Adaptive Failure Compensation for Aircraft Flight Control Using Engine Differentials: Regulation

NASA Technical Reports Server (NTRS)

Yu, Liu; Xidong, Tang; Gang, Tao; Joshi, Suresh M.

2005-01-01

The problem of using engine thrust differentials to compensate for rudder and aileron failures in aircraft flight control is addressed in this paper in a new framework. A nonlinear aircraft model that incorporates engine di erentials in the dynamic equations is employed and linearized to describe the aircraft s longitudinal and lateral motion. In this model two engine thrusts of an aircraft can be adjusted independently so as to provide the control flexibility for rudder or aileron failure compensation. A direct adaptive compensation scheme for asymptotic regulation is developed to handle uncertain actuator failures in the linearized system. A design condition is specified to characterize the system redundancy needed for failure compensation. The adaptive regulation control scheme is applied to the linearized model of a large transport aircraft in which the longitudinal and lateral motions are coupled as the result of using engine thrust differentials. Simulation results are presented to demonstrate the effectiveness of the adaptive compensation scheme.

A new performance index for the repetitive motion of mobile manipulators.

PubMed

Xiao, Lin; Zhang, Yunong

2014-02-01

A mobile manipulator is a robotic device composed of a mobile platform and a stationary manipulator fixed to the platform. To achieve the repetitive motion control of mobile manipulators, the mobile platform and the manipulator have to realize the repetitive motion simultaneously. To do so, a novel quadratic performance index is, for the first time, designed and presented in this paper, of which the effectiveness is analyzed by following a neural dynamics method. Then, a repetitive motion scheme is proposed by combining the criterion, physical constraints, and integrated kinematical equations of mobile manipulators, which is further reformulated as a quadratic programming (QP) subject to equality and bound constraints. In addition, two important Bridge theorems are established to prove that such a QP can be converted equivalently into a linear variational inequality, and then equivalently into a piecewise-linear projection equation (PLPE). A real-time numerical algorithm based on PLPE is thus developed and applied for the online solution of the resultant QP. Two tracking-path tasks demonstrate the effectiveness and accuracy of the repetitive motion scheme. In addition, comparisons between the nonrepetitive and repetitive motion further validate the superiority and novelty of the proposed scheme.

Improved configuration control for redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Colbaugh, R.

1990-01-01

This article presents a singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.

A hybrid system of a membrane oscillator coupled to ultracold atoms

NASA Astrophysics Data System (ADS)

Kampschulte, Tobias

2015-05-01

The control over micro- and nanomechanical oscillators has recently made impressive progress. First experiments demonstrated ground-state cooling and single-phonon control of high-frequency oscillators using cryogenic cooling and techniques of cavity optomechanics. Coupling engineered mechanical structures to microscopic quantum system with good coherence properties offers new possibilities for quantum control of mechanical vibrations, precision sensing and quantum-level signal transduction. Ultracold atoms are an attractive choice for such hybrid systems: Mechanical can either be coupled to the motional state of trapped atoms, which can routinely be ground-state cooled, or to the internal states, for which a toolbox of coherent manipulation and detection exists. Furthermore, atomic collective states with non-classical properties can be exploited to infer the mechanical motion with reduced quantum noise. Here we use trapped ultracold atoms to sympathetically cool the fundamental vibrational mode of a Si3N4 membrane. The coupling of membrane and atomic motion is mediated by laser light over a macroscopic distance and enhanced by an optical cavity around the membrane. The observed cooling of the membrane from room temperature to 650 +/- 230 mK shows that our hybrid mechanical-atomic system operates at a large cooperativity. Our scheme could provide ground-state cooling and quantum control of low-frequency oscillators such as levitated nanoparticles, in a regime where purely optomechanical techniques cannot reach the ground state. Furthermore, we will present a scheme where an optomechanical system is coupled to internal states of ultracold atoms. The mechanical motion is translated into a polarization rotation which drives Raman transitions between atomic ground states. Compared to the motional-state coupling, the new scheme enables to couple atoms to high-frequency structures such as optomechanical crystals.

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

NASA Astrophysics Data System (ADS)

Ison, Mark; Artemiadis, Panagiotis

2014-10-01

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

a New Approach for Complete Mixing by Transverse and Streamwise Flow Motions in Micro-Channels

NASA Astrophysics Data System (ADS)

Wang, Muh-Rong; Dai, Chiau-Yi; Huang, Yang-Sheng

Mixing control is an important issue in micro-fluid chip applications, such as μTAS (Micro-Total Analysis System) or LOC (Lab-on-Chip) because the flow at micro-scale is highly laminar. Several flow control schemes had been developed for complete mixing in the micro-channels in the past decades. However, most of the mixing control schemes are performed by utilizing specific excitation devices, such as electrokinetic, magnetic or pressure drivers. This paper investigates a new control scheme which is composed of a series of flow manipulation by changing the pressure at the two inlets of the micromixer as the external excitation. The fluids from two inlets are introduced to a square mixing chamber, which provides a space where the streamwise and transverse flow motions take place. The results show that the micromixer can be used to produce a large recirculation zone with series of small transverse fringes under external excitations. It is found that this new flow pattern enhances mixing processes at the micro-scale. A complete mixing can be achieved under appropriate flow control with the corresponding design.

A user-driven treadmill control scheme for simulating overground locomotion.

PubMed

Kim, Jonghyun; Stanley, Christopher J; Curatalo, Lindsey A; Park, Hyung-Soon

2012-01-01

Treadmill-based locomotor training should simulate overground walking as closely as possible for optimal skill transfer. The constant speed of a standard treadmill encourages automaticity rather than engagement and fails to simulate the variable speeds encountered during real-world walking. To address this limitation, this paper proposes a user-driven treadmill velocity control scheme that allows the user to experience natural fluctuations in walking velocity with minimal unwanted inertial force due to acceleration/deceleration of the treadmill belt. A smart estimation limiter in the scheme effectively attenuates the inertial force during velocity changes. The proposed scheme requires measurement of pelvic and swing foot motions, and is developed for a treadmill of typical belt length (1.5 m). The proposed scheme is quantitatively evaluated here with four healthy subjects by comparing it with the most advanced control scheme identified in the literature.

Identification of Piecewise Linear Uniform Motion Blur

NASA Astrophysics Data System (ADS)

Patanukhom, Karn; Nishihara, Akinori

A motion blur identification scheme is proposed for nonlinear uniform motion blurs approximated by piecewise linear models which consist of more than one linear motion component. The proposed scheme includes three modules that are a motion direction estimator, a motion length estimator and a motion combination selector. In order to identify the motion directions, the proposed scheme is based on a trial restoration by using directional forward ramp motion blurs along different directions and an analysis of directional information via frequency domain by using a Radon transform. Autocorrelation functions of image derivatives along several directions are employed for estimation of the motion lengths. A proper motion combination is identified by analyzing local autocorrelation functions of non-flat component of trial restored results. Experimental examples of simulated and real world blurred images are given to demonstrate a promising performance of the proposed scheme.

Obstacle avoidance for redundant robots using configuration control

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor); Colbaugh, Richard D. (Inventor); Glass, Kristin L. (Inventor)

1992-01-01

A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.

Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

PubMed

Chen, Tien-Chi; Yu, Chih-Hsien

2009-07-01

A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

Robust Stabilization of T-S Fuzzy Stochastic Descriptor Systems via Integral Sliding Modes.

PubMed

Li, Jinghao; Zhang, Qingling; Yan, Xing-Gang; Spurgeon, Sarah K

2017-09-19

This paper addresses the robust stabilization problem for T-S fuzzy stochastic descriptor systems using an integral sliding mode control paradigm. A classical integral sliding mode control scheme and a nonparallel distributed compensation (Non-PDC) integral sliding mode control scheme are presented. It is shown that two restrictive assumptions previously adopted developing sliding mode controllers for Takagi-Sugeno (T-S) fuzzy stochastic systems are not required with the proposed framework. A unified framework for sliding mode control of T-S fuzzy systems is formulated. The proposed Non-PDC integral sliding mode control scheme encompasses existing schemes when the previously imposed assumptions hold. Stability of the sliding motion is analyzed and the sliding mode controller is parameterized in terms of the solutions of a set of linear matrix inequalities which facilitates design. The methodology is applied to an inverted pendulum model to validate the effectiveness of the results presented.

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.

Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system.

PubMed

Song, Zhankui; Sun, Kaibiao

2014-01-01

A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov's method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Correlation-based motion vector processing with adaptive interpolation scheme for motion-compensated frame interpolation.

PubMed

Huang, Ai-Mei; Nguyen, Truong

2009-04-01

In this paper, we address the problems of unreliable motion vectors that cause visual artifacts but cannot be detected by high residual energy or bidirectional prediction difference in motion-compensated frame interpolation. A correlation-based motion vector processing method is proposed to detect and correct those unreliable motion vectors by explicitly considering motion vector correlation in the motion vector reliability classification, motion vector correction, and frame interpolation stages. Since our method gradually corrects unreliable motion vectors based on their reliability, we can effectively discover the areas where no motion is reliable to be used, such as occlusions and deformed structures. We also propose an adaptive frame interpolation scheme for the occlusion areas based on the analysis of their surrounding motion distribution. As a result, the interpolated frames using the proposed scheme have clearer structure edges and ghost artifacts are also greatly reduced. Experimental results show that our interpolated results have better visual quality than other methods. In addition, the proposed scheme is robust even for those video sequences that contain multiple and fast motions.

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

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

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

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

NASA Astrophysics Data System (ADS)

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

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

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.

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.

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.

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.

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.

Validation of a selective ensemble-based classification scheme for myoelectric control using a three-dimensional Fitts' Law test.

PubMed

Scheme, Erik J; Englehart, Kevin B

2013-07-01

When controlling a powered upper limb prosthesis it is important not only to know how to move the device, but also when not to move. A novel approach to pattern recognition control, using a selective multiclass one-versus-one classification scheme has been shown to be capable of rejecting unintended motions. This method was shown to outperform other popular classification schemes when presented with muscle contractions that did not correspond to desired actions. In this work, a 3-D Fitts' Law test is proposed as a suitable alternative to using virtual limb environments for evaluating real-time myoelectric control performance. The test is used to compare the selective approach to a state-of-the-art linear discriminant analysis classification based scheme. The framework is shown to obey Fitts' Law for both control schemes, producing linear regression fittings with high coefficients of determination (R(2) > 0.936). Additional performance metrics focused on quality of control are discussed and incorporated in the evaluation. Using this framework the selective classification based scheme is shown to produce significantly higher efficiency and completion rates, and significantly lower overshoot and stopping distances, with no significant difference in throughput.

Robotic Attention Processing And Its Application To Visual Guidance

NASA Astrophysics Data System (ADS)

Barth, Matthew; Inoue, Hirochika

1988-03-01

This paper describes a method of real-time visual attention processing for robots performing visual guidance. This robot attention processing is based on a novel vision processor, the multi-window vision system that was developed at the University of Tokyo. The multi-window vision system is unique in that it only processes visual information inside local area windows. These local area windows are quite flexible in their ability to move anywhere on the visual screen, change their size and shape, and alter their pixel sampling rate. By using these windows for specific attention tasks, it is possible to perform high speed attention processing. The primary attention skills of detecting motion, tracking an object, and interpreting an image are all performed at high speed on the multi-window vision system. A basic robotic attention scheme using the attention skills was developed. The attention skills involved detection and tracking of salient visual features. The tracking and motion information thus obtained was utilized in producing the response to the visual stimulus. The response of the attention scheme was quick enough to be applicable to the real-time vision processing tasks of playing a video 'pong' game, and later using an automobile driving simulator. By detecting the motion of a 'ball' on a video screen and then tracking the movement, the attention scheme was able to control a 'paddle' in order to keep the ball in play. The response was faster than that of a human's, allowing the attention scheme to play the video game at higher speeds. Further, in the application to the driving simulator, the attention scheme was able to control both direction and velocity of a simulated vehicle following a lead car. These two applications show the potential of local visual processing in its use for robotic attention processing.

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

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

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

PubMed

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

2016-09-01

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

Investigation of nonlinear motion simulator washout schemes

NASA Technical Reports Server (NTRS)

Riedel, S. A.; Hofmann, L. G.

1978-01-01

An overview is presented of some of the promising washout schemes which have been devised. The four schemes presented fall into two basic configurations; crossfeed and crossproduct. Various nonlinear modifications further differentiate the four schemes. One nonlinear scheme is discussed in detail. This washout scheme takes advantage of subliminal motions to speed up simulator cab centering. It exploits so-called perceptual indifference thresholds to center the simulator cab at a faster rate whenever the input to the simulator is below the perceptual indifference level. The effect is to reduce the angular and translational simulation motion by comparison with that for the linear washout case. Finally, the conclusions and implications for further research in the area of nonlinear washout filters are presented.

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

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1991-01-01

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

Two-character motion analysis and synthesis.

PubMed

Kwon, Taesoo; Cho, Young-Sang; Park, Sang Il; Shin, Sung Yong

2008-01-01

In this paper, we deal with the problem of synthesizing novel motions of standing-up martial arts such as Kickboxing, Karate, and Taekwondo performed by a pair of human-like characters while reflecting their interactions. Adopting an example-based paradigm, we address three non-trivial issues embedded in this problem: motion modeling, interaction modeling, and motion synthesis. For the first issue, we present a semi-automatic motion labeling scheme based on force-based motion segmentation and learning-based action classification. We also construct a pair of motion transition graphs each of which represents an individual motion stream. For the second issue, we propose a scheme for capturing the interactions between two players. A dynamic Bayesian network is adopted to build a motion transition model on top of the coupled motion transition graph that is constructed from an example motion stream. For the last issue, we provide a scheme for synthesizing a novel sequence of coupled motions, guided by the motion transition model. Although the focus of the present work is on martial arts, we believe that the framework of the proposed approach can be conveyed to other two-player motions as well.

Real-Time Control of an Exoskeleton Hand Robot with Myoelectric Pattern Recognition.

PubMed

Lu, Zhiyuan; Chen, Xiang; Zhang, Xu; Tong, Kay-Yu; Zhou, Ping

2017-08-01

Robot-assisted training provides an effective approach to neurological injury rehabilitation. To meet the challenge of hand rehabilitation after neurological injuries, this study presents an advanced myoelectric pattern recognition scheme for real-time intention-driven control of a hand exoskeleton. The developed scheme detects and recognizes user's intention of six different hand motions using four channels of surface electromyography (EMG) signals acquired from the forearm and hand muscles, and then drives the exoskeleton to assist the user accomplish the intended motion. The system was tested with eight neurologically intact subjects and two individuals with spinal cord injury (SCI). The overall control accuracy was [Formula: see text] for the neurologically intact subjects and [Formula: see text] for the SCI subjects. The total lag of the system was approximately 250[Formula: see text]ms including data acquisition, transmission and processing. One SCI subject also participated in training sessions in his second and third visits. Both the control accuracy and efficiency tended to improve. These results show great potential for applying the advanced myoelectric pattern recognition control of the wearable robotic hand system toward improving hand function after neurological injuries.

Image Motion Detection And Estimation: The Modified Spatio-Temporal Gradient Scheme

NASA Astrophysics Data System (ADS)

Hsin, Cheng-Ho; Inigo, Rafael M.

1990-03-01

The detection and estimation of motion are generally involved in computing a velocity field of time-varying images. A completely new modified spatio-temporal gradient scheme to determine motion is proposed. This is derived by using gradient methods and properties of biological vision. A set of general constraints is proposed to derive motion constraint equations. The constraints are that the second directional derivatives of image intensity at an edge point in the smoothed image will be constant at times t and t+L . This scheme basically has two stages: spatio-temporal filtering, and velocity estimation. Initially, image sequences are processed by a set of oriented spatio-temporal filters which are designed using a Gaussian derivative model. The velocity is then estimated for these filtered image sequences based on the gradient approach. From a computational stand point, this scheme offers at least three advantages over current methods. The greatest advantage of the modified spatio-temporal gradient scheme over the traditional ones is that an infinite number of motion constraint equations are derived instead of only one. Therefore, it solves the aperture problem without requiring any additional assumptions and is simply a local process. The second advantage is that because of the spatio-temporal filtering, the direct computation of image gradients (discrete derivatives) is avoided. Therefore the error in gradients measurement is reduced significantly. The third advantage is that during the processing of motion detection and estimation algorithm, image features (edges) are produced concurrently with motion information. The reliable range of detected velocity is determined by parameters of the oriented spatio-temporal filters. Knowing the velocity sensitivity of a single motion detection channel, a multiple-channel mechanism for estimating image velocity, seldom addressed by other motion schemes in machine vision, can be constructed by appropriately choosing and combining different sets of parameters. By applying this mechanism, a great range of velocity can be detected. The scheme has been tested for both synthetic and real images. The results of simulations are very satisfactory.

Modelling of the Human Knee Joint Supported by Active Orthosis

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

An approach to multivariable control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

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

NASA Astrophysics Data System (ADS)

Wali, Mohebullah; Nakamura, Yukinori; Wakui, Shinji

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

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.

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

Luo, Shaohua; School of Automation, Chongqing University, Chongqing 400044; Sun, Quanping

This paper addresses chaos control of the micro-electro- mechanical resonator by using adaptive dynamic surface technology with extended state observer. To reveal the mechanism of the micro- electro-mechanical resonator, the phase diagrams and corresponding time histories are given to research the nonlinear dynamics and chaotic behavior, and Homoclinic and heteroclinic chaos which relate closely with the appearance of chaos are presented based on the potential function. To eliminate the effect of chaos, an adaptive dynamic surface control scheme with extended state observer is designed to convert random motion into regular motion without precise system model parameters and measured variables. Puttingmore » tracking differentiator into chaos controller solves the ‘explosion of complexity’ of backstepping and poor precision of the first-order filters. Meanwhile, to obtain high performance, a neural network with adaptive law is employed to approximate unknown nonlinear function in the process of controller design. The boundedness of all the signals of the closed-loop system is proved in theoretical analysis. Finally, numerical simulations are executed and extensive results illustrate effectiveness and robustness of the proposed scheme.« less

Model identification and vision-based H∞ position control of 6-DoF cable-driven parallel robots

NASA Astrophysics Data System (ADS)

Chellal, R.; Cuvillon, L.; Laroche, E.

2017-04-01

This paper presents methodologies for the identification and control of 6-degrees of freedom (6-DoF) cable-driven parallel robots (CDPRs). First a two-step identification methodology is proposed to accurately estimate the kinematic parameters independently and prior to the dynamic parameters of a physics-based model of CDPRs. Second, an original control scheme is developed, including a vision-based position controller tuned with the H∞ methodology and a cable tension distribution algorithm. The position is controlled in the operational space, making use of the end-effector pose measured by a motion-tracking system. A four-block H∞ design scheme with adjusted weighting filters ensures good trajectory tracking and disturbance rejection properties for the CDPR system, which is a nonlinear-coupled MIMO system with constrained states. The tension management algorithm generates control signals that maintain the cables under feasible tensions. The paper makes an extensive review of the available methods and presents an extension of one of them. The presented methodologies are evaluated by simulations and experimentally on a redundant 6-DoF INCA 6D CDPR with eight cables, equipped with a motion-tracking system.

Design and evaluation of prosthetic shoulder controller

PubMed Central

Barton, Joseph E.; Sorkin, John D.

2015-01-01

We developed a 2-degree-of-freedom (DOF) shoulder position transducer (sensing shoulder protraction-retraction and elevation-depression) that can be used to control two of a powered prosthetic humerus' DOFs. We also developed an evaluation protocol based on Fitts' law to assess the performance of our device. The primary motivation for this work was to support development of powered prosthetic shoulder joints of a new generation of prosthetic arms for people with shoulder disarticulation and very high-level transhumeral amputation. We found that transducers that provided resistance to shoulder movement performed better than those providing no resistance. We also found that a position control scheme, where effector position is proportional to shoulder position, performed better than a velocity control scheme, where effector velocity is proportional to shoulder position. More generally, our transducer can be used to control motion along any two DOFs. It can also be used in a more general 4-DOF control scheme by sequentially controlling two DOFs at a time. The evaluation protocol has general applicability for researchers and practitioners. Researchers can employ it to compare different prosthesis designs and control schemes, while practitioners may find the evaluation protocol useful in evaluating and training people with amputation in the use of prostheses. PMID:25357185

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

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

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

Direct adaptive control of a PUMA 560 industrial robot

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Stability analysis of multiple-robot control systems

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

Beam control in the ETA-II linear induction accelerator

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

Chen, Yu-Jiuan

1992-08-21

Corkscrew beam motion is caused by chromatic aberration and misalignment of a focusing system. We have taken some measures to control the corkscrew motion on the ETA-11 induction accelerator. To minimize chromatic aberration, we have developed an energy compensation scheme which reduces energy sweep and differential phase advance within a beam pulse. To minimize the misalignment errors, we have developed a time-independent steering algorithm which minimizes the observed corkscrew amplitude averaged over the beam pulse. The steering algorithm can be used even if the monitor spacing is much greater than the system`s cyclotron wavelength and the corkscrew motion caused bymore » a given misaligned magnet is fully developed, i.e., the relative phase advance is greater than 27{pi}.« less

Beam control in the ETA-II linear induction accelerator

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

Chen, Yu-Jiuan.

1992-08-21

Corkscrew beam motion is caused by chromatic aberration and misalignment of a focusing system. We have taken some measures to control the corkscrew motion on the ETA-11 induction accelerator. To minimize chromatic aberration, we have developed an energy compensation scheme which reduces energy sweep and differential phase advance within a beam pulse. To minimize the misalignment errors, we have developed a time-independent steering algorithm which minimizes the observed corkscrew amplitude averaged over the beam pulse. The steering algorithm can be used even if the monitor spacing is much greater than the system's cyclotron wavelength and the corkscrew motion caused bymore » a given misaligned magnet is fully developed, i.e., the relative phase advance is greater than 27[pi].« less

Numerical Solution of Dyson Brownian Motion and a Sampling Scheme for Invariant Matrix Ensembles

NASA Astrophysics Data System (ADS)

Li, Xingjie Helen; Menon, Govind

2013-12-01

The Dyson Brownian Motion (DBM) describes the stochastic evolution of N points on the line driven by an applied potential, a Coulombic repulsion and identical, independent Brownian forcing at each point. We use an explicit tamed Euler scheme to numerically solve the Dyson Brownian motion and sample the equilibrium measure for non-quadratic potentials. The Coulomb repulsion is too singular for the SDE to satisfy the hypotheses of rigorous convergence proofs for tamed Euler schemes (Hutzenthaler et al. in Ann. Appl. Probab. 22(4):1611-1641, 2012). Nevertheless, in practice the scheme is observed to be stable for time steps of O(1/ N 2) and to relax exponentially fast to the equilibrium measure with a rate constant of O(1) independent of N. Further, this convergence rate appears to improve with N in accordance with O(1/ N) relaxation of local statistics of the Dyson Brownian motion. This allows us to use the Dyson Brownian motion to sample N× N Hermitian matrices from the invariant ensembles. The computational cost of generating M independent samples is O( MN 4) with a naive scheme, and O( MN 3log N) when a fast multipole method is used to evaluate the Coulomb interaction.

Identification and control of structures in space

NASA Technical Reports Server (NTRS)

Meirovitch, L.

1985-01-01

Work during the period January 1 to June 30, 1985 has concentrated on the completion of the derivation of the equations of motion for the Spacecraft Control Laboratory Experiment (SCOLE) as well on the development of a control scheme for the maneuvering of the spacecraft. The report consists of a paper presented at the Fifth Symposium on Dynamics and Control of Large Structures, June 12 to 14, 1985 at Blacksburg, VA.

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.

Optimized pulse shaping for trapped ion quantum computing

NASA Astrophysics Data System (ADS)

Manning, T.; Debnath, Shantanu; Choi, Taeyoung; Figgatt, Caroline; Monroe, Chris

2013-05-01

We perform entangling phase gates between pairs of qubits in a chain of trapped atomic ytterbium ions. Beat notes between frequency comb lines of a pulsed laser coherently drive Raman transitions that couple the hyperfine qubits to multiple collective transverse modes of motion. By optimizing the phase and amplitude of segmented laser pulses, we demonstrate a five-segment scheme to entangle two qubits with high fidelity over a range of detunings. We compare this special case of full control of spin-motion entanglement to a traditional single-segment gate. We extend this scheme to selectively entangle pairs of qubits in larger chains using individual optical addressing, where we couple to all the motional modes. We show how these robust gates can achieve high fidelities for practical gate times in an approach that scales realistically to much larger numbers of qubits. This work is supported by grants from the U.S. Army Research Office with funding from the DARPA OLE program, IARPA, and the MURI program; and the NSF Physics Frontier Center at JQI.

Speed tracking and synchronization of multiple motors using ring coupling control and adaptive sliding mode control.

PubMed

Li, Le-Bao; Sun, Ling-Ling; Zhang, Sheng-Zhou; Yang, Qing-Quan

2015-09-01

A new control approach for speed tracking and synchronization of multiple motors is developed, by incorporating an adaptive sliding mode control (ASMC) technique into a ring coupling synchronization control structure. This control approach can stabilize speed tracking of each motor and synchronize its motion with other motors' motion so that speed tracking errors and synchronization errors converge to zero. Moreover, an adaptive law is exploited to estimate the unknown bound of uncertainty, which is obtained in the sense of Lyapunov stability theorem to minimize the control effort and attenuate chattering. Performance comparisons with parallel control, relative coupling control and conventional PI control are investigated on a four-motor synchronization control system. Extensive simulation results show the effectiveness of the proposed control scheme. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

A novel single thruster control strategy for spacecraft attitude stabilization

NASA Astrophysics Data System (ADS)

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

2013-05-01

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

Dendro-dendritic interactions between motion-sensitive large-field neurons in the fly.

PubMed

Haag, Juergen; Borst, Alexander

2002-04-15

For visual course control, flies rely on a set of motion-sensitive neurons called lobula plate tangential cells (LPTCs). Among these cells, the so-called CH (centrifugal horizontal) cells shape by their inhibitory action the receptive field properties of other LPTCs called FD (figure detection) cells specialized for figure-ground discrimination based on relative motion. Studying the ipsilateral input circuitry of CH cells by means of dual-electrode and combined electrical-optical recordings, we find that CH cells receive graded input from HS (large-field horizontal system) cells via dendro-dendritic electrical synapses. This particular wiring scheme leads to a spatial blur of the motion image on the CH cell dendrite, and, after inhibiting FD cells, to an enhancement of motion contrast. This could be crucial for enabling FD cells to discriminate object from self motion.

Evaluation of a noninvasive command scheme for upper-limb prostheses in a virtual reality reach and grasp task.

PubMed

Kaliki, Rahul R; Davoodi, Rahman; Loeb, Gerald E

2013-03-01

C5/C6 tetraplegic patients and transhumeral amputees may be able to use voluntary shoulder motion as command signals for a functional electrical stimulation system or transhumeral prosthesis. Stereotyped relationships, termed "postural synergies," among the shoulder, forearm, and wrist joints emerge during goal-oriented reaching and transport movements as performed by able-bodied subjects. Thus, the posture of the shoulder can potentially be used to infer the desired posture of the elbow and forearm joints during reaching and transporting movements. We investigated how well able-bodied subjects could learn to use a noninvasive command scheme based on inferences from these postural synergies to control a simulated transhumeral prosthesis in a virtual reality task. We compared the performance of subjects using the inferential command scheme (ICS) with subjects operating the simulated prosthesis in virtual reality according to complete motion tracking of their actual arm and hand movements. Initially, subjects performed poorly with the ICS but improved rapidly with modest amounts of practice, eventually achieving performance only slightly less than subjects using complete motion tracking. Thus, inferring the desired movement of distal joints from voluntary shoulder movements appears to be an intuitive and noninvasive approach for obtaining command signals for prostheses to restore reaching and grasping functions.

A new design of robust H∞ sliding mode control for uncertain stochastic T-S fuzzy time-delay systems.

PubMed

Gao, Qing; Feng, Gang; Xi, Zhiyu; Wang, Yong; Qiu, Jianbin

2014-09-01

In this paper, a novel dynamic sliding mode control scheme is proposed for a class of uncertain stochastic nonlinear time-delay systems represented by Takagi-Sugeno fuzzy models. The key advantage of the proposed scheme is that two very restrictive assumptions in most existing sliding mode control approaches for stochastic fuzzy systems have been removed. It is shown that the closed-loop control system trajectories can be driven onto the sliding surface in finite time almost certainly. It is also shown that the stochastic stability of the resulting sliding motion can be guaranteed in terms of linear matrix inequalities; moreover, the sliding-mode controller can be obtained simultaneously. Simulation results illustrating the advantages and effectiveness of the proposed approaches are also provided.

Multiresolution motion planning for autonomous agents via wavelet-based cell decompositions.

PubMed

Cowlagi, Raghvendra V; Tsiotras, Panagiotis

2012-10-01

We present a path- and motion-planning scheme that is "multiresolution" both in the sense of representing the environment with high accuracy only locally and in the sense of addressing the vehicle kinematic and dynamic constraints only locally. The proposed scheme uses rectangular multiresolution cell decompositions, efficiently generated using the wavelet transform. The wavelet transform is widely used in signal and image processing, with emerging applications in autonomous sensing and perception systems. The proposed motion planner enables the simultaneous use of the wavelet transform in both the perception and in the motion-planning layers of vehicle autonomy, thus potentially reducing online computations. We rigorously prove the completeness of the proposed path-planning scheme, and we provide numerical simulation results to illustrate its efficacy.

Variable structure control of spacecraft reorientation maneuvers

NASA Technical Reports Server (NTRS)

Sira-Ramirez, H.; Dwyer, T. A. W., III

1986-01-01

A Variable Structure Control (VSC) approach is presented for multi-axial spacecraft reorientation maneuvers. A nonlinear sliding surface is proposed which results in an asymptotically stable, ideal linear sliding motion of Cayley-Rodriques attitude parameters. By imposing a desired equivalent dynamics on the attitude parameters, the approach is devoid of optimal control considerations. The single axis case provides a design scheme for the multiple axes design problem. Illustrative examples are presented.

A novel control algorithm for interaction between surface waves and a permeable floating structure

NASA Astrophysics Data System (ADS)

Tsai, Pei-Wei; Alsaedi, A.; Hayat, T.; Chen, Cheng-Wu

2016-04-01

An analytical solution is undertaken to describe the wave-induced flow field and the surge motion of a permeable platform structure with fuzzy controllers in an oceanic environment. In the design procedure of the controller, a parallel distributed compensation (PDC) scheme is utilized to construct a global fuzzy logic controller by blending all local state feedback controllers. A stability analysis is carried out for a real structure system by using Lyapunov method. The corresponding boundary value problems are then incorporated into scattering and radiation problems. They are analytically solved, based on separation of variables, to obtain series solutions in terms of the harmonic incident wave motion and surge motion. The dependence of the wave-induced flow field and its resonant frequency on wave characteristics and structure properties including platform width, thickness and mass has been thus drawn with a parametric approach. From which mathematical models are applied for the wave-induced displacement of the surge motion. A nonlinearly inverted pendulum system is employed to demonstrate that the controller tuned by swarm intelligence method can not only stabilize the nonlinear system, but has the robustness against external disturbance.

A Controlled-Phase Gate via Adiabatic Rydberg Dressing of Neutral Atoms

NASA Astrophysics Data System (ADS)

Keating, Tyler; Deutsch, Ivan; Cook, Robert; Biederman, Grant; Jau, Yuan-Yu

2014-05-01

The dipole blockade effect between Rydberg atoms is a promising tool for quantum information processing in neutral atoms. So far, most efforts to perform a quantum logic gate with this effect have used resonant laser pulses to excite the atoms, which makes the system particularly susceptible to decoherence through thermal motional effects. We explore an alternative scheme in which the atomic ground states are adiabatically ``dressed'' by turning on an off-resonant laser. We analyze the implementation of a CPHASE gate using this mechanism and find that fidelities of >99% should be possible with current technology, owing primarily to the suppression of motional errors. We also discuss how such a scheme could be generalized to perform more complicated, multi-qubit gates; in particular, a simple generalization would allow us to perform a Toffoli gate in a single step.

A robust H.264/AVC video watermarking scheme with drift compensation.

PubMed

Jiang, Xinghao; Sun, Tanfeng; Zhou, Yue; Wang, Wan; Shi, Yun-Qing

2014-01-01

A robust H.264/AVC video watermarking scheme for copyright protection with self-adaptive drift compensation is proposed. In our scheme, motion vector residuals of macroblocks with the smallest partition size are selected to hide copyright information in order to hold visual impact and distortion drift to a minimum. Drift compensation is also implemented to reduce the influence of watermark to the most extent. Besides, discrete cosine transform (DCT) with energy compact property is applied to the motion vector residual group, which can ensure robustness against intentional attacks. According to the experimental results, this scheme gains excellent imperceptibility and low bit-rate increase. Malicious attacks with different quantization parameters (QPs) or motion estimation algorithms can be resisted efficiently, with 80% accuracy on average after lossy compression.

A Robust H.264/AVC Video Watermarking Scheme with Drift Compensation

PubMed Central

Sun, Tanfeng; Zhou, Yue; Shi, Yun-Qing

2014-01-01

A robust H.264/AVC video watermarking scheme for copyright protection with self-adaptive drift compensation is proposed. In our scheme, motion vector residuals of macroblocks with the smallest partition size are selected to hide copyright information in order to hold visual impact and distortion drift to a minimum. Drift compensation is also implemented to reduce the influence of watermark to the most extent. Besides, discrete cosine transform (DCT) with energy compact property is applied to the motion vector residual group, which can ensure robustness against intentional attacks. According to the experimental results, this scheme gains excellent imperceptibility and low bit-rate increase. Malicious attacks with different quantization parameters (QPs) or motion estimation algorithms can be resisted efficiently, with 80% accuracy on average after lossy compression. PMID:24672376

Spacecraft Formation Control and Estimation Via Improved Relative Motion Dynamics

DTIC Science & Technology

2017-03-30

statistical (e.g. batch least-squares or Extended Kalman Filter ) estimator. In addition, the IROD approach can be applied to classical (ground-based...covariance  Test the viability of IROD solutions by injecting them into precise orbit determination schemes (e.g. various strains of Kalman filters

Energy-efficient writing scheme for magnetic domain-wall motion memory

NASA Astrophysics Data System (ADS)

Kim, Kab-Jin; Yoshimura, Yoko; Ham, Woo Seung; Ernst, Rick; Hirata, Yuushou; Li, Tian; Kim, Sanghoon; Moriyama, Takahiro; Nakatani, Yoshinobu; Ono, Teruo

2017-04-01

We present an energy-efficient magnetic domain-writing scheme for domain wall (DW) motion-based memory devices. A cross-shaped nanowire is employed to inject a domain into the nanowire through current-induced DW propagation. The energy required for injecting the magnetic domain is more than one order of magnitude lower than that for the conventional field-based writing scheme. The proposed scheme is beneficial for device miniaturization because the threshold current for DW propagation scales with the device size, which cannot be achieved in the conventional field-based technique.

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

Explicit Low-Thrust Guidance for Reference Orbit Targeting

NASA Technical Reports Server (NTRS)

Lam, Try; Udwadia, Firdaus E.

2013-01-01

The problem of a low-thrust spacecraft controlled to a reference orbit is addressed in this paper. A simple and explicit low-thrust guidance scheme with constrained thrust magnitude is developed by combining the fundamental equations of motion for constrained systems from analytical dynamics with a Lyapunov-based method. Examples are given for a spacecraft controlled to a reference trajectory in the circular restricted three body problem.

Efficient Computation Of Manipulator Inertia Matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1991-01-01

Improved method for computation of manipulator inertia matrix developed, based on concept of spatial inertia of composite rigid body. Required for implementation of advanced dynamic-control schemes as well as dynamic simulation of manipulator motion. Motivated by increasing demand for fast algorithms to provide real-time control and simulation capability and, particularly, need for faster-than-real-time simulation capability, required in many anticipated space teleoperation applications.

Guidance and Control strategies for aerospace vehicles

NASA Technical Reports Server (NTRS)

Hibey, J. L.; Naidu, D. S.; Charalambous, C. D.

1989-01-01

A neighboring optimal guidance scheme was devised for a nonlinear dynamic system with stochastic inputs and perfect measurements as applicable to fuel optimal control of an aeroassisted orbital transfer vehicle. For the deterministic nonlinear dynamic system describing the atmospheric maneuver, a nominal trajectory was determined. Then, a neighboring, optimal guidance scheme was obtained for open loop and closed loop control configurations. Taking modelling uncertainties into account, a linear, stochastic, neighboring optimal guidance scheme was devised. Finally, the optimal trajectory was approximated as the sum of the deterministic nominal trajectory and the stochastic neighboring optimal solution. Numerical results are presented for a typical vehicle. A fuel-optimal control problem in aeroassisted noncoplanar orbital transfer is also addressed. The equations of motion for the atmospheric maneuver are nonlinear and the optimal (nominal) trajectory and control are obtained. In order to follow the nominal trajectory under actual conditions, a neighboring optimum guidance scheme is designed using linear quadratic regulator theory for onboard real-time implementation. One of the state variables is used as the independent variable in reference to the time. The weighting matrices in the performance index are chosen by a combination of a heuristic method and an optimal modal approach. The necessary feedback control law is obtained in order to minimize the deviations from the nominal conditions.

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

Adaptive fuzzy-neural-network control for maglev transportation system.

PubMed

Wai, Rong-Jong; Lee, Jeng-Dao

2008-01-01

A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies.

Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

NASA Astrophysics Data System (ADS)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Fang, Sheng; Chen, Te-huan

2018-05-01

This paper presents a dynamic modeling and microscopic vibration suppression for a flexible macro-micro manipulator dedicated to high-speed operation. The manipulator system mainly consists of a macro motion stage and a flexible micromanipulator bonded with one macro-fiber-composite actuator. Based on Hamilton's principle and the Bouc-Wen hysteresis equation, the nonlinear dynamic model is obtained. Then, a hybrid control scheme is proposed to simultaneously suppress the elastic vibration during and after the motor motion. In particular, the hybrid control strategy is composed of a trajectory planning approach and an adaptive variable structure control. Moreover, two optimization indices regarding the comprehensive torques and synthesized vibrations are designed, and the optimal trajectories are acquired using a genetic algorithm. Furthermore, a nonlinear fuzzy regulator is used to adjust the switching gain in the variable structure control. Thus, a fuzzy variable structure control with nonlinear adaptive control law is achieved. A series of experiments are performed to verify the effectiveness and feasibility of the established system model and hybrid control strategy. The excited vibration during the motor motion and the residual vibration after the motor motion are decreased. Meanwhile, the settling time is shortened. Both the manipulation stability and operation efficiency of the manipulator are improved by the proposed hybrid strategy.

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

Design, development, and evaluation of an MRI-guided SMA spring-actuated neurosurgical robot

PubMed Central

Ho, Mingyen; Kim, Yeongjin; Cheng, Shing Shin; Gullapalli, Rao; Desai, Jaydev P.

2015-01-01

In this paper, we present our work on the development of a magnetic resonance imaging (MRI)-compatible Minimally Invasive Neurosurgical Intracranial Robot (MINIR) comprising of shape memory alloy (SMA) spring actuators and tendon-sheath mechanism. We present the detailed modeling and analysis along with experimental results of the characterization of SMA spring actuators. Furthermore, to demonstrate image-feedback control, we used the images obtained from a camera to control the motion of the robot so that eventually continuous MR images could be used in the future to control the robot motion. Since the image tracking algorithm may fail in some situations, we also developed a temperature feedback control scheme which served as a backup controller for the robot. Experimental results demonstrated that both image feedback and temperature feedback can be used to control the motion of MINIR. A series of MRI compatibility tests were performed on the robot and the experimental results demonstrated that the robot is MRI compatible and no significant visual image distortion was observed in the MR images during robot operation. PMID:26622075

Automatic control of a helicopter with a hanging load. [development and evaluation of automatic pilot for use with S-61 helicopter

NASA Technical Reports Server (NTRS)

Gupta, N. K.; Bryson, A. E., Jr.

1973-01-01

An autopilot logic is designed here for controlling a helicopter with a hanging load. A 16th order model for the system is decoupled into four subsystems: (1) a second order system for yawing motion, (2) a second order system for vertical motion, (3) a sixth order system for longitudinal motion, and (4) a sixth order system for lateral motion. A measuring scheme, which could be used in remote areas, is developed and filters are designed to estimate the state variables from these measurements. The autopilot can be used to move the load over short distances without retracting the cables. This is done by automatically shifting the autopilot modes from position-hold (hover) to acceleration-hold to velocity-hold (cruise) to deceleration-hold to velocity-hold (near hover) to position-hold (hover). Use of such an autopilot might save considerable turnaround time. The Sikorsky S-61 helicopter is chosen as an example vehicle. The performance of the controlled system is studied in the presence of longitudinal and lateral winds.

Advanced interactive display formats for terminal area traffic control

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.

1995-01-01

The basic design considerations for perspective Air Traffic Control displays are described. A software framework has been developed for manual viewing parameter setting (MVPS) in preparation for continued, ongoing developments on automated viewing parameter setting (AVPS) schemes. The MVPS system is based on indirect manipulation of the viewing parameters. Requests for changes in viewing parameter setting are entered manually by the operator by moving viewing parameter manipulation pointers on the screen. The motion of these pointers, which are an integral part of the 3-D scene, is limited to the boundaries of screen. This arrangement has been chosen, in order to preserve the correspondence between the new and the old viewing parameter setting, a feature which contributes to preventing spatial disorientation of the operator. For all viewing operations, e.g. rotation, translation and ranging, the actual change is executed automatically by the system, through gradual transitions with an exponentially damped, sinusoidal velocity profile, in this work referred to as 'slewing' motions. The slewing functions, which eliminate discontinuities in the viewing parameter changes, are designed primarily for enhancing the operator's impression that he, or she, is dealing with an actually existing physical system, rather than an abstract computer generated scene. Current, ongoing efforts deal with the development of automated viewing parameter setting schemes. These schemes employ an optimization strategy, aimed at identifying the best possible vantage point, from which the Air Traffic Control scene can be viewed, for a given traffic situation.

Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique.

PubMed

Song, Zhankui; Li, Hongxing; Sun, Kaibiao

2014-01-01

In this paper, a fast terminal sliding mode control (FTSMC) scheme with double closed loops is proposed for the spacecraft attitude control. The FTSMC laws are included both in an inner control loop and an outer control loop. Firstly, a fast terminal sliding surface (FTSS) is constructed, which can drive the inner loop tracking-error and the outer loop tracking-error on the FTSS to converge to zero in finite time. Secondly, FTSMC strategy is designed by using Lyaponov's method for ensuring the occurrence of the sliding motion in finite time, which can hold the character of fast transient response and improve the tracking accuracy. It is proved that FTSMC can guarantee the convergence of tracking-error in both approaching and sliding mode surface. Finally, simulation results demonstrate the effectiveness of the proposed control scheme. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Applications of artificial intelligence in safe human-robot interactions.

PubMed

Najmaei, Nima; Kermani, Mehrdad R

2011-04-01

The integration of industrial robots into the human workspace presents a set of unique challenges. This paper introduces a new sensory system for modeling, tracking, and predicting human motions within a robot workspace. A reactive control scheme to modify a robot's operations for accommodating the presence of the human within the robot workspace is also presented. To this end, a special class of artificial neural networks, namely, self-organizing maps (SOMs), is employed for obtaining a superquadric-based model of the human. The SOM network receives information of the human's footprints from the sensory system and infers necessary data for rendering the human model. The model is then used in order to assess the danger of the robot operations based on the measured as well as predicted human motions. This is followed by the introduction of a new reactive control scheme that results in the least interferences between the human and robot operations. The approach enables the robot to foresee an upcoming danger and take preventive actions before the danger becomes imminent. Simulation and experimental results are presented in order to validate the effectiveness of the proposed method.

Numerical approach of collision avoidance and optimal control on robotic manipulators

NASA Technical Reports Server (NTRS)

Wang, Jyhshing Jack

1990-01-01

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

Tangle-Free Finite Element Mesh Motion for Ablation Problems

NASA Technical Reports Server (NTRS)

Droba, Justin

2016-01-01

Mesh motion is the process by which a computational domain is updated in time to reflect physical changes in the material the domain represents. Such a technique is needed in the study of the thermal response of ablative materials, which erode when strong heating is applied to the boundary. Traditionally, the thermal solver is coupled with a linear elastic or biharmonic system whose sole purpose is to update mesh node locations in response to altering boundary heating. Simple mesh motion algorithms rely on boundary surface normals. In such schemes, evolution in time will eventually cause the mesh to intersect and "tangle" with itself, causing failure. Furthermore, such schemes are greatly limited in the problems geometries on which they will be successful. This paper presents a comprehensive and sophisticated scheme that tailors the directions of motion based on context. By choosing directions for each node smartly, the inevitable tangle can be completely avoided and mesh motion on complex geometries can be modeled accurately.

Cooling and heating of the quantum motion of trapped cadmium(+) ions

NASA Astrophysics Data System (ADS)

Deslauriers, Louis

The quest for a quantum system best satisfying the stringent requirements of a quantum information processor has made tremendous progress in many fields of physics. In the last decade, trapped ions have been established as one of the most promising architectures to accomplish the task. Internal states of an ion which can have extremely long coherence time can be used to store a quantum bit, and therefore allow many gate operations before the coherence is lost. Entanglement between multiple ions can be established via Coulomb interactions mediated by appropriate laser fields. Entangling schemes usually require the ions to be initialized to near their motional ground state. The interaction of fluctuating electric fields with the motional state of the ion leads to heating and thus to decoherence for entanglement generation limiting the fidelity of quantum logic gates. Effective ground state cooling of trapped ion motion and suppression of motional heating are thus crucial to many applications of trapped ions in quantum information science. In this thesis, I describe the implementation and study of several components of a Cadmium-ion-based quantum information processor, with special emphasis on the control and decoherence of trapped ion motion. I first discuss the building and design of various ion traps that were used in this work. I also report on the use of ultrafast laser pulses to photoionize and load cadmium ions in a variety of rf Paul trap geometries. A detailed analysis of the photoionization scheme is presented, along with its dependence on controlled experimental parameters. I then describe the implementation of Raman sideband cooling on a single trapped 111Cd+ ion to the ground state of motion, where a ground state population of 97% was achieved. The efficacy of this cooling technique is discussed with respect to different initial motional state distributions and its sensitivity to the presence of motional heating. I also present an experiment where the motion of a single trapped 112Cd+ ion is sympathetically cooled by directly Doppler cooling a 114Cd+ ion in the same trap. The implications of this result are relevant to the scaling of a trapped ion quantum computer, where the unwanted motion of an ion crystal can be quenched while not affecting the internal states of the qubit ions. (Abstract shortened by UMI.)

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.

Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.

Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.

PubMed

Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

2016-05-09

In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

Hierarchical Motion Planning for Autonomous Aerial and Terrestrial Vehicles

NASA Astrophysics Data System (ADS)

Cowlagi, Raghvendra V.

Autonomous mobile robots---both aerial and terrestrial vehicles---have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical decomposition suffers a serious drawback: the geometric path planner has no information of the kinematical and dynamical constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates the geometric planner altogether by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematical model. We propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. The main contributions of this thesis are: 1. A motion planning framework based on history-dependent costs (H-costs) in cell decomposition graphs for incorporating vehicle dynamical constraints: this framework offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local feedback-based, decoupled hierarchical motion planning, 2. An efficient and flexible algorithm for finding optimal H-cost paths, 3. A precise and general formulation of a local trajectory problem (the tile motion planning problem) that allows independent development of the discrete planner and the trajectory planner, while maintaining "compatibility" between the two planners, 4. A local trajectory generation algorithm using mpc, and the application of the concept of effective target sets for a significant simplification of the local trajectory generation problem, 5. The geometric analysis of curvature-bounded traversal of rectangular channels, leading to less conservative results in comparison with a result reported in the literature, and also to the efficient construction of effective target sets for the solution of the tile motion planning problem, 6. A wavelet-based multi-resolution path planning scheme, and a proof of completeness of the proposed scheme: such proofs are altogether absent from other works on multi-resolution path planning, 7. A technique for extracting all information about cells---namely, the locations, the sizes, and the associated image intensities---directly from the set of significant detail coefficients considered for path planning at a given iteration, and 8. The extension of the multi-resolution path planning scheme to include vehicle dynamical constraints using the aforementioned history-dependent costs approach. The future work includes an implementation of the proposed framework involving a discrete planner that solves classical planning problems more general than the single-query path planning problem considered thus far, and involving trajectory generation schemes for realistic vehicle dynamical models such as the bicycle model.

Planar reorientation of a free-free beam in space using embedded electromechanical actuators

NASA Technical Reports Server (NTRS)

Kolmanovsky, Ilya V.; Mcclamroch, N. Harris

1993-01-01

It is demonstrated that the planar reorientation of a free-free beam in zero gravity space can be accomplished by periodically changing the shape of the beam using embedded electromechanical actuators. The dynamics which determine the shape of the free-free beam is assumed to be characterized by the Euler-Bernoulli equation, including material damping, with appropriate boundary conditions. The coupling between the rigid body motion and the flexible motion is explained using the angular momentum expression which includes rotatory inertia and kinematically exact effects. A control scheme is proposed where the embedded actuators excite the flexible motion of the beam so that it rotates in the desired sense with respect to a fixed inertial reference. Relations are derived which relate the average rotation rate to the amplitudes and the frequencies of the periodic actuation signal and the properties of the beam. These reorientation maneuvers can be implemented by using feedback control.

Application of model reference adaptive control to a flexible remote manipulator arm

NASA Technical Reports Server (NTRS)

Meldrum, D. R.; Balas, M. J.

1986-01-01

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

System for Estimating Horizontal Velocity During Descent

NASA Technical Reports Server (NTRS)

Johnson, Andrew; Cheng, Yang; Wilson, Reg; Goguen, Jay; Martin, Alejandro San; Leger, Chris; Matthies, Larry

2007-01-01

The descent image motion estimation system (DIMES) is a system of hardware and software, designed for original use in estimating the horizontal velocity of a spacecraft descending toward a landing on Mars. The estimated horizontal velocity is used in generating rocket-firing commands to reduce the horizontal velocity as part of an overall control scheme to minimize the landing impact. DIMES can also be used for estimating the horizontal velocity of a remotely controlled or autonomous aircraft for purposes of navigation and control.

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

NASA Astrophysics Data System (ADS)

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

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

Dynamics and control of three-body tethered system in large elliptic orbits

NASA Astrophysics Data System (ADS)

Shi, Gefei; Zhu, Zhanxia; Zhu, Zheng H.

2018-03-01

This paper investigates the dynamic characteristics a three-body tethered satellite system in large elliptic orbits and the control strategy to suppress the libration of the system in orbital transfer process. The system is modeled by a two-piece dumbbell model in the domain of true anomaly. The model consists of one main satellite and two subsatellites connected with two straight, massless and inextensible tethers. Two control strategies based on the sliding mode control are developed to control the libration to the zero state and the steady state respectively. The results of numerical simulations show that the proposed control scheme has good performance in controlling the libration motion of a three-body tethered satellite system in an elliptic orbit with large eccentricity by limited control inputs. Furthermore, Hamiltonians in both states are examined and it shows that less control input is required to control the libration motion to the steady state than that of zero state.

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.

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.

Plenoptic Image Motion Deblurring.

PubMed

Chandramouli, Paramanand; Jin, Meiguang; Perrone, Daniele; Favaro, Paolo

2018-04-01

We propose a method to remove motion blur in a single light field captured with a moving plenoptic camera. Since motion is unknown, we resort to a blind deconvolution formulation, where one aims to identify both the blur point spread function and the latent sharp image. Even in the absence of motion, light field images captured by a plenoptic camera are affected by a non-trivial combination of both aliasing and defocus, which depends on the 3D geometry of the scene. Therefore, motion deblurring algorithms designed for standard cameras are not directly applicable. Moreover, many state of the art blind deconvolution algorithms are based on iterative schemes, where blurry images are synthesized through the imaging model. However, current imaging models for plenoptic images are impractical due to their high dimensionality. We observe that plenoptic cameras introduce periodic patterns that can be exploited to obtain highly parallelizable numerical schemes to synthesize images. These schemes allow extremely efficient GPU implementations that enable the use of iterative methods. We can then cast blind deconvolution of a blurry light field image as a regularized energy minimization to recover a sharp high-resolution scene texture and the camera motion. Furthermore, the proposed formulation can handle non-uniform motion blur due to camera shake as demonstrated on both synthetic and real light field data.

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

PubMed

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

2011-06-01

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

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

PubMed Central

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

2013-01-01

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

On-Line Method and Apparatus for Coordinated Mobility and Manipulation of Mobile Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1996-01-01

A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.

Adaptive neural network motion control of manipulators with experimental evaluations.

PubMed

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

2014-01-01

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

Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

PubMed Central

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

2014-01-01

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

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

PubMed

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

2015-03-01

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

A learning scheme for reach to grasp movements: on EMG-based interfaces using task specific motion decoding models.

PubMed

Liarokapis, Minas V; Artemiadis, Panagiotis K; Kyriakopoulos, Kostas J; Manolakos, Elias S

2013-09-01

A learning scheme based on random forests is used to discriminate between different reach to grasp movements in 3-D space, based on the myoelectric activity of human muscles of the upper-arm and the forearm. Task specificity for motion decoding is introduced in two different levels: Subspace to move toward and object to be grasped. The discrimination between the different reach to grasp strategies is accomplished with machine learning techniques for classification. The classification decision is then used in order to trigger an EMG-based task-specific motion decoding model. Task specific models manage to outperform "general" models providing better estimation accuracy. Thus, the proposed scheme takes advantage of a framework incorporating both a classifier and a regressor that cooperate advantageously in order to split the task space. The proposed learning scheme can be easily used to a series of EMG-based interfaces that must operate in real time, providing data-driven capabilities for multiclass problems, that occur in everyday life complex environments.

Computer coordination of limb motion for a three-legged walking robot

NASA Technical Reports Server (NTRS)

Klein, C. A.; Patterson, M. R.

1980-01-01

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

``Large''- vs Small-scale friction control in turbulent channel flow

NASA Astrophysics Data System (ADS)

Canton, Jacopo; Örlü, Ramis; Chin, Cheng; Schlatter, Philipp

2017-11-01

We reconsider the ``large-scale'' control scheme proposed by Hussain and co-workers (Phys. Fluids 10, 1049-1051 1998 and Phys. Rev. Fluids, 2, 62601 2017), using new direct numerical simulations (DNS). The DNS are performed in a turbulent channel at friction Reynolds number Reτ of up to 550 in order to eliminate low-Reynolds-number effects. The purpose of the present contribution is to re-assess this control method in the light of more modern developments in the field, in particular also related to the discovery of (very) large-scale motions. The goals of the paper are as follows: First, we want to better characterise the physics of the control, and assess what external contribution (vortices, forcing, wall motion) are actually needed. Then, we investigate the optimal parameters and, finally, determine which aspects of this control technique actually scale in outer units and can therefore be of use in practical applications. In addition to discussing the mentioned drag-reduction effects, the present contribution will also address the potential effect of the naturally occurring large-scale motions on frictional drag, and give indications on the physical processes for potential drag reduction possible at all Reynolds numbers.

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.

High speed, high performance, portable, dual-channel, optical fiber Bragg grating (FBG) demodulator

NASA Astrophysics Data System (ADS)

Zhang, Hongtao; Wei, Zhanxiong; Fan, Lingling; Wang, Pengfei; Zhao, Xilin; Wang, Zhenhua; Yang, Shangming; Cui, Hong-Liang

2009-10-01

A high speed, high performance, portable, dual-channel, optical Fiber Bragg Grating demodulator based on fiber Fabry- Pérot tunable filter (FFP-FT) is reported in this paper. The high speed demodulation can be achieved to detect the dynamical loads of vehicles with speed of 15 mph. However, the drifts of piezoelectric transducer (PZT) in the cavity of FFP-FT dramatically degrade the stability of system. Two schemes are implemented to improve the stability of system. Firstly, a temperature control system is installed to effectively remove the thermal drifts of PZT. Secondly, a scheme of changing the bias voltage of FFP-FT to restrain non-thermal drifts has been realized at lab and will be further developed to an automatic control system based on microcontroller. Although this demodulator is originally used in Weight-In- Motion (WIM) sensing system, it can be extended into other aspects and the schemes presented in this paper will be useful in many applications.

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

PubMed

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

2016-04-20

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

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

A 17 degree of freedom anthropomorphic manipulator

NASA Technical Reports Server (NTRS)

Vold, Havard I.; Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Eismann, Paul H.

1989-01-01

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.

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

PubMed

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

2017-01-01

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

Fish tracking by combining motion based segmentation and particle filtering

NASA Astrophysics Data System (ADS)

Bichot, E.; Mascarilla, L.; Courtellemont, P.

2006-01-01

In this paper, we suggest a new importance sampling scheme to improve a particle filtering based tracking process. This scheme relies on exploitation of motion segmentation. More precisely, we propagate hypotheses from particle filtering to blobs of similar motion to target. Hence, search is driven toward regions of interest in the state space and prediction is more accurate. We also propose to exploit segmentation to update target model. Once the moving target has been identified, a representative model is learnt from its spatial support. We refer to this model in the correction step of the tracking process. The importance sampling scheme and the strategy to update target model improve the performance of particle filtering in complex situations of occlusions compared to a simple Bootstrap approach as shown by our experiments on real fish tank sequences.

Time-delay control of a magnetic levitated linear positioning system

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Game Theoretic Approach to Post-Docked Satellite Control

NASA Technical Reports Server (NTRS)

Hiramatsu, Takashi; Fitz-Coy, Norman G.

2007-01-01

This paper studies the interaction between two satellites after docking. In order to maintain the docked state with uncertainty in the motion of the target vehicle, a game theoretic controller with Stackelberg strategy to minimize the interaction between the satellites is considered. The small perturbation approximation leads to LQ differential game scheme, which is validated to address the docking interactions between a service vehicle and a target vehicle. The open-loop solution are compared with Nash strategy, and it is shown that less control efforts are obtained with Stackelberg strategy.

Strong motion instrumentation of an RC building structure

USGS Publications Warehouse

Li, H.-J.; Celebi, M.

2001-01-01

The strong-motion instrumentation scheme of a reinforced concrete building observed by California Strong-Motion Instrumentation Program (CSMIP) is introduced in this paper. The instrumented building is also described and the recorded responses during 1994 Northridge earthquake are provided.

Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

PubMed Central

Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

2016-01-01

In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability. PMID:27171084

Controlled Quantum Packets

NASA Technical Reports Server (NTRS)

DeMartino, Salvatore; DeSiena, Silvio

1996-01-01

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

Interactive wall turbulence control

NASA Technical Reports Server (NTRS)

Wilkinson, Stephen P.

1990-01-01

After presenting boundary layer turbulence physics in a manner that emphasizes the possible modification of structural surfaces in a way that locally alters the production of turbulent flows, an account is given of the hardware that could plausibly be employed to implement such a turbulence-control scheme. The essential system components are flow sensors, electronic processors, and actuators; at present, actuator technology presents the greatest problems and limitations. High frequency/efficiency actuators are required to handle three-dimensional turbulent motions whose frequency and intensity increases in approximate proportion to freestream speed.

Mobile robotic sensors for perimeter detection and tracking.

PubMed

Clark, Justin; Fierro, Rafael

2007-02-01

Mobile robot/sensor networks have emerged as tools for environmental monitoring, search and rescue, exploration and mapping, evaluation of civil infrastructure, and military operations. These networks consist of many sensors each equipped with embedded processors, wireless communication, and motion capabilities. This paper describes a cooperative mobile robot network capable of detecting and tracking a perimeter defined by a certain substance (e.g., a chemical spill) in the environment. Specifically, the contributions of this paper are twofold: (i) a library of simple reactive motion control algorithms and (ii) a coordination mechanism for effectively carrying out perimeter-sensing missions. The decentralized nature of the methodology implemented could potentially allow the network to scale to many sensors and to reconfigure when adding/deleting sensors. Extensive simulation results and experiments verify the validity of the proposed cooperative control scheme.

Design and control of an embedded vision guided robotic fish with multiple control surfaces.

PubMed

Yu, Junzhi; Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface.

Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

PubMed Central

Wang, Kai; Tan, Min; Zhang, Jianwei

2014-01-01

This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin is proposed. To achieve flexible yet stable motions in aquatic environments, a central pattern generator- (CPG-) based control method is employed. Meanwhile, a monocular underwater vision serves as sensory feedback that modifies the control parameters. The integration of the CPG-based motion control and the visual processing in an embedded microcontroller allows the robotic fish to navigate online. Aquatic tests demonstrate the efficacy of the proposed mechatronic design and swimming control methods. Particularly, a pelvic fin actuated sideward swimming gait was first implemented. It is also found that the speeds and maneuverability of the robotic fish with coordinated control surfaces were largely superior to that of the swimming robot propelled by a single control surface. PMID:24688413

A fuzzy-logic antiswing controller for three-dimensional overhead cranes.

PubMed

Cho, Sung-Kun; Lee, Ho-Hoon

2002-04-01

In this paper, a new fuzzy antiswing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control crane position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position and rope length for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by experiments with a three-dimensional prototype overhead crane.

Quantum locking of mirrors in interferometers.

PubMed

Courty, Jean-Michel; Heidmann, Antoine; Pinard, Michel

2003-02-28

We show that quantum noise in very sensitive interferometric measurements such as gravitational-wave detectors can be drastically modified by quantum feedback. We present a new scheme based on active control to lock the motion of a mirror to a reference mirror at the quantum level. This simple technique allows one to reduce quantum effects of radiation pressure and to greatly enhance the sensitivity of the detection.

Quantum Computing Using Superconducting Qubits

DTIC Science & Technology

2006-04-01

see the right fig.), and (iii) dynamically modifying ( pulsating ) this potential by controlling the motion of the A particles. This allows easy...superconductors with periodic pinning arrays. We show that sample heating by moving vortices produces negative differential resistivity (NDR) of both N- and S...efficient (i.e., using one two-bit operation) QC circuits using modern microfabrication techniques. scheme for this design [1,3] to achieve conditional

A semi-automatic 2D-to-3D video conversion with adaptive key-frame selection

NASA Astrophysics Data System (ADS)

Ju, Kuanyu; Xiong, Hongkai

2014-11-01

To compensate the deficit of 3D content, 2D to 3D video conversion (2D-to-3D) has recently attracted more attention from both industrial and academic communities. The semi-automatic 2D-to-3D conversion which estimates corresponding depth of non-key-frames through key-frames is more desirable owing to its advantage of balancing labor cost and 3D effects. The location of key-frames plays a role on quality of depth propagation. This paper proposes a semi-automatic 2D-to-3D scheme with adaptive key-frame selection to keep temporal continuity more reliable and reduce the depth propagation errors caused by occlusion. The potential key-frames would be localized in terms of clustered color variation and motion intensity. The distance of key-frame interval is also taken into account to keep the accumulated propagation errors under control and guarantee minimal user interaction. Once their depth maps are aligned with user interaction, the non-key-frames depth maps would be automatically propagated by shifted bilateral filtering. Considering that depth of objects may change due to the objects motion or camera zoom in/out effect, a bi-directional depth propagation scheme is adopted where a non-key frame is interpolated from two adjacent key frames. The experimental results show that the proposed scheme has better performance than existing 2D-to-3D scheme with fixed key-frame interval.

Learning robotic eye-arm-hand coordination from human demonstration: a coupled dynamical systems approach.

PubMed

Lukic, Luka; Santos-Victor, José; Billard, Aude

2014-04-01

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied across trials. These experiments suggest that reaching with obstacle avoidance is organized in a sequential manner, where the obstacle acts as an intermediary target. Furthermore, we demonstrate that the notion of workspace travelled by the hand is embedded explicitly in a forward planning scheme, which is actively involved in detecting obstacles on the way when performing reaching. We find that the gaze proactively coordinates the pattern of eye-arm motion during obstacle avoidance. This study provides also a quantitative assessment of the coupling between the eye-arm-hand motion. We show that the coupling follows regular phase dependencies and is unaltered during obstacle avoidance. These observations provide a basis for the design of a computational model. Our controller extends the coupled dynamical systems framework and provides fast and synchronous control of the eyes, the arm and the hand within a single and compact framework, mimicking similar control system found in humans. We validate our model for visuomotor control of a humanoid robot.

A 3D MR-acquisition scheme for nonrigid bulk motion correction in simultaneous PET-MR

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

Kolbitsch, Christoph, E-mail: christoph.1.kolbitsch@kcl.ac.uk; Prieto, Claudia; Schaeffter, Tobias

Purpose: Positron emission tomography (PET) is a highly sensitive medical imaging technique commonly used to detect and assess tumor lesions. Magnetic resonance imaging (MRI) provides high resolution anatomical images with different contrasts and a range of additional information important for cancer diagnosis. Recently, simultaneous PET-MR systems have been released with the promise to provide complementary information from both modalities in a single examination. Due to long scan times, subject nonrigid bulk motion, i.e., changes of the patient's position on the scanner table leading to nonrigid changes of the patient's anatomy, during data acquisition can negatively impair image quality and tracermore » uptake quantification. A 3D MR-acquisition scheme is proposed to detect and correct for nonrigid bulk motion in simultaneously acquired PET-MR data. Methods: A respiratory navigated three dimensional (3D) MR-acquisition with Radial Phase Encoding (RPE) is used to obtain T1- and T2-weighted data with an isotropic resolution of 1.5 mm. Healthy volunteers are asked to move the abdomen two to three times during data acquisition resulting in overall 19 movements at arbitrary time points. The acquisition scheme is used to retrospectively reconstruct dynamic 3D MR images with different temporal resolutions. Nonrigid bulk motion is detected and corrected in this image data. A simultaneous PET acquisition is simulated and the effect of motion correction is assessed on image quality and standardized uptake values (SUV) for lesions with different diameters. Results: Six respiratory gated 3D data sets with T1- and T2-weighted contrast have been obtained in healthy volunteers. All bulk motion shifts have successfully been detected and motion fields describing the transformation between the different motion states could be obtained with an accuracy of 1.71 ± 0.29 mm. The PET simulation showed errors of up to 67% in measured SUV due to bulk motion which could be reduced to less than 10% with the proposed motion compensation approach. Conclusions: A MR acquisition scheme which yields both high resolution 3D anatomical data and highly accurate nonrigid motion information without an increase in scan time is presented. The proposed method leads to a strong improvement in both MR and PET image quality and ensures an accurate assessment of tracer uptake.« less

Development of a Shipboard Remote Control and Telemetry Experimental System for Large-Scale Model’s Motions and Loads Measurement in Realistic Sea Waves

PubMed Central

Jiao, Jialong; Ren, Huilong; Adenya, Christiaan Adika; Chen, Chaohe

2017-01-01

Wave-induced motion and load responses are important criteria for ship performance evaluation. Physical experiments have long been an indispensable tool in the predictions of ship’s navigation state, speed, motions, accelerations, sectional loads and wave impact pressure. Currently, majority of the experiments are conducted in laboratory tank environment, where the wave environments are different from the realistic sea waves. In this paper, a laboratory tank testing system for ship motions and loads measurement is reviewed and reported first. Then, a novel large-scale model measurement technique is developed based on the laboratory testing foundations to obtain accurate motion and load responses of ships in realistic sea conditions. For this purpose, a suite of advanced remote control and telemetry experimental system was developed in-house to allow for the implementation of large-scale model seakeeping measurement at sea. The experimental system includes a series of technique sensors, e.g., the Global Position System/Inertial Navigation System (GPS/INS) module, course top, optical fiber sensors, strain gauges, pressure sensors and accelerometers. The developed measurement system was tested by field experiments in coastal seas, which indicates that the proposed large-scale model testing scheme is capable and feasible. Meaningful data including ocean environment parameters, ship navigation state, motions and loads were obtained through the sea trial campaign. PMID:29109379

Optical Flow Estimation for Flame Detection in Videos

PubMed Central

Mueller, Martin; Karasev, Peter; Kolesov, Ivan; Tannenbaum, Allen

2014-01-01

Computational vision-based flame detection has drawn significant attention in the past decade with camera surveillance systems becoming ubiquitous. Whereas many discriminating features, such as color, shape, texture, etc., have been employed in the literature, this paper proposes a set of motion features based on motion estimators. The key idea consists of exploiting the difference between the turbulent, fast, fire motion, and the structured, rigid motion of other objects. Since classical optical flow methods do not model the characteristics of fire motion (e.g., non-smoothness of motion, non-constancy of intensity), two optical flow methods are specifically designed for the fire detection task: optimal mass transport models fire with dynamic texture, while a data-driven optical flow scheme models saturated flames. Then, characteristic features related to the flow magnitudes and directions are computed from the flow fields to discriminate between fire and non-fire motion. The proposed features are tested on a large video database to demonstrate their practical usefulness. Moreover, a novel evaluation method is proposed by fire simulations that allow for a controlled environment to analyze parameter influences, such as flame saturation, spatial resolution, frame rate, and random noise. PMID:23613042

High-performance object tracking and fixation with an online neural estimator.

PubMed

Kumarawadu, Sisil; Watanabe, Keigo; Lee, Tsu-Tian

2007-02-01

Vision-based target tracking and fixation to keep objects that move in three dimensions in view is important for many tasks in several fields including intelligent transportation systems and robotics. Much of the visual control literature has focused on the kinematics of visual control and ignored a number of significant dynamic control issues that limit performance. In line with this, this paper presents a neural network (NN)-based binocular tracking scheme for high-performance target tracking and fixation with minimum sensory information. The procedure allows the designer to take into account the physical (Lagrangian dynamics) properties of the vision system in the control law. The design objective is to synthesize a binocular tracking controller that explicitly takes the systems dynamics into account, yet needs no knowledge of dynamic nonlinearities and joint velocity sensory information. The combined neurocontroller-observer scheme can guarantee the uniform ultimate bounds of the tracking, observer, and NN weight estimation errors under fairly general conditions on the controller-observer gains. The controller is tested and verified via simulation tests in the presence of severe target motion changes.

A spatiotemporal-based scheme for efficient registration-based segmentation of thoracic 4-D MRI.

PubMed

Yang, Y; Van Reeth, E; Poh, C L; Tan, C H; Tham, I W K

2014-05-01

Dynamic three-dimensional (3-D) (four-dimensional, 4-D) magnetic resonance (MR) imaging is gaining importance in the study of pulmonary motion for respiratory diseases and pulmonary tumor motion for radiotherapy. To perform quantitative analysis using 4-D MR images, segmentation of anatomical structures such as the lung and pulmonary tumor is required. Manual segmentation of entire thoracic 4-D MRI data that typically contains many 3-D volumes acquired over several breathing cycles is extremely tedious, time consuming, and suffers high user variability. This requires the development of new automated segmentation schemes for 4-D MRI data segmentation. Registration-based segmentation technique that uses automatic registration methods for segmentation has been shown to be an accurate method to segment structures for 4-D data series. However, directly applying registration-based segmentation to segment 4-D MRI series lacks efficiency. Here we propose an automated 4-D registration-based segmentation scheme that is based on spatiotemporal information for the segmentation of thoracic 4-D MR lung images. The proposed scheme saved up to 95% of computation amount while achieving comparable accurate segmentations compared to directly applying registration-based segmentation to 4-D dataset. The scheme facilitates rapid 3-D/4-D visualization of the lung and tumor motion and potentially the tracking of tumor during radiation delivery.

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

PubMed Central

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

2016-01-01

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

Efficient Interplay Effect Mitigation for Proton Pencil Beam Scanning by Spot-Adapted Layered Repainting Evenly Spread out Over the Full Breathing Cycle.

PubMed

Poulsen, Per Rugaard; Eley, John; Langner, Ulrich; Simone, Charles B; Langen, Katja

2018-01-01

To develop and implement a practical repainting method for efficient interplay effect mitigation in proton pencil beam scanning (PBS). A new flexible repainting scheme with spot-adapted numbers of repainting evenly spread out over the whole breathing cycle (assumed to be 4 seconds) was developed. Twelve fields from 5 thoracic and upper abdominal PBS plans were delivered 3 times using the new repainting scheme to an ion chamber array on a motion stage. One time was static and 2 used 4-second, 3-cm peak-to-peak sinusoidal motion with delivery started at maximum inhalation and maximum exhalation. For comparison, all dose measurements were repeated with no repainting and with 8 repaintings. For each motion experiment, the 3%/3-mm gamma pass rate was calculated using the motion-convolved static dose as the reference. Simulations were first validated with the experiments and then used to extend the study to 0- to 5-cm motion magnitude, 2- to 6-second motion periods, patient-measured liver tumor motion, and 1- to 6-fraction treatments. The effect of the proposed method was evaluated for the 5 clinical cases using 4-dimensional (4D) dose reconstruction in the planning 4D computed tomography scan. The target homogeneity index, HI = (D 2 - D 98 )/D mean , of a single-fraction delivery is reported, where D 2 and D 98 is the dose delivered to 2% and 98% of the target, respectively, and D mean is the mean dose. The gamma pass rates were 59.6% ± 9.7% with no repainting, 76.5% ± 10.8% with 8 repaintings, and 92.4% ± 3.8% with the new repainting scheme. Simulations reproduced the experimental gamma pass rates with a 1.3% root-mean-square error and demonstrated largely improved gamma pass rates with the new repainting scheme for all investigated motion scenarios. One- and two-fraction deliveries with the new repainting scheme had gamma pass rates similar to those of 3-4 and 6-fraction deliveries with 8 repaintings. The mean HI for the 5 clinical cases was 14.2% with no repainting, 13.7% with 8 repaintings, 12.0% with the new repainting scheme, and 11.6% for the 4D dose without interplay effects. A novel repainting strategy for efficient interplay effect mitigation was proposed, implemented, and shown to outperform conventional repainting in experiments, simulations, and dose reconstructions. This strategy could allow for safe and more optimal clinical delivery of thoracic and abdominal proton PBS and better facilitate hypofractionated and stereotactic treatments. Copyright © 2017 Elsevier Inc. All rights reserved.

Coupling reconstruction and motion estimation for dynamic MRI through optical flow constraint

NASA Astrophysics Data System (ADS)

Zhao, Ningning; O'Connor, Daniel; Gu, Wenbo; Ruan, Dan; Basarab, Adrian; Sheng, Ke

2018-03-01

This paper addresses the problem of dynamic magnetic resonance image (DMRI) reconstruction and motion estimation jointly. Because of the inherent anatomical movements in DMRI acquisition, reconstruction of DMRI using motion estimation/compensation (ME/MC) has been explored under the compressed sensing (CS) scheme. In this paper, by embedding the intensity based optical flow (OF) constraint into the traditional CS scheme, we are able to couple the DMRI reconstruction and motion vector estimation. Moreover, the OF constraint is employed in a specific coarse resolution scale in order to reduce the computational complexity. The resulting optimization problem is then solved using a primal-dual algorithm due to its efficiency when dealing with nondifferentiable problems. Experiments on highly accelerated dynamic cardiac MRI with multiple receiver coils validate the performance of the proposed algorithm.

Control of a HexaPOD treatment couch for robot-assisted radiotherapy.

PubMed

Hermann, Christian; Ma, Lei; Wilbert, Jürgen; Baier, Kurt; Schilling, Klaus

2012-10-01

Moving tumors, for example in the vicinity of the lungs, pose a challenging problem in radiotherapy, as healthy tissue should not be irradiated. Apart from gating approaches, one standard method is to irradiate the complete volume within which a tumor moves plus a safety margin containing a considerable volume of healthy tissue. This work deals with a system for tumor motion compensation using the HexaPOD® robotic treatment couch (Medical Intelligence GmbH, Schwabmünchen, Germany). The HexaPOD, carrying the patient during treatment, is instructed to perform translational movements such that the tumor motion, from the beams-eye view of the linear accelerator, is eliminated. The dynamics of the HexaPOD are characterized by time delays, saturations, and other non-linearities that make the design of control a challenging task. The focus of this work lies on two control methods for the HexaPOD that can be used for reference tracking. The first method uses a model predictive controller based on a model gained through system identification methods, and the second method uses a position control scheme useful for reference tracking. We compared the tracking performance of both methods in various experiments with real hardware using ideal reference trajectories, prerecorded patient trajectories, and human volunteers whose breathing motion was compensated by the system.

A control method for bilateral teleoperating systems

NASA Astrophysics Data System (ADS)

Strassberg, Yesayahu

1992-01-01

The thesis focuses on control of bilateral master-slave teleoperators. The bilateral control issue of teleoperators is studied and a new scheme that overcomes basic unsolved problems is proposed. A performance measure, based on the multiport modeling method, is introduced in order to evaluate and understand the limitations of earlier published bilateral control laws. Based on the study evaluating the different methods, the objective of the thesis is stated. The proposed control law is then introduced, its ideal performance is demonstrated, and conditions for stability and robustness are derived. It is shown that stability, desired performance, and robustness can be obtained under the assumption that the deviation of the model from the actual system satisfies certain norm inequalities and the measurement uncertainties are bounded. The proposed scheme is validated by numerical simulation. The simulated system is based on the configuration of the RAL (Robotics and Automation Laboratory) telerobot. From the simulation results it is shown that good tracking performance can be obtained. In order to verify the performance of the proposed scheme when applied to a real hardware system, an experimental setup of a three degree of freedom master-slave teleoperator (i.e. three degree of freedom master and three degree of freedom slave robot) was built. Three basic experiments were conducted to verify the performance of the proposed control scheme. The first experiment verified the master control law and its contribution to the robustness and performance of the entire system. The second experiment demonstrated the actual performance of the system while performing a free motion teleoperating task. From the experimental results, it is shown that the control law has good performance and is robust to uncertainties in the models of the master and slave.

Multivariable robust adaptive sliding mode control of an industrial boiler-turbine in the presence of modeling imprecisions and external disturbances: A comparison with type-I servo controller.

PubMed

Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza

2015-09-01

To guarantee the safety and efficient performance of the power plant, a robust controller for the boiler-turbine unit is needed. In this paper, a robust adaptive sliding mode controller (RASMC) is proposed to control a nonlinear multi-input multi-output (MIMO) model of industrial boiler-turbine unit, in the presence of unknown bounded uncertainties and external disturbances. To overcome the coupled nonlinearities and investigate the zero dynamics, input-output linearization is performed, and then the new decoupled inputs are derived. To tackle the uncertainties and external disturbances, appropriate adaption laws are introduced. For constructing the RASMC, suitable sliding surface is considered. To guarantee the sliding motion occurrence, appropriate control laws are constructed. Then the robustness and stability of the proposed RASMC is proved via Lyapunov stability theory. To compare the performance of the purposed RASMC with traditional control schemes, a type-I servo controller is designed. To evaluate the performance of the proposed control schemes, simulation studies on nonlinear MIMO dynamic system in the presence of high frequency bounded uncertainties and external disturbances are conducted and compared. Comparison of the results reveals the superiority of proposed RASMC over the traditional control schemes. RAMSC acts efficiently in disturbance rejection and keeping the system behavior in desirable tracking objectives, without the existence of unstable quasi-periodic solutions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Genetic algorithm based active vibration control for a moving flexible smart beam driven by a pneumatic rod cylinder

NASA Astrophysics Data System (ADS)

Qiu, Zhi-cheng; Shi, Ming-li; Wang, Bin; Xie, Zhuo-wei

2012-05-01

A rod cylinder based pneumatic driving scheme is proposed to suppress the vibration of a flexible smart beam. Pulse code modulation (PCM) method is employed to control the motion of the cylinder's piston rod for simultaneous positioning and vibration suppression. Firstly, the system dynamics model is derived using Hamilton principle. Its standard state-space representation is obtained for characteristic analysis, controller design, and simulation. Secondly, a genetic algorithm (GA) is applied to optimize and tune the control gain parameters adaptively based on the specific performance index. Numerical simulations are performed on the pneumatic driving elastic beam system, using the established model and controller with tuned gains by GA optimization process. Finally, an experimental setup for the flexible beam driven by a pneumatic rod cylinder is constructed. Experiments for suppressing vibrations of the flexible beam are conducted. Theoretical analysis, numerical simulation and experimental results demonstrate that the proposed pneumatic drive scheme and the adopted control algorithms are feasible. The large amplitude vibration of the first bending mode can be suppressed effectively.

Motion control of nonlinear gantry crane system via priority-based fitness scheme in firefly algorithm

NASA Astrophysics Data System (ADS)

Jaafar, Hazriq Izzuan; Latif, Norfaneysa Abd; Kassim, Anuar Mohamed; Abidin, Amar Faiz Zainal; Hussien, Sharifah Yuslinda Syed; Aras, Mohd Shahrieel Mohd

2015-05-01

Advanced manufacturing technology made Gantry Crane System (GCS) is one of the suitable heavy machinery transporters and frequently employed in handling with huge materials. The interconnection of trolley movement and payload oscillation has a technical impact which needs to be considered. Once the trolley moves to the desired position with high speed, this will induce undesirable's payload oscillation. This frequent unavoidable load swing causes an efficiency drop, load damages and even accidents. In this paper, a new control strategy of Firefly Algorithm (FA) will be developed to obtain five optimal controller parameters (PID and PD) via Priority-based Fitness Scheme (PFS). Combinations of these five parameters are utilized for controlling trolley movement and minimizing the angle of payload oscillation. This PFS is prioritized based on steady-state error (SSE), overshoot (OS) and settling time (Ts) according to the needs and circumstances. Lagrange equation will be chosen for modeling and simulation will be conducted by using related software. Simulation results show that the proposed control strategy is efficient to control the trolley movement to the desired position and minimize the angle of payload oscillation.

Universal fuzzy integral sliding-mode controllers for stochastic nonlinear systems.

PubMed

Gao, Qing; Liu, Lu; Feng, Gang; Wang, Yong

2014-12-01

In this paper, the universal integral sliding-mode controller problem for the general stochastic nonlinear systems modeled by Itô type stochastic differential equations is investigated. One of the main contributions is that a novel dynamic integral sliding mode control (DISMC) scheme is developed for stochastic nonlinear systems based on their stochastic T-S fuzzy approximation models. The key advantage of the proposed DISMC scheme is that two very restrictive assumptions in most existing ISMC approaches to stochastic fuzzy systems have been removed. Based on the stochastic Lyapunov theory, it is shown that the closed-loop control system trajectories are kept on the integral sliding surface almost surely since the initial time, and moreover, the stochastic stability of the sliding motion can be guaranteed in terms of linear matrix inequalities. Another main contribution is that the results of universal fuzzy integral sliding-mode controllers for two classes of stochastic nonlinear systems, along with constructive procedures to obtain the universal fuzzy integral sliding-mode controllers, are provided, respectively. Simulation results from an inverted pendulum example are presented to illustrate the advantages and effectiveness of the proposed approaches.

Blended control, predictor-corrector guidance algorithm: an enabling technology for Mars aerocapture.

PubMed

Jits, Roman Y; Walberg, Gerald D

2004-03-01

A guidance scheme designed for coping with significant dispersion in the vehicle's state and atmospheric conditions is presented. In order to expand the flyable aerocapture envelope, control of the vehicle is realized through bank angle and angle-of-attack modulation. Thus, blended control of the vehicle is achieved, where the lateral and vertical motions of the vehicle are decoupled. The overall implementation approach is described, together with the guidance algorithm macrologic and structure. Results of guidance algorithm tests in the presence of various single and multiple off-nominal conditions are presented and discussed. c2003 Published by Elsevier Ltd.

Study of stability of the difference scheme for the model problem of the gaslift process

NASA Astrophysics Data System (ADS)

Temirbekov, Nurlan; Turarov, Amankeldy

2017-09-01

The paper studies a model of the gaslift process where the motion in a gas-lift well is described by partial differential equations. The system describing the studied process consists of equations of motion, continuity, equations of thermodynamic state, and hydraulic resistance. A two-layer finite-difference Lax-Vendroff scheme is constructed for the numerical solution of the problem. The stability of the difference scheme for the model problem is investigated using the method of a priori estimates, the order of approximation is investigated, the algorithm for numerical implementation of the gaslift process model is given, and the graphs are presented. The development and investigation of difference schemes for the numerical solution of systems of equations of gas dynamics makes it possible to obtain simultaneously exact and monotonic solutions.

A novel multiple description scalable coding scheme for mobile wireless video transmission

NASA Astrophysics Data System (ADS)

Zheng, Haifeng; Yu, Lun; Chen, Chang Wen

2005-03-01

We proposed in this paper a novel multiple description scalable coding (MDSC) scheme based on in-band motion compensation temporal filtering (IBMCTF) technique in order to achieve high video coding performance and robust video transmission. The input video sequence is first split into equal-sized groups of frames (GOFs). Within a GOF, each frame is hierarchically decomposed by discrete wavelet transform. Since there is a direct relationship between wavelet coefficients and what they represent in the image content after wavelet decomposition, we are able to reorganize the spatial orientation trees to generate multiple bit-streams and employed SPIHT algorithm to achieve high coding efficiency. We have shown that multiple bit-stream transmission is very effective in combating error propagation in both Internet video streaming and mobile wireless video. Furthermore, we adopt the IBMCTF scheme to remove the redundancy for inter-frames along the temporal direction using motion compensated temporal filtering, thus high coding performance and flexible scalability can be provided in this scheme. In order to make compressed video resilient to channel error and to guarantee robust video transmission over mobile wireless channels, we add redundancy to each bit-stream and apply error concealment strategy for lost motion vectors. Unlike traditional multiple description schemes, the integration of these techniques enable us to generate more than two bit-streams that may be more appropriate for multiple antenna transmission of compressed video. Simulate results on standard video sequences have shown that the proposed scheme provides flexible tradeoff between coding efficiency and error resilience.

Commercial Motion Sensor Based Low-Cost and Convenient Interactive Treadmill.

PubMed

Kim, Jonghyun; Gravunder, Andrew; Park, Hyung-Soon

2015-09-17

Interactive treadmills were developed to improve the simulation of overground walking when compared to conventional treadmills. However, currently available interactive treadmills are expensive and inconvenient, which limits their use. We propose a low-cost and convenient version of the interactive treadmill that does not require expensive equipment and a complicated setup. As a substitute for high-cost sensors, such as motion capture systems, a low-cost motion sensor was used to recognize the subject's intention for speed changing. Moreover, the sensor enables the subject to make a convenient and safe stop using gesture recognition. For further cost reduction, the novel interactive treadmill was based on an inexpensive treadmill platform and a novel high-level speed control scheme was applied to maximize performance for simulating overground walking. Pilot tests with ten healthy subjects were conducted and results demonstrated that the proposed treadmill achieves similar performance to a typical, costly, interactive treadmill that contains a motion capture system and an instrumented treadmill, while providing a convenient and safe method for stopping.

Robust quantum logic in neutral atoms via adiabatic Rydberg dressing

DOE PAGES

Keating, Tyler; Cook, Robert L.; Hankin, Aaron M.; ...

2015-01-28

We study a scheme for implementing a controlled-Z (CZ) gate between two neutral-atom qubits based on the Rydberg blockade mechanism in a manner that is robust to errors caused by atomic motion. By employing adiabatic dressing of the ground electronic state, we can protect the gate from decoherence due to random phase errors that typically arise because of atomic thermal motion. In addition, the adiabatic protocol allows for a Doppler-free configuration that involves counterpropagating lasers in a σ +/σ - orthogonal polarization geometry that further reduces motional errors due to Doppler shifts. The residual motional error is dominated by dipole-dipolemore » forces acting on doubly-excited Rydberg atoms when the blockade is imperfect. As a result, for reasonable parameters, with qubits encoded into the clock states of 133Cs, we predict that our protocol could produce a CZ gate in < 10 μs with error probability on the order of 10 -3.« less

An EMG-based robot control scheme robust to time-varying EMG signal features.

PubMed

Artemiadis, Panagiotis K; Kyriakopoulos, Kostas J

2010-05-01

Human-robot control interfaces have received increased attention during the past decades. With the introduction of robots in everyday life, especially in providing services to people with special needs (i.e., elderly, people with impairments, or people with disabilities), there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from muscles of the human upper limb are used as the control interface between the user and a robot arm. EMG signals are recorded using surface EMG electrodes placed on the user's skin, making the user's upper limb free of bulky interface sensors or machinery usually found in conventional human-controlled systems. The proposed interface allows the user to control in real time an anthropomorphic robot arm in 3-D space, using upper limb motion estimates based only on EMG recordings. Moreover, the proposed interface is robust to EMG changes with respect to time, mainly caused by muscle fatigue or adjustments of contraction level. The efficiency of the method is assessed through real-time experiments, including random arm motions in the 3-D space with variable hand speed profiles.

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

Beker, M. G., E-mail: M.Beker@Nikhef.nl; Bertolini, A.; Hennes, E.

There is a strong scientific case for the study of gravitational waves at or below the lower end of current detection bands. To take advantage of this scientific benefit, future generations of ground based gravitational wave detectors will need to expand the limit of their detection bands towards lower frequencies. Seismic motion presents a major challenge at these frequencies and vibration isolation systems will play a crucial role in achieving the desired low-frequency sensitivity. A compact vibration isolation system designed to isolate in-vacuum optical benches for Advanced Virgo will be introduced and measurements on this system are used to presentmore » its performance. All high performance isolation systems employ an active feedback control system to reduce the residual motion of their suspended payloads. The development of novel control schemes is needed to improve the performance beyond what is currently feasible. Here, we present a multi-channel feedback approach that is novel to the field. It utilizes a linear quadratic regulator in combination with a Kalman state observer and is shown to provide effective suppression of residual motion of the suspended payload. The application of state observer based feedback control for vibration isolation will be demonstrated with measurement results from the Advanced Virgo optical bench suspension system.« less

Advanced interactive display formats for terminal area traffic control

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.

1996-01-01

This report describes the basic design considerations for perspective air traffic control displays. A software framework has been developed for manual viewing parameter setting (MVPS) in preparation for continued, ongoing developments on automated viewing parameter setting (AVPS) schemes. Two distinct modes of MVPS operations are considered, both of which utilize manipulation pointers imbedded in the three-dimensional scene: (1) direct manipulation of the viewing parameters -- in this mode the manipulation pointers act like the control-input device, through which the viewing parameter changes are made. Part of the parameters are rate controlled, and part of them position controlled. This mode is intended for making fast, iterative small changes in the parameters. (2) Indirect manipulation of the viewing parameters -- this mode is intended primarily for introducing large, predetermined changes in the parameters. Requests for changes in viewing parameter setting are entered manually by the operator by moving viewing parameter manipulation pointers on the screen. The motion of these pointers, which are an integral part of the 3-D scene, is limited to the boundaries of the screen. This arrangement has been chosen in order to preserve the correspondence between the spatial lay-outs of the new and the old viewing parameter setting, a feature which contributes to preventing spatial disorientation of the operator. For all viewing operations, e.g. rotation, translation and ranging, the actual change is executed automatically by the system, through gradual transitions with an exponentially damped, sinusoidal velocity profile, in this work referred to as 'slewing' motions. The slewing functions, which eliminate discontinuities in the viewing parameter changes, are designed primarily for enhancing the operator's impression that he, or she, is dealing with an actually existing physical system, rather than an abstract computer-generated scene. The proposed, continued research efforts will deal with the development of automated viewing parameter setting schemes. These schemes employ an optimization strategy, aimed at identifying the best possible vantage point, from which the air traffic control scene can be viewed for a given traffic situation. They determine whether a change in viewing parameter setting is required and determine the dynamic path along which the change to the new viewing parameter setting should take place.

A robot arm simulation with a shared memory multiprocessor machine

NASA Technical Reports Server (NTRS)

Kim, Sung-Soo; Chuang, Li-Ping

1989-01-01

A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Planning 4D intensity-modulated arc therapy for tumor tracking with a multileaf collimator

NASA Astrophysics Data System (ADS)

Niu, Ying; Betzel, Gregory T.; Yang, Xiaocheng; Gui, Minzhi; Parke, William C.; Yi, Byongyong; Yu, Cedric X.

2017-02-01

This study introduces a practical four-dimensional (4D) planning scheme of IMAT using 4D computed tomography (4D CT) for planning tumor tracking with dynamic multileaf beam collimation. We assume that patients can breathe regularly, i.e. the same way as during 4D CT with an unchanged period and amplitude, and that the start of 4D-IMAT delivery can be synchronized with a designated respiratory phase. Each control point of the IMAT-delivery process can be associated with an image set of 4D CT at a specified respiratory phase. Target is contoured at each respiratory phase without a motion-induced margin. A 3D-IMAT plan is first optimized on a reference-phase image set of 4D CT. Then, based on the projections of the planning target volume in the beam’s eye view at different respiratory phases, a 4D-IMAT plan is generated by transforming the segments of the optimized 3D plan by using a direct aperture deformation method. Compensation for both translational and deformable tumor motion is accomplished, and the smooth delivery of the transformed plan is ensured by forcing connectivity between adjacent angles (control points). It is envisioned that the resultant plans can be delivered accurately using the dose rate regulated tracking method which handles breathing irregularities (Yi et al 2008 Med. Phys. 35 3955-62).This planning process is straightforward and only adds a small step to current clinical 3D planning practice. Our 4D planning scheme was tested on three cases to evaluate dosimetric benefits. The created 4D-IMAT plans showed similar dose distributions as compared with the 3D-IMAT plans on a single static phase, indicating that our method is capable of eliminating the dosimetric effects of breathing induced target motion. Compared to the 3D-IMAT plans with large treatment margins encompassing respiratory motion, our 4D-IMAT plans reduced radiation doses to surrounding normal organs and tissues.

Coupled orbit-attitude dynamics and relative state estimation of spacecraft near small Solar System bodies

NASA Astrophysics Data System (ADS)

Misra, Gaurav; Izadi, Maziar; Sanyal, Amit; Scheeres, Daniel

2016-04-01

The effects of dynamical coupling between the rotational (attitude) and translational (orbital) motion of spacecraft near small Solar System bodies is investigated. This coupling arises due to the weak gravity of these bodies, as well as solar radiation pressure. The traditional approach assumes a point-mass spacecraft model to describe the translational motion of the spacecraft, while the attitude motion is considered to be completely decoupled from the translational motion. The model used here to describe the rigid-body spacecraft dynamics includes the non-uniform rotating gravity field of the small body up to second degree and order along with the attitude dependent terms, solar tide, and solar radiation pressure. This model shows that the second degree and order gravity terms due to the small body affect the dynamics of the spacecraft to the same extent as the orbit-attitude coupling due to the primary gravity (zeroth order) term. Variational integrators are used to simulate the dynamics of both the rigid spacecraft and the point mass. The small bodies considered here are modeled after Near-Earth Objects (NEO) 101955 Bennu, and 25143 Itokawa, and are assumed to be triaxial ellipsoids with uniform density. Differences in the numerically obtained trajectories of a rigid spacecraft and a point mass are then compared, to illustrate the impact of the orbit-attitude coupling on spacecraft dynamics in proximity of small bodies. Possible implications on the performance of model-based spacecraft control and on the station-keeping budget, if the orbit-attitude coupling is not accounted for in the model of the dynamics, are also discussed. An almost globally asymptotically stable motion estimation scheme based solely on visual/optical feedback that estimates the relative motion of the asteroid with respect to the spacecraft is also obtained. This estimation scheme does not require a model of the dynamics of the asteroid, which makes it perfectly suited for asteroids whose properties are not well known.

Robust adaptive precision motion control of hydraulic actuators with valve dead-zone compensation.

PubMed

Deng, Wenxiang; Yao, Jianyong; Ma, Dawei

2017-09-01

This paper addresses the high performance motion control of hydraulic actuators with parametric uncertainties, unmodeled disturbances and unknown valve dead-zone. By constructing a smooth dead-zone inverse, a robust adaptive controller is proposed via backstepping method, in which adaptive law is synthesized to deal with parametric uncertainties and a continuous nonlinear robust control law to suppress unmodeled disturbances. Since the unknown dead-zone parameters can be estimated by adaptive law and then the effect of dead-zone can be compensated effectively via inverse operation, improved tracking performance can be expected. In addition, the disturbance upper bounds can also be updated online by adaptive laws, which increases the controller operability in practice. The Lyapunov based stability analysis shows that excellent asymptotic output tracking with zero steady-state error can be achieved by the developed controller even in the presence of unmodeled disturbance and unknown valve dead-zone. Finally, the proposed control strategy is experimentally tested on a servovalve controlled hydraulic actuation system subjected to an artificial valve dead-zone. Comparative experimental results are obtained to illustrate the effectiveness of the proposed control scheme. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Squeezed cooling of mechanical motion beyond the resolved-sideband limit

NASA Astrophysics Data System (ADS)

Yang, Cheng; Zhang, Lin; Zhang, Weiping

2018-04-01

Cavity optomechanics provides a unique platform for controlling micromechanical systems by means of optical fields that cross the classical-quantum boundary to achieve solid foundations for quantum technologies. Currently, optomechanical resonators have become promising candidates for the development of precisely controlled nano-motors, ultrasensitive sensors and robust quantum information processors. For all these applications, a crucial requirement is to cool the mechanical resonators down to their quantum ground states. In this paper, we present a novel cooling scheme to further cool a micromechanical resonator via the noise squeezing effect. One quadrature in such a resonator can be squeezed to induce enhanced fluctuations in the other, “heated” quadrature, which can then be used to cool the mechanical motion via conventional optomechanical coupling. Our theoretical analysis and numerical calculations demonstrate that this squeeze-and-cool mechanism offers a quick technique for deeply cooling a macroscopic mechanical resonator to an unprecedented temperature region below the zero-point fluctuations.

A blur-invariant local feature for motion blurred image matching

NASA Astrophysics Data System (ADS)

Tong, Qiang; Aoki, Terumasa

2017-07-01

Image matching between a blurred (caused by camera motion, out of focus, etc.) image and a non-blurred image is a critical task for many image/video applications. However, most of the existing local feature schemes fail to achieve this work. This paper presents a blur-invariant descriptor and a novel local feature scheme including the descriptor and the interest point detector based on moment symmetry - the authors' previous work. The descriptor is based on a new concept - center peak moment-like element (CPME) which is robust to blur and boundary effect. Then by constructing CPMEs, the descriptor is also distinctive and suitable for image matching. Experimental results show our scheme outperforms state of the art methods for blurred image matching

Finite time state and disturbance estimation for robust performance of motion control systems using sliding modes

NASA Astrophysics Data System (ADS)

Tamhane, Bhagyashri; Kurode, Shailaja

2018-05-01

In this paper, simultaneous state and disturbance estimation of a drive system composed of motor connected to a load is proposed. Such a system is represented by a two mass model realising in a fourth-order plant. Backlash is introduced as the nonlinear disturbance in gears which is proposed to be estimated and in turn compensated. For this motion control system, a two-stage higher order sliding-mode observer is proposed for state and backlash estimation. The novelty lies in the fact that for this fourth-order system, output is considered from the motor end only, i.e. its angular displacement. The unmeasured states consisting of output derivative, load-side angular displacement and its derivative along with backlash are estimated in finite time. This disturbance due to backlash is unmatched in nature. The estimated states and disturbance are used to devise a robust sliding-mode control. This proposed scheme is validated in simulation and experimentation.

Verification of the Rigidity of the Coulomb Field in Motion

NASA Astrophysics Data System (ADS)

Blinov, S. V.; Bulyzhenkov, I. É.

2018-06-01

Laplace, analyzing the stability of the Solar System, was the first to calculate that the velocity of the motion of force fields can significantly exceed the velocity of light waves. In electrodynamics, the Coulomb field should rigidly accompany its source for instantaneous force action in distant regions. Such rigid motion was recently inferred from experiments at the Frascati Beam Test Facility with short beams of relativistic electrons. The comments of the authors on their observations are at odds with the comments of theoreticians on retarded potentials, which motivates a detailed study of the positions of both sides. Predictions of measurements, based on the Lienard-Wiechert potentials, are used to propose an unambiguous scheme for testing the rigidity of the Coulomb field. Realization of the proposed experimental scheme could independently refute or support the assertions of the Italian physicists regarding the rigid motion of Coulomb fields and likewise the nondual field approach to macroscopic reality.

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

NASA Astrophysics Data System (ADS)

Chen, H. J.; Gao, B. T.; Zhang, X. H.; Deng2, Z. Q.

2006-10-01

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

Design of two wheel self balancing car

NASA Astrophysics Data System (ADS)

He, Chun-hong; Ren, Bin

2018-02-01

This paper proposes a design scheme of the two-wheel self-balancing dolly, the integration of the gyroscope and accelerometer MPU6050 constitutes the car position detection device.System selects 32-bit MCU stmicroelectronics company as the control core, completed the processing of sensor signals, the realization of the filtering algorithm, motion control and human-computer interaction. Produced and debugging in the whole system is completed, the car can realize the independent balance under the condition of no intervention. The introduction of a suitable amount of interference, the car can adjust quickly to recover and steady state. Through remote control car bluetooth module complete forward, backward, turn left and other basic action..

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

Derbenev, Yaroslav S.; Morozov, Vasiliy; Lin, Fanglei

We present a complete scheme for managing the polarization of ion beams in Jefferson Lab's proposed Medium-energy Electron-Ion Collider (MEIC). It provides preservation of the ion polarization during all stages of beam acceleration and polarization control in the collider's experimental straights. We discuss characteristic features of the spin motion in accelerators with Siberian snakes and in accelerators of figure-8 shape. We propose 3D spin rotators for polarization control in the MEIC ion collider ring. We provide polarization calculations in the collider with the 3D rotator for deuteron and proton beams. The main polarization control features of the figure-8 design aremore » summarized.« less

Approximations of thermoelastic and viscoelastic control systems

NASA Technical Reports Server (NTRS)

Burns, J. A.; Liu, Z. Y.; Miller, R. E.

1990-01-01

Well-posed models and computational algorithms are developed and analyzed for control of a class of partial differential equations that describe the motions of thermo-viscoelastic structures. An abstract (state space) framework and a general well-posedness result are presented that can be applied to a large class of thermo-elastic and thermo-viscoelastic models. This state space framework is used in the development of a computational scheme to be used in the solution of a linear quadratic regulator (LQR) control problem. A detailed convergence proof is provided for the viscoelastic model and several numerical results are presented to illustrate the theory and to analyze problems for which the theory is incomplete.

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

PubMed Central

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

2014-01-01

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

The stability of steady motion of magnetic domain wall: Role of higher-order spin-orbit torques

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

He, Peng-Bin, E-mail: hepengbin@hnu.edu.cn; Yan, Han; Cai, Meng-Qiu

The steady motion of magnetic domain wall driven by spin-orbit torques is investigated analytically in the heavy/ferromagnetic metal nanowires for three cases with a current transverse to the in-plane and perpendicular easy axis, and along the in-plane easy axis. By the stability analysis of Walker wall profile, we find that if including the higher-order spin-orbit torques, the Walker breakdown can be avoided in some parameter regions of spin-orbit torques with a current transverse to or along the in-plane easy axis. However, in the case of perpendicular anisotropy, even considering the higher-order spin-orbit torques, the velocity of domain wall cannot bemore » efficiently enhanced by the current. Furthermore, the direction of wall motion is dependent on the configuration and chirality of domain wall with a current along the in-plane easy axis or transverse to the perpendicular one. Especially, the direction of motion can be controlled by the initial chirality of domain wall. So, if only involving the spin-orbit mechanism, it is preferable to adopt the scheme of a current along the in-plane easy axis for enhancing the velocity and controlling the direction of domain wall.« less

Figure-ground segregation modulates apparent motion.

PubMed

Ramachandran, V S; Anstis, S

1986-01-01

We explored the relationship between figure-ground segmentation and apparent motion. Results suggest that: static elements in the surround can eliminate apparent motion of a cluster of dots in the centre, but only if the cluster and surround have similar "grain" or texture; outlines that define occluding surfaces are taken into account by the motion mechanism; the brain uses a hierarchy of precedence rules in attributing motion to different segments of the visual scene. Being designated as "figure" confers a high rank in this scheme of priorities.

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

PubMed

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

2016-01-01

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

Multilevel description of the DNA molecule translocation in solid-state synthetic nanopores

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

Nosik, V. L., E-mail: v-nosik@yandex.ru; Rudakova, E. B.

2016-07-15

Interest of researchers in micro- and nanofluidics of polymer solutions and, in particular, DNA ionic solutions is constantly increasing. The use of DNA translocation with a controlled velocity through solid-state nanopores and pulsed X-ray beams in new sequencing schemes opens up new possibilities for studying the structure of DNA and other biopolymers. The problems related to the description of DNA molecular motion in a limited volume of nanopore are considered.

Enhancing the stabilization of aircraft pitch motion control via intelligent and classical method

NASA Astrophysics Data System (ADS)

Lukman, H.; Munawwarah, S.; Azizan, A.; Yakub, F.; Zaki, S. A.; Rasid, Z. A.

2017-12-01

The pitching movement of an aircraft is very important to ensure passengers are intrinsically safe and the aircraft achieve its maximum stability. The equations governing the motion of an aircraft are a complex set of six nonlinear coupled differential equations. Under certain assumptions, it can be decoupled and linearized into longitudinal and lateral equations. Pitch control is a longitudinal problem and thus, only the longitudinal dynamics equations are involved in this system. It is a third order nonlinear system, which is linearized about the operating point. The system is also inherently unstable due to the presence of a free integrator. Because of this, a feedback controller is added in order to solve this problem and enhance the system performance. This study uses two approaches in designing controller: a conventional controller and an intelligent controller. The pitch control scheme consists of proportional, integral and derivatives (PID) for conventional controller and fuzzy logic control (FLC) for intelligent controller. Throughout the paper, the performance of the presented controllers are investigated and compared based on the common criteria of step response. Simulation results have been obtained and analysed by using Matlab and Simulink software. The study shows that FLC controller has higher ability to control and stabilize the aircraft's pitch angle as compared to PID controller.

Using Self-Reliance Factors to Decide How to Share Control Between Human Powered Wheelchair Drivers and Ultrasonic Sensors.

PubMed

Sanders, David A

2017-08-01

A shared-control scheme for a powered wheelchair is presented. The wheelchair can be operated by a wheelchair driver using a joystick, or directed by a sensor system, or control can be combined between them. The wheelchair system can modify direction depending on the local environment. Sharing the control allows a disabled wheelchair driver to drive safely and efficiently. The controller automatically establishes the control gains for the sensor system and the human driver by calculating a self-reliance factor for the wheelchair driver. The sensor system can influence the motion of the wheelchair to compensate for some deficiency in a disabled driver. Practical tests validate the proposed techniques and designs.

Real Time Digital Control of a Magnetostrictive Actuator

NASA Technical Reports Server (NTRS)

Zrostlik, Rick L.; Hall, David L.; Flatau, Alison B.

1996-01-01

The use of the magnetostrictive material Terfenol-D as a motion source in active vibration control (AVC) systems are being studied. Currently it is of limited use due to the nonlinear nature of the strain versus magnetization curve and the magnetic hysteresis in the Terfenol-D. One manifestation of these nonlinearities is waveform distortion in the output velocity of the transducer. For Terfenol-D to be used in ever greater numbers of AVC systems, these nonlinearities must be addressed. In this study the nonlinearities are treated as disturbances to a linear system. The acceleration output is used in simple analog and digital feedback control schemes to improve linearity of the transducer. In addition, the use of a Terfenol-D actuator in an AVC system is verified. Both analog and digital controllers are implemented and results compared. A cantilever beam system is considered for AVC applications. The second thrust of this presentation is the reduction of harmonic distortions. Two conclusions can be reached from this work. One, the linearization of Terfenol-D transducers is possible with the use of feedback controllers, both digital and analog. Second, Terfenol-D is a viable motion source in active vibration control systems utilizing either analog or digital controllers.

Bilayer avalanche spin-diode logic

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

Friedman, Joseph S., E-mail: joseph.friedman@u-psud.fr; Querlioz, Damien; Fadel, Eric R.

2015-11-15

A novel spintronic computing paradigm is proposed and analyzed in which InSb p-n bilayer avalanche spin-diodes are cascaded to efficiently perform complex logic operations. This spin-diode logic family uses control wires to generate magnetic fields that modulate the resistance of the spin-diodes, and currents through these devices control the resistance of cascaded devices. Electromagnetic simulations are performed to demonstrate the cascading mechanism, and guidelines are provided for the development of this innovative computing technology. This cascading scheme permits compact logic circuits with switching speeds determined by electromagnetic wave propagation rather than electron motion, enabling high-performance spintronic computing.

Coupled rotor and fuselage equations of motion

NASA Technical Reports Server (NTRS)

Warmbrodt, W.

1979-01-01

The governing equations of motion of a helicopter rotor coupled to a rigid body fuselage are derived. A consistent formulation is used to derive nonlinear periodic coefficient equations of motion which are used to study coupled rotor/fuselage dynamics in forward flight. Rotor/fuselage coupling is documented and the importance of an ordering scheme in deriving nonlinear equations of motion is reviewed. The nature of the final equations and the use of multiblade coordinates are discussed.

In vivo measurement of spinal column viscoelasticity--an animal model.

PubMed

Hult, E; Ekström, L; Kaigle, A; Holm, S; Hansson, T

1995-01-01

The goal of this study was to measure the in vivo viscoelastic response of spinal motion segments loaded in compression using a porcine model. Nine pigs were used in the study. The animals were anaesthetized and, using surgical techniques, four intrapedicular screws were inserted into the vertebrae of the L2-L3 motion segment. A miniaturized servohydraulic exciter capable of compressing the motion segment was mounted on to the screws. In six animals, a loading scheme consisting of 50 N and 100 N of compression, each applied for 10 min, was used. Each loading period was followed by 10 min restitution with zero load. The loading scheme was repeated four times. Three animals were examined for stiffening effects by consecutively repeating eight times 50 N loading for 5 min followed by 5 min restitution with zero load. This loading scheme was repeated using a 100 N load level. The creep-recovery behavior of the motion segment was recorded continuously. Using non-linear regression techniques, the experimental data were used for evaluating the parameters of a three-parameter standard linear solid model. Correlation coefficients of the order of 0.85 or higher were obtained for the three independent parameters of the model. A survey of the data shows that the viscous deformation rate was a function of the load level. Also, repeated loading at 100 N seemed to induce long-lasting changes in the viscoelastic properties of the porcine lumbar motion segment.

Higher-Order Motion-Compensation for In Vivo Cardiac Diffusion Tensor Imaging in Rats

PubMed Central

Welsh, Christopher L.; DiBella, Edward V. R.; Hsu, Edward W.

2015-01-01

Motion of the heart has complicated in vivo applications of cardiac diffusion MRI and diffusion tensor imaging (DTI), especially in small animals such as rats where ultra-high-performance gradient sets are currently not available. Even with velocity compensation via, for example, bipolar encoding pulses, the variable shot-to-shot residual motion-induced spin phase can still give rise to pronounced artifacts. This study presents diffusion-encoding schemes that are designed to compensate for higher-order motion components, including acceleration and jerk, which also have the desirable practical features of minimal TEs and high achievable b-values. The effectiveness of these schemes was verified numerically on a realistic beating heart phantom, and demonstrated empirically with in vivo cardiac diffusion MRI in rats. Compensation for acceleration, and lower motion components, was found to be both necessary and sufficient for obtaining diffusion-weighted images of acceptable quality and SNR, which yielded the first in vivo cardiac DTI demonstrated in the rat. These findings suggest that compensation for higher order motion, particularly acceleration, can be an effective alternative solution to high-performance gradient hardware for improving in vivo cardiac DTI. PMID:25775486

Euler flow predictions for an oscillating cascade using a high resolution wave-split scheme

NASA Technical Reports Server (NTRS)

Huff, Dennis L.; Swafford, Timothy W.; Reddy, T. S. R.

1991-01-01

A compressible flow code that can predict the nonlinear unsteady aerodynamics associated with transonic flows over oscillating cascades is developed and validated. The code solves the two dimensional, unsteady Euler equations using a time-marching, flux-difference splitting scheme. The unsteady pressures and forces can be determined for arbitrary input motions, although only harmonic pitching and plunging motions are addressed. The code solves the flow equations on a H-grid which is allowed to deform with the airfoil motion. Predictions are presented for both flat plate cascades and loaded airfoil cascades. Results are compared to flat plate theory and experimental data. Predictions are also presented for several oscillating cascades with strong normal shocks where the pitching amplitudes, cascade geometry and interblade phase angles are varied to investigate nonlinear behavior.

A real-time digital computer program for the simulation of automatic spacecraft reentries

NASA Technical Reports Server (NTRS)

Kaylor, J. T.; Powell, L. F.; Powell, R. W.

1977-01-01

The automatic reentry flight dynamics simulator, a nonlinear, six-degree-of-freedom simulation, digital computer program, has been developed. The program includes a rotating, oblate earth model for accurate navigation calculations and contains adjustable gains on the aerodynamic stability and control parameters. This program uses a real-time simulation system and is designed to examine entries of vehicles which have constant mass properties whose attitudes are controlled by both aerodynamic surfaces and reaction control thrusters, and which have automatic guidance and control systems. The program has been used to study the space shuttle orbiter entry. This report includes descriptions of the equations of motion used, the control and guidance schemes that were implemented, the program flow and operation, and the hardware involved.

State observers and Kalman filtering for high performance vibration isolation systems.

PubMed

Beker, M G; Bertolini, A; van den Brand, J F J; Bulten, H J; Hennes, E; Rabeling, D S

2014-03-01

There is a strong scientific case for the study of gravitational waves at or below the lower end of current detection bands. To take advantage of this scientific benefit, future generations of ground based gravitational wave detectors will need to expand the limit of their detection bands towards lower frequencies. Seismic motion presents a major challenge at these frequencies and vibration isolation systems will play a crucial role in achieving the desired low-frequency sensitivity. A compact vibration isolation system designed to isolate in-vacuum optical benches for Advanced Virgo will be introduced and measurements on this system are used to present its performance. All high performance isolation systems employ an active feedback control system to reduce the residual motion of their suspended payloads. The development of novel control schemes is needed to improve the performance beyond what is currently feasible. Here, we present a multi-channel feedback approach that is novel to the field. It utilizes a linear quadratic regulator in combination with a Kalman state observer and is shown to provide effective suppression of residual motion of the suspended payload. The application of state observer based feedback control for vibration isolation will be demonstrated with measurement results from the Advanced Virgo optical bench suspension system.

Spacecraft formation control using analytical finite-duration approaches

NASA Astrophysics Data System (ADS)

Ben Larbi, Mohamed Khalil; Stoll, Enrico

2018-03-01

This paper derives a control concept for formation flight (FF) applications assuming circular reference orbits. The paper focuses on a general impulsive control concept for FF which is then extended to the more realistic case of non-impulsive thrust maneuvers. The control concept uses a description of the FF in relative orbital elements (ROE) instead of the classical Cartesian description since the ROE provide a direct insight into key aspects of the relative motion and are particularly suitable for relative orbit control purposes and collision avoidance analysis. Although Gauss' variational equations have been first derived to offer a mathematical tool for processing orbit perturbations, they are suitable for several different applications. If the perturbation acceleration is due to a control thrust, Gauss' variational equations show the effect of such a control thrust on the Keplerian orbital elements. Integrating the Gauss' variational equations offers a direct relation between velocity increments in the local vertical local horizontal frame and the subsequent change of Keplerian orbital elements. For proximity operations, these equations can be generalized from describing the motion of single spacecraft to the description of the relative motion of two spacecraft. This will be shown for impulsive and finite-duration maneuvers. Based on that, an analytical tool to estimate the error induced through impulsive maneuver planning is presented. The resulting control schemes are simple and effective and thus also suitable for on-board implementation. Simulations show that the proposed concept improves the timing of the thrust maneuver executions and thus reduces the residual error of the formation control.

Generation of mechanical interference fringes by multi-photon counting

NASA Astrophysics Data System (ADS)

Ringbauer, M.; Weinhold, T. J.; Howard, L. A.; White, A. G.; Vanner, M. R.

2018-05-01

Exploring the quantum behaviour of macroscopic objects provides an intriguing avenue to study the foundations of physics and to develop a suite of quantum-enhanced technologies. One prominent path of study is provided by quantum optomechanics which utilizes the tools of quantum optics to control the motion of macroscopic mechanical resonators. Despite excellent recent progress, the preparation of mechanical quantum superposition states remains outstanding due to weak coupling and thermal decoherence. Here we present a novel optomechanical scheme that significantly relaxes these requirements allowing the preparation of quantum superposition states of motion of a mechanical resonator by exploiting the nonlinearity of multi-photon quantum measurements. Our method is capable of generating non-classical mechanical states without the need for strong single-photon coupling, is resilient against optical loss, and offers more favourable scaling against initial mechanical thermal occupation than existing schemes. Moreover, our approach allows the generation of larger superposition states by projecting the optical field onto NOON states. We experimentally demonstrate this multi-photon-counting technique on a mechanical thermal state in the classical limit and observe interference fringes in the mechanical position distribution that show phase super-resolution. This opens a feasible route to explore and exploit quantum phenomena at a macroscopic scale.

Strong Motion Instrumentation of Seismically-Strengthened Port Structures in California by CSMIP

USGS Publications Warehouse

Huang, M.J.; Shakal, A.F.

2009-01-01

The California Strong Motion Instrumentation Program (CSMIP) has instrumented five port structures. Instrumentation of two more port structures is underway and another one is in planning. Two of the port structures have been seismically strengthened. The primary goals of the strong motion instrumentation are to obtain strong earthquake shaking data for verifying seismic analysis procedures and strengthening schemes, and for post-earthquake evaluations of port structures. The wharves instrumented by CSMIP were recommended by the Strong Motion Instrumentation Advisory Committee, a committee of the California Seismic Safety Commission. Extensive instrumentation of a wharf is difficult and would be impossible without the cooperation of the owners and the involvement of the design engineers. The instrumentation plan for a wharf is developed through study of the retrofit plans of the wharf, and the strong-motion sensors are installed at locations where specific instrumentation objectives can be achieved and access is possible. Some sensor locations have to be planned during design; otherwise they are not possible to install after construction. This paper summarizes the two seismically-strengthened wharves and discusses the instrumentation schemes and objectives. ?? 2009 ASCE.

Motion-adapted catheter navigation with real-time instantiation and improved visualisation

PubMed Central

Kwok, Ka-Wai; Wang, Lichao; Riga, Celia; Bicknell, Colin; Cheshire, Nicholas; Yang, Guang-Zhong

2014-01-01

The improvements to catheter manipulation by the use of robot-assisted catheter navigation for endovascular procedures include increased precision, stability of motion and operator comfort. However, navigation through the vasculature under fluoroscopic guidance is still challenging, mostly due to physiological motion and when tortuous vessels are involved. In this paper, we propose a motion-adaptive catheter navigation scheme based on shape modelling to compensate for these dynamic effects, permitting predictive and dynamic navigations. This allows for timed manipulations synchronised with the vascular motion. The technical contribution of the paper includes the following two aspects. Firstly, a dynamic shape modelling and real-time instantiation scheme based on sparse data obtained intra-operatively is proposed for improved visualisation of the 3D vasculature during endovascular intervention. Secondly, a reconstructed frontal view from the catheter tip using the derived dynamic model is used as an interventional aid to user guidance. To demonstrate the practical value of the proposed framework, a simulated aortic branch cannulation procedure is used with detailed user validation to demonstrate the improvement in navigation quality and efficiency. PMID:24744817

Improved motor control method with measurements of fiber optics gyro (FOG) for dual-axis rotational inertial navigation system (RINS).

PubMed

Song, Tianxiao; Wang, Xueyun; Liang, Wenwei; Xing, Li

2018-05-14

Benefiting from frame structure, RINS can improve the navigation accuracy by modulating the inertial sensor errors with proper rotation scheme. In the traditional motor control method, the measurements of the photoelectric encoder are always adopted to drive inertial measurement unit (IMU) to rotate. However, when carrier conducts heading motion, the inertial sensor errors may no longer be zero-mean in navigation coordinate. Meanwhile, some high-speed carriers like aircraft need to roll a certain angle to balance the centrifugal force during the heading motion, which may result in non-negligible coupling errors, caused by the FOG installation errors and scale factor errors. Moreover, the error parameters of FOG are susceptible to the temperature and magnetic field, and the pre-calibration is a time-consuming process which is difficult to completely suppress the FOG-related errors. In this paper, an improved motor control method with the measurements of FOG is proposed to address these problems, with which the outer frame can insulate the carrier's roll motion and the inner frame can simultaneously achieve the rotary modulation on the basis of insulating the heading motion. The results of turntable experiments indicate that the navigation performance of dual-axis RINS has been significantly improved over the traditional method, which could still be maintained even with large FOG installation errors and scale factor errors, proving that the proposed method can relax the requirements for the accuracy of FOG-related errors.

An Enhanced Reservation-Based MAC Protocol for IEEE 802.15.4 Networks

PubMed Central

Afonso, José A.; Silva, Helder D.; Macedo, Pedro; Rocha, Luis A.

2011-01-01

The IEEE 802.15.4 Medium Access Control (MAC) protocol is an enabling standard for wireless sensor networks. In order to support applications requiring dedicated bandwidth or bounded delay, it provides a reservation-based scheme named Guaranteed Time Slot (GTS). However, the GTS scheme presents some drawbacks, such as inefficient bandwidth utilization and support to a maximum of only seven devices. This paper presents eLPRT (enhanced Low Power Real Time), a new reservation-based MAC protocol that introduces several performance enhancing features in comparison to the GTS scheme. This MAC protocol builds on top of LPRT (Low Power Real Time) and includes various mechanisms designed to increase data transmission reliability against channel errors, improve bandwidth utilization and increase the number of supported devices. A motion capture system based on inertial and magnetic sensors has been used to validate the protocol. The effectiveness of the performance enhancements introduced by each of the new features is demonstrated through the provision of both simulation and experimental results. PMID:22163826

Solvable Quantum Macroscopic Motions and Decoherence Mechanisms in Quantum Mechanics on Nonstandard Space

NASA Technical Reports Server (NTRS)

Kobayashi, Tsunehiro

1996-01-01

Quantum macroscopic motions are investigated in the scheme consisting of N-number of harmonic oscillators in terms of ultra-power representations of nonstandard analysis. Decoherence is derived from the large internal degrees of freedom of macroscopic matters.

Assessment of numerical techniques for unsteady flow calculations

NASA Technical Reports Server (NTRS)

Hsieh, Kwang-Chung

1989-01-01

The characteristics of unsteady flow motions have long been a serious concern in the study of various fluid dynamic and combustion problems. With the advancement of computer resources, numerical approaches to these problems appear to be feasible. The objective of this paper is to assess the accuracy of several numerical schemes for unsteady flow calculations. In the present study, Fourier error analysis is performed for various numerical schemes based on a two-dimensional wave equation. Four methods sieved from the error analysis are then adopted for further assessment. Model problems include unsteady quasi-one-dimensional inviscid flows, two-dimensional wave propagations, and unsteady two-dimensional inviscid flows. According to the comparison between numerical and exact solutions, although second-order upwind scheme captures the unsteady flow and wave motions quite well, it is relatively more dissipative than sixth-order central difference scheme. Among various numerical approaches tested in this paper, the best performed one is Runge-Kutta method for time integration and six-order central difference for spatial discretization.

Source-Adaptation-Based Wireless Video Transport: A Cross-Layer Approach

NASA Astrophysics Data System (ADS)

Qu, Qi; Pei, Yong; Modestino, James W.; Tian, Xusheng

2006-12-01

Real-time packet video transmission over wireless networks is expected to experience bursty packet losses that can cause substantial degradation to the transmitted video quality. In wireless networks, channel state information is hard to obtain in a reliable and timely manner due to the rapid change of wireless environments. However, the source motion information is always available and can be obtained easily and accurately from video sequences. Therefore, in this paper, we propose a novel cross-layer framework that exploits only the motion information inherent in video sequences and efficiently combines a packetization scheme, a cross-layer forward error correction (FEC)-based unequal error protection (UEP) scheme, an intracoding rate selection scheme as well as a novel intraframe interleaving scheme. Our objective and subjective results demonstrate that the proposed approach is very effective in dealing with the bursty packet losses occurring on wireless networks without incurring any additional implementation complexity or delay. Thus, the simplicity of our proposed system has important implications for the implementation of a practical real-time video transmission system.

A multilevel control system for the large space telescope. [numerical analysis/optimal control

NASA Technical Reports Server (NTRS)

Siljak, D. D.; Sundareshan, S. K.; Vukcevic, M. B.

1975-01-01

A multilevel scheme was proposed for control of Large Space Telescope (LST) modeled by a three-axis-six-order nonlinear equation. Local controllers were used on the subsystem level to stabilize motions corresponding to the three axes. Global controllers were applied to reduce (and sometimes nullify) the interactions among the subsystems. A multilevel optimization method was developed whereby local quadratic optimizations were performed on the subsystem level, and global control was again used to reduce (nullify) the effect of interactions. The multilevel stabilization and optimization methods are presented as general tools for design and then used in the design of the LST Control System. The methods are entirely computerized, so that they can accommodate higher order LST models with both conceptual and numerical advantages over standard straightforward design techniques.

Real time numerical shake prediction incorporating attenuation structure: a case for the 2016 Kumamoto Earthquake

NASA Astrophysics Data System (ADS)

Ogiso, M.; Hoshiba, M.; Shito, A.; Matsumoto, S.

2016-12-01

Needless to say, heterogeneous attenuation structure is important for ground motion prediction, including earthquake early warning, that is, real time ground motion prediction. Hoshiba and Ogiso (2015, AGU Fall meeting) showed that the heterogeneous attenuation and scattering structure will lead to earlier and more accurate ground motion prediction in the numerical shake prediction scheme proposed by Hoshiba and Aoki (2015, BSSA). Hoshiba and Ogiso (2015) used assumed heterogeneous structure, and we discuss the effect of them in the case of 2016 Kumamoto Earthquake, using heterogeneous structure estimated by actual observation data. We conducted Multiple Lapse Time Window Analysis (Hoshiba, 1993, JGR) to the seismic stations located on western part of Japan to estimate heterogeneous attenuation and scattering structure. The characteristics are similar to the previous work of Carcole and Sato (2010, GJI), e.g. strong intrinsic and scattering attenuation around the volcanoes located on the central part of Kyushu, and relatively weak heterogeneities in the other area. Real time ground motion prediction simulation for the 2016 Kumamoto Earthquake was conducted using the numerical shake prediction scheme with 474 strong ground motion stations. Comparing the snapshot of predicted and observed wavefield showed a tendency for underprediction around the volcanic area in spite of the heterogeneous structure. These facts indicate the necessity of improving the heterogeneous structure for the numerical shake prediction scheme.In this study, we used the waveforms of Hi-net, K-NET, KiK-net stations operated by the NIED for estimating structure and conducting ground motion prediction simulation. Part of this study was supported by the Earthquake Research Institute, the University of Tokyo cooperative research program and JSPS KAKENHI Grant Number 25282114.

Development of the Wake Behind a Circular Cylinder Impulsively Started into Rotatory and Rectilinear Motion: Intermediate Rotation Rates

DTIC Science & Technology

1991-01-01

cylindre fixe ou en rotation. Effet Magnus . J. Mec. 14, 109-134. Taneda, S. 1977 Visual study of unsteady separated flows around bodies. Prog. Aero...enhancement schemes employing the Magnus effect (Swanson 1961). Rotating all or part of a body may also have applications in active or feedback control of...and yt into the governing equations in the generalized coordinate system. In this study, the body-fitted grid is simply one of cylindrical polar

Coordinated interaction of two hydraulic cylinders when moving large-sized objects

NASA Astrophysics Data System (ADS)

Kreinin, G. V.; Misyurin, S. Yu; Lunev, A. V.

2017-12-01

The problem of the choice of parameters and the control scheme of the dynamics system for the coordinated displacement of a large mass object by two hydraulic piston type engines is considered. As a first stage, the problem is solved with respect to a system in which a heavy load of relatively large geometric dimensions is lifted or lowered in the progressive motion by two unidirectional hydraulic cylinders while maintaining the plane of the lifted object in a strictly horizontal position.

Efficient reorientation of a deformable body in space: A free-free beam example

NASA Technical Reports Server (NTRS)

Kolmanovsky, Ilya V.; Mcclamroch, N. Harris

1993-01-01

It is demonstrated that the planar reorientation of a free-free beam in zero gravity space can be accomplished by periodically changing the shape of the beam using internal actuators. A control scheme is proposed in which electromechanical actuators excite the flexible motion of the beam so that it rotates in the desired manner with respect to a fixed inertial reference. The results can be viewed as an extension of previous work to a distributed parameter case.

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

NASA Astrophysics Data System (ADS)

Kim, Man Guen

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

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

PubMed Central

Long, Yi; Du, Zhi-jiang; Wang, Wei-dong; Dong, Wei

2016-01-01

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems. PMID:27069353

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton.

PubMed

Long, Yi; Du, Zhi-Jiang; Wang, Wei-Dong; Dong, Wei

2016-01-01

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems.

Blind Compressed Sensing Enables 3-Dimensional Dynamic Free Breathing Magnetic Resonance Imaging of Lung Volumes and Diaphragm Motion.

PubMed

Bhave, Sampada; Lingala, Sajan Goud; Newell, John D; Nagle, Scott K; Jacob, Mathews

2016-06-01

The objective of this study was to increase the spatial and temporal resolution of dynamic 3-dimensional (3D) magnetic resonance imaging (MRI) of lung volumes and diaphragm motion. To achieve this goal, we evaluate the utility of the proposed blind compressed sensing (BCS) algorithm to recover data from highly undersampled measurements. We evaluated the performance of the BCS scheme to recover dynamic data sets from retrospectively and prospectively undersampled measurements. We also compared its performance against that of view-sharing, the nuclear norm minimization scheme, and the l1 Fourier sparsity regularization scheme. Quantitative experiments were performed on a healthy subject using a fully sampled 2D data set with uniform radial sampling, which was retrospectively undersampled with 16 radial spokes per frame to correspond to an undersampling factor of 8. The images obtained from the 4 reconstruction schemes were compared with the fully sampled data using mean square error and normalized high-frequency error metrics. The schemes were also compared using prospective 3D data acquired on a Siemens 3 T TIM TRIO MRI scanner on 8 healthy subjects during free breathing. Two expert cardiothoracic radiologists (R1 and R2) qualitatively evaluated the reconstructed 3D data sets using a 5-point scale (0-4) on the basis of spatial resolution, temporal resolution, and presence of aliasing artifacts. The BCS scheme gives better reconstructions (mean square error = 0.0232 and normalized high frequency = 0.133) than the other schemes in the 2D retrospective undersampling experiments, producing minimally distorted reconstructions up to an acceleration factor of 8 (16 radial spokes per frame). The prospective 3D experiments show that the BCS scheme provides visually improved reconstructions than the other schemes do. The BCS scheme provides improved qualitative scores over nuclear norm and l1 Fourier sparsity regularization schemes in the temporal blurring and spatial blurring categories. The qualitative scores for aliasing artifacts in the images reconstructed by nuclear norm scheme and BCS scheme are comparable.The comparisons of the tidal volume changes also show that the BCS scheme has less temporal blurring as compared with the nuclear norm minimization scheme and the l1 Fourier sparsity regularization scheme. The minute ventilation estimated by BCS for tidal breathing in supine position (4 L/min) and the measured supine inspiratory capacity (1.5 L) is in good correlation with the literature. The improved performance of BCS can be explained by its ability to efficiently adapt to the data, thus providing a richer representation of the signal. The feasibility of the BCS scheme was demonstrated for dynamic 3D free breathing MRI of lung volumes and diaphragm motion. A temporal resolution of ∼500 milliseconds, spatial resolution of 2.7 × 2.7 × 10 mm, with whole lung coverage (16 slices) was achieved using the BCS scheme.

Detecting free-mass common-mode motion induced by incident gravitational waves

NASA Astrophysics Data System (ADS)

Tobar, Michael Edmund; Suzuki, Toshikazu; Kuroda, Kazuaki

1999-05-01

In this paper we show that information on both the differential and common mode free-mass response to a gravitational wave can provide important information on discriminating the direction of the gravitational wave source and between different theories of gravitation. The conventional Michelson interferometer scheme only measures the differential free-mass response. By changing the orientation of the beam splitter, it is possible to configure the detector so it is sensitive to the common-mode of the free-mass motion. The proposed interferometer is an adaptation of the Fox-Smith interferometer. A major limitation to the new scheme is its enhanced sensitivity to laser frequency fluctuations over the conventional, and we propose a method of cancelling these fluctuations. The configuration could be used in parallel to the conventional differential detection scheme with a significant sensitivity and bandwidth.

Real-time tracking of respiratory-induced tumor motion by dose-rate regulation

NASA Astrophysics Data System (ADS)

Han-Oh, Yeonju Sarah

We have developed a novel real-time tumor-tracking technology, called Dose-Rate-Regulated Tracking (DRRT), to compensate for tumor motion caused by breathing. Unlike other previously proposed tumor-tracking methods, this new method uses a preprogrammed dynamic multileaf collimator (MLC) sequence in combination with real-time dose-rate control. This new scheme circumvents the technical challenge in MLC-based tumor tracking, that is to control the MLC motion in real time, based on real-time detected tumor motion. The preprogrammed MLC sequence describes the movement of the tumor, as a function of breathing phase, amplitude, or tidal volume. The irregularity of tumor motion during treatment is handled by real-time regulation of the dose rate, which effectively speeds up or slows down the delivery of radiation as needed. This method is based on the fact that all of the parameters in dynamic radiation delivery, including MLC motion, are enslaved to the cumulative dose, which, in turn, can be accelerated or decelerated by varying the dose rate. Because commercially available MLC systems do not allow the MLC delivery sequence to be modified in real time based on the patient's breathing signal, previously proposed tumor-tracking techniques using a MLC cannot be readily implemented in the clinic today. By using a preprogrammed MLC sequence to handle the required motion, the task for real-time control is greatly simplified. We have developed and tested the pre- programmed MLC sequence and the dose-rate regulation algorithm using lung-cancer patients breathing signals. It has been shown that DRRT can track the tumor with an accuracy of less than 2 mm for a latency of the DRRT system of less than 0.35 s. We also have evaluated the usefulness of guided breathing for DRRT. Since DRRT by its very nature can compensate for breathing-period changes, guided breathing was shown to be unnecessary for real-time tracking when using DRRT. Finally, DRRT uses the existing dose-rate control system that is provided for current linear accelerators. Therefore, DRRT can be achieved with minimal modification of existing technology, and this can shorten substantially the time necessary to establish DRRT in clinical practice.

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

PubMed

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

2015-02-01

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

A Fourier approach to cloud motion estimation

NASA Technical Reports Server (NTRS)

Arking, A.; Lo, R. C.; Rosenfield, A.

1977-01-01

A Fourier technique is described for estimating cloud motion from pairs of pictures using the phase of the cross spectral density. The method allows motion estimates to be made for individual spatial frequencies, which are related to cloud pattern dimensions. Results obtained are presented and compared with the results of a Fourier domain cross correlation scheme. Using both artificial and real cloud data show that the technique is relatively sensitive to the presence of mixtures of motions, changes in cloud shape, and edge effects.

Enhancement of tracking performance in electro-optical system based on servo control algorithm

NASA Astrophysics Data System (ADS)

Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

2017-10-01

Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

Minimax terminal approach problem in two-level hierarchical nonlinear discrete-time dynamical system

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

Shorikov, A. F., E-mail: afshorikov@mail.ru

We consider a discrete–time dynamical system consisting of three controllable objects. The motions of all objects are given by the corresponding vector nonlinear or linear discrete–time recurrent vector relations, and control system for its has two levels: basic (first or I level) that is dominating and subordinate level (second or II level) and both have different criterions of functioning and united a priori by determined informational and control connections defined in advance. For the dynamical system in question, we propose a mathematical formalization in the form of solving a multistep problem of two-level hierarchical minimax program control over the terminalmore » approach process with incomplete information and give a general scheme for its solving.« less

Computation of fluid and particle motion from a time-sequenced image pair: a global outlier identification approach.

PubMed

Ray, Nilanjan

2011-10-01

Fluid motion estimation from time-sequenced images is a significant image analysis task. Its application is widespread in experimental fluidics research and many related areas like biomedical engineering and atmospheric sciences. In this paper, we present a novel flow computation framework to estimate the flow velocity vectors from two consecutive image frames. In an energy minimization-based flow computation, we propose a novel data fidelity term, which: 1) can accommodate various measures, such as cross-correlation or sum of absolute or squared differences of pixel intensities between image patches; 2) has a global mechanism to control the adverse effect of outliers arising out of motion discontinuities, proximity of image borders; and 3) can go hand-in-hand with various spatial smoothness terms. Further, the proposed data term and related regularization schemes are both applicable to dense and sparse flow vector estimations. We validate these claims by numerical experiments on benchmark flow data sets. © 2011 IEEE

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Inverse dynamics of a 3 degree of freedom spatial flexible manipulator

NASA Technical Reports Server (NTRS)

Bayo, Eduardo; Serna, M.

1989-01-01

A technique is presented for solving the inverse dynamics and kinematics of 3 degree of freedom spatial flexible manipulator. The proposed method finds the joint torques necessary to produce a specified end effector motion. Since the inverse dynamic problem in elastic manipulators is closely coupled to the inverse kinematic problem, the solution of the first also renders the displacements and rotations at any point of the manipulator, including the joints. Furthermore the formulation is complete in the sense that it includes all the nonlinear terms due to the large rotation of the links. The Timoshenko beam theory is used to model the elastic characteristics, and the resulting equations of motion are discretized using the finite element method. An iterative solution scheme is proposed that relies on local linearization of the problem. The solution of each linearization is carried out in the frequency domain. The performance and capabilities of this technique are tested through simulation analysis. Results show the potential use of this method for the smooth motion control of space telerobots.

Maskless deposition technique for the physical vapor deposition of thin film and multilayer coatings with subnanometer precision and accuracy

DOEpatents

Vernon, Stephen P.; Ceglio, Natale M.

2000-01-01

The invention is a method for the production of axially symmetric, graded and ungraded thickness thin film and multilayer coatings that avoids the use of apertures or masks to tailor the deposition profile. A motional averaging scheme permits the deposition of uniform thickness coatings independent of the substrate radius. Coating uniformity results from an exact cancellation of substrate radius dependent terms, which occurs when the substrate moves at constant velocity. If the substrate is allowed to accelerate over the source, arbitrary coating profiles can be generated through appropriate selection and control of the substrate center of mass equation of motion. The radial symmetry of the coating profile is an artifact produced by orbiting the substrate about its center of mass; other distributions are obtained by selecting another rotation axis. Consequently there is a direct mapping between the coating thickness and substrate equation of motion which can be used to tailor the coating profile without the use of masks and apertures.

Lead-Lag Control for Helicopter Vibration and Noise Reduction

NASA Technical Reports Server (NTRS)

Gandhi, Farhan

1995-01-01

As a helicopter transitions from hover to forward flight, the main rotor blades experience an asymmetry in flow field around the azimuth, with the blade section tangential velocities increasing on the advancing side and decreasing on the retreating side. To compensate for the reduced dynamic pressure on the retreating side, the blade pitch angles over this part of the rotor disk are increased. Eventually, a high enough forward speed is attained to produce compressibility effects on the advancing side of the rotor disk and stall on the retreating side. The onset of these two phenomena drastically increases the rotor vibratory loads and power requirements, thereby effectively establishing a limit on the maximum achievable forward speed. The alleviation of compressibility and stall (and the associated decrease in vibratory loads and power) would potentially result in an increased maximum forward speed. In the past, several methods have been examined and implemented to reduce the vibratory hub loads. Some of these methods are aimed specifically at alleviating vibration at very high flight speeds and increasing the maximum flight speed, while others focus on vibration reduction within the conventional flight envelope. Among the later are several types passive as well as active schemes. Passive schemes include a variety of vibration absorbers such as mechanical springs, pendulums, and bifilar absorbers. These mechanism are easy to design and maintain, but incur significant weight and drag penalties. Among the popular active control schemes in consideration are Higher Harmonic Control (HHC) and Individual Blade Control (IBC). HHC uses a conventional swash plate to generate a multi-cyclic pitch input to the blade. This requires actuators capable of sufficiently high power and bandwidth, increasing the cost and weight of the aircraft. IBC places actuators in the rotating reference frame, requiring the use of slip rings capable of transferring enough power to the actuators. Both schemes cause an increase in pitch link loads. Trailing Edge Flap (TEF) deployment can also used to generate unsteady aerodynamic forces and moments that counter the original vibratory loads, and thereby reduce rotor vibrations. While the vibrations absorbers, HHC, IBC, and TEF concepts discussed above attempt to reduce the vibratory loads, they do not specifically address the phenomena causing the vibrations at high advance ratios. One passive method that attempts to directly alleviate compressibility and stall, instead of reducing the ensuing vibrations, is the use of advanced tip designs. Taper, sweep, anhedral, and the manipulation of other geometric properties of the blade tips can reduce the severity of stall and compressibility effects , as well as reduce rotor power. A completely different approach to solve these problems is the tiltrotor configuration. As the forward velocity of the aircraft increases, the rotors, in this case, are tilted forward until they are perpendicular to the flow and act as propellers. This eliminates the edgewise flow encountered by conventional rotors and circumvents all the problems associated with flow asymmetry. However, the success involves a tremendous increase in cost and complexity of the aircraft. Another possible approach that has been proposed for the alleviation of vibratory loads at high forward flight speeds involves the use of controlled lead-lag motions to reduce the asymmetry in flow. A correctly phased 1/rev controlled lag motion could be introduced such that it produces a backward velocity on the advancing side and a forward velocity on the retreating side, to delay compressibility effects and stall to a higher advance ratio. Using a large enough lead-lag amplitude, the tip velocities could be reduced to levels encountered in hover. This concept was examined by two groups in the 1950's and early 1960's. In the United States, the Research Labs Division of United Aircraft developed a large lead-lag motion rotor, meant to achieve lag motion amplitudes up to 45 degrees. In order to reduce the required actuation force, the blade hinges were moved to 40% of the blade radius to increase the rotating lag frequency to approximately 1/rev. The blade hinges were redesigned to produce a flap-lag coupling so the large flapwise aerodynamic loads could be exploited to actuate the blades in the lag direction. A wind tunnel test of this rotor concept revealed actuation and blade motion scheduling problems. The project was eventually discontinued due to these problems and high blade stresses. Around the same time, at Boelkow in Germany, a similar lead-lag rotor program was conducted under the leadership of Hans Derschmidt. Here, too, the blade hinges were moved outboard to 34% radius to reduce the actuation loads. The main difference between this and the United Aircraft program was the use of a mechanical actuation scheme with maximum lead-lag motions of 400. This program was also discontinued for unclear reasons. The present study is directed toward conducting a comprehensive analytical examination to evaluate the effectiveness of controlled lead-lag motions in reducing vibratory hub loads and increasing maximum flight speed. Since both previous studies on this subject were purely experimental, only a limited data set and physical understanding of the problem was obtained. With the currently available analytical models and computational resources, the present effort is geared toward developing an in-depth physical understanding of the precise underlying mechanisms by which vibration reduction may be achieved. Additionally, in recognition of the fact that large amplitude lead-lag motions would - (i) be difficult to implement, and (ii) produce very large blade stresses; the present study examines the potential of only moderate-to-small lead-lag motions for reduction of vibratory hub loads. Using such an approach, the emphasis is not on eliminating the periodic variations in tangential velocity at the blade tip, but at best reducing these variations slightly so that compressibility and stall are delayed to slightly higher advance ratios. This study was conducted in two steps. In the first step, a hingeless helicopter rotor was modeled using rigid blades undergoing flap-lag-torsion rotations about spring restrained hinges and bearings. This model was then modified by separating the lead-lag degree of freedom into two components, a free and a prescribed motion. Using this model, a parametric study of the effect of phase and amplitude of a prescribed lead-lag motion on hub vibration was conducted. The data gathered was analyzed to obtain an understanding of the basic physics of the problem and show the capability of this method to reduce vibration and expand the flight envelope. In the second half of the study, the similar analysis was conducted using an elastic blade model to confirm the effects predicted by the simpler model.

VTOL shipboard letdown guidance system analysis

NASA Technical Reports Server (NTRS)

Phatak, A. V.; Karmali, M. S.

1983-01-01

Alternative letdown guidance strategies are examined for landing of a VTOL aircraft onboard a small aviation ship under adverse environmental conditions. Off line computer simulation of shipboard landing task is utilized for assessing the relative merits of the proposed guidance schemes. The touchdown performance of a nominal constant rate of descent (CROD) letdown strategy serves as a benchmark for ranking the performance of the alternative letdown schemes. Analysis of ship motion time histories indicates the existence of an alternating sequence of quiescent and rough motions called lulls and swells. A real time algorithms lull/swell classification based upon ship motion pattern features is developed. The classification algorithm is used to command a go/no go signal to indicate the initiation and termination of an acceptable landing window. Simulation results show that such a go/no go pattern based letdown guidance strategy improves touchdown performance.

Site classification of Indian strong motion network using response spectra ratios

NASA Astrophysics Data System (ADS)

Chopra, Sumer; Kumar, Vikas; Choudhury, Pallabee; Yadav, R. B. S.

2018-03-01

In the present study, we tried to classify the Indian strong motion sites spread all over Himalaya and adjoining region, located on varied geological formations, based on response spectral ratio. A total of 90 sites were classified based on 395 strong motion records from 94 earthquakes recorded at these sites. The magnitude of these earthquakes are between 2.3 and 7.7 and the hypocentral distance for most of the cases is less than 50 km. The predominant period obtained from response spectral ratios is used to classify these sites. It was found that the shape and predominant peaks of the spectra at these sites match with those in Japan, Italy, Iran, and at some of the sites in Europe and the same classification scheme can be applied to Indian strong motion network. We found that the earlier schemes based on description of near-surface geology, geomorphology, and topography were not able to capture the effect of sediment thickness. The sites are classified into seven classes (CL-I to CL-VII) with varying predominant periods and ranges as proposed by Alessandro et al. (Bull Seismol Soc Am 102:680-695 2012). The effect of magnitudes and hypocentral distances on the shape and predominant peaks were also studied and found to be very small. The classification scheme is robust and cost-effective and can be used in region-specific attenuation relationships for accounting local site effect.

Motion planning and synchronized control of the dental arch generator of the tooth-arrangement robot.

PubMed

Jiang, Jin-Gang; Zhang, Yong-De

2013-03-01

The traditional, manual method of reproducing the dental arch form is prone to numerous random errors caused by human factors. The purpose of this study was to investigate the automatic acquisition of the dental arch and implement the motion planning and synchronized control of the dental arch generator of the multi-manipulator tooth-arrangement robot for use in full denture manufacture. First, the mathematical model of the dental arch generator was derived. Then the kinematics and control point position of the dental arch generator of the tooth arrangement robot were calculated and motion planning of each control point was analysed. A hardware control scheme is presented, based on the industrial personal computer and control card PC6401. In order to gain single-axis, precise control of the dental arch generator, we studied the control pulse realization of high-resolution timing. Real-time, closed-loop, synchronous control was applied to the dental arch generator. Experimental control of the dental arch generator and preliminary tooth arrangement were gained by using the multi-manipulator tooth-arrangement robotic system. The dental arch generator can automatically generate a dental arch to fit a patient according to the patient's arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways that drive the dental arch generator. The maximum value of single-point error is 1.83 mm, while the arc-width direction (x axis) is -33.29 mm. A novel system that generates the dental arch has been developed. The traditional method of manually determining the dental arch may soon be replaced by a robot to assist in generating a more individual dental arch. The system can be used to fabricate full dentures and bend orthodontic wires. Copyright © 2012 John Wiley & Sons, Ltd.

Direct numerical simulations of on-demand vortex generators: Mathematical formulation

NASA Technical Reports Server (NTRS)

Koumoutsakos, Petros

1994-01-01

The objective of the present research is the development and application of efficient adaptive numerical algorithms for the study, via direct numerical simulations, of active vortex generators. We are using innovative computational schemes to investigate flows past complex configurations undergoing arbitrary motions. Some of the questions we try to answer are: Can and how may we control the dynamics of the wake? What is the importance of body shape and motion in the active control of the flow? What is the effect of three-dimensionality in laboratory experiments? We are interested not only in coupling our results to ongoing, related experimental work, but furthermore to develop an extensive database relating the above mechanisms to the vortical wake structures with the long-range objective of developing feedback control mechanisms. This technology is very important to aircraft, ship, automotive, and other industries that require predictive capability for fluid mechanical problems. The results would have an impact in high angle of attack aerodynamics and help design ways to improve the efficiency of ships and submarines (maneuverability, vortex induced vibration, and noise).

Direct numerical simulations of on-demand vortex generators: Mathematical formulation

NASA Astrophysics Data System (ADS)

Koumoutsakos, Petros

1994-12-01

The objective of the present research is the development and application of efficient adaptive numerical algorithms for the study, via direct numerical simulations, of active vortex generators. We are using innovative computational schemes to investigate flows past complex configurations undergoing arbitrary motions. Some of the questions we try to answer are: Can and how may we control the dynamics of the wake? What is the importance of body shape and motion in the active control of the flow? What is the effect of three-dimensionality in laboratory experiments? We are interested not only in coupling our results to ongoing, related experimental work, but furthermore to develop an extensive database relating the above mechanisms to the vortical wake structures with the long-range objective of developing feedback control mechanisms. This technology is very important to aircraft, ship, automotive, and other industries that require predictive capability for fluid mechanical problems. The results would have an impact in high angle of attack aerodynamics and help design ways to improve the efficiency of ships and submarines (maneuverability, vortex induced vibration, and noise).

Design of sliding-mode observer for a class of uncertain neutral stochastic systems

NASA Astrophysics Data System (ADS)

Liu, Zhen; Zhao, Lin; Zhu, Quanmin; Gao, Cunchen

2017-05-01

The problem of robust ? control for a class of uncertain neutral stochastic systems (NSS) is investigated by utilising the sliding-mode observer (SMO) technique. This paper presents a novel observer and integral-type sliding-surface design, based on which a new sufficient condition guaranteeing the resultant sliding-mode dynamics (SMDs) to be mean-square exponentially stable with a prescribed level of ? performance is derived. Then, an adaptive reaching motion controller is synthesised to lead the system to the predesigned sliding surface in finite-time almost surely. Finally, two illustrative examples are exhibited to verify the validity and superiority of the developed scheme.

Dynamic Analysis and Test Results for an STC Stirling Generator

NASA Astrophysics Data System (ADS)

Qiu, Songgang; Peterson, Allen A.

2004-02-01

Long-life, high-efficiency generators based on free-piston Stirling machines are a future energy-conversion solution for both space and commercial applications. To aid in design and system integration efforts, Stirling Technology Company (STC) has developed dynamic simulation models for the internal moving subassemblies and for complete Stirling convertor assemblies. These dynamic models have been validated using test data from operating prototypes. Simplified versions of these models are presented to help explain the operating characteristics of the Stirling convertor. Power spectrum analysis is presented for the test data for casing acceleration, piston motion, displacer motion, and controller current/voltage during full power operation. The harmonics of a Stirling convertor and its moving components are identified for the STC zener-diode control scheme. The dynamic behavior of each moving component and its contribution to the system dynamics and resultant vibration forces are discussed. Additionally, the effects of a passive balancer and external suspension are predicted by another simplified system model.

Measurement of lumbar spine intervertebral motion in the sagittal plane using videofluoroscopy.

PubMed

Harvey, Steven; Hukins, David; Smith, Francis; Wardlaw, Douglas; Kader, Deiary

2016-08-10

Static radiographic techniques are unable to capture the wealth of kinematic information available from lumbar spine sagittal plane motion. Demonstration of a viable non-invasive technique for acquiring and quantifying intervertebral motion of the lumbar spine in the sagittal plane. Videofluoroscopic footage of sagittal plane lumbar spine flexion-extension in seven symptomatic volunteers (mean age = 48 yrs) and one asymptomatic volunteer (age = 54 yrs) was recorded. Vertebral bodies were digitised using customised software employing a novel vertebral digitisation scheme that was minimally affected by out-of-plane motion. Measurement errors in intervertebral rotation (± 1°) and intervertebral displacement (± 0.5 mm) compare favourably with the work of others. Some subjects presenting with an identical condition (disc prolapse) exhibited a similar column vertebral flexion-extension relative to S1 (L3: max. 5.9°, min. 5.6°), while in others (degenerative disc disease) there was paradoxically a significant variation in this measurement (L3: max. 28.1°, min. 0.7°). By means of a novel vertebral digitisation scheme and customised digitisation/analysis software, sagittal plane intervertebral motion data of the lumbar spine data has been successfully extracted from videofluoroscopic image sequences. Whilst the intervertebral motion signatures of subjects in this study differed significantly, the available sample size precluded the inference of any clinical trends.

Exact finite difference schemes for the non-linear unidirectional wave equation

NASA Technical Reports Server (NTRS)

Mickens, R. E.

1985-01-01

Attention is given to the construction of exact finite difference schemes for the nonlinear unidirectional wave equation that describes the nonlinear propagation of a wave motion in the positive x-direction. The schemes constructed for these equations are compared with those obtained by using the usual procedures of numerical analysis. It is noted that the order of the exact finite difference models is equal to the order of the differential equation.

Cardiac-induced localized thoracic motion detected by a fiber optic sensing scheme

NASA Astrophysics Data System (ADS)

Allsop, Thomas; Lloyd, Glynn; Bhamber, Ranjeet S.; Hadzievski, Ljupco; Halliday, Michael; Webb, David J.; Bennion, Ian

2014-11-01

The cardiovascular health of the human population is a major concern for medical clinicians, with cardiovascular diseases responsible for 48% of all deaths worldwide, according to the World Health Organization. The development of new diagnostic tools that are practicable and economical to scrutinize the cardiovascular health of humans is a major driver for clinicians. We offer a new technique to obtain seismocardiographic signals up to 54 Hz covering both ballistocardiography (below 20 Hz) and audible heart sounds (20 Hz upward), using a system based on curvature sensors formed from fiber optic long period gratings. This system can visualize the real-time three-dimensional (3-D) mechanical motion of the heart by using the data from the sensing array in conjunction with a bespoke 3-D shape reconstruction algorithm. Visualization is demonstrated by adhering three to four sensors on the outside of the thorax and in close proximity to the apex of the heart; the sensing scheme revealed a complex motion of the heart wall next to the apex region of the heart. The detection scheme is low-cost, portable, easily operated and has the potential for ambulatory applications.

High precision tracking control of a servo gantry with dynamic friction compensation.

PubMed

Zhang, Yangming; Yan, Peng; Zhang, Zhen

2016-05-01

This paper is concerned with the tracking control problem of a voice coil motor (VCM) actuated servo gantry system. By utilizing an adaptive control technique combined with a sliding mode approach, an adaptive sliding mode control (ASMC) law with friction compensation scheme is proposed in presence of both frictions and external disturbances. Based on the LuGre dynamic friction model, a dual-observer structure is used to estimate the unmeasurable friction state, and an adaptive control law is synthesized to effectively handle the unknown friction model parameters as well as the bound of the disturbances. Moreover, the proposed control law is also implemented on a VCM servo gantry system for motion tracking. Simulations and experimental results demonstrate good tracking performance, which outperform traditional control approaches. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Vortex Filaments in Grids for Scalable, Fine Smoke Simulation.

PubMed

Meng, Zhang; Weixin, Si; Yinling, Qian; Hanqiu, Sun; Jing, Qin; Heng, Pheng-Ann

2015-01-01

Vortex modeling can produce attractive visual effects of dynamic fluids, which are widely applicable for dynamic media, computer games, special effects, and virtual reality systems. However, it is challenging to effectively simulate intensive and fine detailed fluids such as smoke with fast increasing vortex filaments and smoke particles. The authors propose a novel vortex filaments in grids scheme in which the uniform grids dynamically bridge the vortex filaments and smoke particles for scalable, fine smoke simulation with macroscopic vortex structures. Using the vortex model, their approach supports the trade-off between simulation speed and scale of details. After computing the whole velocity, external control can be easily exerted on the embedded grid to guide the vortex-based smoke motion. The experimental results demonstrate the efficiency of using the proposed scheme for a visually plausible smoke simulation with macroscopic vortex structures.

Dynamic control modification techniques in teleoperation of a flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Magee, David Patrick

1991-01-01

The objective of this research is to reduce the end-point vibration of a large, teleoperated manipulator while preserving the usefulness of the system motion. A master arm is designed to measure desired joint angles as the user specifies a desired tip motion. The desired joint angles from the master arm are the inputs to an adaptive PD control algorithm that positions the end-point of the manipulator. As the user moves the tip of the master, the robot will vibrate at its natural frequencies which makes it difficult to position the end-point. To eliminate the tip vibration during teleoperated motions, an input shaping method is presented. The input shaping method transforms each sample of the desired input into a new set of impulses that do not excite the system resonances. The method is explained using the equation of motion for a simple, second-order system. The impulse response of such a system is derived and the constraint equations for vibrationless motion are presented. To evaluate the robustness of the method, a different residual vibration equation from Singer's is derived that more accurately represents the input shaping technique. The input shaping method is shown to actually increase the residual vibration in certain situations when the system parameters are not accurately specified. Finally, the implementation of the input shaping method to a system with varying parameters is shown to induce a vibration into the system. To eliminate this vibration, a modified command shaping technique is developed. The ability of the modified command shaping method to reduce vibration at the system resonances is tested by varying input perturbations to trajectories in a range of possible user inputs. By comparing the frequency responses of the transverse acceleration at the end-point of the manipulator, the modified method is compared to the original PD routine. The control scheme that produces the smaller magnitude of resonant vibration at the first natural frequency is considered the more effective control method.

Tolerance in the Ramsey interference of a trapped nanodiamond

NASA Astrophysics Data System (ADS)

Wan, C.; Scala, M.; Bose, S.; Frangeskou, A. C.; Rahman, ATM A.; Morley, G. W.; Barker, P. F.; Kim, M. S.

2016-04-01

In the scheme recently proposed by M. Scala et al. [Phys. Rev. Lett. 111, 180403 (2013), 10.1103/PhysRevLett.111.180403], a gravity-dependent phase shift is induced on the spin of a nitrogen-vacancy (NV) center in a trapped nanodiamond by the interaction between its magnetic moment and the quantized motion of the particle. This provides a way to detect spatial quantum superpositions by means of only spin measurements. Here, the effect of unwanted coupling with other motional degrees of freedom is considered, and we show that it does not affect the validity of the scheme. Both this coupling and the additional error source due to misalignment between the quantization axis of the NV center spin and the trapping axis are shown not to change the qualitative behavior of the system, so that a proof-of-principle experiment can be neatly performed. Our analysis, which shows that the scheme retains the important features of not requiring ground-state cooling and of being resistant to thermal fluctuations, can be useful for several schemes which have been proposed recently for testing macroscopic superpositions in trapped microsystems.

Investigation of television transmission using adaptive delta modulation principles

NASA Technical Reports Server (NTRS)

Schilling, D. L.

1976-01-01

The results are presented of a study on the use of the delta modulator as a digital encoder of television signals. The computer simulation of different delta modulators was studied in order to find a satisfactory delta modulator. After finding a suitable delta modulator algorithm via computer simulation, the results were analyzed and then implemented in hardware to study its ability to encode real time motion pictures from an NTSC format television camera. The effects of channel errors on the delta modulated video signal were tested along with several error correction algorithms via computer simulation. A very high speed delta modulator was built (out of ECL logic), incorporating the most promising of the correction schemes, so that it could be tested on real time motion pictures. Delta modulators were investigated which could achieve significant bandwidth reduction without regard to complexity or speed. The first scheme investigated was a real time frame to frame encoding scheme which required the assembly of fourteen, 131,000 bit long shift registers as well as a high speed delta modulator. The other schemes involved the computer simulation of two dimensional delta modulator algorithms.

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.

Swimming by reciprocal motion at low Reynolds number.

PubMed

Qiu, Tian; Lee, Tung-Chun; Mark, Andrew G; Morozov, Konstantin I; Münster, Raphael; Mierka, Otto; Turek, Stefan; Leshansky, Alexander M; Fischer, Peer

2014-11-04

Biological microorganisms swim with flagella and cilia that execute nonreciprocal motions for low Reynolds number (Re) propulsion in viscous fluids. This symmetry requirement is a consequence of Purcell's scallop theorem, which complicates the actuation scheme needed by microswimmers. However, most biomedically important fluids are non-Newtonian where the scallop theorem no longer holds. It should therefore be possible to realize a microswimmer that moves with reciprocal periodic body-shape changes in non-Newtonian fluids. Here we report a symmetric 'micro-scallop', a single-hinge microswimmer that can propel in shear thickening and shear thinning (non-Newtonian) fluids by reciprocal motion at low Re. Excellent agreement between our measurements and both numerical and analytical theoretical predictions indicates that the net propulsion is caused by modulation of the fluid viscosity upon varying the shear rate. This reciprocal swimming mechanism opens new possibilities in designing biomedical microdevices that can propel by a simple actuation scheme in non-Newtonian biological fluids.

Motion-related resource allocation in dynamic wireless visual sensor network environments.

PubMed

Katsenou, Angeliki V; Kondi, Lisimachos P; Parsopoulos, Konstantinos E

2014-01-01

This paper investigates quality-driven cross-layer optimization for resource allocation in direct sequence code division multiple access wireless visual sensor networks. We consider a single-hop network topology, where each sensor transmits directly to a centralized control unit (CCU) that manages the available network resources. Our aim is to enable the CCU to jointly allocate the transmission power and source-channel coding rates for each node, under four different quality-driven criteria that take into consideration the varying motion characteristics of each recorded video. For this purpose, we studied two approaches with a different tradeoff of quality and complexity. The first one allocates the resources individually for each sensor, whereas the second clusters them according to the recorded level of motion. In order to address the dynamic nature of the recorded scenery and re-allocate the resources whenever it is dictated by the changes in the amount of motion in the scenery, we propose a mechanism based on the particle swarm optimization algorithm, combined with two restarting schemes that either exploit the previously determined resource allocation or conduct a rough estimation of it. Experimental simulations demonstrate the efficiency of the proposed approaches.

Verlet scheme non-conservativeness for simulation of spherical particles collisional dynamics and method of its compensation

NASA Astrophysics Data System (ADS)

Savin, Andrei V.; Smirnov, Petr G.

2018-05-01

Simulation of collisional dynamics of a large ensemble of monodisperse particles by the method of discrete elements is considered. Verle scheme is used for integration of the equations of motion. Non-conservativeness of the finite-difference scheme is discovered depending on the time step, which is equivalent to a pure-numerical energy source appearance in the process of collision. Compensation method for the source is proposed and tested.

Design for active and passive flutter suppression and gust alleviation. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Karpel, M.

1981-01-01

Analytical design techniques for active and passive control of aeroelastic systems are based on a rational approximation of the unsteady aerodynamic loads in the entire Laplace domain, which yields matrix equations of motion with constant coefficients. Some existing schemes are reviewed, the matrix Pade approximant is modified, and a technique which yields a minimal number of augmented states for a desired accuracy is presented. The state-space aeroelastic model is used to design an active control system for simultaneous flutter suppression and gust alleviation. The design target is for a continuous controller which transfers some measurements taken on the vehicle to a control command applied to a control surface. Structural modifications are formulated in a way which enables the treatment of passive flutter suppression system with the same procedures by which active control systems are designed.

Two-terminal video coding.

PubMed

Yang, Yang; Stanković, Vladimir; Xiong, Zixiang; Zhao, Wei

2009-03-01

Following recent works on the rate region of the quadratic Gaussian two-terminal source coding problem and limit-approaching code designs, this paper examines multiterminal source coding of two correlated, i.e., stereo, video sequences to save the sum rate over independent coding of both sequences. Two multiterminal video coding schemes are proposed. In the first scheme, the left sequence of the stereo pair is coded by H.264/AVC and used at the joint decoder to facilitate Wyner-Ziv coding of the right video sequence. The first I-frame of the right sequence is successively coded by H.264/AVC Intracoding and Wyner-Ziv coding. An efficient stereo matching algorithm based on loopy belief propagation is then adopted at the decoder to produce pixel-level disparity maps between the corresponding frames of the two decoded video sequences on the fly. Based on the disparity maps, side information for both motion vectors and motion-compensated residual frames of the right sequence are generated at the decoder before Wyner-Ziv encoding. In the second scheme, source splitting is employed on top of classic and Wyner-Ziv coding for compression of both I-frames to allow flexible rate allocation between the two sequences. Experiments with both schemes on stereo video sequences using H.264/AVC, LDPC codes for Slepian-Wolf coding of the motion vectors, and scalar quantization in conjunction with LDPC codes for Wyner-Ziv coding of the residual coefficients give a slightly lower sum rate than separate H.264/AVC coding of both sequences at the same video quality.

Motion of the plasma critical layer during relativistic-electron laser interaction with immobile and comoving ion plasma for ion accelerationa)

NASA Astrophysics Data System (ADS)

Sahai, Aakash A.

2014-05-01

We analyze the motion of the plasma critical layer by two different processes in the relativistic-electron laser-plasma interaction regime (a0>1). The differences are highlighted when the critical layer ions are stationary in contrast to when they move with it. Controlling the speed of the plasma critical layer in this regime is essential for creating low-β traveling acceleration structures of sufficient laser-excited potential for laser ion accelerators. In Relativistically Induced Transparency Acceleration (RITA) scheme, the heavy plasma-ions are fixed and only trace-density light-ions are accelerated. The relativistic critical layer and the acceleration structure move longitudinally forward by laser inducing transparency through apparent relativistic increase in electron mass. In the Radiation Pressure Acceleration (RPA) scheme, the whole plasma is longitudinally pushed forward under the action of the laser radiation pressure, possible only when plasma ions co-propagate with the laser front. In RPA, the acceleration structure velocity critically depends upon plasma-ion mass in addition to the laser intensity and plasma density. In RITA, mass of the heavy immobile plasma-ions does not affect the speed of the critical layer. Inertia of the bared immobile ions in RITA excites the charge separation potential, whereas RPA is not possible when ions are stationary.

Power and energy ratios in mechanical CVT drive control

NASA Astrophysics Data System (ADS)

Balakin, P. D.; Stripling, L. O.

2017-06-01

Being based on the principle of providing the systems with adaptation property to the real parameters and operational condition, the mechanical system capable to control automatically the components of convertible power is offered and this allows providing stationary operation of the vehicle engine in the terms of variable external loading. This is achieved by drive control integrated in the power transmission, which implements an additional degree of freedom and operates on the basis of the laws of motion, with the energy of the main power flow by changing automatically the kinematic characteristics of the power transmission, this system being named CVT. The power and energy ratios found allow performing the necessary design calculations of the sections and the links of the mechanical CVT scheme.

Control design based on dead-zone and leakage adaptive laws for artificial swarm mechanical systems

NASA Astrophysics Data System (ADS)

Zhao, Xiaomin; Chen, Y. H.; Zhao, Han

2017-05-01

We consider the control design of artificial swarm systems with emphasis on four characteristics. First, the agent is made of mechanical components. As a result, the motion of each agent is subject to physical laws that govern mechanical systems. Second, both nonlinearity and uncertainty of the mechanical system are taken into consideration. Third, the ideal agent kinematic performance is treated as a desired d'Alembert constraint. This in turn suggests a creative way of embedding the constraint into the control design. Fourth, two types of adaptive robust control schemes are designed. They both contain leakage and dead-zone. However, one design suggests a trade-off between the amount of leakage and the size of dead-zone, in exchange for a simplified dead-zone structure.

XTRAN2L - A PROGRAM FOR SOLVING THE GENERAL-FREQUENCY UNSTEADY TWO-DIMENSIONAL TRANSONIC SMALL-DISTURBANCE EQUATIONS

NASA Technical Reports Server (NTRS)

Seidel, D. A.

1994-01-01

The Program for Solving the General-Frequency Unsteady Two-Dimensional Transonic Small-Disturbance Equation, XTRAN2L, is used to calculate time-accurate, finite-difference solutions of the nonlinear, small-disturbance potential equation for two- dimensional transonic flow about airfoils. The code can treat forced harmonic, pulse, or aeroelastic transient type motions. XTRAN2L uses a transonic small-disturbance equation that incorporates a time accurate finite-difference scheme. Airfoil flow tangency boundary conditions are defined to include airfoil contour, chord deformation, nondimensional plunge displacement, pitch, and trailing edge control surface deflection. Forced harmonic motion can be based on: 1) coefficients of harmonics based on information from each quarter period of the last cycle of harmonic motion; or 2) Fourier analyses of the last cycle of motion. Pulse motion (an alternate to forced harmonic motion) in which the airfoil is given a small prescribed pulse in a given mode of motion, and the aerodynamic transients are calculated. An aeroelastic transient capability is available within XTRAN2L, wherein the structural equations of motion are coupled with the aerodynamic solution procedure for simultaneous time-integration. The wake is represented as a slit downstream of the airfoil trailing edge. XTRAN2L includes nonreflecting farfield boundary conditions. XTRAN2L was developed on a CDC CYBER mainframe running under NOS 2.4. It is written in FORTRAN 5 and uses overlays to minimize storage requirements. The program requires 120K of memory in overlayed form. XTRAN2L was developed in 1987.

Driving a car with custom-designed fuzzy inferencing VLSI chips and boards

NASA Technical Reports Server (NTRS)

Pin, Francois G.; Watanabe, Yutaka

1993-01-01

Vehicle control in a-priori unknown, unpredictable, and dynamic environments requires many calculational and reasoning schemes to operate on the basis of very imprecise, incomplete, or unreliable data. For such systems, in which all the uncertainties can not be engineered away, approximate reasoning may provide an alternative to the complexity and computational requirements of conventional uncertainty analysis and propagation techniques. Two types of computer boards including custom-designed VLSI chips were developed to add a fuzzy inferencing capability to real-time control systems. All inferencing rules on a chip are processed in parallel, allowing execution of the entire rule base in about 30 microseconds, and therefore, making control of 'reflex-type' of motions envisionable. The use of these boards and the approach using superposition of elemental sensor-based behaviors for the development of qualitative reasoning schemes emulating human-like navigation in a-priori unknown environments are first discussed. Then how the human-like navigation scheme implemented on one of the qualitative inferencing boards was installed on a test-bed platform to investigate two control modes for driving a car in a-priori unknown environments on the basis of sparse and imprecise sensor data is described. In the first mode, the car navigates fully autonomously, while in the second mode, the system acts as a driver's aid providing the driver with linguistic (fuzzy) commands to turn left or right and speed up or slow down depending on the obstacles perceived by the sensors. Experiments with both modes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Simulation results as well as indoors and outdoors experiments are presented and discussed to illustrate the feasibility and robustness of autonomous navigation and/or safety enhancing driver's aid using the new fuzzy inferencing hardware system and some human-like reasoning schemes which may include as little as six elemental behaviors embodied in fourteen qualitative rules.

Applying Space Technology to Enhance Control of an Artificial Arm

NASA Technical Reports Server (NTRS)

Atkins, Diane; Donovan, William H.; Novy, Mara; Abramczyk, Robert

1997-01-01

At the present time, myoelectric prostheses perform only one function of the hand: open and close with the thumb, index and middle finger coming together to grasp various shaped objects. To better understand the limitations of the current single-function prostheses and the needs of the individuals who use them, The Institute for Rehabilitation and Research (TIRR), sponsored by the National Institutes of Health (August 1992 - November 1994), surveyed approximately 2500 individuals with upper limb loss. When asked to identify specific features of their current electric prosthesis that needed improvement, the survey respondents overwhelmingly identified the lack of wrist and finger movement as well as poor control capability. Simply building a mechanism with individual finger and wrist motion is not enough. Individuals with upper limb loss tend to reject prostheses that require continuous visual monitoring and concentration to control. Robotics researchers at NASA's Johnson Space Center (JSC) and Rice University have made substantial progress in myoelectric teleoperation. A myoelectric teleoperation system translates signals generated by an able-bodied robot operator's muscles during hand motions into commands that drive a robot's hand through identical motions. Farry's early work in myoelectric teleoperation used variations over time in the myoelectric spectrum as inputs to neural networks to discriminate grasp types and thumb motions. The resulting schemes yielded up to 93% correct classification on thumb motions. More recently, Fernandez achieved 100% correct non-realtime classification of thumb abduction, extension, and flexion on the same myoelectric data. Fernandez used genetic programming to develop functions that discriminate between thumb motions using myoelectric signal parameters. Genetic programming (GP) is an evolutionary programming method where the computer can modify the discriminating functions' form to improve its performance, not just adjust numerical coefficients or weights. Although the function development may require much computational time and many training cases, the resulting discrimination functions can run in realtime on modest computers. These results suggest that myoelectric signals might be a feasible teleoperation medium, allowing an operator to use his or her own hand and arm as a master to intuitively control an anthropomorphic robot in a remote location such as outer space.

Design and optimization of input shapers for liquid slosh suppression

NASA Astrophysics Data System (ADS)

Aboel-Hassan, Ameen; Arafa, Mustafa; Nassef, Ashraf

2009-02-01

The need for fast maneuvering and accurate positioning of flexible structures poses a control challenge. The inherent flexibility in these lightly damped systems creates large undesirable residual vibrations in response to rapid excitations. Several control approaches have been proposed to tackle this class of problems, of which the input shaping technique is appealing in many aspects. While input shaping has been widely investigated to attenuate residual vibrations in flexible structures, less attention was granted to expand its viability in further applications. The aim of this work is to develop a methodology for applying input shaping techniques to suppress sloshing effects in open moving containers to facilitate safe and fast point-to-point movements. The liquid behavior is modeled using finite element analysis. The input shaper parameters are optimized to find the commands that would result in minimum residual vibration. Other objectives, such as improved robustness, and motion constraints such as deflection limiting are also addressed in the optimization scheme. Numerical results are verified on an experimental setup consisting of a small motor-driven water tank undergoing rectilinear motion, while measuring both the tank motion and free surface displacement of the water. The results obtained suggest that input shaping is an effective method for liquid slosh suppression.

Surface EMG signals based motion intent recognition using multi-layer ELM

NASA Astrophysics Data System (ADS)

Wang, Jianhui; Qi, Lin; Wang, Xiao

2017-11-01

The upper-limb rehabilitation robot is regard as a useful tool to help patients with hemiplegic to do repetitive exercise. The surface electromyography (sEMG) contains motion information as the electric signals are generated and related to nerve-muscle motion. These sEMG signals, representing human's intentions of active motions, are introduced into the rehabilitation robot system to recognize upper-limb movements. Traditionally, the feature extraction is an indispensable part of drawing significant information from original signals, which is a tedious task requiring rich and related experience. This paper employs a deep learning scheme to extract the internal features of the sEMG signals using an advanced Extreme Learning Machine based auto-encoder (ELMAE). The mathematical information contained in the multi-layer structure of the ELM-AE is used as the high-level representation of the internal features of the sEMG signals, and thus a simple ELM can post-process the extracted features, formulating the entire multi-layer ELM (ML-ELM) algorithm. The method is employed for the sEMG based neural intentions recognition afterwards. The case studies show the adopted deep learning algorithm (ELM-AE) is capable of yielding higher classification accuracy compared to the Principle Component Analysis (PCA) scheme in 5 different types of upper-limb motions. This indicates the effectiveness and the learning capability of the ML-ELM in such motion intent recognition applications.

Recent updates in developing a statistical pseudo-dynamic source-modeling framework to capture the variability of earthquake rupture scenarios

NASA Astrophysics Data System (ADS)

Song, Seok Goo; Kwak, Sangmin; Lee, Kyungbook; Park, Donghee

2017-04-01

It is a critical element to predict the intensity and variability of strong ground motions in seismic hazard assessment. The characteristics and variability of earthquake rupture process may be a dominant factor in determining the intensity and variability of near-source strong ground motions. Song et al. (2014) demonstrated that the variability of earthquake rupture scenarios could be effectively quantified in the framework of 1-point and 2-point statistics of earthquake source parameters, constrained by rupture dynamics and past events. The developed pseudo-dynamic source modeling schemes were also validated against the recorded ground motion data of past events and empirical ground motion prediction equations (GMPEs) at the broadband platform (BBP) developed by the Southern California Earthquake Center (SCEC). Recently we improved the computational efficiency of the developed pseudo-dynamic source-modeling scheme by adopting the nonparametric co-regionalization algorithm, introduced and applied in geostatistics initially. We also investigated the effect of earthquake rupture process on near-source ground motion characteristics in the framework of 1-point and 2-point statistics, particularly focusing on the forward directivity region. Finally we will discuss whether the pseudo-dynamic source modeling can reproduce the variability (standard deviation) of empirical GMPEs and the efficiency of 1-point and 2-point statistics to address the variability of ground motions.

The Measurement of Visual Motion.

DTIC Science & Technology

1982-12-01

Naturf. fib, 513-524 (1956) 30. 11. B . Barlow, R. W. Levick : 3. Physial. (Land.) 173, 477-504 (1965) 31. R. C. Emerson, G. L. Gerstein: J...general line is the "And-Not" scheme proposed by Barlow and Levick [30] for the directionally selective units in the rabbit’s retina (a similar scheme...was suggested for the cat’s visual cortex [31]). 2 P1 P2P1 T2 DELAYDELAY XAND NOT (a) ( b ) Figure 1. The delayed comparison schemes. (a) The two

? observer-based decentralised fuzzy control design for nonlinear interconnected systems: an application to vehicle dynamics

NASA Astrophysics Data System (ADS)

Latrach, Chedia; Kchaou, Mourad; Guéguen, Hervé

2017-05-01

In this study, a decentralised output learning control strategy for a class of nonlinear interconnected systems is studied. Based on Takagi-Sugeno fuzzy (TS) model to approximate the considered interconnected nonlinear systems, a decentralised observer-based control scheme is designed to override the external disturbances such that the ? performance is achieved. The appealing attributes of this approach include: (1) the closed-loop system exhibits a robustness against nonlinear interconnections and external disturbance, (2) by one-step procedure, the gain matrices of observer and controller are obtained on a single step. In simulation results, the controller design is evaluated on the steering stability of a car where the nonlinear model describes the side slip, roll and yaw motions of the automotive vehicle equipped with four-wheel-steering and active suspension.

A multistage motion vector processing method for motion-compensated frame interpolation.

PubMed

Huang, Ai- Mei; Nguyen, Truong Q

2008-05-01

In this paper, a novel, low-complexity motion vector processing algorithm at the decoder is proposed for motion-compensated frame interpolation or frame rate up-conversion. We address the problems of having broken edges and deformed structures in an interpolated frame by hierarchically refining motion vectors on different block sizes. Our method explicitly considers the reliability of each received motion vector and has the capability of preserving the structure information. This is achieved by analyzing the distribution of residual energies and effectively merging blocks that have unreliable motion vectors. The motion vector reliability information is also used as a prior knowledge in motion vector refinement using a constrained vector median filter to avoid choosing identical unreliable one. We also propose using chrominance information in our method. Experimental results show that the proposed scheme has better visual quality and is also robust, even in video sequences with complex scenes and fast motion.

Chaos control of Hastings-Powell model by combining chaotic motions.

PubMed

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.

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.

Designing minimal space telerobotics systems for maximum performance

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.; Steele, Robert D.

1992-01-01

The design of the remote site of a local-remote telerobot control system is described which addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The Modular Telerobot Task Execution System (MOTES) provides supervised autonomous control, shared control and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. The MOTES system is minimized while providing a large capability by limiting its functionality to only that which is necessary at the remote site and by utilizing a unified multi-sensor based impedance control scheme. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. The system is written in Ada and runs in a VME environment on 68020 processors and initially controls a Robotics Research K1207 7 degree of freedom manipulator.

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

Unseren, M.A.

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

Program manual for ASTOP, an Arbitrary space trajectory optimization program

NASA Technical Reports Server (NTRS)

Horsewood, J. L.

1974-01-01

The ASTOP program (an Arbitrary Space Trajectory Optimization Program) designed to generate optimum low-thrust trajectories in an N-body field while satisfying selected hardware and operational constraints is presented. The trajectory is divided into a number of segments or arcs over which the control is held constant. This constant control over each arc is optimized using a parameter optimization scheme based on gradient techniques. A modified Encke formulation of the equations of motion is employed. The program provides a wide range of constraint, end conditions, and performance index options. The basic approach is conducive to future expansion of features such as the incorporation of new constraints and the addition of new end conditions.

Pros and Cons of the Acceleration Scheme (NF-IDS)

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

Bogacz, Alex; Bogacz, Slawomir

The overall goal of the acceleration systems: large acceptance acceleration to 25 GeV and beam shaping can be accomplished by various fixed field accelerators at different stages. They involve three superconducting linacs: a single pass linear Pre-accelerator followed by a pair of multi-pass Recirculating Linear Accelerators (RLA) and finally a nonâ scaling FFAG ring. The present baseline acceleration scenario has been optimized to take maximum advantage of appropriate acceleration scheme at a given stage. Pros and cons of various stages are discussed here in detail. The solenoid based Pre-accelerator offers very large acceptance and facilitates correction of energy gain acrossmore » the bunch and significant longitudinal compression trough induced synchrotron motion. However, far off-crest acceleration reduces the effective acceleration gradient and adds complexity through the requirement of individual RF phase control for each cavity. Close proximity of strong solenoids and superc« less

Assessing the Utility of Strong Motion Data to Determine Static Ground Displacements During Great Megathrust Earthquakes: Tohoku and Iquique

NASA Astrophysics Data System (ADS)

Herman, M. W.; Furlong, K. P.; Hayes, G. P.; Benz, H.

2014-12-01

Strong motion accelerometers can record large amplitude shaking on-scale in the near-field of large earthquake ruptures; however, numerical integration of such records to determine displacement is typically unstable due to baseline changes (i.e., distortions in the zero value) that occur during strong shaking. We use datasets from the 2011 Mw 9.0 Tohoku earthquake to assess whether a relatively simple empirical correction scheme (Boore et al., 2002) can return accurate displacement waveforms useful for constraining details of the fault slip. The coseismic deformation resulting from the Tohoku earthquake was recorded by the Kiban Kyoshin network (KiK-net) of strong motion instruments as well as by a dense network of high-rate (1 Hz) GPS instruments. After baseline correcting the KiK-net records and integrating to displacement, over 85% of the KiK-net borehole instrument waveforms and over 75% of the KiK-net surface instrument waveforms match collocated 1 Hz GPS displacement time series. Most of the records that do not match the GPS-derived displacements following the baseline correction have large, systematic drifts that can be automatically identified by examining the slopes in the first 5-10 seconds of the velocity time series. We apply the same scheme to strong motion records from the 2014 Mw 8.2 Iquique earthquake. Close correspondence in both direction and amplitude between coseismic static offsets derived from the integrated strong motion time series and those predicted from a teleseismically-derived finite fault model, as well as displacement amplitudes consistent with InSAR-derived results, suggest that the correction scheme works successfully for the Iquique event. In the absence of GPS displacements, these strong motion-derived offsets provide constraints on the overall distribution of slip on the fault. In addition, the coseismic strong motion-derived displacement time series (50-100 s long) contain a near-field record of the temporal evolution of the rupture, supplementing teleseismic data and improving resolution of the location and timing of moment in finite fault models.

Tile prediction schemes for wide area motion imagery maps in GIS

NASA Astrophysics Data System (ADS)

Michael, Chris J.; Lin, Bruce Y.

2017-11-01

Wide-area surveillance, traffic monitoring, and emergency management are just several of many applications benefiting from the incorporation of Wide-Area Motion Imagery (WAMI) maps into geographic information systems. Though the use of motion imagery as a GIS base map via the Web Map Service (WMS) standard is not a new concept, effectively streaming imagery is particularly challenging due to its large scale and the multidimensionally interactive nature of clients that use WMS. Ineffective streaming from a server to one or more clients can unnecessarily overwhelm network bandwidth and cause frustratingly large amounts of latency in visualization to the user. Seamlessly streaming WAMI through GIS requires good prediction to accurately guess the tiles of the video that will be traversed in the near future. In this study, we present an experimental framework for such prediction schemes by presenting a stochastic interaction model that represents a human user's interaction with a GIS video map. We then propose several algorithms by which the tiles of the stream may be predicted. Results collected both within the experimental framework and using human analyst trajectories show that, though each algorithm thrives under certain constraints, the novel Markovian algorithm yields the best results overall. Furthermore, we make the argument that the proposed experimental framework is sufficient for the study of these prediction schemes.

Comments on baseline correction of digital strong-motion data: Examples from the 1999 Hector Mine, California, earthquake

USGS Publications Warehouse

Boore, D.M.; Stephens, C.D.; Joyner, W.B.

2002-01-01

Residual displacements for large earthquakes can sometimes be determined from recordings on modern digital instruments, but baseline offsets of unknown origin make it difficult in many cases to do so. To recover the residual displacement, we suggest tailoring a correction scheme by studying the character of the velocity obtained by integration of zeroth-order-corrected acceleration and then seeing if the residual displacements are stable when the various parameters in the particular correction scheme are varied. For many seismological and engineering purposes, however, the residual displacement are of lesser importance than ground motions at periods less than about 20 sec. These ground motions are often recoverable with simple baseline correction and low-cut filtering. In this largely empirical study, we illustrate the consequences of various correction schemes, drawing primarily from digital recordings of the 1999 Hector Mine, California, earthquake. We show that with simple processing the displacement waveforms for this event are very similar for stations separated by as much as 20 km. We also show that a strong pulse on the transverse component was radiated from the Hector Mine earthquake and propagated with little distortion to distances exceeding 170 km; this pulse leads to large response spectral amplitudes around 10 sec.

Man-in-the-loop study of filtering in airborne head tracking tasks

NASA Technical Reports Server (NTRS)

Lifshitz, S.; Merhav, S. J.

1992-01-01

A human-factors study is conducted of problems due to vibrations during the use of a helmet-mounted display (HMD) in tracking tasks whose major factors are target motion and head vibration. A method is proposed for improving aiming accuracy in such tracking tasks on the basis of (1) head-motion measurement and (2) the shifting of the reticle in the HMD in ways that inhibit much of the involuntary apparent motion of the reticle, relative to the target, and the nonvoluntary motion of the teleoperated device. The HMD inherently furnishes the visual feedback required by this scheme.

Optimizing Motion Planning for Hyper Dynamic Manipulator

NASA Astrophysics Data System (ADS)

Aboura, Souhila; Omari, Abdelhafid; Meguenni, Kadda Zemalache

2012-01-01

This paper investigates the optimal motion planning for an hyper dynamic manipulator. As case study, we consider a golf swing robot which is consisting with two actuated joint and a mechanical stoppers. Genetic Algorithm (GA) technique is proposed to solve the optimal golf swing motion which is generated by Fourier series approximation. The objective function for GA approach is to minimizing the intermediate and final state, minimizing the robot's energy consummation and maximizing the robot's speed. Obtained simulation results show the effectiveness of the proposed scheme.

Motion compensation for in vivo subcellular optical microscopy.

PubMed

Lucotte, B; Balaban, R S

2014-04-01

In this review, we focus on the impact of tissue motion on attempting to conduct subcellular resolution optical microscopy, in vivo. Our position is that tissue motion is one of the major barriers in conducting these studies along with light induced damage, optical probe loading as well as absorbing and scattering effects on the excitation point spread function and collection of emitted light. Recent developments in the speed of image acquisition have reached the limit, in most cases, where the signal from a subcellular voxel limits the speed and not the scanning rate of the microscope. Different schemes for compensating for tissue displacements due to rigid body and deformation are presented from tissue restriction, gating, adaptive gating and active tissue tracking. We argue that methods that minimally impact the natural physiological motion of the tissue are desirable because the major reason to perform in vivo studies is to evaluate normal physiological functions. Towards this goal, active tracking using the optical imaging data itself to monitor tissue displacement and either prospectively or retrospectively correct for the motion without affecting physiological processes is desirable. Critical for this development was the implementation of near real time image processing in conjunction with the control of the microscope imaging parameters. Clearly, the continuing development of methods of motion compensation as well as significant technological solutions to the other barriers to tissue subcellular optical imaging in vivo, including optical aberrations and overall signal-to-noise ratio, will make major contributions to the understanding of cell biology within the body.

On regularizing the MCTDH equations of motion

NASA Astrophysics Data System (ADS)

Meyer, Hans-Dieter; Wang, Haobin

2018-03-01

The Multiconfiguration Time-Dependent Hartree (MCTDH) approach leads to equations of motion (EOM) which become singular when there are unoccupied so-called single-particle functions (SPFs). Starting from a Hartree product, all SPFs, except the first one, are unoccupied initially. To solve the MCTDH-EOMs numerically, one therefore has to remove the singularity by a regularization procedure. Usually the inverse of a density matrix is regularized. Here we argue and show that regularizing the coefficient tensor, which in turn regularizes the density matrix as well, leads to an improved performance of the EOMs. The initially unoccupied SPFs are rotated faster into their "correct direction" in Hilbert space and the final results are less sensitive to the choice of the value of the regularization parameter. For a particular example (a spin-boson system studied with a transformed Hamiltonian), we could even show that only with the new regularization scheme could one obtain correct results. Finally, in Appendix A, a new integration scheme for the MCTDH-EOMs developed by Lubich and co-workers is discussed. It is argued that this scheme does not solve the problem of the unoccupied natural orbitals because this scheme ignores the latter and does not propagate them at all.

The effect of interference on delta modulation encoded video signals

NASA Technical Reports Server (NTRS)

Schilling, D. L.

1979-01-01

The results of a study on the use of the delta modulator as a digital encoder of television signals are presented. The computer simulation was studied of different delta modulators in order to find a satisfactory delta modulator. After finding a suitable delta modulator algorithm via computer simulation, the results are analyzed and then implemented in hardware to study the ability to encode real time motion pictures from an NTSC format television camera. The effects were investigated of channel errors on the delta modulated video signal and several error correction algorithms were tested via computer simulation. A very high speed delta modulator was built (out of ECL logic), incorporating the most promising of the correction schemes, so that it could be tested on real time motion pictures. The final area of investigation concerned itself with finding delta modulators which could achieve significant bandwidth reduction without regard to complexity or speed. The first such scheme to be investigated was a real time frame to frame encoding scheme which required the assembly of fourteen, 131,000 bit long shift registers as well as a high speed delta modulator. The other schemes involved two dimensional delta modulator algorithms.

Different-Level Simultaneous Minimization Scheme for Fault Tolerance of Redundant Manipulator Aided with Discrete-Time Recurrent Neural Network

PubMed Central

Jin, Long; Liao, Bolin; Liu, Mei; Xiao, Lin; Guo, Dongsheng; Yan, Xiaogang

2017-01-01

By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of redundant manipulator in this paper. The scheme is reformulated as a quadratic program (QP) with equality and bound constraints, which is then solved by a discrete-time recurrent neural network. Simulative verifications based on a six-link planar redundant robot manipulator substantiate the efficacy and accuracy of the presented acceleration fault-tolerant scheme, the resultant QP and the corresponding discrete-time recurrent neural network. PMID:28955217

First order comparison of numerical calculation and two different turtle input schemes to represent a SLC defocusing magnet

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

Jaeger, J.

1983-07-14

Correcting the dispersion function in the SLC north arc it turned out that backleg-windings (BLW) acting horizontally as well as BLW acting vertically have to be used. In the latter case the question arose what is the best representation of a defocusing magnet with excited BLW acting in the vertical plane for the computer code TURTLE. Two different schemes, the 14.-scheme and the 20.-scheme were studied and the TURTLE output for one ray through such a magnet compared with the numerical solution of the equation of motion; only terms of first order have been taken into account.

New image compression scheme for digital angiocardiography application

NASA Astrophysics Data System (ADS)

Anastassopoulos, George C.; Lymberopoulos, Dimitris C.; Kotsopoulos, Stavros A.; Kokkinakis, George C.

1993-06-01

The present paper deals with the development and evaluation of a new compression scheme, for angiocardiography images. This scheme provides considerable compression of the medical data file, through two different stages. The first stage obliterates the redundancy inside a single frame domain since the second stage obliterates the redundancy among the sequential frames. Within these stages the employed data compression ratio can be easily adjusted according to the needs of the angiocardiography applications, where still or moving (in slow or full motion) images are hauled. The developed scheme has been tailored on the real needs of the diagnosis oriented conferencing-teleworking processes, where Unified Image Viewing facilities are required.

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

PubMed

Kamnik, Roman; Bajd, Tadej

2007-11-01

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

Temporal analysis of nonresonant two-photon coherent control involving bound and dissociative molecular states

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

Su Jing; Chen Shaohao; Jaron-Becker, Agnieszka

We theoretically study the control of two-photon excitation to bound and dissociative states in a molecule induced by trains of laser pulses, which are equivalent to certain sets of spectral phase modulated pulses. To this end, we solve the time-dependent Schroedinger equation for the interaction of molecular model systems with an external intense laser field. Our numerical results for the temporal evolution of the population in the excited states show that, in the case of an excited dissociative state, control schemes, previously validated for the atomic case, fail due to the coupling of electronic and nuclear motion. In contrast, formore » excitation to bound states the two-photon excitation probability is controlled via the time delay and the carrier-envelope phase difference between two consecutive pulses in the train.« less

Basic mechanisms in the laser control of non-Markovian dynamics

NASA Astrophysics Data System (ADS)

Puthumpally-Joseph, R.; Mangaud, E.; Chevet, V.; Desouter-Lecomte, M.; Sugny, D.; Atabek, O.

2018-03-01

Referring to a Fano-type model qualitative analogy we develop a comprehensive basic mechanism for the laser control of the non-Markovian bath response and fully implement it in a realistic control scheme, in strongly coupled open quantum systems. Converged hierarchical equations of motion are worked out to numerically solve the master equation of a spin-boson Hamiltonian to reach the reduced electronic density matrix of a heterojunction in the presence of strong terahertz laser pulses. Robust and efficient control is achieved increasing by a factor of 2 the non-Markovianity measured by the time evolution of the volume of accessible states. The consequences of such fields on the central system populations and coherence are examined, putting the emphasis on the relation between the increase of non-Markovianity and the slowing down of decoherence processes.

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.

Network and user interface for PAT DOME virtual motion environment system

NASA Technical Reports Server (NTRS)

Worthington, J. W.; Duncan, K. M.; Crosier, W. G.

1993-01-01

The Device for Orientation and Motion Environments Preflight Adaptation Trainer (DOME PAT) provides astronauts a virtual microgravity sensory environment designed to help alleviate tye symptoms of space motion sickness (SMS). The system consists of four microcomputers networked to provide real time control, and an image generator (IG) driving a wide angle video display inside a dome structure. The spherical display demands distortion correction. The system is currently being modified with a new graphical user interface (GUI) and a new Silicon Graphics IG. This paper will concentrate on the new GUI and the networking scheme. The new GUI eliminates proprietary graphics hardware and software, and instead makes use of standard and low cost PC video (CGA) and off the shelf software (Microsoft's Quick C). Mouse selection for user input is supported. The new Silicon Graphics IG requires an Ethernet interface. The microcomputer known as the Real Time Controller (RTC), which has overall control of the system and is written in Ada, was modified to use the free public domain NCSA Telnet software for Ethernet communications with the Silicon Graphics IG. The RTC also maintains the original ARCNET communications through Novell Netware IPX with the rest of the system. The Telnet TCP/IP protocol was first used for real-time communication, but because of buffering problems the Telnet datagram (UDP) protocol needed to be implemented. Since the Telnet modules are written in C, the Adap pragma 'Interface' was used to interface with the network calls.

Swimming by reciprocal motion at low Reynolds number

PubMed Central

Qiu, Tian; Lee, Tung-Chun; Mark, Andrew G.; Morozov, Konstantin I.; Münster, Raphael; Mierka, Otto; Turek, Stefan; Leshansky, Alexander M.; Fischer, Peer

2014-01-01

Biological microorganisms swim with flagella and cilia that execute nonreciprocal motions for low Reynolds number (Re) propulsion in viscous fluids. This symmetry requirement is a consequence of Purcell’s scallop theorem, which complicates the actuation scheme needed by microswimmers. However, most biomedically important fluids are non-Newtonian where the scallop theorem no longer holds. It should therefore be possible to realize a microswimmer that moves with reciprocal periodic body-shape changes in non-Newtonian fluids. Here we report a symmetric ‘micro-scallop’, a single-hinge microswimmer that can propel in shear thickening and shear thinning (non-Newtonian) fluids by reciprocal motion at low Re. Excellent agreement between our measurements and both numerical and analytical theoretical predictions indicates that the net propulsion is caused by modulation of the fluid viscosity upon varying the shear rate. This reciprocal swimming mechanism opens new possibilities in designing biomedical microdevices that can propel by a simple actuation scheme in non-Newtonian biological fluids. PMID:25369018

A New Multi-Sensor Fusion Scheme to Improve the Accuracy of Knee Flexion Kinematics for Functional Rehabilitation Movements.

PubMed

Tannous, Halim; Istrate, Dan; Benlarbi-Delai, Aziz; Sarrazin, Julien; Gamet, Didier; Ho Ba Tho, Marie Christine; Dao, Tien Tuan

2016-11-15

Exergames have been proposed as a potential tool to improve the current practice of musculoskeletal rehabilitation. Inertial or optical motion capture sensors are commonly used to track the subject's movements. However, the use of these motion capture tools suffers from the lack of accuracy in estimating joint angles, which could lead to wrong data interpretation. In this study, we proposed a real time quaternion-based fusion scheme, based on the extended Kalman filter, between inertial and visual motion capture sensors, to improve the estimation accuracy of joint angles. The fusion outcome was compared to angles measured using a goniometer. The fusion output shows a better estimation, when compared to inertial measurement units and Kinect outputs. We noted a smaller error (3.96°) compared to the one obtained using inertial sensors (5.04°). The proposed multi-sensor fusion system is therefore accurate enough to be applied, in future works, to our serious game for musculoskeletal rehabilitation.

A proportional control scheme for high density force myography.

PubMed

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

2018-08-01

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

Application of a net-based baseline correction scheme to strong-motion records of the 2011 Mw 9.0 Tohoku earthquake

NASA Astrophysics Data System (ADS)

Tu, Rui; Wang, Rongjiang; Zhang, Yong; Walter, Thomas R.

2014-06-01

The description of static displacements associated with earthquakes is traditionally achieved using GPS, EDM or InSAR data. In addition, displacement histories can be derived from strong-motion records, allowing an improvement of geodetic networks at a high sampling rate and a better physical understanding of earthquake processes. Strong-motion records require a correction procedure appropriate for baseline shifts that may be caused by rotational motion, tilting and other instrumental effects. Common methods use an empirical bilinear correction on the velocity seismograms integrated from the strong-motion records. In this study, we overcome the weaknesses of an empirically based bilinear baseline correction scheme by using a net-based criterion to select the timing parameters. This idea is based on the physical principle that low-frequency seismic waveforms at neighbouring stations are coherent if the interstation distance is much smaller than the distance to the seismic source. For a dense strong-motion network, it is plausible to select the timing parameters so that the correlation coefficient between the velocity seismograms of two neighbouring stations is maximized after the baseline correction. We applied this new concept to the KiK-Net and K-Net strong-motion data available for the 2011 Mw 9.0 Tohoku earthquake. We compared the derived coseismic static displacement with high-quality GPS data, and with the results obtained using empirical methods. The results show that the proposed net-based approach is feasible and more robust than the individual empirical approaches. The outliers caused by unknown problems in the measurement system can be easily detected and quantified.

Uniformly Processed Strong Motion Database for Himalaya and Northeast Region of India

NASA Astrophysics Data System (ADS)

Gupta, I. D.

2018-03-01

This paper presents the first uniformly processed comprehensive database on strong motion acceleration records for the extensive regions of western Himalaya, northeast India, and the alluvial plains juxtaposing the Himalaya. This includes 146 three components of old analog records corrected for the instrument response and baseline distortions and 471 three components of recent digital records corrected for baseline errors. The paper first provides a background of the evolution of strong motion data in India and the seismotectonics of the areas of recording, then describes the details of the recording stations and the contributing earthquakes, which is finally followed by the methodology used to obtain baseline corrected data in a uniform and consistent manner. Two different schemes in common use for baseline correction are based on the application of the Ormsby filter without zero pads (Trifunac 1971) and that on the Butterworth filter with zero pads at the start as well as at the end (Converse and Brady 1992). To integrate the advantages of both the schemes, Ormsby filter with zero pads at the start only is used in the present study. A large number of typical example results are presented to illustrate that the methodology adopted is able to provide realistic velocity and displacement records with much smaller number of zero pads. The present strong motion database of corrected acceleration records will be useful for analyzing the ground motion characteristics of engineering importance, developing prediction equations for various strong motion parameters, and calibrating the seismological source model approach for ground motion simulation for seismically active and risk prone areas of India.

Digital compensation techniques for the effects of time lag in closed-loop simulation using the 6 DOF motion system

NASA Technical Reports Server (NTRS)

Brown, R.

1982-01-01

Efforts are continued to develop digital filter compensation schemes for the correction of momentum gains observed in the closed loop simulation of the docking of two satellites using the 6 DOF motion system. Several filters that work well for small delays ( .100ms) and a non-preloaded probe are discussed.

Rapid, topology-based particle tracking for high-resolution measurements of large complex 3D motion fields.

PubMed

Patel, Mohak; Leggett, Susan E; Landauer, Alexander K; Wong, Ian Y; Franck, Christian

2018-04-03

Spatiotemporal tracking of tracer particles or objects of interest can reveal localized behaviors in biological and physical systems. However, existing tracking algorithms are most effective for relatively low numbers of particles that undergo displacements smaller than their typical interparticle separation distance. Here, we demonstrate a single particle tracking algorithm to reconstruct large complex motion fields with large particle numbers, orders of magnitude larger than previously tractably resolvable, thus opening the door for attaining very high Nyquist spatial frequency motion recovery in the images. Our key innovations are feature vectors that encode nearest neighbor positions, a rigorous outlier removal scheme, and an iterative deformation warping scheme. We test this technique for its accuracy and computational efficacy using synthetically and experimentally generated 3D particle images, including non-affine deformation fields in soft materials, complex fluid flows, and cell-generated deformations. We augment this algorithm with additional particle information (e.g., color, size, or shape) to further enhance tracking accuracy for high gradient and large displacement fields. These applications demonstrate that this versatile technique can rapidly track unprecedented numbers of particles to resolve large and complex motion fields in 2D and 3D images, particularly when spatial correlations exist.

Metadynamics in the conformational space nonlinearly dimensionally reduced by Isomap

NASA Astrophysics Data System (ADS)

Spiwok, Vojtěch; Králová, Blanka

2011-12-01

Atomic motions in molecules are not linear. This infers that nonlinear dimensionality reduction methods can outperform linear ones in analysis of collective atomic motions. In addition, nonlinear collective motions can be used as potentially efficient guides for biased simulation techniques. Here we present a simulation with a bias potential acting in the directions of collective motions determined by a nonlinear dimensionality reduction method. Ad hoc generated conformations of trans,trans-1,2,4-trifluorocyclooctane were analyzed by Isomap method to map these 72-dimensional coordinates to three dimensions, as described by Brown and co-workers [J. Chem. Phys. 129, 064118 (2008)]. Metadynamics employing the three-dimensional embeddings as collective variables was applied to explore all relevant conformations of the studied system and to calculate its conformational free energy surface. The method sampled all relevant conformations (boat, boat-chair, and crown) and corresponding transition structures inaccessible by an unbiased simulation. This scheme allows to use essentially any parameter of the system as a collective variable in biased simulations. Moreover, the scheme we used for mapping out-of-sample conformations from the 72D to 3D space can be used as a general purpose mapping for dimensionality reduction, beyond the context of molecular modeling.

Discovering the flight autostabilizer of fruit flies by inducing aerial stumbles

PubMed Central

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

2010-01-01

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

Aircraft applications of fault detection and isolation techniques

NASA Astrophysics Data System (ADS)

Marcos Esteban, Andres

In this thesis the problems of fault detection & isolation and fault tolerant systems are studied from the perspective of LTI frequency-domain, model-based techniques. Emphasis is placed on the applicability of these LTI techniques to nonlinear models, especially to aerospace systems. Two applications of Hinfinity LTI fault diagnosis are given using an open-loop (no controller) design approach: one for the longitudinal motion of a Boeing 747-100/200 aircraft, the other for a turbofan jet engine. An algorithm formalizing a robust identification approach based on model validation ideas is also given and applied to the previous jet engine. A general linear fractional transformation formulation is given in terms of the Youla and Dual Youla parameterizations for the integrated (control and diagnosis filter) approach. This formulation provides better insight into the trade-off between the control and the diagnosis objectives. It also provides the basic groundwork towards the development of nested schemes for the integrated approach. These nested structures allow iterative improvements on the control/filter Youla parameters based on successive identification of the system uncertainty (as given by the Dual Youla parameter). The thesis concludes with an application of Hinfinity LTI techniques to the integrated design for the longitudinal motion of the previous Boeing 747-100/200 model.

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

PubMed

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

2010-03-16

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

Optimal flight trajectories in the presence of windshear, 1984-86

NASA Technical Reports Server (NTRS)

Miele, A.

1986-01-01

Optimal flight trajectories were determined in the presence of windshear and guidance schemes were developed for near optimum flight in a windshear. This is a wind characterized by sharp change in intensity and direction over a relatively small region of space. This problem is important in the takeoff and landing of both civilian airplanes and military airplanes and is key to aircraft saftey. The topics covered in reference to takeoff problems are: equations of motion, problem formulation, algorithms, optimal flight trajectories, advanced guidance schemes, simplified guidance schemes, and piloting strategies.

An evaluation of data-driven motion estimation in comparison to the usage of external-surrogates in cardiac SPECT imaging

PubMed Central

Mukherjee, Joyeeta Mitra; Hutton, Brian F; Johnson, Karen L; Pretorius, P Hendrik; King, Michael A

2014-01-01

Motion estimation methods in single photon emission computed tomography (SPECT) can be classified into methods which depend on just the emission data (data-driven), or those that use some other source of information such as an external surrogate. The surrogate-based methods estimate the motion exhibited externally which may not correlate exactly with the movement of organs inside the body. The accuracy of data-driven strategies on the other hand is affected by the type and timing of motion occurrence during acquisition, the source distribution, and various degrading factors such as attenuation, scatter, and system spatial resolution. The goal of this paper is to investigate the performance of two data-driven motion estimation schemes based on the rigid-body registration of projections of motion-transformed source distributions to the acquired projection data for cardiac SPECT studies. Comparison is also made of six intensity based registration metrics to an external surrogate-based method. In the data-driven schemes, a partially reconstructed heart is used as the initial source distribution. The partially-reconstructed heart has inaccuracies due to limited angle artifacts resulting from using only a part of the SPECT projections acquired while the patient maintained the same pose. The performance of different cost functions in quantifying consistency with the SPECT projection data in the data-driven schemes was compared for clinically realistic patient motion occurring as discrete pose changes, one or two times during acquisition. The six intensity-based metrics studied were mean-squared difference (MSD), mutual information (MI), normalized mutual information (NMI), pattern intensity (PI), normalized cross-correlation (NCC) and entropy of the difference (EDI). Quantitative and qualitative analysis of the performance is reported using Monte-Carlo simulations of a realistic heart phantom including degradation factors such as attenuation, scatter and system spatial resolution. Further the visual appearance of motion-corrected images using data-driven motion estimates was compared to that obtained using the external motion-tracking system in patient studies. Pattern intensity and normalized mutual information cost functions were observed to have the best performance in terms of lowest average position error and stability with degradation of image quality of the partial reconstruction in simulations. In all patients, the visual quality of PI-based estimation was either significantly better or comparable to NMI-based estimation. Best visual quality was obtained with PI-based estimation in 1 of the 5 patient studies, and with external-surrogate based correction in 3 out of 5 patients. In the remaining patient study there was little motion and all methods yielded similar visual image quality. PMID:24107647

Testing of an actively damped boring bar featuring structurally integrated PZT stack actuators

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

Redmond, J.; Barney, P.

This paper summarizes the results of cutting tests performed using an actively damped boring bar to minimize chatter in metal cutting. A commercially available 2 inch diameter boring bar was modified to incorporate PZT stack actuators for controlling tool bending vibrations encountered during metal removal. The extensional motion of the actuators induce bending moments in the host structure through a two-point preloaded mounting scheme. Cutting tests performed at various speeds and depths of cuts on a hardened steel workpiece illustrate the bar`s effectiveness toward eliminating chatter vibrations and improving workpiece surface finish.

Atom-atom entanglement by single-photon detection.

PubMed

Slodička, L; Hétet, G; Röck, N; Schindler, P; Hennrich, M; Blatt, R

2013-02-22

A scheme for entangling distant atoms is realized, as proposed in the seminal paper by [C. Cabrillo et al., Phys. Rev. A 59, 1025 (1999)]. The protocol is based on quantum interference and detection of a single photon scattered from two effectively one meter distant laser cooled and trapped atomic ions. The detection of a single photon heralds entanglement of two internal states of the trapped ions with high rate and with a fidelity limited mostly by atomic motion. Control of the entangled state phase is demonstrated by changing the path length of the single-photon interferometer.

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

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

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

NASA Astrophysics Data System (ADS)

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

2014-07-01

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

A new approach to global control of redundant manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

A Multigrid NLS-4DVar Data Assimilation Scheme with Advanced Research WRF (ARW)

NASA Astrophysics Data System (ADS)

Zhang, H.; Tian, X.

2017-12-01

The motions of the atmosphere have multiscale properties in space and/or time, and the background error covariance matrix (Β) should thus contain error information at different correlation scales. To obtain an optimal analysis, the multigrid three-dimensional variational data assimilation scheme is used widely when sequentially correcting errors from large to small scales. However, introduction of the multigrid technique into four-dimensional variational data assimilation is not easy, due to its strong dependence on the adjoint model, which has extremely high computational costs in data coding, maintenance, and updating. In this study, the multigrid technique was introduced into the nonlinear least-squares four-dimensional variational assimilation (NLS-4DVar) method, which is an advanced four-dimensional ensemble-variational method that can be applied without invoking the adjoint models. The multigrid NLS-4DVar (MG-NLS-4DVar) scheme uses the number of grid points to control the scale, with doubling of this number when moving from a coarse to a finer grid. Furthermore, the MG-NLS-4DVar scheme not only retains the advantages of NLS-4DVar, but also sufficiently corrects multiscale errors to achieve a highly accurate analysis. The effectiveness and efficiency of the proposed MG-NLS-4DVar scheme were evaluated by several groups of observing system simulation experiments using the Advanced Research Weather Research and Forecasting Model. MG-NLS-4DVar outperformed NLS-4DVar, with a lower computational cost.

Simple Analytic Formula for the Period of the Nonlinear Pendulum via the Struve Function: Connection to Acoustical Impedance Matching

ERIC Educational Resources Information Center

Douvropoulos, Theodosios G.

2012-01-01

An approximate formula for the period of pendulum motion beyond the small amplitude regime is obtained based on physical arguments. Two different schemes of different accuracy are developed: in the first less accurate scheme, emphasis is given on the non-quadratic form of the potential in connection to isochronism, and a specific form of a generic…

Motion of the plasma critical layer during relativistic-electron laser interaction with immobile and comoving ion plasma for ion acceleration

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

Sahai, Aakash A., E-mail: aakash.sahai@gmail.com

2014-05-15

We analyze the motion of the plasma critical layer by two different processes in the relativistic-electron laser-plasma interaction regime (a{sub 0}>1). The differences are highlighted when the critical layer ions are stationary in contrast to when they move with it. Controlling the speed of the plasma critical layer in this regime is essential for creating low-β traveling acceleration structures of sufficient laser-excited potential for laser ion accelerators. In Relativistically Induced Transparency Acceleration (RITA) scheme, the heavy plasma-ions are fixed and only trace-density light-ions are accelerated. The relativistic critical layer and the acceleration structure move longitudinally forward by laser inducing transparencymore » through apparent relativistic increase in electron mass. In the Radiation Pressure Acceleration (RPA) scheme, the whole plasma is longitudinally pushed forward under the action of the laser radiation pressure, possible only when plasma ions co-propagate with the laser front. In RPA, the acceleration structure velocity critically depends upon plasma-ion mass in addition to the laser intensity and plasma density. In RITA, mass of the heavy immobile plasma-ions does not affect the speed of the critical layer. Inertia of the bared immobile ions in RITA excites the charge separation potential, whereas RPA is not possible when ions are stationary.« less

Hybrid Co-Evolutionary Motion Planning via Visibility-Based Repair

NASA Technical Reports Server (NTRS)

Dozier, Gerry; McCullough, Shaun; Brown, Edward, Jr.; Homaifar, Abdollah; Bikdash, Mar-wan

1997-01-01

This paper introduces a hybrid co-evolutionary system for global motion planning within unstructured environments. This system combines the concept of co-evolutionary search along with a concept that we refer to as the visibility-based repair to form a hybrid which quickly transforms infeasible motions into feasible ones. Also, this system makes use of a novel representation scheme for the obstacles within an environment. Our hybrid evolutionary system differs from other evolutionary motion planners in that (1) more emphasis is placed on repairing infeasible motions to develop feasible motions rather than using simulated evolution exclusively as a means of discovering feasible motions, (2) a continuous map of the environment is used rather than a discretized map, and (3) it develops global motion plans for multiple mobile destinations by co-evolving populations of sub-global motion plans. In this paper, we demonstrate the effectiveness of this system by using it to solve two challenging motion planning problems where multiple targets try to move away from a point robot.

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

NASA Astrophysics Data System (ADS)

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

2018-04-01

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

Substantiation of the Necessity for Design of Geohod Control System

NASA Astrophysics Data System (ADS)

Aksenov, Vladimir; Chicherin, Ivan; Kostinez, Irina; Kazantsev, Anton; Efremenkov, Andrey

2017-11-01

The article proves the necessity of creatinga control system for the geohod. The scope of application of the geohod is described. The general scheme of the geohod with the main structural elements - cutter drum, head and tail sections, external mover - is described. Enlarged tasks that need to be addressed when creating a control system for the geohod are identified. The tasks of motion control of the geohod in the geomedium, improving the efficiency of the geohod, positioning the geohod in space, control of the support systems, diagnostics of the condition of the geohod, interaction of the control system with the operator are described. The directions of further Zresearch are identified: to formulate the requirements for the geohod control system; to analyze tasks solved by the geohod control system; develop the structure, mathematical models and algorithms for the operation of subsystems of the geohod control system; to develop software to simulate the interaction of subsystems of the geohod control system with each other, with the geomedium and the operator.

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

Pin, F.G.; Bender, S.R.

Most fuzzy logic-based reasoning schemes developed for robot control are fully reactive, i.e., the reasoning modules consist of fuzzy rule bases that represent direct mappings from the stimuli provided by the perception systems to the responses implemented by the motion controllers. Due to their totally reactive nature, such reasoning systems can encounter problems such as infinite loops and limit cycles. In this paper, we proposed an approach to remedy these problems by adding a memory and memory-related behaviors to basic reactive systems. Three major types of memory behaviors are addressed: memory creation, memory management, and memory utilization. These are firstmore » presented, and examples of their implementation for the recognition of limit cycles during the navigation of an autonomous robot in a priori unknown environments are then discussed.« less

Feasibility of a feedback control of atomic self-organization in an optical cavity

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

Ivanov, D. A., E-mail: ivanov-den@yandex.ru; Ivanova, T. Yu.

Many interesting nonlinear effects are based on the strong interaction of motional degrees of freedom of atoms with an optical cavity field. Among them is the spatial self-organization of atoms in a pattern where the atoms group in either odd or even sites of the cavity-induced optical potential. An experimental observation of this effect can be simplified by using, along with the original cavity-induced feedback, an additional electronic feedback based on the detection of light leaking the cavity and the control of the optical potential for the atoms. Following our previous study, we show that this approach is more efficientmore » from the laser power perspective than the original scheme without the electronic feedback.« less

Feature tracking for automated volume of interest stabilization on 4D-OCT images

NASA Astrophysics Data System (ADS)

Laves, Max-Heinrich; Schoob, Andreas; Kahrs, Lüder A.; Pfeiffer, Tom; Huber, Robert; Ortmaier, Tobias

2017-03-01

A common representation of volumetric medical image data is the triplanar view (TV), in which the surgeon manually selects slices showing the anatomical structure of interest. In addition to common medical imaging such as MRI or computed tomography, recent advances in the field of optical coherence tomography (OCT) have enabled live processing and volumetric rendering of four-dimensional images of the human body. Due to the region of interest undergoing motion, it is challenging for the surgeon to simultaneously keep track of an object by continuously adjusting the TV to desired slices. To select these slices in subsequent frames automatically, it is necessary to track movements of the volume of interest (VOI). This has not been addressed with respect to 4DOCT images yet. Therefore, this paper evaluates motion tracking by applying state-of-the-art tracking schemes on maximum intensity projections (MIP) of 4D-OCT images. Estimated VOI location is used to conveniently show corresponding slices and to improve the MIPs by calculating thin-slab MIPs. Tracking performances are evaluated on an in-vivo sequence of human skin, captured at 26 volumes per second. Among investigated tracking schemes, our recently presented tracking scheme for soft tissue motion provides highest accuracy with an error of under 2.2 voxels for the first 80 volumes. Object tracking on 4D-OCT images enables its use for sub-epithelial tracking of microvessels for image-guidance.

An Extension of the Time-Spectral Method to Overset Solvers

NASA Technical Reports Server (NTRS)

Leffell, Joshua Isaac; Murman, Scott M.; Pulliam, Thomas

2013-01-01

Relative motion in the Cartesian or overset framework causes certain spatial nodes to move in and out of the physical domain as they are dynamically blanked by moving solid bodies. This poses a problem for the conventional Time-Spectral approach, which expands the solution at every spatial node into a Fourier series spanning the period of motion. The proposed extension to the Time-Spectral method treats unblanked nodes in the conventional manner but expands the solution at dynamically blanked nodes in a basis of barycentric rational polynomials spanning partitions of contiguously defined temporal intervals. Rational polynomials avoid Runge's phenomenon on the equidistant time samples of these sub-periodic intervals. Fourier- and rational polynomial-based differentiation operators are used in tandem to provide a consistent hybrid Time-Spectral overset scheme capable of handling relative motion. The hybrid scheme is tested with a linear model problem and implemented within NASA's OVERFLOW Reynolds-averaged Navier- Stokes (RANS) solver. The hybrid Time-Spectral solver is then applied to inviscid and turbulent RANS cases of plunging and pitching airfoils and compared to time-accurate and experimental data. A limiter was applied in the turbulent case to avoid undershoots in the undamped turbulent eddy viscosity while maintaining accuracy. The hybrid scheme matches the performance of the conventional Time-Spectral method and converges to the time-accurate results with increased temporal resolution.

Towards an SEMG-based tele-operated robot for masticatory rehabilitation.

PubMed

Kalani, Hadi; Moghimi, Sahar; Akbarzadeh, Alireza

2016-08-01

This paper proposes a real-time trajectory generation for a masticatory rehabilitation robot based on surface electromyography (SEMG) signals. We used two Gough-Stewart robots. The first robot was used as a rehabilitation robot while the second robot was developed to model the human jaw system. The legs of the rehabilitation robot were controlled by the SEMG signals of a tele-operator to reproduce the masticatory motion in the human jaw, supposedly mounted on the moving platform, through predicting the location of a reference point. Actual jaw motions and the SEMG signals from the masticatory muscles were recorded and used as output and input, respectively. Three different methods, namely time-delayed neural networks, time delayed fast orthogonal search, and time-delayed Laguerre expansion technique, were employed and compared to predict the kinematic parameters. The optimal model structures as well as the input delays were obtained for each model and each subject through a genetic algorithm. Equations of motion were obtained by the virtual work method. Fuzzy method was employed to develop a fuzzy impedance controller. Moreover, a jaw model was developed to demonstrate the time-varying behavior of the muscle lengths during the rehabilitation process. The three modeling methods were capable of providing reasonably accurate estimations of the kinematic parameters, although the accuracy and training/validation speed of time-delayed fast orthogonal search were higher than those of the other two aforementioned methods. Also, during a simulation study, the fuzzy impedance scheme proved successful in controlling the moving platform for the accurate navigation of the reference point in the desired trajectory. SEMG has been widely used as a control command for prostheses and exoskeleton robots. However, in the current study by employing the proposed rehabilitation robot the complete continuous profile of the clenching motion was reproduced in the sagittal plane. Copyright © 2016. Published by Elsevier Ltd.

Kinematic reversal schemes for the geomagnetic dipole.

NASA Technical Reports Server (NTRS)

Levy, E. H.

1972-01-01

Fluctuations in the distribution of cyclonic convective cells, in the earth's core, can reverse the sign of the geomagnetic field. Two kinematic reversal schemes are discussed. In the first scheme, a field maintained by cyclones concentrated at low latitude is reversed by a burst of cyclones at high latitude. Conversely, in the second scheme, a field maintained predominantly by cyclones in high latitudes is reversed by a fluctuation consisting of a burst of cyclonic convection at low latitude. The precise fluid motions which produce the geomagnetic field are not known. However, it appears that, whatever the details are, a fluctuation in the distribution of cyclonic cells over latitude can cause a geomagnetic reversal.

A comparison of washout filters using a human dynamic orientation model. M.S. Thesis

NASA Technical Reports Server (NTRS)

Riedel, S. A.

1977-01-01

The Ormsby model of human dynamic orientation, a discrete time computer program, was used to provide a vestibular explanation for observed differences between two washout schemes. These washout schemes, a linear washout and a nonlinear washout, were subjectively evaluated. It was found that the linear washout presented false rate cues, causing pilots to rate the simulation fidelity of the linear scheme much lower than the nonlinear scheme. By inputting these motion histories into the Ormsby model, it was shown that the linear filter causes discontinuities in the pilot's perceived angular velocity, resulting in the sensation of an anomalous rate cue. This phenomenon does not occur with the use of the nonlinear filter.

Improving the in-flight security by employing seat occupancy sensors based on Fiber Bragg grating technology

NASA Astrophysics Data System (ADS)

Zhang, Hongtao; Wang, Pengfei

2012-06-01

The current schemes of detecting the status of passengers in airplanes cannot satisfy the more strict regulations recently released by the United States Transportation Security Administration. In basis of investigation on the current seat occupancy sensors for vehicles, in this paper we present a novel scheme of seat occupancy sensors based on Fiber Bragg Grating technology to improve the in-flight security of airplanes. This seat occupancy sensor system can be used to detect the status of passengers and to trigger the airbags to control the inflation of air bags, which have been installed in the airplanes of some major airlines under the new law. This scheme utilizes our previous research results of Weight-In- Motion sensor system based on optical fiber Bragg grating. In contrast to the current seat occupancy sensors for vehicles, this new seat occupancy sensor has so many merits that it is very suitable to be applied in aerospace industry or high speed railway system. Moreover, combined with existing Fiber Bragg Grating strain or temperature sensor systems built in airplanes, this proposed method can construct a complete airline passenger management system.

Chaos control of Hastings–Powell model by combining chaotic motions

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

Danca, Marius-F., E-mail: danca@rist.ro; Chattopadhyay, Joydev, E-mail: joydev@isical.ac.in

2016-04-15

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 bemore » 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.« less

Sub-block motion derivation for merge mode in HEVC

NASA Astrophysics Data System (ADS)

Chien, Wei-Jung; Chen, Ying; Chen, Jianle; Zhang, Li; Karczewicz, Marta; Li, Xiang

2016-09-01

The new state-of-the-art video coding standard, H.265/HEVC, has been finalized in 2013 and it achieves roughly 50% bit rate saving compared to its predecessor, H.264/MPEG-4 AVC. In this paper, two additional merge candidates, advanced temporal motion vector predictor and spatial-temporal motion vector predictor, are developed to improve motion information prediction scheme under the HEVC structure. The proposed method allows each Prediction Unit (PU) to fetch multiple sets of motion information from multiple blocks smaller than the current PU. By splitting a large PU into sub-PUs and filling motion information for all the sub-PUs of the large PU, signaling cost of motion information could be reduced. This paper describes above-mentioned techniques in detail and evaluates their coding performance benefits based on the common test condition during HEVC development. Simulation results show that 2.4% performance improvement over HEVC can be achieved.

A combination of spatial and recursive temporal filtering for noise reduction when using region of interest (ROI) fluoroscopy for patient dose reduction in image guided vascular interventions with significant anatomical motion

NASA Astrophysics Data System (ADS)

Setlur Nagesh, S. V.; Khobragade, P.; Ionita, C.; Bednarek, D. R.; Rudin, S.

2015-03-01

Because x-ray based image-guided vascular interventions are minimally invasive they are currently the most preferred method of treating disorders such as stroke, arterial stenosis, and aneurysms; however, the x-ray exposure to the patient during long image-guided interventional procedures could cause harmful effects such as cancer in the long run and even tissue damage in the short term. ROI fluoroscopy reduces patient dose by differentially attenuating the incident x-rays outside the region-of-interest. To reduce the noise in the dose-reduced regions previously recursive temporal filtering was successfully demonstrated for neurovascular interventions. However, in cardiac interventions, anatomical motion is significant and excessive recursive filtering could cause blur. In this work the effects of three noise-reduction schemes, including recursive temporal filtering, spatial mean filtering, and a combination of spatial and recursive temporal filtering, were investigated in a simulated ROI dose-reduced cardiac intervention. First a model to simulate the aortic arch and its movement was built. A coronary stent was used to simulate a bioprosthetic valve used in TAVR procedures and was deployed under dose-reduced ROI fluoroscopy during the simulated heart motion. The images were then retrospectively processed for noise reduction in the periphery, using recursive temporal filtering, spatial filtering and a combination of both. Quantitative metrics for all three noise reduction schemes are calculated and are presented as results. From these it can be concluded that with significant anatomical motion, a combination of spatial and recursive temporal filtering scheme is best suited for reducing the excess quantum noise in the periphery. This new noise-reduction technique in combination with ROI fluoroscopy has the potential for substantial patient-dose savings in cardiac interventions.

In vivo characterization of 3D skull and brain motion during dynamic head vibration using magnetic resonance elastography.

PubMed

Yin, Ziying; Sui, Yi; Trzasko, Joshua D; Rossman, Phillip J; Manduca, Armando; Ehman, Richard L; Huston, John

2018-05-17

To introduce newly developed MR elastography (MRE)-based dual-saturation imaging and dual-sensitivity motion encoding schemes to directly measure in vivo skull-brain motion, and to study the skull-brain coupling in volunteers with these approaches. Six volunteers were scanned with a high-performance compact 3T-MRI scanner. The skull-brain MRE images were obtained with a dual-saturation imaging where the skull and brain motion were acquired with fat- and water-suppression scans, respectively. A dual-sensitivity motion encoding scheme was applied to estimate the heavily wrapped phase in skull by the simultaneous acquisition of both low- and high-sensitivity phase during a single MRE exam. The low-sensitivity phase was used to guide unwrapping of the high-sensitivity phase. The amplitude and temporal phase delay of the rigid-body motion between the skull and brain was measured, and the skull-brain interface was visualized by slip interface imaging (SII). Both skull and brain motion can be successfully acquired and unwrapped. The skull-brain motion analysis demonstrated the motion transmission from the skull to the brain is attenuated in amplitude and delayed. However, this attenuation (%) and delay (rad) were considerably greater with rotation (59 ± 7%, 0.68 ± 0.14 rad) than with translation (92 ± 5%, 0.04 ± 0.02 rad). With SII the skull-brain slip interface was not completely evident, and the slip pattern was spatially heterogeneous. This study provides a framework for acquiring in vivo voxel-based skull and brain displacement using MRE that can be used to characterize the skull-brain coupling system for understanding of mechanical brain protection mechanisms, which has potential to facilitate risk management for future injury. © 2018 International Society for Magnetic Resonance in Medicine.

A simple molecular mechanics integrator in mixed rigid body and dihedral angle space

PubMed Central

Vitalis, Andreas; Pappu, Rohit V.

2014-01-01

We propose a numerical scheme to integrate equations of motion in a mixed space of rigid-body and dihedral angle coordinates. The focus of the presentation is biomolecular systems and the framework is applicable to polymers with tree-like topology. By approximating the effective mass matrix as diagonal and lumping all bias torques into the time dependencies of the diagonal elements, we take advantage of the formal decoupling of individual equations of motion. We impose energy conservation independently for every degree of freedom and this is used to derive a numerical integration scheme. The cost of all auxiliary operations is linear in the number of atoms. By coupling the scheme to one of two popular thermostats, we extend the method to sample constant temperature ensembles. We demonstrate that the integrator of choice yields satisfactory stability and is free of mass-metric tensor artifacts, which is expected by construction of the algorithm. Two fundamentally different systems, viz., liquid water and an α-helical peptide in a continuum solvent are used to establish the applicability of our method to a wide range of problems. The resultant constant temperature ensembles are shown to be thermodynamically accurate. The latter relies on detailed, quantitative comparisons to data from reference sampling schemes operating on exactly the same sets of degrees of freedom. PMID:25053299

Attitude control/momentum management of the Space Station Freedom for large angle torque-equilibrium-attitude configurations

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Sunkel, John W.

1990-01-01

An attitude-control and momentum-management (ACMM) system for the Space Station in a large-angle torque-equilibrium-attitude (TEA) configuration is developed analytically and demonstrated by means of numerical simulations. The equations of motion for a rigid-body Space Station model are outlined; linearized equations for an arbitrary TEA (resulting from misalignment of control and body axes) are derived; the general requirements for an ACMM are summarized; and a pole-placement linear-quadratic regulator solution based on scheduled gains is proposed. Results are presented in graphs for (1) simulations based on configuration MB3 (showing the importance of accounting for the cross-inertia terms in the TEA estimate) and (2) simulations of a stepwise change from configuration MB3 to the 'assembly complete' stage over 130 orbits (indicating that the present ACCM scheme maintains sufficient control over slowly varying Space Station dynamics).

An adaptive trajectory tracking control of four rotor hover vehicle using extended normalized radial basis function network

NASA Astrophysics Data System (ADS)

ul Amin, Rooh; Aijun, Li; Khan, Muhammad Umer; Shamshirband, Shahaboddin; Kamsin, Amirrudin

2017-01-01

In this paper, an adaptive trajectory tracking controller based on extended normalized radial basis function network (ENRBFN) is proposed for 3-degree-of-freedom four rotor hover vehicle subjected to external disturbance i.e. wind turbulence. Mathematical model of four rotor hover system is developed using equations of motions and a new computational intelligence based technique ENRBFN is introduced to approximate the unmodeled dynamics of the hover vehicle. The adaptive controller based on the Lyapunov stability approach is designed to achieve tracking of the desired attitude angles of four rotor hover vehicle in the presence of wind turbulence. The adaptive weight update based on the Levenberg-Marquardt algorithm is used to avoid weight drift in case the system is exposed to external disturbances. The closed-loop system stability is also analyzed using Lyapunov stability theory. Simulations and experimental results are included to validate the effectiveness of the proposed control scheme.

A bio-inspired flying robot sheds light on insect piloting abilities.

PubMed

Franceschini, Nicolas; Ruffier, Franck; Serres, Julien

2007-02-20

When insects are flying forward, the image of the ground sweeps backward across their ventral viewfield and forms an "optic flow," which depends on both the groundspeed and the groundheight. To explain how these animals manage to avoid the ground by using this visual motion cue, we suggest that insect navigation hinges on a visual-feedback loop we have called the optic-flow regulator, which controls the vertical lift. To test this idea, we built a micro-helicopter equipped with an optic-flow regulator and a bio-inspired optic-flow sensor. This fly-by-sight micro-robot can perform exacting tasks such as take-off, level flight, and landing. Our control scheme accounts for many hitherto unexplained findings published during the last 70 years on insects' visually guided performances; for example, it accounts for the fact that honeybees descend in a headwind, land with a constant slope, and drown when travelling over mirror-smooth water. Our control scheme explains how insects manage to fly safely without any of the instruments used onboard aircraft to measure the groundheight, groundspeed, and descent speed. An optic-flow regulator is quite simple in terms of its neural implementation and just as appropriate for insects as it would be for aircraft.

A taxonomy for mechanical ventilation: 10 fundamental maxims.

PubMed

Chatburn, Robert L; El-Khatib, Mohamad; Mireles-Cabodevila, Eduardo

2014-11-01

The American Association for Respiratory Care has declared a benchmark for competency in mechanical ventilation that includes the ability to "apply to practice all ventilation modes currently available on all invasive and noninvasive mechanical ventilators." This level of competency presupposes the ability to identify, classify, compare, and contrast all modes of ventilation. Unfortunately, current educational paradigms do not supply the tools to achieve such goals. To fill this gap, we expand and refine a previously described taxonomy for classifying modes of ventilation and explain how it can be understood in terms of 10 fundamental constructs of ventilator technology: (1) defining a breath, (2) defining an assisted breath, (3) specifying the means of assisting breaths based on control variables specified by the equation of motion, (4) classifying breaths in terms of how inspiration is started and stopped, (5) identifying ventilator-initiated versus patient-initiated start and stop events, (6) defining spontaneous and mandatory breaths, (7) defining breath sequences (8), combining control variables and breath sequences into ventilatory patterns, (9) describing targeting schemes, and (10) constructing a formal taxonomy for modes of ventilation composed of control variable, breath sequence, and targeting schemes. Having established the theoretical basis of the taxonomy, we demonstrate a step-by-step procedure to classify any mode on any mechanical ventilator. Copyright © 2014 by Daedalus Enterprises.

Dynamic Metasurface Aperture as Smart Around-the-Corner Motion Detector.

PubMed

Del Hougne, Philipp; F Imani, Mohammadreza; Sleasman, Timothy; Gollub, Jonah N; Fink, Mathias; Lerosey, Geoffroy; Smith, David R

2018-04-25

Detecting and analysing motion is a key feature of Smart Homes and the connected sensor vision they embrace. At present, most motion sensors operate in line-of-sight Doppler shift schemes. Here, we propose an alternative approach suitable for indoor environments, which effectively constitute disordered cavities for radio frequency (RF) waves; we exploit the fundamental sensitivity of modes of such cavities to perturbations, caused here by moving objects. We establish experimentally three key features of our proposed system: (i) ability to capture the temporal variations of motion and discern information such as periodicity ("smart"), (ii) non line-of-sight motion detection, and (iii) single-frequency operation. Moreover, we explain theoretically and demonstrate experimentally that the use of dynamic metasurface apertures can substantially enhance the performance of RF motion detection. Potential applications include accurately detecting human presence and monitoring inhabitants' vital signs.

Motion Planning and Synthesis of Human-Like Characters in Constrained Environments

NASA Astrophysics Data System (ADS)

Zhang, Liangjun; Pan, Jia; Manocha, Dinesh

We give an overview of our recent work on generating naturally-looking human motion in constrained environments with multiple obstacles. This includes a whole-body motion planning algorithm for high DOF human-like characters. The planning problem is decomposed into a sequence of low dimensional sub-problems. We use a constrained coordination scheme to solve the sub-problems in an incremental manner and a local path refinement algorithm to compute collision-free paths in tight spaces and satisfy the statically stable constraint on CoM. We also present a hybrid algorithm to generate plausible motion by combing the motion computed by our planner with mocap data. We demonstrate the performance of our algorithm on a 40 DOF human-like character and generate efficient motion strategies for object placement, bending, walking, and lifting in complex environments.

2001 Bhuj, India, earthquake engineering seismoscope recordings and Eastern North America ground-motion attenuation relations

USGS Publications Warehouse

Cramer, C.H.; Kumar, A.

2003-01-01

Engineering seismoscope data collected at distances less than 300 km for the M 7.7 Bhuj, India, mainshock are compatible with ground-motion attenuation in eastern North America (ENA). The mainshock ground-motion data have been corrected to a common geological site condition using the factors of Joyner and Boore (2000) and a classification scheme of Quaternary or Tertiary sediments or rock. We then compare these data to ENA ground-motion attenuation relations. Despite uncertainties in recording method, geological site corrections, common tectonic setting, and the amount of regional seismic attenuation, the corrected Bhuj dataset agrees with the collective predictions by ENA ground-motion attenuation relations within a factor of 2. This level of agreement is within the dataset uncertainties and the normal variance for recorded earthquake ground motions.

An upper-limb power-assist exoskeleton using proportional myoelectric control.

PubMed

Tang, Zhichuan; Zhang, Kejun; Sun, Shouqian; Gao, Zenggui; Zhang, Lekai; Yang, Zhongliang

2014-04-10

We developed an upper-limb power-assist exoskeleton actuated by pneumatic muscles. The exoskeleton included two metal links: a nylon joint, four size-adjustable carbon fiber bracers, a potentiometer and two pneumatic muscles. The proportional myoelectric control method was proposed to control the exoskeleton according to the user's motion intention in real time. With the feature extraction procedure and the classification (back-propagation neural network), an electromyogram (EMG)-angle model was constructed to be used for pattern recognition. Six healthy subjects performed elbow flexion-extension movements under four experimental conditions: (1) holding a 1-kg load, wearing the exoskeleton, but with no actuation and for different periods (2-s, 4-s and 8-s periods); (2) holding a 1-kg load, without wearing the exoskeleton, for a fixed period; (3) holding a 1-kg load, wearing the exoskeleton, but with no actuation, for a fixed period; (4) holding a 1-kg load, wearing the exoskeleton under proportional myoelectric control, for a fixed period. The EMG signals of the biceps brachii, the brachioradialis, the triceps brachii and the anconeus and the angle of the elbow were collected. The control scheme's reliability and power-assist effectiveness were evaluated in the experiments. The results indicated that the exoskeleton could be controlled by the user's motion intention in real time and that it was useful for augmenting arm performance with neurological signal control, which could be applied to assist in elbow rehabilitation after neurological injury.

An improved robust blind motion de-blurring algorithm for remote sensing images

NASA Astrophysics Data System (ADS)

He, Yulong; Liu, Jin; Liang, Yonghui

2016-10-01

Shift-invariant motion blur can be modeled as a convolution of the true latent image and the blur kernel with additive noise. Blind motion de-blurring estimates a sharp image from a motion blurred image without the knowledge of the blur kernel. This paper proposes an improved edge-specific motion de-blurring algorithm which proved to be fit for processing remote sensing images. We find that an inaccurate blur kernel is the main factor to the low-quality restored images. To improve image quality, we do the following contributions. For the robust kernel estimation, first, we adapt the multi-scale scheme to make sure that the edge map could be constructed accurately; second, an effective salient edge selection method based on RTV (Relative Total Variation) is used to extract salient structure from texture; third, an alternative iterative method is introduced to perform kernel optimization, in this step, we adopt l1 and l0 norm as the priors to remove noise and ensure the continuity of blur kernel. For the final latent image reconstruction, an improved adaptive deconvolution algorithm based on TV-l2 model is used to recover the latent image; we control the regularization weight adaptively in different region according to the image local characteristics in order to preserve tiny details and eliminate noise and ringing artifacts. Some synthetic remote sensing images are used to test the proposed algorithm, and results demonstrate that the proposed algorithm obtains accurate blur kernel and achieves better de-blurring results.

Predominant-period site classification for response spectra prediction equations in Italy

USGS Publications Warehouse

Di Alessandro, Carola; Bonilla, Luis Fabian; Boore, David M.; Rovelli, Antonio; Scotti, Oona

2012-01-01

We propose a site‐classification scheme based on the predominant period of the site, as determined from the average horizontal‐to‐vertical (H/V) spectral ratios of ground motion. Our scheme extends Zhao et al. (2006) classifications by adding two classes, the most important of which is defined by flat H/V ratios with amplitudes less than 2. The proposed classification is investigated by using 5%‐damped response spectra from Italian earthquake records. We select a dataset of 602 three‐component analog and digital recordings from 120 earthquakes recorded at 214 seismic stations within a hypocentral distance of 200 km. Selected events are in the moment‐magnitude range 4.0≤Mw≤6.8 and focal depths from a few kilometers to 46 km. We computed H/V ratios for these data and used them to classify each site into one of six classes. We then investigate the impact of this classification scheme on empirical ground‐motion prediction equations (GMPEs) by comparing its performance with that of the conventional rock/soil classification. Although the adopted approach results in only a small reduction of the overall standard deviation, the use of H/V spectral ratios in site classification does capture the signature of sites with flat frequency‐response, as well as deep and shallow‐soil profiles, characterized by long‐ and short‐period resonance, respectively; in addition, the classification scheme is relatively quick and inexpensive, which is an advantage over schemes based on measurements of shear‐wave velocity.

Documentation of the Fourth Order Band Model

NASA Technical Reports Server (NTRS)

Kalnay-Rivas, E.; Hoitsma, D.

1979-01-01

A general circulation model is presented which uses quadratically conservative, fourth order horizontal space differences on an unstaggered grid and second order vertical space differences with a forward-backward or a smooth leap frog time scheme to solve the primitive equations of motion. The dynamic equations for motion, finite difference equations, a discussion of the structure and flow chart of the program code, a program listing, and three relevent papers are given.

Regularization in Orbital Mechanics; Theory and Practice

NASA Astrophysics Data System (ADS)

Roa, Javier

2017-09-01

Regularized equations of motion can improve numerical integration for the propagation of orbits, and simplify the treatment of mission design problems. This monograph discusses standard techniques and recent research in the area. While each scheme is derived analytically, its accuracy is investigated numerically. Algebraic and topological aspects of the formulations are studied, as well as their application to practical scenarios such as spacecraft relative motion and new low-thrust trajectories.

Gallium arsenide processing elements for motion estimation full-search algorithm

NASA Astrophysics Data System (ADS)

Lopez, Jose F.; Cortes, P.; Lopez, S.; Sarmiento, Roberto

2001-11-01

The Block-Matching motion estimation algorithm (BMA) is the most popular method for motion-compensated coding of image sequence. Among the several possible searching methods to compute this algorithm, the full-search BMA (FBMA) has obtained great interest from the scientific community due to its regularity, optimal solution and low control overhead which simplifies its VLSI realization. On the other hand, its main drawback is the demand of an enormous amount of computation. There are different ways of overcoming this factor, being the use of advanced technologies, such as Gallium Arsenide (GaAs), the one adopted in this article together with different techniques to reduce area overhead. By exploiting GaAs properties, improvements can be obtained in the implementation of feasible systems for real time video compression architectures. Different primitives used in the implementation of processing elements (PE) for a FBMA scheme are presented. As a result, Pes running at 270 MHz have been developed in order to study its functionality and performance. From these results, an implementation for MPEG applications is proposed, leading to an architecture running at 145 MHz with a power dissipation of 3.48 W and an area of 11.5 mm2.

A natural-language interface to a mobile robot

NASA Technical Reports Server (NTRS)

Michalowski, S.; Crangle, C.; Liang, L.

1987-01-01

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Optical measurements of flyer plate acceleration by emulsion explosive

NASA Astrophysics Data System (ADS)

Kubota, Shiro; Shimada, Hideki; Matsui, Kikuo; Ogata, Yuji; Seto, Masahiro; Masui, Akira; Wada, Yuji; Liu, Zhi-Yue; Itoh, Shigeru

2001-04-01

This paper presents the study on the application of explosive welding technique to the field of the urgent repair of the gas and water pipe networks. The essential parameters related to the explosive welding are scrutinized from the point of view of the minimizing the damage to the steel pipe after welded explosively with a flyer plate. The emulsion explosive is contained in a rectangular hard-paper box whose bottom is the flyer plate with 100 mm length, 25 mm width and 1.5 mm thickness. The flyer motions of the flyer plates accelerated by emulsion explosive are observed by high-speed photography from the side and front view of the flyer plate. The damage to the pipe by the flyer plate is discussed with the results of the observation of flyer motion and explosive welding test under various experimental conditions. Moreover, one way to control the motion of the flyer plate is proposed. We put a PMMA buffer block into the explosive. The flying process of flyer plate is calculated by the finite different scheme based on the ALE method. The effectiveness of this method is demonstrated by the experimental and numerical studies.

Metadynamics in the conformational space nonlinearly dimensionally reduced by Isomap.

PubMed

Spiwok, Vojtěch; Králová, Blanka

2011-12-14

Atomic motions in molecules are not linear. This infers that nonlinear dimensionality reduction methods can outperform linear ones in analysis of collective atomic motions. In addition, nonlinear collective motions can be used as potentially efficient guides for biased simulation techniques. Here we present a simulation with a bias potential acting in the directions of collective motions determined by a nonlinear dimensionality reduction method. Ad hoc generated conformations of trans,trans-1,2,4-trifluorocyclooctane were analyzed by Isomap method to map these 72-dimensional coordinates to three dimensions, as described by Brown and co-workers [J. Chem. Phys. 129, 064118 (2008)]. Metadynamics employing the three-dimensional embeddings as collective variables was applied to explore all relevant conformations of the studied system and to calculate its conformational free energy surface. The method sampled all relevant conformations (boat, boat-chair, and crown) and corresponding transition structures inaccessible by an unbiased simulation. This scheme allows to use essentially any parameter of the system as a collective variable in biased simulations. Moreover, the scheme we used for mapping out-of-sample conformations from the 72D to 3D space can be used as a general purpose mapping for dimensionality reduction, beyond the context of molecular modeling. © 2011 American Institute of Physics

Behavior of an aeroelastic system beyond critical point of instability

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1991-01-01

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

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

PubMed

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

2009-06-01

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

Efficient biprediction decision scheme for fast high efficiency video coding encoding

NASA Astrophysics Data System (ADS)

Park, Sang-hyo; Lee, Seung-ho; Jang, Euee S.; Jun, Dongsan; Kang, Jung-Won

2016-11-01

An efficient biprediction decision scheme of high efficiency video coding (HEVC) is proposed for fast-encoding applications. For low-delay video applications, bidirectional prediction can be used to increase compression performance efficiently with previous reference frames. However, at the same time, the computational complexity of the HEVC encoder is significantly increased due to the additional biprediction search. Although a some research has attempted to reduce this complexity, whether the prediction is strongly related to both motion complexity and prediction modes in a coding unit has not yet been investigated. A method that avoids most compression-inefficient search points is proposed so that the computational complexity of the motion estimation process can be dramatically decreased. To determine if biprediction is critical, the proposed method exploits the stochastic correlation of the context of prediction units (PUs): the direction of a PU and the accuracy of a motion vector. Through experimental results, the proposed method showed that the time complexity of biprediction can be reduced to 30% on average, outperforming existing methods in view of encoding time, number of function calls, and memory access.

Spatial correlation-based side information refinement for distributed video coding

NASA Astrophysics Data System (ADS)

Taieb, Mohamed Haj; Chouinard, Jean-Yves; Wang, Demin

2013-12-01

Distributed video coding (DVC) architecture designs, based on distributed source coding principles, have benefitted from significant progresses lately, notably in terms of achievable rate-distortion performances. However, a significant performance gap still remains when compared to prediction-based video coding schemes such as H.264/AVC. This is mainly due to the non-ideal exploitation of the video sequence temporal correlation properties during the generation of side information (SI). In fact, the decoder side motion estimation provides only an approximation of the true motion. In this paper, a progressive DVC architecture is proposed, which exploits the spatial correlation of the video frames to improve the motion-compensated temporal interpolation (MCTI). Specifically, Wyner-Ziv (WZ) frames are divided into several spatially correlated groups that are then sent progressively to the receiver. SI refinement (SIR) is performed as long as these groups are being decoded, thus providing more accurate SI for the next groups. It is shown that the proposed progressive SIR method leads to significant improvements over the Discover DVC codec as well as other SIR schemes recently introduced in the literature.

Fuzzy adaptive integration scheme for low-cost SINS/GPS navigation system

NASA Astrophysics Data System (ADS)

Nourmohammadi, Hossein; Keighobadi, Jafar

2018-01-01

Due to weak stand-alone accuracy as well as poor run-to-run stability of micro-electro mechanical system (MEMS)-based inertial sensors, special approaches are required to integrate low-cost strap-down inertial navigation system (SINS) with global positioning system (GPS), particularly in long-term applications. This paper aims to enhance long-term performance of conventional SINS/GPS navigation systems using a fuzzy adaptive integration scheme. The main concept behind the proposed adaptive integration is the good performance of attitude-heading reference system (AHRS) in low-accelerated motions and its degradation in maneuvered or accelerated motions. Depending on vehicle maneuvers, gravity-based attitude angles can be intelligently utilized to improve orientation estimation in the SINS. Knowledge-based fuzzy inference system is developed for decision-making between the AHRS and the SINS according to vehicle maneuvering conditions. Inertial measurements are the main input data of the fuzzy system to determine the maneuvering level during the vehicle motions. Accordingly, appropriate weighting coefficients are produced to combine the SINS/GPS and the AHRS, efficiently. The assessment of the proposed integrated navigation system is conducted via real data in airborne tests.

Two-dimensional atmospheric transport and chemistry model - Numerical experiments with a new advection algorithm

NASA Technical Reports Server (NTRS)

Shia, Run-Lie; Ha, Yuk Lung; Wen, Jun-Shan; Yung, Yuk L.

1990-01-01

Extensive testing of the advective scheme proposed by Prather (1986) has been carried out in support of the California Institute of Technology-Jet Propulsion Laboratory two-dimensional model of the middle atmosphere. The original scheme is generalized to include higher-order moments. In addition, it is shown how well the scheme works in the presence of chemistry as well as eddy diffusion. Six types of numerical experiments including simple clock motion and pure advection in two dimensions have been investigated in detail. By comparison with analytic solutions, it is shown that the new algorithm can faithfully preserve concentration profiles, has essentially no numerical diffusion, and is superior to a typical fourth-order finite difference scheme.

Unsteady Transonic Flow Past Airfoils in Rigid Body Motion.

DTIC Science & Technology

1981-03-01

coordinate system. Numerical experiments show that the scheme is very stable and is able to resolve the highly non- linear transonic effects for flutter...Numerical experiments show that the scheme is very stable and is able to resolve the highly nonlinear transonic effects for flutter analysis within...of attack, the angle between the flight direction and the airfoil chord. The effect of chanqinthe angle of attack of a conventional symmetric airfoil

Control of parallel manipulators using force feedback

NASA Technical Reports Server (NTRS)

Nanua, Prabjot

1994-01-01

Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the dynamic forces on the end effector. This paper presents the results of a computer simulation of both the rate and force control schemes. The gains in the force based scheme can be individually adjusted in all three directions, whereas the adjustment in just one direction of the rate based scheme directly affects the other two directions.

Quantification and visualization of coordination during non-cyclic upper extremity motion.

PubMed

Fineman, Richard A; Stirling, Leia A

2017-10-03

There are many design challenges in creating at-home tele-monitoring systems that enable quantification and visualization of complex biomechanical behavior. One such challenge is robustly quantifying joint coordination in a way that is intuitive and supports clinical decision-making. This work defines a new measure of coordination called the relative coordination metric (RCM) and its accompanying normalization schemes. RCM enables quantification of coordination during non-constrained discrete motions. Here RCM is applied to a grasping task. Fifteen healthy participants performed a reach, grasp, transport, and release task with a cup and a pen. The measured joint angles were then time-normalized and the RCM time-series were calculated between the shoulder-elbow, shoulder-wrist, and elbow-wrist. RCM was normalized using four differing criteria: the selected joint degree of freedom, angular velocity, angular magnitude, and range of motion. Percent time spent in specified RCM ranges was used asa composite metric and was evaluated for each trial. RCM was found to vary based on: (1) chosen normalization scheme, (2) the stage within the task, (3) the object grasped, and (4) the trajectory of the motion. The RCM addresses some of the limitations of current measures of coordination because it is applicable to discrete motions, does not rely on cyclic repetition, and uses velocity-based measures. Future work will explore clinically relevant differences in the RCM as it is expanded to evaluate different tasks and patient populations. Copyright © 2017. Published by Elsevier Ltd.

Ballistics, Navigation and Motion Control of the S/C on Stages of the Phobos Surface Approaching and Landing

NASA Astrophysics Data System (ADS)

Akim, E. L.; Ruzskiy, E. G.; Shishov, V. A.; Stepaniants, V. A.; Tuchin, A. G.

The main purpose of the Federal space program «Phobos-grunt» project is to deliver samples of a ground of Mars's natural satellite Phobos on Earth. Mission is planned to begin at the start window of 2009 year and to finish at 2011 year. The work is devoted to problems connected with development of the Phobos landing scheme. The major factors, the landing strategy is formed on, are the tasks connected with orbital mechanics, restrictions obliged by the space craft (SC) onboard systems, inexact knowledge of the Phobos's kinematics parameters, its hypsometry and gravity field.

Research on motion model for the hypersonic boost-glide aircraft

NASA Astrophysics Data System (ADS)

Xu, Shenda; Wu, Jing; Wang, Xueying

2015-11-01

A motion model for the hypersonic boost-glide aircraft(HBG) was proposed in this paper, which also analyzed the precision of model through simulation. Firstly the trajectory of HBG was analyzed, and a scheme which divide the trajectory into two parts then build the motion model on each part. Secondly a restrained model of boosting stage and a restrained model of J2 perturbation were established, and set up the observe model. Finally the analysis of simulation results show the feasible and high-accuracy of the model, and raise a expectation for intensive research.

Laser pulse control of ultrafast heterogeneous electron transfer: a computational study.

PubMed

Wang, Luxia; May, Volkhard

2004-10-22

Laser pulse control of the photoinduced 90 fs charge injection from perylene into the conduction band of TiO2 is studied theoretically. The approach accounts for the electronic-ground state of the dye, the first excited state, the ionized state formed after charge injection, and the continuum of the electronic states in the conduction band, all defined vs a single reaction coordinate. To address different control tasks optimal control theory is combined with a full quantum dynamical description of the electron-vibrational motion accompanying the charge injection process. First it is proved in which way the charge injection time can be changed by tailored laser pulses. In a second step a pump-dump scheme from the perylene ground state to the first excited electronic state and back to the ground state is discussed. Because of the strong coupling of the excited perylene state to the band continuum of TiO2 this control task is more suited to an experimental test than the direct control of the charge injection.

Coordinated Control of Cross-Flow Turbines

NASA Astrophysics Data System (ADS)

Strom, Benjamin; Brunton, Steven; Polagye, Brian

2016-11-01

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

Quantum motion on a torus as a submanifold problem in a generalized Dirac's theory of second-class constraints

NASA Astrophysics Data System (ADS)

Xun, D. M.; Liu, Q. H.; Zhu, X. M.

2013-11-01

A generalization of Dirac's canonical quantization scheme for a system with second-class constraints is proposed, in which the fundamental commutation relations are constituted by all commutators between positions, momenta and Hamiltonian, so they are simultaneously quantized in a self-consistent manner, rather than by those between merely positions and momenta which leads to ambiguous forms of the Hamiltonian and the momenta. The application of the generalized scheme to the quantum motion on a torus leads to a remarkable result: the quantum theory is inconsistent if built up in an intrinsic geometric manner, whereas it becomes consistent within an extrinsic examination of the torus as a submanifold in three dimensional flat space with the use of the Cartesian coordinate system. The geometric momentum and potential are then reasonably reproduced.

Turbulent fluid motion IV-averages, Reynolds decomposition, and the closure problem

NASA Technical Reports Server (NTRS)

Deissler, Robert G.

1992-01-01

Ensemble, time, and space averages as applied to turbulent quantities are discussed, and pertinent properties of the averages are obtained. Those properties, together with Reynolds decomposition, are used to derive the averaged equations of motion and the one- and two-point moment or correlation equations. The terms in the various equations are interpreted. The closure problem of the averaged equations is discussed, and possible closure schemes are considered. Those schemes usually require an input of supplemental information unless the averaged equations are closed by calculating their terms by a numerical solution of the original unaveraged equations. The law of the wall for velocities and temperatures, the velocity- and temperature-defect laws, and the logarithmic laws for velocities and temperatures are derived. Various notions of randomness and their relation to turbulence are considered in light of ergodic theory.

Design and analysis of multihypothesis motion-compensated prediction (MHMCP) codec for error-resilient visual communications

NASA Astrophysics Data System (ADS)

Kung, Wei-Ying; Kim, Chang-Su; Kuo, C.-C. Jay

2004-10-01

A multi-hypothesis motion compensated prediction (MHMCP) scheme, which predicts a block from a weighted superposition of more than one reference blocks in the frame buffer, is proposed and analyzed for error resilient visual communication in this research. By combining these reference blocks effectively, MHMCP can enhance the error resilient capability of compressed video as well as achieve a coding gain. In particular, we investigate the error propagation effect in the MHMCP coder and analyze the rate-distortion performance in terms of the hypothesis number and hypothesis coefficients. It is shown that MHMCP suppresses the short-term effect of error propagation more effectively than the intra refreshing scheme. Simulation results are given to confirm the analysis. Finally, several design principles for the MHMCP coder are derived based on the analytical and experimental results.

Image-based ranging and guidance for rotorcraft

NASA Technical Reports Server (NTRS)

Menon, P. K. A.

1991-01-01

This report documents the research carried out under NASA Cooperative Agreement No. NCC2-575 during the period Oct. 1988 - Dec. 1991. Primary emphasis of this effort was on the development of vision based navigation methods for rotorcraft nap-of-the-earth flight regime. A family of field-based ranging algorithms were developed during this research period. These ranging schemes are capable of handling both stereo and motion image sequences, and permits both translational and rotational camera motion. The algorithms require minimal computational effort and appear to be implementable in real time. A series of papers were presented on these ranging schemes, some of which are included in this report. A small part of the research effort was expended on synthesizing a rotorcraft guidance law that directly uses the vision-based ranging data. This work is discussed in the last section.

Uniscale multi-view registration using double dog-leg method

NASA Astrophysics Data System (ADS)

Chen, Chao-I.; Sargent, Dusty; Tsai, Chang-Ming; Wang, Yuan-Fang; Koppel, Dan

2009-02-01

3D computer models of body anatomy can have many uses in medical research and clinical practices. This paper describes a robust method that uses videos of body anatomy to construct multiple, partial 3D structures and then fuse them to form a larger, more complete computer model using the structure-from-motion framework. We employ the Double Dog-Leg (DDL) method, a trust-region based nonlinear optimization method, to jointly optimize the camera motion parameters (rotation and translation) and determine a global scale that all partial 3D structures should agree upon. These optimized motion parameters are used for constructing local structures, and the global scale is essential for multi-view registration after all these partial structures are built. In order to provide a good initial guess of the camera movement parameters and outlier free 2D point correspondences for DDL, we also propose a two-stage scheme where multi-RANSAC with a normalized eight-point algorithm is first performed and then a few iterations of an over-determined five-point algorithm is used to polish the results. Our experimental results using colonoscopy video show that the proposed scheme always produces more accurate outputs than the standard RANSAC scheme. Furthermore, since we have obtained many reliable point correspondences, time-consuming and error-prone registration methods like the iterative closest points (ICP) based algorithms can be replaced by a simple rigid-body transformation solver when merging partial structures into a larger model.

In-flight estimation of center of gravity position using all-accelerometers.

PubMed

Al-Rawashdeh, Yazan Mohammad; Elshafei, Moustafa; Al-Malki, Mohammad Fahad

2014-09-19

Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers' readings are used to find and correct the vehicle's angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers' readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle's linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle.

Automated detection of videotaped neonatal seizures based on motion segmentation methods.

PubMed

Karayiannis, Nicolaos B; Tao, Guozhi; Frost, James D; Wise, Merrill S; Hrachovy, Richard A; Mizrahi, Eli M

2006-07-01

This study was aimed at the development of a seizure detection system by training neural networks using quantitative motion information extracted by motion segmentation methods from short video recordings of infants monitored for seizures. The motion of the infants' body parts was quantified by temporal motion strength signals extracted from video recordings by motion segmentation methods based on optical flow computation. The area of each frame occupied by the infants' moving body parts was segmented by direct thresholding, by clustering of the pixel velocities, and by clustering the motion parameters obtained by fitting an affine model to the pixel velocities. The computational tools and procedures developed for automated seizure detection were tested and evaluated on 240 short video segments selected and labeled by physicians from a set of video recordings of 54 patients exhibiting myoclonic seizures (80 segments), focal clonic seizures (80 segments), and random infant movements (80 segments). The experimental study described in this paper provided the basis for selecting the most effective strategy for training neural networks to detect neonatal seizures as well as the decision scheme used for interpreting the responses of the trained neural networks. Depending on the decision scheme used for interpreting the responses of the trained neural networks, the best neural networks exhibited sensitivity above 90% or specificity above 90%. The best among the motion segmentation methods developed in this study produced quantitative features that constitute a reliable basis for detecting myoclonic and focal clonic neonatal seizures. The performance targets of this phase of the project may be achieved by combining the quantitative features described in this paper with those obtained by analyzing motion trajectory signals produced by motion tracking methods. A video system based upon automated analysis potentially offers a number of advantages. Infants who are at risk for seizures could be monitored continuously using relatively inexpensive and non-invasive video techniques that supplement direct observation by nursery personnel. This would represent a major advance in seizure surveillance and offers the possibility for earlier identification of potential neurological problems and subsequent intervention.

Domain wall in a quantum anomalous Hall insulator as a magnetoelectric piston

NASA Astrophysics Data System (ADS)

Upadhyaya, Pramey; Tserkovnyak, Yaroslav

2016-07-01

We theoretically study the magnetoelectric coupling in a quantum anomalous Hall insulator state induced by interfacing a dynamic magnetization texture to a topological insulator. In particular, we propose that the quantum anomalous Hall insulator with a magnetic configuration of a domain wall, when contacted by electrical reservoirs, acts as a magnetoelectric piston. A moving domain wall pumps charge current between electrical leads in a closed circuit, while applying an electrical bias induces reciprocal domain-wall motion. This pistonlike action is enabled by a finite reflection of charge carriers via chiral modes imprinted by the domain wall. Moreover, we find that, when compared with the recently discovered spin-orbit torque-induced domain-wall motion in heavy metals, the reflection coefficient plays the role of an effective spin-Hall angle governing the efficiency of the proposed electrical control of domain walls. Quantitatively, this effective spin-Hall angle is found to approach a universal value of 2, providing an efficient scheme to reconfigure the domain-wall chiral interconnects for possible memory and logic applications.

Efficient Raman sideband cooling of trapped ions to their motional ground state

NASA Astrophysics Data System (ADS)

Che, H.; Deng, K.; Xu, Z. T.; Yuan, W. H.; Zhang, J.; Lu, Z. H.

2017-07-01

Efficient cooling of trapped ions is a prerequisite for various applications of the ions in precision spectroscopy, quantum information, and coherence control. Raman sideband cooling is an effective method to cool the ions to their motional ground state. We investigate both numerically and experimentally the optimization of Raman sideband cooling strategies and propose an efficient one, which can simplify the experimental setup as well as reduce the number of cooling pulses. Several cooling schemes are tested and compared through numerical simulations. The simulation result shows that the fixed-width pulses and varied-width pulses have almost the same efficiency for both the first-order and the second-order Raman sideband cooling. The optimized strategy is verified experimentally. A single 25Mg+ ion is trapped in a linear Paul trap and Raman sideband cooled, and the achieved average vibrational quantum numbers under different cooling strategies are evaluated. A good agreement between the experimental result and the simulation result is obtained.

Coupled beam motion in a storage ring with crab cavities

DOE PAGES

Huang, Xiaobiao

2016-02-16

We studied the coupled beam motion in a storage ring between the transverse and longitudinal directions introduced by crab cavities. Analytic form of the linear decoupling transformation is derived. Also, the equilibrium bunch distribution in an electron storage ring with a crab cavity is given, including contribution to the eigen-emittance induced by the crab cavity. Furthermore, application to the short pulse generation scheme using crab cavities [1] is considered.

One-step methods for the prediction of orbital motion, taking its periodic components into account

NASA Astrophysics Data System (ADS)

Lavrov, K. N.

1988-03-01

The paper examines the design and analysis of the properties of implicit one-step integration methods which use the trigonometric approximation of ordinary differential equations containing periodic components. With reference to an orbital-motion prediction example, it is shown that the proposed schemes are more efficient in terms of computer memory than Everhart's (1974) approach. The results obtained make it possible to improve Everhart's method.

Restoration of Wavelet-Compressed Images and Motion Imagery

DTIC Science & Technology

2004-01-01

SECURITY CLASSIFICATION OF REPORT UNCLASSIFIED 18. SECURITY CLASSIFICATION OF THIS PAGE UNCLASSIFIED 19. SECURITY CLASSIFICATION...images is that they are global translates of each other, where 29 the global motion parameters are known. In a very simple sense , these five images form...Image Proc., vol. 1, Oct. 2001, pp. 185–188. [2] J. W. Woods and T. Naveen, “A filter based bit allocation scheme for subband compresion of HDTV,” IEEE

A control theory approach to the analysis and synthesis of the experimentally observed motion primitives.

PubMed

Nori, Francesco; Frezza, Ruggero

2005-11-01

Recent experiments on frogs and rats, have led to the hypothesis that sensory-motor systems are organized into a finite number of linearly combinable modules; each module generates a motor command that drives the system to a predefined equilibrium. Surprisingly, in spite of the infiniteness of different movements that can be realized, there seems to be only a handful of these modules. The structure can be thought of as a vocabulary of "elementary control actions". Admissible controls, which in principle belong to an infinite dimensional space, are reduced to the linear vector space spanned by these elementary controls. In the present paper we address some theoretical questions that arise naturally once a similar structure is applied to the control of nonlinear kinematic chains. First of all, we show how to choose the modules so that the system does not loose its capability of generating a "complete" set of movements. Secondly, we realize a "complete" vocabulary with a minimal number of elementary control actions. Subsequently, we show how to modify the control scheme so as to compensate for parametric changes in the system to be controlled. Remarkably, we construct a set of modules with the property of being invariant with respect to the parameters that model the growth of an individual. Robustness against uncertainties is also considered showing how to optimally choose the modules equilibria so as to compensate for errors affecting the system. Finally, the motion primitive paradigm is extended to locomotion and a related formalization of internal (proprioceptive) and external (exteroceptive) variables is given.

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

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

Optimal JPWL Forward Error Correction Rate Allocation for Robust JPEG 2000 Images and Video Streaming over Mobile Ad Hoc Networks

NASA Astrophysics Data System (ADS)

Agueh, Max; Diouris, Jean-François; Diop, Magaye; Devaux, François-Olivier; De Vleeschouwer, Christophe; Macq, Benoit

2008-12-01

Based on the analysis of real mobile ad hoc network (MANET) traces, we derive in this paper an optimal wireless JPEG 2000 compliant forward error correction (FEC) rate allocation scheme for a robust streaming of images and videos over MANET. The packet-based proposed scheme has a low complexity and is compliant to JPWL, the 11th part of the JPEG 2000 standard. The effectiveness of the proposed method is evaluated using a wireless Motion JPEG 2000 client/server application; and the ability of the optimal scheme to guarantee quality of service (QoS) to wireless clients is demonstrated.

Cavity optomechanics -- beyond the ground state

NASA Astrophysics Data System (ADS)

Meystre, Pierre

2011-05-01

The coupling of coherent optical systems to micromechanical devices, combined with breakthroughs in nanofabrication and in ultracold science, has opened up the exciting new field of cavity optomechanics. Cooling of the vibrational motion of a broad range on oscillating cantilevers and mirrors near their ground state has been demonstrated, and the ground state of at least one such system has now been reached. Cavity optomechanics offers much promise in addressing fundamental physics questions and in applications such as the detection of feeble forces and fields, or the coherent control of AMO systems and of nanoscale electromechanical devices. However, these applications require taking cavity optomechanics ``beyond the ground state.'' This includes the generation and detection of squeezed and other non-classical states, the transfer of squeezing between electromagnetic fields and motional quadratures, and the development of measurement schemes for the characterization of nanomechanical structures. The talk will present recent ``beyond ground state'' developments in cavity optomechanics. We will show how the magnetic coupling between a mechanical membrane and a BEC - or between a mechanical tuning fork and a nanoscale cantilever - permits to control and monitor the center-of-mass position of the mechanical system, and will comment on the measurement back-action on the membrane motion. We will also discuss of state transfer between optical and microwave fields and micromechanical devices. Work done in collaboration with Dan Goldbaum, Greg Phelps, Keith Schwab, Swati Singh, Steve Steinke, Mehmet Tesgin, and Mukund Vengallatore and supported by ARO, DARPA, NSF, and ONR.

Application of a novel Kalman filter based block matching method to ultrasound images for hand tendon displacement estimation.

PubMed

Lai, Ting-Yu; Chen, Hsiao-I; Shih, Cho-Chiang; Kuo, Li-Chieh; Hsu, Hsiu-Yun; Huang, Chih-Chung

2016-01-01

Information about tendon displacement is important for allowing clinicians to not only quantify preoperative tendon injuries but also to identify any adhesive scaring between tendon and adjacent tissue. The Fisher-Tippett (FT) similarity measure has recently been shown to be more accurate than the Laplacian sum of absolute differences (SAD) and Gaussian sum of squared differences (SSD) similarity measures for tracking tendon displacement in ultrasound B-mode images. However, all of these similarity measures can easily be influenced by the quality of the ultrasound image, particularly its signal-to-noise ratio. Ultrasound images of injured hands are unfortunately often of poor quality due to the presence of adhesive scars. The present study investigated a novel Kalman-filter scheme for overcoming this problem. Three state-of-the-art tracking methods (FT, SAD, and SSD) were used to track the displacements of phantom and cadaver tendons, while FT was used to track human tendons. These three tracking methods were combined individually with the proposed Kalman-filter (K1) scheme and another Kalman-filter scheme used in a previous study to optimize the displacement trajectories of the phantom and cadaver tendons. The motion of the human extensor digitorum communis tendon was measured in the present study using the FT-K1 scheme. The experimental results indicated that SSD exhibited better accuracy in the phantom experiments, whereas FT exhibited better performance for tracking real tendon motion in the cadaver experiments. All three tracking methods were influenced by the signal-to-noise ratio of the images. On the other hand, the K1 scheme was able to optimize the tracking trajectory of displacement in all experiments, even from a location with a poor image quality. The human experimental data indicated that the normal tendons were displaced more than the injured tendons, and that the motion ability of the injured tendon was restored after appropriate rehabilitation sessions. The obtained results show the potential for applying the proposed FT-K1 method in clinical applications for evaluating the tendon injury level after metacarpal fractures and assessing the recovery of an injured tendon during rehabilitation.

A simple molecular mechanics integrator in mixed rigid body and dihedral angle space

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

Vitalis, Andreas, E-mail: a.vitalis@bioc.uzh.ch; Pappu, Rohit V.

2014-07-21

We propose a numerical scheme to integrate equations of motion in a mixed space of rigid-body and dihedral angle coordinates. The focus of the presentation is biomolecular systems and the framework is applicable to polymers with tree-like topology. By approximating the effective mass matrix as diagonal and lumping all bias torques into the time dependencies of the diagonal elements, we take advantage of the formal decoupling of individual equations of motion. We impose energy conservation independently for every degree of freedom and this is used to derive a numerical integration scheme. The cost of all auxiliary operations is linear inmore » the number of atoms. By coupling the scheme to one of two popular thermostats, we extend the method to sample constant temperature ensembles. We demonstrate that the integrator of choice yields satisfactory stability and is free of mass-metric tensor artifacts, which is expected by construction of the algorithm. Two fundamentally different systems, viz., liquid water and an α-helical peptide in a continuum solvent are used to establish the applicability of our method to a wide range of problems. The resultant constant temperature ensembles are shown to be thermodynamically accurate. The latter relies on detailed, quantitative comparisons to data from reference sampling schemes operating on exactly the same sets of degrees of freedom.« less

Direct Adaptive Rejection of Vortex-Induced Disturbances for a Powered SPAR Platform

NASA Technical Reports Server (NTRS)

VanZwieten, Tannen S.; Balas, Mark J.; VanZwieten, James H.; Driscoll, Frederick R.

2009-01-01

The Rapidly Deployable Stable Platform (RDSP) is a novel vessel designed to be a reconfigurable, stable at-sea platform. It consists of a detachable catamaran and spar, performing missions with the spar extending vertically below the catamaran and hoisting it completely out of the water. Multiple thrusters located along the spar allow it to be actively controlled in this configuration. A controller is presented in this work that uses an adaptive feedback algorithm in conjunction with Direct Adaptive Disturbance Rejection (DADR) to mitigate persistent, vortex-induced disturbances. Given the frequency of a disturbance, the nominal DADR scheme adaptively compensates for its unknown amplitude and phase. This algorithm is extended to adapt to a disturbance frequency that is only coarsely known by including a Phase Locked Loop (PLL). The PLL improves the frequency estimate on-line, allowing the modified controller to reduce vortex-induced motions by more than 95% using achievable thrust inputs.

Tracking prominent points in image sequences

NASA Astrophysics Data System (ADS)

Hahn, Michael

1994-03-01

Measuring image motion and inferring scene geometry and camera motion are main aspects of image sequence analysis. The determination of image motion and the structure-from-motion problem are tasks that can be addressed independently or in cooperative processes. In this paper we focus on tracking prominent points. High stability, reliability, and accuracy are criteria for the extraction of prominent points. This implies that tracking should work quite well with those features; unfortunately, the reality looks quite different. In the experimental investigations we processed a long sequence of 128 images. This mono sequence is taken in an outdoor environment at the experimental field of Mercedes Benz in Rastatt. Different tracking schemes are explored and the results with respect to stability and quality are reported.

Deblurring for spatial and temporal varying motion with optical computing

NASA Astrophysics Data System (ADS)

Xiao, Xiao; Xue, Dongfeng; Hui, Zhao

2016-05-01

A way to estimate and remove spatially and temporally varying motion blur is proposed, which is based on an optical computing system. The translation and rotation motion can be independently estimated from the joint transform correlator (JTC) system without iterative optimization. The inspiration comes from the fact that the JTC system is immune to rotation motion in a Cartesian coordinate system. The work scheme of the JTC system is designed to keep switching between the Cartesian coordinate system and polar coordinate system in different time intervals with the ping-pang handover. In the ping interval, the JTC system works in the Cartesian coordinate system to obtain a translation motion vector with optical computing speed. In the pang interval, the JTC system works in the polar coordinate system. The rotation motion is transformed to the translation motion through coordinate transformation. Then the rotation motion vector can also be obtained from JTC instantaneously. To deal with continuous spatially variant motion blur, submotion vectors based on the projective motion path blur model are proposed. The submotion vectors model is more effective and accurate at modeling spatially variant motion blur than conventional methods. The simulation and real experiment results demonstrate its overall effectiveness.

Non-rigid Motion Correction in 3D Using Autofocusing with Localized Linear Translations

PubMed Central

Cheng, Joseph Y.; Alley, Marcus T.; Cunningham, Charles H.; Vasanawala, Shreyas S.; Pauly, John M.; Lustig, Michael

2012-01-01

MR scans are sensitive to motion effects due to the scan duration. To properly suppress artifacts from non-rigid body motion, complex models with elements such as translation, rotation, shear, and scaling have been incorporated into the reconstruction pipeline. However, these techniques are computationally intensive and difficult to implement for online reconstruction. On a sufficiently small spatial scale, the different types of motion can be well-approximated as simple linear translations. This formulation allows for a practical autofocusing algorithm that locally minimizes a given motion metric – more specifically, the proposed localized gradient-entropy metric. To reduce the vast search space for an optimal solution, possible motion paths are limited to the motion measured from multi-channel navigator data. The novel navigation strategy is based on the so-called “Butterfly” navigators which are modifications to the spin-warp sequence that provide intrinsic translational motion information with negligible overhead. With a 32-channel abdominal coil, sufficient number of motion measurements were found to approximate possible linear motion paths for every image voxel. The correction scheme was applied to free-breathing abdominal patient studies. In these scans, a reduction in artifacts from complex, non-rigid motion was observed. PMID:22307933

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

PubMed

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

2016-01-01

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

Neural-Learning-Based Telerobot Control With Guaranteed Performance.

PubMed

Yang, Chenguang; Wang, Xinyu; Cheng, Long; Ma, Hongbin

2017-10-01

In this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot. Guaranteed performance of the telerobot control system is achieved at both kinematic and dynamic levels. At kinematic level, automatic collision avoidance is achieved by the control design at the kinematic level exploiting the joint space redundancy, thus the human operator would be able to only concentrate on motion of robot's end-effector without concern on possible collision. A posture restoration scheme is also integrated based on a simulated parallel system to enable the manipulator restore back to the natural posture in the absence of obstacles. At dynamic level, adaptive control using radial basis function NNs is developed to compensate for the effect caused by the internal and external uncertainties, e.g., unknown payload. Both the steady state and the transient performance are guaranteed to satisfy a prescribed performance requirement. Comparative experiments have been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods.

Implicit approximate-factorization schemes for the low-frequency transonic equation

NASA Technical Reports Server (NTRS)

Ballhaus, W. F.; Steger, J. L.

1975-01-01

Two- and three-level implicit finite-difference algorithms for the low-frequency transonic small disturbance-equation are constructed using approximate factorization techniques. The schemes are unconditionally stable for the model linear problem. For nonlinear mixed flows, the schemes maintain stability by the use of conservatively switched difference operators for which stability is maintained only if shock propagation is restricted to be less than one spatial grid point per time step. The shock-capturing properties of the schemes were studied for various shock motions that might be encountered in problems of engineering interest. Computed results for a model airfoil problem that produces a flow field similar to that about a helicopter rotor in forward flight show the development of a shock wave and its subsequent propagation upstream off the front of the airfoil.

Direct model reference adaptive control of a flexible robotic manipulator

NASA Technical Reports Server (NTRS)

Meldrum, D. R.

1985-01-01

Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators wih colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference adaptive control (MRAC) scheme based on command generator tracker theory is designed for a flexible manipulator. Quicker, more precise tracking results are expected over nonadaptive control laws for this MRAC approach. Equations of motion in modal coordinates are derived for a single-link, flexible manipulator with an actuator at the pinned-end and a sensor at the free end. An MRAC is designed with the objective of controlling the torquing actuator so that the tip position follows a trajectory that is prescribed by the reference model. An appealing feature of this direct MRAC law is that it allows the reference model to have fewer states than the plant itself. Direct adaptive control also adjusts the controller parameters directly with knowledge of only the plant output and input signals.

Energy conserving numerical methods for the computation of complex vortical flows

NASA Astrophysics Data System (ADS)

Allaneau, Yves

One of the original goals of this thesis was to develop numerical tools to help with the design of micro air vehicles. Micro Air Vehicles (MAVs) are small flying devices of only a few inches in wing span. Some people consider that as their size becomes smaller and smaller, it would be increasingly more difficult to keep all the classical control surfaces such as the rudders, the ailerons and the usual propellers. Over the years, scientists took inspiration from nature. Birds, by flapping and deforming their wings, are capable of accurate attitude control and are able to generate propulsion. However, the biomimicry design has its own limitations and it is difficult to place a hummingbird in a wind tunnel to study precisely the motion of its wings. Our approach was to use numerical methods to tackle this challenging problem. In order to precisely evaluate the lift and drag generated by the wings, one needs to be able to capture with high fidelity the extremely complex vortical flow produced in the wake. This requires a numerical method that is stable yet not too dissipative, so that the vortices do not get diffused in an unphysical way. We solved this problem by developing a new Discontinuous Galerkin scheme that, in addition to conserving mass, momentum and total energy locally, also preserves kinetic energy globally. This property greatly improves the stability of the simulations, especially in the special case p=0 when the approximation polynomials are taken to be piecewise constant (we recover a finite volume scheme). In addition to needing an adequate numerical scheme, a high fidelity solution requires many degrees of freedom in the computations to represent the flow field. The size of the smallest eddies in the flow is given by the Kolmogoroff scale. Capturing these eddies requires a mesh counting in the order of Re³ cells, where Re is the Reynolds number of the flow. We show that under-resolving the system, to a certain extent, is acceptable. However our simulations still required meshes containing tens of millions of degrees of freedom. Such computations can only be done in reasonable amounts of time by spreading the work on multiple CPUs via domain decomposition. Further speed-up efforts were made by implementing a version of the code for GPUs using Nvidia's CUDA programming language. Finally we searched for optimal wing motions by coupling our computational fluid dynamics code with the optimization package SNOPT. The wing motion was parameterized by a few angles describing the local curvature and the twisting of the wing. These were expressed in terms of truncated Fourier series, the Fourier coefficients being our optimization parameters. With this approach we were able to obtain propulsive efficiencies of around 50% (thrust power/power input).

Large eddy simulation of incompressible turbulent channel flow

NASA Technical Reports Server (NTRS)

Moin, P.; Reynolds, W. C.; Ferziger, J. H.

1978-01-01

The three-dimensional, time-dependent primitive equations of motion were numerically integrated for the case of turbulent channel flow. A partially implicit numerical method was developed. An important feature of this scheme is that the equation of continuity is solved directly. The residual field motions were simulated through an eddy viscosity model, while the large-scale field was obtained directly from the solution of the governing equations. An important portion of the initial velocity field was obtained from the solution of the linearized Navier-Stokes equations. The pseudospectral method was used for numerical differentiation in the horizontal directions, and second-order finite-difference schemes were used in the direction normal to the walls. The large eddy simulation technique is capable of reproducing some of the important features of wall-bounded turbulent flows. The resolvable portions of the root-mean square wall pressure fluctuations, pressure velocity-gradient correlations, and velocity pressure-gradient correlations are documented.

Counterrotating prop-fan simulations which feature a relative-motion multiblock grid decomposition enabling arbitrary time-steps

NASA Technical Reports Server (NTRS)

Janus, J. Mark; Whitfield, David L.

1990-01-01

Improvements are presented of a computer algorithm developed for the time-accurate flow analysis of rotating machines. The flow model is a finite volume method utilizing a high-resolution approximate Riemann solver for interface flux definitions. The numerical scheme is a block LU implicit iterative-refinement method which possesses apparent unconditional stability. Multiblock composite gridding is used to orderly partition the field into a specified arrangement of blocks exhibiting varying degrees of similarity. Block-block relative motion is achieved using local grid distortion to reduce grid skewness and accommodate arbitrary time step selection. A general high-order numerical scheme is applied to satisfy the geometric conservation law. An even-blade-count counterrotating unducted fan configuration is chosen for a computational study comparing solutions resulting from altering parameters such as time step size and iteration count. The solutions are compared with measured data.

Local-feature analysis for automated coarse-graining of bulk-polymer molecular dynamics simulations.

PubMed

Xue, Y; Ludovice, P J; Grover, M A

2012-12-01

A method for automated coarse-graining of bulk polymers is presented, using the data-mining tool of local feature analysis. Most existing methods for polymer coarse-graining define superatoms based on their covalent bonding topology along the polymer backbone, but here superatoms are defined based only on their correlated motions, as observed in molecular dynamics simulations. Correlated atomic motions are identified in the simulation data using local feature analysis, between atoms in the same or in different polymer chains. Groups of highly correlated atoms constitute the superatoms in the coarse-graining scheme, and the positions of their seed coordinates are then projected forward in time. Based on only the seed positions, local feature analysis enables the full reconstruction of all atomic positions. This reconstruction suggests an iterative scheme to reduce the computation of the simulations to initialize another short molecular dynamic simulation, identify new superatoms, and again project forward in time.

A global earthquake discrimination scheme to optimize ground-motion prediction equation selection

USGS Publications Warehouse

Garcia, Daniel; Wald, David J.; Hearne, Michael

2012-01-01

We present a new automatic earthquake discrimination procedure to determine in near-real time the tectonic regime and seismotectonic domain of an earthquake, its most likely source type, and the corresponding ground-motion prediction equation (GMPE) class to be used in the U.S. Geological Survey (USGS) Global ShakeMap system. This method makes use of the Flinn–Engdahl regionalization scheme, seismotectonic information (plate boundaries, global geology, seismicity catalogs, and regional and local studies), and the source parameters available from the USGS National Earthquake Information Center in the minutes following an earthquake to give the best estimation of the setting and mechanism of the event. Depending on the tectonic setting, additional criteria based on hypocentral depth, style of faulting, and regional seismicity may be applied. For subduction zones, these criteria include the use of focal mechanism information and detailed interface models to discriminate among outer-rise, upper-plate, interface, and intraslab seismicity. The scheme is validated against a large database of recent historical earthquakes. Though developed to assess GMPE selection in Global ShakeMap operations, we anticipate a variety of uses for this strategy, from real-time processing systems to any analysis involving tectonic classification of sources from seismic catalogs.

Reduced quantum dynamics with arbitrary bath spectral densities: hierarchical equations of motion based on several different bath decomposition schemes.

PubMed

Liu, Hao; Zhu, Lili; Bai, Shuming; Shi, Qiang

2014-04-07

We investigated applications of the hierarchical equation of motion (HEOM) method to perform high order perturbation calculations of reduced quantum dynamics for a harmonic bath with arbitrary spectral densities. Three different schemes are used to decompose the bath spectral density into analytical forms that are suitable to the HEOM treatment: (1) The multiple Lorentzian mode model that can be obtained by numerically fitting the model spectral density. (2) The combined Debye and oscillatory Debye modes model that can be constructed by fitting the corresponding classical bath correlation function. (3) A new method that uses undamped harmonic oscillator modes explicitly in the HEOM formalism. Methods to extract system-bath correlations were investigated for the above bath decomposition schemes. We also show that HEOM in the undamped harmonic oscillator modes can give detailed information on the partial Wigner transform of the total density operator. Theoretical analysis and numerical simulations of the spin-Boson dynamics and the absorption line shape of molecular dimers show that the HEOM formalism for high order perturbations can serve as an important tool in studying the quantum dissipative dynamics in the intermediate coupling regime.

Visual tracking using objectness-bounding box regression and correlation filters

NASA Astrophysics Data System (ADS)

Mbelwa, Jimmy T.; Zhao, Qingjie; Lu, Yao; Wang, Fasheng; Mbise, Mercy

2018-03-01

Visual tracking is a fundamental problem in computer vision with extensive application domains in surveillance and intelligent systems. Recently, correlation filter-based tracking methods have shown a great achievement in terms of robustness, accuracy, and speed. However, such methods have a problem of dealing with fast motion (FM), motion blur (MB), illumination variation (IV), and drifting caused by occlusion (OCC). To solve this problem, a tracking method that integrates objectness-bounding box regression (O-BBR) model and a scheme based on kernelized correlation filter (KCF) is proposed. The scheme based on KCF is used to improve the tracking performance of FM and MB. For handling drift problem caused by OCC and IV, we propose objectness proposals trained in bounding box regression as prior knowledge to provide candidates and background suppression. Finally, scheme KCF as a base tracker and O-BBR are fused to obtain a state of a target object. Extensive experimental comparisons of the developed tracking method with other state-of-the-art trackers are performed on some of the challenging video sequences. Experimental comparison results show that our proposed tracking method outperforms other state-of-the-art tracking methods in terms of effectiveness, accuracy, and robustness.

Radiation reaction effect on laser driven auto-resonant particle acceleration

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

Sagar, Vikram; Sengupta, Sudip; Kaw, P. K.

2015-12-15

The effects of radiation reaction force on laser driven auto-resonant particle acceleration scheme are studied using Landau-Lifshitz equation of motion. These studies are carried out for both linear and circularly polarized laser fields in the presence of static axial magnetic field. From the parametric study, a radiation reaction dominated region has been identified in which the particle dynamics is greatly effected by this force. In the radiation reaction dominated region, the two significant effects on particle dynamics are seen, viz., (1) saturation in energy gain by the initially resonant particle and (2) net energy gain by an initially non-resonant particlemore » which is caused due to resonance broadening. It has been further shown that with the relaxation of resonance condition and with optimum choice of parameters, this scheme may become competitive with the other present-day laser driven particle acceleration schemes. The quantum corrections to the Landau-Lifshitz equation of motion have also been taken into account. The difference in the energy gain estimates of the particle by the quantum corrected and classical Landau-Lifshitz equation is found to be insignificant for the present day as well as upcoming laser facilities.« less

Reduced quantum dynamics with arbitrary bath spectral densities: Hierarchical equations of motion based on several different bath decomposition schemes

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

Liu, Hao; Zhu, Lili; Bai, Shuming

2014-04-07

We investigated applications of the hierarchical equation of motion (HEOM) method to perform high order perturbation calculations of reduced quantum dynamics for a harmonic bath with arbitrary spectral densities. Three different schemes are used to decompose the bath spectral density into analytical forms that are suitable to the HEOM treatment: (1) The multiple Lorentzian mode model that can be obtained by numerically fitting the model spectral density. (2) The combined Debye and oscillatory Debye modes model that can be constructed by fitting the corresponding classical bath correlation function. (3) A new method that uses undamped harmonic oscillator modes explicitly inmore » the HEOM formalism. Methods to extract system-bath correlations were investigated for the above bath decomposition schemes. We also show that HEOM in the undamped harmonic oscillator modes can give detailed information on the partial Wigner transform of the total density operator. Theoretical analysis and numerical simulations of the spin-Boson dynamics and the absorption line shape of molecular dimers show that the HEOM formalism for high order perturbations can serve as an important tool in studying the quantum dissipative dynamics in the intermediate coupling regime.« less

Selection and optimization of mooring cables on floating platform for special purposes

NASA Astrophysics Data System (ADS)

Ma, Guang-ying; Yao, Yun-long; Zhao, Chen-yao

2017-08-01

This paper studied a new type of assembled marine floating platform for special purposes. The selection and optimization of mooring cables on the floating platform are studied. By using ANSYS AQWA software, the hydrodynamic model of the platform was established to calculate the time history response of the platform motion under complex water environments, such as wind, wave, current and mooring. On this basis, motion response and cable tension were calculated with different cable mooring states under the designed environmental load. Finally, the best mooring scheme to meet the cable strength requirements was proposed, which can lower the motion amplitude of the platform effectively.

Computer code for gas-liquid two-phase vortex motions: GLVM

NASA Technical Reports Server (NTRS)

Yeh, T. T.

1986-01-01

A computer program aimed at the phase separation between gas and liquid at zero gravity, induced by vortex motion, is developed. It utilizes an explicit solution method for a set of equations describing rotating gas-liquid flows. The vortex motion is established by a tangential fluid injection. A Lax-Wendroff two-step (McCormack's) numerical scheme is used. The program can be used to study the fluid dynamical behavior of the rotational two-phase fluids in a cylindrical tank. It provides a quick/easy sensitivity test on various parameters and thus provides the guidance for the design and use of actual physical systems for handling two-phase fluids.

Breathing motion compensated reconstruction for C-arm cone beam CT imaging: initial experience based on animal data

NASA Astrophysics Data System (ADS)

Schäfer, D.; Lin, M.; Rao, P. P.; Loffroy, R.; Liapi, E.; Noordhoek, N.; Eshuis, P.; Radaelli, A.; Grass, M.; Geschwind, J.-F. H.

2012-03-01

C-arm based tomographic 3D imaging is applied in an increasing number of minimal invasive procedures. Due to the limited acquisition speed for a complete projection data set required for tomographic reconstruction, breathing motion is a potential source of artifacts. This is the case for patients who cannot comply breathing commands (e.g. due to anesthesia). Intra-scan motion estimation and compensation is required. Here, a scheme for projection based local breathing motion estimation is combined with an anatomy adapted interpolation strategy and subsequent motion compensated filtered back projection. The breathing motion vector is measured as a displacement vector on the projections of a tomographic short scan acquisition using the diaphragm as a landmark. Scaling of the displacement to the acquisition iso-center and anatomy adapted volumetric motion vector field interpolation delivers a 3D motion vector per voxel. Motion compensated filtered back projection incorporates this motion vector field in the image reconstruction process. This approach is applied in animal experiments on a flat panel C-arm system delivering improved image quality (lower artifact levels, improved tumor delineation) in 3D liver tumor imaging.

Blind multirigid retrospective motion correction of MR images.

PubMed

Loktyushin, Alexander; Nickisch, Hannes; Pohmann, Rolf; Schölkopf, Bernhard

2015-04-01

Physiological nonrigid motion is inevitable when imaging, e.g., abdominal viscera, and can lead to serious deterioration of the image quality. Prospective techniques for motion correction can handle only special types of nonrigid motion, as they only allow global correction. Retrospective methods developed so far need guidance from navigator sequences or external sensors. We propose a fully retrospective nonrigid motion correction scheme that only needs raw data as an input. Our method is based on a forward model that describes the effects of nonrigid motion by partitioning the image into patches with locally rigid motion. Using this forward model, we construct an objective function that we can optimize with respect to both unknown motion parameters per patch and the underlying sharp image. We evaluate our method on both synthetic and real data in 2D and 3D. In vivo data was acquired using standard imaging sequences. The correction algorithm significantly improves the image quality. Our compute unified device architecture (CUDA)-enabled graphic processing unit implementation ensures feasible computation times. The presented technique is the first computationally feasible retrospective method that uses the raw data of standard imaging sequences, and allows to correct for nonrigid motion without guidance from external motion sensors. © 2014 Wiley Periodicals, Inc.

Robotized High Intensity Focused Ultrasound (HIFU) system for treatment of mobile organs using motion tracking by ultrasound imaging: An in vitro study.

PubMed

Chanel, Laure-Anais; Nageotte, Florent; Vappou, Jonathan; Luo, Jianwen; Cuvillon, Loic; de Mathelin, Michel

2015-01-01

High Intensity Focused Ultrasound (HIFU) therapy is a very promising method for ablation of solid tumors. However, intra-abdominal organ motion, principally due to breathing, is a substantial limitation that results in incorrect tumor targeting. The objective of this work is to develop an all-in-one robotized HIFU system that can compensate motion in real-time during HIFU treatment. To this end, an ultrasound visual servoing scheme working at 20 Hz was designed. It relies on the motion estimation by using a fast ultrasonic speckle tracking algorithm and on the use of an interleaved imaging/HIFU sonication sequence for avoiding ultrasonic wave interferences. The robotized HIFU system was tested on a sample of chicken breast undergoing a vertical sinusoidal motion at 0.25 Hz. Sonications with and without motion compensation were performed in order to assess the effect of motion compensation on thermal lesions induced by HIFU. Motion was reduced by more than 80% thanks to this ultrasonic visual servoing system.

Efficiently explore the energy landscape of proteins in molecular dynamics simulations by amplifying collective motions

NASA Astrophysics Data System (ADS)

He, Jianbin; Zhang, Zhiyong; Shi, Yunyu; Liu, Haiyan

2003-08-01

We describe a method for efficient sampling of the energy landscape of a protein in atomic molecular dynamics simulations. A simulation is divided into alternatively occurring relaxation phases and excitation phases. In the relaxation phase (conventional simulation), we use a frequently updated reference structure and deviations from this reference structure to mark whether the system has been trapped in a local minimum. In that case, the simulation enters the excitation phase, during which a few slow collective modes of the system are coupled to a higher temperature bath. After the system has escaped from the minimum (also judged by deviations from the reference structure) the simulation reenters the relaxation phase. The collective modes are obtained from a coarse-grained Gaussian elastic network model. The scheme, which we call ACM-AME (amplified collective motion-assisted minimum escaping), is compared with conventional simulations as well as an alternative scheme that elevates the temperature of all degrees of freedom during the excitation phase (amplified overall motion-assisted minimum escaping, or AOM-AME). Comparison is made using simulations on four peptides starting from non-native extended or all helical structures. In terms of sampling low energy conformations and continuously sampling new conformations throughout a simulation, the ACM-AME scheme demonstrates very good performance while the AOM-AME scheme shows little improvement upon conventional simulations. Limited success is achieved in producing structures close to the native structures of the peptides: for an S-peptide analog, the ACM-AME approach is able to reproduce its native helical structure, and starting from an all-helical structure of the villin headpiece subdomain (HP-36) in implicit solvent, two out of three 150 ns ACM-AME runs are able to sample structures with 3-4 Å backbone root-mean-square deviations from the nuclear magnetic resonance structure of the protein.

The Incorporation and Initialization of Cloud Water/ice in AN Operational Forecast Model

NASA Astrophysics Data System (ADS)

Zhao, Qingyun

Quantitative precipitation forecasts have been one of the weakest aspects of numerical weather prediction models. Theoretical studies show that the errors in precipitation calculation can arise from three sources: errors in the large-scale forecasts of primary variables, errors in the crude treatment of condensation/evaporation and precipitation processes, and errors in the model initial conditions. A new precipitation parameterization scheme has been developed to investigate the forecast value of improved precipitation physics via the introduction of cloud water and cloud ice into a numerical prediction model. The main feature of this scheme is the explicit calculation of cloud water and cloud ice in both the convective and stratiform precipitation parameterization. This scheme has been applied to the eta model at the National Meteorological Center. Four extensive tests have been performed. The statistical results showed a significant improvement in the model precipitation forecasts. Diagnostic studies suggest that the inclusion of cloud ice is important in transferring water vapor to precipitation and in the enhancement of latent heat release; the latter subsequently affects the vertical motion field significantly. Since three-dimensional cloud data is absent from the analysis/assimilation system for most numerical models, a method has been proposed to incorporate observed precipitation and nephanalysis data into the data assimilation system to obtain the initial cloud field for the eta model. In this scheme, the initial moisture and vertical motion fields are also improved at the same time as cloud initialization. The physical initialization is performed in a dynamical initialization framework that uses the Newtonian dynamical relaxation method to nudge the model's wind and mass fields toward analyses during a 12-hour data assimilation period. Results from a case study showed that a realistic cloud field was produced by this method at the end of the data assimilation period. Precipitation forecasts have been significantly improved as a result of the improved initial cloud, moisture and vertical motion fields.

Human motion retrieval from hand-drawn sketch.

PubMed

Chao, Min-Wen; Lin, Chao-Hung; Assa, Jackie; Lee, Tong-Yee

2012-05-01

The rapid growth of motion capture data increases the importance of motion retrieval. The majority of the existing motion retrieval approaches are based on a labor-intensive step in which the user browses and selects a desired query motion clip from the large motion clip database. In this work, a novel sketching interface for defining the query is presented. This simple approach allows users to define the required motion by sketching several motion strokes over a drawn character, which requires less effort and extends the users’ expressiveness. To support the real-time interface, a specialized encoding of the motions and the hand-drawn query is required. Here, we introduce a novel hierarchical encoding scheme based on a set of orthonormal spherical harmonic (SH) basis functions, which provides a compact representation, and avoids the CPU/processing intensive stage of temporal alignment used by previous solutions. Experimental results show that the proposed approach can well retrieve the motions, and is capable of retrieve logically and numerically similar motions, which is superior to previous approaches. The user study shows that the proposed system can be a useful tool to input motion query if the users are familiar with it. Finally, an application of generating a 3D animation from a hand-drawn comics strip is demonstrated.

Optimizing the Betts-Miller-Janjic cumulus parameterization with Intel Many Integrated Core (MIC) architecture

NASA Astrophysics Data System (ADS)

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

2015-10-01

The schemes of cumulus parameterization are responsible for the sub-grid-scale effects of convective and/or shallow clouds, and intended to represent vertical fluxes due to unresolved updrafts and downdrafts and compensating motion outside the clouds. Some schemes additionally provide cloud and precipitation field tendencies in the convective column, and momentum tendencies due to convective transport of momentum. The schemes all provide the convective component of surface rainfall. Betts-Miller-Janjic (BMJ) is one scheme to fulfill such purposes in the weather research and forecast (WRF) model. National Centers for Environmental Prediction (NCEP) has tried to optimize the BMJ scheme for operational application. As there are no interactions among horizontal grid points, this scheme is very suitable for parallel computation. With the advantage of Intel Xeon Phi Many Integrated Core (MIC) architecture, efficient parallelization and vectorization essentials, it allows us to optimize the BMJ scheme. If compared to the original code respectively running on one CPU socket (eight cores) and on one CPU core with Intel Xeon E5-2670, the MIC-based optimization of this scheme running on Xeon Phi coprocessor 7120P improves the performance by 2.4x and 17.0x, respectively.

Tangle-Free Mesh Motion for Ablation Simulations

NASA Technical Reports Server (NTRS)

Droba, Justin

2016-01-01

Problems involving mesh motion-which should not be mistakenly associated with moving mesh methods, a class of adaptive mesh redistribution techniques-are of critical importance in numerical simulations of the thermal response of melting and ablative materials. Ablation is the process by which material vaporizes or otherwise erodes due to strong heating. Accurate modeling of such materials is of the utmost importance in design of passive thermal protection systems ("heatshields") for spacecraft, the layer of the vehicle that ensures survival of crew and craft during re-entry. In an explicit mesh motion approach, a complete thermal solve is first performed. Afterwards, the thermal response is used to determine surface recession rates. These values are then used to generate boundary conditions for an a posteriori correction designed to update the location of the mesh nodes. Most often, linear elastic or biharmonic equations are used to model this material response, traditionally in a finite element framework so that complex geometries can be simulated. A simple scheme for moving the boundary nodes involves receding along the surface normals. However, for all but the simplest problem geometries, evolution in time following such a scheme will eventually bring the mesh to intersect and "tangle" with itself, inducing failure. This presentation demonstrates a comprehensive and sophisticated scheme that analyzes the local geometry of each node with help from user-provided clues to eliminate the tangle and enable simulations on a wide-class of difficult problem geometries. The method developed is demonstrated for linear elastic equations but is general enough that it may be adapted to other modeling equations. The presentation will explicate the inner workings of the tangle-free mesh motion algorithm for both two and three-dimensional meshes. It will show abstract examples of the method's success, including a verification problem that demonstrates its accuracy and correctness. The focus of the presentation will be on the algorithm; specifics on how the techniques may be used in spacecraft design will be not discussed.

Simulation of the Transverse Injection of a Pulsed Jet from the Surface of a Flat Plate into a Supersonic Flow

NASA Astrophysics Data System (ADS)

Volkov, K. N.; Emelyanov, V. N.; Yakovchuk, M. S.

2017-11-01

The transverse injection of a pulsed jet into a supersonic flow for thrust vectoring in solid rocket motors is investigated. The gas flow through the injection nozzle is controlled by a piston which performs reciprocating motion. Reynolds-averaged Navier-Stokes equations and the ( k- ɛ) turbulence model equations are discretized using the finite volume method and moving grids. The pressure distributions on the plate surface obtained using various approaches to the description of the flow field and difference schemes are compared. The solution obtained for the case of injection of a pulsed jet is compared with the solution for the case where a valve prevents gas flow through the injection nozzle. The dependence of the control force produced by gas injection on time is investigated.

In-Flight Estimation of Center of Gravity Position Using All-Accelerometers

PubMed Central

Al-Rawashdeh, Yazan Mohammad; Elshafei, Moustafa; Al-Malki, Mohammad Fahad

2014-01-01

Changing the position of the Center of Gravity (CoG) for an aerial vehicle is a challenging part in navigation, and control of such vehicles. In this paper, an all-accelerometers-based inertial measurement unit is presented, with a proposed method for on-line estimation of the position of the CoG. The accelerometers' readings are used to find and correct the vehicle's angular velocity and acceleration using an Extended Kalman Filter. Next, the accelerometers' readings along with the estimated angular velocity and acceleration are used in an identification scheme to estimate the position of the CoG and the vehicle's linear acceleration. The estimated position of the CoG and motion measurements can then be used to update the control rules to achieve better trim conditions for the air vehicle. PMID:25244585

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

PubMed

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

2016-07-01

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

Dove prism based rotating dual beam bidirectional Doppler OCT

PubMed Central

Blatter, Cedric; Coquoz, Séverine; Grajciar, Branislav; Singh, Amardeep S. G.; Bonesi, Marco; Werkmeister, René M.; Schmetterer, Leopold; Leitgeb, Rainer A.

2013-01-01

Traditional Doppler OCT is highly sensitive to motion artifacts due to the dependence on the Doppler angle. This limits its accuracy in clinical practice. To overcome this limitation, we use a bidirectional dual beam technique equipped with a novel rotating scanning scheme employing a Dove prism. The volume is probed from two distinct illumination directions with variable controlled incidence plane, allowing for reconstruction of the true flow velocity at arbitrary vessel orientations. The principle is implemented with Swept Source OCT at 1060nm with 100,000 A-Scans/s. We apply the system to resolve pulsatile retinal absolute blood velocity by performing segment scans around the optic nerve head and circumpapillary scan time series. PMID:23847742

Flight investigation of rotor/vehicle state feedback

NASA Technical Reports Server (NTRS)

Briczinski, S. J.; Cooper, D. E.

1975-01-01

The feasibility of using control feedback or rotor tip-path-plane motion or body state as a means of altering rotor and fuselage response in a prescribed manner was investigated to determine the practical limitations of in-flight utilization of a digital computer which conditions and shapes rotor flapping and fuselage state information as feedback signals, before routing these signals to the differential servo actuators. The analysis and test of various feedback schemes are discussed. Test results show that a Kalman estimator routine which is based on only the first harmonic contributions of blade flapping yields tip-path-plane coefficients which are adequate for use in feedback systems, at speeds up to 150 kts.

Quantum synchronization of chaotic oscillator behaviors among coupled BEC-optomechanical systems

NASA Astrophysics Data System (ADS)

Li, Wenlin; Li, Chong; Song, Heshan

2017-03-01

We consider and theoretically analyze a Bose-Einstein condensate (BEC) trapped inside an optomechanical system consisting of single-mode optical cavity with a moving end mirror. The BEC is formally analogous to a mirror driven by radiation pressure with strong nonlinear coupling. Such a nonlinear enhancement can make the oscillator display chaotic behavior. By establishing proper oscillator couplings, we find that this chaotic motion can be synchronized with other oscillators, even an oscillator network. We also discuss the scheme feasibility by analyzing recent experiment parameters. Our results provide a promising platform for the quantum signal transmission and quantum logic control, and they are of potential applications in quantum information processing and quantum networks.

Suppression of extraneous thermal noise in cavity optomechanics.

PubMed

Zhao, Yi; Wilson, Dalziel J; Ni, K-K; Kimble, H J

2012-02-13

Extraneous thermal motion can limit displacement sensitivity and radiation pressure effects, such as optical cooling, in a cavity-optomechanical system. Here we present an active noise suppression scheme and its experimental implementation. The main challenge is to selectively sense and suppress extraneous thermal noise without affecting motion of the oscillator. Our solution is to monitor two modes of the optical cavity, each with different sensitivity to the oscillator's motion but similar sensitivity to the extraneous thermal motion. This information is used to imprint "anti-noise" onto the frequency of the incident laser field. In our system, based on a nano-mechanical membrane coupled to a Fabry-Pérot cavity, simulation and experiment demonstrate that extraneous thermal noise can be selectively suppressed and that the associated limit on optical cooling can be reduced.

Patched-grid calculations with the Euler and Navier-Stokes equations: Theory and applications

NASA Technical Reports Server (NTRS)

Rai, M. M.

1986-01-01

A patched-grid approach is one in which the flow region of interest is divided into subregions which are then discretized independently using existing grid generator. The equations of motion are integrated in each subregion in conjunction with patch-boundary schemes which allow proper information transfer across interfaces that separate subregions. The patched-grid approach greatly simplifies the treatment of complex geometries and also the addition of grid points to selected regions of the flow. A conservative patch-boundary condition that can be used with explicit, implicit factored and implicit relaxation schemes is described. Several example calculations that demonstrate the capabilities of the patched-grid scheme are also included.

Sub-10-fs control of dissociation pathways in the hydrogen molecular ion with a few-pulse attosecond pulse train

NASA Astrophysics Data System (ADS)

Nabekawa, Yasuo; Furukawa, Yusuke; Okino, Tomoya; Amani Eilanlou, A.; Takahashi, Eiji J.; Yamanouchi, Kaoru; Midorikawa, Katsumi

2016-09-01

The control of the electronic states of a hydrogen molecular ion by photoexcitation is considerably difficult because it requires multiple sub-10 fs light pulses in the extreme ultraviolet (XUV) wavelength region with a sufficiently high intensity. Here, we demonstrate the control of the dissociation pathway originating from the 2pσu electronic state against that originating from the 2pπu electronic state in a hydrogen molecular ion by using a pair of attosecond pulse trains in the XUV wavelength region with a train-envelope duration of ~4 fs. The switching time from the peak to the valley in the oscillation caused by the vibrational wavepacket motion in the 1sσg ground electronic state is only 8 fs. This result can be classified as the fastest control, to the best of our knowledge, of a molecular reaction in the simplest molecule on the basis of the XUV-pump and XUV-probe scheme.

Architectures and algorithms for digital image processing; Proceedings of the Meeting, Cannes, France, December 5, 6, 1985

NASA Technical Reports Server (NTRS)

Duff, Michael J. B. (Editor); Siegel, Howard J. (Editor); Corbett, Francis J. (Editor)

1986-01-01

The conference presents papers on the architectures, algorithms, and applications of image processing. Particular attention is given to a very large scale integration system for image reconstruction from projections, a prebuffer algorithm for instant display of volume data, and an adaptive image sequence filtering scheme based on motion detection. Papers are also presented on a simple, direct practical method of sensing local motion and analyzing local optical flow, image matching techniques, and an automated biological dosimetry system.

The constrained discrete-time state-dependent Riccati equation technique for uncertain nonlinear systems

NASA Astrophysics Data System (ADS)

Chang, Insu

The objective of the thesis is to introduce a relatively general nonlinear controller/estimator synthesis framework using a special type of the state-dependent Riccati equation technique. The continuous time state-dependent Riccati equation (SDRE) technique is extended to discrete-time under input and state constraints, yielding constrained (C) discrete-time (D) SDRE, referred to as CD-SDRE. For the latter, stability analysis and calculation of a region of attraction are carried out. The derivation of the D-SDRE under state-dependent weights is provided. Stability of the D-SDRE feedback system is established using Lyapunov stability approach. Receding horizon strategy is used to take into account the constraints on D-SDRE controller. Stability condition of the CD-SDRE controller is analyzed by using a switched system. The use of CD-SDRE scheme in the presence of constraints is then systematically demonstrated by applying this scheme to problems of spacecraft formation orbit reconfiguration under limited performance on thrusters. Simulation results demonstrate the efficacy and reliability of the proposed CD-SDRE. The CD-SDRE technique is further investigated in a case where there are uncertainties in nonlinear systems to be controlled. First, the system stability under each of the controllers in the robust CD-SDRE technique is separately established. The stability of the closed-loop system under the robust CD-SDRE controller is then proven based on the stability of each control system comprising switching configuration. A high fidelity dynamical model of spacecraft attitude motion in 3-dimensional space is derived with a partially filled fuel tank, assumed to have the first fuel slosh mode. The proposed robust CD-SDRE controller is then applied to the spacecraft attitude control system to stabilize its motion in the presence of uncertainties characterized by the first fuel slosh mode. The performance of the robust CD-SDRE technique is discussed. Subsequently, filtering techniques are investigated by using the D-SDRE technique. Detailed derivation of the D-SDRE-based filter (D-SDREF) is provided under the assumption of Gaussian noises and the stability condition of the error signal between the measured signal and the estimated signals is proven to be input-to-state stable. For the non-Gaussian distributed noises, we propose a filter by combining the D-SDREF and the particle filter (PF), named the combined D-SDRE/PF. Two algorithms for the filtering techniques are provided. Several filtering techniques are compared with challenging numerical examples to show the reliability and efficacy of the proposed D-SDREF and the combined D-SDRE/PF.

Real-time 3D video compression for tele-immersive environments

NASA Astrophysics Data System (ADS)

Yang, Zhenyu; Cui, Yi; Anwar, Zahid; Bocchino, Robert; Kiyanclar, Nadir; Nahrstedt, Klara; Campbell, Roy H.; Yurcik, William

2006-01-01

Tele-immersive systems can improve productivity and aid communication by allowing distributed parties to exchange information via a shared immersive experience. The TEEVE research project at the University of Illinois at Urbana-Champaign and the University of California at Berkeley seeks to foster the development and use of tele-immersive environments by a holistic integration of existing components that capture, transmit, and render three-dimensional (3D) scenes in real time to convey a sense of immersive space. However, the transmission of 3D video poses significant challenges. First, it is bandwidth-intensive, as it requires the transmission of multiple large-volume 3D video streams. Second, existing schemes for 2D color video compression such as MPEG, JPEG, and H.263 cannot be applied directly because the 3D video data contains depth as well as color information. Our goal is to explore from a different angle of the 3D compression space with factors including complexity, compression ratio, quality, and real-time performance. To investigate these trade-offs, we present and evaluate two simple 3D compression schemes. For the first scheme, we use color reduction to compress the color information, which we then compress along with the depth information using zlib. For the second scheme, we use motion JPEG to compress the color information and run-length encoding followed by Huffman coding to compress the depth information. We apply both schemes to 3D videos captured from a real tele-immersive environment. Our experimental results show that: (1) the compressed data preserves enough information to communicate the 3D images effectively (min. PSNR > 40) and (2) even without inter-frame motion estimation, very high compression ratios (avg. > 15) are achievable at speeds sufficient to allow real-time communication (avg. ~ 13 ms per 3D video frame).

Automated detection of videotaped neonatal seizures of epileptic origin.

PubMed

Karayiannis, Nicolaos B; Xiong, Yaohua; Tao, Guozhi; Frost, James D; Wise, Merrill S; Hrachovy, Richard A; Mizrahi, Eli M

2006-06-01

This study aimed at the development of a seizure-detection system by training neural networks with quantitative motion information extracted from short video segments of neonatal seizures of the myoclonic and focal clonic types and random infant movements. The motion of the infants' body parts was quantified by temporal motion-strength signals extracted from video segments by motion-segmentation methods based on optical flow computation. The area of each frame occupied by the infants' moving body parts was segmented by clustering the motion parameters obtained by fitting an affine model to the pixel velocities. The motion of the infants' body parts also was quantified by temporal motion-trajectory signals extracted from video recordings by robust motion trackers based on block-motion models. These motion trackers were developed to adjust autonomously to illumination and contrast changes that may occur during the video-frame sequence. Video segments were represented by quantitative features obtained by analyzing motion-strength and motion-trajectory signals in both the time and frequency domains. Seizure recognition was performed by conventional feed-forward neural networks, quantum neural networks, and cosine radial basis function neural networks, which were trained to detect neonatal seizures of the myoclonic and focal clonic types and to distinguish them from random infant movements. The computational tools and procedures developed for automated seizure detection were evaluated on a set of 240 video segments of 54 patients exhibiting myoclonic seizures (80 segments), focal clonic seizures (80 segments), and random infant movements (80 segments). Regardless of the decision scheme used for interpreting the responses of the trained neural networks, all the neural network models exhibited sensitivity and specificity>90%. For one of the decision schemes proposed for interpreting the responses of the trained neural networks, the majority of the trained neural-network models exhibited sensitivity>90% and specificity>95%. In particular, cosine radial basis function neural networks achieved the performance targets of this phase of the project (i.e., sensitivity>95% and specificity>95%). The best among the motion segmentation and tracking methods developed in this study produced quantitative features that constitute a reliable basis for detecting neonatal seizures. The performance targets of this phase of the project were achieved by combining the quantitative features obtained by analyzing motion-strength signals with those produced by analyzing motion-trajectory signals. The computational procedures and tools developed in this study to perform off-line analysis of short video segments will be used in the next phase of this project, which involves the integration of these procedures and tools into a system that can process and analyze long video recordings of infants monitored for seizures in real time.

XD-GRASP: Golden-angle radial MRI with reconstruction of extra motion-state dimensions using compressed sensing.

PubMed

Feng, Li; Axel, Leon; Chandarana, Hersh; Block, Kai Tobias; Sodickson, Daniel K; Otazo, Ricardo

2016-02-01

To develop a novel framework for free-breathing MRI called XD-GRASP, which sorts dynamic data into extra motion-state dimensions using the self-navigation properties of radial imaging and reconstructs the multidimensional dataset using compressed sensing. Radial k-space data are continuously acquired using the golden-angle sampling scheme and sorted into multiple motion-states based on respiratory and/or cardiac motion signals derived directly from the data. The resulting undersampled multidimensional dataset is reconstructed using a compressed sensing approach that exploits sparsity along the new dynamic dimensions. The performance of XD-GRASP is demonstrated for free-breathing three-dimensional (3D) abdominal imaging, two-dimensional (2D) cardiac cine imaging and 3D dynamic contrast-enhanced (DCE) MRI of the liver, comparing against reconstructions without motion sorting in both healthy volunteers and patients. XD-GRASP separates respiratory motion from cardiac motion in cardiac imaging, and respiratory motion from contrast enhancement in liver DCE-MRI, which improves image quality and reduces motion-blurring artifacts. XD-GRASP represents a new use of sparsity for motion compensation and a novel way to handle motions in the context of a continuous acquisition paradigm. Instead of removing or correcting motion, extra motion-state dimensions are reconstructed, which improves image quality and also offers new physiological information of potential clinical value. © 2015 Wiley Periodicals, Inc.

XD-GRASP: Golden-Angle Radial MRI with Reconstruction of Extra Motion-State Dimensions Using Compressed Sensing

PubMed Central

Feng, Li; Axel, Leon; Chandarana, Hersh; Block, Kai Tobias; Sodickson, Daniel K.; Otazo, Ricardo

2015-01-01

Purpose To develop a novel framework for free-breathing MRI called XD-GRASP, which sorts dynamic data into extra motion-state dimensions using the self-navigation properties of radial imaging and reconstructs the multidimensional dataset using compressed sensing. Methods Radial k-space data are continuously acquired using the golden-angle sampling scheme and sorted into multiple motion-states based on respiratory and/or cardiac motion signals derived directly from the data. The resulting under-sampled multidimensional dataset is reconstructed using a compressed sensing approach that exploits sparsity along the new dynamic dimensions. The performance of XD-GRASP is demonstrated for free-breathing three-dimensional (3D) abdominal imaging, two-dimensional (2D) cardiac cine imaging and 3D dynamic contrast-enhanced (DCE) MRI of the liver, comparing against reconstructions without motion sorting in both healthy volunteers and patients. Results XD-GRASP separates respiratory motion from cardiac motion in cardiac imaging, and respiratory motion from contrast enhancement in liver DCE-MRI, which improves image quality and reduces motion-blurring artifacts. Conclusion XD-GRASP represents a new use of sparsity for motion compensation and a novel way to handle motions in the context of a continuous acquisition paradigm. Instead of removing or correcting motion, extra motion-state dimensions are reconstructed, which improves image quality and also offers new physiological information of potential clinical value. PMID:25809847

New architecture for dynamic frame-skipping transcoder.

PubMed

Fung, Kai-Tat; Chan, Yui-Lam; Siu, Wan-Chi

2002-01-01

Transcoding is a key technique for reducing the bit rate of a previously compressed video signal. A high transcoding ratio may result in an unacceptable picture quality when the full frame rate of the incoming video bitstream is used. Frame skipping is often used as an efficient scheme to allocate more bits to the representative frames, so that an acceptable quality for each frame can be maintained. However, the skipped frame must be decompressed completely, which might act as a reference frame to nonskipped frames for reconstruction. The newly quantized discrete cosine transform (DCT) coefficients of the prediction errors need to be re-computed for the nonskipped frame with reference to the previous nonskipped frame; this can create undesirable complexity as well as introduce re-encoding errors. In this paper, we propose new algorithms and a novel architecture for frame-rate reduction to improve picture quality and to reduce complexity. The proposed architecture is mainly performed on the DCT domain to achieve a transcoder with low complexity. With the direct addition of DCT coefficients and an error compensation feedback loop, re-encoding errors are reduced significantly. Furthermore, we propose a frame-rate control scheme which can dynamically adjust the number of skipped frames according to the incoming motion vectors and re-encoding errors due to transcoding such that the decoded sequence can have a smooth motion as well as better transcoded pictures. Experimental results show that, as compared to the conventional transcoder, the new architecture for frame-skipping transcoder is more robust, produces fewer requantization errors, and has reduced computational complexity.

Macroscopic superpositions and gravimetry with quantum magnetomechanics.

PubMed

Johnsson, Mattias T; Brennen, Gavin K; Twamley, Jason

2016-11-21

Precision measurements of gravity can provide tests of fundamental physics and are of broad practical interest for metrology. We propose a scheme for absolute gravimetry using a quantum magnetomechanical system consisting of a magnetically trapped superconducting resonator whose motion is controlled and measured by a nearby RF-SQUID or flux qubit. By driving the mechanical massive resonator to be in a macroscopic superposition of two different heights our we predict that our interferometry protocol could, subject to systematic errors, achieve a gravimetric sensitivity of Δg/g ~ 2.2 × 10 -10  Hz -1/2 , with a spatial resolution of a few nanometres. This sensitivity and spatial resolution exceeds the precision of current state of the art atom-interferometric and corner-cube gravimeters by more than an order of magnitude, and unlike classical superconducting interferometers produces an absolute rather than relative measurement of gravity. In addition, our scheme takes measurements at ~10 kHz, a region where the ambient vibrational noise spectrum is heavily suppressed compared the ~10 Hz region relevant for current cold atom gravimeters.

Macroscopic superpositions and gravimetry with quantum magnetomechanics

PubMed Central

Johnsson, Mattias T.; Brennen, Gavin K.; Twamley, Jason

2016-01-01

Precision measurements of gravity can provide tests of fundamental physics and are of broad practical interest for metrology. We propose a scheme for absolute gravimetry using a quantum magnetomechanical system consisting of a magnetically trapped superconducting resonator whose motion is controlled and measured by a nearby RF-SQUID or flux qubit. By driving the mechanical massive resonator to be in a macroscopic superposition of two different heights our we predict that our interferometry protocol could, subject to systematic errors, achieve a gravimetric sensitivity of Δg/g ~ 2.2 × 10−10 Hz−1/2, with a spatial resolution of a few nanometres. This sensitivity and spatial resolution exceeds the precision of current state of the art atom-interferometric and corner-cube gravimeters by more than an order of magnitude, and unlike classical superconducting interferometers produces an absolute rather than relative measurement of gravity. In addition, our scheme takes measurements at ~10 kHz, a region where the ambient vibrational noise spectrum is heavily suppressed compared the ~10 Hz region relevant for current cold atom gravimeters. PMID:27869142

Noncontrast magnetic resonance angiography of the hand: improved arterial conspicuity by multidirectional flow-sensitive dephasing magnetization preparation in 3D balanced steady-state free precession imaging.

PubMed

Fan, Zhaoyang; Hodnett, Philip A; Davarpanah, Amir H; Scanlon, Timothy G; Sheehan, John J; Varga, John; Carr, James C; Li, Debiao

2011-08-01

: To develop a flow-sensitive dephasing (FSD) preparative scheme to facilitate multidirectional flow-signal suppression in 3-dimensional balanced steady-state free precession imaging and to validate the feasibility of the refined sequence for noncontrast magnetic resonance angiography (NC-MRA) of the hand. : A new FSD preparative scheme was developed that combines 2 conventional FSD modules. Studies using a flow phantom (gadolinium-doped water 15 cm/s) and the hands of 11 healthy volunteers (6 males and 5 females) were performed to compare the proposed FSD scheme with its conventional counterpart with respect to the signal suppression of multidirectional flow. In 9 of the 11 healthy subjects and 2 patients with suspected vasculitis and documented Raynaud phenomenon, respectively, 3-dimensional balanced steady-state free precession imaging coupled with the new FSD scheme was compared with spatial-resolution-matched (0.94 × 0.94 × 0.94 mm) contrast-enhanced magnetic resonance angiography (0.15 mmol/kg gadopentetate dimeglumine) in terms of overall image quality, venous contamination, motion degradation, and arterial conspicuity. : The proposed FSD scheme was able to suppress 2-dimensional flow signal in the flow phantom and hands and yielded significantly higher arterial conspicuity scores than the conventional scheme did on NC-MRA at the regions of common digitals and proper digitals. Compared with contrast-enhanced magnetic resonance angiography, the refined NC-MRA technique yielded comparable overall image quality and motion degradation, significantly less venous contamination, and significantly higher arterial conspicuity score at digital arteries. : The FSD-based NC-MRA technique is improved in the depiction of multidirectional flow by applying a 2-module FSD preparation, which enhances its potential to serve as an alternative magnetic resonance angiography technique for the assessment of hand vascular abnormalities.

Multivariable control theory applied to hierarchial attitude control for planetary spacecraft

NASA Technical Reports Server (NTRS)

Boland, J. S., III; Russell, D. W.

1972-01-01

Multivariable control theory is applied to the design of a hierarchial attitude control system for the CARD space vehicle. The system selected uses reaction control jets (RCJ) and control moment gyros (CMG). The RCJ system uses linear signal mixing and a no-fire region similar to that used on the Skylab program; the y-axis and z-axis systems which are coupled use a sum and difference feedback scheme. The CMG system uses the optimum steering law and the same feedback signals as the RCJ system. When both systems are active the design is such that the torques from each system are never in opposition. A state-space analysis was made of the CMG system to determine the general structure of the input matrices (steering law) and feedback matrices that will decouple the axes. It is shown that the optimum steering law and proportional-plus-rate feedback are special cases. A derivation of the disturbing torques on the space vehicle due to the motion of the on-board television camera is presented. A procedure for computing an upper bound on these torques (given the system parameters) is included.

ITG-TEM turbulence simulation with bounce-averaged kinetic electrons in tokamak geometry

NASA Astrophysics Data System (ADS)

Kwon, Jae-Min; Qi, Lei; Yi, S.; Hahm, T. S.

2017-06-01

We develop a novel numerical scheme to simulate electrostatic turbulence with kinetic electron responses in magnetically confined toroidal plasmas. Focusing on ion gyro-radius scale turbulences with slower frequencies than the time scales for electron parallel motions, we employ and adapt the bounce-averaged kinetic equation to model trapped electrons for nonlinear turbulence simulation with Coulomb collisions. Ions are modeled by employing the gyrokinetic equation. The newly developed scheme is implemented on a global δf particle in cell code gKPSP. By performing linear and nonlinear simulations, it is demonstrated that the new scheme can reproduce key physical properties of Ion Temperature Gradient (ITG) and Trapped Electron Mode (TEM) instabilities, and resulting turbulent transport. The overall computational cost of kinetic electrons using this novel scheme is limited to 200%-300% of the cost for simulations with adiabatic electrons. Therefore the new scheme allows us to perform kinetic simulations with trapped electrons very efficiently in magnetized plasmas.

Real-time visual target tracking: two implementations of velocity-based smooth pursuit

NASA Astrophysics Data System (ADS)

Etienne-Cummings, Ralph; Longo, Paul; Van der Spiegel, Jan; Mueller, Paul

1995-06-01

Two systems for velocity-based visual target tracking are presented. The first two computational layers of both implementations are composed of VLSI photoreceptors (logarithmic compression) and edge detection (difference-of-Gaussians) arrays that mimic the outer-plexiform layer of mammalian retinas. The subsequent processing layers for measuring the target velocity and to realize smooth pursuit tracking are implemented in software and at the focal plane in the two versions, respectively. One implentation uses a hybrid of a PC and a silicon retina (39 X 38 pixels) operating at 333 frames/second. The software implementation of a real-time optical flow measurement algorithm is used to determine the target velocity, and a closed-loop control system zeroes the relative velocity of the target and retina. The second implementation is a single VLSI chip, which contains a linear array of photoreceptors, edge detectors and motion detectors at the focal plane. The closed-loop control system is also included on chip. This chip realizes all the computational properties of the hybrid system. The effects of background motion, target occlusion, and disappearance are studied as a function of retinal size and spatial distribution of the measured motion vectors (i.e. foveal/peripheral and diverging/converging measurement schemes). The hybrid system, which tested successfully, tracks targets moving as fast as 3 m/s at 1.3 meters from the camera and it can compensate for external arbitrary movements in its mounting platform. The single chip version, whose circuits tested successfully, can handle targets moving at 10 m/s.

Unsteady, Transonic Flow Around Delta Wings Undergoing Coupled and Natural Modes Response: A Multidisciplinary Problem

NASA Technical Reports Server (NTRS)

Menzies, Margaret Anne

1996-01-01

The unsteady, three-dimensional Navier-Stokes equations coupled with the Euler equations of rigid-body dynamics are sequentially solved to simulate and analyze the aerodynamic response of a high angle of attack delta wing undergoing oscillatory motion. The governing equations of fluid flow and dynamics of the multidisciplinary problem are solved using a time-accurate solution of the laminar, unsteady, compressible, full Navier- Stokes equations with the implicit, upwind, Roe flux-difference splitting, finite-volume scheme and a four-stage Runge-Kutta scheme, respectively. The primary model under consideration consists of a 65 deg swept, sharp-edged, cropped delta wing of zero thickness at 20 deg angle of attack. In a freestream of Mach 0.85 and Reynolds number of 3.23 x 10(exp 6), the flow over the upper surface of the wing develops a complex shock system which interacts with the leading-edge primary vortices producing vortex breakdown. The effect of the oscillatory motion of the wing on the vortex breakdown and overall aerodynamic response is detailed to provide insight to the complicated physics associated with unsteady flows and the phenomenon of wing rock. Forced sinusoidal single and coupled mode rolling and pitching motion is presented for the wing in a transonic freestream. The Reynolds number, frequency of oscillation, and the phase angle are varied. Comparison between the single and coupled mode forced rolling and pitching oscillation cases illustrate the effects of coupling the motion. This investigation shows that even when coupled, forced rolling oscillation at a reduced frequency of 2(pi) eliminates the vortex breakdown which results in an increase in lift. The coupling effect for in phase forced oscillations show that the lift coefficient of the pitching-alone case and the rolling-moment coefficient of the rolling-alone case dominate the resulting response. However, with a phase lead in the pitching motion, the coupled motion results in a non-periodic response of the rolling moment. The second class of problems involve releasing the wing in roll to respond to the flowfield. Two models of sharp-edged delta wings, the previous 65 deg swept model and an 80 deg swept, sharp-edged delta wing, are used to observe the aerodynamic response of a wing free to roll in a transonic and subsonic freestream, respectively. These cases demonstrate damped oscillations, self-sustained limit cycle oscillations, and divergent rolling oscillations. Ultimately, an active control model using a mass injection system was applied on the surface of the wing to suppress the self-sustained limit cycle oscillation known as wing rock. Comparisons with experimental investigations complete this study, validating the analysis and illustrating the complex details afforded by computational investigations.

Toward the Reliability of Fault Representation Methods in Finite Difference Schemes for Simulation of Shear Rupture Propagation

NASA Astrophysics Data System (ADS)

Dalguer, L. A.; Day, S. M.

2006-12-01

Accuracy in finite difference (FD) solutions to spontaneous rupture problems is controlled principally by the scheme used to represent the fault discontinuity, and not by the grid geometry used to represent the continuum. We have numerically tested three fault representation methods, the Thick Fault (TF) proposed by Madariaga et al (1998), the Stress Glut (SG) described by Andrews (1999), and the Staggered-Grid Split-Node (SGSN) methods proposed by Dalguer and Day (2006), each implemented in a the fourth-order velocity-stress staggered-grid (VSSG) FD scheme. The TF and the SG methods approximate the discontinuity through inelastic increments to stress components ("inelastic-zone" schemes) at a set of stress grid points taken to lie on the fault plane. With this type of scheme, the fault surface is indistinguishable from an inelastic zone with a thickness given by a spatial step dx for the SG, and 2dx for the TF model. The SGSN method uses the traction-at-split-node (TSN) approach adapted to the VSSG FD. This method represents the fault discontinuity by explicitly incorporating discontinuity terms at velocity nodes in the grid, with interactions between the "split nodes" occurring exclusively through the tractions (frictional resistance) acting between them. These tractions in turn are controlled by the jump conditions and a friction law. Our 3D tests problem solutions show that the inelastic-zone TF and SG methods show much poorer performance than does the SGSN formulation. The SG inelastic-zone method achieved solutions that are qualitatively meaningful and quantitatively reliable to within a few percent. The TF inelastic-zone method did not achieve qualitatively agreement with the reference solutions to the 3D test problem, and proved to be sufficiently computationally inefficient that it was not feasible to explore convergence quantitatively. The SGSN method gives very accurate solutions, and is also very efficient. Reliable solution of the rupture time is reached with a median resolution of the cohesive zone of only ~2 grid points, and efficiency is competitive with the Boundary Integral (BI) method. The results presented here demonstrate that appropriate fault representation in a numerical scheme is crucial to reduce uncertainties in numerical simulations of earthquake source dynamics and ground motion, and therefore important to improving our understanding of earthquake physics in general.

Conical Euler simulation and active suppression of delta wing rocking motion

NASA Technical Reports Server (NTRS)

Lee, Elizabeth M.; Batina, John T.

1990-01-01

A conical Euler code was developed to study unsteady vortex-dominated flows about rolling highly-swept delta wings, undergoing either forced or free-to-roll motions including active roll suppression. The flow solver of the code involves a multistage Runge-Kutta time-stepping scheme which uses a finite volume spatial discretization of the Euler equations on an unstructured grid of triangles. The code allows for the additional analysis of the free-to-roll case, by including the rigid-body equation of motion for its simultaneous time integration with the governing flow equations. Results are presented for a 75 deg swept sharp leading edge delta wing at a freestream Mach number of 1.2 and at alpha equal to 10 and 30 deg angle of attack. A forced harmonic analysis indicates that the rolling moment coefficient provides: (1) a positive damping at the lower angle of attack equal to 10 deg, which is verified in a free-to-roll calculation; (2) a negative damping at the higher angle of attack equal to 30 deg at the small roll amplitudes. A free-to-roll calculation for the latter case produces an initially divergent response, but as the amplitude of motion grows with time, the response transitions to a wing-rock type of limit cycle oscillation. The wing rocking motion may be actively suppressed, however, through the use of a rate-feedback control law and antisymmetrically deflected leading edge flaps. The descriptions of the conical Euler flow solver and the free-to-roll analysis are presented. Results are also presented which give insight into the flow physics associated with unsteady vortical flows about forced and free-to-roll delta wings, including the active roll suppression of this wing-rock phenomenon.

Evaluation of respiratory and cardiac motion correction schemes in dual gated PET/CT cardiac imaging.

PubMed

Lamare, F; Le Maitre, A; Dawood, M; Schäfers, K P; Fernandez, P; Rimoldi, O E; Visvikis, D

2014-07-01

Cardiac imaging suffers from both respiratory and cardiac motion. One of the proposed solutions involves double gated acquisitions. Although such an approach may lead to both respiratory and cardiac motion compensation there are issues associated with (a) the combination of data from cardiac and respiratory motion bins, and (b) poor statistical quality images as a result of using only part of the acquired data. The main objective of this work was to evaluate different schemes of combining binned data in order to identify the best strategy to reconstruct motion free cardiac images from dual gated positron emission tomography (PET) acquisitions. A digital phantom study as well as seven human studies were used in this evaluation. PET data were acquired in list mode (LM). A real-time position management system and an electrocardiogram device were used to provide the respiratory and cardiac motion triggers registered within the LM file. Acquired data were subsequently binned considering four and six cardiac gates, or the diastole only in combination with eight respiratory amplitude gates. PET images were corrected for attenuation, but no randoms nor scatter corrections were included. Reconstructed images from each of the bins considered above were subsequently used in combination with an affine or an elastic registration algorithm to derive transformation parameters allowing the combination of all acquired data in a particular position in the cardiac and respiratory cycles. Images were assessed in terms of signal-to-noise ratio (SNR), contrast, image profile, coefficient-of-variation (COV), and relative difference of the recovered activity concentration. Regardless of the considered motion compensation strategy, the nonrigid motion model performed better than the affine model, leading to higher SNR and contrast combined with a lower COV. Nevertheless, when compensating for respiration only, no statistically significant differences were observed in the performance of the two motion models considered. Superior image SNR and contrast were seen using the affine respiratory motion model in combination with the diastole cardiac bin in comparison to the use of the whole cardiac cycle. In contrast, when simultaneously correcting for cardiac beating and respiration, the elastic respiratory motion model outperformed the affine model. In this context, four cardiac bins associated with eight respiratory amplitude bins seemed to be adequate. Considering the compensation of respiratory motion effects only, both affine and elastic based approaches led to an accurate resizing and positioning of the myocardium. The use of the diastolic phase combined with an affine model based respiratory motion correction may therefore be a simple approach leading to significant quality improvements in cardiac PET imaging. However, the best performance was obtained with the combined correction for both cardiac and respiratory movements considering all the dual-gated bins independently through the use of an elastic model based motion compensation.

Salt-water-freshwater transient upconing - An implicit boundary-element solution

USGS Publications Warehouse

Kemblowski, M.

1985-01-01

The boundary-element method is used to solve the set of partial differential equations describing the flow of salt water and fresh water separated by a sharp interface in the vertical plane. In order to improve the accuracy and stability of the numerical solution, a new implicit scheme was developed for calculating the motion of the interface. The performance of this scheme was tested by means of numerical simulation. The numerical results are compared to experimental results for a salt-water upconing under a drain problem. ?? 1985.

Numerical simulation of turbulence in the presence of shear

NASA Technical Reports Server (NTRS)

Shaanan, S.; Ferziger, J. H.; Reynolds, W. C.

1975-01-01

The numerical calculations are presented of the large eddy structure of turbulent flows, by use of the averaged Navier-Stokes equations, where averages are taken over spatial regions small compared to the size of the computational grid. The subgrid components of motion are modeled by a local eddy-viscosity model. A new finite-difference scheme is proposed to represent the nonlinear average advective term which has fourth-order accuracy. This scheme exhibits several advantages over existing schemes with regard to the following: (1) the scheme is compact as it extends only one point away in each direction from the point to which it is applied; (2) it gives better resolution for high wave-number waves in the solution of Poisson equation, and (3) it reduces programming complexity and computation time. Examples worked out in detail are the decay of isotropic turbulence, homogeneous turbulent shear flow, and homogeneous turbulent shear flow with system rotation.

Matching by linear programming and successive convexification.

PubMed

Jiang, Hao; Drew, Mark S; Li, Ze-Nian

2007-06-01

We present a novel convex programming scheme to solve matching problems, focusing on the challenging problem of matching in a large search range and with cluttered background. Matching is formulated as metric labeling with L1 regularization terms, for which we propose a novel linear programming relaxation method and an efficient successive convexification implementation. The unique feature of the proposed relaxation scheme is that a much smaller set of basis labels is used to represent the original label space. This greatly reduces the size of the searching space. A successive convexification scheme solves the labeling problem in a coarse to fine manner. Importantly, the original cost function is reconvexified at each stage, in the new focus region only, and the focus region is updated so as to refine the searching result. This makes the method well-suited for large label set matching. Experiments demonstrate successful applications of the proposed matching scheme in object detection, motion estimation, and tracking.

Computational Investigation and Validation of Twin-Tail Buffet Response Including Dynamics and Control

NASA Technical Reports Server (NTRS)

Kandil, Osama A.

1998-01-01

Multidisciplinary tools for prediction of single rectangular-tail buffet are extended to single swept-back-tail buffet in transonic-speed flow, and multidisciplinary tools for prediction and control of twin-tail buffet are developed and presented. The configuration model consists of a sharp-edged delta wing with single or twin tails that are oriented normal to the wing surface. The tails are treated as cantilevered beams fixed at the root and allowed to oscillate in both bending and torsion. This complex multidisciplinary problem is solved sequentially using three sets of equations on a dynamic single or multi-block grid structure. The first set is the unsteady, compressible, Reynolds-averaged Navier-Stokes equations which are used for obtaining the flow field vector and the aerodynamic loads on the tails. The Navier-Stokes equations are solved accurately in time using the implicit, upwind, flux-difference splitting, finite volume scheme. The second set is the coupled bending and torsion aeroelastic equations of cantilevered beams which are used for obtaining the bending and torsion deflections of the tails. The aeroelastic equations'are solved accurately in time using, a fifth-order-accurate Runge-Kutta scheme. The third set is the grid-displacement equations and the rigid-body dynamics equations, which are used for updating the grid coordinates due to the tail deflections and rigid-body motions. The tail-buffet phenomenon is predicted for highly-swept, single vertical tail placed at the plane of geometric symmetry, and for highly-swept, vertical twin tails placed at three different spanwise separation distances. The investigation demonstrates the effects of structural inertial coupling and uncoupling of the bending and torsion modes of vibration, spanwise positions of the twin-tail, angle of attack, and pitching and rolling dynamic motions of the configuration model on the tail buffet loading and response. The fundamental issue of twin-tail buffet alleviation is addressed using two active flow-control methods. These methods are the tangential leading-edge blowing and the flow suction from the leading-edge vortex cores along their paths. Qualitative and quantitative comparisons with the available experimental data are presented. The comparisons indicate that the present multidisciplinary aeroelastic analysis tools are robust, accurate and efficient.

Structured approaches to large-scale systems: Variational integrators for interconnected Lagrange-Dirac systems and structured model reduction on Lie groups

NASA Astrophysics Data System (ADS)

Parks, Helen Frances

This dissertation presents two projects related to the structured integration of large-scale mechanical systems. Structured integration uses the considerable differential geometric structure inherent in mechanical motion to inform the design of numerical integration schemes. This process improves the qualitative properties of simulations and becomes especially valuable as a measure of accuracy over long time simulations in which traditional Gronwall accuracy estimates lose their meaning. Often, structured integration schemes replicate continuous symmetries and their associated conservation laws at the discrete level. Such is the case for variational integrators, which discretely replicate the process of deriving equations of motion from variational principles. This results in the conservation of momenta associated to symmetries in the discrete system and conservation of a symplectic form when applicable. In the case of Lagrange-Dirac systems, variational integrators preserve a discrete analogue of the Dirac structure preserved in the continuous flow. In the first project of this thesis, we extend Dirac variational integrators to accommodate interconnected systems. We hope this work will find use in the fields of control, where a controlled system can be thought of as a "plant" system joined to its controller, and in the approach of very large systems, where modular modeling may prove easier than monolithically modeling the entire system. The second project of the thesis considers a different approach to large systems. Given a detailed model of the full system, can we reduce it to a more computationally efficient model without losing essential geometric structures in the system? Asked without the reference to structure, this is the essential question of the field of model reduction. The answer there has been a resounding yes, with Principal Orthogonal Decomposition (POD) with snapshots rising as one of the most successful methods. Our project builds on previous work to extend POD to structured settings. In particular, we consider systems evolving on Lie groups and make use of canonical coordinates in the reduction process. We see considerable improvement in the accuracy of the reduced model over the usual structure-agnostic POD approach.

Research to Assembly Scheme for Satellite Deck Based on Robot Flexibility Control Principle

NASA Astrophysics Data System (ADS)

Guo, Tao; Hu, Ruiqin; Xiao, Zhengyi; Zhao, Jingjing; Fang, Zhikai

2018-03-01

Deck assembly is critical quality control point in final satellite assembly process, and cable extrusion and structure collision problems in assembly process will affect development quality and progress of satellite directly. Aimed at problems existing in deck assembly process, assembly project scheme for satellite deck based on robot flexibility control principle is proposed in this paper. Scheme is introduced firstly; secondly, key technologies on end force perception and flexible docking control in the scheme are studied; then, implementation process of assembly scheme for satellite deck is described in detail; finally, actual application case of assembly scheme is given. Result shows that compared with traditional assembly scheme, assembly scheme for satellite deck based on robot flexibility control principle has obvious advantages in work efficiency, reliability and universality aspects etc.

Time step rescaling recovers continuous-time dynamical properties for discrete-time Langevin integration of nonequilibrium systems.

PubMed

Sivak, David A; Chodera, John D; Crooks, Gavin E

2014-06-19

When simulating molecular systems using deterministic equations of motion (e.g., Newtonian dynamics), such equations are generally numerically integrated according to a well-developed set of algorithms that share commonly agreed-upon desirable properties. However, for stochastic equations of motion (e.g., Langevin dynamics), there is still broad disagreement over which integration algorithms are most appropriate. While multiple desiderata have been proposed throughout the literature, consensus on which criteria are important is absent, and no published integration scheme satisfies all desiderata simultaneously. Additional nontrivial complications stem from simulating systems driven out of equilibrium using existing stochastic integration schemes in conjunction with recently developed nonequilibrium fluctuation theorems. Here, we examine a family of discrete time integration schemes for Langevin dynamics, assessing how each member satisfies a variety of desiderata that have been enumerated in prior efforts to construct suitable Langevin integrators. We show that the incorporation of a novel time step rescaling in the deterministic updates of position and velocity can correct a number of dynamical defects in these integrators. Finally, we identify a particular splitting (related to the velocity Verlet discretization) that has essentially universally appropriate properties for the simulation of Langevin dynamics for molecular systems in equilibrium, nonequilibrium, and path sampling contexts.

Automatic 3D registration of dynamic stress and rest (82)Rb and flurpiridaz F 18 myocardial perfusion PET data for patient motion detection and correction.

PubMed

Woo, Jonghye; Tamarappoo, Balaji; Dey, Damini; Nakazato, Ryo; Le Meunier, Ludovic; Ramesh, Amit; Lazewatsky, Joel; Germano, Guido; Berman, Daniel S; Slomka, Piotr J

2011-11-01

The authors aimed to develop an image-based registration scheme to detect and correct patient motion in stress and rest cardiac positron emission tomography (PET)/CT images. The patient motion correction was of primary interest and the effects of patient motion with the use of flurpiridaz F 18 and (82)Rb were demonstrated. The authors evaluated stress/rest PET myocardial perfusion imaging datasets in 30 patients (60 datasets in total, 21 male and 9 female) using a new perfusion agent (flurpiridaz F 18) (n = 16) and (82)Rb (n = 14), acquired on a Siemens Biograph-64 scanner in list mode. Stress and rest images were reconstructed into 4 ((82)Rb) or 10 (flurpiridaz F 18) dynamic frames (60 s each) using standard reconstruction (2D attenuation weighted ordered subsets expectation maximization). Patient motion correction was achieved by an image-based registration scheme optimizing a cost function using modified normalized cross-correlation that combined global and local features. For comparison, visual scoring of motion was performed on the scale of 0 to 2 (no motion, moderate motion, and large motion) by two experienced observers. The proposed registration technique had a 93% success rate in removing left ventricular motion, as visually assessed. The maximum detected motion extent for stress and rest were 5.2 mm and 4.9 mm for flurpiridaz F 18 perfusion and 3.0 mm and 4.3 mm for (82)Rb perfusion studies, respectively. Motion extent (maximum frame-to-frame displacement) obtained for stress and rest were (2.2 ± 1.1, 1.4 ± 0.7, 1.9 ± 1.3) mm and (2.0 ± 1.1, 1.2 ±0 .9, 1.9 ± 0.9) mm for flurpiridaz F 18 perfusion studies and (1.9 ± 0.7, 0.7 ± 0.6, 1.3 ± 0.6) mm and (2.0 ± 0.9, 0.6 ± 0.4, 1.2 ± 1.2) mm for (82)Rb perfusion studies, respectively. A visually detectable patient motion threshold was established to be ≥2.2 mm, corresponding to visual user scores of 1 and 2. After motion correction, the average increases in contrast-to-noise ratio (CNR) from all frames for larger than the motion threshold were 16.2% in stress flurpiridaz F 18 and 12.2% in rest flurpiridaz F 18 studies. The average increases in CNR were 4.6% in stress (82)Rb studies and 4.3% in rest (82)Rb studies. Fully automatic motion correction of dynamic PET frames can be performed accurately, potentially allowing improved image quantification of cardiac PET data.

Loading, electromyograph, and motion during exercise

NASA Technical Reports Server (NTRS)

Figueroa, Fernando

1993-01-01

A system is being developed to gather kineto-dynamic data for a study to determine the load vectors applied to bone during exercise on equipment similar to that used in space. This information will quantify bone loading for exercise countermeasures development. Decreased muscle loading and external loading of bone during weightlessness results in cancellous bone loss of 1 percent per month in the lower extremities and 2 percent per month in the calcaneous. It is hypothesized that loading bone appropriately during exercise may prevent the bone loss. The system consists of an ergometer instrumented to provide position of the pedal (foot), pedaling forces on the foot (on the sagittal plane), and force on the seat. Accelerometers attached to the limbs will provide acceleration. These data will be used as input to an analytical model of the limb to determine forces on the bones and on groups of muscles. EMG signals from activity in the muscles will also be used in conjunction with the equations of mechanics of motion to be able to discern forces exerted by specific muscles. The tasks to be carried out include: design of various mechanical components to mount transducers, specification of mechanical components, specification of position transducers, development of a scheme to control the data acquisition instruments (TEAC recorder and optical encoder board), development of a dynamic model of the limbs in motion, and development of an overall scheme for data collection analysis and presentation. At the present time, all the hardware components of the system are operational, except for a computer board to gather position data from the pedals and crank. This board, however, may be put to use by anyone with background in computer based instrumentation. The software components are not all done. Software to transfer data recorded from the EMG measurements is operational, software to drive the optical encoder card is mostly done. The equations to model the kinematics and dynamics of motion of the limbs have been developed, but they have not yet been implemented in software. Aside from the development of the hardware and software components of the system, the methodology to use accelerometers and encoders and the formulation of the appropriate equations are an important contribution to the area of biomechanics, particularly in space applications.

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.

Motion of the Ca2+-pump captured.

PubMed

Yokokawa, Masatoshi; Takeyasu, Kunio

2011-09-01

Studies of ion pumps, such as ATP synthetase and Ca(2+)-ATPase, have a long history. The crystal structures of several kinds of ion pump have been resolved, and provide static pictures of mechanisms of ion transport. In this study, using fast-scanning atomic force microscopy, we have visualized conformational changes in the sarcoplasmic reticulum Ca(2+)-ATPase (SERCA) in real time at the single-molecule level. The analyses of individual SERCA molecules in the presence of both ATP and free Ca(2+) revealed up-down structural changes corresponding to the Albers-Post scheme. This fluctuation was strongly affected by the ATP and Ca(2+) concentrations, and was prevented by an inhibitor, thapsigargin. Interestingly, at a physiological ATP concentrations, the up-down motion disappeared completely. These results indicate that SERCA does not transit through the shortest structure, and has a catalytic pathway different from the ordinary Albers-Post scheme under physiological conditions. © 2011 The Authors Journal compilation © 2011 FEBS.

Perturbative treatment of spin-orbit-coupling within spin-free exact two-component theory using equation-of-motion coupled-cluster methods

NASA Astrophysics Data System (ADS)

Cheng, Lan; Wang, Fan; Stanton, John F.; Gauss, Jürgen

2018-01-01

A scheme is reported for the perturbative calculation of spin-orbit coupling (SOC) within the spin-free exact two-component theory in its one-electron variant (SFX2C-1e) in combination with the equation-of-motion coupled-cluster singles and doubles method. Benchmark calculations of the spin-orbit splittings in 2Π and 2P radicals show that the accurate inclusion of scalar-relativistic effects using the SFX2C-1e scheme extends the applicability of the perturbative treatment of SOC to molecules that contain heavy elements. The contributions from relaxation of the coupled-cluster amplitudes are shown to be relatively small; significant contributions from correlating the inner-core orbitals are observed in calculations involving third-row and heavier elements. The calculation of term energies for the low-lying electronic states of the PtH radical, which serves to exemplify heavy transition-metal containing systems, further demonstrates the quality that can be achieved with the pragmatic approach presented here.

Continuous parametric feedback cooling of a single atom in an optical cavity

NASA Astrophysics Data System (ADS)

Sames, C.; Hamsen, C.; Chibani, H.; Altin, P. A.; Wilk, T.; Rempe, G.

2018-05-01

We demonstrate a feedback algorithm to cool a single neutral atom trapped inside a standing-wave optical cavity. The algorithm is based on parametric modulation of the confining potential at twice the natural oscillation frequency of the atom, in combination with fast and repetitive atomic position measurements. The latter serve to continuously adjust the modulation phase to a value for which parametric excitation of the atomic motion is avoided. Cooling is limited by the measurement backaction which decoheres the atomic motion after only a few oscillations. Nonetheless, applying this feedback scheme to an ˜5 -kHz oscillation mode increases the average storage time of a single atom in the cavity by a factor of 60 to more than 2 s. In contrast to previous feedback schemes, our algorithm is also capable of cooling a much faster ˜500 -kHz oscillation mode within just microseconds. This demonstrates that parametric cooling is a powerful technique that can be applied in all experiments where optical access is limited.

Site evaluation for laser satellite-tracking stations

NASA Technical Reports Server (NTRS)

Mao, N. H.; Mohr, P. A.

1976-01-01

Twenty-six locations for potential laser satellite-tracking stations, four of them actually already occupied in this role, are reviewed in terms of their known local and regional geology and geophysics. The sites are also considered briefly in terms of weather and operational factors. Fifteen of the sites qualify as suitable for a stable station whose motions are likely to reflect only gross plate motion. The others, including two of the present laser station sites (Arequipa and Athens), fail to qualify unless extra monitoring schemes can be included, such as precise geodetic surveying of ground deformation.

Mathematical model for self-propelled droplets driven by interfacial tension

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

Nagai, Ken H.; Tachibana, Kunihito; Tobe, Yuta

2016-03-21

We propose a model for the spontaneous motion of a droplet induced by inhomogeneity in interfacial tension. The model is derived from a variation of the Lagrangian of the system and we use a time-discretized Morse flow scheme to perform its numerical simulations. Our model can naturally simulate the dynamics of a single droplet, as well as that of multiple droplets, where the volume of each droplet is conserved. We reproduced the ballistic motion and fission of a droplet, and the collision of two droplets was also examined numerically.

STS-99 Shuttle Radar Topography Mission Stability and Control

NASA Technical Reports Server (NTRS)

Hamelin, Jennifer L.; Jackson, Mark C.; Kirchwey, Christopher B.; Pileggi, Roberto A.

2001-01-01

The Shuttle Radar Topography Mission (SRTM) flew aboard Space Shuttle Endeavor February 2000 and used interferometry to map 80% of the Earth's landmass. SRTM employed a 200-foot deployable mast structure to extend a second antenna away from the main antenna located in the Shuttle payload bay. Mapping requirements demanded precision pointing and orbital trajectories from the Shuttle on-orbit Flight Control System (PCS). Mast structural dynamics interaction with the FCS impacted stability and performance of the autopilot for attitude maneuvers and pointing during mapping operations. A damper system added to ensure that mast tip motion remained with in the limits of the outboard antenna tracking system while mapping also helped to mitigate structural dynamic interaction with the FCS autopilot. Late changes made to the payload damper system, which actually failed on-orbit, required a redesign and verification of the FCS autopilot filtering schemes necessary to ensure rotational control stability. In-flight measurements using three sensors were used to validate models and gauge the accuracy and robustness of the pre-mission notch filter design.

Vehicle States Observer Using Adaptive Tire-Road Friction Estimator

NASA Astrophysics Data System (ADS)

Kwak, Byunghak; Park, Youngjin

Vehicle stability control system is a new idea which can enhance the vehicle stability and handling in the emergency situation. This system requires the information of the yaw rate, sideslip angle and road friction in order to control the traction and braking forces at the individual wheels. This paper proposes an observer for the vehicle stability control system. This observer consisted of the state observer for vehicle motion estimation and the road condition estimator for the identification of the coefficient of the road friction. The state observer uses 2 degrees-of-freedom bicycle model and estimates the system variables based on the Kalman filter. The road condition estimator uses the same vehicle model and identifies the coefficient of the tire-road friction based on the recursive least square method. Both estimators make use of each other information. We show the effectiveness and feasibility of the proposed scheme under various road conditions through computer simulations of a fifteen degree-of-freedom non-linear vehicle model.

A classification scheme for the morphology of lava flow fields

NASA Technical Reports Server (NTRS)

Wilson, L.; Pinkerton, H.; Head, James W.; Roberts, K. Magee

1993-01-01

Analysis of the processes controlling the advance of lava flows shows that, if no other factors intervene, thermal constraints will act to limit the maximum length of a flow being fed at a given volume or mass effusion rate from a vent. These constraints can be characterized through the Gratz number, which takes on a large value at the vent and decreases down flow. Early application of this principle showed that, despite the many subtleties of modes of heat loss from flows, motion apparently ceases when the Gratz number has decreased to a value close to 300. Recent analyses of flow units from the 1983-86 Pu'u 'O'o eruption of Kilauea and of other, more silicic lava flow units confirm this finding.

Charged-particle motion in multidimensional magnetic-field turbulence

NASA Technical Reports Server (NTRS)

Giacalone, J.; Jokipii, J. R.

1994-01-01

We present a new analysis of the fundamental physics of charged-particle motion in a turbulent magnetic field using a numerical simulation. The magnetic field fluctuations are taken to be static and to have a power spectrum which is Kolmogorov. The charged particles are treated as test particles. It is shown that when the field turbulence is independent of one coordinate (i.e., k lies in a plane), the motion of these particles across the magnetic field is essentially zero, as required by theory. Consequently, the only motion across the average magnetic field direction that is allowed is that due to field-line random walk. On the other hand, when a fully three-dimensional realization of the turbulence is considered, the particles readily cross the field. Transport coefficients both along and across the ambient magnetic field are computed. This scheme provides a direct computation of the Fokker-Planck coefficients based on the motions of individual particles, and allows for comparison with analytic theory.

Vision-based control for flight relative to dynamic environments

NASA Astrophysics Data System (ADS)

Causey, Ryan Scott

The concept of autonomous systems has been considered an enabling technology for a diverse group of military and civilian applications. The current direction for autonomous systems is increased capabilities through more advanced systems that are useful for missions that require autonomous avoidance, navigation, tracking, and docking. To facilitate this level of mission capability, passive sensors, such as cameras, and complex software are added to the vehicle. By incorporating an on-board camera, visual information can be processed to interpret the surroundings. This information allows decision making with increased situational awareness without the cost of a sensor signature, which is critical in military applications. The concepts presented in this dissertation facilitate the issues inherent to vision-based state estimation of moving objects for a monocular camera configuration. The process consists of several stages involving image processing such as detection, estimation, and modeling. The detection algorithm segments the motion field through a least-squares approach and classifies motions not obeying the dominant trend as independently moving objects. An approach to state estimation of moving targets is derived using a homography approach. The algorithm requires knowledge of the camera motion, a reference motion, and additional feature point geometry for both the target and reference objects. The target state estimates are then observed over time to model the dynamics using a probabilistic technique. The effects of uncertainty on state estimation due to camera calibration are considered through a bounded deterministic approach. The system framework focuses on an aircraft platform of which the system dynamics are derived to relate vehicle states to image plane quantities. Control designs using standard guidance and navigation schemes are then applied to the tracking and homing problems using the derived state estimation. Four simulations are implemented in MATLAB that build on the image concepts present in this dissertation. The first two simulations deal with feature point computations and the effects of uncertainty. The third simulation demonstrates the open-loop estimation of a target ground vehicle in pursuit whereas the four implements a homing control design for the Autonomous Aerial Refueling (AAR) using target estimates as feedback.

Challenges and opportunities in patient-specific, motion-managed and PET/CT-guided radiation therapy of lung cancer: review and perspective

PubMed Central

2012-01-01

The increasing interest in combined positron emission tomography (PET) and computed tomography (CT) to guide lung cancer radiation therapy planning has been well documented. Motion management strategies during treatment simulation PET/CT imaging and treatment delivery have been proposed to improve the precision and accuracy of radiotherapy. In light of these research advances, why has translation of motion-managed PET/CT to clinical radiotherapy been slow and infrequent? Solutions to this problem are as complex as they are numerous, driven by large inter-patient variability in tumor motion trajectories across a highly heterogeneous population. Such variation dictates a comprehensive and patient-specific incorporation of motion management strategies into PET/CT-guided radiotherapy rather than a one-size-fits-all tactic. This review summarizes challenges and opportunities for clinical translation of advances in PET/CT-guided radiotherapy, as well as in respiratory motion-managed radiotherapy of lung cancer. These two concepts are then integrated into proposed patient-specific workflows that span classification schemes, PET/CT image formation, treatment planning, and adaptive image-guided radiotherapy delivery techniques. PMID:23369522

Moving object detection using dynamic motion modelling from UAV aerial images.

PubMed

Saif, A F M Saifuddin; Prabuwono, Anton Satria; Mahayuddin, Zainal Rasyid

2014-01-01

Motion analysis based moving object detection from UAV aerial image is still an unsolved issue due to inconsideration of proper motion estimation. Existing moving object detection approaches from UAV aerial images did not deal with motion based pixel intensity measurement to detect moving object robustly. Besides current research on moving object detection from UAV aerial images mostly depends on either frame difference or segmentation approach separately. There are two main purposes for this research: firstly to develop a new motion model called DMM (dynamic motion model) and secondly to apply the proposed segmentation approach SUED (segmentation using edge based dilation) using frame difference embedded together with DMM model. The proposed DMM model provides effective search windows based on the highest pixel intensity to segment only specific area for moving object rather than searching the whole area of the frame using SUED. At each stage of the proposed scheme, experimental fusion of the DMM and SUED produces extracted moving objects faithfully. Experimental result reveals that the proposed DMM and SUED have successfully demonstrated the validity of the proposed methodology.

FPGA-based architecture for motion recovering in real-time

NASA Astrophysics Data System (ADS)

Arias-Estrada, Miguel; Maya-Rueda, Selene E.; Torres-Huitzil, Cesar

2002-03-01

A key problem in the computer vision field is the measurement of object motion in a scene. The main goal is to compute an approximation of the 3D motion from the analysis of an image sequence. Once computed, this information can be used as a basis to reach higher level goals in different applications. Motion estimation algorithms pose a significant computational load for the sequential processors limiting its use in practical applications. In this work we propose a hardware architecture for motion estimation in real time based on FPGA technology. The technique used for motion estimation is Optical Flow due to its accuracy, and the density of velocity estimation, however other techniques are being explored. The architecture is composed of parallel modules working in a pipeline scheme to reach high throughput rates near gigaflops. The modules are organized in a regular structure to provide a high degree of flexibility to cover different applications. Some results will be presented and the real-time performance will be discussed and analyzed. The architecture is prototyped in an FPGA board with a Virtex device interfaced to a digital imager.

Radial gas motions in The H I Nearby Galaxy Survey (THINGS)

NASA Astrophysics Data System (ADS)

Schmidt, Tobias M.; Bigiel, Frank; Klessen, Ralf S.; de Blok, W. J. G.

2016-04-01

The study of 21 cm line observations of atomic hydrogen allows detailed insight into the kinematics of spiral galaxies. We use sensitive high-resolution Very Large Array data from The H I Nearby Galaxy Survey (THINGS) to search for radial gas flows primarily in the outer parts (up to 3 × r25) of 10 nearby spiral galaxies. Inflows are expected to replenish the gas reservoir and fuel star formation under the assumption that galaxies evolve approximately in steady state. We carry out a detailed investigation of existing tilted ring fitting schemes and discover systematics that can hamper their ability to detect signatures of radial flows. We develop a new Fourier decomposition scheme that fits for rotational and radial velocities and simultaneously determines position angle and inclination as a function of radius. Using synthetic velocity fields we show that our novel fitting scheme is less prone to such systematic errors and that it is well suited to detect radial inflows in discs. We apply our fitting scheme to 10 THINGS galaxies and find clear indications of, at least partly previously unidentified, radial gas flows, in particular for NGC 2403 and NGC 3198 and to a lesser degree for NGC 7331, NGC 2903 and NGC 6946. The mass flow rates are of the same order but usually larger than the star formation rates. At least for these galaxies a scenario in which continuous mass accretion feeds star formation seems plausible. The other galaxies show a more complicated picture with either no clear inflow, outward motions or complex kinematic signatures.

Algorithms for adaptive stochastic control for a class of linear systems

NASA Technical Reports Server (NTRS)

Toda, M.; Patel, R. V.

1977-01-01

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

A motion artefact study and locally deforming objects in computerized tomography

NASA Astrophysics Data System (ADS)

Hahn, Bernadette N.

2017-11-01

Movements of the object during the data collection in computerized tomography can introduce motion artefacts in the reconstructed image. They can be reduced by employing information about the dynamic behaviour within the reconstruction step. However, inaccuracies concerning the movement are inevitable in practice. In this article, we give an explicit characterization of what is visible in an image obtained by a reconstruction algorithm with incorrect motion information. Then, we use this result to study in detail the situation of locally deforming objects, i.e. individual parts of the object have a different dynamic behaviour. In this context, we prove that additional artefacts arise due to the global nature of the Radon transform, even if the motion is exactly known. Based on our analysis, we propose a numerical scheme to reduce these artefacts in the reconstructed image. All our results are illustrated by numerical examples.

Seismic hazard in the Nation's breadbasket

USGS Publications Warehouse

Boyd, Oliver; Haller, Kathleen; Luco, Nicolas; Moschetti, Morgan P.; Mueller, Charles; Petersen, Mark D.; Rezaeian, Sanaz; Rubinstein, Justin L.

2015-01-01

The USGS National Seismic Hazard Maps were updated in 2014 and included several important changes for the central United States (CUS). Background seismicity sources were improved using a new moment-magnitude-based catalog; a new adaptive, nearest-neighbor smoothing kernel was implemented; and maximum magnitudes for background sources were updated. Areal source zones developed by the Central and Eastern United States Seismic Source Characterization for Nuclear Facilities project were simplified and adopted. The weighting scheme for ground motion models was updated, giving more weight to models with a faster attenuation with distance compared to the previous maps. Overall, hazard changes (2% probability of exceedance in 50 years, across a range of ground-motion frequencies) were smaller than 10% in most of the CUS relative to the 2008 USGS maps despite new ground motion models and their assigned logic tree weights that reduced the probabilistic ground motions by 5–20%.

Distributed Optimization of Multi-Agent Systems: Framework, Local Optimizer, and Applications

NASA Astrophysics Data System (ADS)

Zu, Yue

Convex optimization problem can be solved in a centralized or distributed manner. Compared with centralized methods based on single-agent system, distributed algorithms rely on multi-agent systems with information exchanging among connected neighbors, which leads to great improvement on the system fault tolerance. Thus, a task within multi-agent system can be completed with presence of partial agent failures. By problem decomposition, a large-scale problem can be divided into a set of small-scale sub-problems that can be solved in sequence/parallel. Hence, the computational complexity is greatly reduced by distributed algorithm in multi-agent system. Moreover, distributed algorithm allows data collected and stored in a distributed fashion, which successfully overcomes the drawbacks of using multicast due to the bandwidth limitation. Distributed algorithm has been applied in solving a variety of real-world problems. Our research focuses on the framework and local optimizer design in practical engineering applications. In the first one, we propose a multi-sensor and multi-agent scheme for spatial motion estimation of a rigid body. Estimation performance is improved in terms of accuracy and convergence speed. Second, we develop a cyber-physical system and implement distributed computation devices to optimize the in-building evacuation path when hazard occurs. The proposed Bellman-Ford Dual-Subgradient path planning method relieves the congestion in corridor and the exit areas. At last, highway traffic flow is managed by adjusting speed limits to minimize the fuel consumption and travel time in the third project. Optimal control strategy is designed through both centralized and distributed algorithm based on convex problem formulation. Moreover, a hybrid control scheme is presented for highway network travel time minimization. Compared with no controlled case or conventional highway traffic control strategy, the proposed hybrid control strategy greatly reduces total travel time on test highway network.

The spread of attention across features of a surface

PubMed Central

Ernst, Zachary Raymond; Jazayeri, Mehrdad

2013-01-01

Contrasting theories of visual attention have emphasized selection by spatial location, individual features, and whole objects. We used functional magnetic resonance imaging to ask whether and how attention to one feature of an object spreads to other features of the same object. Subjects viewed two spatially superimposed surfaces of random dots that were segregated by distinct color-motion conjunctions. The color and direction of motion of each surface changed smoothly and in a cyclical fashion. Subjects were required to track one feature (e.g., color) of one of the two surfaces and detect brief moments when the attended feature diverged from its smooth trajectory. To tease apart the effect of attention to individual features on the hemodynamic response, we used a frequency-tagging scheme. In this scheme, the stimulus features (color and direction of motion) are modulated periodically at distinct frequencies so that the contribution of each feature to the hemodynamics can be inferred from the harmonic response at the corresponding frequency. We found that attention to one feature (e.g., color) of one surface increased the response modulation not only to the attended feature but also to the other feature (e.g., motion) of the same surface. This attentional modulation was evident in multiple visual areas and was present as early as V1. The spread of attention to the behaviorally irrelevant features of a surface suggests that attention may automatically select all features of a single object. Thus object-based attention may be supported by an enhancement of feature-specific sensory signals in the visual cortex. PMID:23883860

Multi-dimensional Upwind Fluctuation Splitting Scheme with Mesh Adaption for Hypersonic Viscous Flow. Degree awarded by Virginia Polytechnic Inst. and State Univ., 9 Nov. 2001

NASA Technical Reports Server (NTRS)

Wood, William A., III

2002-01-01

A multi-dimensional upwind fluctuation splitting scheme is developed and implemented for two-dimensional and axisymmetric formulations of the Navier-Stokes equations on unstructured meshes. Key features of the scheme are the compact stencil, full upwinding, and non-linear discretization which allow for second-order accuracy with enforced positivity. Throughout, the fluctuation splitting scheme is compared to a current state-of-the-art finite volume approach, a second-order, dual mesh upwind flux difference splitting scheme (DMFDSFV), and is shown to produce more accurate results using fewer computer resources for a wide range of test cases. A Blasius flat plate viscous validation case reveals a more accurate upsilon-velocity profile for fluctuation splitting, and the reduced artificial dissipation production is shown relative to DMFDSFV. Remarkably, the fluctuation splitting scheme shows grid converged skin friction coefficients with only five points in the boundary layer for this case. The second half of the report develops a local, compact, anisotropic unstructured mesh adaptation scheme in conjunction with the multi-dimensional upwind solver, exhibiting a characteristic alignment behavior for scalar problems. The adaptation strategy is extended to the two-dimensional and axisymmetric Navier-Stokes equations of motion through the concept of fluctuation minimization.

Tone calibration technique: A digital signaling scheme for mobile applications

NASA Technical Reports Server (NTRS)

Davarian, F.

1986-01-01

Residual carrier modulation is conventionally used in a communication link to assist the receiver with signal demodulation and detection. Although suppressed carrier modulation has a slight power advantage over the residual carrier approach in systems enjoying a high level of stability, it lacks sufficient robustness to be used in channels severely contaminated by noise, interference and propagation effects. In mobile links, in particular, the vehicle motion and multipath waveform propagation affect the received carrier in an adverse fashion. A residual carrier scheme that uses a pilot carrier to calibrate a mobile channel against multipath fading anomalies is described. The benefits of this scheme, known as tone calibration technique, are described. A brief study of the system performance in the presence of implementation anomalies is also given.

Estimation of motion fields by non-linear registration for local lung motion analysis in 4D CT image data.

PubMed

Werner, René; Ehrhardt, Jan; Schmidt-Richberg, Alexander; Heiss, Anabell; Handels, Heinz

2010-11-01

Motivated by radiotherapy of lung cancer non- linear registration is applied to estimate 3D motion fields for local lung motion analysis in thoracic 4D CT images. Reliability of analysis results depends on the registration accuracy. Therefore, our study consists of two parts: optimization and evaluation of a non-linear registration scheme for motion field estimation, followed by a registration-based analysis of lung motion patterns. The study is based on 4D CT data of 17 patients. Different distance measures and force terms for thoracic CT registration are implemented and compared: sum of squared differences versus a force term related to Thirion's demons registration; masked versus unmasked force computation. The most accurate approach is applied to local lung motion analysis. Masked Thirion forces outperform the other force terms. The mean target registration error is 1.3 ± 0.2 mm, which is in the order of voxel size. Based on resulting motion fields and inter-patient normalization of inner lung coordinates and breathing depths a non-linear dependency between inner lung position and corresponding strength of motion is identified. The dependency is observed for all patients without or with only small tumors. Quantitative evaluation of the estimated motion fields indicates high spatial registration accuracy. It allows for reliable registration-based local lung motion analysis. The large amount of information encoded in the motion fields makes it possible to draw detailed conclusions, e.g., to identify the dependency of inner lung localization and motion. Our examinations illustrate the potential of registration-based motion analysis.

Constrained motion estimation-based error resilient coding for HEVC

NASA Astrophysics Data System (ADS)

Guo, Weihan; Zhang, Yongfei; Li, Bo

2018-04-01

Unreliable communication channels might lead to packet losses and bit errors in the videos transmitted through it, which will cause severe video quality degradation. This is even worse for HEVC since more advanced and powerful motion estimation methods are introduced to further remove the inter-frame dependency and thus improve the coding efficiency. Once a Motion Vector (MV) is lost or corrupted, it will cause distortion in the decoded frame. More importantly, due to motion compensation, the error will propagate along the motion prediction path, accumulate over time, and significantly degrade the overall video presentation quality. To address this problem, we study the problem of encoder-sider error resilient coding for HEVC and propose a constrained motion estimation scheme to mitigate the problem of error propagation to subsequent frames. The approach is achieved by cutting off MV dependencies and limiting the block regions which are predicted by temporal motion vector. The experimental results show that the proposed method can effectively suppress the error propagation caused by bit errors of motion vector and can improve the robustness of the stream in the bit error channels. When the bit error probability is 10-5, an increase of the decoded video quality (PSNR) by up to1.310dB and on average 0.762 dB can be achieved, compared to the reference HEVC.

On event-based optical flow detection

PubMed Central

Brosch, Tobias; Tschechne, Stephan; Neumann, Heiko

2015-01-01

Event-based sensing, i.e., the asynchronous detection of luminance changes, promises low-energy, high dynamic range, and sparse sensing. This stands in contrast to whole image frame-wise acquisition by standard cameras. Here, we systematically investigate the implications of event-based sensing in the context of visual motion, or flow, estimation. Starting from a common theoretical foundation, we discuss different principal approaches for optical flow detection ranging from gradient-based methods over plane-fitting to filter based methods and identify strengths and weaknesses of each class. Gradient-based methods for local motion integration are shown to suffer from the sparse encoding in address-event representations (AER). Approaches exploiting the local plane like structure of the event cloud, on the other hand, are shown to be well suited. Within this class, filter based approaches are shown to define a proper detection scheme which can also deal with the problem of representing multiple motions at a single location (motion transparency). A novel biologically inspired efficient motion detector is proposed, analyzed and experimentally validated. Furthermore, a stage of surround normalization is incorporated. Together with the filtering this defines a canonical circuit for motion feature detection. The theoretical analysis shows that such an integrated circuit reduces motion ambiguity in addition to decorrelating the representation of motion related activations. PMID:25941470

Evaluation of respiratory and cardiac motion correction schemes in dual gated PET/CT cardiac imaging

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

Lamare, F., E-mail: frederic.lamare@chu-bordeaux.fr; Fernandez, P.; CNRS, INCIA, UMR 5287, F-33400 Talence

Purpose: Cardiac imaging suffers from both respiratory and cardiac motion. One of the proposed solutions involves double gated acquisitions. Although such an approach may lead to both respiratory and cardiac motion compensation there are issues associated with (a) the combination of data from cardiac and respiratory motion bins, and (b) poor statistical quality images as a result of using only part of the acquired data. The main objective of this work was to evaluate different schemes of combining binned data in order to identify the best strategy to reconstruct motion free cardiac images from dual gated positron emission tomography (PET)more » acquisitions. Methods: A digital phantom study as well as seven human studies were used in this evaluation. PET data were acquired in list mode (LM). A real-time position management system and an electrocardiogram device were used to provide the respiratory and cardiac motion triggers registered within the LM file. Acquired data were subsequently binned considering four and six cardiac gates, or the diastole only in combination with eight respiratory amplitude gates. PET images were corrected for attenuation, but no randoms nor scatter corrections were included. Reconstructed images from each of the bins considered above were subsequently used in combination with an affine or an elastic registration algorithm to derive transformation parameters allowing the combination of all acquired data in a particular position in the cardiac and respiratory cycles. Images were assessed in terms of signal-to-noise ratio (SNR), contrast, image profile, coefficient-of-variation (COV), and relative difference of the recovered activity concentration. Results: Regardless of the considered motion compensation strategy, the nonrigid motion model performed better than the affine model, leading to higher SNR and contrast combined with a lower COV. Nevertheless, when compensating for respiration only, no statistically significant differences were observed in the performance of the two motion models considered. Superior image SNR and contrast were seen using the affine respiratory motion model in combination with the diastole cardiac bin in comparison to the use of the whole cardiac cycle. In contrast, when simultaneously correcting for cardiac beating and respiration, the elastic respiratory motion model outperformed the affine model. In this context, four cardiac bins associated with eight respiratory amplitude bins seemed to be adequate. Conclusions: Considering the compensation of respiratory motion effects only, both affine and elastic based approaches led to an accurate resizing and positioning of the myocardium. The use of the diastolic phase combined with an affine model based respiratory motion correction may therefore be a simple approach leading to significant quality improvements in cardiac PET imaging. However, the best performance was obtained with the combined correction for both cardiac and respiratory movements considering all the dual-gated bins independently through the use of an elastic model based motion compensation.« less

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

PubMed

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

2013-04-01

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

A video coding scheme based on joint spatiotemporal and adaptive prediction.

PubMed

Jiang, Wenfei; Latecki, Longin Jan; Liu, Wenyu; Liang, Hui; Gorman, Ken

2009-05-01

We propose a video coding scheme that departs from traditional Motion Estimation/DCT frameworks and instead uses Karhunen-Loeve Transform (KLT)/Joint Spatiotemporal Prediction framework. In particular, a novel approach that performs joint spatial and temporal prediction simultaneously is introduced. It bypasses the complex H.26x interframe techniques and it is less computationally intensive. Because of the advantage of the effective joint prediction and the image-dependent color space transformation (KLT), the proposed approach is demonstrated experimentally to consistently lead to improved video quality, and in many cases to better compression rates and improved computational speed.

Three Stages and Two Systems of Visual Processing

DTIC Science & Technology

1989-01-01

as squaring do not, in and of themselves, imply second- order processing . For example, the Adelson and Bergen’s (1985) detector of directional motion...rectification, halfwave rectification is a second- order processing scheme. Figure 8. Stimuli for analyzing second- order processing . (a) An x,y,t representation of

Toward a Quantification of the Information/Communication Industries. Publication No. 74-2.

ERIC Educational Resources Information Center

Lavey, Warren G.

A national survey was made to collect data about the information/communication industries in the United States today. Eleven industries were studied: television, radio, telephone, telegraph, postal service, newspaper, periodical, book publishing and printing, motion pictures, computer software, and cable television. The data collection scheme used…

Link-state-estimation-based transmission power control in wireless body area networks.

PubMed

Kim, Seungku; Eom, Doo-Seop

2014-07-01

This paper presents a novel transmission power control protocol to extend the lifetime of sensor nodes and to increase the link reliability in wireless body area networks (WBANs). We first experimentally investigate the properties of the link states using the received signal strength indicator (RSSI). We then propose a practical transmission power control protocol based on both short- and long-term link-state estimations. Both the short- and long-term link-state estimations enable the transceiver to adapt the transmission power level and target the RSSI threshold range, respectively, to simultaneously satisfy the requirements of energy efficiency and link reliability. Finally, the performance of the proposed protocol is experimentally evaluated in two experimental scenarios-body posture change and dynamic body motion-and compared with the typical WBAN transmission power control protocols, a real-time reactive scheme, and a dynamic postural position inference mechanism. From the experimental results, it is found that the proposed protocol increases the lifetime of the sensor nodes by a maximum of 9.86% and enhances the link reliability by reducing the packet loss by a maximum of 3.02%.

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

PubMed

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

2018-05-01

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

Simulation of ITG instabilities with fully kinetic ions and drift-kinetic electrons in tokamaks

NASA Astrophysics Data System (ADS)

Hu, Youjun; Chen, Yang; Parker, Scott

2017-10-01

A turbulence simulation model with fully kinetic ions and drift-kinetic electrons is being developed in the toroidal electromagnetic turbulence code GEM. This is motivated by the observation that gyrokinetic ions are not well justified in simulating turbulence in tokamak edges with steep density profile, where ρi / L is not small enough to be used a small parameter needed by the gyrokinetic ordering (here ρi is the gyro-radius of ions and L is the scale length of density profile). In this case, the fully kinetic ion model may be useful. Our model uses an implicit scheme to suppress high-frequency compressional Alfven waves and waves associated with the gyro-motion of ions. The ion orbits are advanced by using the well-known Boris scheme, which reproduces correct drift-motion even with large time-step comparable to the ion gyro-period. The field equation in this model is Ampere's law with the magnetic field eliminated by using an implicit scheme of Faraday's law. The current contributed by ions are computed by using an implicit δf method. A flux tube approximation is adopted, which makes the field equation much easier to solve. Numerical results of electromagnetic ITG obtained from this model will be presented and compared with the gyrokinetic results. This work is supported by U.S. Department of Energy, Office of Fusion Energy Sciences under Award No. DE-SC0008801.

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

PubMed

Raul, Pramod R; Pagilla, Prabhakar R

2015-05-01

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

Event-triggered attitude control of spacecraft

NASA Astrophysics Data System (ADS)

Wu, Baolin; Shen, Qiang; Cao, Xibin

2018-02-01

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

Thermocapillary droplet actuation on structured solid surfaces

NASA Astrophysics Data System (ADS)

Karapetsas, George; Chamakos, Nikolaos T.; Papathanasiou, Athanasios G.

2017-11-01

The present work investigates, through 2D and 3D finite element simulations, the thermocapillary-driven flow inside a droplet which resides on a non-uniformly heated patterned surface. We employ a recently proposed sharp-interface scheme capable of efficiently modelling the flow over complicate surfaces and consider a wide range of substrate wettabilities, i.e. from hydrophilic to super-hydrophobic surfaces. Our simulations indicate that due to the presence of the solid structures and the induced effect of contact angle hysteresis, inherently predicted by our model, a critical thermal gradient arises beyond which droplet migration is possible, in line with previous experimental observations. The migration velocity as well as the direction of motion depends on the combined action of the net mechanical force along the contact line and the thermocapillary induced flow at the liquid-air interface. We also show that through a proper control and design of the substrate wettability, the contact angle hysteresis and the induced flow field it is possible to manipulate the droplet dynamics, e.g. controlling its motion along a predefined track or entrapping by a wetting defect a droplet based on its size as well as providing appropriate conditions for enhanced mixing inside the droplet. Funding from the European Research Council under the Europeans Community's Seventh Framework Programme (FP7/2007-2013)/ERC Grant agreement no. [240710] is acknowledged.

Large scale Brownian dynamics of confined suspensions of rigid particles

NASA Astrophysics Data System (ADS)

Sprinkle, Brennan; Balboa Usabiaga, Florencio; Patankar, Neelesh A.; Donev, Aleksandar

2017-12-01

We introduce methods for large-scale Brownian Dynamics (BD) simulation of many rigid particles of arbitrary shape suspended in a fluctuating fluid. Our method adds Brownian motion to the rigid multiblob method [F. Balboa Usabiaga et al., Commun. Appl. Math. Comput. Sci. 11(2), 217-296 (2016)] at a cost comparable to the cost of deterministic simulations. We demonstrate that we can efficiently generate deterministic and random displacements for many particles using preconditioned Krylov iterative methods, if kernel methods to efficiently compute the action of the Rotne-Prager-Yamakawa (RPY) mobility matrix and its "square" root are available for the given boundary conditions. These kernel operations can be computed with near linear scaling for periodic domains using the positively split Ewald method. Here we study particles partially confined by gravity above a no-slip bottom wall using a graphical processing unit implementation of the mobility matrix-vector product, combined with a preconditioned Lanczos iteration for generating Brownian displacements. We address a major challenge in large-scale BD simulations, capturing the stochastic drift term that arises because of the configuration-dependent mobility. Unlike the widely used Fixman midpoint scheme, our methods utilize random finite differences and do not require the solution of resistance problems or the computation of the action of the inverse square root of the RPY mobility matrix. We construct two temporal schemes which are viable for large-scale simulations, an Euler-Maruyama traction scheme and a trapezoidal slip scheme, which minimize the number of mobility problems to be solved per time step while capturing the required stochastic drift terms. We validate and compare these schemes numerically by modeling suspensions of boomerang-shaped particles sedimented near a bottom wall. Using the trapezoidal scheme, we investigate the steady-state active motion in dense suspensions of confined microrollers, whose height above the wall is set by a combination of thermal noise and active flows. We find the existence of two populations of active particles, slower ones closer to the bottom and faster ones above them, and demonstrate that our method provides quantitative accuracy even with relatively coarse resolutions of the particle geometry.

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

PubMed

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

2006-01-01

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

Robotic situational awareness of actions in human teaming

NASA Astrophysics Data System (ADS)

Tahmoush, Dave

2015-06-01

When robots can sense and interpret the activities of the people they are working with, they become more of a team member and less of just a piece of equipment. This has motivated work on recognizing human actions using existing robotic sensors like short-range ladar imagers. These produce three-dimensional point cloud movies which can be analyzed for structure and motion information. We skeletonize the human point cloud and apply a physics-based velocity correlation scheme to the resulting joint motions. The twenty actions are then recognized using a nearest-neighbors classifier that achieves good accuracy.

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

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

PubMed

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

2004-01-01

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

Adaptive correlation filter-based video stabilization without accumulative global motion estimation

NASA Astrophysics Data System (ADS)

Koh, Eunjin; Lee, Chanyong; Jeong, Dong Gil

2014-12-01

We present a digital video stabilization approach that provides both robustness and efficiency for practical applications. In this approach, we adopt a stabilization model that maintains spatio-temporal information of past input frames efficiently and can track original stabilization position. Because of the stabilization model, the proposed method does not need accumulative global motion estimation and can recover the original position even if there is a failure in interframe motion estimation. It can also intelligently overcome the situation of damaged or interrupted video sequences. Moreover, because it is simple and suitable to parallel scheme, we implement it on a commercial field programmable gate array and a graphics processing unit board with compute unified device architecture in a breeze. Experimental results show that the proposed approach is both fast and robust.

Experimental Realization of a Thermal Squeezed State of Levitated Optomechanics

NASA Astrophysics Data System (ADS)

Rashid, Muddassar; Tufarelli, Tommaso; Bateman, James; Vovrosh, Jamie; Hempston, David; Kim, M. S.; Ulbricht, Hendrik

2016-12-01

We experimentally squeeze the thermal motional state of an optically levitated nanosphere by fast switching between two trapping frequencies. The measured phase-space distribution of the center of mass of our particle shows the typical shape of a squeezed thermal state, from which we infer up to 2.7 dB of squeezing along one motional direction. In these experiments the average thermal occupancy is high and, even after squeezing, the motional state remains in the remit of classical statistical mechanics. Nevertheless, we argue that the manipulation scheme described here could be used to achieve squeezing in the quantum regime if preceded by cooling of the levitated mechanical oscillator. Additionally, a higher degree of squeezing could, in principle, be achieved by repeating the frequency-switching protocol multiple times.

Video compression of coronary angiograms based on discrete wavelet transform with block classification.

PubMed

Ho, B T; Tsai, M J; Wei, J; Ma, M; Saipetch, P

1996-01-01

A new method of video compression for angiographic images has been developed to achieve high compression ratio (~20:1) while eliminating block artifacts which leads to loss of diagnostic accuracy. This method adopts motion picture experts group's (MPEGs) motion compensated prediction to takes advantage of frame to frame correlation. However, in contrast to MPEG, the error images arising from mismatches in the motion estimation are encoded by discrete wavelet transform (DWT) rather than block discrete cosine transform (DCT). Furthermore, the authors developed a classification scheme which label each block in an image as intra, error, or background type and encode it accordingly. This hybrid coding can significantly improve the compression efficiency in certain eases. This method can be generalized for any dynamic image sequences applications sensitive to block artifacts.

Complexity reduction in the H.264/AVC using highly adaptive fast mode decision based on macroblock motion activity

NASA Astrophysics Data System (ADS)

Abdellah, Skoudarli; Mokhtar, Nibouche; Amina, Serir

2015-11-01

The H.264/AVC video coding standard is used in a wide range of applications from video conferencing to high-definition television according to its high compression efficiency. This efficiency is mainly acquired from the newly allowed prediction schemes including variable block modes. However, these schemes require a high complexity to select the optimal mode. Consequently, complexity reduction in the H.264/AVC encoder has recently become a very challenging task in the video compression domain, especially when implementing the encoder in real-time applications. Fast mode decision algorithms play an important role in reducing the overall complexity of the encoder. In this paper, we propose an adaptive fast intermode algorithm based on motion activity, temporal stationarity, and spatial homogeneity. This algorithm predicts the motion activity of the current macroblock from its neighboring blocks and identifies temporal stationary regions and spatially homogeneous regions using adaptive threshold values based on content video features. Extensive experimental work has been done in high profile, and results show that the proposed source-coding algorithm effectively reduces the computational complexity by 53.18% on average compared with the reference software encoder, while maintaining the high-coding efficiency of H.264/AVC by incurring only 0.097 dB in total peak signal-to-noise ratio and 0.228% increment on the total bit rate.

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

PubMed

Hu, Wenfeng; Liu, Lu; Feng, Gang

2016-09-02

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

Discrete Element Modelling of Floating Debris

NASA Astrophysics Data System (ADS)

Mahaffey, Samantha; Liang, Qiuhua; Parkin, Geoff; Large, Andy; Rouainia, Mohamed

2016-04-01

Flash flooding is characterised by high velocity flows which impact vulnerable catchments with little warning time and as such, result in complex flow dynamics which are difficult to replicate through modelling. The impacts of flash flooding can be made yet more severe by the transport of both natural and anthropogenic debris, ranging from tree trunks to vehicles, wheelie bins and even storage containers, the effects of which have been clearly evident during recent UK flooding. This cargo of debris can have wide reaching effects and result in actual flood impacts which diverge from those predicted. A build-up of debris may lead to partial channel blockage and potential flow rerouting through urban centres. Build-up at bridges and river structures also leads to increased hydraulic loading which may result in damage and possible structural failure. Predicting the impacts of debris transport; however, is difficult as conventional hydrodynamic modelling schemes do not intrinsically include floating debris within their calculations. Subsequently a new tool has been developed using an emerging approach, which incorporates debris transport through the coupling of two existing modelling techniques. A 1D hydrodynamic modelling scheme has here been coupled with a 2D discrete element scheme to form a new modelling tool which predicts the motion and flow-interaction of floating debris. Hydraulic forces arising from flow around the object are applied to instigate its motion. Likewise, an equivalent opposing force is applied to fluid cells, enabling backwater effects to be simulated. Shock capturing capabilities make the tool applicable to predicting the complex flow dynamics associated with flash flooding. The modelling scheme has been applied to experimental case studies where cylindrical wooden dowels are transported by a dam-break wave. These case studies enable validation of the tool's shock capturing capabilities and the coupling technique applied between the two numerical schemes. The results show that the tool is able to adequately replicate water depth and depth-averaged velocity of a dam-break wave, as well as velocity and displacement of floating cylindrical elements, thus validating its shock capturing capabilities and the coupling technique applied for this simple test case. Future development of the tool will incorporate a 2D hydrodynamic scheme and a 3D discrete element scheme in order to model the more complex processes associated with debris transport.

Compensator-based 6-DOF control for probe asteroid-orbital-frame hovering with actuator limitations

NASA Astrophysics Data System (ADS)

Liu, Xiaosong; Zhang, Peng; Liu, Keping; Li, Yuanchun

2016-05-01

This paper is concerned with 6-DOF control of a probe hovering in the orbital frame of an asteroid. Considering the requirements of the scientific instruments pointing direction and orbital position in practical missions, the coordinate control of relative attitude and orbit between the probe and target asteroid is imperative. A 6-DOF dynamic equation describing the relative translational and rotational motion of a probe in the asteroid's orbital frame is derived, taking the irregular gravitation, model and parameter uncertainties and external disturbances into account. An adaptive sliding mode controller is employed to guarantee the convergence of the state error, where the adaptation law is used to estimate the unknown upper bound of system uncertainty. Then the controller is improved to deal with the practical problem of actuator limitations by introducing a RBF neural network compensator, which is used to approximate the difference between the actual control with magnitude constraint and the designed nominal control law. The closed-loop system is proved to be asymptotically stable through the Lyapunov stability analysis. Numerical simulations are performed to compare the performances of the preceding designed control laws. Simulation results demonstrate the validity of the control scheme using the compensator-based adaptive sliding mode control law in the presence of actuator limitations, system uncertainty and external disturbance.

Fast packet switching algorithms for dynamic resource control over ATM networks

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

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

1996-12-01

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

Quantum coherent tractor beam effect for atoms trapped near a nanowaveguide

PubMed Central

Sadgrove, Mark; Wimberger, Sandro; Nic Chormaic, Síle

2016-01-01

We propose several schemes to realize a tractor beam effect for ultracold atoms in the vicinity of a few-mode nanowaveguide. Atoms trapped near the waveguide are transported in a direction opposite to the guided mode propagation direction. We analyse three specific examples for ultracold 23Na atoms trapped near a specific nanowaveguide (i.e. an optical nanofibre): (i) a conveyor belt-type tractor beam effect, (ii) an accelerator tractor beam effect, and (iii) a quantum coherent tractor beam effect, all of which can effectively pull atoms along the nanofibre toward the light source. This technique provides a new tool for controlling the motion of particles near nanowaveguides with potential applications in the study of particle transport and binding as well as atom interferometry. PMID:27440516

Shortcuts to adiabaticity by counterdiabatic driving for trapped-ion displacement in phase space

PubMed Central

An, Shuoming; Lv, Dingshun; del Campo, Adolfo; Kim, Kihwan

2016-01-01

The application of adiabatic protocols in quantum technologies is severely limited by environmental sources of noise and decoherence. Shortcuts to adiabaticity by counterdiabatic driving constitute a powerful alternative that speed up time-evolution while mimicking adiabatic dynamics. Here we report the experimental implementation of counterdiabatic driving in a continuous variable system, a shortcut to the adiabatic transport of a trapped ion in phase space. The resulting dynamics is equivalent to a ‘fast-motion video' of the adiabatic trajectory. The robustness of this protocol is shown to surpass that of competing schemes based on classical local controls and Fourier optimization methods. Our results demonstrate that shortcuts to adiabaticity provide a robust speedup of quantum protocols of wide applicability in quantum technologies. PMID:27669897

Parity bifurcations in trapped multistable phase locked exciton-polariton condensates

NASA Astrophysics Data System (ADS)

Tan, E. Z.; Sigurdsson, H.; Liew, T. C. H.

2018-02-01

We present a theoretical scheme for multistability in planar microcavity exciton-polariton condensates under nonresonant driving. Using an excitation profile resulting in a spatially patterned condensate, we observe organized phase locking which can abruptly reorganize as a result of pump induced instability made possible by nonlinear interactions. For π /2 symmetric systems this reorganization can be regarded as a parity transition and is found to be a fingerprint of multistable regimes existing over a finite range of excitation strengths. The natural degeneracy of the planar equations of motion gives rise to parity bifurcation points where the condensate, as a function of excitation intensity, bifurcates into one of two anisotropic degenerate solutions. Deterministic transitions between multistable states are made possible using controlled nonresonant pulses, perturbing the solution from one attractor to another.

Fast and predictable video compression in software design and implementation of an H.261 codec

NASA Astrophysics Data System (ADS)

Geske, Dagmar; Hess, Robert

1998-09-01

The use of software codecs for video compression becomes commonplace in several videoconferencing applications. In order to reduce conflicts with other applications used at the same time, mechanisms for resource reservation on endsystems need to determine an upper bound for computing time used by the codec. This leads to the demand for predictable execution times of compression/decompression. Since compression schemes as H.261 inherently depend on the motion contained in the video, an adaptive admission control is required. This paper presents a data driven approach based on dynamical reduction of the number of processed macroblocks in peak situations. Besides the absolute speed is a point of interest. The question, whether and how software compression of high quality video is feasible on today's desktop computers, is examined.

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.

Image deblurring by motion estimation for remote sensing

NASA Astrophysics Data System (ADS)

Chen, Yueting; Wu, Jiagu; Xu, Zhihai; Li, Qi; Feng, Huajun

2010-08-01

The imagery resolution of imaging systems for remote sensing is often limited by image degradation resulting from unwanted motion disturbances of the platform during image exposures. Since the form of the platform vibration can be arbitrary, the lack of priori knowledge about the motion function (the PSF) suggests blind restoration approaches. A deblurring method which combines motion estimation and image deconvolution both for area-array and TDI remote sensing has been proposed in this paper. The image motion estimation is accomplished by an auxiliary high-speed detector and a sub-pixel correlation algorithm. The PSF is then reconstructed from estimated image motion vectors. Eventually, the clear image can be recovered by the Richardson-Lucy (RL) iterative deconvolution algorithm from the blurred image of the prime camera with the constructed PSF. The image deconvolution for the area-array detector is direct. While for the TDICCD detector, an integral distortion compensation step and a row-by-row deconvolution scheme are applied. Theoretical analyses and experimental results show that, the performance of the proposed concept is convincing. Blurred and distorted images can be properly recovered not only for visual observation, but also with significant objective evaluation increment.

View compensated compression of volume rendered images for remote visualization.

PubMed

Lalgudi, Hariharan G; Marcellin, Michael W; Bilgin, Ali; Oh, Han; Nadar, Mariappan S

2009-07-01

Remote visualization of volumetric images has gained importance over the past few years in medical and industrial applications. Volume visualization is a computationally intensive process, often requiring hardware acceleration to achieve a real time viewing experience. One remote visualization model that can accomplish this would transmit rendered images from a server, based on viewpoint requests from a client. For constrained server-client bandwidth, an efficient compression scheme is vital for transmitting high quality rendered images. In this paper, we present a new view compensation scheme that utilizes the geometric relationship between viewpoints to exploit the correlation between successive rendered images. The proposed method obviates motion estimation between rendered images, enabling significant reduction to the complexity of a compressor. Additionally, the view compensation scheme, in conjunction with JPEG2000 performs better than AVC, the state of the art video compression standard.

Numerical simulation of electrophoresis separation processes

NASA Technical Reports Server (NTRS)

Ganjoo, D. K.; Tezduyar, T. E.

1986-01-01

A new Petrov-Galerkin finite element formulation has been proposed for transient convection-diffusion problems. Most Petrov-Galerkin formulations take into account the spatial discretization, and the weighting functions so developed give satisfactory solutions for steady state problems. Though these schemes can be used for transient problems, there is scope for improvement. The schemes proposed here, which consider temporal as well as spatial discretization, provide improved solutions. Electrophoresis, which involves the motion of charged entities under the influence of an applied electric field, is governed by equations similiar to those encountered in fluid flow problems, i.e., transient convection-diffusion equations. Test problems are solved in electrophoresis and fluid flow. The results obtained are satisfactory. It is also expected that these schemes, suitably adapted, will improve the numerical solutions of the compressible Euler and the Navier-Stokes equations.

A shared position/force control methodology for teleoperation

NASA Technical Reports Server (NTRS)

Lee, Jin S.

1987-01-01

A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion.

LAGEOS geodetic analysis-SL7.1

NASA Technical Reports Server (NTRS)

Smith, D. E.; Kolenkiewicz, R.; Dunn, P. J.; Klosko, S. M.; Robbins, J. W.; Torrence, M. H.; Williamson, R. G.; Pavlis, E. C.; Douglas, N. B.; Fricke, S. K.

1991-01-01

Laser ranging measurements to the LAGEOS satellite from 1976 through 1989 are related via geodetic and orbital theories to a variety of geodetic and geodynamic parameters. The SL7.1 analyses are explained of this data set including the estimation process for geodetic parameters such as Earth's gravitational constant (GM), those describing the Earth's elasticity properties (Love numbers), and the temporally varying geodetic parameters such as Earth's orientation (polar motion and Delta UT1) and tracking site horizontal tectonic motions. Descriptions of the reference systems, tectonic models, and adopted geodetic constants are provided; these are the framework within which the SL7.1 solution takes place. Estimates of temporal variations in non-conservative force parameters are included in these SL7.1 analyses as well as parameters describing the orbital states at monthly epochs. This information is useful in further refining models used to describe close-Earth satellite behavior. Estimates of intersite motions and individual tracking site motions computed through the network adjustment scheme are given. Tabulations of tracking site eccentricities, data summaries, estimated monthly orbital and force model parameters, polar motion, Earth rotation, and tracking station coordinate results are also provided.

Effects of motion and b-matrix correction for high resolution DTI with short-axis PROPELLER-EPI

PubMed Central

Aksoy, Murat; Skare, Stefan; Holdsworth, Samantha; Bammer, Roland

2010-01-01

Short-axis PROPELLER-EPI (SAP-EPI) has been proven to be very effective in providing high-resolution diffusion-weighted and diffusion tensor data. The self-navigation capabilities of SAP-EPI allow one to correct for motion, phase errors, and geometric distortion. However, in the presence of patient motion, the change in the effective diffusion-encoding direction (i.e. the b-matrix) between successive PROPELLER ‘blades’ can decrease the accuracy of the estimated diffusion tensors, which might result in erroneous reconstruction of white matter tracts in the brain. In this study, we investigate the effects of alterations in the b-matrix as a result of patient motion on the example of SAP-EPI DTI and eliminate these effects by incorporating our novel single-step non-linear diffusion tensor estimation scheme into the SAP-EPI post-processing procedure. Our simulations and in-vivo studies showed that, in the presence of patient motion, correcting the b-matrix is necessary in order to get more accurate diffusion tensor and white matter pathway reconstructions. PMID:20222149

Spin dynamics and Kondo physics in optical tweezers

NASA Astrophysics Data System (ADS)

Lin, Yiheng; Lester, Brian J.; Brown, Mark O.; Kaufman, Adam M.; Long, Junling; Ball, Randall J.; Isaev, Leonid; Wall, Michael L.; Rey, Ana Maria; Regal, Cindy A.

2016-05-01

We propose to use optical tweezers as a toolset for direct observation of the interplay between quantum statistics, kinetic energy and interactions, and thus implement minimum instances of the Kondo lattice model in systems with few bosonic rubidium atoms. By taking advantage of strong local exchange interactions, our ability to tune the spin-dependent potential shifts between the two wells and complete control over spin and motional degrees of freedom, we design an adiabatic tunneling scheme that efficiently creates a spin-singlet state in one well starting from two initially separated atoms (one atom per tweezer) in opposite spin state. For three atoms in a double-well, two localized in the lowest vibrational mode of each tweezer and one atom in an excited delocalized state, we plan to use similar techniques and observe resonant transfer of two-atom singlet-triplet states between the wells in the regime when the exchange coupling exceeds the mobile atom hopping. Moreover, we argue that such three-atom double-tweezers could potentially be used for quantum computation by encoding logical qubits in collective spin and motional degrees of freedom. Current address: Department of Physics, Harvard University, Cambridge, Massachusetts 02138, USA.

WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection.

PubMed

Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

2015-12-21

With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate.

WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection †

PubMed Central

Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

2015-01-01

With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate. PMID:26703612

A flatfile of ground motion intensity measurements from induced earthquakes in Oklahoma and Kansas

USGS Publications Warehouse

Rennolet, Steven B.; Moschetti, Morgan P.; Thompson, Eric M.; Yeck, William

2018-01-01

We have produced a uniformly processed database of orientation-independent (RotD50, RotD100) ground motion intensity measurements containing peak horizontal ground motions (accelerations and velocities) and 5-percent-damped pseudospectral accelerations (0.1–10 s) from more than 3,800 M ≥ 3 earthquakes in Oklahoma and Kansas that occurred between January 2009 and December 2016. Ground motion time series were collected from regional, national, and temporary seismic arrays out to 500 km. We relocated the majority of the earthquake hypocenters using a multiple-event relocation algorithm to produce a set of near-uniformly processed hypocentral locations. Ground motion processing followed standard methods, with the primary objective of reducing the effects of noise on the measurements. Regional wave-propagation features and the high seismicity rate required careful selection of signal windows to ensure that we captured the entire ground motion record and that contaminating signals from extraneous earthquakes did not contribute to the database. Processing was carried out with an automated scheme and resulted in a database comprising more than 174,000 records (https://dx.doi.org/10.5066/F73B5X8N). We anticipate that these results will be useful for improved understanding of earthquake ground motions and for seismic hazard applications.

Dependency graph for code analysis on emerging architectures

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

Shashkov, Mikhail Jurievich; Lipnikov, Konstantin

Direct acyclic dependency (DAG) graph is becoming the standard for modern multi-physics codes.The ideal DAG is the true block-scheme of a multi-physics code. Therefore, it is the convenient object for insitu analysis of the cost of computations and algorithmic bottlenecks related to statistical frequent data motion and dymanical machine state.

Multi-Objective Memetic Search for Robust Motion and Distortion Correction in Diffusion MRI.

PubMed

Hering, Jan; Wolf, Ivo; Maier-Hein, Klaus H

2016-10-01

Effective image-based artifact correction is an essential step in the analysis of diffusion MR images. Many current approaches are based on retrospective registration, which becomes challenging in the realm of high b -values and low signal-to-noise ratio, rendering the corresponding correction schemes more and more ineffective. We propose a novel registration scheme based on memetic search optimization that allows for simultaneous exploitation of different signal intensity relationships between the images, leading to more robust registration results. We demonstrate the increased robustness and efficacy of our method on simulated as well as in vivo datasets. In contrast to the state-of-art methods, the median target registration error (TRE) stayed below the voxel size even for high b -values (3000 s ·mm -2 and higher) and low SNR conditions. We also demonstrate the increased precision in diffusion-derived quantities by evaluating Neurite Orientation Dispersion and Density Imaging (NODDI) derived measures on a in vivo dataset with severe motion artifacts. These promising results will potentially inspire further studies on metaheuristic optimization in diffusion MRI artifact correction and image registration in general.

An embedded mesh method using piecewise constant multipliers with stabilization: mathematical and numerical aspects

DOE PAGES

Puso, M. A.; Kokko, E.; Settgast, R.; ...

2014-10-22

An embedded mesh method using piecewise constant multipliers originally proposed by Puso et al. (CMAME, 2012) is analyzed here to determine effects of the pressure stabilization term and small cut cells. The approach is implemented for transient dynamics using the central difference scheme for the time discretization. It is shown that the resulting equations of motion are a stable linear system with a condition number independent of mesh size. Furthermore, we show that the constraints and the stabilization terms can be recast as non-proportional damping such that the time integration of the scheme is provably stable with a critical timemore » step computed from the undamped equations of motion. Effects of small cuts are discussed throughout the presentation. A mesh study is conducted to evaluate the effects of the stabilization on the discretization error and conditioning and is used to recommend an optimal value for stabilization scaling parameter. Several nonlinear problems are also analyzed and compared with comparable conforming mesh results. Finally, we show several demanding problems highlighting the robustness of the proposed approach.« less

Onboard guidance system design for reusable launch vehicles in the terminal area energy management phase

NASA Astrophysics Data System (ADS)

Mu, Lingxia; Yu, Xiang; Zhang, Y. M.; Li, Ping; Wang, Xinmin

2018-02-01

A terminal area energy management (TAEM) guidance system for an unpowered reusable launch vehicle (RLV) is proposed in this paper. The mathematical model representing the RLV gliding motion is provided, followed by a transformation of extracting the required dynamics for reference profile generation. Reference longitudinal profiles are conceived based on the capability of maximum dive and maximum glide that a RLV can perform. The trajectory is obtained by iterating the motion equations at each node of altitude, where the angle of attack and the flight-path angle are regarded as regulating variables. An onboard ground-track predictor is constructed to generate the current range-to-go and lateral commands online. Although the longitudinal profile generation requires pre-processing using the RLV aerodynamics, the ground-track prediction can be executed online. This makes the guidance scheme adaptable to abnormal conditions. Finally, the guidance law is designed to track the reference commands. Numerical simulations demonstrate that the proposed guidance scheme is capable of guiding the RLV to the desired touchdown conditions.

Offline motion planning and simulation of two-robot welding coordination

NASA Astrophysics Data System (ADS)

Zhang, Tie; Ouyang, Fan

2012-03-01

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots' relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-Sim Mechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

Realtime motion planning for a mobile robot in an unknown environment using a neurofuzzy based approach

NASA Astrophysics Data System (ADS)

Zheng, Taixiong

2005-12-01

A neuro-fuzzy network based approach for robot motion in an unknown environment was proposed. In order to control the robot motion in an unknown environment, the behavior of the robot was classified into moving to the goal and avoiding obstacles. Then, according to the dynamics of the robot and the behavior character of the robot in an unknown environment, fuzzy control rules were introduced to control the robot motion. At last, a 6-layer neuro-fuzzy network was designed to merge from what the robot sensed to robot motion control. After being trained, the network may be used for robot motion control. Simulation results show that the proposed approach is effective for robot motion control in unknown environment.

Analysis of Separation Corridors for Visiting Vehicles from the International Space Station

NASA Technical Reports Server (NTRS)

Zaczek, Mariusz P.; Schrock, Rita R.; Schrock, Mark B.; Lowman, Bryan C.

2011-01-01

The International Space Station (ISS) is a very dynamic vehicle with many operational constraints that affect its performance, operations, and vehicle lifetime. Most constraints are designed to alleviate various safety concerns that are a result of dynamic activities between the ISS and various Visiting Vehicles (VVs). One such constraint that has been in place for Russian Vehicle (RV) operations is the limitation placed on Solar Array (SA) positioning in order to prevent collisions during separation and subsequent relative motion of VVs. An unintended consequence of the SA constraint has been the impacts to the operational flexibility of the ISS resulting from the reduced power generation capability as well as from a reduction in the operational lifetime of various SA components. The purpose of this paper is to discuss the technique and the analysis that were applied in order to relax the SA constraints for RV undockings, thereby improving both the ISS operational flexibility and extending its lifetime for many years to come. This analysis focused on the effects of the dynamic motion that occur both prior to and following RV separations. The analysis involved a parametric approach in the conservative application of various initial conditions and assumptions. These included the use of the worst case minimum and maximum vehicle configurations, worst case initial attitudes and attitude rates, and the worst case docking port separation dynamics. Separations were calculated for multiple ISS docking ports, at varied deviations from the nominal undocking attitudes and included the use of two separate attitude control schemes: continuous free-drift and a post separation attitude hold. The analysis required numerical propagation of both the separation motion and the vehicle attitudes using 3-degree-of-freedom (DOF) relative motion equations coupled with rigid body rotational dynamics to generate a large set of separation trajectories.

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

A cascaded coding scheme for error control

NASA Technical Reports Server (NTRS)

Shu, L.; Kasami, T.

1985-01-01

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

A cascaded coding scheme for error control

NASA Technical Reports Server (NTRS)

Kasami, T.; Lin, S.

1985-01-01

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

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

Yan, H; Medin, P; Jiang, S

Purpose: In-treatment tumor localization is critical for the management of tumor motion in lung cancer radiotherapy. Conventional tumor-tracking methods using a kV or MV x-ray projection has limited contrast. To facilitate real-time, marker-less and low-dose in-treatment image tumor tracking, we propose a novel scheme using Compton scatter imaging. This study reports Monte Carlo (MC) simulations on this scheme for the purpose of proof-of-principle. Methods: A slit x-ray beam along the patient superior-inferior (SI) direction is directed to the patient, intersecting the patient lung at a 2D plane containing majority part of the tumor motion trajectory. X-ray photons are scattered duemore » to Compton effect from this plane, which are spatially collimated by, e.g., a pinhole, on one side of the plane and then captured by a detector behind it. The captured image, after correcting for x-ray attenuation and scatter angle variation, reflects the electron density, which allows visualization of the instantaneous anatomy on this plane. We performed MC studies on a phantom and a patient case for the initial test of this proposed method. Results: In the phantom case, the contrast-resolution calculated using tumor/lung as foreground/background for kV fluoroscopy, cone-beam CT, and scattering image were 0.0625, 0.6993, and 0.5290, respectively. In the patient case, tumor motion can be clearly observed in the scatter images. Compared to fluoroscopy, scattering imaging also significantly reduced imaging dose because of its narrower beam design. Conclusion: MC simulation studies demonstrated the potential of the proposed scheme in terms of capturing the instantaneous anatomy of a patient on a 2D plane. Clear visualization of the tumor will probably facilitate ‘marker-less’ and ‘real-time’ tumor tracking with low imaging dose. NIH (1R01CA154747-01, 1R21CA178787-01A1 and 1R21EB017978-01A1)« less

Detecting unstable periodic orbits in chaotic time series using synchronization

NASA Astrophysics Data System (ADS)

Olyaei, Ali Azimi; Wu, Christine; Kinsner, Witold

2017-07-01

An alternative approach of detecting unstable periodic orbits in chaotic time series is proposed using synchronization techniques. A master-slave synchronization scheme is developed, in which the chaotic system drives a system of harmonic oscillators through a proper coupling condition. The proposed scheme is designed so that the power of the coupling signal exhibits notches that drop to zero once the system approaches an unstable orbit yielding an explicit indication of the presence of a periodic motion. The results shows that the proposed approach is particularly suitable in practical situations, where the time series is short and noisy, or it is obtained from high-dimensional chaotic systems.

Memory efficient solution of the primitive equations for numerical weather prediction on the CYBER 205

NASA Technical Reports Server (NTRS)

Tuccillo, J. J.

1984-01-01

Numerical Weather Prediction (NWP), for both operational and research purposes, requires only fast computational speed but also large memory. A technique for solving the Primitive Equations for atmospheric motion on the CYBER 205, as implemented in the Mesoscale Atmospheric Simulation System, which is fully vectorized and requires substantially less memory than other techniques such as the Leapfrog or Adams-Bashforth Schemes is discussed. The technique presented uses the Euler-Backard time marching scheme. Also discussed are several techniques for reducing computational time of the model by replacing slow intrinsic routines by faster algorithms which use only hardware vector instructions.

Auction dynamics: A volume constrained MBO scheme

NASA Astrophysics Data System (ADS)

Jacobs, Matt; Merkurjev, Ekaterina; Esedoǧlu, Selim

2018-02-01

We show how auction algorithms, originally developed for the assignment problem, can be utilized in Merriman, Bence, and Osher's threshold dynamics scheme to simulate multi-phase motion by mean curvature in the presence of equality and inequality volume constraints on the individual phases. The resulting algorithms are highly efficient and robust, and can be used in simulations ranging from minimal partition problems in Euclidean space to semi-supervised machine learning via clustering on graphs. In the case of the latter application, numerous experimental results on benchmark machine learning datasets show that our approach exceeds the performance of current state-of-the-art methods, while requiring a fraction of the computation time.

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...

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...

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...

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...

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...