Sample records for motion control applications

  1. Application of a Leap Motion Sensor for Improved Drone Control

    DTIC Science & Technology

    2017-12-01

    command ( )u t needed to control the distance error ( )e t was obtained using         0 1 t p d i de t u t K e t e d T T dt...SENSOR FOR IMPROVED DRONE CONTROL by Alfredo Belaunde Sara-Lafosse December 2017 Thesis Advisor: Xiaoping Yun Second Reader: James Calusdian THIS...thesis 4. TITLE AND SUBTITLE APPLICATION OF A LEAP MOTION SENSOR FOR IMPROVED DRONE CONTROL 5. FUNDING NUMBERS 6. AUTHOR(S) Alfredo Belaunde Sara

  2. An open architecture motion controller

    NASA Technical Reports Server (NTRS)

    Rossol, Lothar

    1994-01-01

    Nomad, an open architecture motion controller, is described. It is formed by a combination of TMOS, C-WORKS, and other utilities. Nomad software runs in a UNIX environment and provides for sensor-controlled robotic motions, with user replaceable kinematics. It can also be tailored for highly specialized applications. Open controllers such as Nomad should have a major impact on the robotics industry.

  3. Validation results of specifications for motion control interoperability

    NASA Astrophysics Data System (ADS)

    Szabo, Sandor; Proctor, Frederick M.

    1997-01-01

    The National Institute of Standards and Technology (NIST) is participating in the Department of Energy Technologies Enabling Agile Manufacturing (TEAM) program to establish interface standards for machine tool, robot, and coordinate measuring machine controllers. At NIST, the focus is to validate potential application programming interfaces (APIs) that make it possible to exchange machine controller components with a minimal impact on the rest of the system. This validation is taking place in the enhanced machine controller (EMC) consortium and is in cooperation with users and vendors of motion control equipment. An area of interest is motion control, including closed-loop control of individual axes and coordinated path planning. Initial tests of the motion control APIs are complete. The APIs were implemented on two commercial motion control boards that run on two different machine tools. The results for a baseline set of APIs look promising, but several issues were raised. These include resolving differing approaches in how motions are programmed and defining a standard measurement of performance for motion control. This paper starts with a summary of the process used in developing a set of specifications for motion control interoperability. Next, the EMC architecture and its classification of motion control APIs into two classes, Servo Control and Trajectory Planning, are reviewed. Selected APIs are presented to explain the basic functionality and some of the major issues involved in porting the APIs to other motion controllers. The paper concludes with a summary of the main issues and ways to continue the standards process.

  4. A Unified Approach to Motion Control of Motion Robots

    NASA Technical Reports Server (NTRS)

    Seraji, H.

    1994-01-01

    This paper presents a simple on-line approach for motion control of mobile robots made up of a manipulator arm mounted on a mobile base. The proposed approach is equally applicable to nonholonomic mobile robots, such as rover-mounted manipulators and to holonomic mobile robots such as tracked robots or compound manipulators. The computational efficiency of the proposed control scheme makes it particularly suitable for real-time implementation.

  5. Control of joint motion simulators for biomechanical research

    NASA Technical Reports Server (NTRS)

    Colbaugh, R.; Glass, K.

    1992-01-01

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

  6. Open architecture CMM motion controller

    NASA Astrophysics Data System (ADS)

    Chang, David; Spence, Allan D.; Bigg, Steve; Heslip, Joe; Peterson, John

    2001-12-01

    Although initially the only Coordinate Measuring Machine (CMM) sensor available was a touch trigger probe, technological advances in sensors and computing have greatly increased the variety of available inspection sensors. Non-contact laser digitizers and analog scanning touch probes require very well tuned CMM motion control, as well as an extensible, open architecture interface. This paper describes the implementation of a retrofit CMM motion controller designed for open architecture interface to a variety of sensors. The controller is based on an Intel Pentium microcomputer and a Servo To Go motion interface electronics card. Motor amplifiers, safety, and additional interface electronics are housed in a separate enclosure. Host Signal Processing (HSP) is used for the motion control algorithm. Compared to the usual host plus DSP architecture, single CPU HSP simplifies integration with the various sensors, and implementation of software geometric error compensation. Motion control tuning is accomplished using a remote computer via 100BaseTX Ethernet. A Graphical User Interface (GUI) is used to enter geometric error compensation data, and to optimize the motion control tuning parameters. It is shown that this architecture achieves the required real time motion control response, yet is much easier to extend to additional sensors.

  7. Kinematics and Dynamics of Motion Control Based on Acceleration Control

    NASA Astrophysics Data System (ADS)

    Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

    The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

  8. Research on NC motion controller based on SOPC technology

    NASA Astrophysics Data System (ADS)

    Jiang, Tingbiao; Meng, Biao

    2006-11-01

    With the rapid development of the digitization and informationization, the application of numerical control technology in the manufacturing industry becomes more and more important. However, the conventional numerical control system usually has some shortcomings such as the poor in system openness, character of real-time, cutability and reconfiguration. In order to solve these problems, this paper investigates the development prospect and advantage of the application in numerical control area with system-on-a-Programmable-Chip (SOPC) technology, and puts forward to a research program approach to the NC controller based on SOPC technology. Utilizing the characteristic of SOPC technology, we integrate high density logic device FPGA, memory SRAM, and embedded processor ARM into a single programmable logic device. We also combine the 32-bit RISC processor with high computing capability of the complicated algorithm with the FPGA device with strong motivable reconfiguration logic control ability. With these steps, we can greatly resolve the defect described in above existing numerical control systems. For the concrete implementation method, we use FPGA chip embedded with ARM hard nuclear processor to construct the control core of the motion controller. We also design the peripheral circuit of the controller according to the requirements of actual control functions, transplant real-time operating system into ARM, design the driver of the peripheral assisted chip, develop the application program to control and configuration of FPGA, design IP core of logic algorithm for various NC motion control to configured it into FPGA. The whole control system uses the concept of modular and structured design to develop hardware and software system. Thus the NC motion controller with the advantage of easily tailoring, highly opening, reconfigurable, and expandable can be implemented.

  9. Scalable Photogrammetric Motion Capture System "mosca": Development and Application

    NASA Astrophysics Data System (ADS)

    Knyaz, V. A.

    2015-05-01

    Wide variety of applications (from industrial to entertainment) has a need for reliable and accurate 3D information about motion of an object and its parts. Very often the process of movement is rather fast as in cases of vehicle movement, sport biomechanics, animation of cartoon characters. Motion capture systems based on different physical principles are used for these purposes. The great potential for obtaining high accuracy and high degree of automation has vision-based system due to progress in image processing and analysis. Scalable inexpensive motion capture system is developed as a convenient and flexible tool for solving various tasks requiring 3D motion analysis. It is based on photogrammetric techniques of 3D measurements and provides high speed image acquisition, high accuracy of 3D measurements and highly automated processing of captured data. Depending on the application the system can be easily modified for different working areas from 100 mm to 10 m. The developed motion capture system uses from 2 to 4 technical vision cameras for video sequences of object motion acquisition. All cameras work in synchronization mode at frame rate up to 100 frames per second under the control of personal computer providing the possibility for accurate calculation of 3D coordinates of interest points. The system was used for a set of different applications fields and demonstrated high accuracy and high level of automation.

  10. Resolved motion rate and resolved acceleration servo-control of wheeled mobile robots

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

    Muir, P.F.; Neuman, C.P.; Carnegie-Mellon Univ., Pittsburgh, PA

    1989-01-01

    Accurate motion control of wheeled mobile robots (WMRs) is required for their application to autonomous, semi-autonomous and teleoperated tasks. The similarities between WMRs and stationary manipulators suggest that current, successful, model-based manipulator control algorithms may be applied to WMRs. Special characteristics of WMRs including higher-pairs, closed-chains, friction and unactuated and unsensed joints require innovative modeling methodologies. The WMR modeling challenge has been recently overcome, thus enabling the application of manipulator control algorithms to WMRs. This realization lays the foundation for significant technology transfer from manipulator control to WMR control. We apply two Cartesian-space manipulator control algorithms: resolved motion rate (kinematics-based)more » and resolved acceleration (dynamics-based) control to WMR servo-control. We evaluate simulation studies of two exemplary WMRs: Uranus (a three degree-of-freedom WMR constructed at Carnegie Mellon University), and Bicsun-Bicas (a two degree-of-freedom WMR being constructed at Sandia National Laboratories) under the control of these algorithms. Although resolved motion rate servo-control is adequate for the control of Uranus, resolved acceleration servo-control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities. Successful accurate motion control of these WMRs in simulation is driving current experimental research studies. 18 refs., 7 figs., 5 tabs.« less

  11. Multi-application controls: Robust nonlinear multivariable aerospace controls applications

    NASA Technical Reports Server (NTRS)

    Enns, Dale F.; Bugajski, Daniel J.; Carter, John; Antoniewicz, Bob

    1994-01-01

    This viewgraph presentation describes the general methodology used to apply Honywell's Multi-Application Control (MACH) and the specific application to the F-18 High Angle-of-Attack Research Vehicle (HARV) including piloted simulation handling qualities evaluation. The general steps include insertion of modeling data for geometry and mass properties, aerodynamics, propulsion data and assumptions, requirements and specifications, e.g. definition of control variables, handling qualities, stability margins and statements for bandwidth, control power, priorities, position and rate limits. The specific steps include choice of independent variables for least squares fits to aerodynamic and propulsion data, modifications to the management of the controls with regard to integrator windup and actuation limiting and priorities, e.g. pitch priority over roll, and command limiting to prevent departures and/or undesirable inertial coupling or inability to recover to a stable trim condition. The HARV control problem is characterized by significant nonlinearities and multivariable interactions in the low speed, high angle-of-attack, high angular rate flight regime. Systematic approaches to the control of vehicle motions modeled with coupled nonlinear equations of motion have been developed. This paper will discuss the dynamic inversion approach which explicity accounts for nonlinearities in the control design. Multiple control effectors (including aerodynamic control surfaces and thrust vectoring control) and sensors are used to control the motions of the vehicles in several degrees-of-freedom. Several maneuvers will be used to illustrate performance of MACH in the high angle-of-attack flight regime. Analytical methods for assessing the robust performance of the multivariable control system in the presence of math modeling uncertainty, disturbances, and commands have reached a high level of maturity. The structured singular value (mu) frequency response methodology is presented

  12. Knowledge-Based Motion Control of AN Intelligent Mobile Autonomous System

    NASA Astrophysics Data System (ADS)

    Isik, Can

    An Intelligent Mobile Autonomous System (IMAS), which is equipped with vision and low level sensors to cope with unknown obstacles, is modeled as a hierarchy of path planning and motion control. This dissertation concentrates on the lower level of this hierarchy (Pilot) with a knowledge-based controller. The basis of a theory of knowledge-based controllers is established, using the example of the Pilot level motion control of IMAS. In this context, the knowledge-based controller with a linguistic world concept is shown to be adequate for the minimum time control of an autonomous mobile robot motion. The Pilot level motion control of IMAS is approached in the framework of production systems. The three major components of the knowledge-based control that are included here are the hierarchies of the database, the rule base and the rule evaluator. The database, which is the representation of the state of the world, is organized as a semantic network, using a concept of minimal admissible vocabulary. The hierarchy of rule base is derived from the analytical formulation of minimum-time control of IMAS motion. The procedure introduced for rule derivation, which is called analytical model verbalization, utilizes the concept of causalities to describe the system behavior. A realistic analytical system model is developed and the minimum-time motion control in an obstacle strewn environment is decomposed to a hierarchy of motion planning and control. The conditions for the validity of the hierarchical problem decomposition are established, and the consistency of operation is maintained by detecting the long term conflicting decisions of the levels of the hierarchy. The imprecision in the world description is modeled using the theory of fuzzy sets. The method developed for the choice of the rule that prescribes the minimum-time motion control among the redundant set of applicable rules is explained and the usage of fuzzy set operators is justified. Also included in the

  13. Possible applications of the LEAP motion controller for more interactive simulated experiments in augmented or virtual reality

    NASA Astrophysics Data System (ADS)

    Wozniak, Peter; Vauderwange, Oliver; Mandal, Avikarsha; Javahiraly, Nicolas; Curticapean, Dan

    2016-09-01

    Practical exercises are a crucial part of many curricula. Even simple exercises can improve the understanding of the underlying subject. Most experimental setups require special hardware. To carry out e. g. a lens experiments the students need access to an optical bench, various lenses, light sources, apertures and a screen. In our previous publication we demonstrated the use of augmented reality visualization techniques in order to let the students prepare with a simulated experimental setup. Within the context of our intended blended learning concept we want to utilize augmented or virtual reality techniques for stationary laboratory exercises. Unlike applications running on mobile devices, stationary setups can be extended more easily with additional interfaces and thus allow for more complex interactions and simulations in virtual reality (VR) and augmented reality (AR). The most significant difference is the possibility to allow interactions beyond touching a screen. The LEAP Motion controller is a small inexpensive device that allows for the tracking of the user's hands and fingers in three dimensions. It is conceivable to allow the user to interact with the simulation's virtual elements by the user's very hand position, movement and gesture. In this paper we evaluate possible applications of the LEAP Motion controller for simulated experiments in augmented and virtual reality. We pay particular attention to the devices strengths and weaknesses and want to point out useful and less useful application scenarios.

  14. Design and Simulation of a PID Controller for Motion Control Systems

    NASA Astrophysics Data System (ADS)

    Hassan Abdullahi, Zakariyya; Danzomo, Bashir Ahmed; Suleiman Abdullahi, Zainab

    2018-04-01

    Motion control system plays important role in many industrial applications among which are in robot system, missile launching, positioning systems etc. However, the performance requirement for these applications in terms of high accuracy, high speed, insignificant or no overshoot and robustness have generated continuous challenges in the field of motion control system design and implementation. To compensate this challenge, a PID controller was design using mathematical model of a DC motor based on classical root-locus approach. The reason for adopting root locus design is to remodel the closed-loop response by putting the closed-loop poles of the system at desired points. Adding poles and zeros to the initial open-loop transfer function through the controller provide a way to transform the root locus in order to place the closed-loop poles at the required points. This process can also be used for discrete-time models. The Advantages of root locus over other methods is that, it gives the better way of pinpointing the parameters and can easily predict the fulfilment of the whole system. The controller performance was simulated using MATLAB code and a reasonable degree of accuracy was obtained. Implementation of the proposed model was conducted using-Simulink and the result obtained shows that the PID controller met the transient performance specifications with both settling time and overshoot less than 0.1s and 5% respectively. In terms of steady state error, the PID controller gave good response for both step input and ramp.

  15. Analysis of the accuracy and robustness of the leap motion controller.

    PubMed

    Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

    2013-05-14

    The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction.

  16. Security Applications Of Computer Motion Detection

    NASA Astrophysics Data System (ADS)

    Bernat, Andrew P.; Nelan, Joseph; Riter, Stephen; Frankel, Harry

    1987-05-01

    An important area of application of computer vision is the detection of human motion in security systems. This paper describes the development of a computer vision system which can detect and track human movement across the international border between the United States and Mexico. Because of the wide range of environmental conditions, this application represents a stringent test of computer vision algorithms for motion detection and object identification. The desired output of this vision system is accurate, real-time locations for individual aliens and accurate statistical data as to the frequency of illegal border crossings. Because most detection and tracking routines assume rigid body motion, which is not characteristic of humans, new algorithms capable of reliable operation in our application are required. Furthermore, most current detection and tracking algorithms assume a uniform background against which motion is viewed - the urban environment along the US-Mexican border is anything but uniform. The system works in three stages: motion detection, object tracking and object identi-fication. We have implemented motion detection using simple frame differencing, maximum likelihood estimation, mean and median tests and are evaluating them for accuracy and computational efficiency. Due to the complex nature of the urban environment (background and foreground objects consisting of buildings, vegetation, vehicles, wind-blown debris, animals, etc.), motion detection alone is not sufficiently accurate. Object tracking and identification are handled by an expert system which takes shape, location and trajectory information as input and determines if the moving object is indeed representative of an illegal border crossing.

  17. Enhancement of vortex induced forces and motion through surface roughness control

    DOEpatents

    Bernitsas, Michael M [Saline, MI; Raghavan, Kamaldev [Houston, TX

    2011-11-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to increase Vortex Induced Forces and Motion. Enhancement is needed in such applications as harnessing of clean and renewable energy from ocean/river currents using the ocean energy converter VIVACE (Vortex Induced Vibration for Aquatic Clean Energy).

  18. Analysis of the Accuracy and Robustness of the Leap Motion Controller

    PubMed Central

    Weichert, Frank; Bachmann, Daniel; Rudak, Bartholomäus; Fisseler, Denis

    2013-01-01

    The Leap Motion Controller is a new device for hand gesture controlled user interfaces with declared sub-millimeter accuracy. However, up to this point its capabilities in real environments have not been analyzed. Therefore, this paper presents a first study of a Leap Motion Controller. The main focus of attention is on the evaluation of the accuracy and repeatability. For an appropriate evaluation, a novel experimental setup was developed making use of an industrial robot with a reference pen allowing a position accuracy of 0.2 mm. Thereby, a deviation between a desired 3D position and the average measured positions below 0.2 mm has been obtained for static setups and of 1.2 mm for dynamic setups. Using the conclusion of this analysis can improve the development of applications for the Leap Motion controller in the field of Human-Computer Interaction. PMID:23673678

  19. Guaranteeing Isochronous Control of Networked Motion Control Systems Using Phase Offset Adjustment

    PubMed Central

    Kim, Ikhwan; Kim, Taehyoun

    2015-01-01

    Guaranteeing isochronous transfer of control commands is an essential function for networked motion control systems. The adoption of real-time Ethernet (RTE) technologies may be profitable in guaranteeing deterministic transfer of control messages. However, unpredictable behavior of software in the motion controller often results in unexpectedly large deviation in control message transmission intervals, and thus leads to imprecise motion. This paper presents a simple and efficient heuristic to guarantee the end-to-end isochronous control with very small jitter. The key idea of our approach is to adjust the phase offset of control message transmission time in the motion controller by investigating the behavior of motion control task. In realizing the idea, we performed a pre-runtime analysis to determine a safe and reliable phase offset and applied the phase offset to the runtime code of motion controller by customizing an open-source based integrated development environment (IDE). We also constructed an EtherCAT-based motion control system testbed and performed extensive experiments on the testbed to verify the effectiveness of our approach. The experimental results show that our heuristic is highly effective even for low-end embedded controller implemented in open-source software components under various configurations of control period and the number of motor drives. PMID:26076407

  20. A Programmable System for Motion Control

    NASA Technical Reports Server (NTRS)

    Nowlin, Brent C.

    2003-01-01

    The need for improved flow measurements in the flow path of aeronautics testing facilities has led the NASA Glenn Research Center to develop a new motion control system. The new system is programmable, offering a flexibility unheard of in previous systems. The motion control system is PLC-based, which leads to highly accurate positioning ability, as well as reliability. The user interface is a software-based HMI package, which also adds flexibility to the overall system. The system also has the ability to create and execute motion profiles. This paper discusses the system's operation, control implementation, and experiences.

  1. Validation of the Leap Motion Controller using markered motion capture technology.

    PubMed

    Smeragliuolo, Anna H; Hill, N Jeremy; Disla, Luis; Putrino, David

    2016-06-14

    The Leap Motion Controller (LMC) is a low-cost, markerless motion capture device that tracks hand, wrist and forearm position. Integration of this technology into healthcare applications has begun to occur rapidly, making validation of the LMC׳s data output an important research goal. Here, we perform a detailed evaluation of the kinematic data output from the LMC, and validate this output against gold-standard, markered motion capture technology. We instructed subjects to perform three clinically-relevant wrist (flexion/extension, radial/ulnar deviation) and forearm (pronation/supination) movements. The movements were simultaneously tracked using both the LMC and a marker-based motion capture system from Motion Analysis Corporation (MAC). Adjusting for known inconsistencies in the LMC sampling frequency, we compared simultaneously acquired LMC and MAC data by performing Pearson׳s correlation (r) and root mean square error (RMSE). Wrist flexion/extension and radial/ulnar deviation showed good overall agreement (r=0.95; RMSE=11.6°, and r=0.92; RMSE=12.4°, respectively) with the MAC system. However, when tracking forearm pronation/supination, there were serious inconsistencies in reported joint angles (r=0.79; RMSE=38.4°). Hand posture significantly influenced the quality of wrist deviation (P<0.005) and forearm supination/pronation (P<0.001), but not wrist flexion/extension (P=0.29). We conclude that the LMC is capable of providing data that are clinically meaningful for wrist flexion/extension, and perhaps wrist deviation. It cannot yet return clinically meaningful data for measuring forearm pronation/supination. Future studies should continue to validate the LMC as updated versions of their software are developed. Copyright © 2016 Elsevier Ltd. All rights reserved.

  2. Current-controlled unidirectional edge-meron motion

    NASA Astrophysics Data System (ADS)

    Xing, Xiangjun; Pong, Philip W. T.; Zhou, Yan

    2016-11-01

    In order to address many of the challenges and bottlenecks currently experienced by traditional charge-based technologies, various alternatives are being actively explored to provide potential solutions of device miniaturization and scaling in the post-Moore's-law era. Amongst these alternatives, spintronic physics and devices have recently attracted rapidly increasing interest by exploiting the additional degree of electrons-spin. For example, magnetic domain-wall racetrack-memory and logic devices have been realized via manipulating domain-wall motion. As compared to domain-wall-based devices, magnetic skyrmions have the advantages of ultrasmall size (typically 5-100 nm in diameter), facile current-driven motion, topological stability, and peculiar emergent electrodynamics, promising for next-generation electronics applications in the post-Moore's-law regime. Here, a magnetic meron device, which behaves similarly to a PN-junction diode, is demonstrated for the first time, by tailoring the current-controlled unidirectional motion of edge-merons (i.e., fractional skyrmions) in a nanotrack with interfacial Dzyaloshinskii-Moriya interaction. The working principles of the meron device, theoretically predicted from the Thiele equation for topological magnetic objects, are further verified using micromagnetic simulations. The present study has revealed the topology-independent transport property of different magnetic objects and is expected to open the vista toward integrated composite circuitry (with unified data storage and processing) based on a single magnetic chip, as the meron device can be used, either as a building block to develop complex logic components or as a signal controller to interconnect skyrmion, domain-wall, and even spin-wave devices.

  3. Motion artifact removal in FNIR spectroscopy for real-world applications

    NASA Astrophysics Data System (ADS)

    Devaraj, Ajit; Izzetoglu, Meltem; Izzetoglu, Kurtulus; Bunce, Scott C.; Li, Connie Y.; Onaral, Banu

    2004-12-01

    Near infrared spectroscopy as a neuroimaging modality is a recent development. Near infrared neuroimagers are typically safe, portable, relatively affordable and non-invasive. The ease of sensor setup and non-intrusiveness make functional near infrared (fNIR) imaging an ideal candidate for monitoring human cortical function in a wide range of real world situations. However optical signals are susceptible to motion-artifacts, hindering the application of fNIR in studies where subject mobility cannot be controlled. In this paper, we present a filtering framework for motion-artifact cancellation to facilitate the deployment of fNIR imaging in real-world scenarios. We simulate a generic field environment by having subjects walk on a treadmill while performing a cognitive task and demonstrate that measurements can be effectively cleaned of motion-artifacts.

  4. Adaptive Animation of Human Motion for E-Learning Applications

    ERIC Educational Resources Information Center

    Li, Frederick W. B.; Lau, Rynson W. H.; Komura, Taku; Wang, Meng; Siu, Becky

    2007-01-01

    Human motion animation has been one of the major research topics in the field of computer graphics for decades. Techniques developed in this area help present human motions in various applications. This is crucial for enhancing the realism as well as promoting the user interest in the applications. To carry this merit to e-learning applications,…

  5. On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

    NASA Technical Reports Server (NTRS)

    Cetinkunt, Sabri

    1987-01-01

    A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.

  6. An active-optics image-motion compensation technology application for high-speed searching and infrared detection system

    NASA Astrophysics Data System (ADS)

    Wu, Jianping; Lu, Fei; Zou, Kai; Yan, Hong; Wan, Min; Kuang, Yan; Zhou, Yanqing

    2018-03-01

    An ultra-high angular velocity and minor-caliber high-precision stably control technology application for active-optics image-motion compensation, is put forward innovatively in this paper. The image blur problem due to several 100°/s high-velocity relative motion between imaging system and target is theoretically analyzed. The velocity match model of detection system and active optics compensation system is built, and active optics image motion compensation platform experiment parameters are designed. Several 100°/s high-velocity high-precision control optics compensation technology is studied and implemented. The relative motion velocity is up to 250°/s, and image motion amplitude is more than 20 pixel. After the active optics compensation, motion blur is less than one pixel. The bottleneck technology of ultra-high angular velocity and long exposure time in searching and infrared detection system is successfully broke through.

  7. Motion and force control of multiple robotic manipulators

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Kreutz-Delgado, Kenneth

    1992-01-01

    This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

  8. Animation control of surface motion capture.

    PubMed

    Tejera, Margara; Casas, Dan; Hilton, Adrian

    2013-12-01

    Surface motion capture (SurfCap) of actor performance from multiple view video provides reconstruction of the natural nonrigid deformation of skin and clothing. This paper introduces techniques for interactive animation control of SurfCap sequences which allow the flexibility in editing and interactive manipulation associated with existing tools for animation from skeletal motion capture (MoCap). Laplacian mesh editing is extended using a basis model learned from SurfCap sequences to constrain the surface shape to reproduce natural deformation. Three novel approaches for animation control of SurfCap sequences, which exploit the constrained Laplacian mesh editing, are introduced: 1) space–time editing for interactive sequence manipulation; 2) skeleton-driven animation to achieve natural nonrigid surface deformation; and 3) hybrid combination of skeletal MoCap driven and SurfCap sequence to extend the range of movement. These approaches are combined with high-level parametric control of SurfCap sequences in a hybrid surface and skeleton-driven animation control framework to achieve natural surface deformation with an extended range of movement by exploiting existing MoCap archives. Evaluation of each approach and the integrated animation framework are presented on real SurfCap sequences for actors performing multiple motions with a variety of clothing styles. Results demonstrate that these techniques enable flexible control for interactive animation with the natural nonrigid surface dynamics of the captured performance and provide a powerful tool to extend current SurfCap databases by incorporating new motions from MoCap sequences.

  9. LabVIEW application for motion tracking using USB camera

    NASA Astrophysics Data System (ADS)

    Rob, R.; Tirian, G. O.; Panoiu, M.

    2017-05-01

    The technical state of the contact line and also the additional equipment in electric rail transport is very important for realizing the repairing and maintenance of the contact line. During its functioning, the pantograph motion must stay in standard limits. Present paper proposes a LabVIEW application which is able to track in real time the motion of a laboratory pantograph and also to acquire the tracking images. An USB webcam connected to a computer acquires the desired images. The laboratory pantograph contains an automatic system which simulates the real motion. The tracking parameters are the horizontally motion (zigzag) and the vertically motion which can be studied in separate diagrams. The LabVIEW application requires appropriate tool-kits for vision development. Therefore the paper describes the subroutines that are especially programmed for real-time image acquisition and also for data processing.

  10. Contrast gain control in first- and second-order motion perception.

    PubMed

    Lu, Z L; Sperling, G

    1996-12-01

    A novel pedestal-plus-test paradigm is used to determine the nonlinear gain-control properties of the first-order (luminance) and the second-order (texture-contrast) motion systems, that is, how these systems' responses to motion stimuli are reduced by pedestals and other masking stimuli. Motion-direction thresholds were measured for test stimuli consisting of drifting luminance and texture-contrast-modulation stimuli superimposed on pedestals of various amplitudes. (A pedestal is a static sine-wave grating of the same type and same spatial frequency as the moving test grating.) It was found that first-order motion-direction thresholds are unaffected by small pedestals, but at pedestal contrasts above 1-2% (5-10 x pedestal threshold), motion thresholds increase proportionally to pedestal amplitude (a Weber law). For first-order stimuli, pedestal masking is specific to the spatial frequency of the test. On the other hand, motion-direction thresholds for texture-contrast stimuli are independent of pedestal amplitude (no gain control whatever) throughout the accessible pedestal amplitude range (from 0 to 40%). However, when baseline carrier contrast increases (with constant pedestal modulation amplitude), motion thresholds increase, showing that gain control in second-order motion is determined not by the modulator (as in first-order motion) but by the carrier. Note that baseline contrast of the carrier is inherently independent of spatial frequency of the modulator. The drastically different gain-control properties of the two motion systems and prior observations of motion masking and motion saturation are all encompassed in a functional theory. The stimulus inputs to both first- and second-order motion process are normalized by feedforward, shunting gain control. The different properties arise because the modulator is used to control the first-order gain and the carrier is used to control the second-order gain.

  11. Motion control of 7-DOF arms - The configuration control approach

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Long, Mark K.; Lee, Thomas S.

    1993-01-01

    Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola-68020/VME-bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control.

  12. 46 CFR 502.74 - Replies to pleadings, motions, applications, etc.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 46 Shipping 9 2010-10-01 2010-10-01 false Replies to pleadings, motions, applications, etc. 502.74... PRACTICE AND PROCEDURE Proceedings; Pleadings; Motions; Replies § 502.74 Replies to pleadings, motions... this section, any party may file and serve a reply to any written motion, pleading, petition...

  13. Brain-machine interfacing control of whole-body humanoid motion

    PubMed Central

    Bouyarmane, Karim; Vaillant, Joris; Sugimoto, Norikazu; Keith, François; Furukawa, Jun-ichiro; Morimoto, Jun

    2014-01-01

    We propose to tackle in this paper the problem of controlling whole-body humanoid robot behavior through non-invasive brain-machine interfacing (BMI), motivated by the perspective of mapping human motor control strategies to human-like mechanical avatar. Our solution is based on the adequate reduction of the controllable dimensionality of a high-DOF humanoid motion in line with the state-of-the-art possibilities of non-invasive BMI technologies, leaving the complement subspace part of the motion to be planned and executed by an autonomous humanoid whole-body motion planning and control framework. The results are shown in full physics-based simulation of a 36-degree-of-freedom humanoid motion controlled by a user through EEG-extracted brain signals generated with motor imagery task. PMID:25140134

  14. Motion-mode energy method for vehicle dynamics analysis and control

    NASA Astrophysics Data System (ADS)

    Zhang, Nong; Wang, Lifu; Du, Haiping

    2014-01-01

    Vehicle motion and vibration control is a fundamental motivation for the development of advanced vehicle suspension systems. In a vehicle-fixed coordinate system, the relative motions of the vehicle between body and wheel can be classified into several dynamic stages based on energy intensity, and can be decomposed into sets of uncoupled motion-modes according to modal parameters. Vehicle motions are coupled, but motion-modes are orthogonal. By detecting and controlling the predominating vehicle motion-mode, the system cost and energy consumption of active suspensions could be reduced. A motion-mode energy method (MEM) is presented in this paper to quantify the energy contribution of each motion-mode to vehicle dynamics in real time. The control of motion-modes is prioritised according to the level of motion-mode energy. Simulation results on a 10 degree-of-freedom nonlinear full-car model with the magic-formula tyre model illustrate the effectiveness of the proposed MEM. The contribution of each motion-mode to the vehicle's dynamic behaviour is analysed under different excitation inputs from road irregularities, directional manoeuvres and braking. With the identified dominant motion-mode, novel cost-effective suspension systems, such as active reconfigurable hydraulically interconnected suspension, can possibly be used to control full-car motions with reduced energy consumption. Finally, discussion, conclusions and suggestions for future work are provided.

  15. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  16. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  17. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  18. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  19. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  20. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  1. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  2. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  3. 14 CFR 29.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motion and effect of cockpit controls. 29... Accommodations § 29.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  4. 14 CFR 27.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Motion and effect of cockpit controls. 27... Accommodations § 27.779 Motion and effect of cockpit controls. Cockpit controls must be designed so that they... collective pitch control, must operate with a sense of motion which corresponds to the effect on the...

  5. An Interface for Specifying Rigid-Body Motions for CFD Applications

    NASA Technical Reports Server (NTRS)

    Murman, Scott M.; Chan, William; Aftosmis, Michael; Meakin, Robert L.; Kwak, Dochan (Technical Monitor)

    2003-01-01

    An interface for specifying rigid-body motions for CFD applications is presented. This interface provides a means of describing a component hierarchy in a geometric configuration, as well as the motion (prescribed or six-degree-of-freedom) associated with any component. The interface consists of a general set of datatypes, along with rules for their interaction, and is designed to be flexible in order to evolve as future needs dictate. The specification is currently implemented with an XML file format which is portable across platforms and applications. The motion specification is capable of describing general rigid body motions, and eliminates the need to write and compile new code within the application software for each dynamic configuration, allowing client software to automate dynamic simulations. The interface is integrated with a GUI tool which allows rigid body motions to be prescribed and verified interactively, promoting access to non-expert users. Illustrative examples, as well as the raw XML source of the file specifications, are included.

  6. Novel true-motion estimation algorithm and its application to motion-compensated temporal frame interpolation.

    PubMed

    Dikbas, Salih; Altunbasak, Yucel

    2013-08-01

    In this paper, a new low-complexity true-motion estimation (TME) algorithm is proposed for video processing applications, such as motion-compensated temporal frame interpolation (MCTFI) or motion-compensated frame rate up-conversion (MCFRUC). Regular motion estimation, which is often used in video coding, aims to find the motion vectors (MVs) to reduce the temporal redundancy, whereas TME aims to track the projected object motion as closely as possible. TME is obtained by imposing implicit and/or explicit smoothness constraints on the block-matching algorithm. To produce better quality-interpolated frames, the dense motion field at interpolation time is obtained for both forward and backward MVs; then, bidirectional motion compensation using forward and backward MVs is applied by mixing both elegantly. Finally, the performance of the proposed algorithm for MCTFI is demonstrated against recently proposed methods and smoothness constraint optical flow employed by a professional video production suite. Experimental results show that the quality of the interpolated frames using the proposed method is better when compared with the MCFRUC techniques.

  7. Adaptive weld control for high-integrity welding applications

    NASA Technical Reports Server (NTRS)

    Powell, Bradley W.

    1993-01-01

    An advanced adaptive control weld system for high-integrity welding applications is presented. The system consists of a state-of-the-art weld control subsystem, motion control subsystem, and sensor subsystem which closes the loop on the process. The adaptive control subsystem (ACS), which is required to totally close the loop on weld process control, consists of a multiprocessor system, data acquisition hardware, and three welding sensors which provide measurements from all areas around the torch in real time. The ACS acquires all 'measurables' and feeds offset trims back into the weld control and motion control subsystems to modify the 'controllables' in order to maintain a previously defined weld quality.

  8. Application Number 3: Using Tethers for Attitude Control

    NASA Technical Reports Server (NTRS)

    Muller, R. M.

    1985-01-01

    Past application of the gravity gradient concept to satellite attitude control produced attitude stabilities of from 1 to 10 degrees. The satellite members were rigigly interconnected and any motion in one part of the satellite would cause motion in all members. This experience has restricted gravity gradient stabilization to applications that need attitude stability no better than 1 degree. A gravity gradient technique that combines the flexible tether with an active control that will allow control stability much better than 1 degree is proposed. This could give gravity gradient stabilization much broader application. In fact, for a large structure like a space station, it may become the preferred method. Two possible ways of demonstrating the techniques using the Tethered Satellite System (TSS) tether to control the attitude of the shuttle are proposed. Then a possible space station tether configuration is shown that could be used to control the initial station. It is then shown how the technique can be extended to the control of space stations of virtually any size.

  9. Human joint motion estimation for electromyography (EMG)-based dynamic motion control.

    PubMed

    Zhang, Qin; Hosoda, Ryo; Venture, Gentiane

    2013-01-01

    This study aims to investigate a joint motion estimation method from Electromyography (EMG) signals during dynamic movement. In most EMG-based humanoid or prosthetics control systems, EMG features were directly or indirectly used to trigger intended motions. However, both physiological and nonphysiological factors can influence EMG characteristics during dynamic movements, resulting in subject-specific, non-stationary and crosstalk problems. Particularly, when motion velocity and/or joint torque are not constrained, joint motion estimation from EMG signals are more challenging. In this paper, we propose a joint motion estimation method based on muscle activation recorded from a pair of agonist and antagonist muscles of the joint. A linear state-space model with multi input single output is proposed to map the muscle activity to joint motion. An adaptive estimation method is proposed to train the model. The estimation performance is evaluated in performing a single elbow flexion-extension movement in two subjects. All the results in two subjects at two load levels indicate the feasibility and suitability of the proposed method in joint motion estimation. The estimation root-mean-square error is within 8.3% ∼ 10.6%, which is lower than that being reported in several previous studies. Moreover, this method is able to overcome subject-specific problem and compensate non-stationary EMG properties.

  10. The influence of ship motion of manual control skills

    NASA Technical Reports Server (NTRS)

    Mcleod, P.; Poulton, C.; Duross, H.; Lewis, W.

    1981-01-01

    The effects of ship motion on a range of typical manual control skills were examined on the Warren Spring ship motion simulator driven in heave, pitch, and roll by signals taken from the frigate HMS Avenger at 13 m/s (25 knots) into a force 4 wind. The motion produced a vertical r.m.s. acceleration of 0.024g, mostly between 0.1 and 0.3 Hz, with comparatively little pitch or roll. A task involving unsupported arm movements was seriously affected by the motion; a pursuit tracking task showed a reliable decrement although it was still performed reasonably well (pressure and free moving tracking controls were affected equally by the motion); a digit keying task requiring ballistic hand movements was unaffected. There was no evidence that these effects were caused by sea sickness. The differing response to motion of the different tasks, from virtual destruction to no effect, suggests that a major benefit could come from an attempt to design the man/control interface onboard ship around motion resistant tasks.

  11. Motion and force control for multiple cooperative manipulators

    NASA Technical Reports Server (NTRS)

    Wen, John T.; Kreutz, Kenneth

    1989-01-01

    The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

  12. Characterization and control of self-motions in redundant manipulators

    NASA Technical Reports Server (NTRS)

    Burdick, J.; Seraji, Homayoun

    1989-01-01

    The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

  13. Engineering applications of strong ground motion simulation

    NASA Astrophysics Data System (ADS)

    Somerville, Paul

    1993-02-01

    The formulation, validation and application of a procedure for simulating strong ground motions for use in engineering practice are described. The procedure uses empirical source functions (derived from near-source strong motion recordings of small earthquakes) to provide a realistic representation of effects such as source radiation that are difficult to model at high frequencies due to their partly stochastic behavior. Wave propagation effects are modeled using simplified Green's functions that are designed to transfer empirical source functions from their recording sites to those required for use in simulations at a specific site. The procedure has been validated against strong motion recordings of both crustal and subduction earthquakes. For the validation process we choose earthquakes whose source models (including a spatially heterogeneous distribution of the slip of the fault) are independently known and which have abundant strong motion recordings. A quantitative measurement of the fit between the simulated and recorded motion in this validation process is used to estimate the modeling and random uncertainty associated with the simulation procedure. This modeling and random uncertainty is one part of the overall uncertainty in estimates of ground motions of future earthquakes at a specific site derived using the simulation procedure. The other contribution to uncertainty is that due to uncertainty in the source parameters of future earthquakes that affect the site, which is estimated from a suite of simulations generated by varying the source parameters over their ranges of uncertainty. In this paper, we describe the validation of the simulation procedure for crustal earthquakes against strong motion recordings of the 1989 Loma Prieta, California, earthquake, and for subduction earthquakes against the 1985 Michoacán, Mexico, and Valparaiso, Chile, earthquakes. We then show examples of the application of the simulation procedure to the estimatation of the

  14. Redox control of molecular motion in switchable artificial nanoscale devices.

    PubMed

    Credi, Alberto; Semeraro, Monica; Silvi, Serena; Venturi, Margherita

    2011-03-15

    The design, synthesis, and operation of molecular-scale systems that exhibit controllable motions of their component parts is a topic of great interest in nanoscience and a fascinating challenge of nanotechnology. The development of this kind of species constitutes the premise to the construction of molecular machines and motors, which in a not-too-distant future could find applications in fields such as materials science, information technology, energy conversion, diagnostics, and medicine. In the past 25 years the development of supramolecular chemistry has enabled the construction of an interesting variety of artificial molecular machines. These devices operate via electronic and molecular rearrangements and, like the macroscopic counterparts, they need energy to work as well as signals to communicate with the operator. Here we outline the design principles at the basis of redox switching of molecular motion in artificial nanodevices. Redox processes, chemically, electrically, or photochemically induced, can indeed supply the energy to bring about molecular motions. Moreover, in the case of electrically and photochemically induced processes, electrochemical and photochemical techniques can be used to read the state of the system, and thus to control and monitor the operation of the device. Some selected examples are also reported to describe the most representative achievements in this research area.

  15. Dual-Arm Generalized Compliant Motion With Shared Control

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.

    1994-01-01

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

  16. Convex optimisation approach to constrained fuel optimal control of spacecraft in close relative motion

    NASA Astrophysics Data System (ADS)

    Massioni, Paolo; Massari, Mauro

    2018-05-01

    This paper describes an interesting and powerful approach to the constrained fuel-optimal control of spacecraft in close relative motion. The proposed approach is well suited for problems under linear dynamic equations, therefore perfectly fitting to the case of spacecraft flying in close relative motion. If the solution of the optimisation is approximated as a polynomial with respect to the time variable, then the problem can be approached with a technique developed in the control engineering community, known as "Sum Of Squares" (SOS), and the constraints can be reduced to bounds on the polynomials. Such a technique allows rewriting polynomial bounding problems in the form of convex optimisation problems, at the cost of a certain amount of conservatism. The principles of the techniques are explained and some application related to spacecraft flying in close relative motion are shown.

  17. Application of nonlinear adaptive motion washout to transport ground-handling simulation

    NASA Technical Reports Server (NTRS)

    Parrish, R. V.; Martin, D. J., Jr.

    1983-01-01

    The application of a nonlinear coordinated adaptive motion washout to the transport ground-handling environment is documented. Additions to both the aircraft math model and the motion washout system are discussed. The additions to the simulated-aircraft math model provided improved modeling fidelity for braking and reverse-thrust application, and the additions to the motion-base washout system allowed transition from the desired flight parameters to the less restrictive ground parameters of the washout.

  18. The application of biological motion research: biometrics, sport, and the military.

    PubMed

    Steel, Kylie; Ellem, Eathan; Baxter, David

    2015-02-01

    The body of research that examines the perception of biological motion is extensive and explores the factors that are perceived from biological motion and how this information is processed. This research demonstrates that individuals are able to use relative (temporal and spatial) information from a person's movement to recognize factors, including gender, age, deception, emotion, intention, and action. The research also demonstrates that movement presents idiosyncratic properties that allow individual discrimination, thus providing the basis for significant exploration in the domain of biometrics and social signal processing. Medical forensics, safety garments, and victim selection domains also have provided a history of research on the perception of biological motion applications; however, a number of additional domains present opportunities for application that have not been explored in depth. Therefore, the purpose of this paper is to present an overview of the current applications of biological motion-based research and to propose a number of areas where biological motion research, specific to recognition, could be applied in the future.

  19. Motion control of musculoskeletal systems with redundancy.

    PubMed

    Park, Hyunjoo; Durand, Dominique M

    2008-12-01

    Motion control of musculoskeletal systems for functional electrical stimulation (FES) is a challenging problem due to the inherent complexity of the systems. These include being highly nonlinear, strongly coupled, time-varying, time-delayed, and redundant. The redundancy in particular makes it difficult to find an inverse model of the system for control purposes. We have developed a control system for multiple input multiple output (MIMO) redundant musculoskeletal systems with little prior information. The proposed method separates the steady-state properties from the dynamic properties. The dynamic control uses a steady-state inverse model and is implemented with both a PID controller for disturbance rejection and an artificial neural network (ANN) feedforward controller for fast trajectory tracking. A mechanism to control the sum of the muscle excitation levels is also included. To test the performance of the proposed control system, a two degree of freedom ankle-subtalar joint model with eight muscles was used. The simulation results show that separation of steady-state and dynamic control allow small output tracking errors for different reference trajectories such as pseudo-step, sinusoidal and filtered random signals. The proposed control method also demonstrated robustness against system parameter and controller parameter variations. A possible application of this control algorithm is FES control using multiple contact cuff electrodes where mathematical modeling is not feasible and the redundancy makes the control of dynamic movement difficult.

  20. Experimental investigation of shaping disturbance observer design for motion control of precision mechatronic stages with resonances

    NASA Astrophysics Data System (ADS)

    Yang, Jin; Hu, Chuxiong; Zhu, Yu; Wang, Ze; Zhang, Ming

    2017-08-01

    In this paper, shaping disturbance observer (SDOB) is investigated for precision mechatronic stages with middle-frequency zero/pole type resonance to achieve good motion control performance in practical manufacturing situations. Compared with traditional standard disturbance observer (DOB), in SDOB a pole-zero cancellation based shaping filter is cascaded to the mechatronic stage plant to meet the challenge of motion control performance deterioration caused by actual resonance. Noting that pole-zero cancellation is inevitably imperfect and the controller may even consequently become unstable in practice, frequency domain stability analysis is conducted to find out how each parameter of the shaping filter affects the control stability. Moreover, the robust design criterion of the shaping filter, and the design procedure of SDOB, are both proposed to guide the actual design and facilitate practical implementation. The SDOB with the proposed design criterion is applied to a linear motor driven stage and a voice motor driven stage, respectively. Experimental results consistently validate the effectiveness nature of the proposed SDOB scheme in practical mechatronics motion applications. The proposed SDOB design actually could be an effective unit in the controller design for motion stages of mechanical manufacture equipments.

  1. Minimum-variance Brownian motion control of an optically trapped probe.

    PubMed

    Huang, Yanan; Zhang, Zhipeng; Menq, Chia-Hsiang

    2009-10-20

    This paper presents a theoretical and experimental investigation of the Brownian motion control of an optically trapped probe. The Langevin equation is employed to describe the motion of the probe experiencing random thermal force and optical trapping force. Since active feedback control is applied to suppress the probe's Brownian motion, actuator dynamics and measurement delay are included in the equation. The equation of motion is simplified to a first-order linear differential equation and transformed to a discrete model for the purpose of controller design and data analysis. The derived model is experimentally verified by comparing the model prediction to the measured response of a 1.87 microm trapped probe subject to proportional control. It is then employed to design the optimal controller that minimizes the variance of the probe's Brownian motion. Theoretical analysis is derived to evaluate the control performance of a specific optical trap. Both experiment and simulation are used to validate the design as well as theoretical analysis, and to illustrate the performance envelope of the active control. Moreover, adaptive minimum variance control is implemented to maintain the optimal performance in the case in which the system is time varying when operating the actively controlled optical trap in a complex environment.

  2. On the correlation between motion data captured from low-cost gaming controllers and high precision encoders.

    PubMed

    Purkayastha, Sagar N; Byrne, Michael D; O'Malley, Marcia K

    2012-01-01

    Gaming controllers are attractive devices for research due to their onboard sensing capabilities and low-cost. However, a proper quantitative analysis regarding their suitability for use in motion capture, rehabilitation and as input devices for teleoperation and gesture recognition has yet to be conducted. In this paper, a detailed analysis of the sensors of two of these controllers, the Nintendo Wiimote and the Sony Playstation 3 Sixaxis, is presented. The acceleration and angular velocity data from the sensors of these controllers were compared and correlated with computed acceleration and angular velocity data derived from a high resolution encoder. The results show high correlation between the sensor data from the controllers and the computed data derived from the position data of the encoder. From these results, it can be inferred that the Wiimote is more consistent and better suited for motion capture applications and as an input device than the Sixaxis. The applications of the findings are discussed with respect to potential research ventures.

  3. New virtual laboratories presenting advanced motion control concepts

    NASA Astrophysics Data System (ADS)

    Goubej, Martin; Krejčí, Alois; Reitinger, Jan

    2015-11-01

    The paper deals with development of software framework for rapid generation of remote virtual laboratories. Client-server architecture is chosen in order to employ real-time simulation core which is running on a dedicated server. Ordinary web browser is used as a final renderer to achieve hardware independent solution which can be run on different target platforms including laptops, tablets or mobile phones. The provided toolchain allows automatic generation of the virtual laboratory source code from the configuration file created in the open- source Inkscape graphic editor. Three virtual laboratories presenting advanced motion control algorithms have been developed showing the applicability of the proposed approach.

  4. Effects of Different Heave Motion Components on Pilot Pitch Control Behavior

    NASA Technical Reports Server (NTRS)

    Zaal, Petrus M. T.; Zavala, Melinda A.

    2016-01-01

    The study described in this paper had two objectives. The first objective was to investigate if a different weighting of heave motion components decomposed at the center of gravity, allowing for a higher fidelity of individual components, would result in pilot manual pitch control behavior and performance closer to that observed with full aircraft motion. The second objective was to investigate if decomposing the heave components at the aircraft's instantaneous center of rotation rather than at the center of gravity could result in additional improvements in heave motion fidelity. Twenty-one general aviation pilots performed a pitch attitude control task in an experiment conducted on the Vertical Motion Simulator at NASA Ames under different hexapod motion conditions. The large motion capability of the Vertical Motion Simulator also allowed for a full aircraft motion condition, which served as a baseline. The controlled dynamics were of a transport category aircraft trimmed close to the stall point. When the ratio of center of gravity pitch heave to center of gravity heave increased in the hexapod motion conditions, pilot manual control behavior and performance became increasingly more similar to what is observed with full aircraft motion. Pilot visual and motion gains significantly increased, while the visual lead time constant decreased. The pilot visual and motion time delays remained approximately constant and decreased, respectively. The neuromuscular damping and frequency both decreased, with their values more similar to what is observed with real aircraft motion when there was an equal weighting of the heave of the center of gravity and heave due to rotations about the center of gravity. In terms of open- loop performance, the disturbance and target crossover frequency increased and decreased, respectively, and their corresponding phase margins remained constant and increased, respectively. The decomposition point of the heave components only had limited

  5. Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

    NASA Astrophysics Data System (ADS)

    Almubarak, Yara; Tadesse, Yonas

    2017-04-01

    The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

  6. 14 CFR 25.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    .... Rudder Right pedal forward for nose right. (2) Secondary. Controls Motion and effect Flaps (or auxiliary lift devices) Forward for flaps up; rearward for flaps down. Trim tabs (or equivalent) Rotate to... and auxiliary controls: (1) Powerplant. Controls Motion and effect Power or thrust Forward to increase...

  7. 14 CFR 25.779 - Motion and effect of cockpit controls.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    .... Rudder Right pedal forward for nose right. (2) Secondary. Controls Motion and effect Flaps (or auxiliary lift devices) Forward for flaps up; rearward for flaps down. Trim tabs (or equivalent) Rotate to... and auxiliary controls: (1) Powerplant. Controls Motion and effect Power or thrust Forward to increase...

  8. Model Predictive Control Based Motion Drive Algorithm for a Driving Simulator

    NASA Astrophysics Data System (ADS)

    Rehmatullah, Faizan

    In this research, we develop a model predictive control based motion drive algorithm for the driving simulator at Toronto Rehabilitation Institute. Motion drive algorithms exploit the limitations of the human vestibular system to formulate a perception of motion within the constrained workspace of a simulator. In the absence of visual cues, the human perception system is unable to distinguish between acceleration and the force of gravity. The motion drive algorithm determines control inputs to displace the simulator platform, and by using the resulting inertial forces and angular rates, creates the perception of motion. By using model predictive control, we can optimize the use of simulator workspace for every maneuver while simulating the vehicle perception. With the ability to handle nonlinear constraints, the model predictive control allows us to incorporate workspace limitations.

  9. New human-centered linear and nonlinear motion cueing algorithms for control of simulator motion systems

    NASA Astrophysics Data System (ADS)

    Telban, Robert J.

    While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. To address this, new human-centered motion cueing algorithms were developed. A revised "optimal algorithm" uses time-invariant filters developed by optimal control, incorporating human vestibular system models. The "nonlinear algorithm" is a novel approach that is also formulated by optimal control, but can also be updated in real time. It incorporates a new integrated visual-vestibular perception model that includes both visual and vestibular sensation and the interaction between the stimuli. A time-varying control law requires the matrix Riccati equation to be solved in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. As a result of unsatisfactory sensation, an augmented turbulence cue was added to the vertical mode for both the optimal and nonlinear algorithms. The relative effectiveness of the algorithms, in simulating aircraft maneuvers, was assessed with an eleven-subject piloted performance test conducted on the NASA Langley Visual Motion Simulator (VMS). Two methods, the quasi-objective NASA Task Load Index (TLX), and power spectral density analysis of pilot control, were used to assess pilot workload. TLX analysis reveals, in most cases, less workload and variation among pilots with the nonlinear algorithm. Control input

  10. Application and API for Real-time Visualization of Ground-motions and Tsunami

    NASA Astrophysics Data System (ADS)

    Aoi, S.; Kunugi, T.; Suzuki, W.; Kubo, T.; Nakamura, H.; Azuma, H.; Fujiwara, H.

    2015-12-01

    Due to the recent progress of seismograph and communication environment, real-time and continuous ground-motion observation becomes technically and economically feasible. K-NET and KiK-net, which are nationwide strong motion networks operated by NIED, cover all Japan by about 1750 stations in total. More than half of the stations transmit the ground-motion indexes and/or waveform data in every second. Traditionally, strong-motion data were recorded by event-triggering based instruments with non-continues telephone line which is connected only after an earthquake. Though the data from such networks mainly contribute to preparations for future earthquakes, huge amount of real-time data from dense network are expected to directly contribute to the mitigation of ongoing earthquake disasters through, e.g., automatic shutdown plants and helping decision-making for initial response. By generating the distribution map of these indexes and uploading them to the website, we implemented the real-time ground motion monitoring system, Kyoshin (strong-motion in Japanese) monitor. This web service (www.kyoshin.bosai.go.jp) started in 2008 and anyone can grasp the current ground motions of Japan. Though this service provides only ground-motion map in GIF format, to take full advantage of real-time strong-motion data to mitigate the ongoing disasters, digital data are important. We have developed a WebAPI to provide real-time data and related information such as ground motions (5 km-mesh) and arrival times estimated from EEW (earthquake early warning). All response data from this WebAPI are in JSON format and are easy to parse. We also developed Kyoshin monitor application for smartphone, 'Kmoni view' using the API. In this application, ground motions estimated from EEW are overlapped on the map with the observed one-second-interval indexes. The application can playback previous earthquakes for demonstration or disaster drill. In mobile environment, data traffic and battery are

  11. Motion Imagery and Robotics Application Project (MIRA)

    NASA Technical Reports Server (NTRS)

    Grubbs, Rodney P.

    2010-01-01

    This viewgraph presentation describes the Motion Imagery and Robotics Application (MIRA) Project. A detailed description of the MIRA camera service software architecture, encoder features, and on-board communications are presented. A description of a candidate camera under development is also shown.

  12. Optimal Control of Stochastic Systems Driven by Fractional Brownian Motions

    DTIC Science & Technology

    2014-10-09

    problems for stochastic partial differential equations driven by fractional Brownian motions are explicitly solved. For the control of a continuous time...linear systems with Brownian motion or a discrete time linear system with a white Gaussian noise and costs 1. REPORT DATE (DD-MM-YYYY) 4. TITLE AND...Army Research Office P.O. Box 12211 Research Triangle Park, NC 27709-2211 stochastic optimal control, fractional Brownian motion , stochastic

  13. Redundancy, Self-Motion, and Motor Control

    PubMed Central

    Martin, V.; Scholz, J. P.; Schöner, G.

    2011-01-01

    Outside the laboratory, human movement typically involves redundant effector systems. How the nervous system selects among the task-equivalent solutions may provide insights into how movement is controlled. We propose a process model of movement generation that accounts for the kinematics of goal-directed pointing movements performed with a redundant arm. The key element is a neuronal dynamics that generates a virtual joint trajectory. This dynamics receives input from a neuronal timer that paces end-effector motion along its path. Within this dynamics, virtual joint velocity vectors that move the end effector are dynamically decoupled from velocity vectors that do not. Moreover, the sensed real joint configuration is coupled back into this neuronal dynamics, updating the virtual trajectory so that it yields to task-equivalent deviations from the dynamic movement plan. Experimental data from participants who perform in the same task setting as the model are compared in detail to the model predictions. We discover that joint velocities contain a substantial amount of self-motion that does not move the end effector. This is caused by the low impedance of muscle joint systems and by coupling among muscle joint systems due to multiarticulatory muscles. Back-coupling amplifies the induced control errors. We establish a link between the amount of self-motion and how curved the end-effector path is. We show that models in which an inverse dynamics cancels interaction torques predict too little self-motion and too straight end-effector paths. PMID:19718817

  14. Orientation Control Method and System for Object in Motion

    NASA Technical Reports Server (NTRS)

    Whorton, Mark Stephen (Inventor); Redmon, Jr., John W. (Inventor); Cox, Mark D. (Inventor)

    2012-01-01

    An object in motion has a force applied thereto at a point of application. By moving the point of application such that the distance between the object's center-of-mass and the point of application is changed, the object's orientation can be changed/adjusted.

  15. Robust, Flexible Motion Control for the Mars Explorer Rovers

    NASA Technical Reports Server (NTRS)

    Maimone, Mark; Biesiadecki, Jeffrey

    2007-01-01

    The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level. The software can also perform high-level assessment of terrain and selection of safe paths across the terrain: this involves processing of the digital equivalent of a local traversability map generated from images acquired by stereoscopic pairs of cameras aboard the vehicles. Other functions of the software include interacting with the rest of the MER flight software and performing safety checks.

  16. Tracking 3-D body motion for docking and robot control

    NASA Technical Reports Server (NTRS)

    Donath, M.; Sorensen, B.; Yang, G. B.; Starr, R.

    1987-01-01

    An advanced method of tracking three-dimensional motion of bodies has been developed. This system has the potential to dynamically characterize machine and other structural motion, even in the presence of structural flexibility, thus facilitating closed loop structural motion control. The system's operation is based on the concept that the intersection of three planes defines a point. Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 Hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 Hz data rate includes a worst case resolution of 0.8 mm (0.03 inches), a repeatability of plus or minus 0.635 mm (plus or minus 0.025 inches), and an absolute accuracy of plus or minus 2.0 mm (plus or minus 0.08 inches) within an eight cubic meter volume with all results applicable at the 95 percent level of confidence along each coordinate region. The full six degrees of freedom of a body can be computed by attaching three or more target detectors to the body of interest.

  17. Maximum Principle for General Controlled Systems Driven by Fractional Brownian Motions

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

    Han Yuecai; Hu Yaozhong; Song Jian, E-mail: jsong2@math.rutgers.edu

    2013-04-15

    We obtain a maximum principle for stochastic control problem of general controlled stochastic differential systems driven by fractional Brownian motions (of Hurst parameter H>1/2). This maximum principle specifies a system of equations that the optimal control must satisfy (necessary condition for the optimal control). This system of equations consists of a backward stochastic differential equation driven by both fractional Brownian motions and the corresponding underlying standard Brownian motions. In addition to this backward equation, the maximum principle also involves the Malliavin derivatives. Our approach is to use conditioning and Malliavin calculus. To arrive at our maximum principle we need tomore » develop some new results of stochastic analysis of the controlled systems driven by fractional Brownian motions via fractional calculus. Our approach of conditioning and Malliavin calculus is also applied to classical system driven by standard Brownian motions while the controller has only partial information. As a straightforward consequence, the classical maximum principle is also deduced in this more natural and simpler way.« less

  18. Control of Respiratory Motion by Hypnosis Intervention during Radiotherapy of Lung Cancer I

    PubMed Central

    Deng, Jie; Xie, Yaoqin

    2013-01-01

    The uncertain position of lung tumor during radiotherapy compromises the treatment effect. To effectively control respiratory motion during radiotherapy of lung cancer without any side effects, a novel control scheme, hypnosis, has been introduced in lung cancer treatment. In order to verify the suggested method, six volunteers were selected with a wide range of distribution of age, weight, and chest circumference. A set of experiments have been conducted for each volunteer, under the guidance of the professional hypnotist. All the experiments were repeated in the same environmental condition. The amplitude of respiration has been recorded under the normal state and hypnosis, respectively. Experimental results show that the respiration motion of volunteers in hypnosis has smaller and more stable amplitudes than in normal state. That implies that the hypnosis intervention can be an alternative way for respiratory control, which can effectively reduce the respiratory amplitude and increase the stability of respiratory cycle. The proposed method will find useful application in image-guided radiotherapy. PMID:24093100

  19. Effects of Motion Cues on the Training of Multi-Axis Manual Control Skills

    NASA Technical Reports Server (NTRS)

    Zaal, Peter M. T.; Mobertz, Xander R. I.

    2017-01-01

    The study described in this paper investigated the effects of two different hexapod motion configurations on the training and transfer of training of a simultaneous roll and pitch control task. Pilots were divided between two groups which trained either under a baseline hexapod motion condition, with motion typically provided by current training simulators, or an optimized hexapod motion condition, with increased fidelity of the motion cues most relevant for the task. All pilots transferred to the same full-motion condition, representing motion experienced in flight. A cybernetic approach was used that gave insights into the development of pilots use of visual and motion cues over the course of training and after transfer. Based on the current results, neither of the hexapod motion conditions can unambiguously be chosen as providing the best motion for training and transfer of training of the used multi-axis control task. However, the optimized hexapod motion condition did allow pilots to generate less visual lead, control with higher gains, and have better disturbance-rejection performance at the end of the training session compared to the baseline hexapod motion condition. Significant adaptations in control behavior still occurred in the transfer phase under the full-motion condition for both groups. Pilots behaved less linearly compared to previous single-axis control-task experiments; however, this did not result in smaller motion or learning effects. Motion and learning effects were more pronounced in pitch compared to roll. Finally, valuable lessons were learned that allow us to improve the adopted approach for future transfer-of-training studies.

  20. Periodic motion planning and control for underactuated mechanical systems

    NASA Astrophysics Data System (ADS)

    Wang, Zeguo; Freidovich, Leonid B.; Zhang, Honghua

    2018-06-01

    We consider the problem of periodic motion planning and of designing stabilising feedback control laws for such motions in underactuated mechanical systems. A novel periodic motion planning method is proposed. Each state is parametrised by a truncated Fourier series. Then we use numerical optimisation to search for the parameters of the trigonometric polynomial exploiting the measure of discrepancy in satisfying the passive dynamics equations as a performance index. Thus an almost feasible periodic motion is found. Then a linear controller is designed and stability analysis is given to verify that solutions of the closed-loop system stay inside a tube around the planned approximately feasible periodic trajectory. Experimental results for a double rotary pendulum are shown, while numerical simulations are given for models of a spacecraft with liquid sloshing and of a chain of mass spring system.

  1. Adaptive Quantum Control of Charge Motion in Semiconductor Heterostructures

    NASA Astrophysics Data System (ADS)

    Reitze, David

    1998-05-01

    Quantum control of electronic wavepacket motion and interactions using ultrafast lasers has moved from the conceptual stage to reality, in large part driven by advances in quantum control theory (R. J. Gordon and S. A. Rice, Ann. Rev. Phys. Chem. (1997), in press.) (M. Shapiro and P. Brumer, J. Chem. Soc. Faraday Trans. V93, 1263 (1997).) (D. Neuhauser and H. Rabitz, Acc. Chem. Res. V26, 496 (1993).) and experimental pulse shaping methods (A. M. Weiner, D. E. Leaird, G. P. Wiederrecht, and K. A. Nelson, Science V247, 412 (1990).) (A. Efimov, C. Schaffer, and D. H. Reitze, J. Opt. Soc. Am VB12, 1968 (1995).). Here, we apply these methods to controlling charge motion in semiconductor heterostructures. Control of coherent charge dynamics in heterostructures enjoys an advantage in that spatial potential profiles can be adjusted almost arbitrarily. Thus, control of charge motion can be exerted by tailoring both the temporal and spatial interactions of the charges with the controlling optical and static fields. In this talk, we demonstrate an experimental feedback loop which adaptively shapes fs pulses in a quantum contol pump-probe experiment, apply it to the control of coherent wavepacket motion in DC-biased asymmetric double quantum well(ADQW) structures, and compare to theoretical predictions of quantum control in ADQWs (N. M. Beach, D. H. Reitze, and J. L. Krause, submitted to Opt. Exp.) (J. L. Krause, D. H. Reitze, G. D. Sanders, A. Kuznetsov, and C. J. Stanton, to appear in Phys. Rev. B).

  2. Singular Optimal Controls of Rocket Motion (Survey)

    NASA Astrophysics Data System (ADS)

    Kiforenko, B. N.

    2017-05-01

    Survey of modern state and discussion of problems of the perfection of methods of investigation of variational problems with a focus on mechanics of space flight are presented. The main attention is paid to the enhancement of the methods of solving of variational problems of rocket motion in the gravitational fields, including rocket motion in the atmosphere. These problems are directly connected with the permanently actual problem of the practical astronautics to increase the payload that is orbited by the carrier rockets in the circumplanetary orbits. An analysis of modern approaches to solving the problems of control of rockets and spacecraft motion on the trajectories with singular arcs that are optimal for the motion of the variable mass body in the medium with resistance is given. The presented results for some maneuvers can serve as an information source for decision making on designing promising rocket and space technology

  3. Optimization of motion control laws for tether crawler or elevator systems

    NASA Technical Reports Server (NTRS)

    Swenson, Frank R.; Von Tiesenhausen, Georg

    1988-01-01

    Based on the proposal of a motion control law by Lorenzini (1987), a method is developed for optimizing motion control laws for tether crawler or elevator systems in terms of the performance measures of travel time, the smoothness of acceleration and deceleration, and the maximum values of velocity and acceleration. The Lorenzini motion control law, based on powers of the hyperbolic tangent function, is modified by the addition of a constant-velocity section, and this modified function is then optimized by parameter selections to minimize the peak acceleration value for a selected travel time or to minimize travel time for the selected peak values of velocity and acceleration. It is shown that the addition of a constant-velocity segment permits further optimization of the motion control law performance.

  4. Active Brownian motion models and applications to ratchets

    NASA Astrophysics Data System (ADS)

    Fiasconaro, A.; Ebeling, W.; Gudowska-Nowak, E.

    2008-10-01

    We give an overview over recent studies on the model of Active Brownian Motion (ABM) coupled to reservoirs providing free energy which may be converted into kinetic energy of motion. First, we present an introduction to a general concept of active Brownian particles which are capable to take up energy from the source and transform part of it in order to perform various activities. In the second part of our presentation we consider applications of ABM to ratchet systems with different forms of differentiable potentials. Both analytical and numerical evaluations are discussed for three cases of sinusoidal, staircaselike and Mateos ratchet potentials, also with the additional loads modelled by tilted potential structure. In addition, stochastic character of the kinetics is investigated by considering perturbation by Gaussian white noise which is shown to be responsible for driving the directionality of the asymptotic flux in the ratchet. This stochastically driven directionality effect is visualized as a strong nonmonotonic dependence of the statistics of the right versus left trajectories of motion leading to a net current of particles. Possible applications of the ratchet systems to molecular motors are also briefly discussed.

  5. Robust object tracking techniques for vision-based 3D motion analysis applications

    NASA Astrophysics Data System (ADS)

    Knyaz, Vladimir A.; Zheltov, Sergey Y.; Vishnyakov, Boris V.

    2016-04-01

    Automated and accurate spatial motion capturing of an object is necessary for a wide variety of applications including industry and science, virtual reality and movie, medicine and sports. For the most part of applications a reliability and an accuracy of the data obtained as well as convenience for a user are the main characteristics defining the quality of the motion capture system. Among the existing systems for 3D data acquisition, based on different physical principles (accelerometry, magnetometry, time-of-flight, vision-based), optical motion capture systems have a set of advantages such as high speed of acquisition, potential for high accuracy and automation based on advanced image processing algorithms. For vision-based motion capture accurate and robust object features detecting and tracking through the video sequence are the key elements along with a level of automation of capturing process. So for providing high accuracy of obtained spatial data the developed vision-based motion capture system "Mosca" is based on photogrammetric principles of 3D measurements and supports high speed image acquisition in synchronized mode. It includes from 2 to 4 technical vision cameras for capturing video sequences of object motion. The original camera calibration and external orientation procedures provide the basis for high accuracy of 3D measurements. A set of algorithms as for detecting, identifying and tracking of similar targets, so for marker-less object motion capture is developed and tested. The results of algorithms' evaluation show high robustness and high reliability for various motion analysis tasks in technical and biomechanics applications.

  6. Do motion controllers make action video games less sedentary? A randomized experiment.

    PubMed

    Lyons, Elizabeth J; Tate, Deborah F; Ward, Dianne S; Ribisl, Kurt M; Bowling, J Michael; Kalyanaraman, Sriram

    2012-01-01

    Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg(-1) · hr(-1)) produced 0.10 kcal · kg(-1) · hr(-1) (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg(-1) · hr(-1), P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior.

  7. Do Motion Controllers Make Action Video Games Less Sedentary? A Randomized Experiment

    PubMed Central

    Lyons, Elizabeth J.; Tate, Deborah F.; Ward, Dianne S.; Ribisl, Kurt M.; Bowling, J. Michael; Kalyanaraman, Sriram

    2012-01-01

    Sports- and fitness-themed video games using motion controllers have been found to produce physical activity. It is possible that motion controllers may also enhance energy expenditure when applied to more sedentary games such as action games. Young adults (N = 100) were randomized to play three games using either motion-based or traditional controllers. No main effect was found for controller or game pair (P > .12). An interaction was found such that in one pair, motion control (mean [SD] 0.96 [0.20] kcal · kg−1 · hr−1) produced 0.10 kcal · kg−1 · hr−1 (95% confidence interval 0.03 to 0.17) greater energy expenditure than traditional control (0.86 [0.17] kcal · kg−1 · hr−1, P = .048). All games were sedentary. As currently implemented, motion control is unlikely to produce moderate intensity physical activity in action games. However, some games produce small but significant increases in energy expenditure, which may benefit health by decreasing sedentary behavior. PMID:22028959

  8. Using a wireless motion controller for 3D medical image catheter interactions

    NASA Astrophysics Data System (ADS)

    Vitanovski, Dime; Hahn, Dieter; Daum, Volker; Hornegger, Joachim

    2009-02-01

    State-of-the-art morphological imaging techniques usually provide high resolution 3D images with a huge number of slices. In clinical practice, however, 2D slice-based examinations are still the method of choice even for these large amounts of data. Providing intuitive interaction methods for specific 3D medical visualization applications is therefore a critical feature for clinical imaging applications. For the domain of catheter navigation and surgery planning, it is crucial to assist the physician with appropriate visualization techniques, such as 3D segmentation maps, fly-through cameras or virtual interaction approaches. There has been an ongoing development and improvement for controllers that help to interact with 3D environments in the domain of computer games. These controllers are based on both motion and infrared sensors and are typically used to detect 3D position and orientation. We have investigated how a state-of-the-art wireless motion sensor controller (Wiimote), developed by Nintendo, can be used for catheter navigation and planning purposes. By default the Wiimote controller only measure rough acceleration over a range of +/- 3g with 10% sensitivity and orientation. Therefore, a pose estimation algorithm was developed for computing accurate position and orientation in 3D space regarding 4 Infrared LEDs. Current results show that for the translation it is possible to obtain a mean error of (0.38cm, 0.41cm, 4.94cm) and for the rotation (0.16, 0.28) respectively. Within this paper we introduce a clinical prototype that allows steering of a virtual fly-through camera attached to the catheter tip by the Wii controller on basis of a segmented vessel tree.

  9. Modeling the Benchmark Active Control Technology Wind-Tunnel Model for Active Control Design Applications

    NASA Technical Reports Server (NTRS)

    Waszak, Martin R.

    1998-01-01

    This report describes the formulation of a model of the dynamic behavior of the Benchmark Active Controls Technology (BACT) wind tunnel model for active control design and analysis applications. The model is formed by combining the equations of motion for the BACT wind tunnel model with actuator models and a model of wind tunnel turbulence. The primary focus of this report is the development of the equations of motion from first principles by using Lagrange's equations and the principle of virtual work. A numerical form of the model is generated by making use of parameters obtained from both experiment and analysis. Comparisons between experimental and analytical data obtained from the numerical model show excellent agreement and suggest that simple coefficient-based aerodynamics are sufficient to accurately characterize the aeroelastic response of the BACT wind tunnel model. The equations of motion developed herein have been used to aid in the design and analysis of a number of flutter suppression controllers that have been successfully implemented.

  10. The 3D Human Motion Control Through Refined Video Gesture Annotation

    NASA Astrophysics Data System (ADS)

    Jin, Yohan; Suk, Myunghoon; Prabhakaran, B.

    In the beginning of computer and video game industry, simple game controllers consisting of buttons and joysticks were employed, but recently game consoles are replacing joystick buttons with novel interfaces such as the remote controllers with motion sensing technology on the Nintendo Wii [1] Especially video-based human computer interaction (HCI) technique has been applied to games, and the representative game is 'Eyetoy' on the Sony PlayStation 2. Video-based HCI technique has great benefit to release players from the intractable game controller. Moreover, in order to communicate between humans and computers, video-based HCI is very crucial since it is intuitive, easy to get, and inexpensive. On the one hand, extracting semantic low-level features from video human motion data is still a major challenge. The level of accuracy is really dependent on each subject's characteristic and environmental noises. Of late, people have been using 3D motion-capture data for visualizing real human motions in 3D space (e.g, 'Tiger Woods' in EA Sports, 'Angelina Jolie' in Bear-Wolf movie) and analyzing motions for specific performance (e.g, 'golf swing' and 'walking'). 3D motion-capture system ('VICON') generates a matrix for each motion clip. Here, a column is corresponding to a human's sub-body part and row represents time frames of data capture. Thus, we can extract sub-body part's motion only by selecting specific columns. Different from low-level feature values of video human motion, 3D human motion-capture data matrix are not pixel values, but is closer to human level of semantics.

  11. Sensing human hand motions for controlling dexterous robots

    NASA Technical Reports Server (NTRS)

    Marcus, Beth A.; Churchill, Philip J.; Little, Arthur D.

    1988-01-01

    The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

  12. Ab initio design of laser pulses to control molecular motion

    NASA Astrophysics Data System (ADS)

    Balint-Kurti, Gabriel; Ren, Qinghua; Manby, Frederick; Artamonov, Maxim; Ho, Tak-San; Rabitz, Herschel; Zou, Shiyang; Singh, Harjinder

    2007-03-01

    Our recent attempts to design laser pulses entirely theoretically, in a quantitative and accurate manner, so as to fully understand the underlying mechanisms active in the control process will be outlined. We have developed a new Born-Oppenheimer like separation called the electric-nuclear Born-Oppenheimer (ENBO) approximation. In this approximation variations of both the nuclear geometry and of the external electric field are assumed to be slow compared with the speed at which the electronic degrees of freedom respond to these changes. This assumption permits the generation of a potential energy surface that depends not only on the relative geometry of the nuclei, but also on the electric field strength and on the orientation of the molecule with respect to the electric field. The range of validity of the ENBO approximation is discussed. Optimal control theory is used along with the ENBO approximation to design laser pulses for exciting vibrational and rotational motion in H2 and CO molecules. Progress on other applications, including controlling photodissociation processes, isotope separation, stabilization of molecular Bose-Einstein condensates as well as applications to biological molecules also be presented. *Support acknowledged from EPSRC.

  13. The Development of Wireless Body Area Network for Motion Sensing Application

    NASA Astrophysics Data System (ADS)

    Puspitaningayu, P.; Widodo, A.; Yundra, E.; Ramadhany, F.; Arianto, L.; Habibie, D.

    2018-04-01

    The information era has driven the society into the digitally-controlled lifestyle. Wireless body area networks (WBAN) as the specific scope of wireless sensor networks (WSN) is consistently growing into bigger applications. Currently, people are able to monitor their medical parameters by simply using small electronics devices attached to their body and connected to the authorities. On top of that, this time, smart phones are typically equipped with sensors such as accelerometer, gyroscope, barometric pressure, heart rate monitor, etc. It means that the sensing yet the signal processing can be performed by a single device. Moreover, Android opens lot wider opportunities for new applications as the most popular open-sourced smart phone platform. This paper is intended to show the development of motion sensing application which focused on analysing data from accelerometer and gyroscope. Beside reads the sensors, this application also has the ability to convert the sensors’ numerical value into graphs.

  14. Motion Control of Urea-Powered Biocompatible Hollow Microcapsules.

    PubMed

    Ma, Xing; Wang, Xu; Hahn, Kersten; Sánchez, Samuel

    2016-03-22

    The quest for biocompatible microswimmers powered by compatible fuel and with full motion control over their self-propulsion is a long-standing challenge in the field of active matter and microrobotics. Here, we present an active hybrid microcapsule motor based on Janus hollow mesoporous silica microparticles powered by the biocatalytic decomposition of urea at physiological concentrations. The directional self-propelled motion lasts longer than 10 min with an average velocity of up to 5 body lengths per second. Additionally, we control the velocity of the micromotor by chemically inhibiting and reactivating the enzymatic activity of urease. The incorporation of magnetic material within the Janus structure provides remote magnetic control on the movement direction. Furthermore, the mesoporous/hollow structure can load both small molecules and larger particles up to hundreds of nanometers, making the hybrid micromotor an active and controllable drug delivery microsystem.

  15. Analytical solution of perturbed relative motion: an application of satellite formations to geodesy

    NASA Astrophysics Data System (ADS)

    Wnuk, Edwin

    In the upcoming years, several space missions will be operated using a number of spacecraft flying in formation. Clusters of spacecraft with a carefully designed orbits and optimal formation geometry enable a wide variety of applications ranging from remote sensing to astronomy, geodesy and basic physics. Many of the applications require precise relative navigation and autonomous orbit control of satellites moving in a formation. For many missions a centimeter level of orbit control accuracy is required. The GRACE mission, since its launch in 2002, has been improving the Earth's gravity field model to a very high level of accuracy. This mission is a formation flying one consisting of two satellites moving in coplanar orbits and provides range and range-rate measurements between the satellites in the along-track direction. Future geodetic missions probably will employ alternative architectures using additional satellites and/or performing out-of-plane motion, e.g cartwheel orbits. The paper presents an analytical model of a satellite formation motion that enables propagation of the relative spacecraft motion. The model is based on the analytical theory of satellite relative motion that was presented in the previous our papers (Wnuk and Golebiewska, 2005, 2006). This theory takes into account the influence of the following gravitational perturbation effects: 1) zonal and tesseral harmonic geopotential coefficients up to arbitrary degree and order, 2) Lunar gravity, 3) Sun gravity. Formulas for differential perturbations were derived with any restriction concerning a plane of satellite orbits. They can be applied in both: in plane and out of plane cases. Using this propagator we calculated relative orbits and future relative satellite positions for different types of formations: in plane, out of plane, cartwheel and others. We analyzed the influence of particular parts of perturbation effects and estimated the accuracy of predicted relative spacecrafts positions

  16. Using EMG to anticipate head motion for virtual-environment applications

    NASA Technical Reports Server (NTRS)

    Barniv, Yair; Aguilar, Mario; Hasanbelliu, Erion

    2005-01-01

    In virtual environment (VE) applications, where virtual objects are presented in a see-through head-mounted display, virtual images must be continuously stabilized in space in response to user's head motion. Time delays in head-motion compensation cause virtual objects to "swim" around instead of being stable in space which results in misalignment errors when overlaying virtual and real objects. Visual update delays are a critical technical obstacle for implementing head-mounted displays in applications such as battlefield simulation/training, telerobotics, and telemedicine. Head motion is currently measurable by a head-mounted 6-degrees-of-freedom inertial measurement unit. However, even given this information, overall VE-system latencies cannot be reduced under about 25 ms. We present a novel approach to eliminating latencies, which is premised on the fact that myoelectric signals from a muscle precede its exertion of force, thereby limb or head acceleration. We thus suggest utilizing neck-muscles' myoelectric signals to anticipate head motion. We trained a neural network to map such signals onto equivalent time-advanced inertial outputs. The resulting network can achieve time advances of up to 70 ms.

  17. Using EMG to anticipate head motion for virtual-environment applications.

    PubMed

    Barniv, Yair; Aguilar, Mario; Hasanbelliu, Erion

    2005-06-01

    In virtual environment (VE) applications, where virtual objects are presented in a see-through head-mounted display, virtual images must be continuously stabilized in space in response to user's head motion. Time delays in head-motion compensation cause virtual objects to "swim" around instead of being stable in space which results in misalignment errors when overlaying virtual and real objects. Visual update delays are a critical technical obstacle for implementing head-mounted displays in applications such as battlefield simulation/training, telerobotics, and telemedicine. Head motion is currently measurable by a head-mounted 6-degrees-of-freedom inertial measurement unit. However, even given this information, overall VE-system latencies cannot be reduced under about 25 ms. We present a novel approach to eliminating latencies, which is premised on the fact that myoelectric signals from a muscle precede its exertion of force, thereby limb or head acceleration. We thus suggest utilizing neck-muscles' myoelectric signals to anticipate head motion. We trained a neural network to map such signals onto equivalent time-advanced inertial outputs. The resulting network can achieve time advances of up to 70 ms.

  18. 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.

  19. Motion cue effects on human pilot dynamics in manual control

    NASA Technical Reports Server (NTRS)

    Washizu, K.; Tanaka, K.; Endo, S.; Itoko, T.

    1977-01-01

    Two experiments were conducted to study the motion cue effects on human pilots during tracking tasks. The moving-base simulator of National Aerospace Laboratory was employed as the motion cue device, and the attitude director indicator or the projected visual field was employed as the visual cue device. The chosen controlled elements were second-order unstable systems. It was confirmed that with the aid of motion cues the pilot workload was lessened and consequently the human controllability limits were enlarged. In order to clarify the mechanism of these effects, the describing functions of the human pilots were identified by making use of the spectral and the time domain analyses. The results of these analyses suggest that the sensory system of the motion cues can yield the differential informations of the signal effectively, which coincides with the existing knowledges in the physiological area.

  20. Real-time simulation of hand motion for prosthesis control

    PubMed Central

    Blana, Dimitra; Chadwick, Edward K.; van den Bogert, Antonie J.; Murray, Wendy M.

    2016-01-01

    Individuals with hand amputation suffer substantial loss of independence. Performance of sophisticated prostheses is limited by the ability to control them. To achieve natural and simultaneous control of all wrist and hand motions, we propose to use real-time biomechanical simulation to map between residual EMG and motions of the intact hand. Here we describe a musculoskeletal model of the hand using only extrinsic muscles to determine whether real-time performance is possible. Simulation is 1.3 times faster than real time, but the model is locally unstable. Methods are discussed to increase stability and make this approach suitable for prosthesis control. PMID:27868425

  1. 76 FR 79673 - PacifiCorp; Notice of Application Accepted for Filing, Soliciting Comments, Motions To Intervene...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-12-22

    ...; Notice of Application Accepted for Filing, Soliciting Comments, Motions To Intervene, and Protests Take... filing comments, motions to intervene, and protests, is 30 days from the issuance date of this notice... comments, motions, or recommendations filed. k. Description of Request: The applicant proposes to add...

  2. 78 FR 27216 - PPL Holtwood, LLC; Notice of Application Accepted for Filing, Soliciting Comments, Motions To...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-05-09

    ...; Notice of Application Accepted for Filing, Soliciting Comments, Motions To Intervene, and Protests Take...-6543, or email: [email protected] . j. Deadline for filing comments, motions to intervene, and... (P-487-104) on any comments or motions filed. k. Description of Application: PPL Holtwood, LLC...

  3. Hummingbirds control hovering flight by stabilizing visual motion.

    PubMed

    Goller, Benjamin; Altshuler, Douglas L

    2014-12-23

    Relatively little is known about how sensory information is used for controlling flight in birds. A powerful method is to immerse an animal in a dynamic virtual reality environment to examine behavioral responses. Here, we investigated the role of vision during free-flight hovering in hummingbirds to determine how optic flow--image movement across the retina--is used to control body position. We filmed hummingbirds hovering in front of a projection screen with the prediction that projecting moving patterns would disrupt hovering stability but stationary patterns would allow the hummingbird to stabilize position. When hovering in the presence of moving gratings and spirals, hummingbirds lost positional stability and responded to the specific orientation of the moving visual stimulus. There was no loss of stability with stationary versions of the same stimulus patterns. When exposed to a single stimulus many times or to a weakened stimulus that combined a moving spiral with a stationary checkerboard, the response to looming motion declined. However, even minimal visual motion was sufficient to cause a loss of positional stability despite prominent stationary features. Collectively, these experiments demonstrate that hummingbirds control hovering position by stabilizing motions in their visual field. The high sensitivity and persistence of this disruptive response is surprising, given that the hummingbird brain is highly specialized for sensory processing and spatial mapping, providing other potential mechanisms for controlling position.

  4. Control strategies for planetary rover motion and manipulator control

    NASA Technical Reports Server (NTRS)

    Trautwein, W.

    1973-01-01

    An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.

  5. Visual Features Involving Motion Seen from Airport Control Towers

    NASA Technical Reports Server (NTRS)

    Ellis, Stephen R.; Liston, Dorion

    2010-01-01

    Visual motion cues are used by tower controllers to support both visual and anticipated separation. Some of these cues are tabulated as part of the overall set of visual features used in towers to separate aircraft. An initial analyses of one motion cue, landing deceleration, is provided as a basis for evaluating how controllers detect and use it for spacing aircraft on or near the surface. Understanding cues like it will help determine if they can be safely used in a remote/virtual tower in which their presentation may be visually degraded.

  6. Development of excavator training simulator using leap motion controller

    NASA Astrophysics Data System (ADS)

    Fahmi, F.; Nainggolan, F.; Andayani, U.; Siregar, B.

    2018-03-01

    Excavator is a heavy machinery that is used for many industries purposes. Controlling the excavator is not easy. Its operator has to be trained well in many skills to make sure it is safe, effective, and efficient while using the excavator. In this research, we proposed a virtual reality excavator simulator supported by a device called Leap Motion Controller that supports finger and hand motions as an input. This prototype will be developed than in the virtual reality environment to give a more real sensing to the user.

  7. Motion of the two-control airplane in rectilinear flight after initial disturbances with introduction of controls following an exponential law

    NASA Technical Reports Server (NTRS)

    Klemin, Alexander

    1937-01-01

    An airplane in steady rectilinear flight was assumed to experience an initial disturbance in rolling or yawing velocity. The equations of motion were solved to see if it was possible to hasten recovery of a stable airplane or to secure recovery of an unstable airplane by the application of a single lateral control following an exponential law. The sample computations indicate that, for initial disturbances complex in character, it would be difficult to secure correlation with any type of exponential control. The possibility is visualized that the two-control operation may seriously impair the ability to hasten recovery or counteract instability.

  8. Decentralized digital adaptive control of robot motion

    NASA Technical Reports Server (NTRS)

    Tarokh, M.

    1990-01-01

    A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.

  9. Oil Motion Control by an Extra Pinning Structure in Electro-Fluidic Display.

    PubMed

    Dou, Yingying; Tang, Biao; Groenewold, Jan; Li, Fahong; Yue, Qiao; Zhou, Rui; Li, Hui; Shui, Lingling; Henzen, Alex; Zhou, Guofu

    2018-04-06

    Oil motion control is the key for the optical performance of electro-fluidic displays (EFD). In this paper, we introduced an extra pinning structure (EPS) into the EFD pixel to control the oil motion inside for the first time. The pinning structure canbe fabricated together with the pixel wall by a one-step lithography process. The effect of the relative location of the EPS in pixels on the oil motion was studied by a series of optoelectronic measurements. EPS showed good control of oil rupture position. The properly located EPS effectively guided the oil contraction direction, significantly accelerated switching on process, and suppressed oil overflow, without declining in aperture ratio. An asymmetrically designed EPS off the diagonal is recommended. This study provides a novel and facile way for oil motion control within an EFD pixel in both direction and timescale.

  10. Neural network-based motion control of an underactuated wheeled inverted pendulum model.

    PubMed

    Yang, Chenguang; Li, Zhijun; Cui, Rongxin; Xu, Bugong

    2014-11-01

    In this paper, automatic motion control is investigated for one of wheeled inverted pendulum (WIP) models, which have been widely applied for modeling of a large range of two wheeled modern vehicles. First, the underactuated WIP model is decomposed into a fully actuated second order subsystem Σa consisting of planar movement of vehicle forward and yaw angular motions, and a nonactuated first order subsystem Σb of pendulum motion. Due to the unknown dynamics of subsystem Σa and the universal approximation ability of neural network (NN), an adaptive NN scheme has been employed for motion control of subsystem Σa . The model reference approach has been used whereas the reference model is optimized by the finite time linear quadratic regulation technique. The pendulum motion in the passive subsystem Σb is indirectly controlled using the dynamic coupling with planar forward motion of subsystem Σa , such that satisfactory tracking of a set pendulum tilt angle can be guaranteed. Rigours theoretic analysis has been established, and simulation studies have been performed to demonstrate the developed method.

  11. Human motion planning based on recursive dynamics and optimal control techniques

    NASA Technical Reports Server (NTRS)

    Lo, Janzen; Huang, Gang; Metaxas, Dimitris

    2002-01-01

    This paper presents an efficient optimal control and recursive dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A quasi-Newton nonlinear programming technique (super-linear convergence) is implemented to solve minimum torque-based human motion-planning problems. The explicit analytical gradients needed in the dynamics are derived using a matrix exponential formulation and Lie algebra. Cubic spline functions are used to make the search space for an optimal solution finite. Based on our formulations, our method is well conditioned and robust, in addition to being computationally efficient. To better illustrate the efficiency of our method, we present results of natural looking and physically correct human motions for a variety of human motion tasks involving open and closed loop kinematic chains.

  12. Behavioral methods of alleviating motion sickness: effectiveness of controlled breathing and a music audiotape.

    PubMed

    Yen Pik Sang, Fleur D; Billar, Jessica P; Golding, John F; Gresty, Michael A

    2003-01-01

    Behavioral countermeasures for motion sickness would be advantageous because of the side effects of antiemetic drugs, but few alternative treatments are available. The objective of this study was to compare the effectiveness of controlling breathing and listening to a music audiotape designed to reduce motion sickness symptoms, on increasing tolerance to motion-induced nausea. Twenty-four healthy subjects were exposed to nauseogenic Coriolis stimulation on a rotating turntable under three conditions: whilst focusing on controlling breathing; listening to a music audiotape; or without intervention (control). The three conditions were performed by each subject according to a replicated factorial design at 1-week intervals at the same time of day. Ratings of motion sickness were obtained every 30 seconds. Once a level of mild nausea was reached subjects commenced controlling breathing or listened to the music audiotape. Motion was stopped after the onset of moderate nausea. Mean (+/- SD) motion exposure time in minutes tolerated before the onset of moderate nausea was significantly longer (p <.01) for controlling breathing (10.7 +/- 5.6 min) and longer (p <.01) for music (10.4 +/- 5.6 min) compared with control (9.2 +/- 5.9 min). Both controlling breathing and the music audiotape provided significant protection against motion sickness and with similar effectiveness. These nonpharmacologic countermeasures are only half as effective as standard doses of anti-motion sickness drugs, such as oral scopolamine; however, they are easy to implement and free of side effects.

  13. An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

    PubMed

    Rañó, Iñaki

    2012-07-01

    Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.

  14. Towards controlling molecular motions in fluorescence microscopy and optical trapping: a spatiotemporal approach

    PubMed Central

    Kumar De, Arijit; Goswami, Debabrata

    2013-01-01

    This account reviews some recent studies pursued in our group on several control experiments with important applications in (one-photon) confocal and two-photon fluorescence laser-scanning microscopy and optical trapping with laser tweezers. We explore the simultaneous control of internal and external (i.e. centre-of-mass motion) degrees of freedom, which require the coupling of various control parameters to result in the spatiotemporal control. Of particular interest to us is the implementation of such control schemes in living systems. A live cell is a system of a large number of different molecules which combine and interact to generate complex structures and functions. These combinations and interactions of molecules need to be choreographed perfectly in time and space to achieve intended intra-cellular functions. Spatiotemporal control promises to be a versatile tool for dynamical control of spatially manipulated bio-molecules. PMID:23814326

  15. Machine learning in motion control

    NASA Technical Reports Server (NTRS)

    Su, Renjeng; Kermiche, Noureddine

    1989-01-01

    The existing methodologies for robot programming originate primarily from robotic applications to manufacturing, where uncertainties of the robots and their task environment may be minimized by repeated off-line modeling and identification. In space application of robots, however, a higher degree of automation is required for robot programming because of the desire of minimizing the human intervention. We discuss a new paradigm of robotic programming which is based on the concept of machine learning. The goal is to let robots practice tasks by themselves and the operational data are used to automatically improve their motion performance. The underlying mathematical problem is to solve the problem of dynamical inverse by iterative methods. One of the key questions is how to ensure the convergence of the iterative process. There have been a few small steps taken into this important approach to robot programming. We give a representative result on the convergence problem.

  16. Analysis of the Motion Control Methods for Stratospheric Balloon-Borne Gondola Platform

    NASA Astrophysics Data System (ADS)

    Wang, H. H.; Yuan, Z. H.; Wu, J.

    2006-10-01

    At present, gondola platform is one of the stratospheric balloon-borne platforms being in research focus at home and overseas. Comparing to other stratospheric balloon-borne platforms, such as airship platform, gondola platform has advantages of higher stability, rapid in motion regulation and lower energy cost but disadvantages of less supporting capacity and be incapable of fixation. While all platforms have the same goal of keeping them at accurate angle and right pose for the requirements of instruments and objects installed in the platforms, when platforms rotate round the ground level perpendicular. That is accomplishing motion control. But, platform control system has factors of low damper, excessive and uncertain disturbances by the reason of its being hung over balloon in the air, it is hard to achieve the desired control precision because platform is ease to deviate its benchmark motion. Thus, in the controlling procedure in order to get higher precision, it is crucial to perceive the platform's swing synchronously and rapidly, and restrain the influence of disturbances effectively, keep the platform's pose steadily. Furthermore, while the platform in the air regard control center in the ground as reference object, it is ultimate to select a appropriate reference frame and work out the coordinates and implement the adjustment by the PC104 controller. This paper introduces the methods of the motion control based on stratospheric balloon-borne gondola platform. Firstly, this paper compares the characteristic of the flywheel and CMG and specifies the key methods of obtaining two significant states which are 'orientation stability' state and 'orientation tracking' state for platform motion control procedure using CMG as the control actuator. These two states reduce the deviation amplitude of rotation and swing of gondola's motion relative to original motion due to stratospheric intense atmosphere disturbance. We define it as the first procedure. In next

  17. Local respiratory motion correction for PET/CT imaging: Application to lung cancer

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

    Lamare, F., E-mail: frederic.lamare@chu-bordeaux.fr; Fernandez, P.; Fayad, H.

    Purpose: Despite multiple methodologies already proposed to correct respiratory motion in the whole PET imaging field of view (FOV), such approaches have not found wide acceptance in clinical routine. An alternative can be the local respiratory motion correction (LRMC) of data corresponding to a given volume of interest (VOI: organ or tumor). Advantages of LRMC include the use of a simple motion model, faster execution times, and organ specific motion correction. The purpose of this study was to evaluate the performance of LMRC using various motion models for oncology (lung lesion) applications. Methods: Both simulated (NURBS based 4D cardiac-torso phantom)more » and clinical studies (six patients) were used in the evaluation of the proposed LRMC approach. PET data were acquired in list-mode and synchronized with respiration. The implemented approach consists first in defining a VOI on the reconstructed motion average image. Gated PET images of the VOI are subsequently reconstructed using only lines of response passing through the selected VOI and are used in combination with a center of gravity or an affine/elastic registration algorithm to derive the transformation maps corresponding to the respiration effects. Those are finally integrated in the reconstruction process to produce a motion free image over the lesion regions. Results: Although the center of gravity or affine algorithm achieved similar performance for individual lesion motion correction, the elastic model, applied either locally or to the whole FOV, led to an overall superior performance. The spatial tumor location was altered by 89% and 81% for the elastic model applied locally or to the whole FOV, respectively (compared to 44% and 39% for the center of gravity and affine models, respectively). This resulted in similar associated overall tumor volume changes of 84% and 80%, respectively (compared to 75% and 71% for the center of gravity and affine models, respectively). The application of the

  18. Controlling Motion Sickness and Spatial Disorientation and Enhancing Vestibular Rehabilitation with a User-Worn See-Through Display

    PubMed Central

    Krueger, Wesley W.O.

    2010-01-01

    Objectives/Hypotheses An eyewear mounted visual display (“User-worn see-through display”) projecting an artificial horizon aligned with the user's head and body position in space can prevent or lessen motion sickness in susceptible individuals when in a motion provocative environment as well as aid patients undergoing vestibular rehabilitation. In this project, a wearable display device, including software technology and hardware, was developed and a phase I feasibility study and phase II clinical trial for safety and efficacy were performed. Study Design Both phase I and phase II were prospective studies funded by the NIH. The phase II study used repeated measures for motion intolerant subjects and a randomized control group (display device/no display device) pre-post test design for patients in vestibular rehabilitation. Methods Following technology and display device development, 75 patients were evaluated by test and rating scales in the phase II study; 25 subjects with motion intolerance used the technology in the display device in provocative environments and completed subjective rating scales while 50 patients were evaluated before and after vestibular rehabilitation (25 using the display device and 25 in a control group) using established test measures. Results All patients with motion intolerance rated the technology as helpful for nine symptoms assessed, and 96% rated the display device as simple and easy to use. Duration of symptoms significantly decreased with use of the technology displayed. In patients undergoing vestibular rehabilitation, there were no significant differences in amount of change from pre- to post-therapy on objective balance tests between display device users and controls. However, those using the technology required significantly fewer rehabilitation sessions to achieve those outcomes than the control group. Conclusions A user-worn see-through display, utilizing a visual fixation target coupled with a stable artificial horizon

  19. Controlling motion sickness and spatial disorientation and enhancing vestibular rehabilitation with a user-worn see-through display.

    PubMed

    Krueger, Wesley W O

    2011-01-01

    An eyewear mounted visual display ("User-worn see-through display") projecting an artificial horizon aligned with the user's head and body position in space can prevent or lessen motion sickness in susceptible individuals when in a motion provocative environment as well as aid patients undergoing vestibular rehabilitation. In this project, a wearable display device, including software technology and hardware, was developed and a phase I feasibility study and phase II clinical trial for safety and efficacy were performed. Both phase I and phase II were prospective studies funded by the NIH. The phase II study used repeated measures for motion intolerant subjects and a randomized control group (display device/no display device) pre-posttest design for patients in vestibular rehabilitation. Following technology and display device development, 75 patients were evaluated by test and rating scales in the phase II study; 25 subjects with motion intolerance used the technology in the display device in provocative environments and completed subjective rating scales, whereas 50 patients were evaluated before and after vestibular rehabilitation (25 using the display device and 25 in a control group) using established test measures. All patients with motion intolerance rated the technology as helpful for nine symptoms assessed, and 96% rated the display device as simple and easy to use. Duration of symptoms significantly decreased with use of the technology displayed. In patients undergoing vestibular rehabilitation, there were no significant differences in amount of change from pre- to posttherapy on objective balance tests between display device users and controls. However, those using the technology required significantly fewer rehabilitation sessions to achieve those outcomes than the control group. A user-worn see-through display, utilizing a visual fixation target coupled with a stable artificial horizon and aligned with user movement, has demonstrated substantial

  20. Analytic Theory and Control of the Motion of Spinning Rigid Bodies

    NASA Technical Reports Server (NTRS)

    Tsiotras, Panagiotis

    1993-01-01

    -fixed torques. Assessment of the analytic solutions reveals that they are very accurate; for symmetric bodies the solutions of Euler's equations of motion are, in fact, exact. Second, the results of this research have a fundamental impact on practical scientific and mechanical applications in terms of the analysis and control of all finite-sized rigid bodies ranging from nanomachines to very large bodies, both man made and natural. After all, Euler's equations of motion apply to all physical bodies, barring only the extreme limits of quantum mechanics and relativity.

  1. Analysis of achievable disturbance attenuation in a precision magnetically-suspended motion control system

    NASA Technical Reports Server (NTRS)

    Kuzin, Alexander V.; Holmes, Michael L.; Behrouzjou, Roxana; Trumper, David L.

    1994-01-01

    The results of the analysis of the achievable disturbance attenuation to get an Angstrom motion control resolution and macroscopic travel in a precision magnetically-suspended motion control system are presented in this paper. Noise sources in the transducers, electronics, and mechanical vibrations are used to develop the control design.

  2. Intelligent control of neurosurgical robot MM-3 using dynamic motion scaling.

    PubMed

    Ko, Sunho; Nakazawa, Atsushi; Kurose, Yusuke; Harada, Kanako; Mitsuishi, Mamoru; Sora, Shigeo; Shono, Naoyuki; Nakatomi, Hirofumi; Saito, Nobuhito; Morita, Akio

    2017-05-01

    OBJECTIVE Advanced and intelligent robotic control is necessary for neurosurgical robots, which require great accuracy and precision. In this article, the authors propose methods for dynamically and automatically controlling the motion-scaling ratio of a master-slave neurosurgical robotic system to reduce the task completion time. METHODS Three dynamic motion-scaling modes were proposed and compared with the conventional fixed motion-scaling mode. These 3 modes were defined as follows: 1) the distance between a target point and the tip of the slave manipulator, 2) the distance between the tips of the slave manipulators, and 3) the velocity of the master manipulator. Five test subjects, 2 of whom were neurosurgeons, sutured 0.3-mm artificial blood vessels using the MM-3 neurosurgical robot in each mode. RESULTS The task time, total path length, and helpfulness score were evaluated. Although no statistically significant differences were observed, the mode using the distance between the tips of the slave manipulators improves the suturing performance. CONCLUSIONS Dynamic motion scaling has great potential for the intelligent and accurate control of neurosurgical robots.

  3. What Is Being Done to Control Motion Sickness?

    NASA Technical Reports Server (NTRS)

    Hall, Y. D.

    1985-01-01

    AFT (Autogenic Feedback Training) involves practicing a series of mental exercises to speed up or slow down the control of autonomic activity. This produces a reduced tendency for autonomic activity levels to diverge from baseline (at rest) under stressful motion-sickness-inducing conditions. Subjects conditions. Subjects engaged in applying AFT exercises are required to closely monitor their own bodily sensations during motion-sickness-eliciting tests. These tests include the Coriolis Sickness Susceptibility Index (CSSI), which consists of sitting a subject into a rotating chair that moves at various speeds while a visual background turns at differing speeds and directions, and the Vertical Acceleration Rotation Device (VARD) test, which involves the placing of a subject in a drum that moves in an upward and downward motion until he or she is sick, while simultaneously monitoring the subject's vital signs. These tests provide investigators with evidence of slight changes in autonomic activities such as increases in heart rate, skin temperature, and sweat. All of these symptoms occur in subjects that experience bodily weakness or discomfort with the onset of motion sickness.

  4. Reduction of vortex induced forces and motion through surface roughness control

    DOEpatents

    Bernitsas, Michael M; Raghavan, Kamaldev

    2014-04-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to decrease/suppress Vortex Induced Forces and Motion. Suppression is required when fluid-structure interaction becomes destructive as in VIM of flexible cylinders or rigid cylinders on elastic support, such as underwater pipelines, marine risers, tubes in heat exchangers, nuclear fuel rods, cooling towers, SPAR offshore platforms.

  5. Clinical applications of a quantitative analysis of regional lift ventricular wall motion

    NASA Technical Reports Server (NTRS)

    Leighton, R. F.; Rich, J. M.; Pollack, M. E.; Altieri, P. I.

    1975-01-01

    Observations were summarized which may have clinical application. These were obtained from a quantitative analysis of wall motion that was used to detect both hypokinesis and tardokinesis in left ventricular cineangiograms. The method was based on statistical comparisons with normal values for regional wall motion derived from the cineangiograms of patients who were found not to have heart disease.

  6. Stress Drop and Depth Controls on Ground Motion From Induced Earthquakes

    NASA Astrophysics Data System (ADS)

    Baltay, A.; Rubinstein, J. L.; Terra, F. M.; Hanks, T. C.; Herrmann, R. B.

    2015-12-01

    Induced earthquakes in the central United States pose a risk to local populations, but there is not yet agreement on how to portray their hazard. A large source of uncertainty in the hazard arises from ground motion prediction, which depends on the magnitude and distance of the causative earthquake. However, ground motion models for induced earthquakes may be very different than models previously developed for either the eastern or western United States. A key question is whether ground motions from induced earthquakes are similar to those from natural earthquakes, yet there is little history of natural events in the same region with which to compare the induced ground motions. To address these problems, we explore how earthquake source properties, such as stress drop or depth, affect the recorded ground motion of induced earthquakes. Typically, due to stress drop increasing with depth, ground motion prediction equations model shallower events to have smaller ground motions, when considering the same absolute hypocentral distance to the station. Induced earthquakes tend to occur at shallower depths, with respect to natural eastern US earthquakes, and may also exhibit lower stress drops, which begs the question of how these two parameters interact to control ground motion. Can the ground motions of induced earthquakes simply be understood by scaling our known source-ground motion relations to account for the shallow depth or potentially smaller stress drops of these induced earthquakes, or is there an inherently different mechanism in play for these induced earthquakes? We study peak ground-motion velocity (PGV) and acceleration (PGA) from induced earthquakes in Oklahoma and Kansas, recorded by USGS networks at source-station distances of less than 20 km, in order to model the source effects. We compare these records to those in both the NGA-West2 database (primarily from California) as well as NGA-East, which covers the central and eastern United States and Canada

  7. 77 FR 53880 - Portland General Electric Company; Notice of Application Accepted for Filing, Soliciting Motions...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-09-04

    ... Electric Company; Notice of Application Accepted for Filing, Soliciting Motions To Intervene, Protests, and... Contact: Jeremy Jessup, (202) 502-6779, [email protected] . j. Deadline for filing motions to... of your comments. Please include the project number (P-2195-079) on any motions, protests, or...

  8. Telepresence system development for application to the control of remote robotic systems

    NASA Technical Reports Server (NTRS)

    Crane, Carl D., III; Duffy, Joseph; Vora, Rajul; Chiang, Shih-Chien

    1989-01-01

    The recent developments of techniques which assist an operator in the control of remote robotic systems are described. In particular, applications are aimed at two specific scenarios: The control of remote robot manipulators; and motion planning for remote transporter vehicles. Common to both applications is the use of realistic computer graphics images which provide the operator with pertinent information. The specific system developments for several recently completed and ongoing telepresence research projects are described.

  9. Method for neural network control of motion using real-time environmental feedback

    NASA Technical Reports Server (NTRS)

    Buckley, Theresa M. (Inventor)

    1997-01-01

    A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

  10. Motion control system of MAX IV Laboratory soft x-ray beamlines

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

    Sjöblom, Peter, E-mail: peter.sjoblom@maxlab.lu.se; Lindberg, Mirjam, E-mail: mirjam.lindberg@maxlab.lu.se; Forsberg, Johan, E-mail: johan.forsberg@maxlab.lu.se

    2016-07-27

    At the MAX IV Laboratory, five new soft x-ray beamlines are under development. The first is Species and it will be used to develop and set the standard of the control system, which will be common across the facility. All motion axes at MAX IV will be motorized using stepper motors steered by the IcePAP motion controller and a mixture of absolute and incremental encoders following a predefined coordinate system. The control system software is built in Tango and uses the Python-based Sardana framework. The user controls the entire beamline through a synoptic overview and Sardana is used to runmore » the scans.« less

  11. Modification of hemiplegic compensatory gait pattern by symmetry-based motion controller of HAL.

    PubMed

    Kawamoto, Hiroaki; Kadone, Hideki; Sakurai, Takeru; Sankai, Yoshiyuki

    2015-01-01

    As one of several characteristics of hemiplegic patients after stroke, compensatory gait caused by affected limb is often seen. The purpose of this research is to apply a symmetry-based controller of a wearable type lower limb robot, Hybrid Assistive Limb (HAL) to hemiplegic patients with compensatory gait, and to investigate improvement of gait symmetry. The controller is designed respectively for swing phase and support phase according to characteristics of hemiplegic gait pattern. The controller during swing phase stores the motion of the unaffected limb and then provides motion support on the affected limb during the subsequent swing using the stored pattern to realize symmetric gait based on spontaneous limb swing. Moreover, the controller during support phase provides motion to extend hip and knee joints to support wearer's body. Clinical tests were conducted in order to assess the modification of gait symmetry. Our case study involved participation of one chronic stroke patient who performs abnormally-compensatory gait for both of the affected and unaffected limbs. As a result, the patient's gait symmetry was improved by providing motion support during the swing phase on the affected side and motion constraint during the support phase on the unaffected side. The study showed promising basis for the effectiveness of the controller for the future clinical study.

  12. Optimal Robust Motion Controller Design Using Multiobjective Genetic Algorithm

    PubMed Central

    Svečko, Rajko

    2014-01-01

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

  13. Spatial and Temporal Control of Hyperthermia Using Real Time Ultrasonic Thermal Strain Imaging with Motion Compensation, Phantom Study

    PubMed Central

    Foiret, Josquin; Ferrara, Katherine W.

    2015-01-01

    Mild hyperthermia has been successfully employed to induce reversible physiological changes that can directly treat cancer and enhance local drug delivery. In this approach, temperature monitoring is essential to avoid undesirable biological effects that result from thermal damage. For thermal therapies, Magnetic Resonance Imaging (MRI) has been employed to control real-time Focused Ultrasound (FUS) therapies. However, combined ultrasound imaging and therapy systems offer the benefits of simple, low-cost devices that can be broadly applied. To facilitate such technology, ultrasound thermometry has potential to reliably monitor temperature. Control of mild hyperthermia was previously achieved using a proportional-integral-derivative (PID) controller based on thermocouple measurements. Despite accurate temporal control of heating, this method is limited by the single position at which the temperature is measured. Ultrasound thermometry techniques based on exploiting the thermal dependence of acoustic parameters (such as longitudinal velocity) can be extended to create thermal maps and allow an accurate monitoring of temperature with good spatial resolution. However, in vivo applications of this technique have not been fully developed due to the high sensitivity to tissue motion. Here, we propose a motion compensation method based on the acquisition of multiple reference frames prior to treatment. The technique was tested in the presence of 2-D and 3-D physiological-scale motion and was found to provide effective real-time temperature monitoring. PID control of mild hyperthermia in presence of motion was then tested with ultrasound thermometry as feedback and temperature was maintained within 0.3°C of the requested value. PMID:26244783

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

    PubMed

    Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

    2016-01-01

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

  15. Coordinating robot motion, sensing, and control in plans. LDRD project final report

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

    Xavier, P.G.; Brown, R.G.; Watterberg, P.A.

    1997-08-01

    The goal of this project was to develop a framework for robotic planning and execution that provides a continuum of adaptability with respect to model incompleteness, model error, and sensing error. For example, dividing robot motion into gross-motion planning, fine-motion planning, and sensor-augmented control had yielded productive research and solutions to individual problems. Unfortunately, these techniques could only be combined by hand with ad hoc methods and were restricted to systems where all kinematics are completely modeled in planning. The original intent was to develop methods for understanding and autonomously synthesizing plans that coordinate motion, sensing, and control. The projectmore » considered this problem from several perspectives. Results included (1) theoretical methods to combine and extend gross-motion and fine-motion planning; (2) preliminary work in flexible-object manipulation and an implementable algorithm for planning shortest paths through obstacles for the free-end of an anchored cable; (3) development and implementation of a fast swept-body distance algorithm; and (4) integration of Sandia`s C-Space Toolkit geometry engine and SANDROS motion planer and improvements, which yielded a system practical for everyday motion planning, with path-segment planning at interactive speeds. Results (3) and (4) have either led to follow-on work or are being used in current projects, and they believe that (2) will eventually be also.« less

  16. Motion Controlled Gait Enhancing Mobile Shoe for Rehabilitation

    PubMed Central

    Handzic, Ismet; Vasudevan, Erin V.; Reed, Kyle B.

    2011-01-01

    Walking on a split-belt treadmill, which has two belts that can be run at different speeds, has been shown to improve walking patterns post-stroke. However, these improvements are only temporarily retained once individuals transition to walking over ground. We hypothesize that longer-lasting effects would be observed if the training occurred during natural walking over ground, as opposed to on a treadmill. In order to study such long-term effects, we have developed a mobile and portable device which can simulate the same gait altering movements experienced on a split-belt treadmill. The new motion controlled gait enhancing mobile shoe improves upon the previous version’s drawbacks. This version of the GEMS has motion that is continuous, smooth, and regulated with on-board electronics. A vital component of this new design is the Archimedean spiral wheel shape that redirects the wearer’s downward force into a horizontal backward motion. The design is passive and does not utilize any motors. Its motion is regulated only by a small magnetic particle brake. Further experimentation is needed to evaluate the long-term after-effects. PMID:22275620

  17. Controlling the motion of multiple objects on a Chladni plate

    NASA Astrophysics Data System (ADS)

    Zhou, Quan; Sariola, Veikko; Latifi, Kourosh; Liimatainen, Ville

    2016-09-01

    The origin of the idea of moving objects by acoustic vibration can be traced back to 1787, when Ernst Chladni reported the first detailed studies on the aggregation of sand onto nodal lines of a vibrating plate. Since then and to this date, the prevailing view has been that the particle motion out of nodal lines is random, implying uncontrollability. But how random really is the out-of-nodal-lines motion on a Chladni plate? Here we show that the motion is sufficiently regular to be statistically modelled, predicted and controlled. By playing carefully selected musical notes, we can control the position of multiple objects simultaneously and independently using a single acoustic actuator. Our method allows independent trajectory following, pattern transformation and sorting of multiple miniature objects in a wide range of materials, including electronic components, water droplets loaded on solid carriers, plant seeds, candy balls and metal parts.

  18. Energy efficient motion control of the electric bus on route

    NASA Astrophysics Data System (ADS)

    Kotiev, G. O.; Butarovich, D. O.; Kositsyn, B. B.

    2018-02-01

    At present, the urgent problem is the reduction of energy costs of urban motor transport. The article proposes a method of solving this problem by developing an energy-efficient law governing the movement of an electric bus along a city route. To solve this problem, an algorithm is developed based on the dynamic programming method. The proposed method allows you to take into account the constraints imposed on the phase coordinates, control action, as well as on the time of the route. In the course of solving the problem, the model of rectilinear motion of an electric bus on a horizontal reference surface is considered, taking into account the assumptions that allow it to be adapted for the implementation of the method. For the formation of a control action in the equations of motion dynamics, an algorithm for changing the traction / braking torque on the wheels of an electric bus is considered, depending on the magnitude of the control parameter and the speed of motion. An optimal phase trajectory was obtained on a selected section of the road for the prototype of an electric bus. The article presents the comparison of simulation results obtained with the optimal energy efficient control law with the results obtained by a test driver. The comparison proved feasibility of the energy efficient control law for the automobile city electric transport.

  19. Enhanced Modeling of First-Order Plant Equations of Motion for Aeroelastic and Aeroservoelastic Applications

    NASA Technical Reports Server (NTRS)

    Pototzky, Anthony S.

    2010-01-01

    A methodology is described for generating first-order plant equations of motion for aeroelastic and aeroservoelastic applications. The description begins with the process of generating data files representing specialized mode-shapes, such as rigid-body and control surface modes, using both PATRAN and NASTRAN analysis. NASTRAN executes the 146 solution sequence using numerous Direct Matrix Abstraction Program (DMAP) calls to import the mode-shape files and to perform the aeroelastic response analysis. The aeroelastic response analysis calculates and extracts structural frequencies, generalized masses, frequency-dependent generalized aerodynamic force (GAF) coefficients, sensor deflections and load coefficients data as text-formatted data files. The data files are then re-sequenced and re-formatted using a custom written FORTRAN program. The text-formatted data files are stored and coefficients for s-plane equations are fitted to the frequency-dependent GAF coefficients using two Interactions of Structures, Aerodynamics and Controls (ISAC) programs. With tabular files from stored data created by ISAC, MATLAB generates the first-order aeroservoelastic plant equations of motion. These equations include control-surface actuator, turbulence, sensor and load modeling. Altitude varying root-locus plot and PSD plot results for a model of the F-18 aircraft are presented to demonstrate the capability.

  20. 78 FR 42520 - Control Technology, Inc.; Notice of Preliminary Permit Application Accepted for Filing and...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-07-16

    ... Technology, Inc.; Notice of Preliminary Permit Application Accepted for Filing and Soliciting Comments, Motions To Intervene, and Competing Applications On December 18, 2012, Control Technology, Inc. filed an application for a preliminary permit, pursuant to section 4(f) of the Federal Power Act, proposing to study...

  1. Motion Recognition and Modifying Motion Generation for Imitation Robot Based on Motion Knowledge Formation

    NASA Astrophysics Data System (ADS)

    Okuzawa, Yuki; Kato, Shohei; Kanoh, Masayoshi; Itoh, Hidenori

    A knowledge-based approach to imitation learning of motion generation for humanoid robots and an imitative motion generation system based on motion knowledge learning and modification are described. The system has three parts: recognizing, learning, and modifying parts. The first part recognizes an instructed motion distinguishing it from the motion knowledge database by the continuous hidden markov model. When the motion is recognized as being unfamiliar, the second part learns it using locally weighted regression and acquires a knowledge of the motion. When a robot recognizes the instructed motion as familiar or judges that its acquired knowledge is applicable to the motion generation, the third part imitates the instructed motion by modifying a learned motion. This paper reports some performance results: the motion imitation of several radio gymnastics motions.

  2. Applications of fuzzy logic to control and decision making

    NASA Technical Reports Server (NTRS)

    Lea, Robert N.; Jani, Yashvant

    1991-01-01

    Long range space missions will require high operational efficiency as well as autonomy to enhance the effectivity of performance. Fuzzy logic technology has been shown to be powerful and robust in interpreting imprecise measurements and generating appropriate control decisions for many space operations. Several applications are underway, studying the fuzzy logic approach to solving control and decision making problems. Fuzzy logic algorithms for relative motion and attitude control have been developed and demonstrated for proximity operations. Based on this experience, motion control algorithms that include obstacle avoidance were developed for a Mars Rover prototype for maneuvering during the sample collection process. A concept of an intelligent sensor system that can identify objects and track them continuously and learn from its environment is under development to support traffic management and proximity operations around the Space Station Freedom. For safe and reliable operation of Lunar/Mars based crew quarters, high speed controllers with ability to combine imprecise measurements from several sensors is required. A fuzzy logic approach that uses high speed fuzzy hardware chips is being studied.

  3. Organ motion due to respiration: the state of the art and applications in interventional radiology and radiation oncology

    NASA Astrophysics Data System (ADS)

    Cleary, Kevin R.; Mulcahy, Maureen; Piyasena, Rohan; Zhou, Tong; Dieterich, Sonja; Xu, Sheng; Banovac, Filip; Wong, Kenneth H.

    2005-04-01

    Tracking organ motion due to respiration is important for precision treatments in interventional radiology and radiation oncology, among other areas. In interventional radiology, the ability to track and compensate for organ motion could lead to more precise biopsies for applications such as lung cancer screening. In radiation oncology, image-guided treatment of tumors is becoming technically possible, and the management of organ motion then becomes a major issue. This paper will review the state-of-the-art in respiratory motion and present two related clinical applications. Respiratory motion is an important topic for future work in image-guided surgery and medical robotics. Issues include how organs move due to respiration, how much they move, how the motion can be compensated for, and what clinical applications can benefit from respiratory motion compensation. Technology that can be applied for this purpose is now becoming available, and as that technology evolves, the subject will become an increasingly interesting and clinically valuable topic of research.

  4. Air-Breathing Ramjet Electric Propulsion for Controlling Low-Orbit Spacecraft Motion to Compensate for Aerodynamic Drag

    NASA Astrophysics Data System (ADS)

    Erofeev, A. I.; Nikiforov, A. P.; Popov, G. A.; Suvorov, M. O.; Syrin, S. A.; Khartov, S. A.

    2017-12-01

    Problems on designing the air-breathing ramjet electric propulsion thruster for controlling loworbit spacecraft motion are examined in the paper. Information for choosing orbits' altitudes for reasonable application of an air-breathing ramjet electric propulsion thruster and propellant exhaust velocity is presented. Estimates of the probable increase of gas concentration in the area of air-breathing ramjet ionization are presented. The test results of the thruster are also given.

  5. Stepping-Motion Motor-Control Subsystem For Testing Bearings

    NASA Technical Reports Server (NTRS)

    Powers, Charles E.

    1992-01-01

    Control subsystem closed-loop angular-position-control system causing motor and bearing under test to undergo any of variety of continuous or stepping motions. Also used to test bearing-and-motor assemblies, motors, angular-position sensors including rotating shafts, and like. Monitoring subsystem gathers data used to evaluate performance of bearing or other article under test. Monitoring subsystem described in article, "Monitoring Subsystem For Testing Bearings" (GSC-13432).

  6. On the Motions of an Oscillating System Under the Influence of Flip-Flop Controls

    NASA Technical Reports Server (NTRS)

    Fluegge-Lotz, I.; Klotter, K.

    1949-01-01

    So-called flip-flop controls (also called "on-off-course controls") are frequently preferred to continuous controls because of their simple construction. Thus they are used also for the steering control of airplanes. Such a body possesses-even if one thinks, for instance, only of the symmetric longitudinal motion - three degrees of freedom so that a study of its motions under the influence of an intermittent control is at least lengthy. Thus, it is suggested that an investigation of the basic effect of such a control first be made on a system with one degree of freedom. Furthermore, we limit ourselves in the resent report to the investigation of an "ideal" control where the control surface immediately obeys the command given by the "steering control function". Thus the oscillation properties of the control surface and the defects in linkage, sensing element, and mixing device are, at first, neglected. As long as the deviations from the "ideal" control may be neglected in practice, also the motion of the control surface takes place at the heat of the motion of the principal system. The aim of our investigation is to obtain a survey of the influence of the system and control coefficients on the damping behavior which is to be attained.

  7. Applications of Phase-Based Motion Processing

    NASA Technical Reports Server (NTRS)

    Branch, Nicholas A.; Stewart, Eric C.

    2018-01-01

    Image pyramids provide useful information in determining structural response at low cost using commercially available cameras. The current effort applies previous work on the complex steerable pyramid to analyze and identify imperceptible linear motions in video. Instead of implicitly computing motion spectra through phase analysis of the complex steerable pyramid and magnifying the associated motions, instead present a visual technique and the necessary software to display the phase changes of high frequency signals within video. The present technique quickly identifies regions of largest motion within a video with a single phase visualization and without the artifacts of motion magnification, but requires use of the computationally intensive Fourier transform. While Riesz pyramids present an alternative to the computationally intensive complex steerable pyramid for motion magnification, the Riesz formulation contains significant noise, and motion magnification still presents large amounts of data that cannot be quickly assessed by the human eye. Thus, user-friendly software is presented for quickly identifying structural response through optical flow and phase visualization in both Python and MATLAB.

  8. 3-d brownian motion simulator for high-sensitivity nanobiotechnological applications.

    PubMed

    Toth, Arpád; Banky, Dániel; Grolmusz, Vince

    2011-12-01

    A wide variety of nanobiotechnologic applications are being developed for nanoparticle based in vitro diagnostic and imaging systems. Some of these systems make possible highly sensitive detection of molecular biomarkers. Frequently, the very low concentration of the biomarkers makes impossible the classical, partial differential equation-based mathematical simulation of the motion of the nanoparticles involved. We present a three-dimensional Brownian motion simulation tool for the prediction of the movement of nanoparticles in various thermal, viscosity, and geometric settings in a rectangular cuvette. For nonprofit users the server is freely available at the site http://brownian.pitgroup.org.

  9. Differences in kinematic control of ankle joint motions in people with chronic ankle instability.

    PubMed

    Kipp, Kristof; Palmieri-Smith, Riann M

    2013-06-01

    People with chronic ankle instability display different ankle joint motions compared to healthy people. The purpose of this study was to investigate the strategies used to control ankle joint motions between a group of people with chronic ankle instability and a group of healthy, matched controls. Kinematic data were collected from 11 people with chronic ankle instability and 11 matched control subjects as they performed a single-leg land-and-cut maneuver. Three-dimensional ankle joint angles were calculated from 100 ms before, to 200 ms after landing. Kinematic control of the three rotational ankle joint degrees of freedom was investigated by simultaneously examining the three-dimensional co-variation of plantarflexion/dorsiflexion, toe-in/toe-out rotation, and inversion/eversion motions with principal component analysis. Group differences in the variance proportions of the first two principal components indicated that the angular co-variation between ankle joint motions was more linear in the control group, but more planar in the chronic ankle instability group. Frontal and transverse plane motions, in particular, contributed to the group differences in the linearity and planarity of angular co-variation. People with chronic ankle instability use a different kinematic control strategy to coordinate ankle joint motions during a single-leg landing task. Compared to the healthy group, the chronic ankle instability group's control strategy appeared to be more complex and involved joint-specific contributions that would tend to predispose this group to recurring episodes of instability. Copyright © 2013 Elsevier Ltd. All rights reserved.

  10. A fast implementation of MPC-based motion cueing algorithms for mid-size road vehicle motion simulators

    NASA Astrophysics Data System (ADS)

    Bruschetta, M.; Maran, F.; Beghi, A.

    2017-06-01

    The use of dynamic driving simulators is constantly increasing in the automotive community, with applications ranging from vehicle development to rehab and driver training. The effectiveness of such devices is related to their capabilities of well reproducing the driving sensations, hence it is crucial that the motion control strategies generate both realistic and feasible inputs to the platform. Such strategies are called motion cueing algorithms (MCAs). In recent years several MCAs based on model predictive control (MPC) techniques have been proposed. The main drawback associated with the use of MPC is its computational burden, that may limit their application to high performance dynamic simulators. In the paper, a fast, real-time implementation of an MPC-based MCA for 9 DOF, high performance platform is proposed. Effectiveness of the approach in managing the available working area is illustrated by presenting experimental results from an implementation on a real device with a 200 Hz control frequency.

  11. 77 FR 71187 - Greenwood County; Notice of Application for Amendment of License and Soliciting Comments, Motions...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-11-29

    ...; Notice of Application for Amendment of License and Soliciting Comments, Motions To Intervene, and... comments, motions to intervene, and protests: December 24, 2012. All documents may be filed electronically...-099) on any comments or motions filed. The Commission's Rules of Practice and Procedure require all...

  12. Research and development of a control system for multi axis cooperative motion based on PMAC

    NASA Astrophysics Data System (ADS)

    Guo, Xiao-xiao; Dong, Deng-feng; Zhou, Wei-hu

    2017-10-01

    Based on Programmable Multi-axes Controller (PMAC), a design of a multi axis motion control system for the simulator of spatial targets' dynamic optical properties is proposed. According to analysis the properties of spatial targets' simulator motion control system, using IPC as the main control layer, TurboPMAC2 as the control layer to meet coordinated motion control, data acquisition and analog output. A simulator using 5 servomotors which is connected with speed reducers to drive the output axis was implemented to simulate the motion of both the sun and the space target. Based on PMAC using PID and a notch filter algorithm, negative feedback, the speed and acceleration feed forward algorithm to satisfy the axis' requirements of the good stability and high precision at low speeds. In the actual system, it shows that the velocity precision is higher than 0.04 s ° and the precision of repetitive positioning is better than 0.006° when each axis is at a low-speed. Besides, the system achieves the control function of multi axis coordinated motion. The design provides an important technical support for detecting spatial targets, also promoting the theoretical research.

  13. Synthesis of a controller for stabilizing the motion of a rigid body about a fixed point

    NASA Astrophysics Data System (ADS)

    Zabolotnov, Yu. M.; Lobanov, A. A.

    2017-05-01

    A method for the approximate design of an optimal controller for stabilizing the motion of a rigid body about a fixed point is considered. It is assumed that rigid body motion is nearly the motion in the classical Lagrange case. The method is based on the common use of the Bellman dynamic programming principle and the averagingmethod. The latter is used to solve theHamilton-Jacobi-Bellman equation approximately, which permits synthesizing the controller. The proposed method for controller design can be used in many problems close to the problem of motion of the Lagrange top (the motion of a rigid body in the atmosphere, the motion of a rigid body fastened to a cable in deployment of the orbital cable system, etc.).

  14. Motion sickness: Can it be controlled

    NASA Technical Reports Server (NTRS)

    Carnes, David

    1988-01-01

    NASA is one of the few research centers concerned with motion sickness. Since the physiology of man has been developed in the one-gravity field Earth, the changes experienced by man in space are unique, and often result in symptoms that resemble motion sickness on Earth. NASA is concerned with motion sickness because it is very uncomfortable for the astronauts. Another concern of NASA is the possibility of a motion sickness astronaut regurgitating while he or she is sealed in an airtight space suit. This could be fatal. Motivated by these reasons, NASA spent thousands of dollars in research and development for a drug or technique for combating motion sickness. Several different treatments were developed for this disorder. Three of the most effective ways of combatting motion sickness are discussed.

  15. High speed, precision motion strategies for lightweight structures

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.

    1987-01-01

    Abstracts of published papers and dissertations generated during the reporting period are compiled. Work on fine motion control was completed. Specifically, real time control of flexible manipulator vibrations were experimentally investigated. A linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes was examined with respect to model order requirements, and modal candidate selection. State feedback control laws were implemented based upon linear quadratic regulator design. Specification of the closed loop poles in the regulator design process was obtained by inclusion of a prescribed degree of stability in the manipulator model. Work on gross motion planning and control is also summarized. A systematic method to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators was developed.

  16. 78 FR 35015 - Alabama Power Company; Notice of Application Accepted for Filing, Soliciting Comments, Motions to...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-06-11

    ... Company; Notice of Application Accepted for Filing, Soliciting Comments, Motions to Intervene, [email protected] . j. Deadline for filing comments, motions to intervene, and protests: July 8, 2013. All... the end of your comments. Please include the project number (P-2146-140) on any comments or motions...

  17. Applications of High-speed motion analysis system on Solid Rocket Motor (SRM)

    NASA Astrophysics Data System (ADS)

    Liu, Yang; He, Guo-qiang; Li, Jiang; Liu, Pei-jin; Chen, Jian

    2007-01-01

    High-speed motion analysis system could record images up to 12,000fps and analyzed with the image processing system. The system stored data and images directly in electronic memory convenient for managing and analyzing. The high-speed motion analysis system and the X-ray radiography system were established the high-speed real-time X-ray radiography system, which could diagnose and measure the dynamic and high-speed process in opaque. The image processing software was developed for improve quality of the original image for acquiring more precise information. The typical applications of high-speed motion analysis system on solid rocket motor (SRM) were introduced in the paper. The research of anomalous combustion of solid propellant grain with defects, real-time measurement experiment of insulator eroding, explosion incision process of motor, structure and wave character of plume during the process of ignition and flameout, measurement of end burning of solid propellant, measurement of flame front and compatibility between airplane and missile during the missile launching were carried out using high-speed motion analysis system. The significative results were achieved through the research. Aim at application of high-speed motion analysis system on solid rocket motor, the key problem, such as motor vibrancy, electrical source instability, geometry aberrance, and yawp disturbance, which damaged the image quality, was solved. The image processing software was developed which improved the capability of measuring the characteristic of image. The experimental results showed that the system was a powerful facility to study instantaneous and high-speed process in solid rocket motor. With the development of the image processing technique, the capability of high-speed motion analysis system was enhanced.

  18. Autogenic-feedback training exercise is superior to promethazine for control of motion sickness symptoms

    NASA Technical Reports Server (NTRS)

    Cowings, P. S.; Toscano, W. B.

    2000-01-01

    Motion sickness symptoms affect approximately 50% of the crew during space travel and are commonly treated with intramuscular injections of promethazine. The purpose of this paper is to compare the effectiveness of three treatments for motion sickness: intramuscular injections (i.m.) of promethazine, a physiological training method (autogenic-feedback training exercise [AFTE]), and a no-treatment control. An earlier study tested the effects of promethazine on cognitive and psychomotor performance and motion sickness tolerance in a rotating chair. For the present paper, motion sickness tolerance, symptom reports, and physiological responses of these subjects were compared to matched subjects selected from an existing database who received either AFTE or no treatment. Three groups of 11 men, between the ages of 33 and 40 years, were matched on the number of rotations tolerated during their initial rotating-chair motion sickness test. The motion sickness test procedures and the 7-day interval between tests were the same for all subjects. The drug group was tested under four treatment conditions: baseline (no injections), a 25 mg dose of promethazine, a 50 mg dose of promethazine, and a placebo of sterile saline. AFTE subjects were given four 30-minute AFTE sessions before their second, third, and fourth motion sickness tests (6 hours total). The no-treatment control subjects were only given the four rotating-chair tests. Motion sickness tolerance was significantly increased after 4 hours of AFTE when compared to either 25 mg (p < 0.00003) or 50 mg (p < 0.00001) of promethazine. The control and promethazine groups did not differ. AFTE subjects reported fewer or no symptoms at higher rotational velocities than subjects in the control or promethazine groups. The primary physiological effect of promethazine was an inhibition of skin conductance level. The AFTE group showed significantly less heart rate and skin conductance variability during motion sickness tests

  19. Autogenic-feedback training exercise is superior to promethazine for control of motion sickness symptoms.

    PubMed

    Cowings, P S; Toscano, W B

    2000-10-01

    Motion sickness symptoms affect approximately 50% of the crew during space travel and are commonly treated with intramuscular injections of promethazine. The purpose of this paper is to compare the effectiveness of three treatments for motion sickness: intramuscular injections (i.m.) of promethazine, a physiological training method (autogenic-feedback training exercise [AFTE]), and a no-treatment control. An earlier study tested the effects of promethazine on cognitive and psychomotor performance and motion sickness tolerance in a rotating chair. For the present paper, motion sickness tolerance, symptom reports, and physiological responses of these subjects were compared to matched subjects selected from an existing database who received either AFTE or no treatment. Three groups of 11 men, between the ages of 33 and 40 years, were matched on the number of rotations tolerated during their initial rotating-chair motion sickness test. The motion sickness test procedures and the 7-day interval between tests were the same for all subjects. The drug group was tested under four treatment conditions: baseline (no injections), a 25 mg dose of promethazine, a 50 mg dose of promethazine, and a placebo of sterile saline. AFTE subjects were given four 30-minute AFTE sessions before their second, third, and fourth motion sickness tests (6 hours total). The no-treatment control subjects were only given the four rotating-chair tests. Motion sickness tolerance was significantly increased after 4 hours of AFTE when compared to either 25 mg (p < 0.00003) or 50 mg (p < 0.00001) of promethazine. The control and promethazine groups did not differ. AFTE subjects reported fewer or no symptoms at higher rotational velocities than subjects in the control or promethazine groups. The primary physiological effect of promethazine was an inhibition of skin conductance level. The AFTE group showed significantly less heart rate and skin conductance variability during motion sickness tests

  20. Application of quadratic optimization to supersonic inlet control

    NASA Technical Reports Server (NTRS)

    Lehtinen, B.; Zeller, J. R.

    1971-01-01

    The application of linear stochastic optimal control theory to the design of the control system for the air intake (inlet) of a supersonic air-breathing propulsion system is discussed. The controls must maintain a stable inlet shock position in the presence of random airflow disturbances and prevent inlet unstart. Two different linear time invariant control systems are developed. One is designed to minimize a nonquadratic index, the expected frequency of inlet unstart, and the other is designed to minimize the mean square value of inlet shock motion. The quadratic equivalence principle is used to obtain the best linear controller that minimizes the nonquadratic performance index. The two systems are compared on the basis of unstart prevention, control effort requirements, and sensitivity to parameter variations.

  1. [Motion control of moving mirror based on fixed-mirror adjustment in FTIR spectrometer].

    PubMed

    Li, Zhong-bing; Xu, Xian-ze; Le, Yi; Xu, Feng-qiu; Li, Jun-wei

    2012-08-01

    The performance of the uniform motion of the moving mirror, which is the only constant motion part in FTIR spectrometer, and the performance of the alignment of the fixed mirror play a key role in FTIR spectrometer, and affect the interference effect and the quality of the spectrogram and may restrict the precision and resolution of the instrument directly. The present article focuses on the research on the uniform motion of the moving mirror and the alignment of the fixed mirror. In order to improve the FTIR spectrometer, the maglev support system was designed for the moving mirror and the phase detection technology was adopted to adjust the tilt angle between the moving mirror and the fixed mirror. This paper also introduces an improved fuzzy PID control algorithm to get the accurate speed of the moving mirror and realize the control strategy from both hardware design and algorithm. The results show that the development of the moving mirror motion control system gets sufficient accuracy and real-time, which can ensure the uniform motion of the moving mirror and the alignment of the fixed mirror.

  2. Topography-Dependent Motion Compensation: Application to UAVSAR Data

    NASA Technical Reports Server (NTRS)

    Jones, Cathleen E.; Hensley, Scott; Michel, Thierry

    2009-01-01

    The UAVSAR L-band synthetic aperture radar system has been designed for repeat track interferometry in support of Earth science applications that require high-precision measurements of small surface deformations over timescales from hours to years. Conventional motion compensation algorithms, which are based upon assumptions of a narrow beam and flat terrain, yield unacceptably large errors in areas with even moderate topographic relief, i.e., in most areas of interest. This often limits the ability to achieve sub-centimeter surface change detection over significant portions of an acquired scene. To reduce this source of error in the interferometric phase, we have implemented an advanced motion compensation algorithm that corrects for the scene topography and radar beam width. Here we discuss the algorithm used, its implementation in the UAVSAR data processor, and the improvement in interferometric phase and correlation achieved in areas with significant topographic relief.

  3. Computational Motion Phantoms and Statistical Models of Respiratory Motion

    NASA Astrophysics Data System (ADS)

    Ehrhardt, Jan; Klinder, Tobias; Lorenz, Cristian

    Breathing motion is not a robust and 100 % reproducible process, and inter- and intra-fractional motion variations form an important problem in radiotherapy of the thorax and upper abdomen. A widespread consensus nowadays exists that it would be useful to use prior knowledge about respiratory organ motion and its variability to improve radiotherapy planning and treatment delivery. This chapter discusses two different approaches to model the variability of respiratory motion. In the first part, we review computational motion phantoms, i.e. computerized anatomical and physiological models. Computational phantoms are excellent tools to simulate and investigate the effects of organ motion in radiation therapy and to gain insight into methods for motion management. The second part of this chapter discusses statistical modeling techniques to describe the breathing motion and its variability in a population of 4D images. Population-based models can be generated from repeatedly acquired 4D images of the same patient (intra-patient models) and from 4D images of different patients (inter-patient models). The generation of those models is explained and possible applications of those models for motion prediction in radiotherapy are exemplified. Computational models of respiratory motion and motion variability have numerous applications in radiation therapy, e.g. to understand motion effects in simulation studies, to develop and evaluate treatment strategies or to introduce prior knowledge into the patient-specific treatment planning.

  4. Dynamical simulation priors for human motion tracking.

    PubMed

    Vondrak, Marek; Sigal, Leonid; Jenkins, Odest Chadwicke

    2013-01-01

    We propose a simulation-based dynamical motion prior for tracking human motion from video in presence of physical ground-person interactions. Most tracking approaches to date have focused on efficient inference algorithms and/or learning of prior kinematic motion models; however, few can explicitly account for the physical plausibility of recovered motion. Here, we aim to recover physically plausible motion of a single articulated human subject. Toward this end, we propose a full-body 3D physical simulation-based prior that explicitly incorporates a model of human dynamics into the Bayesian filtering framework. We consider the motion of the subject to be generated by a feedback “control loop” in which Newtonian physics approximates the rigid-body motion dynamics of the human and the environment through the application and integration of interaction forces, motor forces, and gravity. Interaction forces prevent physically impossible hypotheses, enable more appropriate reactions to the environment (e.g., ground contacts), and are produced from detected human-environment collisions. Motor forces actuate the body, ensure that proposed pose transitions are physically feasible, and are generated using a motion controller. For efficient inference in the resulting high-dimensional state space, we utilize an exemplar-based control strategy that reduces the effective search space of motor forces. As a result, we are able to recover physically plausible motion of human subjects from monocular and multiview video. We show, both quantitatively and qualitatively, that our approach performs favorably with respect to Bayesian filtering methods with standard motion priors.

  5. Complex motion of a vehicle through a series of signals controlled by power-law phase

    NASA Astrophysics Data System (ADS)

    Nagatani, Takashi

    2017-07-01

    We study the dynamic motion of a vehicle moving through the series of traffic signals controlled by the position-dependent phase of power law. All signals are controlled by both cycle time and position-dependent phase. The dynamic model of the vehicular motion is described in terms of the nonlinear map. The vehicular motion varies in a complex manner by varying cycle time for various values of the power of the position-dependent phase. The vehicle displays the periodic motion with a long cycle for the integer power of the phase, while the vehicular motion exhibits the very complex behavior for the non-integer power of the phase.

  6. Autogenic-Feedback Training for the Control of Space Motion Sickness

    NASA Technical Reports Server (NTRS)

    Cowings, Patricia S.; Toscano, W. B.

    1994-01-01

    This paper presents case-studies of 9 shuttle crewmembers (prime and alternates) and one U.S. Navy F-18 pilot, as they participated in all preflight training and testing activities in support of a life sciences flight experiment aboard Spacelab-J, and Spacelab-3. The primary objective of the flight experiment was to determine if Autogenic-feedback training (AFT), a physiological self-regulation training technique would be an effective treatment for motion sickness and space motion sickness in these crewmembers. Additional objectives of this study involved the examining human physiological responses to motion sickness on Earth and in space, as well as developing predictive criteria for susceptibility to space motion sickness based on ground-based data. Comparisons of these crewmembers are made to a larger set of subjects from previous experiments (treatment and "test-only" controls subjects). This paper describes all preflight methods, results and proposed changes for future tests.

  7. Evaluation of the leap motion controller as a new contact-free pointing device.

    PubMed

    Bachmann, Daniel; Weichert, Frank; Rinkenauer, Gerhard

    2014-12-24

    This paper presents a Fitts' law-based analysis of the user's performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC) is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8% for the LMC and 2.8% for the mouse device, movement times twice as large as for a mouse device and high overall effort ratings, the Leap Motion Controller's performance as an input device for everyday generic computer pointing tasks is rather limited, at least with regard to the selection recognition provided by the LMC.

  8. Influence of Visual Motion, Suggestion, and Illusory Motion on Self-Motion Perception in the Horizontal Plane.

    PubMed

    Rosenblatt, Steven David; Crane, Benjamin Thomas

    2015-01-01

    A moving visual field can induce the feeling of self-motion or vection. Illusory motion from static repeated asymmetric patterns creates a compelling visual motion stimulus, but it is unclear if such illusory motion can induce a feeling of self-motion or alter self-motion perception. In these experiments, human subjects reported the perceived direction of self-motion for sway translation and yaw rotation at the end of a period of viewing set visual stimuli coordinated with varying inertial stimuli. This tested the hypothesis that illusory visual motion would influence self-motion perception in the horizontal plane. Trials were arranged into 5 blocks based on stimulus type: moving star field with yaw rotation, moving star field with sway translation, illusory motion with yaw, illusory motion with sway, and static arrows with sway. Static arrows were used to evaluate the effect of cognitive suggestion on self-motion perception. Each trial had a control condition; the illusory motion controls were altered versions of the experimental image, which removed the illusory motion effect. For the moving visual stimulus, controls were carried out in a dark room. With the arrow visual stimulus, controls were a gray screen. In blocks containing a visual stimulus there was an 8s viewing interval with the inertial stimulus occurring over the final 1s. This allowed measurement of the visual illusion perception using objective methods. When no visual stimulus was present, only the 1s motion stimulus was presented. Eight women and five men (mean age 37) participated. To assess for a shift in self-motion perception, the effect of each visual stimulus on the self-motion stimulus (cm/s) at which subjects were equally likely to report motion in either direction was measured. Significant effects were seen for moving star fields for both translation (p = 0.001) and rotation (p<0.001), and arrows (p = 0.02). For the visual motion stimuli, inertial motion perception was shifted in the

  9. An Open-Access Educational Tool for Teaching Motion Dynamics in Multi-Axis Servomotor Control

    ERIC Educational Resources Information Center

    Rivera-Guillen, J. R.; de Jesus Rangel-Magdaleno, J.; de Jesus Romero-Troncoso, R.; Osornio-Rios, R. A.; Guevara-Gonzalez, R. G.

    2012-01-01

    Servomotors are widely used in computerized numerically controlled (CNC) machines, hence motion control is a major topic covered in undergraduate/graduate engineering courses. Despite the fact that several syllabi include the motion dynamics topic in their courses, there are neither suitable tools available for designing and simulating multi-axis…

  10. Camera systems in human motion analysis for biomedical applications

    NASA Astrophysics Data System (ADS)

    Chin, Lim Chee; Basah, Shafriza Nisha; Yaacob, Sazali; Juan, Yeap Ewe; Kadir, Aida Khairunnisaa Ab.

    2015-05-01

    Human Motion Analysis (HMA) system has been one of the major interests among researchers in the field of computer vision, artificial intelligence and biomedical engineering and sciences. This is due to its wide and promising biomedical applications, namely, bio-instrumentation for human computer interfacing and surveillance system for monitoring human behaviour as well as analysis of biomedical signal and image processing for diagnosis and rehabilitation applications. This paper provides an extensive review of the camera system of HMA, its taxonomy, including camera types, camera calibration and camera configuration. The review focused on evaluating the camera system consideration of the HMA system specifically for biomedical applications. This review is important as it provides guidelines and recommendation for researchers and practitioners in selecting a camera system of the HMA system for biomedical applications.

  11. MO-B-201-02: Motion Management for Proton Lung SBR

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

    Flampouri, S.

    The motion management in stereotactic body radiation therapy (SBRT) is a key to success for a SBRT program, and still an on-going challenging task. A major factor is that moving structures behave differently than standing structures when examined by imaging modalities, and thus require special considerations and employments. Understanding the motion effects to these different imaging processes is a prerequisite for a decent motion management program. The commonly used motion control techniques to physically restrict tumor motion, if adopted correctly, effectively increase the conformity and accuracy of hypofractionated treatment. The effective application of such requires one to understand the mechanicsmore » of the application and the related physiology especially related to respiration. The image-guided radiation beam control, or tumor tracking, further realized the endeavor for precision-targeting. During tumor tracking, the respiratory motion is often constantly monitored by non-ionizing beam sources using the body surface as its surrogate. This then has to synchronize with the actual internal tumor motion. The latter is often accomplished by stereo X-ray imaging or similar techniques. With these advanced technologies, one may drastically reduce the treated volume and increase the clinicians’ confidence for a high fractional ablative radiation dose. However, the challenges in implementing the motion management may not be trivial and is dependent on each clinic case. This session of presentations is intended to provide an overview of the current techniques used in managing the tumor motion in SBRT, specifically for routine lung SBRT, proton based treatments, and newly-developed MR guided RT. Learning Objectives: Through this presentation, the audience will understand basic roles of commonly used imaging modalities for lung cancer studies; familiarize the major advantages and limitations of each discussed motion control methods; familiarize the major

  12. Autogenic Feedback Training Exercise: Controlling Physiological Responses to Mitigate Motion Sickness

    NASA Technical Reports Server (NTRS)

    Walton, Nia; Spencer, Telissa; Cowings, Patricia; Toscano, William B.

    2018-01-01

    During space travel approximately 50 of the crew experience symptoms of motion sickness that can range from mild forms of nausea or dizziness to severe malaise and vomiting1. Developing an effective treatment for these symptoms has become a priority of the National Aeronautics and Space Administration (NASA). Autogenic-Feedback Training Exercise (AFTE) is a nonpharmacological countermeasure for mitigating motion sickness. It involves training subjects to control physiological responses in high stress environments2. The primary goal of this experiment is to evaluate the effectiveness of AFTE for increasing tolerance to motion sickness in high stress environments.

  13. Modification of Motion Perception and Manual Control Following Short-Durations Spaceflight

    NASA Technical Reports Server (NTRS)

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

    2011-01-01

    Adaptive changes during space flight in how the brain integrates vestibular cues with other sensory information can lead to impaired movement coordination and spatial disorientation following G-transitions. This ESA-NASA study was designed to examine both the physiological basis and operational implications for disorientation and tilt-translation disturbances following short-duration spaceflights. The goals of this study were to (1) examine the effects of stimulus frequency on adaptive changes in motion perception during passive tilt and translation motion, (2) quantify decrements in manual control of tilt motion, and (3) evaluate vibrotactile feedback as a sensorimotor countermeasure.

  14. Efficacy of early controlled motion of the ankle compared with no motion after non-operative treatment of an acute Achilles tendon rupture: study protocol for a randomized controlled trial.

    PubMed

    Barfod, Kristoffer Weisskirchner; Hansen, Maria Swennergren; Holmich, Per; Troelsen, Anders; Kristensen, Morten Tange

    2016-11-29

    Early controlled ankle motion is widely used in the non-operative treatment of acute Achilles tendon rupture, though its safety and efficacy have never been investigated in a randomized setup. The objectives of this study are to investigate if early controlled motion of the ankle affects functional and patient-reported outcomes. The study is performed as a blinded, randomized, controlled trial with patients allocated in a 1:1 ratio to one of two parallel groups. Patients aged from 18 to 70 years are eligible for inclusion. The intervention group performs early controlled motion of the ankle in weeks 3-8 after rupture. The control group is immobilized. In total, 130 patients will be included from one big orthopedic center over a period of 2½ years. The primary outcome is the patient-reported Achilles tendon Total Rupture Score evaluated at 12 months post-injury. Secondary outcome measures are the heel-rise work test, Achilles tendon elongation, and the rate of re-rupture. The primary analysis will be conducted as intention-to-treat analyses. This trial is the first to investigate the safety and efficacy of early controlled motion in the treatment of acute Achilles tendon rupture in a randomized setup. The study uses the patient-reported outcome measure, the Achilles tendon Total Rupture Score, as the primary endpoint, as it is believed to be the best surrogate measure for the tendon's actual capability to function in everyday life. ClinicalTrials.gov: NCT02015364 . Registered on 13 December 2013.

  15. Injury risk in runners using standard or motion control shoes: a randomised controlled trial with participant and assessor blinding

    PubMed Central

    Malisoux, Laurent; Chambon, Nicolas; Delattre, Nicolas; Gueguen, Nils; Urhausen, Axel; Theisen, Daniel

    2016-01-01

    Background/aim This randomised controlled trial investigated if the usage of running shoes with a motion control system modifies injury risk in regular leisure-time runners compared to standard shoes, and if this influence depends on foot morphology. Methods Recreational runners (n=372) were given either the motion control or the standard version of a regular running shoe model and were followed up for 6 months regarding running activity and injury. Foot morphology was analysed using the Foot Posture Index method. Cox regression analyses were used to compare injury risk between the two groups, based on HRs and their 95% CIs, controlling for potential confounders. Stratified analyses were conducted to evaluate the effect of motion control system in runners with supinated, neutral and pronated feet. Results The overall injury risk was lower among the participants who had received motion control shoes (HR=0.55; 95% CI 0.36 to 0.85) compared to those receiving standard shoes. This positive effect was only observed in the stratum of runners with pronated feet (n=94; HR=0.34; 95% CI 0.13 to 0.84); there was no difference in runners with neutral (n=218; HR=0.78; 95% CI 0.44 to 1.37) or supinated feet (n=60; HR=0.59; 95% CI 0.20 to 1.73). Runners with pronated feet using standard shoes had a higher injury risk compared to those with neutral feet (HR=1.80; 95% CI 1.01 to 3.22). Conclusions The overall injury risk was lower in participants who had received motion control shoes. Based on secondary analysis, those with pronated feet may benefit most from this shoe type. PMID:26746907

  16. Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft.

    PubMed

    Wang, Xingjian; Liao, Rui; Shi, Cun; Wang, Shaoping

    2017-10-25

    Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA.

  17. Linear Extended State Observer-Based Motion Synchronization Control for Hybrid Actuation System of More Electric Aircraft

    PubMed Central

    Liao, Rui; Shi, Cun; Wang, Shaoping

    2017-01-01

    Moving towards the more electric aircraft (MEA), a hybrid actuator configuration provides an opportunity to introduce electromechanical actuator (EMA) into primary flight control. In the hybrid actuation system (HAS), an electro-hydraulic servo actuator (EHSA) and an EMA operate on the same control surface. In order to solve force fighting problem in HAS, this paper proposes a novel linear extended state observer (LESO)-based motion synchronization control method. To cope with the problem of unavailability of the state signals required by the motion synchronization controller, LESO is designed for EHSA and EMA to observe the state variables. Based on the observed states of LESO, motion synchronization controllers could enable EHSA and EMA to simultaneously track the desired motion trajectories. Additionally, nonlinearities, uncertainties and unknown disturbances as well as the coupling term between EHSA and EMA can be estimated and compensated by using the extended state of the proposed LESO. Finally, comparative simulation results indicate that the proposed LESO-based motion synchronization controller could reduce significant force fighting between EHSA and EMA. PMID:29068392

  18. Pharmacology in space. Part 2. Controlling motion sickness

    NASA Technical Reports Server (NTRS)

    Lathers, C. M.; Charles, J. B.; Bungo, M. W.

    1989-01-01

    In this second article in the two-part series on pharmacology in space, Claire Lathers and colleagues discuss the pharmacology of drugs used to control motion sickness in space and note that the pharmacology of the 'ideal' agent has yet to be worked out. That motion sickness may impair the pharmacological action of a drug by interfering with its absorption and distribution because of alteration of physiology is a problem unique to pharmacology in space. The authors comment on the problem of designing suitable ground-based studies to evaluate the pharmacological effect of drugs to be used in space and discuss the use of salivary samples collected during space flight to allow pharmacokinetic evaluations necessary for non-invasive clinical drug monitoring.

  19. Photochemically Activated Motors: From Electrokinetic to Diffusion Motion Control.

    PubMed

    Zhang, Kuan; Fraxedas, Jordi; Sepulveda, Borja; Esplandiu, Maria J

    2017-12-27

    Self-propelled micro/nanomotors that can transform chemical energy from the surrounding environment into mechanical motion are cutting edge nanotechnologies with potential applications in biomedicine and environmental remediation. These applications require full understanding of the propulsion mechanisms to improve the performance and controllability of the motors. In this work, we demonstrate that there are two competing chemomechanical mechanisms at semiconductor/metal (Si/Pt) micromotors in a pump configuration under visible light exposure. The first propulsion mechanism is driven by an electro-osmotic process stemmed from a photoactivation reaction mediated by H 2 O 2 , which takes place in two separated redox reactions at the Si and Pt interfaces. One reaction involves the oxidation of H 2 O 2 at the silicon side, and the other the H 2 O 2 reduction at the metal side. The second mechanism is not light responsive and is triggered by the redox decomposition of H 2 O 2 exclusively at the Pt surface. We show that it is possible to enhance/suppress one mechanism over the other by tuning the surface roughness of the micromotor metal. More specifically, the actuation mechanism can be switched from light-controlled electrokinetics to light-insensitive diffusio-osmosis by only increasing the metal surface roughness. The different actuation mechanisms yield strikingly different fluid flow velocities, electric fields, and light sensitivities. Consequently, these findings are very relevant and can have a remarkable impact on the design and optimization of photoactivated catalytic devices and, in general, on bimetallic or insulating-metallic motors.

  20. Motion generated in the unstable cervical spine during the application and removal of cervical immobilization collars.

    PubMed

    Prasarn, Mark L; Conrad, Bryan; Del Rossi, Gianluca; Horodyski, MaryBeth; Rechtine, Glenn R

    2012-06-01

    Many studies have compared the restriction of motion that immobilization collars provide to the injured victim. No previous investigation has assessed the amount of motion that is generated during the fitting and removal process. The purpose of this study was to compare the three-dimensional motion generated when one-piece and two-piece cervical collars are applied and removed from cadavers intact and with unstable cervical spine injuries. Five fresh, lightly embalmed cadavers were tested three times each with either a one-piece or two-piece cervical collar in the supine position. Testing was performed in the intact state, following creation of a global ligamentous instability at C5-C6. The amount of angular motion resulting from the collar application and removal was measured using a Fastrak, three-dimensional, electromagnetic motion analysis device (Polhemus Inc., Colchester, VT). The measurements recorded in this investigation included maximum values for flexion/extension, axial rotation, medial/lateral flexion, anterior/posterior displacement, axial distraction, and medial/lateral displacement at the level of instability. There was statistically more motion observed with application or removal of either collar following the creation of a global instability. During application, there was a statistically significant difference in flexion/extension between the one-piece (1.8 degrees) and two-piece (2.6 degrees) collars, p = 0.009. There was also a statistically significant difference in anterior/posterior translation between the one-piece (3.6 mm) and two-piece (3.4 mm) collars, p = 0.015. The maximum angulation and displacement during the application of either collar was 3.4 degrees and 4.4 mm. Statistical analysis revealed no significant differences between the one-piece and two-piece collars during the removal process. The maximum angulation and displacement during removal of either collar type was 1.6 degrees and 2.9 mm. There were statistically significant

  1. Evaluation of the Leap Motion Controller as a New Contact-Free Pointing Device

    PubMed Central

    Bachmann, Daniel; Weichert, Frank; Rinkenauer, Gerhard

    2015-01-01

    This paper presents a Fitts' law-based analysis of the user's performance in selection tasks with the Leap Motion Controller compared with a standard mouse device. The Leap Motion Controller (LMC) is a new contact-free input system for gesture-based human-computer interaction with declared sub-millimeter accuracy. Up to this point, there has hardly been any systematic evaluation of this new system available. With an error rate of 7.8 % for the LMC and 2.8% for the mouse device, movement times twice as large as for a mouse device and high overall effort ratings, the Leap Motion Controller's performance as an input device for everyday generic computer pointing tasks is rather limited, at least with regard to the selection recognition provided by the LMC. PMID:25609043

  2. Shoulder Dynamic Control Ratio and Rotation Range of Motion in Female Junior Elite Handball Players and Controls.

    PubMed

    van Cingel, Robert; Habets, Bas; Willemsen, Linn; Staal, Bart

    2018-03-01

    To compare glenohumeral range of motion and shoulder rotator muscle strength in healthy female junior elite handball players and controls. Cross-sectional case-control study. Sports medical center. Forty elite female handball players and 30 controls active in nonoverhead sports participated in this study. Passive external rotator (ER), internal rotator (IR), and total range of motion (TROM) of the dominant and nondominant arm were examined with a goniometer. An isokinetic dynamometer was used to evaluate concentric and eccentric rotator muscle strength at 60 and 120 degrees/s with dynamic control ratio (DCR = ERecc:IRcon) as the main outcome parameter. Except for the ER range of motion in the nondominant arm, no significant differences were found between groups for IR, ER of the dominant arm, and the TROM. Within the handball group, the side-to-side difference for IR of the dominant arm was -1.4 degrees. The ER and the TROM of the dominant arm were significantly larger, 6.3 and 4.9 degrees, respectively. For both groups, the DCR values were above 1 and no significant differences were found between the dominant and nondominant arm. The DCR values in the handball group were significantly lower than in the control group. Based on the adopted definitions for muscle imbalance, glenohumeral internal range of motion deficit and TROM deficit our elite female handball players seem not at risk for shoulder injuries. Prospective studies are needed to support the belief that a DCR below 1 places the shoulder at risk for injury.

  3. Local position control: A new concept for control of manipulators

    NASA Technical Reports Server (NTRS)

    Kelly, Frederick A.

    1988-01-01

    Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

  4. Three axis electronic flight motion simulator real time control system design and implementation

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

    Gao, Zhiyuan; Miao, Zhonghua, E-mail: zhonghua-miao@163.com; Wang, Xiaohua

    2014-12-15

    A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

  5. Three axis electronic flight motion simulator real time control system design and implementation.

    PubMed

    Gao, Zhiyuan; Miao, Zhonghua; Wang, Xuyong; Wang, Xiaohua

    2014-12-01

    A three axis electronic flight motion simulator is reported in this paper including the modelling, the controller design as well as the hardware implementation. This flight motion simulator could be used for inertial navigation test and high precision inertial navigation system with good dynamic and static performances. A real time control system is designed, several control system implementation problems were solved including time unification with parallel port interrupt, high speed finding-zero method of rotary inductosyn, zero-crossing management with continuous rotary, etc. Tests were carried out to show the effectiveness of the proposed real time control system.

  6. Feedback attitude sliding mode regulation control of spacecraft using arm motion

    NASA Astrophysics Data System (ADS)

    Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

    2013-09-01

    The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

  7. Coherent random lasing controlled by Brownian motion of the active scatterer

    NASA Astrophysics Data System (ADS)

    Liang, Shuofeng; Yin, Leicheng; Zhang, ZhenZhen; Xia, Jiangying; Xie, Kang; Zou, Gang; Hu, Zhijia; Zhang, Qijin

    2018-05-01

    The stability of the scattering loop is fundamental for coherent random lasing in a dynamic scattering system. In this work, fluorescence of DPP (N, N-di [3-(isobutyl polyhedral oligomeric silsesquioxanes) propyl] perylene diimide) is scattered to produce RL and we realize the transition from incoherent RL to coherent RL by controlling the Brownian motion of the scatterers (dimer aggregates of DPP) and the stability of scattering loop. To produce coherent random lasers, the loop needs to maintain a stable state within the loop-stable time, which can be determined through controlled Brownian motion of scatterers in the scattering system. The result shows that the loop-stable time is within 5.83 × 10‑5 s to 1.61 × 10‑4 s based on the transition from coherent to incoherent random lasing. The time range could be tuned by finely controlling the viscosity of the solution. This work not only develops a method to predict the loop-stable time, but also develops the study between Brownian motion and random lasers, which opens the road to a variety of novel interdisciplinary investigations involving modern statistical mechanics and disordered photonics.

  8. Global optimization for motion estimation with applications to ultrasound videos of carotid artery plaques

    NASA Astrophysics Data System (ADS)

    Murillo, Sergio; Pattichis, Marios; Soliz, Peter; Barriga, Simon; Loizou, C. P.; Pattichis, C. S.

    2010-03-01

    Motion estimation from digital video is an ill-posed problem that requires a regularization approach. Regularization introduces a smoothness constraint that can reduce the resolution of the velocity estimates. The problem is further complicated for ultrasound videos (US), where speckle noise levels can be significant. Motion estimation using optical flow models requires the modification of several parameters to satisfy the optical flow constraint as well as the level of imposed smoothness. Furthermore, except in simulations or mostly unrealistic cases, there is no ground truth to use for validating the velocity estimates. This problem is present in all real video sequences that are used as input to motion estimation algorithms. It is also an open problem in biomedical applications like motion analysis of US of carotid artery (CA) plaques. In this paper, we study the problem of obtaining reliable ultrasound video motion estimates for atherosclerotic plaques for use in clinical diagnosis. A global optimization framework for motion parameter optimization is presented. This framework uses actual carotid artery motions to provide optimal parameter values for a variety of motions and is tested on ten different US videos using two different motion estimation techniques.

  9. Injury risk in runners using standard or motion control shoes: a randomised controlled trial with participant and assessor blinding.

    PubMed

    Malisoux, Laurent; Chambon, Nicolas; Delattre, Nicolas; Gueguen, Nils; Urhausen, Axel; Theisen, Daniel

    2016-04-01

    This randomised controlled trial investigated if the usage of running shoes with a motion control system modifies injury risk in regular leisure-time runners compared to standard shoes, and if this influence depends on foot morphology. Recreational runners (n=372) were given either the motion control or the standard version of a regular running shoe model and were followed up for 6 months regarding running activity and injury. Foot morphology was analysed using the Foot Posture Index method. Cox regression analyses were used to compare injury risk between the two groups, based on HRs and their 95% CIs, controlling for potential confounders. Stratified analyses were conducted to evaluate the effect of motion control system in runners with supinated, neutral and pronated feet. The overall injury risk was lower among the participants who had received motion control shoes (HR=0.55; 95% CI 0.36 to 0.85) compared to those receiving standard shoes. This positive effect was only observed in the stratum of runners with pronated feet (n=94; HR=0.34; 95% CI 0.13 to 0.84); there was no difference in runners with neutral (n=218; HR=0.78; 95% CI 0.44 to 1.37) or supinated feet (n=60; HR=0.59; 95% CI 0.20 to 1.73). Runners with pronated feet using standard shoes had a higher injury risk compared to those with neutral feet (HR=1.80; 95% CI 1.01 to 3.22). The overall injury risk was lower in participants who had received motion control shoes. Based on secondary analysis, those with pronated feet may benefit most from this shoe type. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/

  10. Design and development of a motion compensator for the RSRA main rotor control

    NASA Technical Reports Server (NTRS)

    Jeffrey, P.; Huber, R.

    1979-01-01

    The RSRA, an experimental helicopter, is equipped with an active isolation system that allows the transmission to move relative to the fuselage. The purpose of the motion compensator is to prevent these motions from introducing unwanted signals to the main rotor control. A motion compensator concept was developed that has six-degree-of-freedom capability. The mechanism was implemented on RSRA and its performance verified by ground and flight tests.

  11. Compound Velocity Synchronizing Control Strategy for Electro-Hydraulic Load Simulator and Its Engineering Application.

    PubMed

    Han, Songshan; Jiao, Zongxia; Yao, Jianyong; Shang, Yaoxing

    2014-09-01

    An electro-hydraulic load simulator (EHLS) is a typical case of torque systems with strong external disturbances from hydraulic motion systems. A new velocity synchronizing compensation strategy is proposed in this paper to eliminate motion disturbances, based on theoretical and experimental analysis of a structure invariance method and traditional velocity synchronizing compensation controller (TVSM). This strategy only uses the servo-valve's control signal of motion system and torque feedback of torque system, which could avoid the requirement on the velocity and acceleration signal in the structure invariance method, and effectively achieve a more accurate velocity synchronizing compensation in large loading conditions than a TVSM. In order to facilitate the implementation of this strategy in engineering cases, the selection rules for compensation parameters are proposed. It does not rely on any accurate information of structure parameters. This paper presents the comparison data of an EHLS with various typical operating conditions using three controllers, i.e., closed loop proportional integral derivative (PID) controller, TVSM, and the proposed improved velocity synchronizing controller. Experiments are conducted to confirm that the new strategy performs well against motion disturbances. It is more effective to improve the tracking accuracy and is a more appropriate choice for engineering applications.

  12. Application of Satellite-Derived Atmospheric Motion Vectors for Estimating Mesoscale Flows.

    NASA Astrophysics Data System (ADS)

    Bedka, Kristopher M.; Mecikalski, John R.

    2005-11-01

    This study demonstrates methods to obtain high-density, satellite-derived atmospheric motion vectors (AMV) that contain both synoptic-scale and mesoscale flow components associated with and induced by cumuliform clouds through adjustments made to the University of Wisconsin—Madison Cooperative Institute for Meteorological Satellite Studies (UW-CIMSS) AMV processing algorithm. Operational AMV processing is geared toward the identification of synoptic-scale motions in geostrophic balance, which are useful in data assimilation applications. AMVs identified in the vicinity of deep convection are often rejected by quality-control checks used in the production of operational AMV datasets. Few users of these data have considered the use of AMVs with ageostrophic flow components, which often fail checks that assure both spatial coherence between neighboring AMVs and a strong correlation to an NWP-model first-guess wind field. The UW-CIMSS algorithm identifies coherent cloud and water vapor features (i.e., targets) that can be tracked within a sequence of geostationary visible (VIS) and infrared (IR) imagery. AMVs are derived through the combined use of satellite feature tracking and an NWP-model first guess. Reducing the impact of the NWP-model first guess on the final AMV field, in addition to adjusting the target selection and vector-editing schemes, is found to result in greater than a 20-fold increase in the number of AMVs obtained from the UW-CIMSS algorithm for one convective storm case examined here. Over a three-image sequence of Geostationary Operational Environmental Satellite (GOES)-12 VIS and IR data, 3516 AMVs are obtained, most of which contain flow components that deviate considerably from geostrophy. In comparison, 152 AMVs are derived when a tighter NWP-model constraint and no targeting adjustments were imposed, similar to settings used with operational AMV production algorithms. A detailed analysis reveals that many of these 3516 vectors contain low

  13. Real-time observation of valence electron motion.

    PubMed

    Goulielmakis, Eleftherios; Loh, Zhi-Heng; Wirth, Adrian; Santra, Robin; Rohringer, Nina; Yakovlev, Vladislav S; Zherebtsov, Sergey; Pfeifer, Thomas; Azzeer, Abdallah M; Kling, Matthias F; Leone, Stephen R; Krausz, Ferenc

    2010-08-05

    The superposition of quantum states drives motion on the atomic and subatomic scales, with the energy spacing of the states dictating the speed of the motion. In the case of electrons residing in the outer (valence) shells of atoms and molecules which are separated by electronvolt energies, this means that valence electron motion occurs on a subfemtosecond to few-femtosecond timescale (1 fs = 10(-15) s). In the absence of complete measurements, the motion can be characterized in terms of a complex quantity, the density matrix. Here we report an attosecond pump-probe measurement of the density matrix of valence electrons in atomic krypton ions. We generate the ions with a controlled few-cycle laser field and then probe them through the spectrally resolved absorption of an attosecond extreme-ultraviolet pulse, which allows us to observe in real time the subfemtosecond motion of valence electrons over a multifemtosecond time span. We are able to completely characterize the quantum mechanical electron motion and determine its degree of coherence in the specimen of the ensemble. Although the present study uses a simple, prototypical open system, attosecond transient absorption spectroscopy should be applicable to molecules and solid-state materials to reveal the elementary electron motions that control physical, chemical and biological properties and processes.

  14. Applications of computer-graphics animation for motion-perception research

    NASA Technical Reports Server (NTRS)

    Proffitt, D. R.; Kaiser, M. K.

    1986-01-01

    The advantages and limitations of using computer animated stimuli in studying motion perception are presented and discussed. Most current programs of motion perception research could not be pursued without the use of computer graphics animation. Computer generated displays afford latitudes of freedom and control that are almost impossible to attain through conventional methods. There are, however, limitations to this presentational medium. At present, computer generated displays present simplified approximations of the dynamics in natural events. Very little is known about how the differences between natural events and computer simulations influence perceptual processing. In practice, the differences are assumed to be irrelevant to the questions under study, and that findings with computer generated stimuli will generalize to natural events.

  15. The Development of a Computer Controlled Super 8 Motion Picture Projector.

    ERIC Educational Resources Information Center

    Reynolds, Eldon J.

    Instructors in Child Development at the University of Texas at Austin selected sound motion pictures as the most effective medium to simulate the observation of children in nursery laboratories. A computer controlled projector was designed for this purpose. An interface and control unit controls the Super 8 projector from a time-sharing computer…

  16. Quality control procedures for dynamic treatment delivery techniques involving couch motion.

    PubMed

    Yu, Victoria Y; Fahimian, Benjamin P; Xing, Lei; Hristov, Dimitre H

    2014-08-01

    In this study, the authors introduce and demonstrate quality control procedures for evaluating the geometric and dosimetric fidelity of dynamic treatment delivery techniques involving treatment couch motion synchronous with gantry and multileaf collimator (MLC). Tests were designed to evaluate positional accuracy, velocity constancy and accuracy for dynamic couch motion under a realistic weight load. A test evaluating the geometric accuracy of the system in delivering treatments over complex dynamic trajectories was also devised. Custom XML scripts that control the Varian TrueBeam™ STx (Serial #3) axes in Developer Mode were written to implement the delivery sequences for the tests. Delivered dose patterns were captured with radiographic film or the electronic portal imaging device. The couch translational accuracy in dynamic treatment mode was 0.01 cm. Rotational accuracy was within 0.3°, with 0.04 cm displacement of the rotational axis. Dose intensity profiles capturing the velocity constancy and accuracy for translations and rotation exhibited standard deviation and maximum deviations below 3%. For complex delivery involving MLC and couch motions, the overall translational accuracy for reproducing programmed patterns was within 0.06 cm. The authors conclude that in Developer Mode, TrueBeam™ is capable of delivering dynamic treatment delivery techniques involving couch motion with good geometric and dosimetric fidelity.

  17. Quaternion regularization in celestial mechanics, astrodynamics, and trajectory motion control. III

    NASA Astrophysics Data System (ADS)

    Chelnokov, Yu. N.

    2015-09-01

    The present paper1 analyzes the basic problems arising in the solution of problems of the optimum control of spacecraft (SC) trajectory motion (including the Lyapunov instability of solutions of conjugate equations) using the principle of the maximum. The use of quaternion models of astrodynamics is shown to allow: (1) the elimination of singular points in the differential phase and conjugate equations and in their partial analytical solutions; (2) construction of the first integrals of the new quaternion; (3) a considerable decrease of the dimensions of systems of differential equations of boundary value optimization problems with their simultaneous simplification by using the new quaternion variables related with quaternion constants of motion by rotation transformations; (4) construction of general solutions of differential equations for phase and conjugate variables on the sections of SC passive motion in the simplest and most convenient form, which is important for the solution of optimum pulse SC transfers; (5) the extension of the possibilities of the analytical investigation of differential equations of boundary value problems with the purpose of identifying the basic laws of optimum control and motion of SC; (6) improvement of the computational stability of the solution of boundary value problems; (7) a decrease in the required volume of computation.

  18. Control of humanoid robot via motion-onset visual evoked potentials

    PubMed Central

    Li, Wei; Li, Mengfan; Zhao, Jing

    2015-01-01

    This paper investigates controlling humanoid robot behavior via motion-onset specific N200 potentials. In this study, N200 potentials are induced by moving a blue bar through robot images intuitively representing robot behaviors to be controlled with mind. We present the individual impact of each subject on N200 potentials and discuss how to deal with individuality to obtain a high accuracy. The study results document the off-line average accuracy of 93% for hitting targets across over five subjects, so we use this major component of the motion-onset visual evoked potential (mVEP) to code people's mental activities and to perform two types of on-line operation tasks: navigating a humanoid robot in an office environment with an obstacle and picking-up an object. We discuss the factors that affect the on-line control success rate and the total time for completing an on-line operation task. PMID:25620918

  19. Linear motion device and method for inserting and withdrawing control rods

    DOEpatents

    Smith, Jay E.

    1984-01-01

    A linear motion device, more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core, is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.

  20. Contact control for advanced applications of light weight arms

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.; Kwon, Dong-Soo

    1991-01-01

    Many applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.

  1. Motion direction discrimination training reduces perceived motion repulsion.

    PubMed

    Jia, Ke; Li, Sheng

    2017-04-01

    Participants often exaggerate the perceived angular separation between two simultaneously presented motion stimuli, which is referred to as motion repulsion. The overestimation helps participants differentiate between the two superimposed motion directions, yet it causes the impairment of direction perception. Since direction perception can be refined through perceptual training, we here attempted to investigate whether the training of a direction discrimination task changes the amount of motion repulsion. Our results showed a direction-specific learning effect, which was accompanied by a reduced amount of motion repulsion both for the trained and the untrained directions. The reduction of the motion repulsion disappeared when the participants were trained on a luminance discrimination task (control experiment 1) or a speed discrimination task (control experiment 2), ruling out any possible interpretation in terms of adaptation or training-induced attentional bias. Furthermore, training with a direction discrimination task along a direction 150° away from both directions in the transparent stimulus (control experiment 3) also had little effect on the amount of motion repulsion, ruling out the contribution of task learning. The changed motion repulsion observed in the main experiment was consistent with the prediction of the recurrent model of perceptual learning. Therefore, our findings demonstrate that training in direction discrimination can benefit the precise direction perception of the transparent stimulus and provide new evidence for the recurrent model of perceptual learning.

  2. Projection of controlled repeatable real-time moving targets to test and evaluate motion imagery quality

    NASA Astrophysics Data System (ADS)

    Scopatz, Stephen D.; Mendez, Michael; Trent, Randall

    2015-05-01

    The projection of controlled moving targets is key to the quantitative testing of video capture and post processing for Motion Imagery. This presentation will discuss several implementations of target projectors with moving targets or apparent moving targets creating motion to be captured by the camera under test. The targets presented are broadband (UV-VIS-IR) and move in a predictable, repeatable and programmable way; several short videos will be included in the presentation. Among the technical approaches will be targets that move independently in the camera's field of view, as well targets that change size and shape. The development of a rotating IR and VIS 4 bar target projector with programmable rotational velocity and acceleration control for testing hyperspectral cameras is discussed. A related issue for motion imagery is evaluated by simulating a blinding flash which is an impulse of broadband photons in fewer than 2 milliseconds to assess the camera's reaction to a large, fast change in signal. A traditional approach of gimbal mounting the camera in combination with the moving target projector is discussed as an alternative to high priced flight simulators. Based on the use of the moving target projector several standard tests are proposed to provide a corresponding test to MTF (resolution), SNR and minimum detectable signal at velocity. Several unique metrics are suggested for Motion Imagery including Maximum Velocity Resolved (the measure of the greatest velocity that is accurately tracked by the camera system) and Missing Object Tolerance (measurement of tracking ability when target is obscured in the images). These metrics are applicable to UV-VIS-IR wavelengths and can be used to assist in camera and algorithm development as well as comparing various systems by presenting the exact scenes to the cameras in a repeatable way.

  3. Stimulation of PPC Affects the Mapping between Motion and Force Signals for Stiffness Perception But Not Motion Control

    PubMed Central

    Mawase, Firas; Karniel, Amir; Donchin, Opher; Rothwell, John; Nisky, Ilana; Davare, Marco

    2016-01-01

    How motion and sensory inputs are combined to assess an object's stiffness is still unknown. Here, we provide evidence for the existence of a stiffness estimator in the human posterior parietal cortex (PPC). We showed previously that delaying force feedback with respect to motion when interacting with an object caused participants to underestimate its stiffness. We found that applying theta-burst transcranial magnetic stimulation (TMS) over the PPC, but not the dorsal premotor cortex, enhances this effect without affecting movement control. We explain this enhancement as an additional lag in force signals. This is the first causal evidence that the PPC is not only involved in motion control, but also has an important role in perception that is disassociated from action. We provide a computational model suggesting that the PPC integrates position and force signals for perception of stiffness and that TMS alters the synchronization between the two signals causing lasting consequences on perceptual behavior. SIGNIFICANCE STATEMENT When selecting an object such as a ripe fruit or sofa, we need to assess the object's stiffness. Because we lack dedicated stiffness sensors, we rely on an as yet unknown mechanism that generates stiffness percepts by combining position and force signals. Here, we found that the posterior parietal cortex (PPC) contributes to combining position and force signals for stiffness estimation. This finding challenges the classical view about the role of the PPC in regulating position signals only for motion control because we highlight a key role of the PPC in perception that is disassociated from action. Altogether this sheds light on brain mechanisms underlying the interaction between action and perception and may help in the development of better teleoperation systems and rehabilitation of patients with sensory impairments. PMID:27733607

  4. Stimulation of PPC Affects the Mapping between Motion and Force Signals for Stiffness Perception But Not Motion Control.

    PubMed

    Leib, Raz; Mawase, Firas; Karniel, Amir; Donchin, Opher; Rothwell, John; Nisky, Ilana; Davare, Marco

    2016-10-12

    How motion and sensory inputs are combined to assess an object's stiffness is still unknown. Here, we provide evidence for the existence of a stiffness estimator in the human posterior parietal cortex (PPC). We showed previously that delaying force feedback with respect to motion when interacting with an object caused participants to underestimate its stiffness. We found that applying theta-burst transcranial magnetic stimulation (TMS) over the PPC, but not the dorsal premotor cortex, enhances this effect without affecting movement control. We explain this enhancement as an additional lag in force signals. This is the first causal evidence that the PPC is not only involved in motion control, but also has an important role in perception that is disassociated from action. We provide a computational model suggesting that the PPC integrates position and force signals for perception of stiffness and that TMS alters the synchronization between the two signals causing lasting consequences on perceptual behavior. When selecting an object such as a ripe fruit or sofa, we need to assess the object's stiffness. Because we lack dedicated stiffness sensors, we rely on an as yet unknown mechanism that generates stiffness percepts by combining position and force signals. Here, we found that the posterior parietal cortex (PPC) contributes to combining position and force signals for stiffness estimation. This finding challenges the classical view about the role of the PPC in regulating position signals only for motion control because we highlight a key role of the PPC in perception that is disassociated from action. Altogether this sheds light on brain mechanisms underlying the interaction between action and perception and may help in the development of better teleoperation systems and rehabilitation of patients with sensory impairments. Copyright © 2016 Leib et al.

  5. Motion adaptive Kalman filter for super-resolution

    NASA Astrophysics Data System (ADS)

    Richter, Martin; Nasse, Fabian; Schröder, Hartmut

    2011-01-01

    Superresolution is a sophisticated strategy to enhance image quality of both low and high resolution video, performing tasks like artifact reduction, scaling and sharpness enhancement in one algorithm, all of them reconstructing high frequency components (above Nyquist frequency) in some way. Especially recursive superresolution algorithms can fulfill high quality aspects because they control the video output using a feed-back loop and adapt the result in the next iteration. In addition to excellent output quality, temporal recursive methods are very hardware efficient and therefore even attractive for real-time video processing. A very promising approach is the utilization of Kalman filters as proposed by Farsiu et al. Reliable motion estimation is crucial for the performance of superresolution. Therefore, robust global motion models are mainly used, but this also limits the application of superresolution algorithm. Thus, handling sequences with complex object motion is essential for a wider field of application. Hence, this paper proposes improvements by extending the Kalman filter approach using motion adaptive variance estimation and segmentation techniques. Experiments confirm the potential of our proposal for ideal and real video sequences with complex motion and further compare its performance to state-of-the-art methods like trainable filters.

  6. Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

    NASA Astrophysics Data System (ADS)

    Xu, Bing; Cheng, Min

    2018-06-01

    This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

  7. Modeling of the motion of automobile elastic wheel in real-time for creation of wheeled vehicles motion control electronic systems

    NASA Astrophysics Data System (ADS)

    Balakina, E. V.; Zotov, N. M.; Fedin, A. P.

    2018-02-01

    Modeling of the motion of the elastic wheel of the vehicle in real-time is used in the tasks of constructing different models in the creation of wheeled vehicles motion control electronic systems, in the creation of automobile stand-simulators etc. The accuracy and the reliability of simulation of the parameters of the wheel motion in real-time when rolling with a slip within the given road conditions are determined not only by the choice of the model, but also by the inaccuracy and instability of the numerical calculation. It is established that the inaccuracy and instability of the calculation depend on the size of the step of integration and the numerical method being used. The analysis of these inaccuracy and instability when wheel rolling with a slip was made and recommendations for reducing them were developed. It is established that the total allowable range of steps of integration is 0.001.0.005 s; the strongest instability is manifested in the calculation of the angular and linear accelerations of the wheel; the weakest instability is manifested in the calculation of the translational velocity of the wheel and moving of the center of the wheel; the instability is less at large values of slip angle and on more slippery surfaces. A new method of the average acceleration is suggested, which allows to significantly reduce (up to 100%) the manifesting of instability of the solution in the calculation of all parameters of motion of the elastic wheel for different braking conditions and for the entire range of steps of integration. The results of research can be applied to the selection of control algorithms in vehicles motion control electronic systems and in the testing stand-simulators

  8. Application of neural models as controllers in mobile robot velocity control loop

    NASA Astrophysics Data System (ADS)

    Cerkala, Jakub; Jadlovska, Anna

    2017-01-01

    This paper presents the application of an inverse neural models used as controllers in comparison to classical PI controllers for velocity tracking control task used in two-wheel, differentially driven mobile robot. The PI controller synthesis is based on linear approximation of actuators with equivalent load. In order to obtain relevant datasets for training of feed-forward multi-layer perceptron based neural network used as neural model, the mathematical model of mobile robot, that combines its kinematic and dynamic properties such as chassis dimensions, center of gravity offset, friction and actuator parameters is used. Neural models are trained off-line to act as an inverse dynamics of DC motors with particular load using data collected in simulation experiment for motor input voltage step changes within bounded operating area. The performances of PI controllers versus inverse neural models in mobile robot internal velocity control loops are demonstrated and compared in simulation experiment of navigation control task for line segment motion in plane.

  9. The influence of motion control shoes on the running gait of mature and young females.

    PubMed

    Lilley, Kim; Stiles, Vicky; Dixon, Sharon

    2013-03-01

    This study compared the running gait of mature and young females, and investigated the effect of a motion control shoe. First, it was hypothesised that in a neutral shoe, mature females would display significantly greater rearfoot eversion, knee internal rotation and external adductor moments when compared to a younger group. Secondly, the motion control shoe would reduce rearfoot eversion and knee internal rotation in both groups. Thirdly it was hypothesised that the motion control shoe would increase knee external adductor moment, through an increase in knee varus and moment arm. 15 mature (40-60 years) and 15 young (18-25 years) females performed 10 running trials at 3.5ms(-1)±5% over a force platform. Two shoes were tested, the Adidas Supernova Glide (neutral), and the Adidas Supernova Sequence (motion control). Ankle and knee joint dynamics were analysed for the right leg, and the mean of ten trials was calculated. Joint moments were calculated using inverse dynamics. In the neutral condition, mature females presented greater peak rearfoot eversion, knee internal rotation, and external adductor moments than young females (p<0.05). A motion control shoe significantly reduced peak rearfoot eversion and knee internal rotation among both groups (p<0.05). No between shoe differences in knee external adductor moment were observed. A motion control shoe is recommended to reduce risk of injury associated with rearfoot eversion and knee internal rotation in mature females. However since the knee external adductor moment is a variable commonly associated with medial knee loading it is suggested that alternative design features are required to influence this moment. Copyright © 2012 Elsevier B.V. All rights reserved.

  10. Active Motion Control of Tetrahymena pyriformis by Galvanotaxis and Geotaxis

    NASA Astrophysics Data System (ADS)

    Kim, Jihoon; Byun, Doyoung; Kim, Min Jun

    2013-11-01

    Recently, there has been increasing interest in the swimming behavior of microorganisms and biologically inspired micro-robots. These microorganisms naturally accompanied by complex motions. Therefore it is important to understand the flow characteristics as well as control mechanisms. One of eukaryotic cells, the protozoa are a diverse group of unicellular organisms, many of which are motile cilia. Motile cilia are cover on the surface of cell in large numbers and beat in oriented waves. Sequential beating motions of a single cilium form metachronal strokes, producing a propagation wave, and therefore the body is achieved propulsion force. So preliminary studies are achieved to understand the flow induced by swimming microorganisms. Based on hydrodynamic results, the follow study of a few micro-scale protozoa cell, such as the Tetrahymena pyriformis, has provided active or passive control into several external stimuli. In typical control methods, the galvanotaxis and geotaxis were adopted active and passive control, respectively. The validation of galvanotaxis is used DC and AC voltage. In terms of geotaxis, corrugated microstructures were used to control in the microchannel. This research was supported by the Ministry of Education, Science and Technology (MEST, 2011-0016461), National Science Foundation (NSF) CMMI Control Systems Program (#1000255) and Army Research Office (W911NF-11-1-0490).

  11. Motion control of rigid bodies in SE(3)

    NASA Astrophysics Data System (ADS)

    Roza, Ashton

    This thesis investigates the control of motion for a general class of vehicles that rotate and translate in three-space, and are propelled by a thrust vector which has fixed direction in body frame. The thesis addresses the problems of path following and position control. For path following, a feedback linearization controller is presented that makes the vehicle follow an arbitrary closed curve while simultaneously allowing the designer to specify the velocity profile of the vehicle on the path and its heading. For position control, a two-stage approach is presented that decouples position control from attitude control, allowing for a modular design and yielding almost global asymptotic stability of any desired hovering equilibrium. The effectiveness of the proposed method is verified both in simulation and experimentally by means of a hardware-in-the-loop setup emulating a co-axial helicopter.

  12. Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

    NASA Technical Reports Server (NTRS)

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

    2011-01-01

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

  13. Modeling the Benchmark Active Control Technology Wind-Tunnel Model for Application to Flutter Suppression

    NASA Technical Reports Server (NTRS)

    Waszak, Martin R.

    1996-01-01

    This paper describes the formulation of a model of the dynamic behavior of the Benchmark Active Controls Technology (BACT) wind-tunnel model for application to design and analysis of flutter suppression controllers. The model is formed by combining the equations of motion for the BACT wind-tunnel model with actuator models and a model of wind-tunnel turbulence. The primary focus of this paper is the development of the equations of motion from first principles using Lagrange's equations and the principle of virtual work. A numerical form of the model is generated using values for parameters obtained from both experiment and analysis. A unique aspect of the BACT wind-tunnel model is that it has upper- and lower-surface spoilers for active control. Comparisons with experimental frequency responses and other data show excellent agreement and suggest that simple coefficient-based aerodynamics are sufficient to accurately characterize the aeroelastic response of the BACT wind-tunnel model. The equations of motion developed herein have been used to assist the design and analysis of a number of flutter suppression controllers that have been successfully implemented.

  14. An improved adaptive control for repetitive motion of robots

    NASA Technical Reports Server (NTRS)

    Pourboghrat, F.

    1989-01-01

    An adaptive control algorithm is proposed for a class of nonlinear systems, such as robotic manipulators, which is capable of improving its performance in repetitive motions. When the task is repeated, the error between the desired trajectory and that of the system is guaranteed to decrease. The design is based on the combination of a direct adaptive control and a learning process. This method does not require any knowledge of the dynamic parameters of the system.

  15. Motion Pattern Encapsulation for Data-Driven Constraint-Based Motion Editing

    NASA Astrophysics Data System (ADS)

    Carvalho, Schubert R.; Boulic, Ronan; Thalmann, Daniel

    The growth of motion capture systems have contributed to the proliferation of human motion database, mainly because human motion is important in many applications, ranging from games entertainment and films to sports and medicine. However, the captured motions normally attend specific needs. As an effort for adapting and reusing captured human motions in new tasks and environments and improving the animator's work, we present and discuss a new data-driven constraint-based animation system for interactive human motion editing. This method offers the compelling advantage that it provides faster deformations and more natural-looking motion results compared to goal-directed constraint-based methods found in the literature.

  16. Laser interferometric system for six-axis motion measurement.

    PubMed

    Zhang, Zhipeng; Menq, Chia-Hsiang

    2007-08-01

    This article presents the development of a precision laser interferometric system, which is designed to achieve six-axis motion measurement for real-time applications. By combining the advantage of the interferometer with a retroreflector and that of the interferometer with a plane mirror reflector, the system is capable of simultaneously measuring large transverse motions along and large rotational motions about three orthogonal axes. Based on optical path analysis along with the designed kinematics of the system, a closed form relationship between the six-axis motion parameters of the object being measured and the readings of the six laser interferometers is established. It can be employed as a real-time motion sensor for various six-axis motion control stages. A prototype is implemented and integrated with a six-axis magnetic levitation stage to illustrate its resolution and measurement range.

  17. Evaluation of knee range of motion: Correlation between measurements using a universal goniometer and a smartphone goniometric application.

    PubMed

    Dos Santos, Rafael Aparecido; Derhon, Viviane; Brandalize, Michelle; Brandalize, Danielle; Rossi, Luciano Pavan

    2017-07-01

    Goniometers are commonly used to measure range of motion in the musculoskeletal system. Recently smartphone goniometry applications have become available to clinicians. Compare angular measures using a universal goniometer and a smartphone application. Thirty four healthy women with at least 20° of limited range of motion regarding knee extension were recruited. Knee flexion angles of the dominant limb were measured with a universal goniometer and the ROM © goniometric application for the smartphone. Three trained examiners compared the two assessment tools. Strong correlations were found between the measures of the universal goniometer and smartphone application (Pearson's correlation and interclass correlation coefficient > 0.93). The measurements with both devices demonstrated low dispersion and little variation. Measurements obtained using the smartphone goniometric application analyzed are as reliable as those of a universal goniometer. This application is therefore a useful tool for the evaluation of knee range of motion. Copyright © 2016 Elsevier Ltd. All rights reserved.

  18. Development of Visual Motion Perception for Prospective Control: Brain and Behavioral Studies in Infants

    PubMed Central

    Agyei, Seth B.; van der Weel, F. R. (Ruud); van der Meer, Audrey L. H.

    2016-01-01

    During infancy, smart perceptual mechanisms develop allowing infants to judge time-space motion dynamics more efficiently with age and locomotor experience. This emerging capacity may be vital to enable preparedness for upcoming events and to be able to navigate in a changing environment. Little is known about brain changes that support the development of prospective control and about processes, such as preterm birth, that may compromise it. As a function of perception of visual motion, this paper will describe behavioral and brain studies with young infants investigating the development of visual perception for prospective control. By means of the three visual motion paradigms of occlusion, looming, and optic flow, our research shows the importance of including behavioral data when studying the neural correlates of prospective control. PMID:26903908

  19. Linear motion device and method for inserting and withdrawing control rods

    DOEpatents

    Smith, J.E.

    Disclosed is a linear motion device and more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core. The CRDM and method disclosed is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.

  20. An Internal Data Non-hiding Type Real-time Kernel and its Application to the Mechatronics Controller

    NASA Astrophysics Data System (ADS)

    Yoshida, Toshio

    For the mechatronics equipment controller that controls robots and machine tools, high-speed motion control processing is essential. The software system of the controller like other embedded systems is composed of three layers software such as real-time kernel layer, middleware layer, and application software layer on the dedicated hardware. The application layer in the top layer is composed of many numbers of tasks, and application function of the system is realized by the cooperation between these tasks. In this paper we propose an internal data non-hiding type real-time kernel in which customizing the task control is possible only by change in the program code of the task side without any changes in the program code of real-time kernel. It is necessary to reduce the overhead caused by the real-time kernel task control for the speed-up of the motion control of the mechatronics equipment. For this, customizing the task control function is needed. We developed internal data non-cryptic type real-time kernel ZRK to evaluate this method, and applied to the control of the multi system automatic lathe. The effect of the speed-up of the task cooperation processing was able to be confirmed by combined task control processing on the task side program code using an internal data non-hiding type real-time kernel ZRK.

  1. How NASA KSC Controls Interfaces with the use of Motion Skeletons and Product Structure

    NASA Technical Reports Server (NTRS)

    Jones, Corey

    2013-01-01

    This presentation will show how NASA KSC controls interfaces for Modular Product Architecture (MPA) using Locator Skeletons, Interface Skeletons, and Product Structure, to be combined together within a Motion Skeleton. The user will learn how to utilize skeleton models to communicate interface data, as successfully done at NASA KSC in their use of Motion Skeletons to control interfaces for multi-launch systems. There will be discussion of the methodology used to control design requirements through WTParts, and how to utilize product structure for non-CAD documents.

  2. Inferential modeling and predictive feedback control in real-time motion compensation using the treatment couch during radiotherapy

    NASA Astrophysics Data System (ADS)

    Qiu, Peng; D'Souza, Warren D.; McAvoy, Thomas J.; Liu, K. J. Ray

    2007-09-01

    Tumor motion induced by respiration presents a challenge to the reliable delivery of conformal radiation treatments. Real-time motion compensation represents the technologically most challenging clinical solution but has the potential to overcome the limitations of existing methods. The performance of a real-time couch-based motion compensation system is mainly dependent on two aspects: the ability to infer the internal anatomical position and the performance of the feedback control system. In this paper, we propose two novel methods for the two aspects respectively, and then combine the proposed methods into one system. To accurately estimate the internal tumor position, we present partial-least squares (PLS) regression to predict the position of the diaphragm using skin-based motion surrogates. Four radio-opaque markers were placed on the abdomen of patients who underwent fluoroscopic imaging of the diaphragm. The coordinates of the markers served as input variables and the position of the diaphragm served as the output variable. PLS resulted in lower prediction errors compared with standard multiple linear regression (MLR). The performance of the feedback control system depends on the system dynamics and dead time (delay between the initiation and execution of the control action). While the dynamics of the system can be inverted in a feedback control system, the dead time cannot be inverted. To overcome the dead time of the system, we propose a predictive feedback control system by incorporating forward prediction using least-mean-square (LMS) and recursive least square (RLS) filtering into the couch-based control system. Motion data were obtained using a skin-based marker. The proposed predictive feedback control system was benchmarked against pure feedback control (no forward prediction) and resulted in a significant performance gain. Finally, we combined the PLS inference model and the predictive feedback control to evaluate the overall performance of the

  3. 17 CFR 12.308 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 17 Commodity and Securities Exchanges 1 2010-04-01 2010-04-01 false Motions. 12.308 Section 12.308... Applicable to Formal Decisional Proceedings § 12.308 Motions. (a) In general. An application for a form of relief not otherwise specifically provided for in this subpart E shall be made by a motion, which shall...

  4. 17 CFR 12.308 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 17 Commodity and Securities Exchanges 1 2011-04-01 2011-04-01 false Motions. 12.308 Section 12.308... Applicable to Formal Decisional Proceedings § 12.308 Motions. (a) In general. An application for a form of relief not otherwise specifically provided for in this subpart E shall be made by a motion, which shall...

  5. A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.

    PubMed

    Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

    2015-06-01

    Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

  6. A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training

    NASA Astrophysics Data System (ADS)

    Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

    2015-06-01

    Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

  7. Genetic Algorithm-Based Motion Estimation Method using Orientations and EMGs for Robot Controls

    PubMed Central

    Chae, Jeongsook; Jin, Yong; Sung, Yunsick

    2018-01-01

    Demand for interactive wearable devices is rapidly increasing with the development of smart devices. To accurately utilize wearable devices for remote robot controls, limited data should be analyzed and utilized efficiently. For example, the motions by a wearable device, called Myo device, can be estimated by measuring its orientation, and calculating a Bayesian probability based on these orientation data. Given that Myo device can measure various types of data, the accuracy of its motion estimation can be increased by utilizing these additional types of data. This paper proposes a motion estimation method based on weighted Bayesian probability and concurrently measured data, orientations and electromyograms (EMG). The most probable motion among estimated is treated as a final estimated motion. Thus, recognition accuracy can be improved when compared to the traditional methods that employ only a single type of data. In our experiments, seven subjects perform five predefined motions. When orientation is measured by the traditional methods, the sum of the motion estimation errors is 37.3%; likewise, when only EMG data are used, the error in motion estimation by the proposed method was also 37.3%. The proposed combined method has an error of 25%. Therefore, the proposed method reduces motion estimation errors by 12%. PMID:29324641

  8. Sea ice motion measurements from Seasat SAR images

    NASA Technical Reports Server (NTRS)

    Leberl, F.; Raggam, J.; Elachi, C.; Campbell, W. J.

    1983-01-01

    Data from the Seasat synthetic aperture radar (SAR) experiment are analyzed in order to determine the accuracy of this information for mapping the distribution of sea ice and its motion. Data from observations of sea ice in the Beaufort Sea from seven sequential orbits of the satellite were selected to study the capabilities and limitations of spaceborne radar application to sea-ice mapping. Results show that there is no difficulty in identifying homologue ice features on sequential radar images and the accuracy is entirely controlled by the accuracy of the orbit data and the geometric calibration of the sensor. Conventional radargrammetric methods are found to serve well for satellite radar ice mapping, while ground control points can be used to calibrate the ice location and motion measurements in the cases where orbit data and sensor calibration are lacking. The ice motion was determined to be approximately 6.4 + or - 0.5 km/day. In addition, the accuracy of pixel location was found over land areas. The use of one control point in 10,000 sq km produced an accuracy of about + or 150 m, while with a higher density of control points (7 in 1000 sq km) the location accuracy improves to the image resolution of + or - 25 m. This is found to be applicable for both optical and digital data.

  9. Optimal control of the ballistic motion of Airy beams.

    PubMed

    Hu, Yi; Zhang, Peng; Lou, Cibo; Huang, Simon; Xu, Jingjun; Chen, Zhigang

    2010-07-01

    We demonstrate the projectile motion of two-dimensional truncated Airy beams in a general ballistic trajectory with controllable range and height. We show that the peak beam intensity can be delivered to any desired location along the trajectory as well as repositioned to a given target after displacement due to propagation through disordered or turbulent media.

  10. Stretching and Controlled Motion of Single-Stranded DNA in Locally-Heated Solid-State Nanopores

    PubMed Central

    Belkin, Maxim; Maffeo, Christopher; Wells, David B.

    2013-01-01

    Practical applications of solid-state nanopores for DNA detection and sequencing require the electrophoretic motion of DNA through the nanopores to be precisely controlled. Controlling the motion of single-stranded DNA presents a particular challenge, in part because of the multitude of conformations that a DNA strand can adopt in a nanopore. Through continuum, coarse-grained and atomistic modeling, we demonstrate that local heating of the nanopore volume can be used to alter the electrophoretic mobility and conformation of single-stranded DNA. In the nanopore systems considered, the temperature near the nanopore is modulated via a nanometer-size heater element that can be radiatively switched on and off. The local enhancement of temperature produces considerable stretching of the DNA fragment confined within the nanopore. Such stretching is reversible, so that the conformation of DNA can be toggled between compact (local heating is off) and extended (local heating is on) states. The effective thermophoretic force acting on single-stranded DNA in the vicinity of the nanopore is found to be sufficiently large (4–8 pN) to affect such changes in the DNA conformation. The local heating of the nanopore volume is observed to promote single-file translocation of DNA strands at transmembrane biases as low as 10 mV, which opens new avenues for using solid-state nanopores for detection and sequencing of DNA. PMID:23876013

  11. Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

    NASA Astrophysics Data System (ADS)

    Chen, Dechao; Zhang, Yunong

    2017-10-01

    Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

  12. A novel application of motion analysis for detecting stress responses in embryos at different stages of development.

    PubMed

    Tills, Oliver; Bitterli, Tabitha; Culverhouse, Phil; Spicer, John I; Rundle, Simon

    2013-02-01

    Motion analysis is one of the tools available to biologists to extract biologically relevant information from image datasets and has been applied to a diverse range of organisms. The application of motion analysis during early development presents a challenge, as embryos often exhibit complex, subtle and diverse movement patterns. A method of motion analysis able to holistically quantify complex embryonic movements could be a powerful tool for fields such as toxicology and developmental biology to investigate whole organism stress responses. Here we assessed whether motion analysis could be used to distinguish the effects of stressors on three early developmental stages of each of three species: (i) the zebrafish Danio rerio (stages 19 h, 21.5 h and 33 h exposed to 1.5% ethanol and a salinity of 5); (ii) the African clawed toad Xenopus laevis (stages 24, 32 and 34 exposed to a salinity of 20); and iii) the pond snail Radix balthica (stages E3, E4, E6, E9 and E11 exposed to salinities of 5, 10 and 15). Image sequences were analysed using Sparse Optic Flow and the resultant frame-to-frame motion parameters were analysed using Discrete Fourier Transform to quantify the distribution of energy at different frequencies. This spectral frequency dataset was then used to construct a Bray-Curtis similarity matrix and differences in movement patterns between embryos in this matrix were tested for using ANOSIM. Spectral frequency analysis of these motion parameters was able to distinguish stage-specific effects of environmental stressors in most cases, including Xenopus laevis at stages 24, 32 and 34 exposed to a salinity of 20, Danio rerio at 33 hpf exposed to 1.5% ethanol, and Radix balthica at stages E4, E9 and E11 exposed to salinities of 5, 10 and 15. This technique was better able to distinguish embryos exposed to stressors than analysis of manual quantification of movement and within species distinguished most of the developmental stages studied in the control

  13. Response analysis of curved bridge with unseating failure control system under near-fault ground motions

    NASA Astrophysics Data System (ADS)

    Zuo, Ye; Sun, Guangjun; Li, Hongjing

    2018-01-01

    Under the action of near-fault ground motions, curved bridges are prone to pounding, local damage of bridge components and even unseating. A multi-scale fine finite element model of a typical three-span curved bridge is established by considering the elastic-plastic behavior of piers and pounding effect of adjacent girders. The nonlinear time-history method is used to study the seismic response of the curved bridge equipped with unseating failure control system under the action of near-fault ground motion. An in-depth analysis is carried to evaluate the control effect of the proposed unseating failure control system. The research results indicate that under the near-fault ground motion, the seismic response of the curved bridge is strong. The unseating failure control system perform effectively to reduce the pounding force of the adjacent girders and the probability of deck unseating.

  14. Control of energy sweep and transverse beam motion in induction linacs

    NASA Astrophysics Data System (ADS)

    Turner, W. C.

    1991-05-01

    Recent interest in the electron induction accelerator has focussed on its application as a driver for high power radiation sources; free electron laser (FEL), relativistic klystron (RK) and cyclotron autoresonance maser (CARM). In the microwave regime where many successful experiments have been carried out, typical beam parameters are: beam energy 1 to 10 MeV, current 1 to 3 kA and pulse width 50 nsec. Radiation source applications impose conditions on electron beam quality, as characterized by three parameters; energy sweep, transverse beam motion and brightness. These conditions must be maintained for the full pulse duration to assure high efficiency conversion of beam power to radiation. The microwave FEL that has been analyzed in the greatest detail requires energy sweep less than (+ or -) 1 pct., transverse beam motion less than (+ or -) 1 mm and brightness approx. 1 x 10(exp 8)A/sq m sq rad. In the visible region the requirements on these parameters become roughly an order of magnitude more strigent. With the ETAII accelerator at LLNL the requirements were achieved for energy sweep, transverse beam motion and brightness. The recent data and the advances that have made the improved beam quality possible are discussed. The most important advances are: understanding of focussing magnetic field errors and improvements in alignment of the magnetic axis, a redesign of the high voltage pulse distribution system between the magnetic compression modulators and the accelerator cells, and exploitation of a beam tuning algorithm for minimizing transverse beam motion. The prospects are briefly described for increasing the pulse repetition frequency to the range of 5 kHz and a delayed feedback method of regulating beam energy over very long pulse bursts, thus making average power megawatt level microwave sources at 140 GHz and above a possibility.

  15. 75 FR 34725 - Preliminary Permit Application Accepted for Filing and Soliciting Comments, Motions To Intervene...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-06-18

    ... DEPARTMENT OF ENERGY Federal Energy Regulatory Commission [Project No. 13795-000] Preliminary Permit Application Accepted for Filing and Soliciting Comments, Motions To Intervene, and Competing Applications; Mahoning Hydropower, LLC June 10, 2010. On May 25, 2010, Mahoning Hydropower, LLC filed an...

  16. Content and structure of knowledge base used for virtual control of android arm motion in specified environment

    NASA Astrophysics Data System (ADS)

    Pritykin, F. N.; Nebritov, V. I.

    2018-01-01

    The paper presents the configuration of knowledge base necessary for intelligent control of android arm mechanism motion with different positions of certain forbidden regions taken into account. The present structure of the knowledge base characterizes the past experience of arm motion synthesis in the vector of velocities with due regard for the known obstacles. This structure also specifies its intrinsic properties. Knowledge base generation is based on the study of the arm mechanism instantaneous states implementations. Computational experiments connected with the virtual control of android arm motion with known forbidden regions using the developed knowledge base are introduced. Using the developed knowledge base to control virtually the arm motion reduces the time of test assignments calculation. The results of the research can be used in developing control systems of autonomous android robots in the known in advance environment.

  17. Hand interception of occluded motion in humans: a test of model-based vs. on-line control

    PubMed Central

    Zago, Myrka; Lacquaniti, Francesco

    2015-01-01

    Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. PMID:26133803

  18. 77 FR 60413 - Uniontown Hydro, LLC; Notice of Application Accepted for Filing, Soliciting Motions To Intervene...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-10-03

    ..., LLC; Notice of Application Accepted for Filing, Soliciting Motions To Intervene and Protests, Ready..., and Preliminary Fishway Prescriptions Take notice that the following hydroelectric application has been filed with the Commission and is available for public inspection. a. Type of Application: Original...

  19. Extended state observer-based motion synchronisation control for hybrid actuation system of large civil aircraft

    NASA Astrophysics Data System (ADS)

    Wang, Xingjian; Shi, Cun; Wang, Shaoping

    2017-07-01

    Hybrid actuation system with dissimilar redundant actuators, which is composed of a hydraulic actuator (HA) and an electro-hydrostatic actuator (EHA), has been applied on modern civil aircraft to improve the reliability. However, the force fighting problem arises due to different dynamic performances between HA and EHA. This paper proposes an extended state observer (ESO)-based motion synchronisation control method. To cope with the problem of unavailability of the state signals, the well-designed ESO is utilised to observe the HA and EHA state variables which are unmeasured. In particular, the extended state of ESO can estimate the lumped effect of the unknown external disturbances acting on the control surface, the nonlinear dynamics, uncertainties, and the coupling term between HA and EHA. Based on the observed states of ESO, motion synchronisation controllers are presented to make HA and EHA to simultaneously track the desired motion trajectories, which are generated by a trajectory generator. Additionally, the unknown disturbances and the coupling terms can be compensated by using the extended state of the proposed ESO. Finally, comparative simulation results indicate that the proposed ESO-based motion synchronisation controller can achieve great force fighting reduction between HA and EHA.

  20. PSD Camera Based Position and Posture Control of Redundant Robot Considering Contact Motion

    NASA Astrophysics Data System (ADS)

    Oda, Naoki; Kotani, Kentaro

    The paper describes a position and posture controller design based on the absolute position by external PSD vision sensor for redundant robot manipulator. The redundancy enables a potential capability to avoid obstacle while continuing given end-effector jobs under contact with middle link of manipulator. Under contact motion, the deformation due to joint torsion obtained by comparing internal and external position sensor, is actively suppressed by internal/external position hybrid controller. The selection matrix of hybrid loop is given by the function of the deformation. And the detected deformation is also utilized in the compliant motion controller for passive obstacle avoidance. The validity of the proposed method is verified by several experimental results of 3link planar redundant manipulator.

  1. Results and applications of a space suit range-of-motion study

    NASA Technical Reports Server (NTRS)

    Reinhardt, AL

    1989-01-01

    The range of motion of space suits has traditionally been described using limited 2-D mapping of limb, torso, or arm movements performed in front of an orthogonal grid. A new technique for recovering extra-vehicular (EVA) space suit range-of-motion data during underwater testing was described in a paper presented by the author at the 1988 conference. The new technique uses digitized data which is automatically acquired from video images of the subject. Three-dimensional trajectories are recovered from these data, and can be displayed using 2-D computer graphics. Results of using this technique for the current shuttle EVA suit during underwater simulated weightlessness testing are discussed. Application of the data for use in animating anthropometric computer models is highlighted.

  2. Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.

    PubMed

    Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

    2017-07-01

    In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

  3. Nonlinear dynamics and chaotic motions in feedback-controlled two- and three-degree-of-freedom robots

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

    Ravishankar, A.S. Ghosal, A.

    1999-01-01

    The dynamics of a feedback-controlled rigid robot is most commonly described by a set of nonlinear ordinary differential equations. In this paper, the authors analyze these equations, representing the feedback-controlled motion of two- and three-degrees-of-freedom rigid robots with revolute (R) and prismatic (P) joints in the absence of compliance, friction, and potential energy, for the possibility of chaotic motions. The authors first study the unforced or inertial motions of the robots, and show that when the Gaussian or Riemannian curvature of the configuration space of a robot is negative, the robot equations can exhibit chaos. If the curvature is zeromore » or positive, then the robot equations cannot exhibit chaos. The authors show that among the two-degrees-of-freedom robots, the PP and the PR robot have zero Gaussian curvature while the RP and RR robots have negative Gaussian curvatures. For the three-degrees-of-freedom robots, they analyze the two well-known RRP and RRR configurations of the Stanford arm and the PUMA manipulator, respectively, and derive the conditions for negative curvature and possible chaotic motions. The criteria of negative curvature cannot be used for the forced or feedback-controlled motions. For the forced motion, the authors resort to the well-known numerical techniques and compute chaos maps, Poincare maps, and bifurcation diagrams. Numerical results are presented for the two-degrees-of-freedom RP and RR robots, and the authors show that these robot equations can exhibit chaos for low controller gains and for large underestimated models. From the bifurcation diagrams, the route to chaos appears to be through period doubling.« less

  4. The Effectiveness of Simulator Motion in the Transfer of Performance on a Tracking Task Is Influenced by Vision and Motion Disturbance Cues.

    PubMed

    Grundy, John G; Nazar, Stefan; O'Malley, Shannon; Mohrenshildt, Martin V; Shedden, Judith M

    2016-06-01

    To examine the importance of platform motion to the transfer of performance in motion simulators. The importance of platform motion in simulators for pilot training is strongly debated. We hypothesized that the type of motion (e.g., disturbance) contributes significantly to performance differences. Participants used a joystick to perform a target tracking task in a pod on top of a MOOG Stewart motion platform. Five conditions compared training without motion, with correlated motion, with disturbance motion, with disturbance motion isolated to the visual display, and with both correlated and disturbance motion. The test condition involved the full motion model with both correlated and disturbance motion. We analyzed speed and accuracy across training and test as well as strategic differences in joystick control. Training with disturbance cues produced critical behavioral differences compared to training without disturbance; motion itself was less important. Incorporation of disturbance cues is a potentially important source of variance between studies that do or do not show a benefit of motion platforms in the transfer of performance in simulators. Potential applications of this research include the assessment of the importance of motion platforms in flight simulators, with a focus on the efficacy of incorporating disturbance cues during training. © 2016, Human Factors and Ergonomics Society.

  5. Full-motion video analysis for improved gender classification

    NASA Astrophysics Data System (ADS)

    Flora, Jeffrey B.; Lochtefeld, Darrell F.; Iftekharuddin, Khan M.

    2014-06-01

    The ability of computer systems to perform gender classification using the dynamic motion of the human subject has important applications in medicine, human factors, and human-computer interface systems. Previous works in motion analysis have used data from sensors (including gyroscopes, accelerometers, and force plates), radar signatures, and video. However, full-motion video, motion capture, range data provides a higher resolution time and spatial dataset for the analysis of dynamic motion. Works using motion capture data have been limited by small datasets in a controlled environment. In this paper, we explore machine learning techniques to a new dataset that has a larger number of subjects. Additionally, these subjects move unrestricted through a capture volume, representing a more realistic, less controlled environment. We conclude that existing linear classification methods are insufficient for the gender classification for larger dataset captured in relatively uncontrolled environment. A method based on a nonlinear support vector machine classifier is proposed to obtain gender classification for the larger dataset. In experimental testing with a dataset consisting of 98 trials (49 subjects, 2 trials per subject), classification rates using leave-one-out cross-validation are improved from 73% using linear discriminant analysis to 88% using the nonlinear support vector machine classifier.

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

    NASA Technical Reports Server (NTRS)

    Clement, Gilles; Wood, Scott J.

    2010-01-01

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

  7. INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying.

    PubMed

    V Hinüber, Edgar L; Reimer, Christian; Schneider, Tim; Stock, Michael

    2017-04-26

    This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS ( inertial navigation system/global satellite navigation system ) solutions based on MEMS ( micro-electro-mechanical- sensor ) machined sensors, being used for UAV ( unmanned aerial vehicle ) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS ( global navigation satellite system ) receivers from very-low-cost MEMS and high performance MEMS over FOG ( fiber optical gyro ) and RLG ( ring laser gyro ) up to HRG ( hemispherical resonator gyro ) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed.

  8. INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying

    PubMed Central

    v. Hinüber, Edgar L.; Reimer, Christian; Schneider, Tim; Stock, Michael

    2017-01-01

    This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS (global navigation satellite system) receivers from very-low-cost MEMS and high performance MEMS over FOG (fiber optical gyro) and RLG (ring laser gyro) up to HRG (hemispherical resonator gyro) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed. PMID:28445417

  9. 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

  10. Relative dynamics and motion control of nanosatellite formation flying

    NASA Astrophysics Data System (ADS)

    Pimnoo, Ammarin; Hiraki, Koju

    2016-04-01

    Orbit selection is a necessary factor in nanosatellite formation mission design/meanwhile, to keep the formation, it is necessary to consume fuel. Therefore, the best orbit design for nanosatellite formation flying should be one that requires the minimum fuel consumption. The purpose of this paper is to analyse orbit selection with respect to the minimum fuel consumption, to provide a convenient way to estimate the fuel consumption for keeping nanosatellite formation flying and to present a simplified method of formation control. The formation structure is disturbed by J2 gravitational perturbation and other perturbing accelerations such as atmospheric drag. First, Gauss' Variation Equations (GVE) are used to estimate the essential ΔV due to the J2 perturbation and atmospheric drag. The essential ΔV presents information on which orbit is good with respect to the minimum fuel consumption. Then, the linear equations which account for J2 gravitational perturbation of Schweighart-Sedwick are presented and used to estimate the fuel consumption to maintain the formation structure. Finally, the relative dynamics motion is presented as well as a simplified motion control of formation structure by using GVE.

  11. Hand interception of occluded motion in humans: a test of model-based vs. on-line control.

    PubMed

    La Scaleia, Barbara; Zago, Myrka; Lacquaniti, Francesco

    2015-09-01

    Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience. Copyright © 2015 the American Physiological Society.

  12. Scalable Motion Estimation Processor Core for Multimedia System-on-Chip Applications

    NASA Astrophysics Data System (ADS)

    Lai, Yeong-Kang; Hsieh, Tian-En; Chen, Lien-Fei

    2007-04-01

    In this paper, we describe a high-throughput and scalable motion estimation processor architecture for multimedia system-on-chip applications. The number of processing elements (PEs) is scalable according to the variable algorithm parameters and the performance required for different applications. Using the PE rings efficiently and an intelligent memory-interleaving organization, the efficiency of the architecture can be increased. Moreover, using efficient on-chip memories and a data management technique can effectively decrease the power consumption and memory bandwidth. Techniques for reducing the number of interconnections and external memory accesses are also presented. Our results demonstrate that the proposed scalable PE-ringed architecture is a flexible and high-performance processor core in multimedia system-on-chip applications.

  13. Optical motion control of maglev graphite.

    PubMed

    Kobayashi, Masayuki; Abe, Jiro

    2012-12-26

    Graphite has been known as a typical diamagnetic material and can be levitated in the strong magnetic field. Here we show that the magnetically levitating pyrolytic graphite can be moved in the arbitrary place by simple photoirradiation. It is notable that the optical motion control system described in this paper requires only NdFeB permanent magnets and light source. The optical movement is driven by photothermally induced changes in the magnetic susceptibility of the graphite. Moreover, we demonstrate that light energy can be converted into rotational kinetic energy by means of the photothermal property. We find that the levitating graphite disk rotates at over 200 rpm under the sunlight, making it possible to develop a new class of light energy conversion system.

  14. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner.

    PubMed

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  15. Developments in Human Centered Cueing Algorithms for Control of Flight Simulator Motion Systems

    NASA Technical Reports Server (NTRS)

    Houck, Jacob A.; Telban, Robert J.; Cardullo, Frank M.

    1997-01-01

    The authors conducted further research with cueing algorithms for control of flight simulator motion systems. A variation of the so-called optimal algorithm was formulated using simulated aircraft angular velocity input as a basis. Models of the human vestibular sensation system, i.e. the semicircular canals and otoliths, are incorporated within the algorithm. Comparisons of angular velocity cueing responses showed a significant improvement over a formulation using angular acceleration input. Results also compared favorably with the coordinated adaptive washout algorithm, yielding similar results for angular velocity cues while eliminating false cues and reducing the tilt rate for longitudinal cues. These results were confirmed in piloted tests on the current motion system at NASA-Langley, the Visual Motion Simulator (VMS). Proposed future developments by the authors in cueing algorithms are revealed. The new motion system, the Cockpit Motion Facility (CMF), where the final evaluation of the cueing algorithms will be conducted, is also described.

  16. Virtual reality-based assessment of basic laparoscopic skills using the Leap Motion controller.

    PubMed

    Lahanas, Vasileios; Loukas, Constantinos; Georgiou, Konstantinos; Lababidi, Hani; Al-Jaroudi, Dania

    2017-12-01

    The majority of the current surgical simulators employ specialized sensory equipment for instrument tracking. The Leap Motion controller is a new device able to track linear objects with sub-millimeter accuracy. The aim of this study was to investigate the potential of a virtual reality (VR) simulator for assessment of basic laparoscopic skills, based on the low-cost Leap Motion controller. A simple interface was constructed to simulate the insertion point of the instruments into the abdominal cavity. The controller provided information about the position and orientation of the instruments. Custom tools were constructed to simulate the laparoscopic setup. Three basic VR tasks were developed: camera navigation (CN), instrument navigation (IN), and bimanual operation (BO). The experiments were carried out in two simulation centers: MPLSC (Athens, Greece) and CRESENT (Riyadh, Kingdom of Saudi Arabia). Two groups of surgeons (28 experts and 21 novices) participated in the study by performing the VR tasks. Skills assessment metrics included time, pathlength, and two task-specific errors. The face validity of the training scenarios was also investigated via a questionnaire completed by the participants. Expert surgeons significantly outperformed novices in all assessment metrics for IN and BO (p < 0.05). For CN, a significant difference was found in one error metric (p < 0.05). The greatest difference between the performances of the two groups occurred for BO. Qualitative analysis of the instrument trajectory revealed that experts performed more delicate movements compared to novices. Subjects' ratings on the feedback questionnaire highlighted the training value of the system. This study provides evidence regarding the potential use of the Leap Motion controller for assessment of basic laparoscopic skills. The proposed system allowed the evaluation of dexterity of the hand movements. Future work will involve comparison studies with validated simulators and

  17. Application of quadratic optimization to supersonic inlet control.

    NASA Technical Reports Server (NTRS)

    Lehtinen, B.; Zeller, J. R.

    1972-01-01

    This paper describes the application of linear stochastic optimal control theory to the design of the control system for the air intake, the inlet, of a supersonic air-breathing propulsion system. The controls must maintain a stable inlet shock position in the presence of random airflow disturbances and prevent inlet unstart. Two different linear time invariant controllers are developed. One is designed to minimize a nonquadratic index, the expected frequency of inlet unstart, and the other is designed to minimize the mean square value of inlet shock motion. The quadratic equivalence principle is used to obtain a linear controller that minimizes the nonquadratic index. The two controllers are compared on the basis of unstart prevention, control effort requirements, and frequency response. It is concluded that while controls designed to minimize unstarts are desirable in that the index minimized is physically meaningful, computation time required is longer than for the minimum mean square shock position approach. The simpler minimum mean square shock position solution produced expected unstart frequency values which were not significantly larger than those of the nonquadratic solution.

  18. Fast super-resolution with affine motion using an adaptive Wiener filter and its application to airborne imaging.

    PubMed

    Hardie, Russell C; Barnard, Kenneth J; Ordonez, Raul

    2011-12-19

    Fast nonuniform interpolation based super-resolution (SR) has traditionally been limited to applications with translational interframe motion. This is in part because such methods are based on an underlying assumption that the warping and blurring components in the observation model commute. For translational motion this is the case, but it is not true in general. This presents a problem for applications such as airborne imaging where translation may be insufficient. Here we present a new Fourier domain analysis to show that, for many image systems, an affine warping model with limited zoom and shear approximately commutes with the point spread function when diffraction effects are modeled. Based on this important result, we present a new fast adaptive Wiener filter (AWF) SR algorithm for non-translational motion and study its performance with affine motion. The fast AWF SR method employs a new smart observation window that allows us to precompute all the needed filter weights for any type of motion without sacrificing much of the full performance of the AWF. We evaluate the proposed algorithm using simulated data and real infrared airborne imagery that contains a thermal resolution target allowing for objective resolution analysis.

  19. The motion and control of a complex three-body space tethered system

    NASA Astrophysics Data System (ADS)

    Shi, Gefei; Zhu, Zhanxia; Chen, Shiyu; Yuan, Jianping; Tang, Biwei

    2017-11-01

    This paper is mainly devoted to investigating the dynamics and stability control of a three body-tethered satellite system which contains a main satellite and two subsatellites connected by two straight, massless and inextensible tethers. Firstly, a detailed mathematical model is established in the central gravitational field. Then, the dynamic characteristics of the established system are investigated and analyzed. Based on the dynamic analysis, a novel sliding mode prediction model (SMPM) control strategy is proposed to suppress the motion of the built tethered system. The numerical results show that the proposed underactuated control law is highly effective in suppressing the attitude/libration motion of the underactuated three-body tethered system. Furthermore, cases of different target angles are also examined and analyzed. The simulation results reveal that even if the final equilibrium states differ from different selections of the target angles, the whole system can still be maintained in acceptable areas.

  20. Accuracy and precision of smartphone applications and commercially available motion sensors in multiple sclerosis

    PubMed Central

    Balto, Julia M; Kinnett-Hopkins, Dominique L

    2016-01-01

    Background There is increased interest in the application of smartphone applications and wearable motion sensors among multiple sclerosis (MS) patients. Objective This study examined the accuracy and precision of common smartphone applications and motion sensors for measuring steps taken by MS patients while walking on a treadmill. Methods Forty-five MS patients (Expanded Disability Status Scale (EDSS) = 1.0–5.0) underwent two 500-step walking trials at comfortable walking speed on a treadmill. Participants wore five motion sensors: the Digi-Walker SW-200 pedometer (Yamax), the UP2 and UP Move (Jawbone), and the Flex and One (Fitbit). The smartphone applications were Health (Apple), Health Mate (Withings), and Moves (ProtoGeo Oy). Results The Fitbit One had the best absolute (mean = 490.6 steps, 95% confidence interval (CI) = 485.6–495.5 steps) and relative accuracy (1.9% error), and absolute (SD = 16.4) and relative precision (coefficient of variation (CV) = 0.0), for the first 500-step walking trial; this was repeated with the second trial. Relative accuracy was correlated with slower walking speed for the first (rs = −.53) and second (rs = −.53) trials. Conclusion The results suggest that the waist-worn Fitbit One is the most precise and accurate sensor for measuring steps when walking on a treadmill, but future research is needed (testing the device across a broader range of disability, at different speeds, and in real-life walking conditions) before inclusion in clinical research and practice with MS patients. PMID:28607720

  1. Accuracy and precision of smartphone applications and commercially available motion sensors in multiple sclerosis.

    PubMed

    Balto, Julia M; Kinnett-Hopkins, Dominique L; Motl, Robert W

    2016-01-01

    There is increased interest in the application of smartphone applications and wearable motion sensors among multiple sclerosis (MS) patients. This study examined the accuracy and precision of common smartphone applications and motion sensors for measuring steps taken by MS patients while walking on a treadmill. Forty-five MS patients (Expanded Disability Status Scale (EDSS) = 1.0-5.0) underwent two 500-step walking trials at comfortable walking speed on a treadmill. Participants wore five motion sensors: the Digi-Walker SW-200 pedometer (Yamax), the UP2 and UP Move (Jawbone), and the Flex and One (Fitbit). The smartphone applications were Health (Apple), Health Mate (Withings), and Moves (ProtoGeo Oy). The Fitbit One had the best absolute (mean = 490.6 steps, 95% confidence interval (CI) = 485.6-495.5 steps) and relative accuracy (1.9% error), and absolute (SD = 16.4) and relative precision (coefficient of variation (CV) = 0.0), for the first 500-step walking trial; this was repeated with the second trial. Relative accuracy was correlated with slower walking speed for the first ( r s  =  -.53) and second ( r s  =  -.53) trials. The results suggest that the waist-worn Fitbit One is the most precise and accurate sensor for measuring steps when walking on a treadmill, but future research is needed (testing the device across a broader range of disability, at different speeds, and in real-life walking conditions) before inclusion in clinical research and practice with MS patients.

  2. The application of holography as a real-time three-dimensional motion picture camera

    NASA Technical Reports Server (NTRS)

    Kurtz, R. L.

    1973-01-01

    A historical introduction to holography is presented, as well as a basic description of sideband holography for stationary objects. A brief theoretical development of both time-dependent and time-independent holography is also provided, along with an analytical and intuitive discussion of a unique holographic arrangement which allows the resolution of front surface detail from an object moving at high speeds. As an application of such a system, a real-time three-dimensional motion picture camera system is discussed and the results of a recent demonstration of the world's first true three-dimensional motion picture are given.

  3. Analysis of Timing Control Mechanism of Utterance and Body Motion Using Dialogue between Human and Communication Robot

    NASA Astrophysics Data System (ADS)

    Takasugi, Shoji; Yamamoto, Tomohito; Muto, Yumiko; Abe, Hiroyuki; Miyake, Yoshihiro

    The purpose of this study is to clarify the effects of timing control of utterance and body motion in human-robot interaction. Our previous study has already revealed the correlation of timing of utterance and body motion in human-human communication. Here we proposed a timing control model based on our previous research and estimated its influence to realize human-like communication using a questionnaire method. The results showed that the difference of effectiveness between the communication with the timing control model and that without it was observed. In addition, elderly people evaluated the communication with timing control much higher than younger people. These results show not only the importance of timing control of utterance and body motion in human communication but also its effectiveness for realizing human-like human-robot interaction.

  4. Neck motion, motor control, pain and disability: A longitudinal study of associations in neck pain patients in physiotherapy treatment.

    PubMed

    Meisingset, Ingebrigt; Stensdotter, Ann-Katrin; Woodhouse, Astrid; Vasseljen, Ottar

    2016-04-01

    Neck pain is associated with several alterations in neck motion and motor control, but most of the findings are based on cross-sectional studies. The aim of this study was to investigate associations between changes in neck motion and motor control, and changes in neck pain and disability in physiotherapy patients during a course of treatment. Prospective cohort study. Subjects with non-specific neck pain (n = 71) participated in this study. Neck flexibility, joint position error (JPE), head steadiness, trajectory movement control and postural sway were recorded before commencement of physiotherapy (baseline), at 2 weeks, and at 2 months. Numerical Rating Scale and Neck Disability Index were used to measure neck pain and disability at the day of testing. To analyze within subjects effects in neck motion and motor control, neck pain, and disability over time we used fixed effects linear regression analysis. Changes in neck motion and motor control occurred primarily within 2 weeks. Reduction in neck pain was associated with increased cervical range of motion in flexion-/extension and increased postural sway when standing with eyes open. Decreased neck disability was associated with some variables for neck flexibility and trajectory movement control. Cervical range of motion in flexion-/extension was the only variable associated with changes in both neck pain and neck disability. This study shows that few of the variables for neck motion and motor control were associated with changes neck pain and disability over a course of 2 months with physiotherapy treatment. Copyright © 2015 Elsevier Ltd. All rights reserved.

  5. Development and validation of a rebinner with rigid motion correction for the Siemens PET-MR scanner: Application to a large cohort of [11C]-PIB scans.

    PubMed

    Reilhac, Anthonin; Merida, Ines; Irace, Zacharie; Stephenson, Mary; Weekes, Ashley; Chen, Christopher; Totman, John; Townsend, David W; Fayad, Hadi; Costes, Nicolas

    2018-04-13

    Objective: Head motion occuring during brain PET studies leads to image blurring and to bias in measured local quantities. Our first objective was to implement an accurate list-mode-based rigid motion correction method for PET data acquired with the mMR synchronous Positron Emission Tomography/Magnetic Resonance (PET/MR) scanner. Our second objective was to optimize the correction for [ 11 C]-PIB scans using simulated and actual data with well-controlled motions. Results: An efficient list-mode based motion correction approach has been implemented, fully optimized and validated using simulated as well as actual PET data. The average spatial resolution loss induced by inaccuracies in motion parameter estimates as well as by the rebinning process was estimated to correspond to a 1 mm increase in Full Width Half Maximum (FWHM) with motion parameters estimated directly from the PET data with a temporal frequency of 20 secs. The results show that it can be safely applied to the [ 11 C]-PIB scans, allowing almost complete removal of motion induced artifacts.The application of the correction method on a large cohort of 11C-PIB scans led to the following observations: i) more than 21% of the scans were affected by a motion greater than 10 mm (39% for subjects with Mini-Mental State Examination -MMSE scores below 20) and ii), the correction led to quantitative changes in Alzheimer-specific cortical regions of up to 30%. Conclusion: The rebinner allows an accurate motion correction at a cost of minimal resolution reduction. The application of the correction to a large cohort of [ 11 C]-PIB scans confirmed the necessity to systematically correct for motion for quantitative results. Copyright © 2018 by the Society of Nuclear Medicine and Molecular Imaging, Inc.

  6. On-track test of tilt control strategies for less motion sickness on tilting trains

    NASA Astrophysics Data System (ADS)

    Persson, Rickard; Kufver, Björn; Berg, Mats

    2012-07-01

    Carbody tilting is today a mature and inexpensive technology that permits higher train speeds in horizontal curves, thus shortening travel time. However, tilting trains run a greater risk of causing motion sickness than non-tilting ones. It is likely that the difference in motions between the two train types contributes to the observed difference in risk of motion sickness. Decreasing the risk of motion sickness has until now been equal to increasing the discomfort related to quasi-static lateral acceleration. But, there is a difference in time perception between discomfort caused by quasi-static quantities and motion sickness, which opens up for new solutions. One proposed strategy is to let the local track conditions influence the tilt and give each curve its own optimised tilt angle. This is made possible by new tilt algorithms, storing track data and using a positioning system to select the appropriate data. The present paper reports from on-track tests involving more than 100 test subjects onboard a tilting train. A technical approach is taken evaluating the effectiveness of the new tilt algorithms and the different requirements on quasi-static lateral acceleration and lateral jerk in relative terms. The evaluation verifies that the rms values important for motion sickness can be influenced without changing the requirements on quasi-static lateral acceleration and lateral jerk. The evaluation shows that reduced quantities of motions assumed to have a relation to motion sickness also lead to a reduction in experienced motion sickness. However, a limitation of applicability is found as the lowest risk of motion sickness was not recorded for the test case with motions closest to those of a non-tilting train. An optimal level of tilt, different from no tilt at all, is obtained. This non-linear relation has been observed by other researchers in laboratory tests.

  7. MO-B-201-00: Motion Management in Current Stereotactic Body Radiation Therapy (SBRT) Practice

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

    NONE

    The motion management in stereotactic body radiation therapy (SBRT) is a key to success for a SBRT program, and still an on-going challenging task. A major factor is that moving structures behave differently than standing structures when examined by imaging modalities, and thus require special considerations and employments. Understanding the motion effects to these different imaging processes is a prerequisite for a decent motion management program. The commonly used motion control techniques to physically restrict tumor motion, if adopted correctly, effectively increase the conformity and accuracy of hypofractionated treatment. The effective application of such requires one to understand the mechanicsmore » of the application and the related physiology especially related to respiration. The image-guided radiation beam control, or tumor tracking, further realized the endeavor for precision-targeting. During tumor tracking, the respiratory motion is often constantly monitored by non-ionizing beam sources using the body surface as its surrogate. This then has to synchronize with the actual internal tumor motion. The latter is often accomplished by stereo X-ray imaging or similar techniques. With these advanced technologies, one may drastically reduce the treated volume and increase the clinicians’ confidence for a high fractional ablative radiation dose. However, the challenges in implementing the motion management may not be trivial and is dependent on each clinic case. This session of presentations is intended to provide an overview of the current techniques used in managing the tumor motion in SBRT, specifically for routine lung SBRT, proton based treatments, and newly-developed MR guided RT. Learning Objectives: Through this presentation, the audience will understand basic roles of commonly used imaging modalities for lung cancer studies; familiarize the major advantages and limitations of each discussed motion control methods; familiarize the major

  8. Motion control of a gantry crane with a container

    NASA Astrophysics Data System (ADS)

    Shugailo, T. S.; Yushkov, M. P.

    2018-05-01

    The transportation of a container by a gantry crane in a given time from one point of space to another is considered. The system is at rest at the end of the motion. A maximum admissible speed is taken into account. The control force is found using either the Pontryagin maximum principle or the generalized Gauss principle. The advantages of the second method over the first one is demonstrated.

  9. Decentralized reinforcement-learning control and emergence of motion patterns

    NASA Astrophysics Data System (ADS)

    Svinin, Mikhail; Yamada, Kazuyaki; Okhura, Kazuhiro; Ueda, Kanji

    1998-10-01

    In this paper we propose a system for studying emergence of motion patterns in autonomous mobile robotic systems. The system implements an instance-based reinforcement learning control. Three spaces are of importance in formulation of the control scheme. They are the work space, the sensor space, and the action space. Important feature of our system is that all these spaces are assumed to be continuous. The core part of the system is a classifier system. Based on the sensory state space analysis, the control is decentralized and is specified at the lowest level of the control system. However, the local controllers are implicitly connected through the perceived environment information. Therefore, they constitute a dynamic environment with respect to each other. The proposed control scheme is tested under simulation for a mobile robot in a navigation task. It is shown that some patterns of global behavior--such as collision avoidance, wall-following, light-seeking--can emerge from the local controllers.

  10. Extended analytical formulas for the perturbed Keplerian motion under a constant control acceleration

    NASA Astrophysics Data System (ADS)

    Zuiani, Federico; Vasile, Massimiliano

    2015-03-01

    This paper presents a set of analytical formulae for the perturbed Keplerian motion of a spacecraft under the effect of a constant control acceleration. The proposed set of formulae can treat control accelerations that are fixed in either a rotating or inertial reference frame. Moreover, the contribution of the zonal harmonic is included in the analytical formulae. It will be shown that the proposed analytical theory allows for the fast computation of long, multi-revolution spirals while maintaining good accuracy. The combined effect of different perturbations and of the shadow regions due to solar eclipse is also included. Furthermore, a simplified control parameterisation is introduced to optimise thrusting patterns with two thrust arcs and two cost arcs per revolution. This simple parameterisation is shown to ensure enough flexibility to describe complex low thrust spirals. The accuracy and speed of the proposed analytical formulae are compared against a full numerical integration with different integration schemes. An averaging technique is then proposed as an application of the analytical formulae. Finally, the paper presents an example of design of an optimal low-thrust spiral to transfer a spacecraft from an elliptical to a circular orbit around the Earth.

  11. Integration of visual and motion cues for simulator requirements and ride quality investigation

    NASA Technical Reports Server (NTRS)

    Young, L. R.

    1976-01-01

    Practical tools which can extend the state of the art of moving base flight simulation for research and training are developed. Main approaches to this research effort include: (1) application of the vestibular model for perception of orientation based on motion cues: optimum simulator motion controls; and (2) visual cues in landing.

  12. Object motion perception is shaped by the motor control mechanism of ocular pursuit.

    PubMed

    Schweigart, G; Mergner, T; Barnes, G R

    2003-02-01

    It is still a matter of debate whether the control of smooth pursuit eye movements involves an internal drive signal from object motion perception. We measured human target velocity and target position perceptions and compared them with the presumed pursuit control mechanism (model simulations). We presented normal subjects (Ns) and vestibular loss patients (Ps) with visual target motion in space. Concurrently, a visual background was presented, which was kept stationary or was moved with or against the target (five combinations). The motion stimuli consisted of smoothed ramp displacements with different dominant frequencies and peak velocities (0.05, 0.2, 0.8 Hz; 0.2-25.6 degrees /s). Subjects always pursued the target with their eyes. In a first experiment they gave verbal magnitude estimates of perceived target velocity in space and of self-motion in space. The target velocity estimates of both Ns and Ps tended to saturate at 0.8 Hz and with peak velocities >3 degrees /s. Below these ranges the velocity estimates showed a pronounced modulation in relation to the relative target-to-background motion ('background effect'; for example, 'background with'-motion decreased and 'against'-motion increased perceived target velocity). Pronounced only in Ps and not in Ns, there was an additional modulation in relation to the relative head-to-background motion, which co-varied with an illusion of self-motion in space (circular vection, CV) in Ps. In a second experiment, subjects performed retrospective reproduction of perceived target start and end positions with the same stimuli. Perceived end position was essentially veridical in both Ns and Ps (apart from a small constant offset). Reproduced start position showed an almost negligible background effect in Ns. In contrast, it showed a pronounced modulation in Ps, which again was related to CV. The results were compared with simulations of a model that we have recently presented for velocity control of eye pursuit. We found

  13. Self-motion perception: assessment by real-time computer-generated animations

    NASA Technical Reports Server (NTRS)

    Parker, D. E.; Phillips, J. O.

    2001-01-01

    We report a new procedure for assessing complex self-motion perception. In three experiments, subjects manipulated a 6 degree-of-freedom magnetic-field tracker which controlled the motion of a virtual avatar so that its motion corresponded to the subjects' perceived self-motion. The real-time animation created by this procedure was stored using a virtual video recorder for subsequent analysis. Combined real and illusory self-motion and vestibulo-ocular reflex eye movements were evoked by cross-coupled angular accelerations produced by roll and pitch head movements during passive yaw rotation in a chair. Contrary to previous reports, illusory self-motion did not correspond to expectations based on semicircular canal stimulation. Illusory pitch head-motion directions were as predicted for only 37% of trials; whereas, slow-phase eye movements were in the predicted direction for 98% of the trials. The real-time computer-generated animations procedure permits use of naive, untrained subjects who lack a vocabulary for reporting motion perception and is applicable to basic self-motion perception studies, evaluation of motion simulators, assessment of balance disorders and so on.

  14. 17 CFR 12.205 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... reconsideration, vacation or modification of such action. (b) Answer to motions. Any party may serve and file a... 17 Commodity and Securities Exchanges 1 2010-04-01 2010-04-01 false Motions. 12.205 Section 12.205... Applicable to Summary Decisional Proceedings § 12.205 Motions. (a) In general. Motions for relief not...

  15. 17 CFR 171.10 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... ACTIONS General Provisions § 171.10 Motions. (a) In general. An application for a form of relief not... modification of the action. (d) Dilatory motions. Frivolous or repetitive motions dealing with the same subject... 17 Commodity and Securities Exchanges 1 2010-04-01 2010-04-01 false Motions. 171.10 Section 171.10...

  16. 17 CFR 12.205 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... reconsideration, vacation or modification of such action. (b) Answer to motions. Any party may serve and file a... 17 Commodity and Securities Exchanges 1 2011-04-01 2011-04-01 false Motions. 12.205 Section 12.205... Applicable to Summary Decisional Proceedings § 12.205 Motions. (a) In general. Motions for relief not...

  17. 17 CFR 171.10 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... ACTIONS General Provisions § 171.10 Motions. (a) In general. An application for a form of relief not... modification of the action. (d) Dilatory motions. Frivolous or repetitive motions dealing with the same subject... 17 Commodity and Securities Exchanges 1 2011-04-01 2011-04-01 false Motions. 171.10 Section 171.10...

  18. A Generalized-Compliant-Motion Primitive

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.

    1993-01-01

    Computer program bridges gap between planning and execution of compliant robotic motions developed and installed in control system of telerobot. Called "generalized-compliant-motion primitive," one of several task-execution-primitive computer programs, which receives commands from higher-level task-planning programs and executes commands by generating required trajectories and applying appropriate control laws. Program comprises four parts corresponding to nominal motion, compliant motion, ending motion, and monitoring. Written in C language.

  19. Using Unconstrained Tongue Motion as an Alternative Control Mechanism for Wheeled Mobility

    PubMed Central

    Huo, Xueliang; Ghovanloo, Maysam

    2015-01-01

    Tongue drive system (TDS) is a tongue-operated, minimally invasive, unobtrusive, noncontact, and wireless assistive technology that infers users’ intentions by detecting and classifying their voluntary tongue motions, and translating them to user-defined commands. We have developed customized interface circuitry between an external TDS (eTDS) prototype and a commercial powered wheelchair (PWC) as well as three control strategies to evaluate the tongue motion as an alternative control input for wheeled mobility. We tested the eTDS performance in driving PWCs on 12 able-bodied human subjects, of which 11 were novice. The results showed that all subjects could complete navigation tasks by operating the PWC using their tongue motions. Despite little prior experience, the average time using the eTDS and the tongue was only approximately three times longer than using a joystick and the fingers. Navigation time was strongly dependant on the number of issued commands, which reduced by gaining experience. Particularly, the unintended issued commands (the Midas touch problem) were rare, demonstrating the effectiveness of the tongue tracking and external magnetic field cancellation algorithms as well as the safety of the TDS for wheeled mobility. PMID:19362901

  20. Using unconstrained tongue motion as an alternative control mechanism for wheeled mobility.

    PubMed

    Huo, Xueliang; Ghovanloo, Maysam

    2009-06-01

    Tongue drive system (TDS) is a tongue-operated, minimally invasive, unobtrusive, noncontact, and wireless assistive technology that infers users' intentions by detecting and classifying their voluntary tongue motions, and translating them to user-defined commands. We have developed customized interface circuitry between an external TDS (eTDS) prototype and a commercial powered wheelchair (PWC) as well as three control strategies to evaluate the tongue motion as an alternative control input for wheeled mobility. We tested the eTDS performance in driving PWCs on 12 able-bodied human subjects, of which 11 were novice. The results showed that all subjects could complete navigation tasks by operating the PWC using their tongue motions. Despite little prior experience, the average time using the eTDS and the tongue was only approximately three times longer than using a joystick and the fingers. Navigation time was strongly dependant on the number of issued commands, which reduced by gaining experience. Particularly, the unintended issued commands (the Midas touch problem) were rare, demonstrating the effectiveness of the tongue tracking and external magnetic field cancellation algorithms as well as the safety of the TDS for wheeled mobility.

  1. Linearized motion estimation for articulated planes.

    PubMed

    Datta, Ankur; Sheikh, Yaser; Kanade, Takeo

    2011-04-01

    In this paper, we describe the explicit application of articulation constraints for estimating the motion of a system of articulated planes. We relate articulations to the relative homography between planes and show that these articulations translate into linearized equality constraints on a linear least-squares system, which can be solved efficiently using a Karush-Kuhn-Tucker system. The articulation constraints can be applied for both gradient-based and feature-based motion estimation algorithms and to illustrate this, we describe a gradient-based motion estimation algorithm for an affine camera and a feature-based motion estimation algorithm for a projective camera that explicitly enforces articulation constraints. We show that explicit application of articulation constraints leads to numerically stable estimates of motion. The simultaneous computation of motion estimates for all of the articulated planes in a scene allows us to handle scene areas where there is limited texture information and areas that leave the field of view. Our results demonstrate the wide applicability of the algorithm in a variety of challenging real-world cases such as human body tracking, motion estimation of rigid, piecewise planar scenes, and motion estimation of triangulated meshes.

  2. 45 CFR 79.28 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 45 Public Welfare 1 2010-10-01 2010-10-01 false Motions. 79.28 Section 79.28 Public Welfare DEPARTMENT OF HEALTH AND HUMAN SERVICES GENERAL ADMINISTRATION PROGRAM FRAUD CIVIL REMEDIES § 79.28 Motions. (a) Any application to the ALJ for an order or ruling shall be by motion. Motions shall state the...

  3. 6 CFR 13.28 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 6 Domestic Security 1 2010-01-01 2010-01-01 false Motions. 13.28 Section 13.28 Domestic Security DEPARTMENT OF HOMELAND SECURITY, OFFICE OF THE SECRETARY PROGRAM FRAUD CIVIL REMEDIES § 13.28 Motions. (a) Any application to the ALJ for an order or ruling will be by motion. Motions will state the relief...

  4. 28 CFR 71.28 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... REMEDIES ACT OF 1986 Implementation for Actions Initiated by the Department of Justice § 71.28 Motions. (a) Any application to the ALJ for an order or ruling shall be by motion. Motions shall state the relief... 28 Judicial Administration 2 2011-07-01 2011-07-01 false Motions. 71.28 Section 71.28 Judicial...

  5. 28 CFR 71.28 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... REMEDIES ACT OF 1986 Implementation for Actions Initiated by the Department of Justice § 71.28 Motions. (a) Any application to the ALJ for an order or ruling shall be by motion. Motions shall state the relief... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Motions. 71.28 Section 71.28 Judicial...

  6. Control-structure interaction/mirror motion compensation

    NASA Technical Reports Server (NTRS)

    Mclaren, Mark; Chu, Peter; Price, Xen

    1992-01-01

    Space Systems/Loral (formerly Ford Aerospace, Space Systems Division) has implemented a rigid-body Mirror Motion Compensation (MMC) scheme for the GOES-I/M spacecraft currently being built for NASA and NOAA. This has resulted in a factor of 15 reduction in pointing error due to rigid-body spacecraft motion induced by the periodic black-body calibration maneuvers required for the instruments. For GOES the spacecraft and the payload mirrors are considered as rigid bodies. The structural flexibility effects are small and are included in the total pointing budget as a separate item. This paper extends the MMC technique to include structural flexibility. For large multi-payload platforms, the structural flexibility effects can be more important in sensor pointing jitter as the result of payload motion. Sensitivity results are included to show the importance of the dynamic model fidelity.

  7. Autonomous vehicle motion control, approximate maps, and fuzzy logic

    NASA Technical Reports Server (NTRS)

    Ruspini, Enrique H.

    1993-01-01

    Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

  8. 78 FR 54641 - Lock 14 Hydro Partners; Notice of Application Accepted for Filing and Soliciting Motions to...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-09-05

    ... Partners; Notice of Application Accepted for Filing and Soliciting Motions to Intervene and Protests Take notice that the following hydroelectric application has been filed with the Commission and is available for public inspection. a. Type of Application: Major License (5 Megawatts or less) b. Project No...

  9. 78 FR 54642 - Lock 12 Hydro Partners; Notice of Application Accepted for Filing and Soliciting Motions to...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-09-05

    ... Partners; Notice of Application Accepted for Filing and Soliciting Motions to Intervene and Protests Take notice that the following hydroelectric application has been filed with the Commission and is available for public inspection. a. Type of Application: Major License (5 Megawatts or less). b. Project No...

  10. Motion-base simulator results of advanced supersonic transport handling qualities with active controls

    NASA Technical Reports Server (NTRS)

    Feather, J. B.; Joshi, D. S.

    1981-01-01

    Handling qualities of the unaugmented advanced supersonic transport (AST) are deficient in the low-speed, landing approach regime. Consequently, improvement in handling with active control augmentation systems has been achieved using implicit model-following techniques. Extensive fixed-based simulator evaluations were used to validate these systems prior to tests with full motion and visual capabilities on a six-axis motion-base simulator (MBS). These tests compared the handling qualities of the unaugmented AST with several augmented configurations to ascertain the effectiveness of these systems. Cooper-Harper ratings, tracking errors, and control activity data from the MBS tests have been analyzed statistically. The results show the fully augmented AST handling qualities have been improved to an acceptable level.

  11. Wideband Motion Control by Position and Acceleration Input Based Disturbance Observer

    NASA Astrophysics Data System (ADS)

    Irie, Kouhei; Katsura, Seiichiro; Ohishi, Kiyoshi

    The disturbance observer can observe and suppress the disturbance torque within its bandwidth. Recent motion systems begin to spread in the society and they are required to have ability to contact with unknown environment. Such a haptic motion requires much wider bandwidth. However, since the conventional disturbance observer attains the acceleration response by the second order derivative of position response, the bandwidth is limited due to the derivative noise. This paper proposes a novel structure of a disturbance observer. The proposed disturbance observer uses an acceleration sensor for enlargement of bandwidth. Generally, the bandwidth of an acceleration sensor is from 1Hz to more than 1kHz. To cover DC range, the conventional position sensor based disturbance observer is integrated. Thus, the performance of the proposed Position and Acceleration input based disturbance observer (PADO) is superior to the conventional one. The PADO is applied to position control (infinity stiffness) and force control (zero stiffness). The numerical and experimental results show viability of the proposed method.

  12. Manual control of yaw motion with combined visual and vestibular cues

    NASA Technical Reports Server (NTRS)

    Zacharias, G. L.; Young, L. R.

    1977-01-01

    Measurements are made of manual control performance in the closed-loop task of nulling perceived self-rotation velocity about an earth-vertical axis. Self-velocity estimation was modelled as a function of the simultaneous presentation of vestibular and peripheral visual field motion cues. Based on measured low-frequency operator behavior in three visual field environments, a parallel channel linear model is proposed which has separate visual and vestibular pathways summing in a complementary manner. A correction to the frequency responses is provided by a separate measurement of manual control performance in an analogous visual pursuit nulling task. The resulting dual-input describing function for motion perception dependence on combined cue presentation supports the complementary model, in which vestibular cues dominate sensation at frequencies above 0.05 Hz. The describing function model is extended by the proposal of a non-linear cue conflict model, in which cue weighting depends on the level of agreement between visual and vestibular cues.

  13. Adaptive neural network motion control for aircraft under uncertainty conditions

    NASA Astrophysics Data System (ADS)

    Efremov, A. V.; Tiaglik, M. S.; Tiumentsev, Yu V.

    2018-02-01

    We need to provide motion control of modern and advanced aircraft under diverse uncertainty conditions. This problem can be solved by using adaptive control laws. We carry out an analysis of the capabilities of these laws for such adaptive systems as MRAC (Model Reference Adaptive Control) and MPC (Model Predictive Control). In the case of a nonlinear control object, the most efficient solution to the adaptive control problem is the use of neural network technologies. These technologies are suitable for the development of both a control object model and a control law for the object. The approximate nature of the ANN model was taken into account by introducing additional compensating feedback into the control system. The capabilities of adaptive control laws under uncertainty in the source data are considered. We also conduct simulations to assess the contribution of adaptivity to the behavior of the system.

  14. Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

    NASA Technical Reports Server (NTRS)

    Book, Wayne J.

    1992-01-01

    The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

  15. Pitching motion control of a butterfly-like 3D flapping wing-body model

    NASA Astrophysics Data System (ADS)

    Suzuki, Kosuke; Minami, Keisuke; Inamuro, Takaji

    2014-11-01

    Free flights and a pitching motion control of a butterfly-like flapping wing-body model are numerically investigated by using an immersed boundary-lattice Boltzmann method. The model flaps downward for generating the lift force and backward for generating the thrust force. Although the model can go upward against the gravity by the generated lift force, the model generates the nose-up torque, consequently gets off-balance. In this study, we discuss a way to control the pitching motion by flexing the body of the wing-body model like an actual butterfly. The body of the model is composed of two straight rigid rod connected by a rotary actuator. It is found that the pitching angle is suppressed in the range of +/-5° by using the proportional-plus-integral-plus-derivative (PID) control for the input torque of the rotary actuator.

  16. Virtual remote center of motion control for needle placement robots.

    PubMed

    Boctor, Emad M; Webster, Robert J; Mathieu, Herve; Okamura, Allison M; Fichtinger, Gabor

    2004-01-01

    We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM). The algorithm requires only online tracking of the surgical tool and a five-degree-of-freedom (5-DOF) robot comprising three prismatic DOF and two rotational DOF. An incremental adaptive motion control cycle guides the needle to the insertion point and also orients it to align with the target-entry-point line. The robot executes RCM motion without having a physically constrained fulcrum point. The proof-of-concept prototype system achieved 0.78 mm translation accuracy and 1.4 degrees rotational accuracy (this is within the tracker accuracy) within 17 iterative steps (0.5-1 s). This research enables robotic assistant systems for image-guided percutaneous procedures to be prototyped/constructed more quickly and less expensively than has been previously possible. Since the clinical utility of such systems is clear and has been demonstrated in the literature, our work may help promote widespread clinical adoption of this technology by lowering system cost and complexity.

  17. MO-B-201-01: Overcoming the Challenges of Motion Management in Current Lung SBRT Practice

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

    Shang, C.

    The motion management in stereotactic body radiation therapy (SBRT) is a key to success for a SBRT program, and still an on-going challenging task. A major factor is that moving structures behave differently than standing structures when examined by imaging modalities, and thus require special considerations and employments. Understanding the motion effects to these different imaging processes is a prerequisite for a decent motion management program. The commonly used motion control techniques to physically restrict tumor motion, if adopted correctly, effectively increase the conformity and accuracy of hypofractionated treatment. The effective application of such requires one to understand the mechanicsmore » of the application and the related physiology especially related to respiration. The image-guided radiation beam control, or tumor tracking, further realized the endeavor for precision-targeting. During tumor tracking, the respiratory motion is often constantly monitored by non-ionizing beam sources using the body surface as its surrogate. This then has to synchronize with the actual internal tumor motion. The latter is often accomplished by stereo X-ray imaging or similar techniques. With these advanced technologies, one may drastically reduce the treated volume and increase the clinicians’ confidence for a high fractional ablative radiation dose. However, the challenges in implementing the motion management may not be trivial and is dependent on each clinic case. This session of presentations is intended to provide an overview of the current techniques used in managing the tumor motion in SBRT, specifically for routine lung SBRT, proton based treatments, and newly-developed MR guided RT. Learning Objectives: Through this presentation, the audience will understand basic roles of commonly used imaging modalities for lung cancer studies; familiarize the major advantages and limitations of each discussed motion control methods; familiarize the major

  18. The Digital Motion Control System for the Submillimeter Array Antennas

    NASA Astrophysics Data System (ADS)

    Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.; Patel, N. A.; Blundell, R.; Christensen, R. D.; Diven, A. R.; Maute, J.; Plante, R. J.; Riddle, P.; Young, K. H.

    2013-09-01

    We describe the design and performance of the digital servo and motion control system for the 6-meter parabolic antennas of the Submillimeter Array (SMA) on Mauna Kea, Hawaii. The system is divided into three nested layers operating at a different, appropriate bandwidth. (1) A rack-mounted, real-time Unix system runs the position loop which reads the high resolution azimuth and elevation encoders and sends velocity and acceleration commands at 100 Hz to a custom-designed servo control board (SCB). (2) The microcontroller-based SCB reads the motor axis tachometers and implements the velocity loop by sending torque commands to the motor amplifiers at 558 Hz. (3) The motor amplifiers implement the torque loop by monitoring and sending current to the three-phase brushless drive motors at 20 kHz. The velocity loop uses a traditional proportional-integral-derivative (PID) control algorithm, while the position loop uses only a proportional term and implements a command shaper based on the Gauss error function. Calibration factors and software filters are applied to the tachometer feedback prior to the application of the servo gains in the torque computations. All of these parameters are remotely adjustable in the software. The three layers of the control system monitor each other and are capable of shutting down the system safely if a failure or anomaly occurs. The Unix system continuously relays the antenna status to the central observatory computer via reflective memory. In each antenna, a Palm Vx hand controller displays the complete system status and allows full local control of the drives in an intuitive touchscreen user interface. The hand controller can also be connected outside the cabin, a major convenience during the frequent reconfigurations of the interferometer. Excellent tracking performance ( 0.3‧‧ rms) is achieved with this system. It has been in reliable operation on 8 antennas for over 10 years and has required minimal maintenance.

  19. Application of constrained k-means clustering in ground motion simulation validation

    NASA Astrophysics Data System (ADS)

    Khoshnevis, N.; Taborda, R.

    2017-12-01

    The validation of ground motion synthetics has received increased attention over the last few years due to the advances in physics-based deterministic and hybrid simulation methods. Unlike for low frequency simulations (f ≤ 0.5 Hz), for which it has become reasonable to expect a good match between synthetics and data, in the case of high-frequency simulations (f ≥ 1 Hz) it is not possible to match results on a wiggle-by-wiggle basis. This is mostly due to the various complexities and uncertainties involved in earthquake ground motion modeling. Therefore, in order to compare synthetics with data we turn to different time series metrics, which are used as a means to characterize how the synthetics match the data on qualitative and statistical sense. In general, these metrics provide GOF scores that measure the level of similarity in the time and frequency domains. It is common for these scores to be scaled from 0 to 10, with 10 representing a perfect match. Although using individual metrics for particular applications is considered more adequate, there is no consensus or a unified method to classify the comparison between a set of synthetic and recorded seismograms when the various metrics offer different scores. We study the relationship among these metrics through a constrained k-means clustering approach. We define 4 hypothetical stations with scores 3, 5, 7, and 9 for all metrics. We put these stations in the category of cannot-link constraints. We generate the dataset through the validation of the results from a deterministic (physics-based) ground motion simulation for a moderate magnitude earthquake in the greater Los Angeles basin using three velocity models. The maximum frequency of the simulation is 4 Hz. The dataset involves over 300 stations and 11 metrics, or features, as they are understood in the clustering process, where the metrics form a multi-dimensional space. We address the high-dimensional feature effects with a subspace-clustering analysis

  20. An Exoskeleton Robot for Human Forearm and Wrist Motion Assist

    NASA Astrophysics Data System (ADS)

    Ranathunga Arachchilage Ruwan Chandra Gopura; Kiguchi, Kazuo

    The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for different fundamental applications; a human-amplifier, haptic interface, rehabilitation device and assistive device sharing a portion of the external load with the operator. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper, we propose a three degree of freedom (3DOF) exoskeleton robot (W-EXOS) for the forearm pronation/ supination motion, wrist flexion/extension motion and ulnar/radial deviation. The paper describes the wrist anatomy toward the development of the exoskeleton robot, the hardware design of the exoskeleton robot and EMG-based control method. The skin surface electromyographic (EMG) signals of muscles in forearm of the exoskeletons' user and the hand force/forearm torque are used as input information for the controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipulating any other equipment. Fuzzy control method has been applied to realize the natural and flexible motion assist. Experiments have been performed to evaluate the proposed exoskeleton robot and its control method.

  1. Mechanisms for Rapid Adaptive Control of Motion Processing in Macaque Visual Cortex.

    PubMed

    McLelland, Douglas; Baker, Pamela M; Ahmed, Bashir; Kohn, Adam; Bair, Wyeth

    2015-07-15

    A key feature of neural networks is their ability to rapidly adjust their function, including signal gain and temporal dynamics, in response to changes in sensory inputs. These adjustments are thought to be important for optimizing the sensitivity of the system, yet their mechanisms remain poorly understood. We studied adaptive changes in temporal integration in direction-selective cells in macaque primary visual cortex, where specific hypotheses have been proposed to account for rapid adaptation. By independently stimulating direction-specific channels, we found that the control of temporal integration of motion at one direction was independent of motion signals driven at the orthogonal direction. We also found that individual neurons can simultaneously support two different profiles of temporal integration for motion in orthogonal directions. These findings rule out a broad range of adaptive mechanisms as being key to the control of temporal integration, including untuned normalization and nonlinearities of spike generation and somatic adaptation in the recorded direction-selective cells. Such mechanisms are too broadly tuned, or occur too far downstream, to explain the channel-specific and multiplexed temporal integration that we observe in single neurons. Instead, we are compelled to conclude that parallel processing pathways are involved, and we demonstrate one such circuit using a computer model. This solution allows processing in different direction/orientation channels to be separately optimized and is sensible given that, under typical motion conditions (e.g., translation or looming), speed on the retina is a function of the orientation of image components. Many neurons in visual cortex are understood in terms of their spatial and temporal receptive fields. It is now known that the spatiotemporal integration underlying visual responses is not fixed but depends on the visual input. For example, neurons that respond selectively to motion direction integrate

  2. The research of the coupled orbital-attitude controlled motion of celestial body in the neighborhood of the collinear libration point L1

    NASA Astrophysics Data System (ADS)

    Shmyrov, A.; Shmyrov, V.; Shymanchuk, D.

    2017-10-01

    This article considers the motion of a celestial body within the restricted three-body problem of the Sun-Earth system. The equations of controlled coupled attitude-orbit motion in the neighborhood of collinear libration point L1 are investigated. The translational orbital motion of a celestial body is described using Hill's equations of circular restricted three-body problem of the Sun-Earth system. Rotational orbital motion is described using Euler's dynamic equations and quaternion kinematic equation. We investigate the problem of stability of celestial body rotational orbital motion in relative equilibrium positions and stabilization of celestial body rotational orbital motion with proposed control laws in the neighborhood of collinear libration point L1. To study stabilization problem, Lyapunov function is constructed in the form of the sum of the kinetic energy and special "kinematic function" of the Rodriguez-Hamiltonian parameters. Numerical modeling of the controlled rotational motion of a celestial body at libration point L1 is carried out. The numerical characteristics of the control parameters and rotational motion are given.

  3. 75 FR 10230 - Inglis Hydropower, LLC; Notice of Application Accepted for Filing and Soliciting Motions To...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-03-05

    ... Hydropower, LLC; Notice of Application Accepted for Filing and Soliciting Motions To Intervene and Protests... No.: P-12783-003. c. Date filed: July 22, 2009. d. Applicant: Inglis Hydropower, LLC. e. Name of Project: Inglis Hydropower Project. f. Location: The proposed project would be located at the existing...

  4. 77 FR 101 - Rumford Falls Hydro, LLC; Notice of Application Accepted for Filing, Soliciting Comments, Motions...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-01-03

    ... DEPARTMENT OF ENERGY Federal Energy Regulatory Commission [Project No. 2333-078] Rumford Falls Hydro, LLC; Notice of Application Accepted for Filing, Soliciting Comments, Motions To Intervene, and Protests Take notice that the following hydroelectric application has been filed with the Commission and is available for public inspection: a. Types...

  5. Tethered body problems and relative motion orbit determination

    NASA Technical Reports Server (NTRS)

    Eades, J. B., Jr.; Wolf, H.

    1972-01-01

    Selected problems dealing with orbiting tethered body systems have been studied. In addition, a relative motion orbit determination program was developed. Results from these tasks are described and discussed. The expected tethered body motions were examined, analytically, to ascertain what influence would be played by the physical parameters of the tether, the gravity gradient and orbit eccentricity. After separating the motion modes these influences were determined; and, subsequently, the effects of oscillations and/or rotations, on tether force, were described. A study was undertaken, by examining tether motions, to see what type of control actions would be needed to accurately place a mass particle at a prescribed position relative to a main vehicle. Other applications for tethers were studied. Principally these were concerned with the producing of low-level gee forces by means of stabilized tether configurations; and, the initiation of free transfer trajectories from tether supported vehicle relative positions.

  6. Suboptimal LQR-based spacecraft full motion control: Theory and experimentation

    NASA Astrophysics Data System (ADS)

    Guarnaccia, Leone; Bevilacqua, Riccardo; Pastorelli, Stefano P.

    2016-05-01

    This work introduces a real time suboptimal control algorithm for six-degree-of-freedom spacecraft maneuvering based on a State-Dependent-Algebraic-Riccati-Equation (SDARE) approach and real-time linearization of the equations of motion. The control strategy is sub-optimal since the gains of the linear quadratic regulator (LQR) are re-computed at each sample time. The cost function of the proposed controller has been compared with the one obtained via a general purpose optimal control software, showing, on average, an increase in control effort of approximately 15%, compensated by real-time implementability. Lastly, the paper presents experimental tests on a hardware-in-the-loop six-degree-of-freedom spacecraft simulator, designed for testing new guidance, navigation, and control algorithms for nano-satellites in a one-g laboratory environment. The tests show the real-time feasibility of the proposed approach.

  7. A biological micro actuator: graded and closed-loop control of insect leg motion by electrical stimulation of muscles.

    PubMed

    Cao, Feng; Zhang, Chao; Vo Doan, Tat Thang; Li, Yao; Sangi, Daniyal Haider; Koh, Jie Sheng; Huynh, Ngoc Anh; Bin Aziz, Mohamed Fareez; Choo, Hao Yu; Ikeda, Kazuo; Abbeel, Pieter; Maharbiz, Michel M; Sato, Hirotaka

    2014-01-01

    In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle) and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect-machine hybrid legged robot).

  8. Quality Control of Structural MRI Images Applied Using FreeSurfer—A Hands-On Workflow to Rate Motion Artifacts

    PubMed Central

    Backhausen, Lea L.; Herting, Megan M.; Buse, Judith; Roessner, Veit; Smolka, Michael N.; Vetter, Nora C.

    2016-01-01

    In structural magnetic resonance imaging motion artifacts are common, especially when not scanning healthy young adults. It has been shown that motion affects the analysis with automated image-processing techniques (e.g., FreeSurfer). This can bias results. Several developmental and adult studies have found reduced volume and thickness of gray matter due to motion artifacts. Thus, quality control is necessary in order to ensure an acceptable level of quality and to define exclusion criteria of images (i.e., determine participants with most severe artifacts). However, information about the quality control workflow and image exclusion procedure is largely lacking in the current literature and the existing rating systems differ. Here, we propose a stringent workflow of quality control steps during and after acquisition of T1-weighted images, which enables researchers dealing with populations that are typically affected by motion artifacts to enhance data quality and maximize sample sizes. As an underlying aim we established a thorough quality control rating system for T1-weighted images and applied it to the analysis of developmental clinical data using the automated processing pipeline FreeSurfer. This hands-on workflow and quality control rating system will aid researchers in minimizing motion artifacts in the final data set, and therefore enhance the quality of structural magnetic resonance imaging studies. PMID:27999528

  9. Real-Time Classification of Hand Motions Using Ultrasound Imaging of Forearm Muscles.

    PubMed

    Akhlaghi, Nima; Baker, Clayton A; Lahlou, Mohamed; Zafar, Hozaifah; Murthy, Karthik G; Rangwala, Huzefa S; Kosecka, Jana; Joiner, Wilsaan M; Pancrazio, Joseph J; Sikdar, Siddhartha

    2016-08-01

    Surface electromyography (sEMG) has been the predominant method for sensing electrical activity for a number of applications involving muscle-computer interfaces, including myoelectric control of prostheses and rehabilitation robots. Ultrasound imaging for sensing mechanical deformation of functional muscle compartments can overcome several limitations of sEMG, including the inability to differentiate between deep contiguous muscle compartments, low signal-to-noise ratio, and lack of a robust graded signal. The objective of this study was to evaluate the feasibility of real-time graded control using a computationally efficient method to differentiate between complex hand motions based on ultrasound imaging of forearm muscles. Dynamic ultrasound images of the forearm muscles were obtained from six able-bodied volunteers and analyzed to map muscle activity based on the deformation of the contracting muscles during different hand motions. Each participant performed 15 different hand motions, including digit flexion, different grips (i.e., power grasp and pinch grip), and grips in combination with wrist pronation. During the training phase, we generated a database of activity patterns corresponding to different hand motions for each participant. During the testing phase, novel activity patterns were classified using a nearest neighbor classification algorithm based on that database. The average classification accuracy was 91%. Real-time image-based control of a virtual hand showed an average classification accuracy of 92%. Our results demonstrate the feasibility of using ultrasound imaging as a robust muscle-computer interface. Potential clinical applications include control of multiarticulated prosthetic hands, stroke rehabilitation, and fundamental investigations of motor control and biomechanics.

  10. New Worlds Observer Formation Control Design Based on the Dynamics of Relative Motion

    NASA Technical Reports Server (NTRS)

    Luquette, Richard J.

    2008-01-01

    The New Worlds Observer (NWO) mission is designed for the direct detection and characterization of extrasolar planets. The NWO mission concept employs a two spacecraft leader-follower formation on a trajectory around the Earth/Moon-Sun L(sub 2) Libration Point. The leader spacecraft is baselined as a 4 meter optical telescope. The follower, Starshade spacecraft, is designed to suppress light from a central body star permitting direct detection of a surrounding exoplanetary system. The current design requires a nominal leader-follower separation range of 72 Megameters. NWO poses many challenges including formation control. NWO cycles between three principal control modes during the nominal mission timeline: science (fine pointing), realignment and transition. This paper examines formation control strategies in the context of dynamics of relative motion for two spacecraft operating in the vicinity of the Earth/Moon-Sun L(sub 2)libration point. The paper presents an overview of the equations of relative motion followed by a discussion of each of the control modes. Discussion and analysis characterize control strategies for each of the mission control modes, including requirements, implementation challenges and project fuel budgets.

  11. Demonstration of motion control of ZrO2 microparticles in uniform/non-uniform electric field

    NASA Astrophysics Data System (ADS)

    Onishi, Genki; Trung, Ngo Nguyen Chi; Matsutani, Naoto; Nakayama, Tadachika; Suzuki, Tsuneo; Suematsu, Hisayuki; Niihara, Koichi

    2018-02-01

    This study aims to elucidate the mechanism that drives dielectric microparticles under an electric field. The driving of microstructures is affected by various electrical phenomena occurring at the same time such as surface potential, polarization, and electrostatic force. It makes the clarification of the driving mechanism challenging. A simple experimental system was used to observe the behavior of spherical ZrO2 microparticles in a nonaqueous solution under an electric field. The results suggest that the mechanism that drives the ZrO2 microparticles under an electric field involved the combination of an electric image force, a gradient force, and the contact charging phenomenon. A method is proposed to control the motion of micro- and nanostructures in further study and applications.

  12. 78 FR 75553 - Cedar Rapids Water Board; Notice of Application Accepted for Filing, Soliciting Comments, Motions...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-12-12

    ... DEPARTMENT OF ENERGY Federal Energy Regulatory Commission [Project No. 4344-011] Cedar Rapids Water Board; Notice of Application Accepted for Filing, Soliciting Comments, Motions To Intervene, and Protests Take notice that the following hydroelectric application has been filed with the Commission and is available for public inspection: a. Type o...

  13. Utility of the iPhone 4 Gyroscope Application in the Measurement of Wrist Motion.

    PubMed

    Lendner, Nuphar; Wells, Erik; Lavi, Idit; Kwok, Yan Yan; Ho, Pak-Cheong; Wollstein, Ronit

    2017-09-01

    Measurement of wrist range of motion (ROM) is important to all aspects of treatment and rehabilitation of upper extremity conditions. Recently, gyroscopes have been used to measure ROM and may be more precise than manual evaluations. The purpose of this study was to evaluate the use of the iPhone gyroscope application and compare it with use of a goniometer, specifically evaluating its accuracy and ease of use. A cross-sectional study evaluated adult Caucasian participants, with no evidence of wrist pathology. Wrist ROM measurements in 306 wrists using the 2 methods were compared. Demographic information was collected including age, sex, and occupation. Analysis included mixed models and Bland-Altman plots. Wrist motion was similar between the 2 methods. Technical difficulties were encountered with gyroscope use. Age was an independent predictor of ROM. Correct measurement of ROM is critical to guide, compare, and evaluate treatment and rehabilitation of the upper extremity. Inaccurate measurements could mislead the surgeon and harm patient adherence with therapy or surgeon instruction. An application used by the patient could improve adherence but needs to be reliable and easy to use. Evaluation is necessary before utilization of such an application. This study supports revision of the application on the iPhone to improve ease of use.

  14. Correction of Motion Artifacts From Shuttle Mode Computed Tomography Acquisitions for Body Perfusion Imaging Applications.

    PubMed

    Ghosh, Payel; Chandler, Adam G; Altinmakas, Emre; Rong, John; Ng, Chaan S

    2016-01-01

    The aim of this study was to investigate the feasibility of shuttle-mode computed tomography (CT) technology for body perfusion applications by quantitatively assessing and correcting motion artifacts. Noncontrast shuttle-mode CT scans (10 phases, 2 nonoverlapping bed locations) were acquired from 4 patients on a GE 750HD CT scanner. Shuttling effects were quantified using Euclidean distances (between-phase and between-bed locations) of corresponding fiducial points on the shuttle and reference phase scans (prior to shuttle mode). Motion correction with nonrigid registration was evaluated using sum-of-squares differences and distances between centers of segmented volumes of interest on shuttle and references images. Fiducial point analysis showed an average shuttling motion of 0.85 ± 1.05 mm (between-bed) and 1.18 ± 1.46 mm (between-phase), respectively. The volume-of-interest analysis of the nonrigid registration results showed improved sum-of-squares differences from 2950 to 597, between-bed distance from 1.64 to 1.20 mm, and between-phase distance from 2.64 to 1.33 mm, respectively, averaged over all cases. Shuttling effects introduced during shuttle-mode CT acquisitions can be computationally corrected for body perfusion applications.

  15. Bounded parametric control of plane motions of space tethered system

    NASA Astrophysics Data System (ADS)

    Bezglasnyi, S. P.; Mukhametzyanova, A. A.

    2018-05-01

    This paper is focused on the problem of control of plane motions of a space tethered system (STS). The STS is modeled as a heavy rod with two point masses. Point masses are fixed on the rod. A third point mass can move along the rod. The control is realized as a continuous change of the distance from the centre of mass of the tethered system to the movable mass. New limited control laws processes of excitation and damping are built. Diametric reorientation and gravitational stabilization to the local vertical of an STS were obtained. The problem is solved by the method of Lyapunov's functions of the classical theory of stability. The theoretical results are confirmed by numerical calculations.

  16. Feasibility of intra-acquisition motion correction for 4D DSA reconstruction for applications in the thorax and abdomen

    NASA Astrophysics Data System (ADS)

    Wagner, Martin; Laeseke, Paul; Harari, Colin; Schafer, Sebastian; Speidel, Michael; Mistretta, Charles

    2018-03-01

    The recently proposed 4D DSA technique enables reconstruction of time resolved 3D volumes from two C-arm CT acquisitions. This provides information on the blood flow in neurovascular applications and can be used for the diagnosis and treatment of vascular diseases. For applications in the thorax and abdomen, respiratory motion can prevent successful 4D DSA reconstruction and cause severe artifacts. The purpose of this work is to propose a novel technique for motion compensated 4D DSA reconstruction to enable applications in the thorax and abdomen. The approach uses deformable 2D registration to align the projection images of a non-contrast and a contrast enhanced scan. A subset of projection images is then selected, which are acquired in a similar respiratory state and an iterative simultaneous multiplicative algebraic reconstruction is applied to determine a 3D constraint volume. A 2D-3D registration step then aligns the remaining projection images with the 3D constraint volume. Finally, a constrained back-projection is performed to create a 3D volume for each projection image. A pig study has been performed, where 4D DSA acquisitions were performed with and without respiratory motion to evaluate the feasibility of the approach. The dice similarity coefficient between the reference 3D constraint volume and the motion compensated reconstruction was 51.12 % compared to 35.99 % without motion compensation. This technique could improve the workflow for procedures in interventional radiology, e.g. liver embolizations, where changes in blood flow have to be monitored carefully.

  17. Integration Method of Emphatic Motions and Adverbial Expressions with Scalar Parameters for Robotic Motion Coaching System

    NASA Astrophysics Data System (ADS)

    Okuno, Keisuke; Inamura, Tetsunari

    A robotic coaching system can improve humans' learning performance of motions by intelligent usage of emphatic motions and adverbial expressions according to user reactions. In robotics, however, method to control both the motions and the expressions and how to bind them had not been adequately discussed from an engineering point of view. In this paper, we propose a method for controlling and binding emphatic motions and adverbial expressions by using two scalar parameters in a phase space. In the phase space, variety of motion patterns and verbal expressions are connected and can be expressed as static points. We show the feasibility of the proposing method through experiments of actual sport coaching tasks for beginners. From the results of participants' improvements in motion learning, we confirmed the feasibility of the methods to control and bind emphatic motions and adverbial expressions, as well as confirmed contribution of the emphatic motions and positive correlation of adverbial expressions for participants' improvements in motion learning. Based on the results, we introduce a hypothesis that individually optimized method for binding adverbial expression is required.

  18. Design and Evaluation of an Integrated Online Motion Control Training Package

    ERIC Educational Resources Information Center

    Buiu, C.

    2009-01-01

    The aim of this paper is to present an integrated Internet-based package for teaching the fundamentals of motion control by using a wide range of resources: theory, videos, simulators, games, quizzes, and a remote lab. The package is aimed at automation technicians, pupils at vocational schools and students taking an introductory course in…

  19. Vestibular Stimulation for ADHD: Randomized Controlled Trial of Comprehensive Motion Apparatus

    ERIC Educational Resources Information Center

    Clark, David L.; Arnold, L. Eugene; Crowl, Lindsay; Bozzolo, Hernan; Peruggia, Mario; Ramadan, Yaser; Bornstein, Robert; Hollway, Jill A.; Thompson, Susan; Malone, Krista; Hall, Kristy L.; Shelton, Sara B.; Bozzolo, Dawn R.; Cook, Amy

    2008-01-01

    Objective: This research evaluates effects of vestibular stimulation by Comprehensive Motion Apparatus (CMA) in ADHD. Method: Children ages 6 to 12 (48 boys, 5 girls) with ADHD were randomized to thrice-weekly 30-min treatments for 12 weeks with CMA, stimulating otoliths and semicircular canals, or a single-blind control of equal duration and…

  20. Motion sickness, console video games, and head-mounted displays.

    PubMed

    Merhi, Omar; Faugloire, Elise; Flanagan, Moira; Stoffregen, Thomas A

    2007-10-01

    We evaluated the nauseogenic properties of commercial console video games (i.e., games that are sold to the public) when presented through a head-mounted display. Anecdotal reports suggest that motion sickness may occur among players of contemporary commercial console video games. Participants played standard console video games using an Xbox game system. We varied the participants' posture (standing vs. sitting) and the game (two Xbox games). Participants played for up to 50 min and were asked to discontinue if they experienced any symptoms of motion sickness. Sickness occurred in all conditions, but it was more common during standing. During seated play there were significant differences in head motion between sick and well participants before the onset of motion sickness. The results indicate that commercial console video game systems can induce motion sickness when presented via a head-mounted display and support the hypothesis that motion sickness is preceded by instability in the control of seated posture. Potential applications of this research include changes in the design of console video games and recommendations for how such systems should be used.

  1. pH-induced motion control of self-propelled oil droplets using a hydrolyzable gemini cationic surfactant.

    PubMed

    Miura, Shingo; Banno, Taisuke; Tonooka, Taishi; Osaki, Toshihisa; Takeuchi, Shoji; Toyota, Taro

    2014-07-15

    Self-propelled motion of micrometer-sized substances has drawn much attention as an autonomous transportation system. One candidate vehicle is a chemically driven micrometer-sized oil droplet. However, to the best of our knowledge, there has been no report of a chemical reaction system controlling the three-dimensional motion of oil droplets underwater. In this study, we developed a molecular system that controlled the self-propelled motion of 4-heptyloxybenzaldehyde oil droplets by using novel gemini cationic surfactants containing carbonate linkages (2G12C). We found that, in emulsions containing sodium hydroxide, the motion time of the self-propelled oil droplets was longer in the presence of 2G12C than in the presence of gemini cationic surfactants without carbonate linkages. Moreover, in 2G12C solution, oil droplets at rest underwent unidirectional, self-propelled motion in a gradient field toward a higher concentration of sodium hydroxide. Even though they stopped within several seconds, they restarted in the same direction. 2G12C was gradually hydrolyzed under basic conditions to produce a pair of the corresponding monomeric surfactants, which exhibit different interfacial properties from 2G12C. The prolonged and restart motion of the oil droplets were explained by the increase in the heterogeneity of the interfacial tension of the oil droplets.

  2. 43 CFR 4.1112 - Motions.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... Special Rules Applicable to Surface Coal Mining Hearings and Appeals General Provisions § 4.1112 Motions. (a) Except for oral motions made in proceedings on the record, or where the administrative law judge... 43 Public Lands: Interior 1 2013-10-01 2013-10-01 false Motions. 4.1112 Section 4.1112 Public...

  3. 43 CFR 4.1112 - Motions.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... Special Rules Applicable to Surface Coal Mining Hearings and Appeals General Provisions § 4.1112 Motions. (a) Except for oral motions made in proceedings on the record, or where the administrative law judge... 43 Public Lands: Interior 1 2014-10-01 2014-10-01 false Motions. 4.1112 Section 4.1112 Public...

  4. 43 CFR 4.1112 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... Special Rules Applicable to Surface Coal Mining Hearings and Appeals General Provisions § 4.1112 Motions. (a) Except for oral motions made in proceedings on the record, or where the administrative law judge... 43 Public Lands: Interior 1 2010-10-01 2010-10-01 false Motions. 4.1112 Section 4.1112 Public...

  5. 43 CFR 4.1112 - Motions.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... Applicable to Surface Coal Mining Hearings and Appeals General Provisions § 4.1112 Motions. (a) Except for oral motions made in proceedings on the record, or where the administrative law judge otherwise directs... 43 Public Lands: Interior 1 2012-10-01 2011-10-01 true Motions. 4.1112 Section 4.1112 Public Lands...

  6. 43 CFR 4.1112 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... Special Rules Applicable to Surface Coal Mining Hearings and Appeals General Provisions § 4.1112 Motions. (a) Except for oral motions made in proceedings on the record, or where the administrative law judge... 43 Public Lands: Interior 1 2011-10-01 2011-10-01 false Motions. 4.1112 Section 4.1112 Public...

  7. 14 CFR 302.11 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Motions. 302.11 Section 302.11 Aeronautics... REGULATIONS RULES OF PRACTICE IN PROCEEDINGS Rules of General Applicability § 302.11 Motions. (a) Generally... otherwise specifically provided for in this part shall be by motion. If an administrative law judge is...

  8. 14 CFR 302.11 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 4 2011-01-01 2011-01-01 false Motions. 302.11 Section 302.11 Aeronautics... REGULATIONS RULES OF PRACTICE IN PROCEEDINGS Rules of General Applicability § 302.11 Motions. (a) Generally... otherwise specifically provided for in this part shall be by motion. If an administrative law judge is...

  9. An EMG Interface for the Control of Motion and Compliance of a Supernumerary Robotic Finger

    PubMed Central

    Hussain, Irfan; Spagnoletti, Giovanni; Salvietti, Gionata; Prattichizzo, Domenico

    2016-01-01

    In this paper, we propose a novel electromyographic (EMG) control interface to control motion and joints compliance of a supernumerary robotic finger. The supernumerary robotic fingers are a recently introduced class of wearable robotics that provides users additional robotic limbs in order to compensate or augment the existing abilities of natural limbs without substituting them. Since supernumerary robotic fingers are supposed to closely interact and perform actions in synergy with the human limbs, the control principles of extra finger should have similar behavior as human’s ones including the ability of regulating the compliance. So that, it is important to propose a control interface and to consider the actuators and sensing capabilities of the robotic extra finger compatible to implement stiffness regulation control techniques. We propose EMG interface and a control approach to regulate the compliance of the device through servo actuators. In particular, we use a commercial EMG armband for gesture recognition to be associated with the motion control of the robotic device and surface one channel EMG electrodes interface to regulate the compliance of the robotic device. We also present an updated version of a robotic extra finger where the adduction/abduction motion is realized through ball bearing and spur gears mechanism. We have validated the proposed interface with two sets of experiments related to compensation and augmentation. In the first set of experiments, different bimanual tasks have been performed with the help of the robotic device and simulating a paretic hand since this novel wearable system can be used to compensate the missing grasping abilities in chronic stroke patients. In the second set, the robotic extra finger is used to enlarge the workspace and manipulation capability of healthy hands. In both sets, the same EMG control interface has been used. The obtained results demonstrate that the proposed control interface is intuitive and can

  10. Dynamics and motion control of a chain of particles on a rough surface

    NASA Astrophysics Data System (ADS)

    Behn, C.; Schale, F.; Zeidis, I.; Zimmermann, K.; Bolotnik, N.

    2017-05-01

    In this paper the mechanics and control of the motion of a straight chain of three particles interconnected with kinematical constraints are investigated. The ground contact is described by dry (discontinuous) or viscous (continuous) friction. Here, we understand this model as a methodological basis for the design of worm-like locomotion systems, i.e., non-pedal mobile robots. This kind of robots will prove an efficient form of locomotion in application to inspection of pipes or for rescue missions. In this paper, a number of issues related to the dynamics and control of artificial limbless locomotion systems are discussed. Simplest models of a limbless locomotor are two-body or three-body systems that move along a horizontal straight line. In the first part of the paper, the controls are assumed in the form of periodic functions with zero average, shifted on a phase one concerning each other. Thus, there is a traveling wave along the chain of particles. In the second part, actuator models are discussed. It is supposed that there are unknown actuator data or the worm system parameter are not known or exactly as well. The focus is on adaptive control algorithms for the worm-like locomotion systems in order to track given reference trajectories, like kinematic gaits. Finally, a prototype together with its signal processing and control software is presented. Theoretically (analytically and numerically) calculated results of the dynamical behavior of the mobile system are compared to experimental data.

  11. Altered sensory-motor control of the head as an etiological factor in space-motion sickness

    NASA Technical Reports Server (NTRS)

    Lackner, J. R.; DiZio, P.

    1989-01-01

    Mechanical unloading during head movements in weightlessness may be an etiological factor in space-motion sickness. We simulated altered head loading on Earth without affecting vestibular stimulation by having subjects wear a weighted helmet. Eight subjects were exposed to constant velocity rotation about a vertical axis with direction reversals every 60 sec. for eight reversals with the head loaded and eight with the head unloaded. The severity of motion sickness elicited was significantly higher when the head was loaded. This suggests that altered sensory-motor control of the head is also an etiological factor in space-motion sickness.

  12. Determination of the implementation of the 3-axis attitude motion simulator digital position controller

    NASA Technical Reports Server (NTRS)

    Magana, Mario E.

    1989-01-01

    The digital position controller implemented in the control computer of the 3-axis attitude motion simulator is mathematically reconstructed and documented, since the information supplied with the executable code of this controller was insufficient to make substantial modifications to it. Also developed were methodologies to introduce changes in the controller which do not require rewriting the software. Finally, recommendations are made on possible improvement to the control system performance.

  13. Folded Elastic Strip-Based Triboelectric Nanogenerator for Harvesting Human Motion Energy for Multiple Applications.

    PubMed

    Kang, Yue; Wang, Bo; Dai, Shuge; Liu, Guanlin; Pu, Yanping; Hu, Chenguo

    2015-09-16

    A folded elastic strip-based triboelectric nanogenerator (FS-TENG) made from two folded double-layer elastic strips of Al/PET and PTFE/PET can achieve multiple functions by low frequency mechanical motion. A single FS-TENG with strip width of 3 cm and length of 27 cm can generate a maximum output current, open-circuit voltage, and peak power of 55 μA, 840 V, and 7.33 mW at deformation frequency of 4 Hz with amplitude of 2.5 cm, respectively. This FS-TENG can work as a weight sensor due to its good elasticity. An integrated generator assembled by four FS-TENGs (IFS-TENG) can harvest the energy of human motion like flapping hands and walking steps. In addition, the IFS-TENG combined with electromagnetically induced electricity can achieve a completely self-driven doorbell with flashing lights. Moreover, a box-like generator integrated by four IFS-TENGs inside can work in horizontal or random motion modes and can be improved to harvest energy in all directions. This work promotes the research of completely self-driven systems and energy harvesting of human motion for applications in our daily life.

  14. Motion of polymer cholesteric liquid crystal flakes in an electric field

    NASA Astrophysics Data System (ADS)

    Kosc, Tanya Zoriana

    Polymer cholesteric liquid crystal (PCLC) flakes suspended in a host fluid can be manipulated with an electric field. Controlling a flake's orientation provides the opportunity to change and control the amount of selective reflection from the flake surface. Flake motion results from charge accumulation and an induced dipole moment established due to Maxwell-Wagner polarization. The type of flake behavior, whether random motion or uniform reorientation, depends upon the dielectric properties of the host fluid, which in turn dictate whether a DC or an AC electric field must be applied. PCLC flakes suspended in highly dielectric silicone oil host fluids tend to move randomly in the presence of a DC electric field, and no motion is seen in AC fields. Flakes suspended in a moderately conductive host fluid reorient 90° in the presence of an AC field within a specific frequency range. The flake shape and size are also important parameters that need to be controlled in order to produce uniform motion. Several methods for patterning flakes were investigated and identical square flakes were produced. Square PCLC flakes (80 mum sides) suspended in propylene carbonate reorient in 400 ms when a 40mVrms/mum field at 70 Hz is applied to the test device. Theoretical modeling supported experimental observations well, particularly in identifying the inverse quadratic dependence on the applied electric field and the electric field frequency dependence that is governed by the host fluid conductivity. Future goals and suggested experiments are provided, as well as an explanation and comparison of possible commercial applications for PCLC flakes. This research has resulted in one patent application and a series of invention disclosures that could place this research group and any industrial collaborators in a strong position to pursue commercial applications, particularly in the area of displays, and more specifically, electronic paper.

  15. Real-time motion-based H.263+ frame rate control

    NASA Astrophysics Data System (ADS)

    Song, Hwangjun; Kim, JongWon; Kuo, C.-C. Jay

    1998-12-01

    Most existing H.263+ rate control algorithms, e.g. the one adopted in the test model of the near-term (TMN8), focus on the macroblock layer rate control and low latency under the assumptions of with a constant frame rate and through a constant bit rate (CBR) channel. These algorithms do not accommodate the transmission bandwidth fluctuation efficiently, and the resulting video quality can be degraded. In this work, we propose a new H.263+ rate control scheme which supports the variable bit rate (VBR) channel through the adjustment of the encoding frame rate and quantization parameter. A fast algorithm for the encoding frame rate control based on the inherent motion information within a sliding window in the underlying video is developed to efficiently pursue a good tradeoff between spatial and temporal quality. The proposed rate control algorithm also takes the time-varying bandwidth characteristic of the Internet into account and is able to accommodate the change accordingly. Experimental results are provided to demonstrate the superior performance of the proposed scheme.

  16. Marker optimization for facial motion acquisition and deformation.

    PubMed

    Le, Binh H; Zhu, Mingyang; Deng, Zhigang

    2013-11-01

    A long-standing problem in marker-based facial motion capture is what are the optimal facial mocap marker layouts. Despite its wide range of potential applications, this problem has not yet been systematically explored to date. This paper describes an approach to compute optimized marker layouts for facial motion acquisition as optimization of characteristic control points from a set of high-resolution, ground-truth facial mesh sequences. Specifically, the thin-shell linear deformation model is imposed onto the example pose reconstruction process via optional hard constraints such as symmetry and multiresolution constraints. Through our experiments and comparisons, we validate the effectiveness, robustness, and accuracy of our approach. Besides guiding minimal yet effective placement of facial mocap markers, we also describe and demonstrate its two selected applications: marker-based facial mesh skinning and multiresolution facial performance capture.

  17. 14 CFR 16.19 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... by the agency, the filing of a motion will not stay the date that any action is permitted or required... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Motions. 16.19 Section 16.19 Aeronautics..., Proceedings Initiated by the FAA, and Appeals § 16.19 Motions. (a) General. An application for an order or...

  18. 14 CFR 16.19 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... by the agency, the filing of a motion will not stay the date that any action is permitted or required... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Motions. 16.19 Section 16.19 Aeronautics..., Proceedings Initiated by the FAA, and Appeals § 16.19 Motions. (a) General. An application for an order or...

  19. 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.

  20. An Improved Framework for Confound Regression and Filtering for Control of Motion Artifact in the Preprocessing of Resting-State Functional Connectivity Data

    PubMed Central

    Satterthwaite, Theodore D.; Elliott, Mark A.; Gerraty, Raphael T.; Ruparel, Kosha; Loughead, James; Calkins, Monica E.; Eickhoff, Simon B.; Hakonarson, Hakon; Gur, Ruben C.; Gur, Raquel E.; Wolf, Daniel H.

    2013-01-01

    Several recent reports in large, independent samples have demonstrated the influence of motion artifact on resting-state functional connectivity MRI (rsfc-MRI). Standard rsfc-MRI preprocessing typically includes regression of confounding signals and band-pass filtering. However, substantial heterogeneity exists in how these techniques are implemented across studies, and no prior study has examined the effect of differing approaches for the control of motion-induced artifacts. To better understand how in-scanner head motion affects rsfc-MRI data, we describe the spatial, temporal, and spectral characteristics of motion artifacts in a sample of 348 adolescents. Analyses utilize a novel approach for describing head motion on a voxelwise basis. Next, we systematically evaluate the efficacy of a range of confound regression and filtering techniques for the control of motion-induced artifacts. Results reveal that the effectiveness of preprocessing procedures on the control of motion is heterogeneous, and that improved preprocessing provides a substantial benefit beyond typical procedures. These results demonstrate that the effect of motion on rsfc-MRI can be substantially attenuated through improved preprocessing procedures, but not completely removed. PMID:22926292

  1. Kinematic control of redundant robots and the motion optimizability measure.

    PubMed

    Li, L; Gruver, W A; Zhang, Q; Yang, Z

    2001-01-01

    This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.

  2. SDRE controller for motion design of cable-suspended robot with uncertainties and moving obstacles

    NASA Astrophysics Data System (ADS)

    Behboodi, Ahad; Salehi, Seyedmohammad

    2017-10-01

    In this paper an optimal control approach for nonlinear dynamical systems was proposed based on State Dependent Riccati Equation (SDRE) and its robustness against uncertainties is shown by simulation results. The proposed method was applied on a spatial six-cable suspended robot, which was designed to carry loads or perform different tasks in huge workspaces. Motion planning for cable-suspended robots in such a big workspace is subjected to uncertainties and obstacles. First, we emphasized the ability of SDRE to construct a systematic basis and efficient design of controller for wide variety of nonlinear dynamical systems. Then we showed how this systematic design improved the robustness of the system and facilitated the integration of motion planning techniques with the controller. In particular, obstacle avoidance technique based on artificial potential field (APF) can be easily combined with SDRE controller with efficient performance. Due to difficulties of exact solution for SDRE, an approximation method was used based on power series expansion. The efficiency and robustness of the SDRE controller was illustrated on a six-cable suspended robot with proper simulations.

  3. Wrist range of motion and motion frequency during toy and game play with a joint-specific controller specially designed to provide neuromuscular therapy: A proof of concept study in typically developing children.

    PubMed

    Crisco, Joseph J; Schwartz, Joel B; Wilcox, Bethany; Brideau, Holly; Basseches, Benjamin; Kerman, Karen

    2015-08-20

    Upper extremities affected by hemiplegic cerebral palsy (CP) and other neuromuscular disorders have been demonstrated to benefit from therapy, and the greater the duration of the therapy, the greater the benefit. A great motivator for participating in and extending the duration of therapy with children is play. Our focus is on active motion therapy of the wrist and forearm. In this study we examine the wrist motions associated with playing with two toys and three computer games controlled by a specially-designed play controller. Twenty children (ages 5-11) with no diagnosis of a muscular disorder were recruited. The play controller was fitted to the wrist and forearm of each child and used to measure and log wrist flexion and extension. Play activity and enjoyment were quantified by average wrist range of motion (ROM), motion frequency measures, and a discrete visual scale. We found significant differences in the average wrist ROM and motion frequency among the toys and games, yet there were no differences in the level of enjoyment across all toys and games, which was high. These findings indicate which toys and games may elicit the greater number of goal-directed movements, and lay the foundation for our long-term goal to develop and evaluate innovative motion-specific play controllers that are engaging rehabilitative devices for enhancing therapy and promoting neural plasticity and functional recovery in children with CP. Copyright © 2015 Elsevier Ltd. All rights reserved.

  4. Stochastic ground motion simulation

    USGS Publications Warehouse

    Rezaeian, Sanaz; Xiaodan, Sun; Beer, Michael; Kougioumtzoglou, Ioannis A.; Patelli, Edoardo; Siu-Kui Au, Ivan

    2014-01-01

    Strong earthquake ground motion records are fundamental in engineering applications. Ground motion time series are used in response-history dynamic analysis of structural or geotechnical systems. In such analysis, the validity of predicted responses depends on the validity of the input excitations. Ground motion records are also used to develop ground motion prediction equations(GMPEs) for intensity measures such as spectral accelerations that are used in response-spectrum dynamic analysis. Despite the thousands of available strong ground motion records, there remains a shortage of records for large-magnitude earthquakes at short distances or in specific regions, as well as records that sample specific combinations of source, path, and site characteristics.

  5. Motion Control of Drives for Prosthetic Hand Using Continuous Myoelectric Signals

    NASA Astrophysics Data System (ADS)

    Purushothaman, Geethanjali; Ray, Kalyan Kumar

    2016-03-01

    In this paper the authors present motion control of a prosthetic hand, through continuous myoelectric signal acquisition, classification and actuation of the prosthetic drive. A four channel continuous electromyogram (EMG) signal also known as myoelectric signals (MES) are acquired from the abled-body to classify the six unique movements of hand and wrist, viz, hand open (HO), hand close (HC), wrist flexion (WF), wrist extension (WE), ulnar deviation (UD) and radial deviation (RD). The classification technique involves in extracting the features/pattern through statistical time domain (TD) parameter/autoregressive coefficients (AR), which are reduced using principal component analysis (PCA). The reduced statistical TD features and or AR coefficients are used to classify the signal patterns through k nearest neighbour (kNN) as well as neural network (NN) classifier and the performance of the classifiers are compared. Performance comparison of the above two classifiers clearly shows that kNN classifier in identifying the hidden intended motion in the myoelectric signals is better than that of NN classifier. Once the classifier identifies the intended motion, the signal is amplified to actuate the three low power DC motor to perform the above mentioned movements.

  6. Oblique-wing research airplane motion simulation with decoupling control laws

    NASA Technical Reports Server (NTRS)

    Kempel, Robert W.; Mc Neill, Walter E.; Maine, Trindel A.

    1988-01-01

    A large piloted vertical motion simulator was used to assess the performance of a preliminary decoupling control law for an early version of the F-8 oblique wing research demonstrator airplane. Evaluations were performed for five discrete flight conditions, ranging from low-altitude subsonic Mach numbers to moderate-altitude supersonic Mach numbers. Asymmetric sideforce as a function of angle of attack was found to be the primary cause of both the lateral acceleration noted in pitch and the tendency to roll into left turns and out of right turns. The flight control system was shown to be effective in generally decoupling the airplane and reducing the lateral acceleration in pitch maneuvers.

  7. Particle motion in unsteady two-dimensional peristaltic flow with application to the ureter

    NASA Astrophysics Data System (ADS)

    Jiménez-Lozano, Joel; Sen, Mihir; Dunn, Patrick F.

    2009-04-01

    Particle motion in an unsteady peristaltic fluid flow is analyzed. The fluid is incompressible and Newtonian in a two-dimensional planar geometry. A perturbation method based on a small ratio of wave height to wavelength is used to obtain a closed-form solution for the fluid velocity field. This analytical solution is used in conjunction with an equation of motion for a small rigid sphere in nonuniform flow taking Stokes drag, virtual mass, Faxén, Basset, and gravity forces into account. Fluid streamlines and velocity profiles are calculated. Theoretical values for pumping rates are compared with available experimental data. An application to ureteral peristaltic flow is considered since fluid flow in the ureter is sometimes accompanied by particles such as stones or bacteriuria. Particle trajectories for parameters that correspond to calcium oxalates for calculosis and Escherichia coli type for bacteria are analyzed. The findings show that retrograde or reflux motion of the particles is possible and bacterial transport can occur in the upper urinary tract when there is a partial occlusion of the wave. Dilute particle mixing is also investigated, and it is found that some of the particles participate in the formation of a recirculating bolus, and some of them are delayed in transit and eventually reach the walls. This can explain the failure of clearing residuals from the upper urinary tract calculi after successful extracorporeal shock wave lithotripsy. The results may also be relevant to the transport of other physiological fluids and industrial applications in which peristaltic pumping is used.

  8. Head motion parameters in fMRI differ between patients with mild cognitive impairment and Alzheimer disease versus elderly control subjects.

    PubMed

    Haller, Sven; Monsch, Andreas U; Richiardi, Jonas; Barkhof, Frederik; Kressig, Reto W; Radue, Ernst W

    2014-11-01

    Motion artifacts are a well-known and frequent limitation during neuroimaging workup of cognitive decline. While head motion typically deteriorates image quality, we test the hypothesis that head motion differs systematically between healthy controls (HC), amnestic mild cognitive impairment (aMCI) and Alzheimer disease (AD) and consequently might contain diagnostic information. This prospective study was approved by the local ethics committee and includes 28 HC (age 71.0 ± 6.9 years, 18 females), 15 aMCI (age 67.7 ± 10.9 years, 9 females) and 20 AD (age 73.4 ± 6.8 years, 10 females). Functional magnetic resonance imaging (fMRI) at 3T included a 9 min echo-planar imaging sequence with 180 repetitions. Cumulative average head rotation and translation was estimated based on standard fMRI preprocessing and compared between groups using receiver operating characteristic statistics. Global cumulative head rotation discriminated aMCI from controls [p < 0.01, area under curve (AUC) 0.74] and AD from controls (p < 0.01, AUC 0.73). The ratio of rotation z versus y discriminated AD from controls (p < 0.05, AUC 0.71) and AD from aMCI (p < 0.05, AUC of 0.75). Head motion systematically differs between aMCI/AD and controls. Since motion is not random but convoluted with diagnosis, the higher amount of motion in aMCI and AD as compared to controls might be a potential confounding factor for fMRI group comparisons. Additionally, head motion not only deteriorates image quality, yet also contains useful discriminatory information and is available for free as a "side product" of fMRI data preprocessing.

  9. Vehicle lateral motion regulation under unreliable communication links based on robust H∞ output-feedback control schema

    NASA Astrophysics Data System (ADS)

    Li, Cong; Jing, Hui; Wang, Rongrong; Chen, Nan

    2018-05-01

    This paper presents a robust control schema for vehicle lateral motion regulation under unreliable communication links via controller area network (CAN). The communication links between the system plant and the controller are assumed to be imperfect and therefore the data packet dropouts occur frequently. The paper takes the form of parallel distributed compensation and treats the dropouts as random binary numbers that form Bernoulli distribution. Both of the tire cornering stiffness uncertainty and external disturbances are considered to enhance the robustness of the controller. In addition, a robust H∞ static output-feedback control approach is proposed to realize the lateral motion control with relative low cost sensors. The stochastic stability of the closed-loop system and conservation of the guaranteed H∞ performance are investigated. Simulation results based on CarSim platform using a high-fidelity and full-car model verify the effectiveness of the proposed control approach.

  10. Motion control in free-standing shape-memory actuators

    NASA Astrophysics Data System (ADS)

    Belmonte, Alberto; Lama, Giuseppe C.; Cerruti, Pierfrancesco; Ambrogi, Veronica; Fernández-Francos, Xavier; De la Flor, Silvia

    2018-07-01

    In this work, free-standing shape-memory thermally triggered actuators are developed by laminating ‘thiol-epoxy’-based glassy thermoset (GT) and stretched liquid-crystalline network (LCN) films. A sequential curing process was used to obtain GTs with tailored thermomechanical properties and network relaxation dynamics, and also to assemble the final actuator. The actuation extent, rate and time were studied by varying the GT and the heating rate in thermo-actuation with an experimental approach. The results demonstrate that it is possible to tailor the actuation rate and time by designing GT materials with a glass transition temperature close to that of the liquid-crystalline-to-isotropic phase transition of the LCN, thus making it possible to couple the two processes. Such coupling is also possible in rapid heating processes even when the glass transition temperature of the GT is clearly lower than the isotropization temperature of the LCN, depending on the network relaxation dynamics of the GT and the presence of thermal gradients within the actuators. Interestingly, varying the GT network relaxation dynamics does not affect the actuation extent. As predicted by the analytical model developed in our previous work, the modulus of the GT layer is mainly responsible for the actuation extent. Finally, to demonstrate the enhanced control of the actuation, specifically designed actuators were assembled in a three-dimensional actuating device able to make complex motions (including ‘S-type’ bending). This approach makes it possible to engineer advanced functional materials for application in self-adaptable structures and soft robotics.

  11. Controllability of fractional higher order stochastic integrodifferential systems with fractional Brownian motion.

    PubMed

    Sathiyaraj, T; Balasubramaniam, P

    2017-11-30

    This paper presents a new set of sufficient conditions for controllability of fractional higher order stochastic integrodifferential systems with fractional Brownian motion (fBm) in finite dimensional space using fractional calculus, fixed point technique and stochastic analysis approach. In particular, we discuss the complete controllability for nonlinear fractional stochastic integrodifferential systems under the proved result of the corresponding linear fractional system is controllable. Finally, an example is presented to illustrate the efficiency of the obtained theoretical results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  12. The Application of Leap Motion in Astronaut Virtual Training

    NASA Astrophysics Data System (ADS)

    Qingchao, Xie; Jiangang, Chao

    2017-03-01

    With the development of computer vision, virtual reality has been applied in astronaut virtual training. As an advanced optic equipment to track hand, Leap Motion can provide precise and fluid tracking of hands. Leap Motion is suitable to be used as gesture input device in astronaut virtual training. This paper built an astronaut virtual training based Leap Motion, and established the mathematics model of hands occlusion. At last the ability of Leap Motion to handle occlusion was analysed. A virtual assembly simulation platform was developed for astronaut training, and occlusion gesture would influence the recognition process. The experimental result can guide astronaut virtual training.

  13. Application of vibrotactile feedback of body motion to improve rehabilitation in individuals with imbalance

    PubMed Central

    Wall, Conrad

    2010-01-01

    Background and Purpose Balance rehabilitation and vestibular/balance prostheses are both emerging fields that have a potential for synergistic interaction. This paper reviews vibrotactile prosthetic devices that have been developed to date and ongoing work related to the application of vibrotactile feedback for enhanced postural control. A vibrotactile feedback device developed in the author’s laboratory is described. Methods Twelve subjects with vestibular hypofunction were tested on a platform that moved randomly in a plane, while receiving vibrotactile feedback in the anterio-posterior direction. The feedback allowed subjects to significantly decrease their anterio-posterior body tilt, but did not change mediolateral tilt. A tandem walking task using subjects with vestibulopathies demonstrated a reduction in their medio-lateral sway due to vibrotactile feedback of medio-lateral body tilt, after controlling for the effects of task learning. The findings from two additional experiments conducted in the laboratories of collaborating physical therapists are summarized. Results The Dynamic Gait Index scores in community-dwelling elderly individuals who were prone-to-fall were significantly improved with the use of medio-lateral body tilt feedback. Discussion and Conclusions While more work is needed, these results suggest that vibrotactile tilt feedback of subjects’ body motion can be used effectively by physical therapists for balance rehabilitation. A preliminary description of the 3rd generation device that has been reduced from a vest format to a belt format is described to demonstrate the progressive evolution from research to clinical application. PMID:20588096

  14. Orbit-attitude coupled motion around small bodies: Sun-synchronous orbits with Sun-tracking attitude motion

    NASA Astrophysics Data System (ADS)

    Kikuchi, Shota; Howell, Kathleen C.; Tsuda, Yuichi; Kawaguchi, Jun'ichiro

    2017-11-01

    The motion of a spacecraft in proximity to a small body is significantly perturbed due to its irregular gravity field and solar radiation pressure. In such a strongly perturbed environment, the coupling effect of the orbital and attitude motions exerts a large influence that cannot be neglected. However, natural orbit-attitude coupled dynamics around small bodies that are stationary in both orbital and attitude motions have yet to be observed. The present study therefore investigates natural coupled motion that involves both a Sun-synchronous orbit and Sun-tracking attitude motion. This orbit-attitude coupled motion enables a spacecraft to maintain its orbital geometry and attitude state with respect to the Sun without requiring active control. Therefore, the proposed method can reduce the use of an orbit and attitude control system. This paper first presents analytical conditions to achieve Sun-synchronous orbits and Sun-tracking attitude motion. These analytical solutions are then numerically propagated based on non-linear coupled orbit-attitude equations of motion. Consequently, the possibility of implementing Sun-synchronous orbits with Sun-tracking attitude motion is demonstrated.

  15. BEM for wave equation with boundary in arbitrary motion and applications to compressible potential aerodynamics of airplanes and helicopters

    NASA Technical Reports Server (NTRS)

    Morino, Luigi; Bharadvaj, Bala K.; Freedman, Marvin I.; Tseng, Kadin

    1988-01-01

    The wave equation for an object in arbitrary motion is investigated analytically using a BEM approach, and practical applications to potential flows of compressible fluids around aircraft wings and helicopter rotors are considered. The treatment accounts for arbitrary combined rotational and translational motion of the reference frame and for the wake motion. The numerical implementation as a computer algorithm is demonstrated on problems with prescribed and free wakes, the former in compressible flows and the latter for incompressible flows; results are presented graphically and briefly characterized.

  16. Application of interactive motion charts for displaying liver transplantation data in public websites.

    PubMed

    Santori, G

    2014-09-01

    In the past several years a vast amount of digital information has become available in every field of science, and ideas to apply improved strategies for obtaining a more in-depth knowledge of the data are considered in many areas. Although several American and European organizations show regularly in their public websites the aggregated results of organ donation and transplantation, no tools are provided to engage with the final users and to enable them to handle these data. In this study, a new model of Web-based interactive motion charts was applied to aggregated liver transplantation data obtained from a consecutive 28-year series of liver transplantation performed in a single Italian center. The interactive charts were obtained by combining the Google visualization application programming interface and the googleVis package within the open source statistical environment R. The interactive charts may be embedded into online/offline Web pages and rendered in each common browser. The users may interact with the charts by selecting chart type (bubble, bar, or line chart), x- and y-axis scales (linear or logarithmic), variables, bubble size, color, and even changing opacity of unselected items. Moreover, the charts may dynamically display the trend over time of each continuous/categoric variable, allowing users both to trace how the lines changes over time and to control the animation speed. The interactive motion charts should be used in the public websites that manage aggregated data concerning organ donation and transplantation. Copyright © 2014 Elsevier Inc. All rights reserved.

  17. Accuracy of human motion capture systems for sport applications; state-of-the-art review.

    PubMed

    van der Kruk, Eline; Reijne, Marco M

    2018-05-09

    Sport research often requires human motion capture of an athlete. It can, however, be labour-intensive and difficult to select the right system, while manufacturers report on specifications which are determined in set-ups that largely differ from sport research in terms of volume, environment and motion. The aim of this review is to assist researchers in the selection of a suitable motion capture system for their experimental set-up for sport applications. An open online platform is initiated, to support (sport)researchers in the selection of a system and to enable them to contribute and update the overview. systematic review; Method: Electronic searches in Scopus, Web of Science and Google Scholar were performed, and the reference lists of the screened articles were scrutinised to determine human motion capture systems used in academically published studies on sport analysis. An overview of 17 human motion capture systems is provided, reporting the general specifications given by the manufacturer (weight and size of the sensors, maximum capture volume, environmental feasibilities), and calibration specifications as determined in peer-reviewed studies. The accuracy of each system is plotted against the measurement range. The overview and chart can assist researchers in the selection of a suitable measurement system. To increase the robustness of the database and to keep up with technological developments, we encourage researchers to perform an accuracy test prior to their experiment and to add to the chart and the system overview (online, open access).

  18. Dynamic visual attention: motion direction versus motion magnitude

    NASA Astrophysics Data System (ADS)

    Bur, A.; Wurtz, P.; Müri, R. M.; Hügli, H.

    2008-02-01

    Defined as an attentive process in the context of visual sequences, dynamic visual attention refers to the selection of the most informative parts of video sequence. This paper investigates the contribution of motion in dynamic visual attention, and specifically compares computer models designed with the motion component expressed either as the speed magnitude or as the speed vector. Several computer models, including static features (color, intensity and orientation) and motion features (magnitude and vector) are considered. Qualitative and quantitative evaluations are performed by comparing the computer model output with human saliency maps obtained experimentally from eye movement recordings. The model suitability is evaluated in various situations (synthetic and real sequences, acquired with fixed and moving camera perspective), showing advantages and inconveniences of each method as well as preferred domain of application.

  19. Touch-free, gesture-based control of medical devices and software based on the leap motion controller.

    PubMed

    Mauser, Stanislas; Burgert, Oliver

    2014-01-01

    There are several intra-operative use cases which require the surgeon to interact with medical devices. We used the Leap Motion Controller as input device and implemented two use-cases: 2D-Interaction (e.g. advancing EPR data) and selection of a value (e.g. room illumination brightness). The gesture detection was successful and we mapped its output to several devices and systems.

  20. Relative-Motion Sensors and Actuators for Two Optical Tables

    NASA Technical Reports Server (NTRS)

    Gursel, Yekta; McKenney, Elizabeth

    2004-01-01

    Optoelectronic sensors and magnetic actuators have been developed as parts of a system for controlling the relative position and attitude of two massive optical tables that float on separate standard air suspensions that attenuate ground vibrations. In the specific application for which these sensors and actuators were developed, one of the optical tables holds an optical system that mimics distant stars, while the other optical table holds a test article that simulates a spaceborne stellar interferometer that would be used to observe the stars. The control system is designed to suppress relative motion of the tables or, on demand, to impose controlled relative motion between the tables. The control system includes a sensor system that detects relative motion of the tables in six independent degrees of freedom and a drive system that can apply force to the star-simulator table in the six degrees of freedom. The sensor system includes (1) a set of laser heterodyne gauges and (2) a set of four diode lasers on the star-simulator table, each aimed at one of four quadrant photodiodes at nominal corresponding positions on the test-article table. The heterodyne gauges are used to measure relative displacements along the x axis.

  1. 5 CFR 2423.27 - Summary judgment motions.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... judgment as a matter of law. Such motions shall be supported by documents, affidavits, applicable precedent... 5 Administrative Personnel 3 2011-01-01 2011-01-01 false Summary judgment motions. 2423.27 Section..., Prehearing Procedures § 2423.27 Summary judgment motions. (a) Motions. Any party may move for a summary...

  2. 5 CFR 2423.27 - Summary judgment motions.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... judgment as a matter of law. Such motions shall be supported by documents, affidavits, applicable precedent... 5 Administrative Personnel 3 2012-01-01 2012-01-01 false Summary judgment motions. 2423.27 Section..., Prehearing Procedures § 2423.27 Summary judgment motions. (a) Motions. Any party may move for a summary...

  3. Applications of AVHRR-Derived Ice Motions for the Arctic and Antarctic

    NASA Technical Reports Server (NTRS)

    Maslanik, James; Emery, William

    1998-01-01

    Characterization and diagnosis of sea ice/atmosphere/ocean interactions require a synthesis of observations and modeling to identify the key mechanisms controlling the ice/climate system. In this project, we combined product generation, observational analyses, and modeling to define and interpret variability in ice motion in conjunction with thermodynamic factors such as surface temperature and albedo. The goals of this work were twofold: (1) to develop and test procedures to produce an integrated set of polar products from remotely-sensed and supporting data; and (2) to apply these data to understand processes at work in controlling sea ice distribution.

  4. Motion-Capture-Enabled Software for Gestural Control of 3D Models

    NASA Technical Reports Server (NTRS)

    Norris, Jeffrey S.; Luo, Victor; Crockett, Thomas M.; Shams, Khawaja S.; Powell, Mark W.; Valderrama, Anthony

    2012-01-01

    Current state-of-the-art systems use general-purpose input devices such as a keyboard, mouse, or joystick that map to tasks in unintuitive ways. This software enables a person to control intuitively the position, size, and orientation of synthetic objects in a 3D virtual environment. It makes possible the simultaneous control of the 3D position, scale, and orientation of 3D objects using natural gestures. Enabling the control of 3D objects using a commercial motion-capture system allows for natural mapping of the many degrees of freedom of the human body to the manipulation of the 3D objects. It reduces training time for this kind of task, and eliminates the need to create an expensive, special-purpose controller.

  5. Recursive linearization of multibody dynamics equations of motion

    NASA Technical Reports Server (NTRS)

    Lin, Tsung-Chieh; Yae, K. Harold

    1989-01-01

    The equations of motion of a multibody system are nonlinear in nature, and thus pose a difficult problem in linear control design. One approach is to have a first-order approximation through the numerical perturbations at a given configuration, and to design a control law based on the linearized model. Here, a linearized model is generated analytically by following the footsteps of the recursive derivation of the equations of motion. The equations of motion are first written in a Newton-Euler form, which is systematic and easy to construct; then, they are transformed into a relative coordinate representation, which is more efficient in computation. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient because of its recursive nature. It has also turned out to be more accurate because of the fact that analytical perturbation circumvents numerical differentiation and other associated numerical operations that may accumulate computational error, thus requiring only analytical operations of matrices and vectors. The power of the proposed linearization algorithm is demonstrated, in comparison to a numerical perturbation method, with a two-link manipulator and a seven degrees of freedom robotic manipulator. Its application to control design is also demonstrated.

  6. Motion Compensation in Extremity Cone-Beam CT Using a Penalized Image Sharpness Criterion

    PubMed Central

    Sisniega, A.; Stayman, J. W.; Yorkston, J.; Siewerdsen, J. H.; Zbijewski, W.

    2017-01-01

    Cone-beam CT (CBCT) for musculoskeletal imaging would benefit from a method to reduce the effects of involuntary patient motion. In particular, the continuing improvement in spatial resolution of CBCT may enable tasks such as quantitative assessment of bone microarchitecture (0.1 mm – 0.2 mm detail size), where even subtle, sub-mm motion blur might be detrimental. We propose a purely image based motion compensation method that requires no fiducials, tracking hardware or prior images. A statistical optimization algorithm (CMA-ES) is used to estimate a motion trajectory that optimizes an objective function consisting of an image sharpness criterion augmented by a regularization term that encourages smooth motion trajectories. The objective function is evaluated using a volume of interest (VOI, e.g. a single bone and surrounding area) where the motion can be assumed to be rigid. More complex motions can be addressed by using multiple VOIs. Gradient variance was found to be a suitable sharpness metric for this application. The performance of the compensation algorithm was evaluated in simulated and experimental CBCT data, and in a clinical dataset. Motion-induced artifacts and blurring were significantly reduced across a broad range of motion amplitudes, from 0.5 mm to 10 mm. Structure Similarity Index (SSIM) against a static volume was used in the simulation studies to quantify the performance of the motion compensation. In studies with translational motion, the SSIM improved from 0.86 before compensation to 0.97 after compensation for 0.5 mm motion, from 0.8 to 0.94 for 2 mm motion and from 0.52 to 0.87 for 10 mm motion (~70% increase). Similar reduction of artifacts was observed in a benchtop experiment with controlled translational motion of an anthropomorphic hand phantom, where SSIM (against a reconstruction of a static phantom) improved from 0.3 to 0.8 for 10 mm motion. Application to a clinical dataset of a lower extremity showed dramatic reduction of streaks

  7. Markerless motion estimation for motion-compensated clinical brain imaging

    NASA Astrophysics Data System (ADS)

    Kyme, Andre Z.; Se, Stephen; Meikle, Steven R.; Fulton, Roger R.

    2018-05-01

    Motion-compensated brain imaging can dramatically reduce the artifacts and quantitative degradation associated with voluntary and involuntary subject head motion during positron emission tomography (PET), single photon emission computed tomography (SPECT) and computed tomography (CT). However, motion-compensated imaging protocols are not in widespread clinical use for these modalities. A key reason for this seems to be the lack of a practical motion tracking technology that allows for smooth and reliable integration of motion-compensated imaging protocols in the clinical setting. We seek to address this problem by investigating the feasibility of a highly versatile optical motion tracking method for PET, SPECT and CT geometries. The method requires no attached markers, relying exclusively on the detection and matching of distinctive facial features. We studied the accuracy of this method in 16 volunteers in a mock imaging scenario by comparing the estimated motion with an accurate marker-based method used in applications such as image guided surgery. A range of techniques to optimize performance of the method were also studied. Our results show that the markerless motion tracking method is highly accurate (<2 mm discrepancy against a benchmarking system) on an ethnically diverse range of subjects and, moreover, exhibits lower jitter and estimation of motion over a greater range than some marker-based methods. Our optimization tests indicate that the basic pose estimation algorithm is very robust but generally benefits from rudimentary background masking. Further marginal gains in accuracy can be achieved by accounting for non-rigid motion of features. Efficiency gains can be achieved by capping the number of features used for pose estimation provided that these features adequately sample the range of head motion encountered in the study. These proof-of-principle data suggest that markerless motion tracking is amenable to motion-compensated brain imaging and holds

  8. 46 CFR 201.92 - Ruling on motion.

    Code of Federal Regulations, 2012 CFR

    2012-10-01

    ... 46 Shipping 8 2012-10-01 2012-10-01 false Ruling on motion. 201.92 Section 201.92 Shipping... PROCEDURE Summary Disposition (Rule 9) § 201.92 Ruling on motion. The presiding officer may grant such motion if the application, motion, or other pleadings, affidavits or depositions, if any, and matters of...

  9. 46 CFR 201.92 - Ruling on motion.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 46 Shipping 8 2010-10-01 2010-10-01 false Ruling on motion. 201.92 Section 201.92 Shipping... PROCEDURE Summary Disposition (Rule 9) § 201.92 Ruling on motion. The presiding officer may grant such motion if the application, motion, or other pleadings, affidavits or depositions, if any, and matters of...

  10. 46 CFR 201.92 - Ruling on motion.

    Code of Federal Regulations, 2013 CFR

    2013-10-01

    ... 46 Shipping 8 2013-10-01 2013-10-01 false Ruling on motion. 201.92 Section 201.92 Shipping... PROCEDURE Summary Disposition (Rule 9) § 201.92 Ruling on motion. The presiding officer may grant such motion if the application, motion, or other pleadings, affidavits or depositions, if any, and matters of...

  11. 46 CFR 201.92 - Ruling on motion.

    Code of Federal Regulations, 2011 CFR

    2011-10-01

    ... 46 Shipping 8 2011-10-01 2011-10-01 false Ruling on motion. 201.92 Section 201.92 Shipping... PROCEDURE Summary Disposition (Rule 9) § 201.92 Ruling on motion. The presiding officer may grant such motion if the application, motion, or other pleadings, affidavits or depositions, if any, and matters of...

  12. 46 CFR 201.92 - Ruling on motion.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... 46 Shipping 8 2014-10-01 2014-10-01 false Ruling on motion. 201.92 Section 201.92 Shipping... PROCEDURE Summary Disposition (Rule 9) § 201.92 Ruling on motion. The presiding officer may grant such motion if the application, motion, or other pleadings, affidavits or depositions, if any, and matters of...

  13. MEMS scanner with 2D tilt, piston, and focus motion

    NASA Astrophysics Data System (ADS)

    Lani, S.; Bayat, D.; Petremand, Y.; Regamey, Y.-J.; Onillon, E.; Pierer, J.; Grossmann, S.

    2017-02-01

    A MEMS scanner with a high level of motion freedom has been developed. It includes a 2D mechanical tilting capability of +/- 15°, a piston motion of 50μm and a focus/defocus control system of a 2mm diameter mirror. The tilt and piston motion is achieved with an electromagnetic actuation (moving magnet) and the focus control with a deformation of the reflective surface with pneumatic actuation. This required the fabrication of at least one channel on the compliant membrane and a closed cavity below the mirror surface and connected to an external pressure regulator (vacuum to several bars). The fabrication relies on 3 SOI wafers, 2 for forming the compliant membranes and the integrated channel, and 1 to form the cavity mirror. All wafers were then assembled by fusion bonding. Pneumatic actuation for focus control can be achieved from front or back side; function of packaging concept. A reflective coating can be added at the mirror surface depending of the application. The tilt and piston actuation is achieved by electromagnetic actuation for which a magnet is fixed on the moving part of the MEMS device. Finally the MEMS device is mounted on a ceramic PCB, containing the actuation micro-coils. Concept, fabrication, and testing of the devices will be presented. A case study for application in an endoscope with an integrated high power laser and a MEMS steering mechanism will be presented.

  14. Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

    NASA Astrophysics Data System (ADS)

    Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

    2013-09-01

    This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

  15. Disturbing effects of attitude control maneuvers on the orbital motion of the Helios spacecraft

    NASA Technical Reports Server (NTRS)

    Georgevic, R. M.

    1976-01-01

    The position of the spin axis of the Helios A spacecraft has been maintained and updated by a series of attitude control maneuvers, by means of a sequence of unbalanced jet forces which produce an additional disturbed motion of the spacecraft's center of mass. The character of this motion, its magnitude and direction was studied. For practical purposes of the orbit determination of the spacecraft, a computer program is given which shows how the components of the disturbing acceleration in the spacecraft-fixed reference frame can be easily computed.

  16. Controlled surface-induced flows from the motion of self-assembled colloidal walkers.

    PubMed

    Sing, Charles E; Schmid, Lothar; Schneider, Matthias F; Franke, Thomas; Alexander-Katz, Alfredo

    2010-01-12

    Biological flows at the microscopic scale are important for the transport of nutrients, locomotion, and differentiation. Here, we present a unique approach for creating controlled, surface-induced flows inspired by a ubiquitous biological system, cilia. Our design is based on a collection of self-assembled colloidal rotors that "walk" along surfaces in the presence of a rotating magnetic field. These rotors are held together solely by magnetic forces that allow for reversible assembly and disassembly of the chains. Furthermore, rotation of the magnetic field allows for straightforward manipulation of the shape and motion of these chains. This system offers a simple and versatile approach for designing microfluidic devices as well as for studying fundamental questions in cooperative-driven motion and transport at the microscopic level.

  17. MotionExplorer: exploratory search in human motion capture data based on hierarchical aggregation.

    PubMed

    Bernard, Jürgen; Wilhelm, Nils; Krüger, Björn; May, Thorsten; Schreck, Tobias; Kohlhammer, Jörn

    2013-12-01

    We present MotionExplorer, an exploratory search and analysis system for sequences of human motion in large motion capture data collections. This special type of multivariate time series data is relevant in many research fields including medicine, sports and animation. Key tasks in working with motion data include analysis of motion states and transitions, and synthesis of motion vectors by interpolation and combination. In the practice of research and application of human motion data, challenges exist in providing visual summaries and drill-down functionality for handling large motion data collections. We find that this domain can benefit from appropriate visual retrieval and analysis support to handle these tasks in presence of large motion data. To address this need, we developed MotionExplorer together with domain experts as an exploratory search system based on interactive aggregation and visualization of motion states as a basis for data navigation, exploration, and search. Based on an overview-first type visualization, users are able to search for interesting sub-sequences of motion based on a query-by-example metaphor, and explore search results by details on demand. We developed MotionExplorer in close collaboration with the targeted users who are researchers working on human motion synthesis and analysis, including a summative field study. Additionally, we conducted a laboratory design study to substantially improve MotionExplorer towards an intuitive, usable and robust design. MotionExplorer enables the search in human motion capture data with only a few mouse clicks. The researchers unanimously confirm that the system can efficiently support their work.

  18. Controlling aliased dynamics in motion systems? An identification for sampled-data control approach

    NASA Astrophysics Data System (ADS)

    Oomen, Tom

    2014-07-01

    Sampled-data control systems occasionally exhibit aliased resonance phenomena within the control bandwidth. The aim of this paper is to investigate the aspect of these aliased dynamics with application to a high performance industrial nano-positioning machine. This necessitates a full sampled-data control design approach, since these aliased dynamics endanger both the at-sample performance and the intersample behaviour. The proposed framework comprises both system identification and sampled-data control. In particular, the sampled-data control objective necessitates models that encompass the intersample behaviour, i.e., ideally continuous time models. Application of the proposed approach on an industrial wafer stage system provides a thorough insight and new control design guidelines for controlling aliased dynamics.

  19. The application of mean field theory to image motion estimation.

    PubMed

    Zhang, J; Hanauer, G G

    1995-01-01

    Previously, Markov random field (MRF) model-based techniques have been proposed for image motion estimation. Since motion estimation is usually an ill-posed problem, various constraints are needed to obtain a unique and stable solution. The main advantage of the MRF approach is its capacity to incorporate such constraints, for instance, motion continuity within an object and motion discontinuity at the boundaries between objects. In the MRF approach, motion estimation is often formulated as an optimization problem, and two frequently used optimization methods are simulated annealing (SA) and iterative-conditional mode (ICM). Although the SA is theoretically optimal in the sense of finding the global optimum, it usually takes many iterations to converge. The ICM, on the other hand, converges quickly, but its results are often unsatisfactory due to its "hard decision" nature. Previously, the authors have applied the mean field theory to image segmentation and image restoration problems. It provides results nearly as good as SA but with much faster convergence. The present paper shows how the mean field theory can be applied to MRF model-based motion estimation. This approach is demonstrated on both synthetic and real-world images, where it produced good motion estimates.

  20. Shallow and deep controls on lava lake surface motion at Kīlauea Volcano

    USGS Publications Warehouse

    Patrick, Matthew R.; Orr, Tim R.; Swanson, Don; Lev, Einat

    2016-01-01

    Lava lakes provide a rare window into magmatic behavior, and lake surface motion has been used to infer deeper properties of the magmatic system. At Halema'uma'u Crater, at the summit of Kīlauea Volcano, multidisciplinary observations for the past several years indicate that lava lake surface motion can be broadly divided into two regimes: 1) stable and 2) unstable. Stable behavior is driven by lava upwelling from deeper in the lake (presumably directly from the conduit) and is an intrinsic process that drives lava lake surface motion most of the time. This stable behavior can be interrupted by periods of unstable flow (often reversals) driven by spattering – a shallowly-rooted process often extrinsically triggered by small rockfalls from the crater wall. The bursting bubbles at spatter sources create void spaces and a localized surface depression which draws and consumes surrounding surface crust. Spattering is therefore a location of lava downwelling, not upwelling. Stable (i.e. deep, upwelling-driven) and unstable (i.e. shallow, spattering-driven) behavior often alternate through time, have characteristic surface velocities, flow directions and surface temperature regimes, and also correspond to changes in spattering intensity, outgassing rates, lava level and seismic tremor. These results highlight that several processes, originating at different depths, can control the motion of the lava lake surface, and long-term interdisciplinary monitoring is required to separate these influences. These observations indicate that lake surface motion is not always a reliable proxy for deeper lake or magmatic processes. From these observations, we suggest that shallow outgassing (spattering), not lake convection, drives the variations in lake motion reported at Erta 'Ale lava lake.

  1. Shallow and deep controls on lava lake surface motion at Kīlauea Volcano

    NASA Astrophysics Data System (ADS)

    Patrick, M. R.; Orr, T.; Swanson, D. A.; Lev, E.

    2016-12-01

    Lava lakes provide a rare window into magmatic behavior, and lake surface motion has been used to infer deeper properties of the magmatic system. At Halema'uma'u Crater, at the summit of Kīlauea Volcano, multidisciplinary observations for the past several years indicate that lava lake surface motion can be broadly divided into two regimes: 1) stable and 2) unstable. Stable behavior is driven by lava upwelling from deeper in the lake (presumably directly from the conduit) and is an intrinsic process that drives lava lake surface motion most of the time. This stable behavior can be interrupted by periods of unstable flow (often reversals) driven by spattering - a shallowly-rooted process often extrinsically triggered by small rockfalls from the crater wall. The bursting bubbles at spatter sources create void spaces and a localized surface depression which draws and consumes surrounding surface crust. Spattering is therefore a location of lava downwelling, not upwelling. Stable (i.e. deep, upwelling-driven) and unstable (i.e. shallow, spattering-driven) behavior often alternate through time, have characteristic surface velocities, flow directions and surface temperature regimes, and also correspond to changes in spattering intensity, outgassing rates, lava level and seismic tremor. These results highlight that several processes, originating at different depths, can control the motion of the lava lake surface, and long-term interdisciplinary monitoring is required to separate these influences. These observations indicate that lake surface motion is not always a reliable proxy for deeper lake or magmatic processes. From these observations, we suggest that shallow outgassing (spattering), not lake convection, drives the variations in lake motion reported at Erta 'Ale lava lake.

  2. Fast Numerical Simulation of Focused Ultrasound Treatments During Respiratory Motion With Discontinuous Motion Boundaries.

    PubMed

    Schwenke, Michael; Georgii, Joachim; Preusser, Tobias

    2017-07-01

    Focused ultrasound (FUS) is rapidly gaining clinical acceptance for several target tissues in the human body. Yet, treating liver targets is not clinically applied due to a high complexity of the procedure (noninvasiveness, target motion, complex anatomy, blood cooling effects, shielding by ribs, and limited image-based monitoring). To reduce the complexity, numerical FUS simulations can be utilized for both treatment planning and execution. These use-cases demand highly accurate and computationally efficient simulations. We propose a numerical method for the simulation of abdominal FUS treatments during respiratory motion of the organs and target. Especially, a novel approach is proposed to simulate the heating during motion by solving Pennes' bioheat equation in a computational reference space, i.e., the equation is mathematically transformed to the reference. The approach allows for motion discontinuities, e.g., the sliding of the liver along the abdominal wall. Implementing the solver completely on the graphics processing unit and combining it with an atlas-based ultrasound simulation approach yields a simulation performance faster than real time (less than 50-s computing time for 100 s of treatment time) on a modern off-the-shelf laptop. The simulation method is incorporated into a treatment planning demonstration application that allows to simulate real patient cases including respiratory motion. The high performance of the presented simulation method opens the door to clinical applications. The methods bear the potential to enable the application of FUS for moving organs.

  3. Visual motion integration for perception and pursuit

    NASA Technical Reports Server (NTRS)

    Stone, L. S.; Beutter, B. R.; Lorenceau, J.

    2000-01-01

    To examine the relationship between visual motion processing for perception and pursuit, we measured the pursuit eye-movement and perceptual responses to the same complex-motion stimuli. We show that humans can both perceive and pursue the motion of line-figure objects, even when partial occlusion makes the resulting image motion vastly different from the underlying object motion. Our results show that both perception and pursuit can perform largely accurate motion integration, i.e. the selective combination of local motion signals across the visual field to derive global object motion. Furthermore, because we manipulated perceived motion while keeping image motion identical, the observed parallel changes in perception and pursuit show that the motion signals driving steady-state pursuit and perception are linked. These findings disprove current pursuit models whose control strategy is to minimize retinal image motion, and suggest a new framework for the interplay between visual cortex and cerebellum in visuomotor control.

  4. Application of data assimilation methods for analysis and integration of observed and modeled Arctic Sea ice motions

    NASA Astrophysics Data System (ADS)

    Meier, Walter Neil

    This thesis demonstrates the applicability of data assimilation methods to improve observed and modeled ice motion fields and to demonstrate the effects of assimilated motion on Arctic processes important to the global climate and of practical concern to human activities. Ice motions derived from 85 GHz and 37 GHz SSM/I imagery and estimated from two-dimensional dynamic-thermodynamic sea ice models are compared to buoy observations. Mean error, error standard deviation, and correlation with buoys are computed for the model domain. SSM/I motions generally have a lower bias, but higher error standard deviations and lower correlation with buoys than model motions. There are notable variations in the statistics depending on the region of the Arctic, season, and ice characteristics. Assimilation methods are investigated and blending and optimal interpolation strategies are implemented. Blending assimilation improves error statistics slightly, but the effect of the assimilation is reduced due to noise in the SSM/I motions and is thus not an effective method to improve ice motion estimates. However, optimal interpolation assimilation reduces motion errors by 25--30% over modeled motions and 40--45% over SSM/I motions. Optimal interpolation assimilation is beneficial in all regions, seasons and ice conditions, and is particularly effective in regimes where modeled and SSM/I errors are high. Assimilation alters annual average motion fields. Modeled ice products of ice thickness, ice divergence, Fram Strait ice volume export, transport across the Arctic and interannual basin averages are also influenced by assimilated motions. Assimilation improves estimates of pollutant transport and corrects synoptic-scale errors in the motion fields caused by incorrect forcings or errors in model physics. The portability of the optimal interpolation assimilation method is demonstrated by implementing the strategy in an ice thickness distribution (ITD) model. This research presents an

  5. Controlled Folding, Motional, and Constitutional Dynamic Processes of Polyheterocyclic Molecular Strands.

    PubMed

    Barboiu, Mihail; Stadler, Adrian-Mihail; Lehn, Jean-Marie

    2016-03-18

    General design principles have been developed for the control of the structural features of polyheterocyclic strands and their effector-modulated shape changes. Induced defined molecular motions permit designed enforcement of helical as well as linear molecular shapes. The ability of such molecular strands to bind metal cations allows the generation of coiling/uncoiling processes between helically folded and extended linear states. Large molecular motions are produced on coordination of metal ions, which may be made reversible by competition with an ancillary complexing agent and fueled by sequential acid/base neutralization energy. The introduction of hydrazone units into the strands confers upon them constitutional dynamics, whereby interconversion between different strand compositions is achieved through component exchange. These features have relevance for nanomechanical devices. We present a morphological and functional analysis of such systems developed in our laboratories. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  6. The effect of lateral controls in producing motion of an airplane as computed from wind-tunnel data

    NASA Technical Reports Server (NTRS)

    Weick, F. E.; Jones, R. T.

    1976-01-01

    An analytical study of the lateral controllability of an airplane has been made in which both the static rolling and yawing moments supplied by the controls and the reactions due to the inherent stability of the airplane have been taken into account. A hypothetical average airplane, embodying the essential characteristics of both the wind tunnel models and the full size test airplanes, was assumed for the study. Computations made of forced rolling and yawing motions of an F-22 airplane caused by a sudden deflection of the ailerons were found to agree well with actual measurements of these motions. The conditions following instantaneous full deflections of the lateral control have been studied, and some attention has been devoted to the controlling of complete turn maneuvers.

  7. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation-Vision-Based Control for Precise Reaching Motion of Upper Limb.

    PubMed

    Oguntosin, Victoria W; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J; Kawamura, Sadao; Hayashi, Yoshikatsu

    2017-01-01

    We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments.

  8. Design and Validation of Exoskeleton Actuated by Soft Modules toward Neurorehabilitation—Vision-Based Control for Precise Reaching Motion of Upper Limb

    PubMed Central

    Oguntosin, Victoria W.; Mori, Yoshiki; Kim, Hyejong; Nasuto, Slawomir J.; Kawamura, Sadao; Hayashi, Yoshikatsu

    2017-01-01

    We demonstrated the design, production, and functional properties of the Exoskeleton Actuated by the Soft Modules (EAsoftM). Integrating the 3D printed exoskeleton with passive joints to compensate gravity and with active joints to rotate the shoulder and elbow joints resulted in ultra-light system that could assist planar reaching motion by using the vision-based control law. The EAsoftM can support the reaching motion with compliance realized by the soft materials and pneumatic actuation. In addition, the vision-based control law has been proposed for the precise control over the target reaching motion within the millimeter scale. Aiming at rehabilitation exercise for individuals, typically soft actuators have been developed for relatively small motions, such as grasping motion, and one of the challenges has been to extend their use for a wider range reaching motion. The proposed EAsoftM presented one possible solution for this challenge by transmitting the torque effectively along the anatomically aligned with a human body exoskeleton. The proposed integrated systems will be an ideal solution for neurorehabilitation where affordable, wearable, and portable systems are required to be customized for individuals with specific motor impairments. PMID:28736514

  9. Control of self-motion in dynamic fluids: fish do it differently from bees.

    PubMed

    Scholtyssek, Christine; Dacke, Marie; Kröger, Ronald; Baird, Emily

    2014-05-01

    To detect and avoid collisions, animals need to perceive and control the distance and the speed with which they are moving relative to obstacles. This is especially challenging for swimming and flying animals that must control movement in a dynamic fluid without reference from physical contact to the ground. Flying animals primarily rely on optic flow to control flight speed and distance to obstacles. Here, we investigate whether swimming animals use similar strategies for self-motion control to flying animals by directly comparing the trajectories of zebrafish (Danio rerio) and bumblebees (Bombus terrestris) moving through the same experimental tunnel. While moving through the tunnel, black and white patterns produced (i) strong horizontal optic flow cues on both walls, (ii) weak horizontal optic flow cues on both walls and (iii) strong optic flow cues on one wall and weak optic flow cues on the other. We find that the mean speed of zebrafish does not depend on the amount of optic flow perceived from the walls. We further show that zebrafish, unlike bumblebees, move closer to the wall that provides the strongest visual feedback. This unexpected preference for strong optic flow cues may reflect an adaptation for self-motion control in water or in environments where visibility is limited. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

  10. 77 FR 32623 - City of Denton; Notice of Application Accepted for Filing, Soliciting Comments, Motions To...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-06-01

    ... Project facilities to provide an improved low-flow release system for the City's water treatment plant. l... ``COMMENTS'', ``PROTEST'', or ``MOTION TO INTERVENE'' as applicable; (2) set forth in the heading the name of... protests must set forth their evidentiary [[Page 32624

  11. Chemistry in motion: tiny synthetic motors.

    PubMed

    Colberg, Peter H; Reigh, Shang Yik; Robertson, Bryan; Kapral, Raymond

    2014-12-16

    CONSPECTUS: Diffusion is the principal transport mechanism that controls the motion of solute molecules and other species in solution; however, the random walk process that underlies diffusion is slow and often nonspecific. Although diffusion is an essential mechanism for transport in the biological realm, biological systems have devised more efficient transport mechanisms using molecular motors. Most biological motors utilize some form of chemical energy derived from their surroundings to induce conformational changes in order to carry out specific functions. These small molecular motors operate in the presence of strong thermal fluctuations and in the regime of low Reynolds numbers, where viscous forces dominate inertial forces. Thus, their dynamical behavior is fundamentally different from that of macroscopic motors, and different mechanisms are responsible for the production of useful mechanical motion. There is no reason why our interest should be confined to the small motors that occur naturally in biological systems. Recently, micron and nanoscale motors that use chemical energy to produce directed motion by a number of different mechanisms have been made in the laboratory. These small synthetic motors also experience strong thermal fluctuations and operate in regimes where viscous forces dominate. Potentially, these motors could be directed to perform different transport tasks, analogous to those of biological motors, for both in vivo and in vitro applications. Although some synthetic motors execute conformational changes to effect motion, the majority do not, and, instead, they use other mechanisms to convert chemical energy into directed motion. In this Account, we describe how synthetic motors that operate by self-diffusiophoresis make use of a self-generated concentration gradient to drive motor motion. A description of propulsion by self-diffusiophoresis is presented for Janus particle motors comprising catalytic and noncatalytic faces. The properties

  12. Mitigating Motion Base Safety Issues: The NASA LaRC CMF Implementation

    NASA Technical Reports Server (NTRS)

    Bryant, Richard B., Jr.; Grupton, Lawrence E.; Martinez, Debbie; Carrelli, David J.

    2005-01-01

    The NASA Langley Research Center (LaRC), Cockpit Motion Facility (CMF) motion base design has taken advantage of inherent hydraulic characteristics to implement safety features using hardware solutions only. Motion system safety has always been a concern and its implementation is addressed differently by each organization. Some approaches rely heavily on software safety features. Software which performs safety functions is subject to more scrutiny making its approval, modification, and development time consuming and expensive. The NASA LaRC's CMF motion system is used for research and, as such, requires that the software be updated or modified frequently. The CMF's customers need the ability to update the simulation software frequently without the associated cost incurred with safety critical software. This paper describes the CMF engineering team's approach to achieving motion base safety by designing and implementing all safety features in hardware, resulting in applications software (including motion cueing and actuator dynamic control) being completely independent of the safety devices. This allows the CMF safety systems to remain intact and unaffected by frequent research system modifications.

  13. The numerical assessment of motion strategies for integrated linear motor during starting of a free-piston engine generator

    NASA Astrophysics Data System (ADS)

    Razali Hanipah, M.; Razul Razali, Akhtar

    2017-10-01

    Free-piston engine generator (FPEG) provides a novel method for electrical power generation in hybrid electric vehicle applications with scarcely reported prototype development and testing. This paper is looking into the motion control strategy for motoring the FPEG during starting. There are two motion profiles investigated namely, trapezoidal velocity and Scurve velocity. Both motion profiles were investigated numerically and the results have shown that the S-curve motion can only achieve 80% of the stroke when operated at the proposed motoring speed of 10Hz.

  14. Piloted Evaluation of the H-Mode, a Variable Autonomy Control System, in Motion-Based Simulation

    NASA Technical Reports Server (NTRS)

    Goodrich, Kenneth H.; Schutte, Paul C.; Williams, Ralph A.

    2008-01-01

    As aircraft become able to autonomously respond to a range of situations with performance surpassing human operators, we are compelled to look for new methods that help understand their use and guide the design of new, more effective forms of automation and interaction. The "H-mode" is one such method and is based on the metaphor of a well-trained horse. The concept allows the pilot to manage a broad range of control automation functionality, from augmented manual control to FMS-like coupling and automation initiated actions, using a common interface system and easily learned set of interaction skills. The interface leverages familiar manual control interfaces (e.g., the control stick) and flight displays through the addition of contextually dependent haptic-multimodal elements. The concept is relevant to manned and remotely piloted vehicles. This paper provides an overview of the H-mode concept followed by a presentation of the results from a recent evaluation conducted in a motion-based simulator. The evaluation focused on assessing the overall usability and flying qualities of the concept with an emphasis on the effects of turbulence and cockpit motion. Because the H-mode results in interactions between traditional flying qualities and management of higher-level flight path automation, these effects are of particular interest. The results indicate that the concept may provide a useful complement or replacement to conventional interfaces, and retains the usefulness in the presence of turbulence and motion.

  15. Neuroanatomical correlates of biological motion detection.

    PubMed

    Gilaie-Dotan, Sharon; Kanai, Ryota; Bahrami, Bahador; Rees, Geraint; Saygin, Ayse P

    2013-02-01

    Biological motion detection is both commonplace and important, but there is great inter-individual variability in this ability, the neural basis of which is currently unknown. Here we examined whether the behavioral variability in biological motion detection is reflected in brain anatomy. Perceptual thresholds for detection of biological motion and control conditions (non-biological object motion detection and motion coherence) were determined in a group of healthy human adults (n=31) together with structural magnetic resonance images of the brain. Voxel based morphometry analyzes revealed that gray matter volumes of left posterior superior temporal sulcus (pSTS) and left ventral premotor cortex (vPMC) significantly predicted individual differences in biological motion detection, but showed no significant relationship with performance on the control tasks. Our study reveals a neural basis associated with the inter-individual variability in biological motion detection, reliably linking the neuroanatomical structure of left pSTS and vPMC with biological motion detection performance. Copyright © 2012 Elsevier Ltd. All rights reserved.

  16. Gesture-controlled interfaces for self-service machines and other applications

    NASA Technical Reports Server (NTRS)

    Cohen, Charles J. (Inventor); Jacobus, Charles J. (Inventor); Paul, George (Inventor); Beach, Glenn (Inventor); Foulk, Gene (Inventor); Obermark, Jay (Inventor); Cavell, Brook (Inventor)

    2004-01-01

    A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.

  17. The Motion and Control of a Chaplygin Sleigh with Internal Shape in an Ideal Fluid

    NASA Astrophysics Data System (ADS)

    Barot, Christopher

    In this dissertation we will examine a nonholonomic system with Lie group symmetry: the Chaplygin sleigh coupled to an oscillator moving through a potential fluid in two dimensions. This example is chosen to illustrate several general features. The sleigh system in the plane has SE(2) symmetry. This group symmetry will be used to separate the dynamics of the system into those along the group directions and those not. The oscillator motion is not along the group and so acts as an additional configuration space coordinate that plays the role of internal "shape". The potential fluid serves as an interactive environment for the sleigh. The interaction between the fluid and sleigh depends not only on the sleigh body shape and size but also on its motion. The motion of the sleigh causes motion in the surrounding fluid and vice-versa. Since the sleigh body is coupled to the oscillator, the oscillator will have indirect interaction with the fluid. This oscillator serves as internal shape and interacts with the external environment of the sleigh through its coupling to the sleigh body and the nonholonomic constraint; it will be shown that this interaction can produce a variety of types of motion depending on the sleigh geometry. In particular, when the internal shape of the system is actively controlled, it will be proven that the sleigh can be steered through the plane towards any desired position. In this way the sleigh-fluid-oscillator system will demonstrate how a rigid body can be steered through an interactive environment by controlling things wholly within the body itself and without use of external thrust.

  18. Stirling engine power control and motion conversion mechanism

    DOEpatents

    Marks, David T.

    1983-01-01

    A motion conversion device for converting between the reciprocating motion of the pistons in a Stirling engine and the rotating motion of its output shaft, and for changing the stroke and phase of the pistons, includes a lever pivoted at one end and having a cam follower at the other end. The piston rod engages the lever intermediate its ends and the cam follower engages a cam keyed to the output shaft. The lever pivot can be moved to change the length of the moment arm defined between the cam follower and the piston rod the change the piston stroke and force exerted on the cam, and the levers can be moved in opposite directions to change the phase between pistons.

  19. Imparting Motion to a Test Object Such as a Motor Vehicle in a Controlled Fashion

    NASA Technical Reports Server (NTRS)

    Southward, Stephen C. (Inventor); Reubush, Chandler (Inventor); Pittman, Bryan (Inventor); Roehrig, Kurt (Inventor); Gerard, Doug (Inventor)

    2014-01-01

    An apparatus imparts motion to a test object such as a motor vehicle in a controlled fashion. A base has mounted on it a linear electromagnetic motor having a first end and a second end, the first end being connected to the base. A pneumatic cylinder and piston combination have a first end and a second end, the first end connected to the base so that the pneumatic cylinder and piston combination is generally parallel with the linear electromagnetic motor. The second ends of the linear electromagnetic motor and pneumatic cylinder and piston combination being commonly linked to a mount for the test object. A control system for the linear electromagnetic motor and pneumatic cylinder and piston combination drives the pneumatic cylinder and piston combination to support a substantial static load of the test object and the linear electromagnetic motor to impart controlled motion to the test object.

  20. Leap Motion Gesture Control With Carestream Software in the Operating Room to Control Imaging: Installation Guide and Discussion.

    PubMed

    Pauchot, Julien; Di Tommaso, Laetitia; Lounis, Ahmed; Benassarou, Mourad; Mathieu, Pierre; Bernot, Dominique; Aubry, Sébastien

    2015-12-01

    Nowadays, routine cross-sectional imaging viewing during a surgical procedure requires physical contact with an interface (mouse or touch-sensitive screen). Such contact risks exposure to aseptic conditions and causes loss of time. Devices such as the recently introduced Leap Motion (Leap Motion Society, San Francisco, CA), which enables interaction with the computer without any physical contact, are of wide interest in the field of surgery, but configuration and ergonomics are key challenges for the practitioner, imaging software, and surgical environment. This article aims to suggest an easy configuration of Leap Motion on a PC for optimized use with Carestream Vue PACS v11.3.4 (Carestream Health, Inc, Rochester, NY) using a plug-in (to download at https://drive.google.com/open?id=0B_F4eBeBQc3yNENvTXlnY09qS00&authuser=0) and a video tutorial (https://www.youtube.com/watch?v=yVPTgxg-SIk). Videos of surgical procedure and discussion about innovative gesture control technology and its various configurations are provided in this article. © The Author(s) 2015.

  1. Computer Controlled Optical Surfacing With Orbital Tool Motion

    NASA Astrophysics Data System (ADS)

    Jones, Robert A.

    1985-10-01

    Asymmetric aspheric optical surfaces are very difficult to fabricate using classical techniques and laps the same size as the workpiece. Opticians can produce such surfaces by grinding and polishing, using small laps with orbital tool motion. However, hand correction is a time consuming process unsuitable for large optical elements. Itek has developed Computer Controlled Optical Surfacing (CCOS) for fabricating such aspheric optics. Automated equipment moves a nonrotating orbiting tool slowly over the workpiece surface. The process corrects low frequency surface errors by figuring. The velocity of the tool assembly over the workpiece surface is purposely varied. Since the amount of material removal is proportional to the polishing or grinding time, accurate control over material removal is achieved. The removal of middle and high frequency surface errors is accomplished by pad smoothing. For a soft pad material, the pad will compress to fit the workpiece surface producing greater pressure and more removal at the surface high areas. A harder pad will ride on only the high regions resulting in removal only for those locations.

  2. A head motion estimation algorithm for motion artifact correction in dental CT imaging

    NASA Astrophysics Data System (ADS)

    Hernandez, Daniel; Elsayed Eldib, Mohamed; Hegazy, Mohamed A. A.; Hye Cho, Myung; Cho, Min Hyoung; Lee, Soo Yeol

    2018-03-01

    A small head motion of the patient can compromise the image quality in a dental CT, in which a slow cone-beam scan is adopted. We introduce a retrospective head motion estimation method by which we can estimate the motion waveform from the projection images without employing any external motion monitoring devices. We compute the cross-correlation between every two successive projection images, which results in a sinusoid-like displacement curve over the projection view when there is no patient motion. However, the displacement curve deviates from the sinusoid-like form when patient motion occurs. We develop a method to estimate the motion waveform with a single parameter derived from the displacement curve with aid of image entropy minimization. To verify the motion estimation method, we use a lab-built micro-CT that can emulate major head motions during dental CT scans, such as tilting and nodding, in a controlled way. We find that the estimated motion waveform conforms well to the actual motion waveform. To further verify the motion estimation method, we correct the motion artifacts with the estimated motion waveform. After motion artifact correction, the corrected images look almost identical to the reference images, with structural similarity index values greater than 0.81 in the phantom and rat imaging studies.

  3. Generalized compliant motion primitive

    NASA Technical Reports Server (NTRS)

    Backes, Paul G. (Inventor)

    1994-01-01

    This invention relates to a general primitive for controlling a telerobot with a set of input parameters. The primitive includes a trajectory generator; a teleoperation sensor; a joint limit generator; a force setpoint generator; a dither function generator, which produces telerobot motion inputs in a common coordinate frame for simultaneous combination in sensor summers. Virtual return spring motion input is provided by a restoration spring subsystem. The novel features of this invention include use of a single general motion primitive at a remote site to permit the shared and supervisory control of the robot manipulator to perform tasks via a remotely transferred input parameter set.

  4. Survey of Motion Tracking Methods Based on Inertial Sensors: A Focus on Upper Limb Human Motion

    PubMed Central

    Filippeschi, Alessandro; Schmitz, Norbert; Miezal, Markus; Bleser, Gabriele; Ruffaldi, Emanuele; Stricker, Didier

    2017-01-01

    Motion tracking based on commercial inertial measurements units (IMUs) has been widely studied in the latter years as it is a cost-effective enabling technology for those applications in which motion tracking based on optical technologies is unsuitable. This measurement method has a high impact in human performance assessment and human-robot interaction. IMU motion tracking systems are indeed self-contained and wearable, allowing for long-lasting tracking of the user motion in situated environments. After a survey on IMU-based human tracking, five techniques for motion reconstruction were selected and compared to reconstruct a human arm motion. IMU based estimation was matched against motion tracking based on the Vicon marker-based motion tracking system considered as ground truth. Results show that all but one of the selected models perform similarly (about 35 mm average position estimation error). PMID:28587178

  5. Controlled motion of domain walls in submicron amorphous wires

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

    Ţibu, Mihai; Lostun, Mihaela; Rotărescu, Cristian

    Results on the control of the domain wall displacement in cylindrical Fe{sub 77.5}Si{sub 7.5}B{sub 15} amorphous glass-coated submicron wires prepared by rapid quenching from the melt are reported. The control methods have relied on conical notches with various depths, up to a few tens of nm, made in the glass coating and in the metallic nucleus using a focused ion beam (FIB) system, and on the use of small nucleation coils at one of the sample ends in order to apply magnetic field pulses aimed to enhance the nucleation of reverse domains. The notch-based method is used for the firstmore » time in the case of cylindrical ultrathin wires. The results show that the most efficient technique of controlling the domain wall motion in this type of samples is the simultaneous use of notches and nucleation coils. Their effect depends on wire diameter, notch depth, its position on the wire length, and characteristics of the applied pulse.« less

  6. 12 CFR 747.23 - Motions.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 12 Banks and Banking 6 2011-01-01 2011-01-01 false Motions. 747.23 Section 747.23 Banks and Banking NATIONAL CREDIT UNION ADMINISTRATION REGULATIONS AFFECTING CREDIT UNIONS ADMINISTRATIVE ACTIONS... Procedure § 747.23 Motions. (a) In writing. (1) Except as otherwise provided herein, an application or...

  7. 12 CFR 747.23 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 12 Banks and Banking 6 2010-01-01 2010-01-01 false Motions. 747.23 Section 747.23 Banks and Banking NATIONAL CREDIT UNION ADMINISTRATION REGULATIONS AFFECTING CREDIT UNIONS ADMINISTRATIVE ACTIONS... Procedure § 747.23 Motions. (a) In writing. (1) Except as otherwise provided herein, an application or...

  8. Dual Sticky Hierarchical Dirichlet Process Hidden Markov Model and Its Application to Natural Language Description of Motions.

    PubMed

    Hu, Weiming; Tian, Guodong; Kang, Yongxin; Yuan, Chunfeng; Maybank, Stephen

    2017-09-25

    In this paper, a new nonparametric Bayesian model called the dual sticky hierarchical Dirichlet process hidden Markov model (HDP-HMM) is proposed for mining activities from a collection of time series data such as trajectories. All the time series data are clustered. Each cluster of time series data, corresponding to a motion pattern, is modeled by an HMM. Our model postulates a set of HMMs that share a common set of states (topics in an analogy with topic models for document processing), but have unique transition distributions. For the application to motion trajectory modeling, topics correspond to motion activities. The learnt topics are clustered into atomic activities which are assigned predicates. We propose a Bayesian inference method to decompose a given trajectory into a sequence of atomic activities. On combining the learnt sources and sinks, semantic motion regions, and the learnt sequence of atomic activities, the action represented by the trajectory can be described in natural language in as automatic a way as possible. The effectiveness of our dual sticky HDP-HMM is validated on several trajectory datasets. The effectiveness of the natural language descriptions for motions is demonstrated on the vehicle trajectories extracted from a traffic scene.

  9. A law of iterated logarithm for the subfractional Brownian motion and an application.

    PubMed

    Qi, Hongsheng; Yan, Litan

    2018-01-01

    Let [Formula: see text] be a sub-fractional Brownian motion with Hurst index [Formula: see text]. In this paper, we give a local law of the iterated logarithm of the form [Formula: see text] almost surely, for all [Formula: see text], where [Formula: see text] for [Formula: see text]. As an application, we introduce the [Formula: see text]-variation of [Formula: see text] driven by [Formula: see text] [Formula: see text] with [Formula: see text].

  10. Mobile Motion Capture--MiMiC.

    PubMed

    Harbert, Simeon D; Jaiswal, Tushar; Harley, Linda R; Vaughn, Tyler W; Baranak, Andrew S

    2013-01-01

    The low cost, simple, robust, mobile, and easy to use Mobile Motion Capture (MiMiC) system is presented and the constraints which guided the design of MiMiC are discussed. The MiMiC Android application allows motion data to be captured from kinematic modules such as Shimmer 2r sensors over Bluetooth. MiMiC is cost effective and can be used for an entire day in a person's daily routine without being intrusive. MiMiC is a flexible motion capture system which can be used for many applications including fall detection, detection of fatigue in industry workers, and analysis of individuals' work patterns in various environments.

  11. Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters

    PubMed Central

    Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

    2016-01-01

    Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers. PMID:27618046

  12. Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters.

    PubMed

    Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

    2016-09-07

    Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers.

  13. Assessment of Relationships Between Joint Motion Quality and Postural Control in Patients With Chronic Ankle Joint Instability.

    PubMed

    Bączkowicz, Dawid; Falkowski, Krzysztof; Majorczyk, Edyta

    2017-08-01

    Study Design Controlled laboratory study, cross-sectional. Background Lateral ankle sprains are among the most common injuries encountered during athletic participation. Following the initial injury, there is an alarmingly high risk of reinjury and development of chronic ankle instability (CAI), which is dependent on a combination of factors, including sensorimotor deficits and changes in the biomechanical environment of the ankle joint. Objective To evaluate CAI-related disturbances in arthrokinematic motion quality and postural control and the relationships between them. Methods Sixty-three male subjects (31 with CAI and 32 healthy controls) were enrolled in the study. For arthrokinematic motion quality analysis, the vibroarthrographic signals were collected during ankle flexion/extension motion using an acceleration sensor and described by variability (variance of mean squares [VMS]), amplitude (mean of 4 maximal and 4 minimal values [R4]), and frequency (vibroarthrographic signal bands of 50 to 250 Hz [P1] and 250 to 450 Hz [P2]) parameters. Using the Biodex Balance System, single-leg dynamic balance was measured by overall, anteroposterior, and mediolateral stability indices. Results Values of vibroarthrographic parameters (VMS, R4, P1 and P2) were significantly higher in the CAI group than those in the control group (P<.01). Similar results were obtained for all postural control parameters (overall, anteroposterior, and mediolateral stability indices; P<.05). Moreover, correlations between the overall stability index and VMS, and P1 and P2, as well as between the anteroposterior stability index and P1 and P2, were observed in the CAI patient group, but not in controls. Conclusion In patients with CAI, deficits in both quality of ankle arthrokinematic motion and postural control were present. Therefore, physical therapy interventions focused on improving ankle neuromuscular control and arthrokinematic function are necessary in CAI patient care. J Orthop Sports

  14. Real-time stylistic prediction for whole-body human motions.

    PubMed

    Matsubara, Takamitsu; Hyon, Sang-Ho; Morimoto, Jun

    2012-01-01

    The ability to predict human motion is crucial in several contexts such as human tracking by computer vision and the synthesis of human-like computer graphics. Previous work has focused on off-line processes with well-segmented data; however, many applications such as robotics require real-time control with efficient computation. In this paper, we propose a novel approach called real-time stylistic prediction for whole-body human motions to satisfy these requirements. This approach uses a novel generative model to represent a whole-body human motion including rhythmic motion (e.g., walking) and discrete motion (e.g., jumping). The generative model is composed of a low-dimensional state (phase) dynamics and a two-factor observation model, allowing it to capture the diversity of motion styles in humans. A real-time adaptation algorithm was derived to estimate both state variables and style parameter of the model from non-stationary unlabeled sequential observations. Moreover, with a simple modification, the algorithm allows real-time adaptation even from incomplete (partial) observations. Based on the estimated state and style, a future motion sequence can be accurately predicted. In our implementation, it takes less than 15 ms for both adaptation and prediction at each observation. Our real-time stylistic prediction was evaluated for human walking, running, and jumping behaviors. Copyright © 2011 Elsevier Ltd. All rights reserved.

  15. Motion Control and Optical Interrogation of a Levitating Single Nitrogen Vacancy in Vacuum.

    PubMed

    Conangla, Gerard P; Schell, Andreas W; Rica, Raúl A; Quidant, Romain

    2018-05-24

    Levitation optomechanics exploits the unique mechanical properties of trapped nano-objects in vacuum to address some of the limitations of clamped nanomechanical resonators. In particular, its performance is foreseen to contribute to a better understanding of quantum decoherence at the mesoscopic scale as well as to lead to novel ultrasensitive sensing schemes. While most efforts have focused so far on the optical trapping of low-absorption silica particles, further opportunities arise from levitating objects with internal degrees of freedom, such as color centers. Nevertheless, inefficient heat dissipation at low pressures poses a challenge because most nano-objects, even with low-absorption materials, experience photodamage in an optical trap. Here, by using a Paul trap, we demonstrate levitation in vacuum and center-of-mass feedback cooling of a nanodiamond hosting a single nitrogen-vacancy center. The achieved level of motion control enables us to optically interrogate and characterize the emitter response. The developed platform is applicable to a wide range of other nano-objects and represents a promising step toward coupling internal and external degrees of freedom.

  16. MOCAD: A Tool for Graphical and Interactive Calculation and Optimization of Cam Mechanisms and Motion Control Systems

    NASA Astrophysics Data System (ADS)

    Heine, A.; Berger, M.

    The classical meaning of motion design is the usage of laws of motion with convenient characteristic values. Whereas the software MOCAD supports a graphical and interactive mode of operation, among others by using an automatic polynomial interpolation. Besides a direct coupling for motion control systems, different file formats for data export are offered. The calculation of plane and spatial cam mechanisms is also based on the data, generated in the motion design module. Drawing on an example of an intermittent cam mechanism with an inside cam profile used as a new drive concept for indexing tables, the influence of motion design on the transmission properties is shown. Another example gives an insight into the calculation and export of envelope curves for cylindrical cam mechanisms. The gained geometry data can be used for generating realistic 3D-models in the CAD-system Pro/ENGINEER, using a special data exchange format.

  17. Attraction of posture and motion-trajectory elements of conspecific biological motion in medaka fish.

    PubMed

    Shibai, Atsushi; Arimoto, Tsunehiro; Yoshinaga, Tsukasa; Tsuchizawa, Yuta; Khureltulga, Dashdavaa; Brown, Zuben P; Kakizuka, Taishi; Hosoda, Kazufumi

    2018-06-05

    Visual recognition of conspecifics is necessary for a wide range of social behaviours in many animals. Medaka (Japanese rice fish), a commonly used model organism, are known to be attracted by the biological motion of conspecifics. However, biological motion is a composite of both body-shape motion and entire-field motion trajectory (i.e., posture or motion-trajectory elements, respectively), and it has not been revealed which element mediates the attractiveness. Here, we show that either posture or motion-trajectory elements alone can attract medaka. We decomposed biological motion of the medaka into the two elements and synthesized visual stimuli that contain both, either, or none of the two elements. We found that medaka were attracted by visual stimuli that contain at least one of the two elements. In the context of other known static visual information regarding the medaka, the potential multiplicity of information regarding conspecific recognition has further accumulated. Our strategy of decomposing biological motion into these partial elements is applicable to other animals, and further studies using this technique will enhance the basic understanding of visual recognition of conspecifics.

  18. Adaptive motion artifact reducing algorithm for wrist photoplethysmography application

    NASA Astrophysics Data System (ADS)

    Zhao, Jingwei; Wang, Guijin; Shi, Chenbo

    2016-04-01

    Photoplethysmography (PPG) technology is widely used in wearable heart pulse rate monitoring. It might reveal the potential risks of heart condition and cardiopulmonary function by detecting the cardiac rhythms in physical exercise. However the quality of wrist photoelectric signal is very sensitive to motion artifact since the thicker tissues and the fewer amount of capillaries. Therefore, motion artifact is the major factor that impede the heart rate measurement in the high intensity exercising. One accelerometer and three channels of light with different wavelengths are used in this research to analyze the coupled form of motion artifact. A novel approach is proposed to separate the pulse signal from motion artifact by exploiting their mixing ratio in different optical paths. There are four major steps of our method: preprocessing, motion artifact estimation, adaptive filtering and heart rate calculation. Five healthy young men are participated in the experiment. The speeder in the treadmill is configured as 12km/h, and all subjects would run for 3-10 minutes by swinging the arms naturally. The final result is compared with chest strap. The average of mean square error (MSE) is less than 3 beats per minute (BPM/min). Proposed method performed well in intense physical exercise and shows the great robustness to individuals with different running style and posture.

  19. A Learning Support System Regarding Motion Trigger for Repetitive Motion Having an Operating Instrument

    ERIC Educational Resources Information Center

    Toyooka, Hiroshi; Matsuura, Kenji; Gotoda, Naka

    2016-01-01

    In the learning support for repetitive motions having an operating instrument, it is necessary for learners to control not only their own body motions but also an instrument corresponding to the body. This study focuses on the repetitive motion learning using single operation instrument without the movement in space; i.e. jump-rope and hula-hoop.…

  20. 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

  1. 42 CFR 3.528 - Motions.

    Code of Federal Regulations, 2010 CFR

    2010-10-01

    ... 42 Public Health 1 2010-10-01 2010-10-01 false Motions. 3.528 Section 3.528 Public Health PUBLIC HEALTH SERVICE, DEPARTMENT OF HEALTH AND HUMAN SERVICES GENERAL PROVISIONS PATIENT SAFETY ORGANIZATIONS AND PATIENT SAFETY WORK PRODUCT Enforcement Program § 3.528 Motions. (a) An application to the ALJ for...

  2. Technical Note: Kinect V2 surface filtering during gantry motion for radiotherapy applications.

    PubMed

    Nazir, Souha; Rihana, Sandy; Visvikis, Dimitris; Fayad, Hadi

    2018-04-01

    In radiotherapy, the Kinect V2 camera, has recently received a lot of attention concerning many clinical applications including patient positioning, respiratory motion tracking, and collision detection during the radiotherapy delivery phase. However, issues associated with such applications are related to some materials and surfaces reflections generating an offset in depth measurements especially during gantry motion. This phenomenon appears in particular when the collimator surface is observed by the camera; resulting in erroneous depth measurements, not only in Kinect surfaces itself, but also as a large peak when extracting a 1D respiratory signal from these data. In this paper, we proposed filtering techniques to reduce the noise effect in the Kinect-based 1D respiratory signal, using a trend removal filter, and in associated 2D surfaces, using a temporal median filter. Filtering process was validated using a phantom, in order to simulate a patient undergoing radiotherapy treatment while having the ground truth. Our results indicate a better correlation between the reference respiratory signal and its corresponding filtered signal (Correlation coefficient of 0.76) than that of the nonfiltered signal (Correlation coefficient of 0.13). Furthermore, surface filtering results show a decrease in the mean square distance error (85%) between the reference and the measured point clouds. This work shows a significant noise compensation and surface restitution after surface filtering and therefore a potential use of the Kinect V2 camera for different radiotherapy-based applications, such as respiratory tracking and collision detection. © 2018 American Association of Physicists in Medicine.

  3. Application of modified profile analysis to function testing of the motion/no-motion issue in an aircraft ground-handling simulation. [statistical analysis procedure for man machine systems flight simulation

    NASA Technical Reports Server (NTRS)

    Parrish, R. V.; Mckissick, B. T.; Steinmetz, G. G.

    1979-01-01

    A recent modification of the methodology of profile analysis, which allows the testing for differences between two functions as a whole with a single test, rather than point by point with multiple tests is discussed. The modification is applied to the examination of the issue of motion/no motion conditions as shown by the lateral deviation curve as a function of engine cut speed of a piloted 737-100 simulator. The results of this application are presented along with those of more conventional statistical test procedures on the same simulator data.

  4. 10 CFR 2.1325 - Motions and requests.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 10 Energy 1 2010-01-01 2010-01-01 false Motions and requests. 2.1325 Section 2.1325 Energy NUCLEAR REGULATORY COMMISSION RULES OF PRACTICE FOR DOMESTIC LICENSING PROCEEDINGS AND ISSUANCE OF ORDERS Procedures for Hearings on License Transfer Applications § 2.1325 Motions and requests. (a) Motions and requests...

  5. 10 CFR 2.1325 - Motions and requests.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 10 Energy 1 2011-01-01 2011-01-01 false Motions and requests. 2.1325 Section 2.1325 Energy NUCLEAR REGULATORY COMMISSION RULES OF PRACTICE FOR DOMESTIC LICENSING PROCEEDINGS AND ISSUANCE OF ORDERS Procedures for Hearings on License Transfer Applications § 2.1325 Motions and requests. (a) Motions and requests...

  6. A computational model for reference-frame synthesis with applications to motion perception.

    PubMed

    Clarke, Aaron M; Öğmen, Haluk; Herzog, Michael H

    2016-09-01

    As discovered by the Gestaltists, in particular by Duncker, we often perceive motion to be within a non-retinotopic reference frame. For example, the motion of a reflector on a bicycle appears to be circular, whereas, it traces out a cycloidal path with respect to external world coordinates. The reflector motion appears to be circular because the human brain subtracts the horizontal motion of the bicycle from the reflector motion. The bicycle serves as a reference frame for the reflector motion. Here, we present a general mathematical framework, based on vector fields, to explain non-retinotopic motion processing. Using four types of non-retinotopic motion paradigms, we show how the theory works in detail. For example, we show how non-retinotopic motion in the Ternus-Pikler display can be computed. Copyright © 2015 Elsevier Ltd. All rights reserved.

  7. Clinical feasibility of interactive motion-controlled games for stroke rehabilitation.

    PubMed

    Bower, Kelly J; Louie, Julie; Landesrocha, Yoseph; Seedy, Paul; Gorelik, Alexandra; Bernhardt, Julie

    2015-08-02

    Active gaming technologies, including the Nintendo Wii and Xbox Kinect, have become increasingly popular for use in stroke rehabilitation. However, these systems are not specifically designed for this purpose and have limitations. The aim of this study was to investigate the feasibility of using a suite of motion-controlled games in individuals with stroke undergoing rehabilitation. Four games, which utilised a depth-sensing camera (PrimeSense), were developed and tested. The games could be played in a seated or standing position. Three games were controlled by movement of the torso and one by upper limb movement. Phase 1 involved consecutive recruitment of 40 individuals with stroke who were able to sit unsupported. Participants were randomly assigned to trial one game during a single session. Sixteen individuals from Phase 1 were recruited to Phase 2. These participants were randomly assigned to an intervention or control group. Intervention participants performed an additional eight sessions over four weeks using all four game activities. Feasibility was assessed by examining recruitment, adherence, acceptability and safety in both phases of the study. Forty individuals (mean age 63 years) completed Phase 1, with an average session time of 34 min. The majority of Phase 1 participants reported the session to be enjoyable (93 %), helpful (80 %) and something they would like to include in their therapy (88 %). Sixteen individuals (mean age 61 years) took part in Phase 2, with an average of seven 26-min sessions over four weeks. Reported acceptability was high for the intervention group and improvements over time were seen in several functional outcome measures. There were no serious adverse safety events reported in either phase of the study; however, a number of participants reported minor increases in pain. A post-stroke intervention using interactive motion-controlled games shows promise as a feasible and potentially effective treatment approach. This paper

  8. In vivo quantification of motion in liver parenchyma and its application in shistosomiasis tissue characterization

    NASA Astrophysics Data System (ADS)

    Badawi, Ahmed M.; Hashem, Ahmed M.; Youssef, Abou-Bakr M.; Abdel-Wahab, Mohamed F.

    1995-03-01

    Schistosomiasis is a major problem in Egypt, despite an active control program it is estimated to exist in about 1/3 of the population. Deposition of less functioning fibrous tissues in the liver is the major contributory factor to the hepatic pathology. Fibrous tissues consist of a complex array of connective matrix material and a variety of collagen isotopes. As a result of an increased stromal density (collagen content), the parenchyma became more ectogenic and less elastic (hard). In this study we investigated the effect of cardiac mechanical impulses from the heart and aorta on the kinetics of the liver parenchyma. Under conditions of controlled patient movements and suspended respiration, a 30 frame per second of 588 X 512 ultrasound images (cineloop, 32 pels per cm) are captured from an aTL ultrasound machine then digitized. The image acquisition is triggered by the R wave of the ECG of the patient. The motion that has a forced oscillation form in the liver parenchyma is quantified by tracking of small box (20 - 30 pels) in 16 directions for all the successive 30 frames. The tracking was done using block matching techniques (the max correlation between boxes in time, frequency domains, and the minimum SAD (sum absolute difference) between boxes). The motion is quantified for many regions at different positions within the liver parenchyma for 80 cases of variable degrees of schisto., cirrhotic livers, and for normal livers. The velocity of the tissue is calculated from the displacement (quantified motion), time between frames, and the scan time for the ultrasound scanner. We found that the motion in liver parenchyma is small in the order of very few millimeters, and the attenuation of the mechanical wave for one ECG cycle is higher in the schisto. and cirrhotic livers than in the normal ones. Finally quantification of motion in liver parenchyma due to cardiac impulses under controlled limb movement and respiration may be of value in the characterization of

  9. Muscle Motion Solenoid Actuator

    NASA Astrophysics Data System (ADS)

    Obata, Shuji

    It is one of our dreams to mechanically recover the lost body for damaged humans. Realistic humanoid robots composed of such machines require muscle motion actuators controlled by all pulling actions. Particularly, antagonistic pairs of bi-articular muscles are very important in animal's motions. A system of actuators is proposed using the electromagnetic force of the solenoids with the abilities of the stroke length over 10 cm and the strength about 20 N, which are needed to move the real human arm. The devised actuators are based on developments of recent modern electro-magnetic materials, where old time materials can not give such possibility. Composite actuators are controlled by a high ability computer and software making genuine motions.

  10. Intelligent complementary sliding-mode control for LUSMS-based X-Y-theta motion control stage.

    PubMed

    Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai; Liu, Yen-Hung

    2010-07-01

    An intelligent complementary sliding-mode control (ICSMC) system using a recurrent wavelet-based Elman neural network (RWENN) estimator is proposed in this study to control the mover position of a linear ultrasonic motors (LUSMs)-based X-Y-theta motion control stage for the tracking of various contours. By the addition of a complementary generalized error transformation, the complementary sliding-mode control (CSMC) can efficiently reduce the guaranteed ultimate bound of the tracking error by half compared with the slidingmode control (SMC) while using the saturation function. To estimate a lumped uncertainty on-line and replace the hitting control of the CSMC directly, the RWENN estimator is adopted in the proposed ICSMC system. In the RWENN, each hidden neuron employs a different wavelet function as an activation function to improve both the convergent precision and the convergent time compared with the conventional Elman neural network (ENN). The estimation laws of the RWENN are derived using the Lyapunov stability theorem to train the network parameters on-line. A robust compensator is also proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher-order terms in Taylor series. Finally, some experimental results of various contours tracking show that the tracking performance of the ICSMC system is significantly improved compared with the SMC and CSMC systems.

  11. High-precision register error control using active-motion-based roller in roll-to-roll gravure printing

    NASA Astrophysics Data System (ADS)

    Jung, Hoeryong; Nguyen, Ho Anh Duc; Choi, Jaeho; Yim, Hongsik; Shin, Kee-Hyun

    2018-05-01

    The roll-to-roll (R2R) gravure printing method is increasingly being utilized to fabricate electronic devices such as organic thin-film transistor (OTFT), radio-frequency identification (RFID) tags, and flexible PCB owing to its characteristics of high throughput and large area. High precision registration is crucial to satisfy the demand for device miniaturization, the improvement of resolution and accuracy. This paper presents a novel register control method that uses an active motion-based roller (AMBR) to reduce register error in R2R gravure printing. Instead of shifting the phase of the downstream printing roller, which leads to undesired tension disturbance, the 1 degree-of-freedom (1-DOF) mechanical device AMBR is used to compensate for web elongation by controlling its motion according to the register error. The performance of the proposed control method is verified through simulations and experiments, and the results show that the proposed register control method using the AMBR could maintain a register error under ±15 µm.

  12. 78 FR 6314 - Monadnock Paper Mills, Inc.; Notice of Application Accepted for Filing, Soliciting Motions To...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-01-30

    ... Mills, Inc.; Notice of Application Accepted for Filing, Soliciting Motions To Intervene and Protests... Mills, Inc. e. Name of Project: Monadnock Hydroelectric Project. f. Location: The existing project is..., Monadnock Paper Mills, Inc.; Antrim Road, P.O. Box 339, Bennington, NH 03442; (603) 588-3311 or [email protected

  13. 76 FR 34690 - Placer County Water Agency; Notice of Application Accepted for Filing, Soliciting Motions To...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-06-14

    ... Water Agency; Notice of Application Accepted for Filing, Soliciting Motions To Intervene and Protests... Water Agency. e. Name of Project: Middle Fork American River Project. f. Location: The Middle Fork....S. Department of Agriculture-- Forest Service. g. Filed Pursuant to: Federal Power Act 16 U.S.C. 791...

  14. A Digital Motion Control System for Large Telescopes

    NASA Astrophysics Data System (ADS)

    Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.

    2001-05-01

    We have designed and programmed a digital motion control system for large telescopes, in particular, the 6-meter antennas of the Submillimeter Array on Mauna Kea. The system consists of a single robust, high-reliability microcontroller board which implements a two-axis velocity servo while monitoring and responding to critical safety parameters. Excellent tracking performance has been achieved with this system (0.3 arcsecond RMS at sidereal rate). The 24x24 centimeter four-layer printed circuit board contains a multitude of hardware devices: 40 digital inputs (for limit switches and fault indicators), 32 digital outputs (to enable/disable motor amplifiers and brakes), a quad 22-bit ADC (to read the motor tachometers), four 16-bit DACs (that provide torque signals to the motor amplifiers), a 32-LED status panel, a serial port to the LynxOS PowerPC antenna computer (RS422/460kbps), a serial port to the Palm Vx handpaddle (RS232/115kbps), and serial links to the low-resolution absolute encoders on the azimuth and elevation axes. Each section of the board employs independent ground planes and power supplies, with optical isolation on all I/O channels. The processor is an Intel 80C196KC 16-bit microcontroller running at 20MHz on an 8-bit bus. This processor executes an interrupt-driven, scheduler-based software system written in C and assembled into an EPROM with user-accessible variables stored in NVSRAM. Under normal operation, velocity update requests arrive at 100Hz from the position-loop servo process running independently on the antenna computer. A variety of telescope safety checks are performed at 279Hz including routine servicing of a 6 millisecond watchdog timer. Additional ADCs onboard the microcontroller monitor the winding temperature and current in the brushless three-phase drive motors. The PID servo gains can be dynamically changed in software. Calibration factors and software filters can be applied to the tachometer readings prior to the application of

  15. 29 CFR 18.6 - Motions and requests.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... ADMINISTRATIVE LAW JUDGES General § 18.6 Motions and requests. (a) Generally. Any application for an order or any... a motion is served, or within such other period as the administrative law judge may fix, any party...) Oral arguments or briefs. No oral argument will be heard on motions unless the administrative law judge...

  16. Manipulating motions of targeted single cells in solution by an integrated double-ring magnetic tweezers imaging microscope.

    PubMed

    Wu, Meiling; Yadav, Rajeev; Pal, Nibedita; Lu, H Peter

    2017-07-01

    Controlling and manipulating living cell motions in solution hold a high promise in developing new biotechnology and biological science. Here, we developed a magnetic tweezers device that employs a combination of two permanent magnets in up-down double-ring configuration axially fitting with a microscopic objective, allowing a picoNewton (pN) bidirectional force and motion control on the sample beyond a single upward pulling direction. The experimental force calibration and magnetic field simulation using finite element method magnetics demonstrate that the designed magnetic tweezers covers a linear-combined pN force with positive-negative polarization changes in a tenability of sub-pN scale, which can be utilized to further achieve motion manipulation by shifting the force balance. We demonstrate an application of the up-down double-ring magnetic tweezers for single cell manipulation, showing that the cells with internalized paramagnetic beads can be selectively picked up and guided in a controlled fine motion.

  17. Manipulating motions of targeted single cells in solution by an integrated double-ring magnetic tweezers imaging microscope

    NASA Astrophysics Data System (ADS)

    Wu, Meiling; Yadav, Rajeev; Pal, Nibedita; Lu, H. Peter

    2017-07-01

    Controlling and manipulating living cell motions in solution hold a high promise in developing new biotechnology and biological science. Here, we developed a magnetic tweezers device that employs a combination of two permanent magnets in up-down double-ring configuration axially fitting with a microscopic objective, allowing a picoNewton (pN) bidirectional force and motion control on the sample beyond a single upward pulling direction. The experimental force calibration and magnetic field simulation using finite element method magnetics demonstrate that the designed magnetic tweezers covers a linear-combined pN force with positive-negative polarization changes in a tenability of sub-pN scale, which can be utilized to further achieve motion manipulation by shifting the force balance. We demonstrate an application of the up-down double-ring magnetic tweezers for single cell manipulation, showing that the cells with internalized paramagnetic beads can be selectively picked up and guided in a controlled fine motion.

  18. Stochastic receding horizon control: application to an octopedal robot

    NASA Astrophysics Data System (ADS)

    Shah, Shridhar K.; Tanner, Herbert G.

    2013-06-01

    Miniature autonomous systems are being developed under ARL's Micro Autonomous Systems and Technology (MAST). These systems can only be fitted with a small-size processor, and their motion behavior is inherently uncertain due to manufacturing and platform-ground interactions. One way to capture this uncertainty is through a stochastic model. This paper deals with stochastic motion control design and implementation for MAST- specific eight-legged miniature crawling robots, which have been kinematically modeled as systems exhibiting the behavior of a Dubin's car with stochastic noise. The control design takes the form of stochastic receding horizon control, and is implemented on a Gumstix Overo Fire COM with 720 MHz processor and 512 MB RAM, weighing 5.5 g. The experimental results show the effectiveness of this control law for miniature autonomous systems perturbed by stochastic noise.

  19. Attitude motion of a non-attitude-controlled cylindrical satellite

    NASA Technical Reports Server (NTRS)

    Wilkinson, C. K.

    1988-01-01

    In 1985, two non-attitude-controlled satellites were each placed in a low earth orbit by the Scout Launch Vehicle. The satellites were cylindrical in shape and contained reservoirs of hydrazine fuel. Three-axis magnetometer measurements, telemetered in real time, were used to derive the attitude motion of each satellite. Algorithms are generated to deduce possible orientations (and magnitudes) of each vehicle's angular momentum for each telemetry contact. To resolve ambiguities at each contact, a force model was derived to simulate the significant long-term effects of magnetic, gravity gradient, and aerodynamic torques on the angular momentum of the vehicles. The histories of the orientation and magnitude of the angular momentum are illustrated.

  20. Discriminative analysis of lip motion features for speaker identification and speech-reading.

    PubMed

    Cetingül, H Ertan; Yemez, Yücel; Erzin, Engin; Tekalp, A Murat

    2006-10-01

    There have been several studies that jointly use audio, lip intensity, and lip geometry information for speaker identification and speech-reading applications. This paper proposes using explicit lip motion information, instead of or in addition to lip intensity and/or geometry information, for speaker identification and speech-reading within a unified feature selection and discrimination analysis framework, and addresses two important issues: 1) Is using explicit lip motion information useful, and, 2) if so, what are the best lip motion features for these two applications? The best lip motion features for speaker identification are considered to be those that result in the highest discrimination of individual speakers in a population, whereas for speech-reading, the best features are those providing the highest phoneme/word/phrase recognition rate. Several lip motion feature candidates have been considered including dense motion features within a bounding box about the lip, lip contour motion features, and combination of these with lip shape features. Furthermore, a novel two-stage, spatial, and temporal discrimination analysis is introduced to select the best lip motion features for speaker identification and speech-reading applications. Experimental results using an hidden-Markov-model-based recognition system indicate that using explicit lip motion information provides additional performance gains in both applications, and lip motion features prove more valuable in the case of speech-reading application.

  1. Trunk motion visual feedback during walking improves dynamic balance in older adults: Assessor blinded randomized controlled trial.

    PubMed

    Anson, Eric; Ma, Lei; Meetam, Tippawan; Thompson, Elizabeth; Rathore, Roshita; Dean, Victoria; Jeka, John

    2018-05-01

    Virtual reality and augmented feedback have become more prevalent as training methods to improve balance. Few reports exist on the benefits of providing trunk motion visual feedback (VFB) during treadmill walking, and most of those reports only describe within session changes. To determine whether trunk motion VFB treadmill walking would improve over-ground balance for older adults with self-reported balance problems. 40 adults (75.8 years (SD 6.5)) with self-reported balance difficulties or a history of falling were randomized to a control or experimental group. Everyone walked on a treadmill at a comfortable speed 3×/week for 4 weeks in 2 min bouts separated by a seated rest. The control group was instructed to look at a stationary bulls-eye target while the experimental group also saw a moving cursor superimposed on the stationary bulls-eye that represented VFB of their walking trunk motion. The experimental group was instructed to keep the cursor in the center of the bulls-eye. Somatosensory (monofilaments and joint position testing) and vestibular function (canal specific clinical head impulses) was evaluated prior to intervention. Balance and mobility were tested before and after the intervention using Berg Balance Test, BESTest, mini-BESTest, and Six Minute Walk. There were no significant differences between groups before the intervention. The experimental group significantly improved on the BESTest (p = 0.031) and the mini-BEST (p = 0.019). The control group did not improve significantly on any measure. Individuals with more profound sensory impairments had a larger improvement on dynamic balance subtests of the BESTest. Older adults with self-reported balance problems improve their dynamic balance after training using trunk motion VFB treadmill walking. Individuals with worse sensory function may benefit more from trunk motion VFB during walking than individuals with intact sensory function. Copyright © 2018 Elsevier B.V. All rights reserved.

  2. Motion correction in MRI of the brain

    PubMed Central

    Godenschweger, F; Kägebein, U; Stucht, D; Yarach, U; Sciarra, A; Yakupov, R; Lüsebrink, F; Schulze, P; Speck, O

    2016-01-01

    Subject motion in MRI is a relevant problem in the daily clinical routine as well as in scientific studies. Since the beginning of clinical use of MRI, many research groups have developed methods to suppress or correct motion artefacts. This review focuses on rigid body motion correction of head and brain MRI and its application in diagnosis and research. It explains the sources and types of motion and related artefacts, classifies and describes existing techniques for motion detection, compensation and correction and lists established and experimental approaches. Retrospective motion correction modifies the MR image data during the reconstruction, while prospective motion correction performs an adaptive update of the data acquisition. Differences, benefits and drawbacks of different motion correction methods are discussed. PMID:26864183

  3. Motion correction in MRI of the brain

    NASA Astrophysics Data System (ADS)

    Godenschweger, F.; Kägebein, U.; Stucht, D.; Yarach, U.; Sciarra, A.; Yakupov, R.; Lüsebrink, F.; Schulze, P.; Speck, O.

    2016-03-01

    Subject motion in MRI is a relevant problem in the daily clinical routine as well as in scientific studies. Since the beginning of clinical use of MRI, many research groups have developed methods to suppress or correct motion artefacts. This review focuses on rigid body motion correction of head and brain MRI and its application in diagnosis and research. It explains the sources and types of motion and related artefacts, classifies and describes existing techniques for motion detection, compensation and correction and lists established and experimental approaches. Retrospective motion correction modifies the MR image data during the reconstruction, while prospective motion correction performs an adaptive update of the data acquisition. Differences, benefits and drawbacks of different motion correction methods are discussed.

  4. A Diffusion Approximation Based on Renewal Processes with Applications to Strongly Biased Run-Tumble Motion.

    PubMed

    Thygesen, Uffe Høgsbro

    2016-03-01

    We consider organisms which use a renewal strategy such as run-tumble when moving in space, for example to perform chemotaxis in chemical gradients. We derive a diffusion approximation for the motion, applying a central limit theorem due to Anscombe for renewal-reward processes; this theorem has not previously been applied in this context. Our results extend previous work, which has established the mean drift but not the diffusivity. For a classical model of tumble rates applied to chemotaxis, we find that the resulting chemotactic drift saturates to the swimming velocity of the organism when the chemical gradients grow increasingly steep. The dispersal becomes anisotropic in steep gradients, with larger dispersal across the gradient than along the gradient. In contrast to one-dimensional settings, strong bias increases dispersal. We next include Brownian rotation in the model and find that, in limit of high chemotactic sensitivity, the chemotactic drift is 64% of the swimming velocity, independent of the magnitude of the Brownian rotation. We finally derive characteristic timescales of the motion that can be used to assess whether the diffusion limit is justified in a given situation. The proposed technique for obtaining diffusion approximations is conceptually and computationally simple, and applicable also when statistics of the motion is obtained empirically or through Monte Carlo simulation of the motion.

  5. Free-Surface and Contact Line Motion of Liquid in Microgravity

    NASA Technical Reports Server (NTRS)

    Schwartz, Leonard W.

    1996-01-01

    This project involves fundamental studies of the role of nonlinearity in determining the motion of liquid masses under the principal influences of surface tension, viscosity and inertia. Issues to be explored are relevant to aspects of terrestrial processes, as well as being immediately applicable to fluid management in a low-gravity environment. Specific issues include: (1) the mechanic's of liquid masses in large-amplitude motions, (2) the influence of bounding surfaces on the motion, and (3) the ability of such surfaces to control liquid motion by wetting forces, especially when they are augmented by various surface treatments. Mathematical techniques include asymptotic analysis of the governing equations, for problem simplification, and numerical simulation, using both boundary-element and finite-difference methods. The flow problem is divided into an 'outer' or inviscid potential-flow region and one or more inner, or viscous dominated, regions. Relevant to one inner region, the vicinity of the contact line, we discuss time-dependent simulation of slow droplet motion, on a surface of variable wettability, using the lubrication approximation. The simulation uses a disjoining pressure model and reproduces realistic wetting-dewetting behavior.

  6. Development of an assist controller with robot suit HAL for hemiplegic patients using motion data on the unaffected side.

    PubMed

    Kawamoto, Hiroaki; Kandone, Hideki; Sakurai, Takeru; Ariyasu, Ryohei; Ueno, Yukiko; Eguchi, Kiyoshi; Sankai, Yoshiyuki

    2014-01-01

    Among several characteristics seen in gait of hemiplegic patients after stroke, symmetry is known to be an indicator of the degree of impairment of walking ability. This paper proposes a control method for a wearable type lower limb motion assist robot to realize spontaneous symmetric gait for these individuals. This control method stores the motion of the unaffected limb during swing and then provides motion support on the affected limb during the subsequent swing using the stored pattern to realize symmetric gait based on spontaneous limb swing. This method is implemented on the robot suit HAL (Hybrid Assistive Limbs). Clinical tests were conducted in order to assess the feasibility of the control method. Our case study involved participation of one chronic stroke patient who was not able to flex his right knee. As a result, the walking support for hemiplegic leg provided by the HAL improved the subject's gait symmetry. The feasibility study showed promising basis for the future clinical study.

  7. Dynamics and control of orbiting flexible systems: A formulation with applications

    NASA Astrophysics Data System (ADS)

    Ng, Chun-Ki Alfred

    1992-06-01

    A relatively general formulation for studying the nonlinear dynamics and control of spacecraft with interconnected flexible members in a tree-type topology is developed. The distinctive features of the formulation include the following: (1) It is applicable to a large class of present and future spacecraft with flexible beam and plate type appendages, arbitrary in number and orientation. (2) The members are free to undergo predefined slewing maneuvers to facilitate modelling of sun tracking solar panels and large angle maneuvers of space based robots. (3) Solar radiation induced thermal deformations of flexible members are incorporated in the study. (4) The governing equations of motion are highly nonlinear, nonautonomous and coupled. They are programmed in a modular fashion to help isolate the effects of flexibility, librational motion, thermal deformations, slewing maneuvers, shifting center of mass, higher modes, initial conditions, etc. The first chapter of the thesis presents a general background to the subject and a brief review of the relevant literature on multibody dynamics. This is followed by the kinematics and kinetics of the problem leading to the Lagrangian equations of motion. The third chapter focuses on methodology and development of the computer code suitable for parametric dynamical study and control. Next versatility of the general formulation is illustrated through the analysis of five spacecraft configurations of contemporary interest the next generation of multi-purpose communications spacecraft represented by the INdian SATellite II (IN-SAT II): the First Element Launch (FEL) and the Permanently Manned Configuration (PMC) of the proposed Space Station Freedom; the Mobile Servicing System (MSS) to be developed by Canada for operation on the Space Station; and the Space Flyer Unit (SFU) to be launched by Japan in mid-nineties. In the FEL study, the attention is directed towards interactions between the librational and vibrational dynamics

  8. Application of the integral manifold method to the analysis of the spatial motion of a rigid body fixed to a cable

    NASA Astrophysics Data System (ADS)

    Zabolotnov, Yu. M.

    2016-07-01

    We analyze the spatial motion of a rigid body fixed to a cable about its center of mass when the orbital cable system is unrolling. The analysis is based on the integral manifold method, which permits separating the rigid body motion into the slow and fast components. The motion of the rigid body is studied in the case of slow variations in the cable tension force and under the action of various disturbances.We estimate the influence of the static and dynamic asymmetry of the rigid body on its spatial motion about the cable fixation point. An example of the analysis of the rigid body motion when the orbital cable system is unrolling is given for a special program of variations in the cable tension force. The conditions of applicability of the integral manifold method are analyzed.

  9. Application of parameter estimation to aircraft stability and control: The output-error approach

    NASA Technical Reports Server (NTRS)

    Maine, Richard E.; Iliff, Kenneth W.

    1986-01-01

    The practical application of parameter estimation methodology to the problem of estimating aircraft stability and control derivatives from flight test data is examined. The primary purpose of the document is to present a comprehensive and unified picture of the entire parameter estimation process and its integration into a flight test program. The document concentrates on the output-error method to provide a focus for detailed examination and to allow us to give specific examples of situations that have arisen. The document first derives the aircraft equations of motion in a form suitable for application to estimation of stability and control derivatives. It then discusses the issues that arise in adapting the equations to the limitations of analysis programs, using a specific program for an example. The roles and issues relating to mass distribution data, preflight predictions, maneuver design, flight scheduling, instrumentation sensors, data acquisition systems, and data processing are then addressed. Finally, the document discusses evaluation and the use of the analysis results.

  10. A study on the measurement of wrist motion range using the iPhone 4 gyroscope application.

    PubMed

    Kim, Tae Seob; Park, David Dae Hwan; Lee, Young Bae; Han, Dong Gil; Shim, Jeong Su; Lee, Young Jig; Kim, Peter Chan Woo

    2014-08-01

    Measuring the range of motion (ROM) of the wrist is an important physical examination conducted in the Department of Hand Surgery for the purpose of evaluation, diagnosis, prognosis, and treatment of patients. The most common method for performing this task is by using a universal goniometer. This study was performed using 52 healthy participants to compare wrist ROM measurement using a universal goniometer and the iPhone 4 Gyroscope application. Participants did not have previous wrist illnesses and their measured values for wrist motion were compared in each direction. Normal values for wrist ROM are 73 degrees of flexion, 71 degrees of extension, 19 degrees of radial deviation, 33 degrees of ulnar deviation, 140 degrees of supination, and 60 degrees of pronation.The average measurement values obtained using the goniometer were 74.2 (5.1) degrees for flexion, 71.1 (4.9) degrees for extension, 19.7 (3.0) degrees for radial deviation, 34.0 (3.7) degrees for ulnar deviation, 140.8 (5.6) degrees for supination, and 61.1 (4.7) degrees for pronation. The average measurement values obtained using the iPhone 4 Gyroscope application were 73.7 (5.5) degrees for flexion, 70.8 (5.1) degrees for extension, 19.5 (3.0) degrees for radial deviation, 33.7 (3.9) degrees for ulnar deviation, 140.4 (5.7) degrees for supination, and 60.8 (4.9) degrees for pronation. The differences between the measurement values by the Gyroscope application and average value were 0.7 degrees for flexion, -0.2 degrees for extension, 0.5 degrees for radial deviation, 0.7 degrees for ulnar deviation, 0.4 degrees for supination, and 0.8 degrees for pronation. The differences in average value were not statistically significant. The authors introduced a new method of measuring the range of wrist motion using the iPhone 4 Gyroscope application that is simpler to use and can be performed by the patient outside a clinical setting.

  11. Relative roughness controls on incipient sediment motion in steep channels

    NASA Astrophysics Data System (ADS)

    Prancevic, J.; Lamb, M. P.; Fuller, B. M.

    2012-12-01

    For over eight decades, researchers have noted an appreciable increase in the nondimensional shear stress (Shields number) at initiation of fluvial bedload transport with increasing bed slope. The precise cause of the trend, however, is obscured by the covariance of several factors with increased slope: a greater downstream component of the gravity acting on the grains and fluid, changes in bed morphology, increased grainsize relative to the channel width that may lead to grain bridging, and increased grainsize relative to flow depth (relative roughness) that may change flow hydraulics and particle buoyancy. Here, we report on ongoing laboratory experiments spanning a wide range of bed slopes (2% to 67%) designed to isolate these variables and determine the true cause of heightened critical Shields numbers on steep slopes. First, we eliminated bed morphology as a factor by using only planar beds. To investigate the effect of grain bridging, we used two different channel widths, representing width-to-grainsize ratios of 23:1 and 9:1. Finally, to separate the effects of slope from relative roughness, we compared incipient motion conditions for acrylic particles (submerged specific gravity of 0.15) to natural siliciclastic gravel (submerged specific gravity of 1.65). Different particle densities allowed us to explore incipient motion as a function of relative roughness, independent of channel slope, because lighter particles move at shallower flow depths than heavier ones of the same size. Results show that both materials exhibit a positive trend between bed slope and critical Shields number despite the existence of planar beds for all slopes. Furthermore, changing the grainsize-to-width ratio had a negligible effect on this trend. For all slopes, the critical Shields number for bedload transport was higher for the acrylic particles than for gravel, indicating that relative roughness has a strong control on incipient sediment motion independent of channel slope. These

  12. Control of motion stability of the line tracer robot using fuzzy logic and kalman filter

    NASA Astrophysics Data System (ADS)

    Novelan, M. S.; Tulus; Zamzami, E. M.

    2018-03-01

    Setting of motion and balance line tracer robot two wheels is actually a combination of a two-wheeled robot balance concept and the concept of line follower robot. The main objective of this research is to maintain the robot in an upright and can move to follow the line of the Wizard while maintaining balance. In this study the motion balance system on line tracer robot by considering the presence of a noise, so that it takes the estimator is used to mengestimasi the line tracer robot motion. The estimation is done by the method of Kalman Filter and the combination of Fuzzy logic-Fuzzy Kalman Filter called Kalman Filter, as well as optimal smooting. Based on the results of the study, the value of the output of the fuzzy results obtained from the sensor input value has been filtered before entering the calculation of the fuzzy. The results of the output of the fuzzy logic hasn’t been able to control dc motors are well balanced at the moment to be able to run. The results of the fuzzy logic by using membership function of triangular membership function or yet can control with good dc motor movement in order to be balanced

  13. 29 CFR 18.6 - Motions and requests.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 29 Labor 1 2011-07-01 2011-07-01 false Motions and requests. 18.6 Section 18.6 Labor Office of the... ADMINISTRATIVE LAW JUDGES General § 18.6 Motions and requests. (a) Generally. Any application for an order or any other request shall be made by motion which, unless made during a hearing or trial, shall be made in...

  14. A recursive approach to the equations of motion for the maneuvering and control of flexible multi-body systems

    NASA Technical Reports Server (NTRS)

    Kwak, Moon K.; Meirovitch, Leonard

    1991-01-01

    Interest lies in a mathematical formulation capable of accommodating the problem of maneuvering a space structure consisting of a chain of articulated flexible substructures. Simultaneously, any perturbations from the 'rigid body' maneuvering and any elastic vibration must be suppressed. The equations of motion for flexible bodies undergoing rigid body motions and elastic vibrations can be obtained conveniently by means of Lagrange's equations in terms of quasi-coordinates. The advantage of this approach is that it yields equations in terms of body axes, which are the same axes that are used to express the control forces and torques. The equations of motion are nonlinear hybrid differential quations. The partial differential equations can be discretized (in space) by means of the finite element method or the classical Rayleigh-Ritz method. The result is a set of nonlinear ordinary differential equations of high order. The nonlinearity can be traced to the rigid body motions and the high order to the elastic vibration. Elastic motions tend to be small when compared with rigid body motions.

  15. Comparison study on disturbance estimation techniques in precise slow motion control

    NASA Astrophysics Data System (ADS)

    Fan, S.; Nagamune, R.; Altintas, Y.; Fan, D.; Zhang, Z.

    2010-08-01

    Precise low speed motion control is important for the industrial applications of both micro-milling machine tool feed drives and electro-optical tracking servo systems. It calls for precise position and instantaneous velocity measurement and disturbance, which involves direct drive motor force ripple, guide way friction and cutting force etc., estimation. This paper presents a comparison study on dynamic response and noise rejection performance of three existing disturbance estimation techniques, including the time-delayed estimators, the state augmented Kalman Filters and the conventional disturbance observers. The design technique essentials of these three disturbance estimators are introduced. For designing time-delayed estimators, it is proposed to substitute Kalman Filter for Luenberger state observer to improve noise suppression performance. The results show that the noise rejection performances of the state augmented Kalman Filters and the time-delayed estimators are much better than the conventional disturbance observers. These two estimators can give not only the estimation of the disturbance but also the low noise level estimations of position and instantaneous velocity. The bandwidth of the state augmented Kalman Filters is wider than the time-delayed estimators. In addition, the state augmented Kalman Filters can give unbiased estimations of the slow varying disturbance and the instantaneous velocity, while the time-delayed estimators can not. The simulation and experiment conducted on X axis of a 2.5-axis prototype micro milling machine are provided.

  16. Constrained motion model of mobile robots and its applications.

    PubMed

    Zhang, Fei; Xi, Yugeng; Lin, Zongli; Chen, Weidong

    2009-06-01

    Target detecting and dynamic coverage are fundamental tasks in mobile robotics and represent two important features of mobile robots: mobility and perceptivity. This paper establishes the constrained motion model and sensor model of a mobile robot to represent these two features and defines the k -step reachable region to describe the states that the robot may reach. We show that the calculation of the k-step reachable region can be reduced from that of 2(k) reachable regions with the fixed motion styles to k + 1 such regions and provide an algorithm for its calculation. Based on the constrained motion model and the k -step reachable region, the problems associated with target detecting and dynamic coverage are formulated and solved. For target detecting, the k-step detectable region is used to describe the area that the robot may detect, and an algorithm for detecting a target and planning the optimal path is proposed. For dynamic coverage, the k-step detected region is used to represent the area that the robot has detected during its motion, and the dynamic-coverage strategy and algorithm are proposed. Simulation results demonstrate the efficiency of the coverage algorithm in both convex and concave environments.

  17. Motion-compensated cone beam computed tomography using a conjugate gradient least-squares algorithm and electrical impedance tomography imaging motion data.

    PubMed

    Pengpen, T; Soleimani, M

    2015-06-13

    Cone beam computed tomography (CBCT) is an imaging modality that has been used in image-guided radiation therapy (IGRT). For applications such as lung radiation therapy, CBCT images are greatly affected by the motion artefacts. This is mainly due to low temporal resolution of CBCT. Recently, a dual modality of electrical impedance tomography (EIT) and CBCT has been proposed, in which the high temporal resolution EIT imaging system provides motion data to a motion-compensated algebraic reconstruction technique (ART)-based CBCT reconstruction software. High computational time associated with ART and indeed other variations of ART make it less practical for real applications. This paper develops a motion-compensated conjugate gradient least-squares (CGLS) algorithm for CBCT. A motion-compensated CGLS offers several advantages over ART-based methods, including possibilities for explicit regularization, rapid convergence and parallel computations. This paper for the first time demonstrates motion-compensated CBCT reconstruction using CGLS and reconstruction results are shown in limited data CBCT considering only a quarter of the full dataset. The proposed algorithm is tested using simulated motion data in generic motion-compensated CBCT as well as measured EIT data in dual EIT-CBCT imaging. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

  18. A statistical model of catheter motion from interventional x-ray images: application to image-based gating

    NASA Astrophysics Data System (ADS)

    Panayiotou, M.; King, A. P.; Ma, Y.; Housden, R. J.; Rinaldi, C. A.; Gill, J.; Cooklin, M.; O'Neill, M.; Rhode, K. S.

    2013-11-01

    The motion and deformation of catheters that lie inside cardiac structures can provide valuable information about the motion of the heart. In this paper we describe the formation of a novel statistical model of the motion of a coronary sinus (CS) catheter based on principal component analysis of tracked electrode locations from standard mono-plane x-ray fluoroscopy images. We demonstrate the application of our model for the purposes of retrospective cardiac and respiratory gating of x-ray fluoroscopy images in normal dose x-ray fluoroscopy images, and demonstrate how a modification of the technique allows application to very low dose scenarios. We validated our method on ten mono-plane imaging sequences comprising a total of 610 frames from ten different patients undergoing radiofrequency ablation for the treatment of atrial fibrillation. For normal dose images we established systole, end-inspiration and end-expiration gating with success rates of 100%, 92.1% and 86.9%, respectively. For very low dose applications, the method was tested on the same ten mono-plane x-ray fluoroscopy sequences without noise and with added noise at signal to noise ratio (SNR) values of √50, √10, √8, √6, √5, √2 and √1 to simulate the image quality of increasingly lower dose x-ray images. The method was able to detect the CS catheter even in the lowest SNR images with median errors not exceeding 2.6 mm per electrode. Furthermore, gating success rates of 100%, 71.4% and 85.7% were achieved at the low SNR value of √2, representing a dose reduction of more than 25 times. Thus, the technique has the potential to extract useful information whilst substantially reducing the radiation exposure.

  19. Impaired visual recognition of biological motion in schizophrenia.

    PubMed

    Kim, Jejoong; Doop, Mikisha L; Blake, Randolph; Park, Sohee

    2005-09-15

    Motion perception deficits have been suggested to be an important feature of schizophrenia but the behavioral consequences of such deficits are unknown. Biological motion refers to the movements generated by living beings. The human visual system rapidly and effortlessly detects and extracts socially relevant information from biological motion. A deficit in biological motion perception may have significant consequences for detecting and interpreting social information. Schizophrenia patients and matched healthy controls were tested on two visual tasks: recognition of human activity portrayed in point-light animations (biological motion task) and a perceptual control task involving detection of a grouped figure against the background noise (global-form task). Both tasks required detection of a global form against background noise but only the biological motion task required the extraction of motion-related information. Schizophrenia patients performed as well as the controls in the global-form task, but were significantly impaired on the biological motion task. In addition, deficits in biological motion perception correlated with impaired social functioning as measured by the Zigler social competence scale [Zigler, E., Levine, J. (1981). Premorbid competence in schizophrenia: what is being measured? Journal of Consulting and Clinical Psychology, 49, 96-105.]. The deficit in biological motion processing, which may be related to the previously documented deficit in global motion processing, could contribute to abnormal social functioning in schizophrenia.

  20. MotionFlow: Visual Abstraction and Aggregation of Sequential Patterns in Human Motion Tracking Data.

    PubMed

    Jang, Sujin; Elmqvist, Niklas; Ramani, Karthik

    2016-01-01

    Pattern analysis of human motions, which is useful in many research areas, requires understanding and comparison of different styles of motion patterns. However, working with human motion tracking data to support such analysis poses great challenges. In this paper, we propose MotionFlow, a visual analytics system that provides an effective overview of various motion patterns based on an interactive flow visualization. This visualization formulates a motion sequence as transitions between static poses, and aggregates these sequences into a tree diagram to construct a set of motion patterns. The system also allows the users to directly reflect the context of data and their perception of pose similarities in generating representative pose states. We provide local and global controls over the partition-based clustering process. To support the users in organizing unstructured motion data into pattern groups, we designed a set of interactions that enables searching for similar motion sequences from the data, detailed exploration of data subsets, and creating and modifying the group of motion patterns. To evaluate the usability of MotionFlow, we conducted a user study with six researchers with expertise in gesture-based interaction design. They used MotionFlow to explore and organize unstructured motion tracking data. Results show that the researchers were able to easily learn how to use MotionFlow, and the system effectively supported their pattern analysis activities, including leveraging their perception and domain knowledge.

  1. Designing Dual-functionalized Gels for Self-reconfiguration and Autonomous Motion

    NASA Astrophysics Data System (ADS)

    Kuksenok, Olga; Balazs, Anna C.

    2015-04-01

    Human motion is enabled by the concerted expansion and contraction of interconnected muscles that are powered by inherent biochemical reactions. One of the challenges in the field of biomimicry is eliciting this form of motion from purely synthetic materials, which typically do not generate internalized reactions to drive mechanical action. Moreover, for practical applications, this bio-inspired motion must be readily controllable. Herein, we develop a computational model to design a new class of polymer gels where structural reconfigurations and internalized reactions are intimately linked to produce autonomous motion, which can be directed with light. These gels contain both spirobenzopyran (SP) chromophores and the ruthenium catalysts that drive the oscillatory Belousov-Zhabotinsky (BZ) reaction. Importantly, both the SP moieties and the BZ reaction are photosensitive. When these dual-functionalized gels are exposed to non-uniform illumination, the localized contraction of the gel (due to the SP moieties) in the presence of traveling chemical waves (due to the BZ reaction) leads to new forms of spontaneous, self-sustained movement, which cannot be achieved by either of the mono-functionalized networks.

  2. Possible influences on color constancy by motion of color targets and by attention-controlled gaze.

    PubMed

    Wan, Lifang; Shinomori, Keizo

    2018-04-01

    We investigated the influence of motion on color constancy using a chromatic stimulus presented in various conditions (static, motion, and rotation). Attention to the stimulus and background was also controlled in different gaze modes, constant fixation of the stimulus, and random viewing of the stimulus. Color constancy was examined in six young observers using a haploscopic view of a computer monitor. The target and background were illuminated in simulation by red, green, blue, and yellow, shifted from daylight (D65) by specific color differences along L - M or S - (L + M) axes on the equiluminance plane. The standard pattern (under D65) and test pattern (under the color illuminant) of a 5-deg square were presented side by side, consisting of 1.2-deg square targets with one of 12 colors at each center, surrounded by 230 background ellipses consisting of eight other colors. The central color targets in both patterns flipped between top and bottom locations at the rate of 3 deg/s in the motion condition. The results indicated an average reduction of color constancy over the 12 test colors by motion. The random viewing parameter indicated better color constancy by more attention to the background, although the difference was not significant. Color constancy of the four color illuminations was better to worse in green, red, yellow, and blue, respectively. The reduction of color constancy by motion could be explained by less contribution of the illumination estimation effect on color constancy. In the motion with constant fixation condition, the retina strongly adapted to the mean chromaticity of the background. However, motion resulted in less attention to the color of the background, causing a weaker effect of the illumination estimation. Conversely, in the static state with a random viewing condition, more attention to the background colors caused a stronger illumination estimation effect, and color constancy was improved overall.

  3. Reliability and concurrent validity of a Smartphone, bubble inclinometer and motion analysis system for measurement of hip joint range of motion.

    PubMed

    Charlton, Paula C; Mentiplay, Benjamin F; Pua, Yong-Hao; Clark, Ross A

    2015-05-01

    Traditional methods of assessing joint range of motion (ROM) involve specialized tools that may not be widely available to clinicians. This study assesses the reliability and validity of a custom Smartphone application for assessing hip joint range of motion. Intra-tester reliability with concurrent validity. Passive hip joint range of motion was recorded for seven different movements in 20 males on two separate occasions. Data from a Smartphone, bubble inclinometer and a three dimensional motion analysis (3DMA) system were collected simultaneously. Intraclass correlation coefficients (ICCs), coefficients of variation (CV) and standard error of measurement (SEM) were used to assess reliability. To assess validity of the Smartphone application and the bubble inclinometer against the three dimensional motion analysis system, intraclass correlation coefficients and fixed and proportional biases were used. The Smartphone demonstrated good to excellent reliability (ICCs>0.75) for four out of the seven movements, and moderate to good reliability for the remaining three movements (ICC=0.63-0.68). Additionally, the Smartphone application displayed comparable reliability to the bubble inclinometer. The Smartphone application displayed excellent validity when compared to the three dimensional motion analysis system for all movements (ICCs>0.88) except one, which displayed moderate to good validity (ICC=0.71). Smartphones are portable and widely available tools that are mostly reliable and valid for assessing passive hip range of motion, with potential for large-scale use when a bubble inclinometer is not available. However, caution must be taken in its implementation as some movement axes demonstrated only moderate reliability. Copyright © 2014 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

  4. Wireless control system for two-axis linear oscillating motion applying CBR technology

    NASA Astrophysics Data System (ADS)

    Kuzyakov, O. N.; Andreeva, M. A.

    2018-03-01

    The paper presents the aspects of elaborating a movement control system. The system is to implement determination of movement characteristics of the object controlled, which performs an oscillating linear motion in a two-axis direction. The system has an electronic-optical principle of action: light receivers are attached to a controlled object, and a laser light emitter is attached to a static construction. While the object performs movement along the construction, the light emitter signal is registered by light receivers, based on which determination of the object position and characteristic of its movement are performed. An algorithm of system implementation is elaborated. Signal processing is performed on the basis of the case-based reasoning method. The system is to be used in machine-building industry in controlling relative displacement of the dynamic object or its assembly.

  5. Control methods for aiding a pilot during STOL engine failure transients

    NASA Technical Reports Server (NTRS)

    Nelson, E. R.; Debra, D. B.

    1976-01-01

    Candidate autopilot control laws that control the engine failure transient sink rates by demonstrating the engineering application of modern state variable control theory were defined. The results of approximate modal analysis were compared to those derived from full state analyses provided from computer design solutions. The aircraft was described, and a state variable model of its longitudinal dynamic motion due to engine and control variations was defined. The classical fast and slow modes were assumed to be sufficiently different to define reduced order approximations of the aircraft motion amendable to hand analysis control definition methods. The original state equations of motion were also applied to a large scale state variable control design program, in particular OPTSYS. The resulting control laws were compared with respect to their relative responses, ease of application, and meeting the desired performance objectives.

  6. Control Strategies for Guided Collective Motion

    DTIC Science & Technology

    2015-01-30

    Control, Atlanta, GA, USA, December 2010, pp. 5468-5473. [19] C. Rorres and H. Anton , “ Elementary linear algebra applications version,” 9th Edition...work addresses and analyses deviated linear cyclic pursuit in which an Distribution Code A: Approved for public release, distribution is unlimited...Pursuit 6. D. Mukherjee and D. Ghose: Deviated Linear Cyclic Pursuit 7. D. Mukherjee and D. Ghose; On Synchronous and Asynchronous Heterogeneous Cyclic

  7. Robotic application of a dynamic resultant force vector using real-time load-control: simulation of an ideal follower load on Cadaveric L4-L5 segments.

    PubMed

    Bennett, Charles R; Kelly, Brian P

    2013-08-09

    Standard in-vitro spine testing methods have focused on application of isolated and/or constant load components while the in-vivo spine is subject to multiple components that can be resolved into resultant dynamic load vectors. To advance towards more in-vivo like simulations the objective of the current study was to develop a methodology to apply robotically-controlled, non-zero, real-time dynamic resultant forces during flexion-extension on human lumbar motion segment units (MSU) with initial application towards simulation of an ideal follower load (FL) force vector. A proportional-integral-derivative (PID) controller with custom algorithms coordinated the motion of a Cartesian serial manipulator comprised of six axes each capable of position- or load-control. Six lumbar MSUs (L4-L5) were tested with continuously increasing sagittal plane bending to 8 Nm while force components were dynamically programmed to deliver a resultant 400 N FL that remained normal to the moving midline of the intervertebral disc. Mean absolute load-control tracking errors between commanded and experimental loads were computed. Global spinal ranges of motion and sagittal plane inter-body translations were compared to previously published values for non-robotic applications. Mean TEs for zero-commanded force and moment axes were 0.7 ± 0.4N and 0.03 ± 0.02 Nm, respectively. For non-zero force axes mean TEs were 0.8 ± 0.8 N, 1.3 ± 1.6 Nm, and 1.3 ± 1.6N for Fx, Fz, and the resolved ideal follower load vector FL(R), respectively. Mean extension and flexion ranges of motion were 2.6° ± 1.2° and 5.0° ± 1.7°, respectively. Relative vertebral body translations and rotations were very comparable to data collected with non-robotic systems in the literature. The robotically coordinated Cartesian load controlled testing system demonstrated robust real-time load-control that permitted application of a real-time dynamic non-zero load vector during flexion-extension. For single MSU

  8. Squirming motion of baby skyrmions in nematic fluids.

    PubMed

    Ackerman, Paul J; Boyle, Timothy; Smalyukh, Ivan I

    2017-09-22

    Skyrmions are topologically protected continuous field configurations that cannot be smoothly transformed to a uniform state. They behave like particles and give origins to the field of skyrmionics that promises racetrack memory and other technological applications. Unraveling the non-equilibrium behavior of such topological solitons is a challenge. We realize skyrmions in a chiral liquid crystal and, using numerical modeling and polarized video microscopy, demonstrate electrically driven squirming motion. We reveal the intricate details of non-equilibrium topology-preserving textural changes driving this behavior. Direction of the skyrmion's motion is robustly controlled in a plane orthogonal to the applied field and can be reversed by varying frequency. Our findings may spur a paradigm of soliton dynamics in soft matter, with a rich interplay between topology, chirality, and orientational viscoelasticity.A skyrmion is a topological object originally introduced to model elementary particles and a baby skyrmion is its two-dimensional counterpart which can be realized as a defect in liquid crystals. Here the authors show that an electric field can drive uniform motion of baby skyrmions in liquid crystals.

  9. Representation of planar motion of complex joints by means of rolling pairs. Application to neck motion.

    PubMed

    Page, Alvaro; de Rosario, Helios; Gálvez, José A; Mata, Vicente

    2011-02-24

    We propose to model planar movements between two human segments by means of rolling-without-slipping kinematic pairs. We compute the path traced by the instantaneous center of rotation (ICR) as seen from the proximal and distal segments, thus obtaining the fixed and moving centrodes, respectively. The joint motion is then represented by the rolling-without-slipping of one centrode on the other. The resulting joint kinematic model is based on the real movement and accounts for nonfixed axes of rotation; therefore it could improve current models based on revolute pairs in those cases where joint movement implies displacement of the ICR. Previous authors have used the ICR to characterize human joint motion, but they only considered the fixed centrode. Such an approach is not adequate for reproducing motion because the fixed centrode by itself does not convey information about body position. The combination of the fixed and moving centrodes gathers the kinematic information needed to reproduce the position and velocities of moving bodies. To illustrate our method, we applied it to the flexion-extension movement of the head relative to the thorax. The model provides a good estimation of motion both for position variables (mean R(pos)=0.995) and for velocities (mean R(vel)=0.958). This approach is more realistic than other models of neck motion based on revolute pairs, such as the dual-pivot model. The geometry of the centrodes can provide some information about the nature of the movement. For instance, the ascending and descending curves of the fixed centrode suggest a sequential movement of the cervical vertebrae. Copyright © 2010 Elsevier Ltd. All rights reserved.

  10. Omni-Purpose Stretchable Strain Sensor Based on a Highly Dense Nanocracking Structure for Whole-Body Motion Monitoring.

    PubMed

    Jeon, Hyungkook; Hong, Seong Kyung; Kim, Min Seo; Cho, Seong J; Lim, Geunbae

    2017-12-06

    Here, we report an omni-purpose stretchable strain sensor (OPSS sensor) based on a nanocracking structure for monitoring whole-body motions including both joint-level and skin-level motions. By controlling and optimizing the nanocracking structure, inspired by the spider sensory system, the OPSS sensor is endowed with both high sensitivity (gauge factor ≈ 30) and a wide working range (strain up to 150%) under great linearity (R 2 = 0.9814) and fast response time (<30 ms). Furthermore, the fabrication process of the OPSS sensor has advantages of being extremely simple, patternable, integrated circuit-compatible, and reliable in terms of reproducibility. Using the OPSS sensor, we detected various human body motions including both moving of joints and subtle deforming of skin such as pulsation. As specific medical applications of the sensor, we also successfully developed a glove-type hand motion detector and a real-time Morse code communication system for patients with general paralysis. Therefore, considering the outstanding sensing performances, great advantages of the fabrication process, and successful results from a variety of practical applications, we believe that the OPSS sensor is a highly suitable strain sensor for whole-body motion monitoring and has potential for a wide range of applications, such as medical robotics and wearable healthcare devices.

  11. Bipolar electrochemistry: from materials science to motion and beyond.

    PubMed

    Loget, Gabriel; Zigah, Dodzi; Bouffier, Laurent; Sojic, Neso; Kuhn, Alexander

    2013-11-19

    Bipolar electrochemistry, a phenomenon which generates an asymmetric reactivity on the surface of conductive objects in a wireless manner, is an important concept for many purposes, from analysis to materials science as well as for the generation of motion. Chemists have known the basic concept for a long time, but it has recently attracted additional attention, especially in the context of micro- and nanoscience. In this Account, we introduce the fundamentals of bipolar electrochemistry and illustrate its recent applications, with a particular focus on the fields of materials science and dynamic systems. Janus particles, named after the Roman god depicted with two faces, are currently in the heart of many original investigations. These objects exhibit different physicochemical properties on two opposite sides. This makes them a unique class of materials, showing interesting features. They have received increasing attention from the materials science community, since they can be used for a large variety of applications, ranging from sensing to photosplitting of water. So far the great majority of methods developed for the generation of Janus particles breaks the symmetry by using interfaces or surfaces. The consequence is often a low time-space yield, which limits their large scale production. In this context, chemists have successfully used bipolar electrodeposition to break the symmetry. This provides a single-step technique for the bulk production of Janus particles with a high control over the deposit structure and morphology, as well as a significantly improved yield. In this context, researchers have used the bipolar electrodeposition of molecular layers, metals, semiconductors, and insulators at one or both reactive poles of bipolar electrodes to generate a wide range of Janus particles with different size, composition and shape. In using bipolar electrochemistry as a driving force for generating motion, its intrinsic asymmetric reactivity is again the

  12. 77 FR 43593 - Notice of Application for Transfer of License, and Soliciting Comments and Motions To Intervene...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-07-25

    ... Application for Transfer of License, and Soliciting Comments and Motions To Intervene; NorQuest Seafoods, Inc.; City of Chignik On June 21, 2012, NorQuest Seafoods, Inc. (transferor) and the City of Chignik...: Transferor: President, NorQuest Seafoods, Inc., c/o Trident Seafoods Corporation, Attention: Mr. Bob Nelson...

  13. Analysing harmonic motions with an iPhone’s magnetometer

    NASA Astrophysics Data System (ADS)

    Yavuz, Ahmet; Kağan Temiz, Burak

    2016-05-01

    In this paper, we propose an experiment for analysing harmonic motion using an iPhone’s (or iPad’s) magnetometer. This experiment consists of the detection of magnetic field variations obtained from an iPhone’s magnetometer sensor. A graph of harmonic motion is directly displayed on the iPhone’s screen using the Sensor Kinetics application. Data from this application was analysed with Eureqa software to establish the equation of the harmonic motion. Analyses show that the use of an iPhone’s magnetometer to analyse harmonic motion is a practical and effective method for small oscillations and frequencies less than 15-20 Hz.

  14. Motion correction options in PET/MRI.

    PubMed

    Catana, Ciprian

    2015-05-01

    Subject motion is unavoidable in clinical and research imaging studies. Breathing is the most important source of motion in whole-body PET and MRI studies, affecting not only thoracic organs but also those in the upper and even lower abdomen. The motion related to the pumping action of the heart is obviously relevant in high-resolution cardiac studies. These two sources of motion are periodic and predictable, at least to a first approximation, which means certain techniques can be used to control the motion (eg, by acquiring the data when the organ of interest is relatively at rest). Additionally, nonperiodic and unpredictable motion can also occur during the scan. One obvious limitation of methods relying on external devices (eg, respiratory bellows or the electrocardiogram signal to monitor the respiratory or cardiac cycle, respectively) to trigger or gate the data acquisition is that the complex motion of internal organs cannot be fully characterized. However, detailed information can be obtained using either the PET or MRI data (or both) allowing the more complete characterization of the motion field so that a motion model can be built. Such a model and the information derived from simple external devices can be used to minimize the effects of motion on the collected data. In the ideal case, all the events recorded during the PET scan would be used to generate a motion-free or corrected PET image. The detailed motion field can be used for this purpose by applying it to the PET data before, during, or after the image reconstruction. Integrating all these methods for motion control, characterization, and correction into a workflow that can be used for routine clinical studies is challenging but could potentially be extremely valuable given the improvement in image quality and reduction of motion-related image artifacts. Copyright © 2015 Elsevier Inc. All rights reserved.

  15. Motion of a liquid bridge between nonparallel surfaces.

    PubMed

    Ataei, Mohammadmehdi; Tang, Tian; Amirfazli, Alidad

    2017-04-15

    Bulk motion of a liquid bridge between two nonparallel identical solid surfaces undergoing multiple loading cycles (compressing and stretching) was investigated numerically and experimentally. The effects of the following governing parameters were studied: the dihedral angle between the two surfaces (ψ), the amount of compressing and stretching (Δh), and wettability parameters i.e. the advancing contact angle (θ a ) and Contact Angle Hysteresis (CAH). Experiments were done using various combinations of ψ, Δh and on surfaces with different wettabilities to understand the effect of each parameter individually. Additionally, a numerical model using Surface Evolver software was developed to augment the experimental data and extract information about the shape of the bridge. An empirical function was proposed and validated to calculate the minimum amount of Δh needed to initiate the bulk motion (i.e. to overcome the initial lag of the motion in response to the compressing of the bridge), at a given dihedral angle ψ. The effect of governing parameters on magnitude and precision of the motion was investigated. The magnitude of the motion was found to be increased by increasing ψ and Δh, and/or by decreasing θ a and CAH. We demonstrated the possibility of modulating the precision of the motion with θ a . Additionally, it was shown that the magnitude of the motion (in one loading cycle) increases after each loading cycle, if the contact lines depin only on the narrower side of the bridge during compressing and only on the wider side during stretching (asymmetric depinning). Whereas, depinning on both sides of the bridge (symmetric depinning) reduced the magnitude of bridge motion in each cycle under cyclic loading. A larger ψ was found to convert symmetric depinning into asymmetric depinning. These findings not only enhance the understanding of bridge motion between nonparallel surfaces, but also are beneficial in controlling magnitude, precision, and lag of the

  16. Control of a Virtual Vehicle Influences Postural Activity and Motion Sickness

    ERIC Educational Resources Information Center

    Dong, Xiao; Yoshida, Ken; Stoffregen, Thomas A.

    2011-01-01

    Everyday experience suggests that drivers are less susceptible to motion sickness than passengers. In the context of inertial motion (i.e., physical displacement), this effect has been confirmed in laboratory research using whole body motion devices. We asked whether a similar effect would occur in the context of simulated vehicles in a visual…

  17. Highly stretchable and wearable graphene strain sensors with controllable sensitivity for human motion monitoring.

    PubMed

    Park, Jung Jin; Hyun, Woo Jin; Mun, Sung Cik; Park, Yong Tae; Park, O Ok

    2015-03-25

    Because of their outstanding electrical and mechanical properties, graphene strain sensors have attracted extensive attention for electronic applications in virtual reality, robotics, medical diagnostics, and healthcare. Although several strain sensors based on graphene have been reported, the stretchability and sensitivity of these sensors remain limited, and also there is a pressing need to develop a practical fabrication process. This paper reports the fabrication and characterization of new types of graphene strain sensors based on stretchable yarns. Highly stretchable, sensitive, and wearable sensors are realized by a layer-by-layer assembly method that is simple, low-cost, scalable, and solution-processable. Because of the yarn structures, these sensors exhibit high stretchability (up to 150%) and versatility, and can detect both large- and small-scale human motions. For this study, wearable electronics are fabricated with implanted sensors that can monitor diverse human motions, including joint movement, phonation, swallowing, and breathing.

  18. Evaluation of a portable markerless finger position capture device: accuracy of the Leap Motion controller in healthy adults.

    PubMed

    Tung, James Y; Lulic, Tea; Gonzalez, Dave A; Tran, Johnathan; Dickerson, Clark R; Roy, Eric A

    2015-05-01

    Although motion analysis is frequently employed in upper limb motor assessment (e.g. visually-guided reaching), they are resource-intensive and limited to laboratory settings. This study evaluated the reliability and accuracy of a new markerless motion capture device, the Leap Motion controller, to measure finger position. Testing conditions that influence reliability and agreement between the Leap and a research-grade motion capture system were examined. Nine healthy young adults pointed to 15 targets on a computer screen under two conditions: (1) touching the target (touch) and (2) 4 cm away from the target (no-touch). Leap data was compared to an Optotrak marker attached to the index finger. Across all trials, root mean square (RMS) error of the Leap system was 17.30  ±  9.56 mm (mean ± SD), sampled at 65.47  ±  21.53 Hz. The % viable trials and mean sampling rate were significantly lower in the touch condition (44% versus 64%, p < 0.001; 52.02  ±  2.93 versus 73.98  ±  4.48 Hz, p = 0.003). While linear correlations were high (horizontal: r(2) = 0.995, vertical r(2) = 0.945), the limits of agreement were large (horizontal: -22.02 to +26.80 mm, vertical: -29.41 to +30.14 mm). While not as precise as more sophisticated optical motion capture systems, the Leap Motion controller is sufficiently reliable for measuring motor performance in pointing tasks that do not require high positional accuracy (e.g. reaction time, Fitt's, trails, bimanual coordination).

  19. Passive motion paradigm: an alternative to optimal control.

    PubMed

    Mohan, Vishwanathan; Morasso, Pietro

    2011-01-01

    IN THE LAST YEARS, OPTIMAL CONTROL THEORY (OCT) HAS EMERGED AS THE LEADING APPROACH FOR INVESTIGATING NEURAL CONTROL OF MOVEMENT AND MOTOR COGNITION FOR TWO COMPLEMENTARY RESEARCH LINES: behavioral neuroscience and humanoid robotics. In both cases, there are general problems that need to be addressed, such as the "degrees of freedom (DoFs) problem," the common core of production, observation, reasoning, and learning of "actions." OCT, directly derived from engineering design techniques of control systems quantifies task goals as "cost functions" and uses the sophisticated formal tools of optimal control to obtain desired behavior (and predictions). We propose an alternative "softer" approach passive motion paradigm (PMP) that we believe is closer to the biomechanics and cybernetics of action. The basic idea is that actions (overt as well as covert) are the consequences of an internal simulation process that "animates" the body schema with the attractor dynamics of force fields induced by the goal and task-specific constraints. This internal simulation offers the brain a way to dynamically link motor redundancy with task-oriented constraints "at runtime," hence solving the "DoFs problem" without explicit kinematic inversion and cost function computation. We argue that the function of such computational machinery is not only restricted to shaping motor output during action execution but also to provide the self with information on the feasibility, consequence, understanding and meaning of "potential actions." In this sense, taking into account recent developments in neuroscience (motor imagery, simulation theory of covert actions, mirror neuron system) and in embodied robotics, PMP offers a novel framework for understanding motor cognition that goes beyond the engineering control paradigm provided by OCT. Therefore, the paper is at the same time a review of the PMP rationale, as a computational theory, and a perspective presentation of how to develop it for designing

  20. Optimizing pattern recognition-based control for partial-hand prosthesis application.

    PubMed

    Earley, Eric J; Adewuyi, Adenike A; Hargrove, Levi J

    2014-01-01

    Partial-hand amputees often retain good residual wrist motion, which is essential for functional activities involving use of the hand. Thus, a crucial design criterion for a myoelectric, partial-hand prosthesis control scheme is that it allows the user to retain residual wrist motion. Pattern recognition (PR) of electromyographic (EMG) signals is a well-studied method of controlling myoelectric prostheses. However, wrist motion degrades a PR system's ability to correctly predict hand-grasp patterns. We studied the effects of (1) window length and number of hand-grasps, (2) static and dynamic wrist motion, and (3) EMG muscle source on the ability of a PR-based control scheme to classify functional hand-grasp patterns. Our results show that training PR classifiers with both extrinsic and intrinsic muscle EMG yields a lower error rate than training with either group by itself (p<0.001); and that training in only variable wrist positions, with only dynamic wrist movements, or with both variable wrist positions and movements results in lower error rates than training in only the neutral wrist position (p<0.001). Finally, our results show that both an increase in window length and a decrease in the number of grasps available to the classifier significantly decrease classification error (p<0.001). These results remained consistent whether the classifier selected or maintained a hand-grasp.

  1. Vestibular models for design and evaluation of flight simulator motion

    NASA Technical Reports Server (NTRS)

    Bussolari, S. R.; Sullivan, R. B.; Young, L. R.

    1986-01-01

    The use of spatial orientation models in the design and evaluation of control systems for motion-base flight simulators is investigated experimentally. The development of a high-fidelity motion drive controller using an optimal control approach based on human vestibular models is described. The formulation and implementation of the optimal washout system are discussed. The effectiveness of the motion washout system was evaluated by studying the response of six motion washout systems to the NASA/AMES Vertical Motion Simulator for a single dash-quick-stop maneuver. The effects of the motion washout system on pilot performance and simulator acceptability are examined. The data reveal that human spatial orientation models are useful for the design and evaluation of flight simulator motion fidelity.

  2. Impaired Perception of Biological Motion in Parkinson’s Disease

    PubMed Central

    Jaywant, Abhishek; Shiffrar, Maggie; Roy, Serge; Cronin-Golomb, Alice

    2016-01-01

    Objective We examined biological motion perception in Parkinson’s disease (PD). Biological motion perception is related to one’s own motor function and depends on the integrity of brain areas affected in PD, including posterior superior temporal sulcus. If deficits in biological motion perception exist, they may be specific to perceiving natural/fast walking patterns that individuals with PD can no longer perform, and may correlate with disease-related motor dysfunction. Method 26 non-demented individuals with PD and 24 control participants viewed videos of point-light walkers and scrambled versions that served as foils, and indicated whether each video depicted a human walking. Point-light walkers varied by gait type (natural, parkinsonian) and speed (0.5, 1.0, 1.5 m/s). Participants also completed control tasks (object motion, coherent motion perception), a contrast sensitivity assessment, and a walking assessment. Results The PD group demonstrated significantly less sensitivity to biological motion than the control group (p<.001, Cohen’s d=1.22), regardless of stimulus gait type or speed, with a less substantial deficit in object motion perception (p=.02, Cohen’s d=.68). There was no group difference in coherent motion perception. Although individuals with PD had slower walking speed and shorter stride length than control participants, gait parameters did not correlate with biological motion perception. Contrast sensitivity and coherent motion perception also did not correlate with biological motion perception. Conclusion PD leads to a deficit in perceiving biological motion, which is independent of gait dysfunction and low-level vision changes, and may therefore arise from difficulty perceptually integrating form and motion cues in posterior superior temporal sulcus. PMID:26949927

  3. The equations of motion for moist atmospheric air

    NASA Astrophysics Data System (ADS)

    Makarieva, Anastassia M.; Gorshkov, Victor G.; Nefiodov, Andrei V.; Sheil, Douglas; Nobre, Antonio Donato; Bunyard, Peter; Nobre, Paulo; Li, Bai-Lian

    2017-07-01

    How phase transitions affect the motion of moist atmospheric air remains controversial. In the early 2000s two distinct differential equations of motion were proposed. Besides their contrasting formulations for the acceleration of condensate, the equations differ concerning the presence/absence of a term equal to the rate of phase transitions multiplied by the difference in velocity between condensate and air. This term was interpreted in the literature as the "reactive motion" associated with condensation. The reasoning behind this reactive motion was that when water vapor condenses and droplets begin to fall the remaining gas must move upward to conserve momentum. Here we show that the two contrasting formulations imply distinct assumptions about how gaseous air and condensate particles interact. We show that these assumptions cannot be simultaneously applicable to condensation and evaporation. Reactive motion leading to an upward acceleration of air during condensation does not exist. The reactive motion term can be justified for evaporation only; it describes the downward acceleration of air. We emphasize the difference between the equations of motion (i.e., equations constraining velocity) and those constraining momentum (i.e., equations of motion and continuity combined). We show that owing to the imprecise nature of the continuity equations, consideration of total momentum can be misleading and that this led to the reactive motion controversy. Finally, we provide a revised and generally applicable equation for the motion of moist air.

  4. A Randomized Controlled Trial of Lorazepam to Reduce Liver Motion in Patients Receiving Upper Abdominal Radiation Therapy

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

    Tsang, Derek S.; Voncken, Francine E.M.; Tse, Regina V.

    2013-12-01

    Purpose: Reduction of respiratory motion is desirable to reduce the volume of normal tissues irradiated, to improve concordance of planned and delivered doses, and to improve image guided radiation therapy (IGRT). We hypothesized that pretreatment lorazepam would lead to a measurable reduction of liver motion. Methods and Materials: Thirty-three patients receiving upper abdominal IGRT were recruited to a double-blinded randomized controlled crossover trial. Patients were randomized to 1 of 2 study arms: arm 1 received lorazepam 2 mg by mouth on day 1, followed by placebo 4 to 8 days later; arm 2 received placebo on day 1, followed bymore » lorazepam 4 to 8 days later. After tablet ingestion and daily radiation therapy, amplitude of liver motion was measured on both study days. The primary outcomes were reduction in craniocaudal (CC) liver motion using 4-dimensional kV cone beam computed tomography (CBCT) and the proportion of patients with liver motion ≤5 mm. Secondary endpoints included motion measured with cine magnetic resonance imaging and kV fluoroscopy. Results: Mean relative and absolute reduction in CC amplitude with lorazepam was 21% and 2.5 mm respectively (95% confidence interval [CI] 1.1-3.9, P=.001), as assessed with CBCT. Reduction in CC amplitude to ≤5 mm residual liver motion was seen in 13% (95% CI 1%-25%) of patients receiving lorazepam (vs 10% receiving placebo, P=NS); 65% (95% CI 48%-81%) had reduction in residual CC liver motion to ≤10 mm (vs 52% with placebo, P=NS). Patients with large respiratory movement and patients who took lorazepam ≥60 minutes before imaging had greater reductions in liver CC motion. Mean reductions in liver CC amplitude on magnetic resonance imaging and fluoroscopy were nonsignificant. Conclusions: Lorazepam reduces liver motion in the CC direction; however, average magnitude of reduction is small, and most patients have residual motion >5 mm.« less

  5. Doppler ultrasound-based measurement of tendon velocity and displacement for application toward detecting user-intended motion.

    PubMed

    Stegman, Kelly J; Park, Edward J; Dechev, Nikolai

    2012-07-01

    The motivation of this research is to non-invasively monitor the wrist tendon's displacement and velocity, for purposes of controlling a prosthetic device. This feasibility study aims to determine if the proposed technique using Doppler ultrasound is able to accurately estimate the tendon's instantaneous velocity and displacement. This study is conducted with a tendon mimicking experiment consisting of two different materials: a commercial ultrasound scanner, and a reference linear motion stage set-up. Audio-based output signals are acquired from the ultrasound scanner, and are processed with our proposed Fourier technique to obtain the tendon's velocity and displacement estimates. We then compare our estimates to an external reference system, and also to the ultrasound scanner's own estimates based on its proprietary software. The proposed tendon motion estimation method has been shown to be repeatable, effective and accurate in comparison to the external reference system, and is generally more accurate than the scanner's own estimates. After establishing this feasibility study, future testing will include cadaver-based studies to test the technique on the human arm tendon anatomy, and later on live human test subjects in order to further refine the proposed method for the novel purpose of detecting user-intended tendon motion for controlling wearable prosthetic devices.

  6. Compensation of orbit distortion due to quadrupole motion using feed-forward control at KEK ATF

    NASA Astrophysics Data System (ADS)

    Bett, D. R.; Charrondière, C.; Patecki, M.; Pfingstner, J.; Schulte, D.; Tomás, R.; Jeremie, A.; Kubo, K.; Kuroda, S.; Naito, T.; Okugi, T.; Tauchi, T.; Terunuma, N.; Burrows, P. N.; Christian, G. B.; Perry, C.

    2018-07-01

    The high luminosity requirement for a future linear collider sets a demanding limit on the beam quality at the Interaction Point (IP). One potential source of luminosity loss is the motion of the ground itself. The resulting misalignments of the quadrupole magnets cause distortions to the beam orbit and hence an increase in the beam emittance. This paper describes a technique for compensating this orbit distortion by using seismometers to monitor the misalignment of the quadrupole magnets in real-time. The first demonstration of the technique was achieved at the Accelerator Test Facility (ATF) at KEK in Japan. The feed-forward system consisted of a seismometer-based quadrupole motion monitoring system, an FPGA-based feed-forward processor and a stripline kicker plus associated electronics. Through the application of a kick calculated from the position of a single quadruple, the system was able to remove about 80% of the component of the beam jitter that was correlated to the motion of the quadrupole. As a significant fraction of the orbit jitter in the ATF final focus is due to sources other than quadrupole misalignment, this amounted to an approximately 15% reduction in the absolute beam jitter.

  7. Autocorrelated process control: Geometric Brownian Motion approach versus Box-Jenkins approach

    NASA Astrophysics Data System (ADS)

    Salleh, R. M.; Zawawi, N. I.; Gan, Z. F.; Nor, M. E.

    2018-04-01

    Existing of autocorrelation will bring a significant effect on the performance and accuracy of process control if the problem does not handle carefully. When dealing with autocorrelated process, Box-Jenkins method will be preferred because of the popularity. However, the computation of Box-Jenkins method is too complicated and challenging which cause of time-consuming. Therefore, an alternative method which known as Geometric Brownian Motion (GBM) is introduced to monitor the autocorrelated process. One real case of furnace temperature data is conducted to compare the performance of Box-Jenkins and GBM methods in monitoring autocorrelation process. Both methods give the same results in terms of model accuracy and monitoring process control. Yet, GBM is superior compared to Box-Jenkins method due to its simplicity and practically with shorter computational time.

  8. Solar radiation pressure application for orbital motion stabilization near the Sun-Earth collinear libration point

    NASA Astrophysics Data System (ADS)

    Polyakhova, Elena; Shmyrov, Alexander; Shmyrov, Vasily

    2018-05-01

    Orbital maneuvering in a neighborhood of the collinear libration point L1 of Sun-Earth system has specific properties, primarily associated with the instability L1. For a long stay in this area of space the stabilization problem of orbital motion requires a solution. Numerical experiments have shown that for stabilization of motion it is requires very small control influence in comparison with the gravitational forces. On the other hand, the stabilization time is quite long - months, and possibly years. This makes it highly desirable to use solar pressure forces. In this paper we illustrate the solar sail possibilities for solving of stabilization problem in a neighborhood L1 with use of the model example.

  9. A depictive neural model for the representation of motion verbs.

    PubMed

    Rao, Sunil; Aleksander, Igor

    2011-11-01

    In this paper, we present a depictive neural model for the representation of motion verb semantics in neural models of visual awareness. The problem of modelling motion verb representation is shown to be one of function application, mapping a set of given input variables defining the moving object and the path of motion to a defined output outcome in the motion recognition context. The particular function-applicative implementation and consequent recognition model design presented are seen as arising from a noun-adjective recognition model enabling the recognition of colour adjectives as applied to a set of shapes representing objects to be recognised. The presence of such a function application scheme and a separately implemented position identification and path labelling scheme are accordingly shown to be the primitives required to enable the design and construction of a composite depictive motion verb recognition scheme. Extensions to the presented design to enable the representation of transitive verbs are also discussed.

  10. Wireless control of powered wheelchairs with tongue motion using tongue drive assistive technology.

    PubMed

    Huo, Xueliang; Wang, Jia; Ghovanloo, Maysam

    2008-01-01

    Tongue Drive system (TDS) is a tongue-operated unobtrusive wireless assistive technology, which can potentially provide people with severe disabilities with effective computer access and environment control. It translates users' intentions into control commands by detecting and classifying their voluntary tongue motion utilizing a small permanent magnet, secured on the tongue, and an array of magnetic sensors mounted on a headset outside the mouth or an orthodontic brace inside. We have developed customized interface circuitry and implemented four control strategies to drive a powered wheelchair (PWC) using an external TDS prototype. The system has been evaluated by five able-bodied human subjects. The results showed that all subjects could easily operate the PWC using their tongue movements, and different control strategies worked better depending on the users' familiarity with the TDS.

  11. Three‐dimensional motion corrected sensitivity encoding reconstruction for multi‐shot multi‐slice MRI: Application to neonatal brain imaging

    PubMed Central

    Hughes, Emer J.; Hutter, Jana; Price, Anthony N.; Hajnal, Joseph V.

    2017-01-01

    Purpose To introduce a methodology for the reconstruction of multi‐shot, multi‐slice magnetic resonance imaging able to cope with both within‐plane and through‐plane rigid motion and to describe its application in structural brain imaging. Theory and Methods The method alternates between motion estimation and reconstruction using a common objective function for both. Estimates of three‐dimensional motion states for each shot and slice are gradually refined by improving on the fit of current reconstructions to the partial k‐space information from multiple coils. Overlapped slices and super‐resolution allow recovery of through‐plane motion and outlier rejection discards artifacted shots. The method is applied to T 2 and T 1 brain scans acquired in different views. Results The procedure has greatly diminished artifacts in a database of 1883 neonatal image volumes, as assessed by image quality metrics and visual inspection. Examples showing the ability to correct for motion and robustness against damaged shots are provided. Combination of motion corrected reconstructions for different views has shown further artifact suppression and resolution recovery. Conclusion The proposed method addresses the problem of rigid motion in multi‐shot multi‐slice anatomical brain scans. Tests on a large collection of potentially corrupted datasets have shown a remarkable image quality improvement. Magn Reson Med 79:1365–1376, 2018. © 2017 The Authors Magnetic Resonance in Medicine published by Wiley Periodicals, Inc. on behalf of International Society for Magnetic Resonance in Medicine. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. PMID:28626962

  12. Motion planning in velocity affine mechanical systems

    NASA Astrophysics Data System (ADS)

    Jakubiak, Janusz; Tchoń, Krzysztof; Magiera, Władysław

    2010-09-01

    We address the motion planning problem in specific mechanical systems whose linear and angular velocities depend affinely on control. The configuration space of these systems encompasses the rotation group, and the motion planning involves the system orientation. Derivation of the motion planning algorithm for velocity affine systems has been inspired by the continuation method. Performance of this algorithm is illustrated with examples of the kinematics of a serial nonholonomic manipulator, the plate-ball kinematics and the attitude control of a rigid body.

  13. Chaos control of Hastings-Powell model by combining chaotic motions

    NASA Astrophysics Data System (ADS)

    Danca, Marius-F.; Chattopadhyay, Joydev

    2016-04-01

    In this paper, we propose a Parameter Switching (PS) algorithm as a new chaos control method for the Hastings-Powell (HP) system. The PS algorithm is a convergent scheme that switches the control parameter within a set of values while the controlled system is numerically integrated. The attractor obtained with the PS algorithm matches the attractor obtained by integrating the system with the parameter replaced by the averaged value of the switched parameter values. The switching rule can be applied periodically or randomly over a set of given values. In this way, every stable cycle of the HP system can be approximated if its underlying parameter value equalizes the average value of the switching values. Moreover, the PS algorithm can be viewed as a generalization of Parrondo's game, which is applied for the first time to the HP system, by showing that losing strategy can win: "losing + losing = winning." If "loosing" is replaced with "chaos" and, "winning" with "order" (as the opposite to "chaos"), then by switching the parameter value in the HP system within two values, which generate chaotic motions, the PS algorithm can approximate a stable cycle so that symbolically one can write "chaos + chaos = regular." Also, by considering a different parameter control, new complex dynamics of the HP model are revealed.

  14. Motion versus fixed distraction of the joint in the treatment of ankle osteoarthritis: a prospective randomized controlled trial.

    PubMed

    Saltzman, Charles L; Hillis, Stephen L; Stolley, Mary P; Anderson, Donald D; Amendola, Annunziato

    2012-06-06

    Initial reports have shown the efficacy of fixed distraction for the treatment of ankle osteoarthritis. We hypothesized that allowing ankle motion during distraction would result in significant improvements in outcomes compared with distraction without ankle motion. We conducted a prospective randomized controlled trial comparing the outcomes for patients with advanced ankle osteoarthritis who were managed with anterior osteophyte removal and either (1) fixed ankle distraction or (2) ankle distraction permitting joint motion. Thirty-six patients were randomized to treatment with either fixed distraction or distraction with motion. The patients were followed for twenty-four months after frame removal. The Ankle Osteoarthritis Scale (AOS) was the main outcome variable. Two years after frame removal, subjects in both groups showed significant improvement compared with the status before treatment (p < 0.02 for both groups). The motion-distraction group had significantly better AOS scores than the fixed-distraction group at twenty-six, fifty-two, and 104 weeks after frame removal (p < 0.01 at each time point). At 104 weeks, the motion-distraction group had an overall mean improvement of 56.6% in the AOS score, whereas the fixed-distraction group had a mean improvement of 22.9% (p < 0.01). Distraction improved the patient-reported outcomes of treatment of ankle osteoarthritis. Adding ankle motion to distraction showed an early and sustained beneficial effect on outcome.

  15. Inertial Measures of Motion for Clinical Biomechanics: Comparative Assessment of Accuracy under Controlled Conditions - Effect of Velocity

    PubMed Central

    Lebel, Karina; Boissy, Patrick; Hamel, Mathieu; Duval, Christian

    2013-01-01

    Background Inertial measurement of motion with Attitude and Heading Reference Systems (AHRS) is emerging as an alternative to 3D motion capture systems in biomechanics. The objectives of this study are: 1) to describe the absolute and relative accuracy of multiple units of commercially available AHRS under various types of motion; and 2) to evaluate the effect of motion velocity on the accuracy of these measurements. Methods The criterion validity of accuracy was established under controlled conditions using an instrumented Gimbal table. AHRS modules were carefully attached to the center plate of the Gimbal table and put through experimental static and dynamic conditions. Static and absolute accuracy was assessed by comparing the AHRS orientation measurement to those obtained using an optical gold standard. Relative accuracy was assessed by measuring the variation in relative orientation between modules during trials. Findings Evaluated AHRS systems demonstrated good absolute static accuracy (mean error < 0.5o) and clinically acceptable absolute accuracy under condition of slow motions (mean error between 0.5o and 3.1o). In slow motions, relative accuracy varied from 2o to 7o depending on the type of AHRS and the type of rotation. Absolute and relative accuracy were significantly affected (p<0.05) by velocity during sustained motions. The extent of that effect varied across AHRS. Interpretation Absolute and relative accuracy of AHRS are affected by environmental magnetic perturbations and conditions of motions. Relative accuracy of AHRS is mostly affected by the ability of all modules to locate the same global reference coordinate system at all time. Conclusions Existing AHRS systems can be considered for use in clinical biomechanics under constrained conditions of use. While their individual capacity to track absolute motion is relatively consistent, the use of multiple AHRS modules to compute relative motion between rigid bodies needs to be optimized according to

  16. Magnetically Controlled Shape Memory Behaviour—Materials and Applications

    NASA Astrophysics Data System (ADS)

    Gandy, A. P.; Sheikh, A.; Neumann, K.; Neumann, K.-U.; Pooley, D.; Ziebeck, K. R. A.

    2008-06-01

    For most metals a microscopic change in shape occurs above the elastic limit by the irreversible creation and movement of dislocations. However a large number of metallic systems undergo structural, martensitic, phase transformations which are diffusionless, displacive first order transitions from a high-temperature phase to one of lower symmetry below a certain temperature TM. These transitions which have been studied for more than a century are of vital importance because of their key role in producing shape memory phenomena enabling the system to reverse large deformations in the martensitic phase by heating into the austenite phase. In addition to a change in shape (displacement) the effect can also produce a force or a combination of both. Materials having this unique property are increasing being used in medical applications—scoliosis correction, arterial clips, stents, orthodontic wire, orthopaedic implants etc. The structural phase transition essential for shape memory behaviour is usually activated by a change in temperature or applied stress. However for many applications such as for actuators the transformation is not sufficiently rapid. Poor energy conversion also limits the applicability of many shape memory alloys. In medicine a change of temperature or pressure is often inappropriate and new ferromagnetic materials are being considered in which the phenomena can be controlled by an applied magnetic field at constant temperature. In order to achieve this, it is important to optimise three fundamental parameters. These are the saturation magnetisation σs, the Curie temperature Tc and the martensitic temperature TM. Here, σs is important because the magnetic pressure driving the twin boundary motion is 2σsH. Furthermore the material must be in the martensitic state at the operating temperature which should be at or above room temperature. This may be achieved by alloying or controlling the stoichiometry. Recently new intermetallic compounds based

  17. Immediate effects on neck pain and active range of motion after a single cervical high-velocity low-amplitude manipulation in subjects presenting with mechanical neck pain: a randomized controlled trial.

    PubMed

    Martínez-Segura, Raquel; Fernández-de-las-Peñas, César; Ruiz-Sáez, Mariana; López-Jiménez, Cristina; Rodríguez-Blanco, Cleofás

    2006-09-01

    The objective of this study is to analyze the immediate effects on neck pain and active cervical range of motion after a single cervical high-velocity low-amplitude (HVLA) manipulation or a control mobilization procedure in mechanical neck pain subjects. In addition, we assessed the possible correlation between neck pain and neck mobility. Seventy patients with mechanical neck pain (25 males and 45 females, aged 20-55 years) participated in this study. The lateral gliding test was used to establish the presence of an intervertebral joint dysfunction at the C3 through C4 or C4 through C5 levels. Subjects were divided randomly into either an experimental group, which received an HVLA thrust, or a control group, which received a manual mobilization procedure. The outcome measures were active cervical range of motion and neck pain at rest assessed pretreatment and 5 minutes posttreatment by an assessor blinded to the treatment allocation of the patient. Intragroup and intergroup comparisons were made with parametric tests. Within-group effect sizes were calculated using Cohen's d coefficient. Within-group changes showed a significant improvement in neck pain at rest and mobility after application of the manipulation (P < .001). The control group also showed a significant improvement in neck pain at rest (P < .01), flexion (P < .01), extension (P < .05), and both lateral flexions (P < .01), but not in rotation. Pre-post effect sizes were large for all the outcomes in the experimental group (d > 1), but were small to medium in the control mobilization group (0.2 < d < 0.6). The intergroup comparison showed that the experimental group obtained a greater improvement than the control group in all the outcome measures (P < .001). Decreased neck pain and increased range of motion were negatively associated for all cervical motions: the greater the increase in neck mobility, the less the pain at rest. Our results suggest that a single cervical HVLA manipulation was more

  18. Energy transfer and motion synchronization between mechanical oscillators through microhydrodynamic coupling

    NASA Astrophysics Data System (ADS)

    Wan, Yu; Jin, Kai; Ahmad, Talha J.; Black, Michael J.; Xu, Zhiping

    2017-03-01

    Fluidic environment is encountered for mechanical components in many circumstances, which not only damps the oscillation but also modulates their dynamical behaviors through hydrodynamic interactions. In this study, we examine energy transfer and motion synchronization between two mechanical micro-oscillators by performing thermal lattice-Boltzmann simulations. The coefficient of inter-oscillator energy transfer is measured to quantify the strength of microhydrodynamic coupling, which depends on their distance and fluid properties such as density and viscosity. Synchronized motion of the oscillators is observed in the simulations for typical parameter sets in relevant applications, with the formation and loss of stable anti-phase synchronization controlled by the oscillating frequency, amplitude, and hydrodynamic coupling strength. The critical ranges of key parameters to assure efficient energy transfer or highly synchronized motion are predicted. These findings could be used to advise mechanical design of passive and active devices that operate in fluid.

  19. Reliability and criterion validity of two applications of the iPhone™ to measure cervical range of motion in healthy participants

    PubMed Central

    2013-01-01

    Summary of background data Recent smartphones, such as the iPhone, are often equipped with an accelerometer and magnetometer, which, through software applications, can perform various inclinometric functions. Although these applications are intended for recreational use, they have the potential to measure and quantify range of motion. The purpose of this study was to estimate the intra and inter-rater reliability as well as the criterion validity of the clinometer and compass applications of the iPhone in the assessment cervical range of motion in healthy participants. Methods The sample consisted of 28 healthy participants. Two examiners measured cervical range of motion of each participant twice using the iPhone (for the estimation of intra and inter-reliability) and once with the CROM (for the estimation of criterion validity). Estimates of reliability and validity were then established using the intraclass correlation coefficient (ICC). Results We observed a moderate intra-rater reliability for each movement (ICC = 0.65-0.85) but a poor inter-rater reliability (ICC < 0.60). For the criterion validity, the ICCs are moderate (>0.50) to good (>0.65) for movements of flexion, extension, lateral flexions and right rotation, but poor (<0.50) for the movement left rotation. Conclusion We found good intra-rater reliability and lower inter-rater reliability. When compared to the gold standard, these applications showed moderate to good validity. However, before using the iPhone as an outcome measure in clinical settings, studies should be done on patients presenting with cervical problems. PMID:23829201

  20. Motion cues that make an impression: Predicting perceived personality by minimal motion information.

    PubMed

    Koppensteiner, Markus

    2013-11-01

    The current study presents a methodology to analyze first impressions on the basis of minimal motion information. In order to test the applicability of the approach brief silent video clips of 40 speakers were presented to independent observers (i.e., did not know speakers) who rated them on measures of the Big Five personality traits. The body movements of the speakers were then captured by placing landmarks on the speakers' forehead, one shoulder and the hands. Analysis revealed that observers ascribe extraversion to variations in the speakers' overall activity, emotional stability to the movements' relative velocity, and variation in motion direction to openness. Although ratings of openness and conscientiousness were related to biographical data of the speakers (i.e., measures of career progress), measures of body motion failed to provide similar results. In conclusion, analysis of motion behavior might be done on the basis of a small set of landmarks that seem to capture important parts of relevant nonverbal information.