model (CTM) to handle longer tracking outages occurring in complex traffic situations, e.g. tunnels. The CTM model uses the traffic conditions in the proximities of the target vehicle and estimates its motion to predict the position where it reappears. The method is validated on an airborne image sequence acquired from a helicopter. Several reference vehicles are tracked within a range of 500m in a complex urban traffic situation. An artificial tracking outage of 240m is simulated, which is handled by the CTM. For this, all the vehicles in the close proximity are automatically detected and tracked to estimate the basic density-flow relations of the CTM model. Finally, the real and simulated trajectories of the reference vehicles in the outage are compared showing good correspondence also in congested traffic situations.

Guiding the Design of Radiation Imagers with Experimentally Benchmarked Geant4 Simulations for Electron-Tracking Compton Imaging

NASA Astrophysics Data System (ADS)

Coffer, Amy Beth

Radiation imagers are import tools in the modern world for a wide range of applications. They span the use-cases of fundamental sciences, astrophysics, medical imaging, all the way to national security, nuclear safeguards, and non-proliferation verification. The type of radiation imagers studied in this thesis were gamma-ray imagers that detect emissions from radioactive materials. Gamma-ray imagers goal is to localize and map the distribution of radiation within their specific field-of-view despite the fact of complicating background radiation that can be terrestrial, astronomical, and temporal. Compton imaging systems are one type of gamma-ray imager that can map the radiation around the system without the use of collimation. Lack of collimation enables the imaging system to be able to detect radiation from all-directions, while at the same time, enables increased detection efficiency by not absorbing incident radiation in non-sensing materials. Each Compton-scatter events within an imaging system generated a possible cone-surface in space that the radiation could have originated from. Compton imaging is limited in its reconstructed image signal-to-background due to these source Compton-cones overlapping with background radiation Compton-cones. These overlapping cones limit Compton imaging's detection-sensitivity in image space. Electron-tracking Compton imaging (ETCI) can improve the detection-sensitivity by measuring the Compton-scattered electron's initial trajectory. With an estimate of the scattered electron's trajectory, one can reduce the Compton-back-projected cone to a cone-arc, thus enabling faster radiation source detection and localization. However, the ability to measure the Compton-scattered electron-trajectories adds another layer of complexity to an already complex methodology. For a real-world imaging applications, improvements are needed in electron-track detection efficiency and in electron-track reconstruction. One way of measuring Compton-scattered electron-trajectories is with high-resolution Charged-Coupled Devices (CCDs). The proof-of-principle CCD-based ETCI experiment demonstrated the CCDs' ability to measure the Compton-scattered electron-tracks as a 2-dimensional image. Electron-track-imaging algorithms using the electron-track-image are able to determine the 3-dimensional electron-track trajectory within +/- 20 degrees. The work presented here is the physics simulations developed along side the experimental proof-of-principle experiment. The development of accurate physics modeling for multiple-layer CCDs based ETCI systems allow for the accurate prediction of future ETCI system performance. The simulations also enable quick development insights for system design, and they guide the development of electron-track reconstruction methods. The physics simulation efforts for this project looked closely at the accuracy of the Geant4 Monte Carlo methods for medium energy electron transport. In older version of Geant4 there were some discrepancies between the electron-tracking experimental measurements and the simulation results. It was determined that when comparing the electron dynamics of electrons at very high resolutions, Geant4 simulations must be fine tuned with careful choices for physics production cuts and electron physics stepping sizes. One result of this work is a CCDs Monte Carlo model that has been benchmarked to experimental findings and fully characterized for both photon and electron transport. The CCDs physics model now match to within 1 percent error of experimental results for scattered-electron energies below 500 keV. Following the improvements of the CCDs simulations, the performance of a realistic two-layer CCD-stack system was characterized. The realistic CCD-stack system looked at the effect of thin passive-layers on the CCDs' front face and back-contact. The photon interaction efficiency was calculated for the two-layer CCD-stack, and we found that there is a 90 percent probability of scattered-electrons from a 662 keV source to stay within a single active layer. This demonstrates the improved detection efficiency, which is one of the strengths of the CCDs' implementation as a ETCI system. The CCD-stack simulations also established that electron-tracks scattering from one CCDs layer to another could be reconstructed. The passive-regions on the CCD-stack mean that these inter-layer scattered-electron-tracks will always loose both angular information and energy information. Looking at the angular changes of these electrons scattering between the CCDs layers showed us there is not a strong energy dependence on the angular changes due to the passive-regions of the CCDs. The angular changes of the electron track are, for the most part, a function of the thickness of the thin back-layer of the CCDs. Lastly, an approach using CCD-stack simulations was developed to reconstruct the energy transport across dead-layers and its feasibility was demonstrated. Adding back this lost energy will limit the loss of energy resolution of the scatter-interactions. Energy resolution losses would negatively impacted the achievable image resolution from image reconstruction algorithms. Returning some of the energy back to the reconstructed electron-track will help retain the expected performance of the electron-track trajectory determination algorithm.

Pyroclast Tracking Velocimetry: A particle tracking velocimetry-based tool for the study of Strombolian explosive eruptions

NASA Astrophysics Data System (ADS)

Gaudin, Damien; Moroni, Monica; Taddeucci, Jacopo; Scarlato, Piergiorgio; Shindler, Luca

2014-07-01

Image-based techniques enable high-resolution observation of the pyroclasts ejected during Strombolian explosions and drawing inferences on the dynamics of volcanic activity. However, data extraction from high-resolution videos is time consuming and operator dependent, while automatic analysis is often challenging due to the highly variable quality of images collected in the field. Here we present a new set of algorithms to automatically analyze image sequences of explosive eruptions: the pyroclast tracking velocimetry (PyTV) toolbox. First, a significant preprocessing is used to remove the image background and to detect the pyroclasts. Then, pyroclast tracking is achieved with a new particle tracking velocimetry algorithm, featuring an original predictor of velocity based on the optical flow equation. Finally, postprocessing corrects the systematic errors of measurements. Four high-speed videos of Strombolian explosions from Yasur and Stromboli volcanoes, representing various observation conditions, have been used to test the efficiency of the PyTV against manual analysis. In all cases, >106 pyroclasts have been successfully detected and tracked by PyTV, with a precision of 1 m/s for the velocity and 20% for the size of the pyroclast. On each video, more than 1000 tracks are several meters long, enabling us to study pyroclast properties and trajectories. Compared to manual tracking, 3 to 100 times more pyroclasts are analyzed. PyTV, by providing time-constrained information, links physical properties and motion of individual pyroclasts. It is a powerful tool for the study of explosive volcanic activity, as well as an ideal complement for other geological and geophysical volcano observation systems.

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

Rottmann, Joerg; Berbeco, Ross

Purpose: Precise prediction of respiratory motion is a prerequisite for real-time motion compensation techniques such as beam, dynamic couch, or dynamic multileaf collimator tracking. Collection of tumor motion data to train the prediction model is required for most algorithms. To avoid exposure of patients to additional dose from imaging during this procedure, the feasibility of training a linear respiratory motion prediction model with an external surrogate signal is investigated and its performance benchmarked against training the model with tumor positions directly. Methods: The authors implement a lung tumor motion prediction algorithm based on linear ridge regression that is suitable tomore » overcome system latencies up to about 300 ms. Its performance is investigated on a data set of 91 patient breathing trajectories recorded from fiducial marker tracking during radiotherapy delivery to the lung of ten patients. The expected 3D geometric error is quantified as a function of predictor lookahead time, signal sampling frequency and history vector length. Additionally, adaptive model retraining is evaluated, i.e., repeatedly updating the prediction model after initial training. Training length for this is gradually increased with incoming (internal) data availability. To assess practical feasibility model calculation times as well as various minimum data lengths for retraining are evaluated. Relative performance of model training with external surrogate motion data versus tumor motion data is evaluated. However, an internal–external motion correlation model is not utilized, i.e., prediction is solely driven by internal motion in both cases. Results: Similar prediction performance was achieved for training the model with external surrogate data versus internal (tumor motion) data. Adaptive model retraining can substantially boost performance in the case of external surrogate training while it has little impact for training with internal motion data. A minimum adaptive retraining data length of 8 s and history vector length of 3 s achieve maximal performance. Sampling frequency appears to have little impact on performance confirming previously published work. By using the linear predictor, a relative geometric 3D error reduction of about 50% was achieved (using adaptive retraining, a history vector length of 3 s and with results averaged over all investigated lookahead times and signal sampling frequencies). The absolute mean error could be reduced from (2.0 ± 1.6) mm when using no prediction at all to (0.9 ± 0.8) mm and (1.0 ± 0.9) mm when using the predictor trained with internal tumor motion training data and external surrogate motion training data, respectively (for a typical lookahead time of 250 ms and sampling frequency of 15 Hz). Conclusions: A linear prediction model can reduce latency induced tracking errors by an average of about 50% in real-time image guided radiotherapy systems with system latencies of up to 300 ms. Training a linear model for lung tumor motion prediction with an external surrogate signal alone is feasible and results in similar performance as training with (internal) tumor motion. Particularly for scenarios where motion data are extracted from fluoroscopic imaging with ionizing radiation, this may alleviate the need for additional imaging dose during the collection of model training data.« less

Probing Venus' polar upper atmosphere in situ: Preliminary results of the Venus Express Atmospheric Drag Experiment (VExADE).

NASA Astrophysics Data System (ADS)

Rosenblatt, Pascal; Bruinsma, Sean; Mueller-Wodarg, Ingo; Haeusler, Bernd

On its highly elliptical 24 hour orbit around Venus, the Venus Express (VEx) spacecraft briefly reaches a pericenter altitude of nominally 250 km. Recently, however, dedicated and intense radio tracking campaigns have taken place in August 2008 (campaign1), October 2009 (cam-paign2), February and April 2010 (campaign3), for which the pericenter altitude was lowered to about 175 km in order to be able to probe the upper atmosphere of Venus above the North Pole for the first time ever in-situ. As the spacecraft experiences atmospheric drag, its trajectory is measurably perturbed during the pericenter pass, allowing us to infer total atmospheric mass density at the pericenter altitude. The GINS software (Géodésie par Intégration Numérique e e Simultanées) is used to accurately reconstruct the orbital motion of VEx through an iterative least-squares fitting process to the Doppler tracking data. The drag acceleration is modelled using an initial atmospheric density model (VTS model, A. Hedin). A drag scale factor is estimated for each pericenter pass, which scales Hedin's density model in order to best fit the radio tracking data. About 20 density scale factors have been obtained mainly from the second and third VExADE campaigns, which indicate a lower density by a factor of about one-third than Hedin's model predicts. These first ever polar density measurements at solar minimum have allowed us to construct a diffusive equilibrium density model for Venus' thermosphere, constrained in the lower thermosphere primarily by SPICAV-SOIR measurements and above 175 km by the VExADE drag measurements. The preliminary results of the VExADE cam-paigns show that it is possible to obtain reliable estimates of Venus' upper atmosphere densities at an altitude of around 175 km. Future VExADE campaigns will benefit from the planned further lowering of VEx pericenter altitude to below 170 Km.

Automatic trajectory measurement of large numbers of crowded objects

NASA Astrophysics Data System (ADS)

Li, Hui; Liu, Ye; Chen, Yan Qiu

2013-06-01

Complex motion patterns of natural systems, such as fish schools, bird flocks, and cell groups, have attracted great attention from scientists for years. Trajectory measurement of individuals is vital for quantitative and high-throughput study of their collective behaviors. However, such data are rare mainly due to the challenges of detection and tracking of large numbers of objects with similar visual features and frequent occlusions. We present an automatic and effective framework to measure trajectories of large numbers of crowded oval-shaped objects, such as fish and cells. We first use a novel dual ellipse locator to detect the coarse position of each individual and then propose a variance minimization active contour method to obtain the optimal segmentation results. For tracking, cost matrix of assignment between consecutive frames is trainable via a random forest classifier with many spatial, texture, and shape features. The optimal trajectories are found for the whole image sequence by solving two linear assignment problems. We evaluate the proposed method on many challenging data sets.

Modelling the long-term evolution of worst-case Arctic oil spills.

PubMed

Blanken, Hauke; Tremblay, Louis Bruno; Gaskin, Susan; Slavin, Alexander

2017-03-15

We present worst-case assessments of contamination in sea ice and surface waters resulting from hypothetical well blowout oil spills at ten sites in the Arctic Ocean basin. Spill extents are estimated by considering Eulerian passive tracers in the surface ocean of the MITgcm (a hydrostatic, coupled ice-ocean model). Oil in sea ice, and contamination resulting from melting of oiled ice, is tracked using an offline Lagrangian scheme. Spills are initialized on November 1st 1980-2010 and tracked for one year. An average spill was transported 1100km and potentially affected 1.1 million km 2 . The direction and magnitude of simulated oil trajectories are consistent with known large-scale current and sea ice circulation patterns, and trajectories frequently cross international boundaries. The simulated trajectories of oil in sea ice match observed ice drift trajectories well. During the winter oil transport by drifting sea ice is more significant than transport with surface currents. Copyright © 2017 Elsevier Ltd. All rights reserved.

Profile negotiation: An air/ground automation integration concept for managing arrival traffic

NASA Technical Reports Server (NTRS)

Williams, David H.; Arbuckle, P. Douglas; Green, Steven M.; Denbraven, Wim

1993-01-01

NASA Ames Research Center and NASA Langley Research Center conducted a joint simulation study to evaluate a profile negotiation process (PNP) between a time-based air traffic control ATC system and an airplane equipped with a four dimensional flight management system (4D FMS). Prototype procedures were developed to support the functional implementation of this process. The PNP was designed to provide an arrival trajectory solution that satisfies the separation requirements of ATC while remaining as close as possible to the airplane's preferred trajectory. The Transport Systems Research Vehicle cockpit simulator was linked in real-time to the Center/TRACON Automation System (CTAS) for the experiment. Approximately 30 hours of simulation testing were conducted over a three week period. Active airline pilot crews and active Center controller teams participated as test subjects. Results from the experiment indicate the potential for successful incorporation of airplane preferred arrival trajectories in the CTAS automation environment. Controllers were able to consistently and effectively negotiate nominally conflict-free trajectories with pilots flying a 4D-FMS-equipped airplane. The negotiated trajectories were substantially closer to the airplane's preference than would have otherwise been possible without the PNP. Airplane fuel savings relative to baseline CTAS were achieved in the test scenarios. The datalink procedures and clearances developed for this experiment, while providing the necessary functionality, were found to be operationally unacceptable to the pilots. Additional pilot control and understanding of the proposed airplane-preferred trajectory and a simplified clearance procedure were cited as necessary for operational implementation of the concept. From the controllers' perspective, the main concerns were the ability of the 4D airplane to accurately track the negotiated trajectory and the workload required to support the PNP as implemented in this study.

Growth Trajectories of Mexican-Origin Adolescent Mothers’ Educational Expectations

PubMed Central

Bravo, Diamond Y.; Toomey, Russell B.; Umaña-Taylor, Adriana J.; Updegraff, Kimberly A.; Jahromi, Laudan B.

2015-01-01

Pregnant and parenting adolescents are at significant risk for educational underachievement. Educational expectations play a critical role for understanding subsequent educational attainment; yet, limited empirical attention has been given to changes in educational expectations across the transition to parenthood among adolescent mothers. This longitudinal study explored stability and change in educational expectations across the transition to parenthood among 191 first-time pregnant Mexican-origin adolescents (Mage = 16.76, SD = .98). The current study also examined how several contextually relevant risk and protective factors were associated with differential patterns of educational trajectories across this transition and subsequent educational attainment. Latent class growth analyses revealed three educational expectation trajectories: low and stable (< high school degree), moderate and increasing (≈ associate degree), and high and increasing (≈ bachelor’s degree). Adolescent mothers in the low and stable group encountered several educational risk factors that partially explained their probability of membership in this trajectory and subsequent lower attainment. Conversely, probability of membership in the high and increasing expectations class was partially explained by adolescents’ on-track school status at the time of pregnancy and their mother figures’ educational expectations for their pregnant daughters. These findings have implications for understanding the malleable factors that help to explain why some adolescent mothers describe consistently high educational expectations and subsequent higher attainment, while others do not. PMID:28392610

Optimal motion planning for collision avoidance of mobile robots in non-stationary environments

NASA Technical Reports Server (NTRS)

Kyriakopoulos, K. J.; Saridis, G. N.

1992-01-01

An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the object is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

Online Calibration of the TPC Drift Time in the ALICE High Level Trigger

NASA Astrophysics Data System (ADS)

Rohr, David; Krzewicki, Mikolaj; Zampolli, Chiara; Wiechula, Jens; Gorbunov, Sergey; Chauvin, Alex; Vorobyev, Ivan; Weber, Steffen; Schweda, Kai; Lindenstruth, Volker

2017-06-01

A Large Ion Collider Experiment (ALICE) is one of the four major experiments at the Large Hadron Collider (LHC) at CERN. The high level trigger (HLT) is a compute cluster, which reconstructs collisions as recorded by the ALICE detector in real-time. It employs a custom online data-transport framework to distribute data and workload among the compute nodes. ALICE employs subdetectors that are sensitive to environmental conditions such as pressure and temperature, e.g., the time projection chamber (TPC). A precise reconstruction of particle trajectories requires calibration of these detectors. Performing calibration in real time in the HLT improves the online reconstructions and renders certain offline calibration steps obsolete speeding up offline physics analysis. For LHC Run 3, starting in 2020 when data reduction will rely on reconstructed data, online calibration becomes a necessity. Reconstructed particle trajectories build the basis for the calibration making a fast online-tracking mandatory. The main detectors used for this purpose are the TPC and Inner Tracking System. Reconstructing the trajectories in the TPC is the most compute-intense step. We present several improvements to the ALICE HLT developed to facilitate online calibration. The main new development for online calibration is a wrapper that can run ALICE offline analysis and calibration tasks inside the HLT. In addition, we have added asynchronous processing capabilities to support long-running calibration tasks in the HLT framework, which runs event-synchronously otherwise. In order to improve the resiliency, an isolated process performs the asynchronous operations such that even a fatal error does not disturb data taking. We have complemented the original loop-free HLT chain with ZeroMQ data-transfer components. The ZeroMQ components facilitate a feedback loop that inserts the calibration result created at the end of the chain back into tracking components at the beginning of the chain, after a short delay. All these new features are implemented in a general way, such that they have use-cases aside from online calibration. In order to gather sufficient statistics for the calibration, the asynchronous calibration component must process enough events per time interval. Since the calibration is valid only for a certain time period, the delay until the feedback loop provides updated calibration data must not be too long. A first full-scale test of the online calibration functionality was performed during 2015 heavy-ion run under real conditions. Since then, online calibration is enabled and benchmarked in 2016 proton-proton data taking. We present a timing analysis of this first online-calibration test, which concludes that the HLT is capable of online TPC drift time calibration fast enough to calibrate the tracking via the feedback loop. We compare the calibration results with the offline calibration and present a comparison of the residuals of the TPC cluster coordinates with respect to offline reconstruction.

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology.

PubMed

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-06-15

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice.

Indoor Autonomous Control of a Two-Wheeled Inverted Pendulum Vehicle Using Ultra Wide Band Technology

PubMed Central

Xia, Dunzhu; Yao, Yanhong; Cheng, Limei

2017-01-01

In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP’s position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness. The outer loop controller is designed using the idea of backstepping. Moreover, three typical trajectories, including a circle, a trifolium and a hexagon, have been designed to prove the adaptability of the control combinations. Six different combinations of inner and outer loop control algorithms have been compared, and the characteristics of inner and outer loop algorithm combinations have been analyzed. Simulation results demonstrate its tracking performance and thus verify the validity of the proposed control methods. Trajectory tracking experiments in a real indoor environment have been performed using our experimental vehicle to further validate the feasibility of the proposed algorithm in practice. PMID:28617338

Apollo Mission Techniques Lunar Orbit Activities - Part 1a

NASA Technical Reports Server (NTRS)

Interbartolo, Michael A.

2009-01-01

This slide presentation reviews the planned sequence of events and the rationale for all lunar missions, and the flight experiences and lessons learned for the lunar orbit activities from a trajectory perspective. Shown are trajectories which include the moon's position at the various stages in the complete trip from launch, to the return and reentry. Included in the presentation are objectives and the sequence of events,for the Apollo 8, and Apollo 10. This is followed by a discussion of Apollo 11, including: the primary mission objective, the sequence of events, and the flight experience. The next mission discussed was Apollo 12. It reviews the objectives, the ground tracking, procedure changes, and the sequence of events. The aborted Apollo 13 mission is reviewed, including the objectives, and the sequence of events. Brief summaries of the flight experiences for Apollo 14-16 are reviewed. The flight sequence of events of Apollo 17 are discussed. In summary each mission consistently performing precision landings required that Apollo lunar orbit activities devote considerable attention to: (1) Improving fidelity of lunar gravity models, (2) Maximizing availability of ground tracking, (3) Minimizing perturbations on the trajectory, (4) Maximizing LM propellant reserves for hover time. Also the use of radial separation maneuvers (1) allows passive re-rendezvous after each rev, but ... (2) sensitive to small dispersions in initial sep direction

Tracking hazardous air pollutants from a refinery fire by applying on-line and off-line air monitoring and back trajectory modeling.

PubMed

Shie, Ruei-Hao; Chan, Chang-Chuan

2013-10-15

The air monitors used by most regulatory authorities are designed to track the daily emissions of conventional pollutants and are not well suited for measuring hazardous air pollutants that are released from accidents such as refinery fires. By applying a wide variety of air-monitoring systems, including on-line Fourier transform infrared spectroscopy, gas chromatography with a flame ionization detector, and off-line gas chromatography-mass spectrometry for measuring hazardous air pollutants during and after a fire at a petrochemical complex in central Taiwan on May 12, 2011, we were able to detect significantly higher levels of combustion-related gaseous and particulate pollutants, refinery-related hydrocarbons, and chlorinated hydrocarbons, such as 1,2-dichloroethane, vinyl chloride monomer, and dichloromethane, inside the complex and 10 km downwind from the fire than those measured during the normal operation periods. Both back trajectories and dispersion models further confirmed that high levels of hazardous air pollutants in the neighboring communities were carried by air mass flown from the 22 plants that were shut down by the fire. This study demonstrates that hazardous air pollutants from industrial accidents can successfully be identified and traced back to their emission sources by applying a timely and comprehensive air-monitoring campaign and back trajectory air flow models. Copyright © 2013 The Authors. Published by Elsevier B.V. All rights reserved.

A Novel Passive Tracking Scheme Exploiting Geometric and Intercept Theorems

PubMed Central

Zhou, Biao; Sun, Chao; Ahn, Deockhyeon; Kim, Youngok

2018-01-01

Passive tracking aims to track targets without assistant devices, that is, device-free targets. Passive tracking based on Radio Frequency (RF) Tomography in wireless sensor networks has recently been addressed as an emerging field. The passive tracking scheme using geometric theorems (GTs) is one of the most popular RF Tomography schemes, because the GT-based method can effectively mitigate the demand for a high density of wireless nodes. In the GT-based tracking scheme, the tracking scenario is considered as a two-dimensional geometric topology and then geometric theorems are applied to estimate crossing points (CPs) of the device-free target on line-of-sight links (LOSLs), which reveal the target’s trajectory information in a discrete form. In this paper, we review existing GT-based tracking schemes, and then propose a novel passive tracking scheme by exploiting the Intercept Theorem (IT). To create an IT-based CP estimation scheme available in the noisy non-parallel LOSL situation, we develop the equal-ratio traverse (ERT) method. Finally, we analyze properties of three GT-based tracking algorithms and the performance of these schemes is evaluated experimentally under various trajectories, node densities, and noisy topologies. Analysis of experimental results shows that tracking schemes exploiting geometric theorems can achieve remarkable positioning accuracy even under rather a low density of wireless nodes. Moreover, the proposed IT scheme can provide generally finer tracking accuracy under even lower node density and noisier topologies, in comparison to other schemes. PMID:29562621

Localizing people in crosswalks with a moving handheld camera: proof of concept

NASA Astrophysics Data System (ADS)

Lalonde, Marc; Chapdelaine, Claude; Foucher, Samuel

2015-02-01

Although people or object tracking in uncontrolled environments has been acknowledged in the literature, the accurate localization of a subject with respect to a reference ground plane remains a major issue. This study describes an early prototype for the tracking and localization of pedestrians with a handheld camera. One application envisioned here is to analyze the trajectories of blind people going across long crosswalks when following different audio signals as a guide. This kind of study is generally conducted manually with an observer following a subject and logging his/her current position at regular time intervals with respect to a white grid painted on the ground. This study aims at automating the manual logging activity: with a marker attached to the subject's foot, a video of the crossing is recorded by a person following the subject, and a semi-automatic tool analyzes the video and estimates the trajectory of the marker with respect to the painted markings. Challenges include robustness to variations to lighting conditions (shadows, etc.), occlusions, and changes in camera viewpoint. Results are promising when compared to GNSS measurements.

Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case

PubMed Central

Santos, Carlos; Martínez-Rey, Miguel; Santiso, Enrique

2017-01-01

This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based techniques for both control and state estimation contribute to efficient use of communications and reduce sensor activity. Measurement requests are dictated by an event-based state estimator by setting an upper bound to the estimation error covariance matrix. The rest of the time, state prediction is carried out with the Unscented transformation. This prediction method makes it possible to select the appropriate instants at which to perform actuations on the robot so that guidance performance does not degrade below a certain threshold. Ultimately, we obtained a combined event-based control and estimation solution that drastically reduces communication accesses. The magnitude of this reduction is set according to the tracking error margin of a P3-DX robot following a nonlinear trajectory, remotely controlled with a mini PC and whose pose is detected by a camera sensor. PMID:28878144

Dim target trajectory-associated detection in bright earth limb background

NASA Astrophysics Data System (ADS)

Chen, Penghui; Xu, Xiaojian; He, Xiaoyu; Jiang, Yuesong

2015-09-01

The intensive emission of earth limb in the field of view of sensors contributes much to the observation images. Due to the low signal-to-noise ratio (SNR), it is a challenge to detect small targets in earth limb background, especially for the detection of point-like targets from a single frame. To improve the target detection, track before detection (TBD) based on the frame sequence is performed. In this paper, a new technique is proposed to determine the target associated trajectories, which jointly carries out background removing, maximum value projection (MVP) and Hough transform. The background of the bright earth limb in the observation images is removed according to the profile characteristics. For a moving target, the corresponding pixels in the MVP image are shifting approximately regularly in time sequence. And the target trajectory is determined by Hough transform according to the pixel characteristics of the target and the clutter and noise. Comparing with traditional frame-by-frame methods, determining associated trajectories from MVP reduces the computation load. Numerical simulations are presented to demonstrate the effectiveness of the approach proposed.

Energy and time optimal trajectories in exploratory jumps of the spider Phidippus regius.

PubMed

Nabawy, Mostafa R A; Sivalingam, Girupakaran; Garwood, Russell J; Crowther, William J; Sellers, William I

2018-05-08

Jumping spiders are proficient jumpers that use jumps in a variety of behavioural contexts. We use high speed, high resolution video to measure the kinematics of a single regal jumping spider for a total of 15 different tasks based on a horizontal gap of 2-5 body lengths and vertical gap of +/-2 body lengths. For short range jumps, we show that low angled trajectories are used that minimise flight time. For longer jumps, take-off angles are steeper and closer to the optimum for minimum energy cost of transport. Comparison of jump performance against other arthropods shows that Phidippus regius is firmly in the group of animals that use dynamic muscle contraction for actuation as opposed to a stored energy catapult system. We find that the jump power requirements can be met from the estimated mass of leg muscle; hydraulic augmentation may be present but appears not to be energetically essential.

An Airborne Conflict Resolution Approach Using a Genetic Algorithm

NASA Technical Reports Server (NTRS)

Mondoloni, Stephane; Conway, Sheila

2001-01-01

An airborne conflict resolution approach is presented that is capable of providing flight plans forecast to be conflict-free with both area and traffic hazards. This approach is capable of meeting constraints on the flight plan such as required times of arrival (RTA) at a fix. The conflict resolution algorithm is based upon a genetic algorithm, and can thus seek conflict-free flight plans meeting broader flight planning objectives such as minimum time, fuel or total cost. The method has been applied to conflicts occurring 6 to 25 minutes in the future in climb, cruise and descent phases of flight. The conflict resolution approach separates the detection, trajectory generation and flight rules function from the resolution algorithm. The method is capable of supporting pilot-constructed resolutions, cooperative and non-cooperative maneuvers, and also providing conflict resolution on trajectories forecast by an onboard FMC.

Demographics, Tracking, and Expectations in Adolescence as Determinants of Employment Status in Adulthood: A Study of School-to-Work Transitions

ERIC Educational Resources Information Center

Fletcher, Edward C., Jr.

2012-01-01

Sparked by the current economic situation in the U.S., policymakers have begun to shift their concern from solely concentrating on the preparation of students for college to preparing them for the workforce as well. Thus, it is time for CTE to understand its impact on students' long-term trajectories. The purpose of this study was to predict…

Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

NASA Astrophysics Data System (ADS)

Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

2018-05-01

Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

Historical variation in young adult binge drinking trajectories and its link to historical variation in social roles and minimum legal drinking age

PubMed Central

Jager, Justin; Keyes, Katherine M.; Schulenberg, John E.

2015-01-01

This study examines historical variation in age 18–26 binge drinking trajectories, focusing on differences in both level of use and rates of change (growth) across cohorts of young adults over three decades. As part of the national Monitoring the Future Study, over 64,000 youths from the high school classes of 1976–2004 were surveyed at biennial intervals between ages 18 and 26. We found that, relative to past cohorts, recent cohorts both enter the age 18–26 age band engaging in lower levels and exit the age 18–26 age band engaging in higher levels of binge drinking. The reason for this reversal is that, relative to past cohorts, binge drinking among recent cohorts accelerates more quickly across ages 18–22 and decelerates more slowly across ages 22–26. Moreover, we found that historical increases in minimum legal drinking age account for a portion of the historical decline in age 18 level, while historical variation in social role acquisition (e.g., marriage, parenthood, and employment) accounts for a portion of the historical acceleration in age 18–22 growth. We also found that historical variation in the age 18–22 and age 22–26 growth rates was strongly and positively connected, suggesting common mechanism(s) underlie historical variation of both growth rates. Findings were generally consistent across gender and indicate that historical time is an important source of individual differences in young adult binge drinking trajectories. Beyond binge drinking, historical time may also inform the developmental course of other young adult risk behaviors, highlighting the interplay of epidemiology and etiology. PMID:26010381

Real-Time Motion Tracking for Indoor Moving Sphere Objects with a LiDAR Sensor.

PubMed

Huang, Lvwen; Chen, Siyuan; Zhang, Jianfeng; Cheng, Bang; Liu, Mingqing

2017-08-23

Object tracking is a crucial research subfield in computer vision and it has wide applications in navigation, robotics and military applications and so on. In this paper, the real-time visualization of 3D point clouds data based on the VLP-16 3D Light Detection and Ranging (LiDAR) sensor is achieved, and on the basis of preprocessing, fast ground segmentation, Euclidean clustering segmentation for outliers, View Feature Histogram (VFH) feature extraction, establishing object models and searching matching a moving spherical target, the Kalman filter and adaptive particle filter are used to estimate in real-time the position of a moving spherical target. The experimental results show that the Kalman filter has the advantages of high efficiency while adaptive particle filter has the advantages of high robustness and high precision when tested and validated on three kinds of scenes under the condition of target partial occlusion and interference, different moving speed and different trajectories. The research can be applied in the natural environment of fruit identification and tracking, robot navigation and control and other fields.

Real-Time Motion Tracking for Indoor Moving Sphere Objects with a LiDAR Sensor

PubMed Central

Chen, Siyuan; Zhang, Jianfeng; Cheng, Bang; Liu, Mingqing

2017-01-01

Object tracking is a crucial research subfield in computer vision and it has wide applications in navigation, robotics and military applications and so on. In this paper, the real-time visualization of 3D point clouds data based on the VLP-16 3D Light Detection and Ranging (LiDAR) sensor is achieved, and on the basis of preprocessing, fast ground segmentation, Euclidean clustering segmentation for outliers, View Feature Histogram (VFH) feature extraction, establishing object models and searching matching a moving spherical target, the Kalman filter and adaptive particle filter are used to estimate in real-time the position of a moving spherical target. The experimental results show that the Kalman filter has the advantages of high efficiency while adaptive particle filter has the advantages of high robustness and high precision when tested and validated on three kinds of scenes under the condition of target partial occlusion and interference, different moving speed and different trajectories. The research can be applied in the natural environment of fruit identification and tracking, robot navigation and control and other fields. PMID:28832520

Optimal tyre usage for a Formula One car

NASA Astrophysics Data System (ADS)

Tremlett, A. J.; Limebeer, D. J. N.

2016-10-01

Variations in track temperature, surface conditions and layout have led tyre manufacturers to produce a range of rubber compounds for race events. Each compound has unique friction and durability characteristics. Efficient tyre management over a full race distance is a crucial component of a competitive race strategy. A minimum lap time optimal control calculation and a thermodynamic tyre wear model are used to establish optimal tyre warming and tyre usage strategies. Lap time sensitivities demonstrate that relatively small changes in control strategy can lead to significant reductions in the associated wear metrics. The illustrated methodology shows how vehicle setup parameters can be optimised for minimum tyre usage.

Lunar Orbiter II - Photographic Mission Summary

NASA Technical Reports Server (NTRS)

1967-01-01

Lunar Orbiter II photography of landing sites, and spacecraft systems performance. The second of five Lunar Orbiter spacecraft was successfully launched from Launch Complex 13 at the Air Force Eastern Test Range by an Atlas-Agena launch vehicle at 23:21 GMT on November 6, 1966. Tracking data from the Cape Kennedy and Grand Bahama tracking stations were used to control and guide the launch vehicle during Atlas powered flight. The Agena spacecraft combination was maneuvered into a 100-nautical-mile-altitude Earth orbit by the preset on-board Agena computer. In addition, the Agena computer determined the maneuver 1 and engine-bum period required to inject the spacecraft on the cislunar trajectory 20 minutes after launch. Tracking data from the downrange stations and the Johannesburg, South Africa station were used to monitor the entire boost trajectory.

On the Application of Image Processing Methods for Bubble Recognition to the Study of Subcooled Flow Boiling of Water in Rectangular Channels

PubMed Central

Paz, Concepción; Conde, Marcos; Porteiro, Jacobo; Concheiro, Miguel

2017-01-01

This work introduces the use of machine vision in the massive bubble recognition process, which supports the validation of boiling models involving bubble dynamics, as well as nucleation frequency, active site density and size of the bubbles. The two algorithms presented are meant to be run employing quite standard images of the bubbling process, recorded in general-purpose boiling facilities. The recognition routines are easily adaptable to other facilities if a minimum number of precautions are taken in the setup and in the treatment of the information. Both the side and front projections of subcooled flow-boiling phenomenon over a plain plate are covered. Once all of the intended bubbles have been located in space and time, the proper post-process of the recorded data become capable of tracking each of the recognized bubbles, sketching their trajectories and size evolution, locating the nucleation sites, computing their diameters, and so on. After validating the algorithm’s output against the human eye and data from other researchers, machine vision systems have been demonstrated to be a very valuable option to successfully perform the recognition process, even though the optical analysis of bubbles has not been set as the main goal of the experimental facility. PMID:28632158

Moving-window dynamic optimization: design of stimulation profiles for walking.

PubMed

Dosen, Strahinja; Popović, Dejan B

2009-05-01

The overall goal of the research is to improve control for electrical stimulation-based assistance of walking in hemiplegic individuals. We present the simulation for generating offline input (sensors)-output (intensity of muscle stimulation) representation of walking that serves in synthesizing a rule-base for control of electrical stimulation for restoration of walking. The simulation uses new algorithm termed moving-window dynamic optimization (MWDO). The optimization criterion was to minimize the sum of the squares of tracking errors from desired trajectories with the penalty function on the total muscle efforts. The MWDO was developed in the MATLAB environment and tested using target trajectories characteristic for slow-to-normal walking recorded in healthy individual and a model with the parameters characterizing the potential hemiplegic user. The outputs of the simulation are piecewise constant intensities of electrical stimulation and trajectories generated when the calculated stimulation is applied to the model. We demonstrated the importance of this simulation by showing the outputs for healthy and hemiplegic individuals, using the same target trajectories. Results of the simulation show that the MWDO is an efficient tool for analyzing achievable trajectories and for determining the stimulation profiles that need to be delivered for good tracking.

Minimum-Time and Vibration Avoidance Attitude Maneuver for Spacecraft with Torque and Momentum Limit Constraints in Redundant Reaction Wheel Configuration

NASA Technical Reports Server (NTRS)

Ha, Kong Q.; Femiano, Michael D.; Mosier, Gary E.

2004-01-01

This viewgraph presentation presents an algorithm for trajectory control of a spacecraft that minimizes the time to perform slews, including settling, by avoiding reaction wheel torque and momentum limits that would excite flexible structural modes. This algorithm was validated by simulation during the design of the NGST 'Yardstick' (precursor to JWST). Performance verification of a reduced form for single-axis slews was carried out using the MIT Origins Testbed. It is currently baselined for use by TPF-Coronagraph.

Tracking vortices in superconductors: Extracting singularities from a discretized complex scalar field evolving in time

DOE PAGES

Phillips, Carolyn L.; Guo, Hanqi; Peterka, Tom; ...

2016-02-19

In type-II superconductors, the dynamics of magnetic flux vortices determine their transport properties. In the Ginzburg-Landau theory, vortices correspond to topological defects in the complex order parameter field. Earlier, we introduced a method for extracting vortices from the discretized complex order parameter field generated by a large-scale simulation of vortex matter. With this method, at a fixed time step, each vortex [simplistically, a one-dimensional (1D) curve in 3D space] can be represented as a connected graph extracted from the discretized field. Here we extend this method as a function of time as well. A vortex now corresponds to a 2Dmore » space-time sheet embedded in 4D space time that can be represented as a connected graph extracted from the discretized field over both space and time. Vortices that interact by merging or splitting correspond to disappearance and appearance of holes in the connected graph in the time direction. This method of tracking vortices, which makes no assumptions about the scale or behavior of the vortices, can track the vortices with a resolution as good as the discretization of the temporally evolving complex scalar field. In addition, even details of the trajectory between time steps can be reconstructed from the connected graph. With this form of vortex tracking, the details of vortex dynamics in a model of a superconducting materials can be understood in greater detail than previously possible.« less

Modified Hyperspheres Algorithm to Trace Homotopy Curves of Nonlinear Circuits Composed by Piecewise Linear Modelled Devices

PubMed Central

Vazquez-Leal, H.; Jimenez-Fernandez, V. M.; Benhammouda, B.; Filobello-Nino, U.; Sarmiento-Reyes, A.; Ramirez-Pinero, A.; Marin-Hernandez, A.; Huerta-Chua, J.

2014-01-01

We present a homotopy continuation method (HCM) for finding multiple operating points of nonlinear circuits composed of devices modelled by using piecewise linear (PWL) representations. We propose an adaptation of the modified spheres path tracking algorithm to trace the homotopy trajectories of PWL circuits. In order to assess the benefits of this proposal, four nonlinear circuits composed of piecewise linear modelled devices are analysed to determine their multiple operating points. The results show that HCM can find multiple solutions within a single homotopy trajectory. Furthermore, we take advantage of the fact that homotopy trajectories are PWL curves meant to replace the multidimensional interpolation and fine tuning stages of the path tracking algorithm with a simple and highly accurate procedure based on the parametric straight line equation. PMID:25184157

Optimal lunar soft landing trajectories using taboo evolutionary programming

NASA Astrophysics Data System (ADS)

Mutyalarao, M.; Raj, M. Xavier James

A safe lunar landing is a key factor to undertake an effective lunar exploration. Lunar lander consists of four phases such as launch phase, the earth-moon transfer phase, circumlunar phase and landing phase. The landing phase can be either hard landing or soft landing. Hard landing means the vehicle lands under the influence of gravity without any deceleration measures. However, soft landing reduces the vertical velocity of the vehicle before landing. Therefore, for the safety of the astronauts as well as the vehicle lunar soft landing with an acceptable velocity is very much essential. So it is important to design the optimal lunar soft landing trajectory with minimum fuel consumption. Optimization of Lunar Soft landing is a complex optimal control problem. In this paper, an analysis related to lunar soft landing from a parking orbit around Moon has been carried out. A two-dimensional trajectory optimization problem is attempted. The problem is complex due to the presence of system constraints. To solve the time-history of control parameters, the problem is converted into two point boundary value problem by using the maximum principle of Pontrygen. Taboo Evolutionary Programming (TEP) technique is a stochastic method developed in recent years and successfully implemented in several fields of research. It combines the features of taboo search and single-point mutation evolutionary programming. Identifying the best unknown parameters of the problem under consideration is the central idea for many space trajectory optimization problems. The TEP technique is used in the present methodology for the best estimation of initial unknown parameters by minimizing objective function interms of fuel requirements. The optimal estimation subsequently results into an optimal trajectory design of a module for soft landing on the Moon from a lunar parking orbit. Numerical simulations demonstrate that the proposed approach is highly efficient and it reduces the minimum fuel consumption. The results are compared with the available results in literature shows that the solution of present algorithm is better than some of the existing algorithms. Keywords: soft landing, trajectory optimization, evolutionary programming, control parameters, Pontrygen principle.

Optimal cooperative time-fixed impulsive rendezvous

NASA Technical Reports Server (NTRS)

Mirfakhraie, Koorosh; Conway, Bruce A.; Prussing, John E.

1988-01-01

A method has been developed for determining optimal, i.e., minimum fuel, trajectories for the fixed-time cooperative rendezvous of two spacecraft. The method presently assumes that the vehicles perform a total of three impulsive maneuvers with each vehicle being active, that is, making at least one maneuver. The cost of a feasible 'reference' trajectory is improved by an optimizer which uses an analytical gradient developed using primer vector theory and a new solution for the optimal terminal (rendezvous) maneuver. Results are presented for a large number of cases in which the initial orbits of both vehicles are circular but in which the initial positions of the vehicles and the allotted time for rendezvous are varied. In general, the cost of the cooperative rendezvous is less than that of rendezvous with one vehicle passive. Further improvement in cost may be obtained in the future when additional, i.e., midcourse, impulses are allowed and inserted as indicated for some cases by the primer vector histories which are generated by the program.

How to track protists in three dimensions

NASA Astrophysics Data System (ADS)

Drescher, Knut; Leptos, Kyriacos C.; Goldstein, Raymond E.

2009-01-01

We present an apparatus optimized for tracking swimming micro-organisms in the size range of 10-1000 μm, in three dimensions (3Ds), far from surfaces, and with negligible background convective fluid motion. Charge coupled device cameras attached to two long working distance microscopes synchronously image the sample from two perpendicular directions, with narrow band dark-field or bright-field illumination chosen to avoid triggering a phototactic response. The images from the two cameras can be combined to yield 3D tracks of the organism. Using additional, highly directional broad-spectrum illumination with millisecond timing control the phototactic trajectories in 3D of organisms ranging from Chlamydomonas to Volvox can be studied in detail. Surface-mediated hydrodynamic interactions can also be investigated without convective interference. Minimal modifications to the apparatus allow for studies of chemotaxis and other taxes.

Research on Precision Tracking on Fast Steering Mirror and Control Strategy

NASA Astrophysics Data System (ADS)

Di, Lin; Yi-ming, Wu; Fan, Zhu

2018-01-01

Fast steering mirror is a device used for controlling the beam direction precisely. Due to the short travel of the push-pull FSM, a compound fast steering mirror system driven by both limited-angle voice coil motor and push-pull FSM together is proposed. In the compound FSM system, limited-angle voice coil motor quickly swings at wide angle, while the push-pull FSM do high frequency movement in a small range, which provides the system with the high bandwidth and long travel. In the control strategy, the method of combining feed-forward control in Kalman filtering with auto-disturbance rejection control is used to improve trajectory tracking accuracy. The simulation result shows that tracking accuracy measured by the compound method can be improved by more than 5 times than that of the conventional PID.

Near-Optimal Tracking Control of Mobile Robots Via Receding-Horizon Dual Heuristic Programming.

PubMed

Lian, Chuanqiang; Xu, Xin; Chen, Hong; He, Haibo

2016-11-01

Trajectory tracking control of wheeled mobile robots (WMRs) has been an important research topic in control theory and robotics. Although various tracking control methods with stability have been developed for WMRs, it is still difficult to design optimal or near-optimal tracking controller under uncertainties and disturbances. In this paper, a near-optimal tracking control method is presented for WMRs based on receding-horizon dual heuristic programming (RHDHP). In the proposed method, a backstepping kinematic controller is designed to generate desired velocity profiles and the receding horizon strategy is used to decompose the infinite-horizon optimal control problem into a series of finite-horizon optimal control problems. In each horizon, a closed-loop tracking control policy is successively updated using a class of approximate dynamic programming algorithms called finite-horizon dual heuristic programming (DHP). The convergence property of the proposed method is analyzed and it is shown that the tracking control system based on RHDHP is asymptotically stable by using the Lyapunov approach. Simulation results on three tracking control problems demonstrate that the proposed method has improved control performance when compared with conventional model predictive control (MPC) and DHP. It is also illustrated that the proposed method has lower computational burden than conventional MPC, which is very beneficial for real-time tracking control.

Context effects on smooth pursuit and manual interception of a disappearing target.

PubMed

Kreyenmeier, Philipp; Fooken, Jolande; Spering, Miriam

2017-07-01

In our natural environment, we interact with moving objects that are surrounded by richly textured, dynamic visual contexts. Yet most laboratory studies on vision and movement show visual objects in front of uniform gray backgrounds. Context effects on eye movements have been widely studied, but it is less well known how visual contexts affect hand movements. Here we ask whether eye and hand movements integrate motion signals from target and context similarly or differently, and whether context effects on eye and hand change over time. We developed a track-intercept task requiring participants to track the initial launch of a moving object ("ball") with smooth pursuit eye movements. The ball disappeared after a brief presentation, and participants had to intercept it in a designated "hit zone." In two experiments ( n = 18 human observers each), the ball was shown in front of a uniform or a textured background that either was stationary or moved along with the target. Eye and hand movement latencies and speeds were similarly affected by the visual context, but eye and hand interception (eye position at time of interception, and hand interception timing error) did not differ significantly between context conditions. Eye and hand interception timing errors were strongly correlated on a trial-by-trial basis across all context conditions, highlighting the close relation between these responses in manual interception tasks. Our results indicate that visual contexts similarly affect eye and hand movements but that these effects may be short-lasting, affecting movement trajectories more than movement end points. NEW & NOTEWORTHY In a novel track-intercept paradigm, human observers tracked a briefly shown object moving across a textured, dynamic context and intercepted it with their finger after it had disappeared. Context motion significantly affected eye and hand movement latency and speed, but not interception accuracy; eye and hand position at interception were correlated on a trial-by-trial basis. Visual context effects may be short-lasting, affecting movement trajectories more than movement end points. Copyright © 2017 the American Physiological Society.

A study to evaluate STS heads-up ascent trajectory performance employing a minimum-Hamiltonian optimization strategy

NASA Technical Reports Server (NTRS)

Sinha, Sujit

1988-01-01

A study was conducted to evaluate the performance implications of a heads-up ascent flight design for the Space Transportation System, as compared to the current heads-down flight mode. The procedure involved the use of the Minimum Hamiltonian Ascent Shuttle Trajectory Evaluation Program, which is a three-degree-of-freedom moment balance simulation of shuttle ascent. A minimum-Hamiltonian optimization strategy was employed to maximize injection weight as a function of maximum dynamic pressure constraint and Solid Rocket Motor burnrate. Performance Reference Mission Four trajectory groundrules were used for consistency. The major conclusions are that for heads-up ascent and a mission nominal design maximum dynamic pressure value of 680 psf, the optimum solid motor burnrate is 0.394 ips, which produces a performance enhancement of 4293 lbm relative to the baseline heads-down ascent, with 0.368 ips burnrate solid motors and a 680 psf dynamic pressure constraint. However, no performance advantage exists for heads-up flight if the current Solid Rocket Motor target burnrate of 0.368 ips is used. The advantage of heads-up ascent flight employing the current burnrate is that Space Shuttle Main Engine throttling for dynamic pressure control is not necessary.

Multiple-hopping trajectories near a rotating asteroid

NASA Astrophysics Data System (ADS)

Shen, Hong-Xin; Zhang, Tian-Jiao; Li, Zhao; Li, Heng-Nian

2017-03-01

We present a study of the transfer orbits connecting landing points of irregular-shaped asteroids. The landing points do not touch the surface of the asteroids and are chosen several meters above the surface. The ant colony optimization technique is used to calculate the multiple-hopping trajectories near an arbitrary irregular asteroid. This new method has three steps which are as follows: (1) the search of the maximal clique of candidate target landing points; (2) leg optimization connecting all landing point pairs; and (3) the hopping sequence optimization. In particular this method is applied to asteroids 433 Eros and 216 Kleopatra. We impose a critical constraint on the target landing points to allow for extensive exploration of the asteroid: the relative distance between all the arrived target positions should be larger than a minimum allowed value. Ant colony optimization is applied to find the set and sequence of targets, and the differential evolution algorithm is used to solve for the hopping orbits. The minimum-velocity increment tours of hopping trajectories connecting all the landing positions are obtained by ant colony optimization. The results from different size asteroids indicate that the cost of the minimum velocity-increment tour depends on the size of the asteroids.

Gravity-assist trajectories to Venus, Mars, and the ice giants: Mission design with human and robotic applications

NASA Astrophysics Data System (ADS)

Hughes, Kyle M.

Gravity-assist trajectories to Uranus and Neptune are found (with the allowance of impulsive maneuvers using chemical propulsion) for launch dates ranging from 2024 to 2038 for Uranus and 2020 to 2070 for Neptune. Solutions are found using a patched conic model with analytical ephemeris via the Satellite Tour Design Program (STOUR), originally developed at the Jet Propulsion Laboratory (JPL). Delivered payload mass is computed for all solutions for select launch vehicles, and attractive solutions are identified as those that deliver a specified amount of payload mass into orbit at the target body in minimum time. The best cases for each launch year are cataloged for orbiter missions to Uranus and Neptune. Solutions with sufficient delivered payload for a multi-planet mission (e.g. sending a probe to Saturn on the way to delivering an orbiter at Uranus) become available when the Space Launch System (SLS) launch vehicle is employed. A set of possible approach trajectories are modeled at the target planet to assess what (if any) adjustments are needed for ring avoidance, and to determine the probe entry conditions. Mars free-return trajectories are found with an emphasis on short flight times for application to near-term human flyby missions (similar to that of Inspiration Mars). Venus free-returns are also investigated and proposed as an alternative to a human Mars flyby mission. Attractive Earth-Mars free-return opportunities are identified that use an intermediate Venus flyby. One such opportunity, in 2021, has been adopted by the Inspiration Mars Foundation as a backup to the currently considered 2018 Mars free-return opportunity. Methods to establish spacecraft into Earth-Mars cycler trajectories are also investigated to reduce the propellant cost required to inject a 95-metric ton spacecraft into a cycler orbit. The establishment trajectories considered use either a V-infinity leveraging maneuver or low thrust. The V-infinity leveraging establishment trajectories are validated using patched conics via the STOUR program. Establishment trajectories that use low-thrust were investigated with particular focus on validating the patched-conic based solutions at instances where Earth encounter times are not negligible.

Minimum fuel trajectory for the aerospace-plane

NASA Technical Reports Server (NTRS)

Breakwell, John V.; Golan, Oded; Sauvageot, Anne

1990-01-01

An overall trajectory for a single-stage-to-orbit vehicle with an initial weight of 234 tons is calculated, and four different propulsion models including turbojet, ramjet, scramjet, and rocket are considered. First, the atmospheric flight in the thicker atmosphere is discussed with emphasis on trajectory optimization, optimization problem, aerodynamic problem, propulsion model, and initial conditions. The performance of turbojet and ramjet-scramjet engines is analyzed; and then the flight to orbit is assessed from the optimization point of view. It is shown that roll modulation saves little during the trajectory, and the combined application of airbreathing propulsion and aerodynamic lift is suggested.

Method of particle trajectory recognition in particle flows of high particle concentration using a candidate trajectory tree process with variable search areas

DOEpatents

Shaffer, Franklin D.

2013-03-12

The application relates to particle trajectory recognition from a Centroid Population comprised of Centroids having an (x, y, t) or (x, y, f) coordinate. The method is applicable to visualization and measurement of particle flow fields of high particle. In one embodiment, the centroids are generated from particle images recorded on camera frames. The application encompasses digital computer systems and distribution mediums implementing the method disclosed and is particularly applicable to recognizing trajectories of particles in particle flows of high particle concentration. The method accomplishes trajectory recognition by forming Candidate Trajectory Trees and repeated searches at varying Search Velocities, such that initial search areas are set to a minimum size in order to recognize only the slowest, least accelerating particles which produce higher local concentrations. When a trajectory is recognized, the centroids in that trajectory are removed from consideration in future searches.