Portable DMFC system with methanol sensor-less control

NASA Astrophysics Data System (ADS)

Chen, C. Y.; Liu, D. H.; Huang, C. L.; Chang, C. L.

This work develops a prototype 20 W portable DMFC by system integration of stack, condenser, methanol sensor-less control and start-up characteristics. The effects of these key components and control schemes on the performance are also discussed. To expedite the use of portable DMFC in electronic applications, the system utilizes a novel methanol sensor-less control method, providing improved fuel efficiency, durability, miniaturization and cost reduction. The operating characteristics of the DMFC stack are applied to control the fuel ejection time and period, enabling the system to continue operating even when the MEAs of the stack are deteriorated. The portable system is also designed with several features including water balance and quick start-up (in 5 min). Notably, the proposed system using methanol sensor-less control with injection of pure methanol can power the DVD player and notebook PC. The system specific energy and energy density following three days of operation are 362 Wh kg -1 and 335 Wh L -1, respectively, which are better than those of lithium batteries (∼150 Wh kg -1 and ∼250 Wh L -). This good energy storage feature demonstrates that the portable DMFC is likely to be valuable in computer, communication and consumer electronic (3C) markets.

Field-programmable analogue arrays for the sensorless control of DC motors

NASA Astrophysics Data System (ADS)

Rivera, J.; Dueñas, I.; Ortega, S.; Del Valle, J. L.

2018-02-01

This work presents the analogue implementation of a sensorless controller for direct current motors based on the super-twisting (ST) sliding mode technique, by means of field programmable analogue arrays (FPAA). The novelty of this work is twofold, first is the use of the ST algorithm in a sensorless scheme for DC motors, and the implementation method of this type of sliding mode controllers in FPAAs. The ST algorithm reduces the chattering problem produced with the deliberate use of the sign function in classical sliding mode approaches. On the other hand, the advantages of the implementation method over a digital one are that the controller is not digitally approximated, the controller gains are not fine tuned and the implementation does not require the use of analogue-to-digital and digital-to-analogue converter circuits. In addition to this, the FPAA is a reconfigurable, lower cost and power consumption technology. Simulation and experimentation results were registered, where a more accurate transient response and lower power consumption were obtained by the proposed implementation method when compared to a digital implementation. Also, a more accurate performance by the DC motor is obtained with proposed sensorless ST technique when compared with a classical sliding mode approach.

Sensorless H∞ speed-tracking synthesis for surface-mount permanent magnet synchronous motor.

PubMed

Ramírez-Villalobos, Ramón; Aguilar, Luis T; Coria, Luis N

2017-03-01

In this paper, a sensorless speed tracking control is proposed for a surface-mount permanent magnet synchronous motor by using a nonlinear H ∞ -controller via stator currents measurements for feedback. An output feedback nonlinear H ∞ -controller was designed such that the undisturbed system is uniformly asymptotically stable around the desired speed reference, while also the effects of external vanishing and non-vanishing disturbances, noise, and input backlash were attenuated locally. The rotor position was calculated from the causal dynamic output feedback compensator and from the desired speed reference. The existence of the proper solutions of the perturbed differential Riccati equations ensures stabilizability and detectability of the control system. The efficiency of the proposed sensorless controller was supported by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors.

PubMed

Chi, Wen-Chun; Cheng, Ming-Yang

2014-03-01

Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Sensorless Estimation and Nonlinear Control of a Rotational Energy Harvester

NASA Astrophysics Data System (ADS)

Nunna, Kameswarie; Toh, Tzern T.; Mitcheson, Paul D.; Astolfi, Alessandro

2013-12-01

It is important to perform sensorless monitoring of parameters in energy harvesting devices in order to determine the operating states of the system. However, physical measurements of these parameters is often a challenging task due to the unavailability of access points. This paper presents, as an example application, the design of a nonlinear observer and a nonlinear feedback controller for a rotational energy harvester. A dynamic model of a rotational energy harvester with its power electronic interface is derived and validated. This model is then used to design a nonlinear observer and a nonlinear feedback controller which yield a sensorless closed-loop system. The observer estimates the mechancial quantities from the measured electrical quantities while the control law sustains power generation across a range of source rotation speeds. The proposed scheme is assessed through simulations and experiments.

Rotor Position Sensorless Control and Its Parameter Sensitivity of Permanent Magnet Motor Based on Model Reference Adaptive System

NASA Astrophysics Data System (ADS)

Ohara, Masaki; Noguchi, Toshihiko

This paper describes a new method for a rotor position sensorless control of a surface permanent magnet synchronous motor based on a model reference adaptive system (MRAS). This method features the MRAS in a current control loop to estimate a rotor speed and position by using only current sensors. This method as well as almost all the conventional methods incorporates a mathematical model of the motor, which consists of parameters such as winding resistances, inductances, and an induced voltage constant. Hence, the important thing is to investigate how the deviation of these parameters affects the estimated rotor position. First, this paper proposes a structure of the sensorless control applied in the current control loop. Next, it proves the stability of the proposed method when motor parameters deviate from the nominal values, and derives the relationship between the estimated position and the deviation of the parameters in a steady state. Finally, some experimental results are presented to show performance and effectiveness of the proposed method.

Type-2 fuzzy logic control based MRAS speed estimator for speed sensorless direct torque and flux control of an induction motor drive.

PubMed

Ramesh, Tejavathu; Kumar Panda, Anup; Shiva Kumar, S

2015-07-01

In this research study, a model reference adaptive system (MRAS) speed estimator for speed sensorless direct torque and flux control (DTFC) of an induction motor drive (IMD) using two adaptation mechanism schemes are proposed to replace the conventional proportional integral controller (PIC). The first adaptation mechanism scheme is based on Type-1 fuzzy logic controller (T1FLC), which is used to achieve high performance sensorless drive in both transient as well as steady state conditions. However, the Type-1 fuzzy sets are certain and unable to work effectively when higher degree of uncertainties presents in the system which can be caused by sudden change in speed or different load disturbances, process noise etc. Therefore, a new Type-2 fuzzy logic controller (T2FLC) based adaptation mechanism scheme is proposed to better handle the higher degree of uncertainties and improves the performance and also robust to various load torque and sudden change in speed conditions, respectively. The detailed performances of various adaptation mechanism schemes are carried out in a MATLAB/Simulink environment with a speed sensor and speed sensorless modes of operation when an IMD is operating under different operating conditions, such as, no-load, load and sudden change in speed, respectively. To validate the different control approaches, the system also implemented on real-time system and adequate results are reported for its validation. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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

PubMed

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

2016-09-01

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

A new technique to control brushless motor for blood pump application.

PubMed

Fonseca, Jeison; Andrade, Aron; Nicolosi, Denys E C; Biscegli, José F; Legendre, Daniel; Bock, Eduardo; Lucchi, Júlio César

2008-04-01

This article presents a back-electromotive force (BEMF)-based technique of detection for sensorless brushless direct current motor (BLDCM) drivers. The BLDCM has been chosen as the energy converter in rotary or pulsatile blood pumps that use electrical motors for pumping. However, in order to operate properly, the BLDCM driver needs to know the shaft position. Usually, that information is obtained through a set of Hall sensors assembled close to the rotor and connected to the electronic controller by wires. Sometimes, a large distance between the motor and controller makes the system susceptible to interference on the sensor signal because of winding current switching. Thus, the goal of the sensorless technique presented in this study is to avoid this problem. First, the operation of BLDCM was evaluated on the electronic simulator PSpice. Then, a BEMF detector circuitry was assembled in our laboratories. For the tests, a sensor-dependent system was assembled where the direct comparison between the Hall sensors signals and the detected signals was performed. The obtained results showed that the output sensorless detector signals are very similar to the Hall signals at speeds of more than 2500 rpm. Therefore, the sensorless technique is recommended as a responsible or redundant system to be used in rotary blood pumps.

The analysis of the quality of the frequency control of induction motor carried out on the basis of the processes in the rotor circuit

NASA Astrophysics Data System (ADS)

Kodkin, V. L.; Anikin, A. S.; Baldenkov, A. A.

2018-01-01

The results of researches of asynchronous electric drives with the frequency control which are carried out for the purpose of establishment of causes and effect relationships between a control method, the implementable standard frequency converter of the Schneider Electric company (ATV-71, ATV-32) and its efficiency are given in article. Tests with asynchronous motors with wound rotor were for the first time carried out. It allowed registering during the experiments the instantaneous values not only the stator currents, but also rotor currents. Authors for the first time applied spectrum analysis of stator and rotor currents, it showed that «sensorless vector» control leads to origin of high-frequency harmonicas with the considerable amplitude and, as a result of they are non-sinusoidal of the created torque and inefficiency of the electric drive. The accelerations that are carried out during the researches to 94, 157 and 251 Rad/s confirmed this feature of vector control that appears incapable to linearize the asynchronous electric drive as it was supposed authors of a method. These results do not contradict theoretical provisions if not to neglect assumptions which usually become in case of an output of the equations of vector control. Unfortunately, the modern researchers do not subject these assumptions to doubts. Continued studies make it possible to create an effective frequency management of asynchronous electric drives required for current technology.

New Technique of High-Performance Torque Control Developed for Induction Machines

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.

2003-01-01

Two forms of high-performance torque control for motor drives have been described in the literature: field orientation control and direct torque control. Field orientation control has been the method of choice for previous NASA electromechanical actuator research efforts with induction motors. Direct torque control has the potential to offer some advantages over field orientation, including ease of implementation and faster response. However, the most common form of direct torque control is not suitable for the highspeed, low-stator-flux linkage induction machines designed for electromechanical actuators with the presently available sample rates of digital control systems (higher sample rates are required). In addition, this form of direct torque control is not suitable for the addition of a high-frequency carrier signal necessary for the "self-sensing" (sensorless) position estimation technique. This technique enables low- and zero-speed position sensorless operation of the machine. Sensorless operation is desirable to reduce the number of necessary feedback signals and transducers, thus improving the reliability and reducing the mass and volume of the system. This research was directed at developing an alternative form of direct torque control known as a "deadbeat," or inverse model, solution. This form uses pulse-width modulation of the voltage applied to the machine, thus reducing the necessary sample and switching frequency for the high-speed NASA motor. In addition, the structure of the deadbeat form allows the addition of the high-frequency carrier signal so that low- and zero-speed sensorless operation is possible. The new deadbeat solution is based on using the stator and rotor flux as state variables. This choice of state variables leads to a simple graphical representation of the solution as the intersection of a constant torque line with a constant stator flux circle. Previous solutions have been expressed only in complex mathematical terms without a method to clearly visualize the solution. The graphical technique allows a more insightful understanding of the operation of the machine under various conditions.

The Technique of Changing the Drive Method of Micro Step Drive and Sensorless Drive for Hybrid Stepping Motor

NASA Astrophysics Data System (ADS)

Yoneda, Makoto; Dohmeki, Hideo

The position control system with the advantage large torque, low vibration, and high resolution can be obtained by the constant current micro step drive applied to hybrid stepping motor. However loss is large, in order not to be concerned with load torque but to control current uniformly. As the one technique of a position control system in which high efficiency is realizable, the same sensorless control as a permanent magnet motor is effective. But, it was the purpose that the control method proposed until now controls speed. Then, this paper proposed changing the drive method of micro step drive and sensorless drive. The change of the drive method was verified from the simulation and the experiment. On no load, it was checked not producing change of a large speed at the time of a change by making electrical angle and carrying out zero reset of the integrator. On load, it was checked that a large speed change arose. The proposed system could change drive method by setting up the initial value of an integrator using the estimated result, without producing speed change. With this technique, the low loss position control system, which employed the advantage of the hybrid stepping motor, has been built.

Sensorless Control of Permanent Magnet Machine for NASA Flywheel Technology Development

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Kascak, Peter E.

2002-01-01

This paper describes the position sensorless algorithms presently used in the motor control for the NASA "in-house" development work of the flywheel energy storage system. At zero and low speeds a signal injection technique, the self-sensing method, is used to determine rotor position. At higher speeds, an open loop estimate of the back EMF of the machine is made to determine the rotor position. At start up, the rotor is set to a known position by commanding dc into one of the phase windings. Experimental results up to 52,000 rpm are presented.

Sensorless Modeling of Varying Pulse Width Modulator Resolutions in Three-Phase Induction Motors

PubMed Central

Marko, Matthew David; Shevach, Glenn

2017-01-01

A sensorless algorithm was developed to predict rotor speeds in an electric three-phase induction motor. This sensorless model requires a measurement of the stator currents and voltages, and the rotor speed is predicted accurately without any mechanical measurement of the rotor speed. A model of an electric vehicle undergoing acceleration was built, and the sensorless prediction of the simulation rotor speed was determined to be robust even in the presence of fluctuating motor parameters and significant sensor errors. Studies were conducted for varying pulse width modulator resolutions, and the sensorless model was accurate for all resolutions of sinusoidal voltage functions. PMID:28076418

Sensorless Modeling of Varying Pulse Width Modulator Resolutions in Three-Phase Induction Motors.

PubMed

Marko, Matthew David; Shevach, Glenn

2017-01-01

A sensorless algorithm was developed to predict rotor speeds in an electric three-phase induction motor. This sensorless model requires a measurement of the stator currents and voltages, and the rotor speed is predicted accurately without any mechanical measurement of the rotor speed. A model of an electric vehicle undergoing acceleration was built, and the sensorless prediction of the simulation rotor speed was determined to be robust even in the presence of fluctuating motor parameters and significant sensor errors. Studies were conducted for varying pulse width modulator resolutions, and the sensorless model was accurate for all resolutions of sinusoidal voltage functions.

Stator and Rotor Flux Based Deadbeat Direct Torque Control of Induction Machines

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Lorenz, Robert D.

2001-01-01

A new, deadbeat type of direct torque control is proposed, analyzed, and experimentally verified in this paper. The control is based on stator and rotor flux as state variables. This choice of state variables allows a graphical representation which is transparent and insightful. The graphical solution shows the effects of realistic considerations such as voltage and current limits. A position and speed sensorless implementation of the control, based on the self-sensing signal injection technique, is also demonstrated experimentally for low speed operation. The paper first develops the new, deadbeat DTC methodology and graphical representation of the new algorithm. It then evaluates feasibility via simulation and experimentally demonstrates performance of the new method with a laboratory prototype including the sensorless methods.

Stator and Rotor Flux Based Deadbeat Direct Torque Control of Induction Machines

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Lorenz, Robert D.

2003-01-01

A new, deadbeat type of direct torque control is proposed, analyzed and experimentally verified in this paper. The control is based on stator and rotor flux as state variables. This choice of state variables allows a graphical representation which is transparent and insightful. The graphical solution shows the effects of realistic considerations such as voltage and current limits. A position and speed sensorless implementation of the control, based on the self-sensing signal injection technique, is also demonstrated experimentally for low speed operation. The paper first develops the new, deadbeat DTC methodology and graphical representation of the new algorithm. It then evaluates feasibility via simulation and experimentally demonstrates performance of the new method with a laboratory prototype including the sensorless methods.

Stator and Rotor Flux Based Deadbeat Direct Torque Control of Induction Machines. Revision 1

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Lorenz, Robert D.

2002-01-01

A new, deadbeat type of direct torque control is proposed, analyzed, and experimentally verified in this paper. The control is based on stator and rotor flux as state variables. This choice of state variables allows a graphical representation which is transparent and insightful. The graphical solution shows the effects of realistic considerations such as voltage and current limits. A position and speed sensorless implementation of the control, based on the self-sensing signal injection technique, is also demonstrated experimentally for low speed operation. The paper first develops the new, deadbeat DTC methodology and graphical representation of the new algorithm. It then evaluates feasibility via simulation and experimentally demonstrates performance of the new method with a laboratory prototype including the sensorless methods.

Estimation of Discontinuous Displacement Vector Fields with the Minimum Description Length Criterion.

DTIC Science & Technology

1990-10-01

type of approach for finding a dense displacement vector field has a time complexity that allows a real - time implementation when an appropriate control...hardly vector fields as they appear in Stereo or motion. The reason for this is the fact that local displacement vector field ( DVF ) esti- mates bave...2 objects’ motion, but that the quantitative optical flow is not a reliable measure of the real motion [VP87, SU87]. This applies even more to the

Sensorless optimal sinusoidal brushless direct current for hard disk drives

NASA Astrophysics Data System (ADS)

Soh, C. S.; Bi, C.

2009-04-01

Initiated by the availability of digital signal processors and emergence of new applications, market demands for permanent magnet synchronous motors have been surging. As its back-emf is sinusoidal, the drive current should also be sinusoidal for reducing the torque ripple. However, in applications like hard disk drives, brushless direct current (BLDC) drive is adopted instead of sinusoidal drive for simplification. The adoption, however, comes at the expense of increased harmonics, losses, torque pulsations, and acoustics. In this paper, we propose a sensorless optimal sinusoidal BLDC drive. First and foremost, the derivation for an optimal sinusoidal drive is presented, and a power angle control scheme is proposed to achieve an optimal sinusoidal BLDC. The scheme maintains linear relationship between the motor speed and drive voltage. In an attempt to execute the sensorless drive, an innovative power angle measurement scheme is devised, which takes advantage of the freewheeling diodes and measures the power angle through the detection of diode voltage drops. The objectives as laid out will be presented and discussed in this paper, supported by derivations, simulations, and experimental results. The proposed scheme is straightforward, brings about the benefits of sensorless sinusoidal drive, negates the need for current sensors by utilizing the freewheeling diodes, and does not incur additional cost.

Reversible vector ratchets for skyrmion systems

NASA Astrophysics Data System (ADS)

Ma, X.; Reichhardt, C. J. Olson; Reichhardt, C.

2017-03-01

We show that ac driven skyrmions interacting with an asymmetric substrate provide a realization of a class of ratchet system which we call a vector ratchet that arises due to the effect of the Magnus term on the skyrmion dynamics. In a vector ratchet, the dc motion induced by the ac drive can be described as a vector that can be rotated clockwise or counterclockwise relative to the substrate asymmetry direction. Up to a full 360∘ rotation is possible for varied ac amplitudes or skyrmion densities. In contrast to overdamped systems, in which ratchet motion is always parallel to the substrate asymmetry direction, vector ratchets allow the ratchet motion to be in any direction relative to the substrate asymmetry. It is also possible to obtain a reversal in the direction of rotation of the vector ratchet, permitting the creation of a reversible vector ratchet. We examine vector ratchets for ac drives applied parallel or perpendicular to the substrate asymmetry direction, and show that reverse ratchet motion can be produced by collective effects. No reversals occur for an isolated skyrmion on an asymmetric substrate. Since a vector ratchet can produce motion in any direction, it could represent a method for controlling skyrmion motion for spintronic applications.

Sensorless position estimation and control of permanent-magnet synchronous motors using a saturation model

NASA Astrophysics Data System (ADS)

Kassem Jebai, Al; Malrait, François; Martin, Philippe; Rouchon, Pierre

2016-03-01

Sensorless control of permanent-magnet synchronous motors at low velocity remains a challenging task. A now well-established method consists of injecting a high-frequency signal and using the rotor saliency, both geometric and magnetic-saturation induced. This paper proposes a clear and original analysis based on second-order averaging of how to recover the position information from signal injection; this analysis blends well with a general model of magnetic saturation. It also proposes a simple parametric model of the saturated motor, based on an energy function which simply encompasses saturation and cross-saturation effects. Experimental results on a surface-mounted motor and an interior magnet motor illustrate the relevance of the approach.

Reversible vector ratchets for skyrmion systems

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

Ma, Xiu; Reichhardt, Cynthia Jane Olson; Reichhardt, Charles

In this paper, we show that ac driven skyrmions interacting with an asymmetric substrate provide a realization of a class of ratchet system which we call a vector ratchet that arises due to the effect of the Magnus term on the skyrmion dynamics. In a vector ratchet, the dc motion induced by the ac drive can be described as a vector that can be rotated clockwise or counterclockwise relative to the substrate asymmetry direction. Up to a full 360° rotation is possible for varied ac amplitudes or skyrmion densities. In contrast to overdamped systems, in which ratchet motion is alwaysmore » parallel to the substrate asymmetry direction, vector ratchets allow the ratchet motion to be in any direction relative to the substrate asymmetry. It is also possible to obtain a reversal in the direction of rotation of the vector ratchet, permitting the creation of a reversible vector ratchet. We examine vector ratchets for ac drives applied parallel or perpendicular to the substrate asymmetry direction, and show that reverse ratchet motion can be produced by collective effects. No reversals occur for an isolated skyrmion on an asymmetric substrate. Finally, since a vector ratchet can produce motion in any direction, it could represent a method for controlling skyrmion motion for spintronic applications.« less

Reversible vector ratchets for skyrmion systems

DOE PAGES

Ma, Xiu; Reichhardt, Cynthia Jane Olson; Reichhardt, Charles

2017-03-03

In this paper, we show that ac driven skyrmions interacting with an asymmetric substrate provide a realization of a class of ratchet system which we call a vector ratchet that arises due to the effect of the Magnus term on the skyrmion dynamics. In a vector ratchet, the dc motion induced by the ac drive can be described as a vector that can be rotated clockwise or counterclockwise relative to the substrate asymmetry direction. Up to a full 360° rotation is possible for varied ac amplitudes or skyrmion densities. In contrast to overdamped systems, in which ratchet motion is alwaysmore » parallel to the substrate asymmetry direction, vector ratchets allow the ratchet motion to be in any direction relative to the substrate asymmetry. It is also possible to obtain a reversal in the direction of rotation of the vector ratchet, permitting the creation of a reversible vector ratchet. We examine vector ratchets for ac drives applied parallel or perpendicular to the substrate asymmetry direction, and show that reverse ratchet motion can be produced by collective effects. No reversals occur for an isolated skyrmion on an asymmetric substrate. Finally, since a vector ratchet can produce motion in any direction, it could represent a method for controlling skyrmion motion for spintronic applications.« less

Analysis of field-oriented controlled induction motor drives under sensor faults and an overview of sensorless schemes.

PubMed

Arun Dominic, D; Chelliah, Thanga Raj

2014-09-01

To obtain high dynamic performance on induction motor drives (IMD), variable voltage and variable frequency operation has to be performed by measuring speed of rotation and stator currents through sensors and fed back them to the controllers. When the sensors are undergone a fault, the stability of control system, may be designed for an industrial process, is disturbed. This paper studies the negative effects on a 12.5 hp induction motor drives when the field oriented control system is subjected to sensor faults. To illustrate the importance of this study mine hoist load diagram is considered as shaft load of the tested machine. The methods to recover the system from sensor faults are discussed. In addition, the various speed sensorless schemes are reviewed comprehensively. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Sensorless Sinusoidal Drives for Fan and Pump Motors by V/f Control

NASA Astrophysics Data System (ADS)

Kiuchi, Mitsuyuki; Ohnishi, Tokuo

This paper proposes sensorless sinusoidal driving methods of permanent magnet synchronous motors for fans and pumps by V/f control. The proposed methods are simple methods that control the motor peak current constant by voltage or frequency control, and are characterized by DC link current detection using a single shunt resistor at carrier wave signal bottom timing. As a result of the dumping factor from square torque load characteristics of fan and pump motors, it is possible to control stable starting and stable steady state by V/f control. In general, pressure losses as a result of the fluid pass of fan and pump systems are nearly constant; therefore, the flow rate and motor torque are determined by revolutions. Accordingly, high efficiency driving is possible by setting corresponding currents to q-axis currents (torque currents) at target revolutions. Because of the simple current detection and motor control methods, the proposed methods are optimum for fan and pump motor driving systems of home appliances.

Fuzzy crane control with sensorless payload deflection feedback for vibration reduction

NASA Astrophysics Data System (ADS)

Smoczek, Jaroslaw

2014-05-01

Different types of cranes are widely used for shifting cargoes in building sites, shipping yards, container terminals and many manufacturing segments where the problem of fast and precise transferring a payload suspended on the ropes with oscillations reduction is frequently important to enhance the productivity, efficiency and safety. The paper presents the fuzzy logic-based robust feedback anti-sway control system which can be applicable either with or without a sensor of sway angle of a payload. The discrete-time control approach is based on the fuzzy interpolation of the controllers and crane dynamic model's parameters with respect to the varying rope length and mass of a payload. The iterative procedure combining a pole placement method and interval analysis of closed-loop characteristic polynomial coefficients is proposed to design the robust control scheme. The sensorless anti-sway control application developed with using PAC system with RX3i controller was verified on the laboratory scaled overhead crane.

Humanlike agents with posture planning ability

NASA Astrophysics Data System (ADS)

Jung, Moon R.; Badler, Norman I.

1992-11-01

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend versus squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of `lumped' control parameters, that is, control points and vectors.

Human-like agents with posture planning ability

NASA Technical Reports Server (NTRS)

Jung, Moon R.; Badler, Norman

1992-01-01

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

EFFICIENCY OPTIMIZATIN CONTROL OF AC INDUCTION MOTORS: INITIAL LABORATORY RESULTS

EPA Science Inventory

The report discusses the development of a fuzzy logic, energy-optimizing controller to improve the efficiency of motor/drive combinations that operate at varying loads and speeds. This energy optimizer is complemented by a sensorless speed controller that maintains motor shaft re...

Electric propulsion using the permanent magnet synchronous motor without rotor position transducers

NASA Astrophysics Data System (ADS)

Batzel, Todd Douglas

The permanent magnet synchronous motor (PMSM) is increasingly playing an important role in electric propulsion systems due to its many advantages over competing technologies. For successful operation of the PMSM, rotor position and speed information is required. A resolver or encoder attached to the shaft of the machine usually provides this information. Many applications, however, cannot tolerate the use of the position sensor because of space and weight limitations, reliability concerns, or packaging issues. Thus, there has been an intense interest in the development of a so-called position sensorless drive, where the PMSM stator itself is used as the rotor position sensor. In this work, a sensorless electric drive is developed for various undersea propulsion applications, where the rotor position sensor is often undesirable due to the harsh operating environment as well as space and weight limitations. In this work, an observer is developed which enables sensorless operation of the PMSM over a wide speed range. In addition, a method is presented for estimating the standstill rotor angle, an operating condition at which the rotor position observers are typically ill conditioned. In this work two design methodologies are applied to the sensorless electric drive application, including a model-based and a neural network-based approach. Implementation issues for the sensorless electric drive are discussed, and experimental results are presented in order to demonstrate the effectiveness of the proposed techniques to the sensorless PMSM.

Implementation of a MFAC based position sensorless drive for high speed BLDC motors with nonideal back EMF.

PubMed

Li, Haitao; Ning, Xin; Li, Wenzhuo

2017-03-01

In order to improve the reliability and reduce power consumption of the high speed BLDC motor system, this paper presents a model free adaptive control (MFAC) based position sensorless drive with only a dc-link current sensor. The initial commutation points are obtained by detecting the phase of EMF zero-crossing point and then delaying 30 electrical degrees. According to the commutation error caused by the low pass filter (LPF) and other factors, the relationship between commutation error angle and dc-link current is analyzed, a corresponding MFAC based control method is proposed, and the commutation error can be corrected by the controller in real time. Both the simulation and experimental results show that the proposed correction method can achieve ideal commutation effect within the entire operating speed range. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Design and realization of adaptive optical principle system without wavefront sensing

NASA Astrophysics Data System (ADS)

Wang, Xiaobin; Niu, Chaojun; Guo, Yaxing; Han, Xiang'e.

2018-02-01

In this paper, we focus on the performance improvement of the free space optical communication system and carry out the research on wavefront-sensorless adaptive optics. We use a phase only liquid crystal spatial light modulator (SLM) as the wavefront corrector. The optical intensity distribution of the distorted wavefront is detected by a CCD. We develop a wavefront controller based on ARM and a software based on the Linux operating system. The wavefront controller can control the CCD camera and the wavefront corrector. There being two SLMs in the experimental system, one simulates atmospheric turbulence and the other is used to compensate the wavefront distortion. The experimental results show that the performance quality metric (the total gray value of 25 pixels) increases from 3037 to 4863 after 200 iterations. Besides, it is demonstrated that our wavefront-sensorless adaptive optics system based on SPGD algorithm has a good performance in compensating wavefront distortion.

Reversible Vector Ratchet Effect in Skyrmion Systems

NASA Astrophysics Data System (ADS)

Ma, Xiaoyu; Reichhardt, Charles; Reichhardt, Cynthia

Magnetic skyrmions are topological non-trivial spin textures found in several magnetic materials. Since their motion can be controlled using ultralow current densities, skyrmions are appealing for potential applications in spintronics as information carriers and processing devices. In this work, we studied the collective transport properties of driven skyrmions based on a particle-like model with molecular dynamics (MD) simulation. Our results show that ac driven skyrmions interacting with an asymmetric substrate provide a realization of a new class of ratchet system, which we call a vector ratchet, that arises due to the effect of the Magnus term on the skyrmion dynamics. In a vector ratchet, the dc motion induced by the ac drive can be described as a vector that can be rotated up to 360 degrees relative to the substrate asymmetry direction. This could represent a new method for controlling skyrmion motion for spintronic applications.

SU-E-J-115: Correlation of Displacement Vector Fields Calculated by Deformable Image Registration Algorithms with Motion Parameters of CT Images with Well-Defined Targets and Controlled-Motion

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

Jaskowiak, J; Ahmad, S; Ali, I

Purpose: To investigate correlation of displacement vector fields (DVF) calculated by deformable image registration algorithms with motion parameters in helical axial and cone-beam CT images with motion artifacts. Methods: A mobile thorax phantom with well-known targets with different sizes that were made from water-equivalent material and inserted in foam to simulate lung lesions. The thorax phantom was imaged with helical, axial and cone-beam CT. The phantom was moved with a cyclic motion with different motion amplitudes and frequencies along the superior-inferior direction. Different deformable image registration algorithms including demons, fast demons, Horn-Shunck and iterative-optical-flow from the DIRART software were usedmore » to deform CT images for the phantom with different motion patterns. The CT images of the mobile phantom were deformed to CT images of the stationary phantom. Results: The values of displacement vectors calculated by deformable image registration algorithm correlated strongly with motion amplitude where large displacement vectors were calculated for CT images with large motion amplitudes. For example, the maximal displacement vectors were nearly equal to the motion amplitudes (5mm, 10mm or 20mm) at interfaces between the mobile targets lung tissue, while the minimal displacement vectors were nearly equal to negative the motion amplitudes. The maximal and minimal displacement vectors matched with edges of the blurred targets along the Z-axis (motion-direction), while DVF’s were small in the other directions. This indicates that the blurred edges by phantom motion were shifted largely to match with the actual target edge. These shifts were nearly equal to the motion amplitude. Conclusions: The DVF from deformable-image registration algorithms correlated well with motion amplitude of well-defined mobile targets. This can be used to extract motion parameters such as amplitude. However, as motion amplitudes increased, image artifacts increased significantly and that limited image quality and poor correlation between the motion amplitude and DVF was obtained.« less

Full-order Luenberger observer based on fuzzy-logic control for sensorless field-oriented control of a single-sided linear induction motor.

PubMed

Holakooie, Mohammad Hosein; Ojaghi, Mansour; Taheri, Asghar

2016-01-01

This paper investigates sensorless indirect field oriented control (IFOC) of SLIM with full-order Luenberger observer. The dynamic equations of SLIM are first elaborated to draw full-order Luenberger observer with some simplifying assumption. The observer gain matrix is derived from conventional procedure so that observer poles are proportional to SLIM poles to ensure the stability of system for wide range of linear speed. The operation of observer is significantly impressed by adaptive scheme. A fuzzy logic control (FLC) is proposed as adaptive scheme to estimate linear speed using speed tuning signal. The parameters of FLC are tuned using an off-line method through chaotic optimization algorithm (COA). The performance of the proposed observer is verified by both numerical simulation and real-time hardware-in-the-loop (HIL) implementation. Moreover, a detailed comparative study among proposed and other speed observers is obtained under different operation conditions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Modified artificial fish school algorithm for free space optical communication with sensor-less adaptive optics system

NASA Astrophysics Data System (ADS)

Cao, Jingtai; Zhao, Xiaohui; Li, Zhaokun; Liu, Wei; Gu, Haijun

2017-11-01

The performance of free space optical (FSO) communication system is limited by atmospheric turbulent extremely. Adaptive optics (AO) is the significant method to overcome the atmosphere disturbance. Especially, for the strong scintillation effect, the sensor-less AO system plays a major role for compensation. In this paper, a modified artificial fish school (MAFS) algorithm is proposed to compensate the aberrations in the sensor-less AO system. Both the static and dynamic aberrations compensations are analyzed and the performance of FSO communication before and after aberrations compensations is compared. In addition, MAFS algorithm is compared with artificial fish school (AFS) algorithm, stochastic parallel gradient descent (SPGD) algorithm and simulated annealing (SA) algorithm. It is shown that the MAFS algorithm has a higher convergence speed than SPGD algorithm and SA algorithm, and reaches the better convergence value than AFS algorithm, SPGD algorithm and SA algorithm. The sensor-less AO system with MAFS algorithm effectively increases the coupling efficiency at the receiving terminal with fewer numbers of iterations. In conclusion, the MAFS algorithm has great significance for sensor-less AO system to compensate atmospheric turbulence in FSO communication system.

MRAS state estimator for speed sensorless ISFOC induction motor drives with Luenberger load torque estimation.

PubMed

Zorgani, Youssef Agrebi; Koubaa, Yassine; Boussak, Mohamed

2016-03-01

This paper presents a novel method for estimating the load torque of a sensorless indirect stator flux oriented controlled (ISFOC) induction motor drive based on the model reference adaptive system (MRAS) scheme. As a matter of fact, this method is meant to inter-connect a speed estimator with the load torque observer. For this purpose, a MRAS has been applied to estimate the rotor speed with tuned load torque in order to obtain a high performance ISFOC induction motor drive. The reference and adjustable models, developed in the stationary stator reference frame, are used in the MRAS scheme in an attempt to estimate the speed of the measured terminal voltages and currents. The load torque is estimated by means of a Luenberger observer defined throughout the mechanical equation. Every observer state matrix depends on the mechanical characteristics of the machine taking into account the vicious friction coefficient and inertia moment. Accordingly, some simulation results are presented to validate the proposed method and to highlight the influence of the variation of the inertia moment and the friction coefficient on the speed and the estimated load torque. The experimental results, concerning to the sensorless speed with a load torque estimation, are elaborated in order to validate the effectiveness of the proposed method. The complete sensorless ISFOC with load torque estimation is successfully implemented in real time using a digital signal processor board DSpace DS1104 for a laboratory 3 kW induction motor. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Control algorithms and applications of the wavefront sensorless adaptive optics

NASA Astrophysics Data System (ADS)

Ma, Liang; Wang, Bin; Zhou, Yuanshen; Yang, Huizhen

2017-10-01

Compared with the conventional adaptive optics (AO) system, the wavefront sensorless (WFSless) AO system need not to measure the wavefront and reconstruct it. It is simpler than the conventional AO in system architecture and can be applied to the complex conditions. Based on the analysis of principle and system model of the WFSless AO system, wavefront correction methods of the WFSless AO system were divided into two categories: model-free-based and model-based control algorithms. The WFSless AO system based on model-free-based control algorithms commonly considers the performance metric as a function of the control parameters and then uses certain control algorithm to improve the performance metric. The model-based control algorithms include modal control algorithms, nonlinear control algorithms and control algorithms based on geometrical optics. Based on the brief description of above typical control algorithms, hybrid methods combining the model-free-based control algorithm with the model-based control algorithm were generalized. Additionally, characteristics of various control algorithms were compared and analyzed. We also discussed the extensive applications of WFSless AO system in free space optical communication (FSO), retinal imaging in the human eye, confocal microscope, coherent beam combination (CBC) techniques and extended objects.

Fuel sensor-less control of a liquid feed fuel cell under dynamic loading conditions for portable power sources (II)

NASA Astrophysics Data System (ADS)

Chang, C. L.; Chen, C. Y.; Sung, C. C.; Liou, D. H.; Chang, C. Y.; Cha, H. C.

This work presents a new fuel sensor-less control scheme for liquid feed fuel cells that is able to control the supply to a fuel cell system for operation under dynamic loading conditions. The control scheme uses cell-operating characteristics, such as potential, current, and power, to regulate the fuel concentration of a liquid feed fuel cell without the need for a fuel concentration sensor. A current integral technique has been developed to calculate the quantity of fuel required at each monitoring cycle, which can be combined with the concentration regulating process to control the fuel supply for stable operation. As verified by systematic experiments, this scheme can effectively control the fuel supply of a liquid feed fuel cell with reduced response time, even under conditions where the membrane electrolyte assembly (MEA) deteriorates gradually. This advance will aid the commercialization of liquid feed fuel cells and make them more adaptable for use in portable and automotive power units such as laptops, e-bikes, and handicap cars.

Study on Stability of High Speed Traction Drive CVT for Aircraft Generator

NASA Astrophysics Data System (ADS)

Goi, Tatsuhiko; Tanaka, Hirohisa; Nakashima, Kenichi; Watanabe, Koji

A half-toroidal traction drive CVT has a feature of small spin at traction pitch in whole speed ratio range of 1:4, which suits to transmit high rotational speed with minimum temperature increase of traction surface. Research activity on traction drive CVT has commenced in 1996 for applying it to an aircraft 24,000rpm constant-speed generator instead of a hydro-static transmission. This paper shows fundamental design of 90kW traction drive integrated drive generator, ``T-IDG", and stability analysis on a sensor-less electro-hydraulic speed control servo-mechanism by bond graphs. The performance test of T-IDG mounted on a test bench and an actual jet engine proved that the control system using sensor-less servomechanism can keep the generator speed within MIL-STD-704E allowable limit against steep changes of speed and load.

Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a new sliding mode observer.

PubMed

Ren, Jun-Jie; Liu, Yan-Cheng; Wang, Ning; Liu, Si-Yuan

2015-01-01

This paper proposes a sensorless speed control strategy for ship propulsion interior permanent magnet synchronous motor (IPMSM) based on a new sliding-mode observer (SMO). In the SMO the low-pass filter and the method of arc-tangent calculation of extended electromotive force (EMF) or phase-locked loop (PLL) technique are not used. The calculation of the rotor speed is deduced from the Lyapunov function stability analysis. In order to reduce system chattering, sigmoid functions with switching gains being adaptively updated by fuzzy logic systems are innovatively incorporated into the SMO. Finally, simulation results for a 4.088 MW ship propulsion IPMSM and experimental results from a 7.5 kW IPMSM drive are provided to verify the effectiveness of the proposed SMO method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Wavefront sensorless adaptive optics temporal focusing-based multiphoton microscopy

PubMed Central

Chang, Chia-Yuan; Cheng, Li-Chung; Su, Hung-Wei; Hu, Yvonne Yuling; Cho, Keng-Chi; Yen, Wei-Chung; Xu, Chris; Dong, Chen Yuan; Chen, Shean-Jen

2014-01-01

Temporal profile distortions reduce excitation efficiency and image quality in temporal focusing-based multiphoton microscopy. In order to compensate the distortions, a wavefront sensorless adaptive optics system (AOS) was integrated into the microscope. The feedback control signal of the AOS was acquired from local image intensity maximization via a hill-climbing algorithm. The control signal was then utilized to drive a deformable mirror in such a way as to eliminate the distortions. With the AOS correction, not only is the axial excitation symmetrically refocused, but the axial resolution with full two-photon excited fluorescence (TPEF) intensity is also maintained. Hence, the contrast of the TPEF image of a R6G-doped PMMA thin film is enhanced along with a 3.7-fold increase in intensity. Furthermore, the TPEF image quality of 1μm fluorescent beads sealed in agarose gel at different depths is improved. PMID:24940539

Lyapunov vector function method in the motion stabilisation problem for nonholonomic mobile robot

NASA Astrophysics Data System (ADS)

Andreev, Aleksandr; Peregudova, Olga

2017-07-01

In this paper we propose a sampled-data control law in the stabilisation problem of nonstationary motion of nonholonomic mobile robot. We assume that the robot moves on a horizontal surface without slipping. The dynamical model of a mobile robot is considered. The robot has one front free wheel and two rear wheels which are controlled by two independent electric motors. We assume that the controls are piecewise constant signals. Controller design relies on the backstepping procedure with the use of Lyapunov vector-function method. Theoretical considerations are verified by numerical simulation.

Wavefront sensorless adaptive optics optical coherence tomography for in vivo retinal imaging in mice

PubMed Central

Jian, Yifan; Xu, Jing; Gradowski, Martin A.; Bonora, Stefano; Zawadzki, Robert J.; Sarunic, Marinko V.

2014-01-01

We present wavefront sensorless adaptive optics (WSAO) Fourier domain optical coherence tomography (FD-OCT) for in vivo small animal retinal imaging. WSAO is attractive especially for mouse retinal imaging because it simplifies optical design and eliminates the need for wavefront sensing, which is difficult in the small animal eye. GPU accelerated processing of the OCT data permitted real-time extraction of image quality metrics (intensity) for arbitrarily selected retinal layers to be optimized. Modal control of a commercially available segmented deformable mirror (IrisAO Inc.) provided rapid convergence using a sequential search algorithm. Image quality improvements with WSAO OCT are presented for both pigmented and albino mouse retinal data, acquired in vivo. PMID:24575347

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.

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.

New sensorless, efficient optimized and stabilized v/f control for pmsm machines

NASA Astrophysics Data System (ADS)

Jafari, Seyed Hesam

With the rapid advances in power electronics and motor drive technologies in recent decades, permanent magnet synchronous machines (PMSM) have found extensive applications in a variety of industrial systems due to its many desirable features such as high power density, high efficiency, and high torque to current ratio, low noise, and robustness. In low dynamic applications like pumps, fans and compressors where the motor speed is nearly constant, usage of a simple control algorithm that can be implemented with least number of the costly external hardware can be highly desirable for industry. In recent published works, for low power PMSMs, a new sensorless volts-per-hertz (V/f) controlling method has been proposed which can be used for PMSM drive applications where the motor speed is constant. Moreover, to minimize the cost of motor implementation, the expensive rotor damper winding was eliminated. By removing the damper winding, however, instability problems normally occur inside of the motor which in some cases can be harmful for a PMSM drive. As a result, to address the instability issue, a stabilizing loop was developed and added to the conventional V/f. By further studying the proposed sensorless stabilized V/f, and calculating power loss, it became known that overall motor efficiency still is needed to be improved and optimized. This thesis suggests a new V/f control method for PMSMs, where both efficiency and stability problems are addressed. Also, although in nearly all recent related research, methods have been applied to low power PMSM, for the first time, in this thesis, the suggested method is implemented for a medium power 15 kW PMSM. A C2000 F2833x Digital Signal Processor (DSP) is used as controller part for the student custom built PMSM drive, but instead of programming the DSP in Assembly or C, the main control algorithm was developed in a rapid prototype software environment which here Matlab Simulink embedded code library is used.

Controlling Flexible Robot Arms Using High Speed Dynamics Process

NASA Technical Reports Server (NTRS)

Jain, Abhinandan (Inventor)

1996-01-01

A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

Model-based wavefront sensorless adaptive optics system for large aberrations and extended objects.

PubMed

Yang, Huizhen; Soloviev, Oleg; Verhaegen, Michel

2015-09-21

A model-based wavefront sensorless (WFSless) adaptive optics (AO) system with a 61-element deformable mirror is simulated to correct the imaging of a turbulence-degraded extended object. A fast closed-loop control algorithm, which is based on the linear relation between the mean square of the aberration gradients and the second moment of the image intensity distribution, is used to generate the control signals for the actuators of the deformable mirror (DM). The restoration capability and the convergence rate of the AO system are investigated with different turbulence strength wave-front aberrations. Simulation results show the model-based WFSless AO system can restore those images degraded by different turbulence strengths successfully and obtain the correction very close to the achievable capability of the given DM. Compared with the ideal correction of 61-element DM, the averaged relative error of RMS value is 6%. The convergence rate of AO system is independent of the turbulence strength and only depends on the number of actuators of DM.

A sensor-less LED dimming system based on daylight harvesting with BIPV systems.

PubMed

Yoo, Seunghwan; Kim, Jonghun; Jang, Cheol-Yong; Jeong, Hakgeun

2014-01-13

Artificial lighting in office buildings typically requires 30% of the total energy consumption of the building, providing a substantial opportunity for energy savings. To reduce the energy consumed by indoor lighting, we propose a sensor-less light-emitting diode (LED) dimming system using daylight harvesting. In this study, we used light simulation software to quantify and visualize daylight, and analyzed the correlation between photovoltaic (PV) power generation and indoor illumination in an office with an integrated PV system. In addition, we calculated the distribution of daylight illumination into the office and dimming ratios for the individual control of LED lights. Also, we were able directly to use the electric power generated by PV system. As a result, power consumption for electric lighting was reduced by 40 - 70% depending on the season and the weather conditions. Thus, the dimming system proposed in this study can be used to control electric lighting to reduce energy use cost-effectively and simply.

Upgrades to the NOAA/NESDIS automated Cloud-Motion Vector system

NASA Technical Reports Server (NTRS)

Nieman, Steve; Menzel, W. Paul; Hayden, Christopher M.; Wanzong, Steve; Velden, Christopher S.

1993-01-01

The latest version of the automated cloud motion vector software has yielded significant improvements in the quality of the GOES cloud-drift winds produced operationally by NESDIS. Cloud motion vectors resulting from the automated system are now equal or superior in quality to those which had the benefit of manual quality control a few years ago. The single most important factor in this improvement has been the upgraded auto-editor. Improved tracer selection procedures eliminate targets in difficult regions and allow a higher target density and therefore enhanced coverage in areas of interest. The incorporation of the H2O-intercept height assignment method allows an adequate representation of the heights of semi-transparent clouds in the absence of a CO2-absorption channel. Finally, GOES-8 water-vapor motion winds resulting from the automated system are superior to any done previously by NESDIS and should now be considered as an operational product.

Analysis of sensorless control of brushless DC motor using unknown input observer with different gains

NASA Astrophysics Data System (ADS)

Astik, Mitesh B.; Bhatt, Praghnesh; Bhalja, Bhavesh R.

2017-03-01

A sensorless control scheme based on an unknown input observer is presented in this paper in which back EMF of the Brushless DC Motor (BLDC) is continuously estimated from available line voltages and currents. During negative rotation of motor, actual and estimated speed fail to track the reference speed and if the corrective action is not taken by the observer, the motor goes into saturation. To overcome this problem, the speed estimation algorithm has been implemented in this paper to control the dynamic behavior of the motor during negative rotation. The Ackermans method was used to calculate the gains of an unknown input observer which is based on the appropriate choice of the eigenvalues in advance. The criteria to choose eigenvalue is to obtain a balance between faster convergence rate and the least noise level. Simulations have been carried out for different disturbances such as step changes in motor reference speed and load torque. The comparative simulation results clearly depict that the disturbance effects in actual and estimated responses minimizes as observer gain setting increases.

Vectors in Use in a 3D Juggling Game Simulation

ERIC Educational Resources Information Center

Kynigos, Chronis; Latsi, Maria

2006-01-01

The new representations enabled by the educational computer game the "Juggler" can place vectors in a central role both for controlling and measuring the behaviours of objects in a virtual environment simulating motion in three-dimensional spaces. The mathematical meanings constructed by 13 year-old students in relation to vectors as…

Visually guided control of movement in the context of multimodal stimulation

NASA Technical Reports Server (NTRS)

Riccio, Gary E.

1991-01-01

Flight simulation has been almost exclusively concerned with simulating the motions of the aircraft. Physically distinct subsystems are often combined to simulate the varieties of aircraft motion. Visual display systems simulate the motion of the aircraft relative to remote objects and surfaces (e.g., other aircraft and the terrain). 'Motion platform' simulators recreate aircraft motion relative to the gravitoinertial vector (i.e., correlated rotation and tilt as opposed to the 'coordinated turn' in flight). 'Control loaders' attempt to simulate the resistance of the aerodynamic medium to aircraft motion. However, there are few operational systems that attempt to simulate the motion of the pilot relative to the aircraft and the gravitoinertial vector. The design and use of all simulators is limited by poor understanding of postural control in the aircraft and its effect on the perception and control of flight. Analysis of the perception and control of flight (real or simulated) must consider that: (1) the pilot is not rigidly attached to the aircraft; and (2) the pilot actively monitors and adjusts body orientation and configuration in the aircraft. It is argued that this more complete approach to flight simulation requires that multimodal perception be considered as the rule rather than the exception. Moreover, the necessity of multimodal perception is revealed by emphasizing the complementarity rather than the redundancy among perceptual systems. Finally, an outline is presented for an experiment to be conducted at NASA ARC. The experiment explicitly considers possible consequences of coordination between postural and vehicular control.

Method and apparatus for sensorless operation of brushless permanent magnet motors

DOEpatents

Sriram, Tillasthanam V.

1998-01-01

A sensorless method and apparatus for providing commutation timing signals for a brushless permanent magnet motor extracts the third harmonic back-emf of a three-phase stator winding and independently cyclically integrates the positive and negative half-cycles thereof and compares the results to a reference level associated with a desired commutation angle.

Method and apparatus for sensorless operation of brushless permanent magnet motors

DOEpatents

Sriram, T.V.

1998-04-14

A sensorless method and apparatus for providing commutation timing signals for a brushless permanent magnet motor extracts the third harmonic back-emf of a three-phase stator winding and independently cyclically integrates the positive and negative half-cycles thereof and compares the results to a reference level associated with a desired commutation angle. 23 figs.

The solar sail: Current state of the problem

NASA Astrophysics Data System (ADS)

Polyakhova, Elena; Korolev, Vladimir

2018-05-01

Mathematical models of dynamics of the spacecraft with a solar sail to control orbital motion and rotation of the entire structureare considered. The movement of a spacecraftby a solar sail is based on the effect of light pressure. The magnitude and direction of the light pressure force vector is determined by the size and properties of the sail surface and the orientation angle relative to the sunlight flux. It is possible to vary the properties, sizes or locations of the sails to control the motion. Turning the elements of the sail, we get the opportunity to control the direction of the vector of the acting force and the moment with respect to the center of mass. Specificity of solar sail control is the interaction of orbital motion and rotational movements of the entire structure, which could provide the desired orientation and stability at small perturbations. The solar sail can be used for flights to the major planets, to meet with asteroids and comet, to realize a special desired motion in the neighborhood of the Sun or near the Earth.

Training in cortical control of neuroprosthetic devices improves signal extraction from small neuronal ensembles.

PubMed

Helms Tillery, S I; Taylor, D M; Schwartz, A B

2003-01-01

We have recently developed a closed-loop environment in which we can test the ability of primates to control the motion of a virtual device using ensembles of simultaneously recorded neurons /29/. Here we use a maximum likelihood method to assess the information about task performance contained in the neuronal ensemble. We trained two animals to control the motion of a computer cursor in three dimensions. Initially the animals controlled cursor motion using arm movements, but eventually they learned to drive the cursor directly from cortical activity. Using a population vector (PV) based upon the relation between cortical activity and arm motion, the animals were able to control the cursor directly from the brain in a closed-loop environment, but with difficulty. We added a supervised learning method that modified the parameters of the PV according to task performance (adaptive PV), and found that animals were able to exert much finer control over the cursor motion from brain signals. Here we describe a maximum likelihood method (ML) to assess the information about target contained in neuronal ensemble activity. Using this method, we compared the information about target contained in the ensemble during arm control, during brain control early in the adaptive PV, and during brain control after the adaptive PV had settled and the animal could drive the cursor reliably and with fine gradations. During the arm-control task, the ML was able to determine the target of the movement in as few as 10% of the trials, and as many as 75% of the trials, with an average of 65%. This average dropped when the animals used a population vector to control motion of the cursor. On average we could determine the target in around 35% of the trials. This low percentage was also reflected in poor control of the cursor, so that the animal was unable to reach the target in a large percentage of trials. Supervised adjustment of the population vector parameters produced new weighting coefficients and directional tuning parameters for many neurons. This produced a much better performance of the brain-controlled cursor motion. It was also reflected in the maximum likelihood measure of cell activity, producing the correct target based only on neuronal activity in over 80% of the trials on average. The changes in maximum likelihood estimates of target location based on ensemble firing show that an animal's ability to regulate the motion of a cortically controlled device is not crucially dependent on the experimenter's ability to estimate intention from neuronal activity.

A high speed model-based approach for wavefront sensorless adaptive optics systems

NASA Astrophysics Data System (ADS)

Lianghua, Wen; Yang, Ping; Shuai, Wang; Wenjing, Liu; Shanqiu, Chen; Xu, Bing

2018-02-01

To improve temporal-frequency property of wavefront sensorless adaptive optics (AO) systems, a fast general model-based aberration correction algorithm is presented. The fast general model-based approach is based on the approximately linear relation between the mean square of the aberration gradients and the second moment of far-field intensity distribution. The presented model-based method is capable of completing a mode aberration effective correction just applying one disturbing onto the deformable mirror(one correction by one disturbing), which is reconstructed by the singular value decomposing the correlation matrix of the Zernike functions' gradients. Numerical simulations of AO corrections under the various random and dynamic aberrations are implemented. The simulation results indicate that the equivalent control bandwidth is 2-3 times than that of the previous method with one aberration correction after applying N times disturbing onto the deformable mirror (one correction by N disturbing).

Wavefront sensorless adaptive optics OCT with the DONE algorithm for in vivo human retinal imaging [Invited

PubMed Central

Verstraete, Hans R. G. W.; Heisler, Morgan; Ju, Myeong Jin; Wahl, Daniel; Bliek, Laurens; Kalkman, Jeroen; Bonora, Stefano; Jian, Yifan; Verhaegen, Michel; Sarunic, Marinko V.

2017-01-01

In this report, which is an international collaboration of OCT, adaptive optics, and control research, we demonstrate the Data-based Online Nonlinear Extremum-seeker (DONE) algorithm to guide the image based optimization for wavefront sensorless adaptive optics (WFSL-AO) OCT for in vivo human retinal imaging. The ocular aberrations were corrected using a multi-actuator adaptive lens after linearization of the hysteresis in the piezoelectric actuators. The DONE algorithm succeeded in drastically improving image quality and the OCT signal intensity, up to a factor seven, while achieving a computational time of 1 ms per iteration, making it applicable for many high speed applications. We demonstrate the correction of five aberrations using 70 iterations of the DONE algorithm performed over 2.8 s of continuous volumetric OCT acquisition. Data acquired from an imaging phantom and in vivo from human research volunteers are presented. PMID:28736670

Wavefront sensorless adaptive optics OCT with the DONE algorithm for in vivo human retinal imaging [Invited].

PubMed

Verstraete, Hans R G W; Heisler, Morgan; Ju, Myeong Jin; Wahl, Daniel; Bliek, Laurens; Kalkman, Jeroen; Bonora, Stefano; Jian, Yifan; Verhaegen, Michel; Sarunic, Marinko V

2017-04-01

In this report, which is an international collaboration of OCT, adaptive optics, and control research, we demonstrate the Data-based Online Nonlinear Extremum-seeker (DONE) algorithm to guide the image based optimization for wavefront sensorless adaptive optics (WFSL-AO) OCT for in vivo human retinal imaging. The ocular aberrations were corrected using a multi-actuator adaptive lens after linearization of the hysteresis in the piezoelectric actuators. The DONE algorithm succeeded in drastically improving image quality and the OCT signal intensity, up to a factor seven, while achieving a computational time of 1 ms per iteration, making it applicable for many high speed applications. We demonstrate the correction of five aberrations using 70 iterations of the DONE algorithm performed over 2.8 s of continuous volumetric OCT acquisition. Data acquired from an imaging phantom and in vivo from human research volunteers are presented.

BP artificial neural network based wave front correction for sensor-less free space optics communication

NASA Astrophysics Data System (ADS)

Li, Zhaokun; Zhao, Xiaohui

2017-02-01

The sensor-less adaptive optics (AO) is one of the most promising methods to compensate strong wave front disturbance in free space optics communication (FSO). The back propagation (BP) artificial neural network is applied for the sensor-less AO system to design a distortion correction scheme in this study. This method only needs one or a few online measurements to correct the wave front distortion compared with other model-based approaches, by which the real-time capacity of the system is enhanced and the Strehl Ratio (SR) is largely improved. Necessary comparisons in numerical simulation with other model-based and model-free correction methods proposed in Refs. [6,8,9,10] are given to show the validity and advantage of the proposed method.

Semi-automated vectorial analysis of anorectal motion by magnetic resonance defecography in healthy subjects and fecal incontinence.

PubMed

Noelting, J; Bharucha, A E; Lake, D S; Manduca, A; Fletcher, J G; Riederer, S J; Joseph Melton, L; Zinsmeister, A R

2012-10-01

Inter-observer variability limits the reproducibility of pelvic floor motion measured by magnetic resonance imaging (MRI). Our aim was to develop a semi-automated program measuring pelvic floor motion in a reproducible and refined manner. Pelvic floor anatomy and motion during voluntary contraction (squeeze) and rectal evacuation were assessed by MRI in 64 women with fecal incontinence (FI) and 64 age-matched controls. A radiologist measured anorectal angles and anorectal junction motion. A semi-automated program did the same and also dissected anorectal motion into perpendicular vectors representing the puborectalis and other pelvic floor muscles, assessed the pubococcygeal angle, and evaluated pelvic rotation. Manual and semi-automated measurements of anorectal junction motion (r = 0.70; P < 0.0001) during squeeze and evacuation were correlated, as were anorectal angles at rest, squeeze, and evacuation; angle change during squeeze or evacuation was less so. Semi-automated measurements of anorectal and pelvic bony motion were also reproducible within subjects. During squeeze, puborectalis injury was associated (P ≤ 0.01) with smaller puborectalis but not pelvic floor motion vectors, reflecting impaired puborectalis function. The pubococcygeal angle, reflecting posterior pelvic floor motion, was smaller during squeeze and larger during evacuation. However, pubococcygeal angles and pelvic rotation during squeeze and evacuation did not differ significantly between FI and controls. This semi-automated program provides a reproducible, efficient, and refined analysis of pelvic floor motion by MRI. Puborectalis injury is independently associated with impaired motion of puborectalis, not other pelvic floor muscles in controls and women with FI. © 2012 Blackwell Publishing Ltd.

Full-motion video analysis for improved gender classification

NASA Astrophysics Data System (ADS)

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

2014-06-01

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

A Method for Integrating Thrust-Vectoring and Actuated Forebody Strakes with Conventional Aerodynamic Controls on a High-Performance Fighter Airplane

NASA Technical Reports Server (NTRS)

Lallman, Frederick J.; Davidson, John B.; Murphy, Patrick C.

1998-01-01

A method, called pseudo controls, of integrating several airplane controls to achieve cooperative operation is presented. The method eliminates conflicting control motions, minimizes the number of feedback control gains, and reduces the complication of feedback gain schedules. The method is applied to the lateral/directional controls of a modified high-performance airplane. The airplane has a conventional set of aerodynamic controls, an experimental set of thrust-vectoring controls, and an experimental set of actuated forebody strakes. The experimental controls give the airplane additional control power for enhanced stability and maneuvering capabilities while flying over an expanded envelope, especially at high angles of attack. The flight controls are scheduled to generate independent body-axis control moments. These control moments are coordinated to produce stability-axis angular accelerations. Inertial coupling moments are compensated. Thrust-vectoring controls are engaged according to their effectiveness relative to that of the aerodynamic controls. Vane-relief logic removes steady and slowly varying commands from the thrust-vectoring controls to alleviate heating of the thrust turning devices. The actuated forebody strakes are engaged at high angles of attack. This report presents the forward-loop elements of a flight control system that positions the flight controls according to the desired stability-axis accelerations. This report does not include the generation of the required angular acceleration commands by means of pilot controls or the feedback of sensed airplane motions.

Improvement of cardiac CT reconstruction using local motion vector fields.

PubMed

Schirra, Carsten Oliver; Bontus, Claas; van Stevendaal, Udo; Dössel, Olaf; Grass, Michael

2009-03-01

The motion of the heart is a major challenge for cardiac imaging using CT. A novel approach to decrease motion blur and to improve the signal to noise ratio is motion compensated reconstruction which takes motion vector fields into account in order to correct motion. The presented work deals with the determination of local motion vector fields from high contrast objects and their utilization within motion compensated filtered back projection reconstruction. Image registration is applied during the quiescent cardiac phases. Temporal interpolation in parameter space is used in order to estimate motion during strong motion phases. The resulting motion vector fields are during image reconstruction. The method is assessed using a software phantom and several clinical cases for calcium scoring. As a criterion for reconstruction quality, calcium volume scores were derived from both, gated cardiac reconstruction and motion compensated reconstruction throughout the cardiac phases using low pitch helical cone beam CT acquisitions. The presented technique is a robust method to determine and utilize local motion vector fields. Motion compensated reconstruction using the derived motion vector fields leads to superior image quality compared to gated reconstruction. As a result, the gating window can be enlarged significantly, resulting in increased SNR, while reliable Hounsfield units are achieved due to the reduced level of motion artefacts. The enlargement of the gating window can be translated into reduced dose requirements.

Reference equations of motion for automatic rendezvous and capture

NASA Technical Reports Server (NTRS)

Henderson, David M.

1992-01-01

The analysis presented in this paper defines the reference coordinate frames, equations of motion, and control parameters necessary to model the relative motion and attitude of spacecraft in close proximity with another space system during the Automatic Rendezvous and Capture phase of an on-orbit operation. The relative docking port target position vector and the attitude control matrix are defined based upon an arbitrary spacecraft design. These translation and rotation control parameters could be used to drive the error signal input to the vehicle flight control system. Measurements for these control parameters would become the bases for an autopilot or feedback control system (FCS) design for a specific spacecraft.

Robotic application of a dynamic resultant force vector using real-time load-control: simulation of an ideal follower load on Cadaveric L4-L5 segments.

PubMed

Bennett, Charles R; Kelly, Brian P

2013-08-09

Standard in-vitro spine testing methods have focused on application of isolated and/or constant load components while the in-vivo spine is subject to multiple components that can be resolved into resultant dynamic load vectors. To advance towards more in-vivo like simulations the objective of the current study was to develop a methodology to apply robotically-controlled, non-zero, real-time dynamic resultant forces during flexion-extension on human lumbar motion segment units (MSU) with initial application towards simulation of an ideal follower load (FL) force vector. A proportional-integral-derivative (PID) controller with custom algorithms coordinated the motion of a Cartesian serial manipulator comprised of six axes each capable of position- or load-control. Six lumbar MSUs (L4-L5) were tested with continuously increasing sagittal plane bending to 8 Nm while force components were dynamically programmed to deliver a resultant 400 N FL that remained normal to the moving midline of the intervertebral disc. Mean absolute load-control tracking errors between commanded and experimental loads were computed. Global spinal ranges of motion and sagittal plane inter-body translations were compared to previously published values for non-robotic applications. Mean TEs for zero-commanded force and moment axes were 0.7 ± 0.4N and 0.03 ± 0.02 Nm, respectively. For non-zero force axes mean TEs were 0.8 ± 0.8 N, 1.3 ± 1.6 Nm, and 1.3 ± 1.6N for Fx, Fz, and the resolved ideal follower load vector FL(R), respectively. Mean extension and flexion ranges of motion were 2.6° ± 1.2° and 5.0° ± 1.7°, respectively. Relative vertebral body translations and rotations were very comparable to data collected with non-robotic systems in the literature. The robotically coordinated Cartesian load controlled testing system demonstrated robust real-time load-control that permitted application of a real-time dynamic non-zero load vector during flexion-extension. For single MSU investigations the methodology has potential to overcome conventional follower load limitations, most notably via application outside the sagittal plane. This methodology holds promise for future work aimed at reducing the gap between current in-vitro testing and in-vivo circumstances. Copyright © 2013 Elsevier Ltd. All rights reserved.

Frozen orbit realization using LQR analogy

NASA Astrophysics Data System (ADS)

Nagarajan, N.; Rayan, H. Reno

In the case of remote sensing orbits, the Frozen Orbit concept minimizes altitude variations over a given region using passive means. This is achieved by establishing the mean eccentricity vector at the orbital poles i.e., by fixing the mean argument of perigee at 90 deg with an appropriate eccentricity to balance the perturbations due to zonal harmonics J2 and J3 of the Earth's potential. Eccentricity vector is a vector whose magnitude is the eccentricity and direction is the argument of perigee. The launcher dispersions result in an eccentricity vector which is away from the frozen orbit values. The objective is then to formulate an orbit maneuver strategy to optimize the fuel required to achieve the frozen orbit in the presence of visibility and impulse constraints. It is shown that the motion of the eccentricity vector around the frozen perigee can be approximated as a circle. Combining the circular motion of the eccentricity vector around the frozen point and the maneuver equation, the following discrete equation is obtained. X(k+1) = AX(k) + Bu(k), where X is the state (i.e. eccentricity vector components), A the state transition matrix, u the scalar control force (i.e. dV in this case) and B the control matrix which transforms dV into eccentricity vector change. Based on this, it is shown that the problem of optimizing the fuel can be treated as a Linear Quadratic Regulator (LQR) problem in which the maneuver can be solved by using control system design tools like MATLAB by deriving an analogy LQR design.

Bunch of restless vector solitons in a fiber laser with SESAM.

PubMed

Zhao, L M; Tang, D Y; Zhang, H; Wu, X

2009-05-11

We report on the experimental observation of a novel form of vector soliton interaction in a fiber laser mode-locked with SESAM. Several vector solitons bunch in the cavity and move as a unit with the cavity repetition rate. However, inside the bunch the vector solitons make repeatedly contractive and repulsive motions, resembling the contraction and extension of a spring. The number of vector solitons in the bunch is controllable by changing the pump power. In addition, polarization rotation locking and period doubling bifurcation of the vector soliton bunch are also experimentally observed.

Improvement in vehicle agility and stability by G-Vectoring control

NASA Astrophysics Data System (ADS)

Yamakado, Makoto; Takahashi, Jyunya; Saito, Shinjiro; Yokoyama, Atsushi; Abe, Masato

2010-12-01

We extracted a trade-off strategy between longitudinal traction/braking force and cornering force by using jerk information through observing an expert driver's voluntary braking and turning action. Using the expert driver's strategy, we developed a new control concept, called 'G-Vectoring control', which is an automatic longitudinal acceleration control (No DYC) in accordance with the vehicle's lateral jerk caused by the driver's steering manoeuvres. With the control, the direction of synthetic acceleration (G) changes seamlessly (i.e. vectoring). The improvements in vehicle agility and stability were evaluated by theoretical analysis and through computer simulation. We then introduced a 'G-Vectoring' equipped test vehicle realised by brake-by-wire technology and executed a detailed examination on a test track. We have confirmed that the vehicle motion in view of both handling and ride quality has improved dramatically.

A Real-Time Position-Locating Algorithm for CCD-Based Sunspot Tracking

NASA Technical Reports Server (NTRS)

Taylor, Jaime R.

1996-01-01

NASA Marshall Space Flight Center's (MSFC) EXperimental Vector Magnetograph (EXVM) polarimeter measures the sun's vector magnetic field. These measurements are taken to improve understanding of the sun's magnetic field in the hopes to better predict solar flares. Part of the procedure for the EXVM requires image motion stabilization over a period of a few minutes. A high speed tracker can be used to reduce image motion produced by wind loading on the EXVM, fluctuations in the atmosphere and other vibrations. The tracker consists of two elements, an image motion detector and a control system. The image motion detector determines the image movement from one frame to the next and sends an error signal to the control system. For the ground based application to reduce image motion due to atmospheric fluctuations requires an error determination at the rate of at least 100 hz. It would be desirable to have an error determination rate of 1 kHz to assure that higher rate image motion is reduced and to increase the control system stability. Two algorithms are presented that are typically used for tracking. These algorithms are examined for their applicability for tracking sunspots, specifically their accuracy if only one column and one row of CCD pixels are used. To examine the accuracy of this method two techniques are used. One involves moving a sunspot image a known distance with computer software, then applying the particular algorithm to see how accurately it determines this movement. The second technique involves using a rate table to control the object motion, then applying the algorithms to see how accurately each determines the actual motion. Results from these two techniques are presented.

Bearingless Flywheel Systems, Winding and Control Schemes, and Sensorless Control

NASA Technical Reports Server (NTRS)

Kascak, Peter E (Inventor); Jansen, Ralph H (Inventor); Trase, Larry M (Inventor); Dever, Timothy P (Inventor); Kraft, Thomas G (Inventor)

2016-01-01

Flywheel systems are disclosed that provide increased energy density and operational effectiveness. A first bearingless motor and a second bearingless motor may be configured to simultaneously suspend the central rotor in a radial direction and to rotate the central rotor. However, certain implementations may have one motor or more than two motors, depending on the design. A plurality of the flywheel systems may be collectively controlled to perform community energy storage with higher storage capacities than individual flywheel systems.

A Flywheel Energy Storage System Demonstration for Space Applications

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Kascak, Peter E.; Jansen, Ralph; Dever, Timothy

2003-01-01

A novel control algorithm for the charge and discharge modes of operation of a flywheel energy storage system for space applications is presented. The motor control portion of the algorithm uses sensorless field oriented control with position and speed estimates determined from a signal injection technique at low speeds and a back EMF technique at higher speeds. The charge and discharge portion of the algorithm use command feed-forward and disturbance decoupling, respectively, to achieve fast response with low gains. Simulation and experimental results are presented.

Real time optimization algorithm for wavefront sensorless adaptive optics OCT (Conference Presentation)

NASA Astrophysics Data System (ADS)

Verstraete, Hans R. G. W.; Heisler, Morgan; Ju, Myeong Jin; Wahl, Daniel J.; Bliek, Laurens; Kalkman, Jeroen; Bonora, Stefano; Sarunic, Marinko V.; Verhaegen, Michel; Jian, Yifan

2017-02-01

Optical Coherence Tomography (OCT) has revolutionized modern ophthalmology, providing depth resolved images of the retinal layers in a system that is suited to a clinical environment. A limitation of the performance and utilization of the OCT systems has been the lateral resolution. Through the combination of wavefront sensorless adaptive optics with dual variable optical elements, we present a compact lens based OCT system that is capable of imaging the photoreceptor mosaic. We utilized a commercially available variable focal length lens to correct for a wide range of defocus commonly found in patient eyes, and a multi-actuator adaptive lens after linearization of the hysteresis in the piezoelectric actuators for aberration correction to obtain near diffraction limited imaging at the retina. A parallel processing computational platform permitted real-time image acquisition and display. The Data-based Online Nonlinear Extremum seeker (DONE) algorithm was used for real time optimization of the wavefront sensorless adaptive optics OCT, and the performance was compared with a coordinate search algorithm. Cross sectional images of the retinal layers and en face images of the cone photoreceptor mosaic acquired in vivo from research volunteers before and after WSAO optimization are presented. Applying the DONE algorithm in vivo for wavefront sensorless AO-OCT demonstrates that the DONE algorithm succeeds in drastically improving the signal while achieving a computational time of 1 ms per iteration, making it applicable for high speed real time applications.

Fast correction approach for wavefront sensorless adaptive optics based on a linear phase diversity technique.

PubMed

Yue, Dan; Nie, Haitao; Li, Ye; Ying, Changsheng

2018-03-01

Wavefront sensorless (WFSless) adaptive optics (AO) systems have been widely studied in recent years. To reach optimum results, such systems require an efficient correction method. This paper presents a fast wavefront correction approach for a WFSless AO system mainly based on the linear phase diversity (PD) technique. The fast closed-loop control algorithm is set up based on the linear relationship between the drive voltage of the deformable mirror (DM) and the far-field images of the system, which is obtained through the linear PD algorithm combined with the influence function of the DM. A large number of phase screens under different turbulence strengths are simulated to test the performance of the proposed method. The numerical simulation results show that the method has fast convergence rate and strong correction ability, a few correction times can achieve good correction results, and can effectively improve the imaging quality of the system while needing fewer measurements of CCD data.

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

NASA Astrophysics Data System (ADS)

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

2018-01-01

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

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.

Adjustable Speed Drive Project for Teaching a Servo Systems Course Laboratory

ERIC Educational Resources Information Center

Rodriguez-Resendiz, J.; Herrera-Ruiz, G.; Rivas-Araiza, E. A.

2011-01-01

This paper describes an adjustable speed drive for a three-phase motor, which has been implemented as a design for a servo system laboratory course in an engineering curriculum. The platform is controlled and analyzed in a LabVIEW environment and run on a PC. Theory is introduced in order to show the sensorless algorithms. These are computed by…

A nowcasting technique based on application of the particle filter blending algorithm

NASA Astrophysics Data System (ADS)

Chen, Yuanzhao; Lan, Hongping; Chen, Xunlai; Zhang, Wenhai

2017-10-01

To improve the accuracy of nowcasting, a new extrapolation technique called particle filter blending was configured in this study and applied to experimental nowcasting. Radar echo extrapolation was performed by using the radar mosaic at an altitude of 2.5 km obtained from the radar images of 12 S-band radars in Guangdong Province, China. The first bilateral filter was applied in the quality control of the radar data; an optical flow method based on the Lucas-Kanade algorithm and the Harris corner detection algorithm were used to track radar echoes and retrieve the echo motion vectors; then, the motion vectors were blended with the particle filter blending algorithm to estimate the optimal motion vector of the true echo motions; finally, semi-Lagrangian extrapolation was used for radar echo extrapolation based on the obtained motion vector field. A comparative study of the extrapolated forecasts of four precipitation events in 2016 in Guangdong was conducted. The results indicate that the particle filter blending algorithm could realistically reproduce the spatial pattern, echo intensity, and echo location at 30- and 60-min forecast lead times. The forecasts agreed well with observations, and the results were of operational significance. Quantitative evaluation of the forecasts indicates that the particle filter blending algorithm performed better than the cross-correlation method and the optical flow method. Therefore, the particle filter blending method is proved to be superior to the traditional forecasting methods and it can be used to enhance the ability of nowcasting in operational weather forecasts.

Attitude guidance and simulation with animation of a land-survey satellite motion

NASA Astrophysics Data System (ADS)

Somova, Tatyana

2017-01-01

We consider problems of synthesis of the vector spline attitude guidance laws for a land-survey satellite and an in-flight support of the satellite attitude control system with the use of computer animation of its motion. We have presented the results on the efficiency of the developed algorithms.

Motion and force control for multiple cooperative manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

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

Advanced simulation model for IPM motor drive with considering phase voltage and stator inductance

NASA Astrophysics Data System (ADS)

Lee, Dong-Myung; Park, Hyun-Jong; Lee, Ju

2016-10-01

This paper proposes an advanced simulation model of driving system for Interior Permanent Magnet (IPM) BrushLess Direct Current (BLDC) motors driven by 120-degree conduction method (two-phase conduction method, TPCM) that is widely used for sensorless control of BLDC motors. BLDC motors can be classified as SPM (Surface mounted Permanent Magnet) and IPM motors. Simulation model of driving system with SPM motors is simple due to the constant stator inductance regardless of the rotor position. Simulation models of SPM motor driving system have been proposed in many researches. On the other hand, simulation models for IPM driving system by graphic-based simulation tool such as Matlab/Simulink have not been proposed. Simulation study about driving system of IPMs with TPCM is complex because stator inductances of IPM vary with the rotor position, as permanent magnets are embedded in the rotor. To develop sensorless scheme or improve control performance, development of control algorithm through simulation study is essential, and the simulation model that accurately reflects the characteristic of IPM is required. Therefore, this paper presents the advanced simulation model of IPM driving system, which takes into account the unique characteristic of IPM due to the position-dependent inductances. The validity of the proposed simulation model is validated by comparison to experimental and simulation results using IPM with TPCM control scheme.

A Sensorless Predictive Current Controlled Boost Converter by Using an EKF with Load Variation Effect Elimination Function

PubMed Central

Tong, Qiaoling; Chen, Chen; Zhang, Qiao; Zou, Xuecheng

2015-01-01

To realize accurate current control for a boost converter, a precise measurement of the inductor current is required to achieve high resolution current regulating. Current sensors are widely used to measure the inductor current. However, the current sensors and their processing circuits significantly contribute extra hardware cost, delay and noise to the system. They can also harm the system reliability. Therefore, current sensorless control techniques can bring cost effective and reliable solutions for various boost converter applications. According to the derived accurate model, which contains a number of parasitics, the boost converter is a nonlinear system. An Extended Kalman Filter (EKF) is proposed for inductor current estimation and output voltage filtering. With this approach, the system can have the same advantages as sensored current control mode. To implement EKF, the load value is necessary. However, the load may vary from time to time. This can lead to errors of current estimation and filtered output voltage. To solve this issue, a load variation elimination effect elimination (LVEE) module is added. In addition, a predictive average current controller is used to regulate the current. Compared with conventional voltage controlled system, the transient response is greatly improved since it only takes two switching cycles for the current to reach its reference. Finally, experimental results are presented to verify the stable operation and output tracking capability for large-signal transients of the proposed algorithm. PMID:25928061

Controlling flexible robot arms using a high speed dynamics process

NASA Technical Reports Server (NTRS)

Jain, Abhinandan (Inventor); Rodriguez, Guillermo (Inventor)

1992-01-01

Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

Proposition for sensorless self-excitation by a piezoelectric device

NASA Astrophysics Data System (ADS)

Tanaka, Y.; Kokubun, Y.; Yabuno, H.

2018-04-01

In this paper, we propose a method to realize self-excitation in an oscillator actuated by a piezoelectric device without a sensor. In general, the positive feedback associated with the oscillator velocity causes the self-excitation. Instead of measuring the velocity with a sensor, we utilize the electro-mechanical coupling effect in the oscillator and piezoelectric device. We drive the piezoelectric device with a current proportional to the linear combination of the voltage across the terminals of the piezoelectric device and its differential voltage signal. Then, the oscillator with the piezoelectric device behaves like a third-order system, which has three eigenvalues. The self-excitation can be realized because appropriate feedback gains can set two of the eigenvalues to be conjugate complex roots with a positive real part and the other eigenvalue to be a negative real root. To confirm the validity of the proposed method, we experimentally demonstrated the sensorless self-excitation and, as an application example, carried out mass sensing in a sensorless self-excited macrocantilever.

Cloud Motion Vectors from MISR using Sub-pixel Enhancements

NASA Technical Reports Server (NTRS)

Davies, Roger; Horvath, Akos; Moroney, Catherine; Zhang, Banglin; Zhu, Yanqiu

2007-01-01

The operational retrieval of height-resolved cloud motion vectors by the Multiangle Imaging SpectroRadiometer on the Terra satellite has been significantly improved by using sub-pixel approaches to co-registration and disparity assessment, and by imposing stronger quality control based on the agreement between independent forward and aft triplet retrievals. Analysis of the fore-aft differences indicates that CMVs pass the basic operational quality control 67% of the time, with rms differences - in speed of 2.4 m/s, in direction of 17 deg, and in height assignment of 290 m. The use of enhanced quality control thresholds reduces these rms values to 1.5 m/s, 17 deg and 165 m, respectively, at the cost of reduced coverage to 45%. Use of the enhanced thresholds also eliminates a tendency for the rms differences to increase with height. Comparison of CMVs from an earlier operational version that had slightly weaker quality control, with 6-hour forecast winds from the Global Modeling and Assimilation Office yielded very low bias values and an rms vector difference that ranged from 5 m/s for low clouds to 10 m/s for high clouds.

Manifolds for pose tracking from monocular video

NASA Astrophysics Data System (ADS)

Basu, Saurav; Poulin, Joshua; Acton, Scott T.

2015-03-01

We formulate a simple human-pose tracking theory from monocular video based on the fundamental relationship between changes in pose and image motion vectors. We investigate the natural embedding of the low-dimensional body pose space into a high-dimensional space of body configurations that behaves locally in a linear manner. The embedded manifold facilitates the decomposition of the image motion vectors into basis motion vector fields of the tangent space to the manifold. This approach benefits from the style invariance of image motion flow vectors, and experiments to validate the fundamental theory show reasonable accuracy (within 4.9 deg of the ground truth).

Active Control of a Pneumatic Isolation System,

DTIC Science & Technology

A pneumatically isolated test platform has been modified to provide active control to the local gravity vector. A combination of sensors , including... tiltmeters , angular accelerometers, seismometers, and a gyrocompass measure total platform motion between 0 and 100 Hz. Electrical-to-pressure

Automating the Transition Between Sensorless Motor Control Methods for the NASA Glenn Research Center Flywheel Energy Storage System

NASA Technical Reports Server (NTRS)

Fehrmann, Elizabeth A.; Kenny, Barbara H.

2004-01-01

The NASA Glenn Research Center (GRC) has been working to advance the technology necessary for a flywheel energy storage system for the past several years. Flywheels offer high efficiency, durability, and near-complete discharge capabilities not produced by typical chemical batteries. These characteristics show flywheels to be an attractive alternative to the more typical energy storage solutions. Flywheels also offer the possibility of combining what are now two separate systems in space applications into one: energy storage, which is currently provided by batteries, and attitude control, which is currently provided by control moment gyroscopes (CMGs) or reaction wheels. To date, NASA Glenn research effort has produced the control algorithms necessary to demonstrate flywheel operation up to a rated speed of 60,000 RPM and the combined operation of two flywheel machines to simultaneously provide energy storage and single axis attitude control. Two position-sensorless algorithms are used to control the motor/generator, one for low (0 to 1200 RPM) speeds and one for high speeds. The algorithm allows the transition from the low speed method to the high speed method, but the transition from the high to low speed method was not originally included. This leads to a limitation in the existing motor/generator control code that does not allow the flywheels to be commanded to zero speed (and back in the negative speed direction) after the initial startup. In a multi-flywheel system providing both energy storage and attitude control to a spacecraft, speed reversal may be necessary.

Motor Control and Regulation for a Flywheel Energy Storage System

NASA Technical Reports Server (NTRS)

Kenny, Barbara; Lyons, Valerie

2003-01-01

This talk will focus on the motor control algorithms used to regulate the flywheel system at the NASA Glenn Research Center. First a discussion of the inner loop torque control technique will be given. It is based on the principle of field orientation and is implemented without a position or speed sensor (sensorless control). Then the outer loop charge and discharge algorithm will be presented. This algorithm controls the acceleration of the flywheel during charging and the deceleration while discharging. The algorithm also allows the flywheel system to regulate the DC bus voltage during the discharge cycle.

Method and system for non-linear motion estimation

NASA Technical Reports Server (NTRS)

Lu, Ligang (Inventor)

2011-01-01

A method and system for extrapolating and interpolating a visual signal including determining a first motion vector between a first pixel position in a first image to a second pixel position in a second image, determining a second motion vector between the second pixel position in the second image and a third pixel position in a third image, determining a third motion vector between one of the first pixel position in the first image and the second pixel position in the second image, and the second pixel position in the second image and the third pixel position in the third image using a non-linear model, determining a position of the fourth pixel in a fourth image based upon the third motion vector.

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.

Design of BLDCM emulator for transmission control units

NASA Astrophysics Data System (ADS)

Liu, Chang; He, Yongyi; Zhang, Bodong

2018-04-01

According to the testing requirements of the transmission control unit, a brushless DC motor emulating system is designed based on motor simulation and power hardware-in-the-loop. The discrete motor model is established and a real-time numerical method is designed to solve the motor states. The motor emulator directly interacts with power stage of the transmission control unit using a power-efficient circuit topology and is compatible with sensor-less control. Experiments on a laboratory prototype help to verify that the system can emulate the real motor currents and voltages whenever the motor is starting up or suddenly loaded.

Flight-Determined Subsonic Longitudinal Stability and Control Derivatives of the F-18 High Angle of Attack Research Vehicle (HARV) with Thrust Vectoring

NASA Technical Reports Server (NTRS)

Iliff, Kenneth W.; Wang, Kon-Sheng Charles

1997-01-01

The subsonic longitudinal stability and control derivatives of the F-18 High Angle of Attack Research Vehicle (HARV) are extracted from dynamic flight data using a maximum likelihood parameter identification technique. The technique uses the linearized aircraft equations of motion in their continuous/discrete form and accounts for state and measurement noise as well as thrust-vectoring effects. State noise is used to model the uncommanded forcing function caused by unsteady aerodynamics over the aircraft, particularly at high angles of attack. Thrust vectoring was implemented using electrohydraulically-actuated nozzle postexit vanes and a specialized research flight control system. During maneuvers, a control system feature provided independent aerodynamic control surface inputs and independent thrust-vectoring vane inputs, thereby eliminating correlations between the aircraft states and controls. Substantial variations in control excitation and dynamic response were exhibited for maneuvers conducted at different angles of attack. Opposing vane interactions caused most thrust-vectoring inputs to experience some exhaust plume interference and thus reduced effectiveness. The estimated stability and control derivatives are plotted, and a discussion relates them to predicted values and maneuver quality.

Control method and system for hydraulic machines employing a dynamic joint motion model

DOEpatents

Danko, George [Reno, NV

2011-11-22

A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

Redundancy, Self-Motion, and Motor Control

PubMed Central

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

2011-01-01

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

Motion and force control of multiple robotic manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz-Delgado, Kenneth

1992-01-01

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

Vector Addition and the Speeding Ticket.

ERIC Educational Resources Information Center

Brown, Nathan

1993-01-01

Discusses the teaching of vectors and the inadequate and inappropriate examples given in many textbooks. Suggests using the motion of a sailboat or the motion of a car moving on the Earth's surface as possible examples. Details a proper vector teaching example. (MVL)

Time-varying behavior of motion vectors in vection-induced images in relation to autonomic regulation.

PubMed

Kiryu, Tohru; Yamada, Hiroshi; Jimbo, Masahiro; Bando, Takehiko

2004-01-01

Virtual reality (VR) is a promising technology in biomedical engineering, but at the same time enlarges another problem called cybersickness. Aiming at suppression of cybersicknes, we are investigating the influences of vection-induced images on the autonomic regulation quantitatively. We used the motion vectors to quantify image scenes and measured electrocardiogram, blood pressure, and respiration for evaluating the autonomic regulation. Using the estimated motion vectors, we further synthesized random-dot pattern images to survey which component of the global motion vectors seriously affected the autonomic regulation. The results showed that the zoom component with a specific frequency band (0.1-3.0 Hz) would induce sickness.

A sensorless method for measuring the point mobility of mechanical structures

NASA Astrophysics Data System (ADS)

Boulandet, R.; Michau, M.; Herzog, P.; Micheau, P.; Berry, A.

2016-09-01

This paper presents a convenient and cost-effective experimental tool for measuring the mobility characteristics of a mechanical structure. The objective is to demonstrate that the point mobility measurement can be performed using only an electrodynamic inertial exciter. Unlike previous work based on voice coil actuators, no load cell or accelerometer is needed. Instead, it is theoretically shown that the mobility characteristics of the structure can be estimated from variations in the electrical input impedance of the actuator fixed onto it, provided that the electromechanical parameters of the actuator are known. The proof of concept is made experimentally using a cheap commercially available actuator on a simply supported plate, leading to a good dynamic range from 100 Hz to 1 kHz. The methodology to assess the basic parameters of the actuator is also given. Measured data are compared to a standard shaker testing and the strengths and weaknesses of the sensorless mobility measuring device are discussed. It is believed that this sensorless mobility measuring device can be a convenient experimental tool to determine the dynamic characteristics of a wide range of mechanical structures.

In vivo imaging of human photoreceptor mosaic with wavefront sensorless adaptive optics optical coherence tomography.

PubMed

Wong, Kevin S K; Jian, Yifan; Cua, Michelle; Bonora, Stefano; Zawadzki, Robert J; Sarunic, Marinko V

2015-02-01

Wavefront sensorless adaptive optics optical coherence tomography (WSAO-OCT) is a novel imaging technique for in vivo high-resolution depth-resolved imaging that mitigates some of the challenges encountered with the use of sensor-based adaptive optics designs. This technique replaces the Hartmann Shack wavefront sensor used to measure aberrations with a depth-resolved image-driven optimization algorithm, with the metric based on the OCT volumes acquired in real-time. The custom-built ultrahigh-speed GPU processing platform and fast modal optimization algorithm presented in this paper was essential in enabling real-time, in vivo imaging of human retinas with wavefront sensorless AO correction. WSAO-OCT is especially advantageous for developing a clinical high-resolution retinal imaging system as it enables the use of a compact, low-cost and robust lens-based adaptive optics design. In this report, we describe our WSAO-OCT system for imaging the human photoreceptor mosaic in vivo. We validated our system performance by imaging the retina at several eccentricities, and demonstrated the improvement in photoreceptor visibility with WSAO compensation.

Control of a High Speed Flywheel System for Energy Storage in Space Applications

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Kascak, Peter E.; Jansen, Ralph; Dever, Timothy; Santiago, Walter

2004-01-01

A novel control algorithm for the charge and discharge modes of operation of a flywheel energy storage system for space applications is presented. The motor control portion of the algorithm uses sensorless field oriented control with position and speed estimates determined from a signal injection technique at low speeds and a back EMF technique at higher speeds. The charge and discharge portion of the algorithm use command feed-forward and disturbance decoupling, respectively, to achieve fast response with low gains. Simulation and experimental results are presented demonstrating the successful operation of the flywheel control up to the rated speed of 60,000 rpm.

Optimal model-based sensorless adaptive optics for epifluorescence microscopy.

PubMed

Pozzi, Paolo; Soloviev, Oleg; Wilding, Dean; Vdovin, Gleb; Verhaegen, Michel

2018-01-01

We report on a universal sample-independent sensorless adaptive optics method, based on modal optimization of the second moment of the fluorescence emission from a point-like excitation. Our method employs a sample-independent precalibration, performed only once for the particular system, to establish the direct relation between the image quality and the aberration. The method is potentially applicable to any form of microscopy with epifluorescence detection, including the practically important case of incoherent fluorescence emission from a three dimensional object, through minor hardware modifications. We have applied the technique successfully to a widefield epifluorescence microscope and to a multiaperture confocal microscope.

Alert management for home healthcare based on home automation analysis.

PubMed

Truong, T T; de Lamotte, F; Diguet, J-Ph; Said-Hocine, F

2010-01-01

Rising healthcare for elder and disabled people can be controlled by offering people autonomy at home by means of information technology. In this paper, we present an original and sensorless alert management solution which performs multimedia and home automation service discrimination and extracts highly regular home activities as sensors for alert management. The results of simulation data, based on real context, allow us to evaluate our approach before application to real data.

Human pose tracking from monocular video by traversing an image motion mapped body pose manifold

NASA Astrophysics Data System (ADS)

Basu, Saurav; Poulin, Joshua; Acton, Scott T.

2010-01-01

Tracking human pose from monocular video sequences is a challenging problem due to the large number of independent parameters affecting image appearance and nonlinear relationships between generating parameters and the resultant images. Unlike the current practice of fitting interpolation functions to point correspondences between underlying pose parameters and image appearance, we exploit the relationship between pose parameters and image motion flow vectors in a physically meaningful way. Change in image appearance due to pose change is realized as navigating a low dimensional submanifold of the infinite dimensional Lie group of diffeomorphisms of the two dimensional sphere S2. For small changes in pose, image motion flow vectors lie on the tangent space of the submanifold. Any observed image motion flow vector field is decomposed into the basis motion vector flow fields on the tangent space and combination weights are used to update corresponding pose changes in the different dimensions of the pose parameter space. Image motion flow vectors are largely invariant to style changes in experiments with synthetic and real data where the subjects exhibit variation in appearance and clothing. The experiments demonstrate the robustness of our method (within +/-4° of ground truth) to style variance.

The optional selection of micro-motion feature based on Support Vector Machine

NASA Astrophysics Data System (ADS)

Li, Bo; Ren, Hongmei; Xiao, Zhi-he; Sheng, Jing

2017-11-01

Micro-motion form of target is multiple, different micro-motion forms are apt to be modulated, which makes it difficult for feature extraction and recognition. Aiming at feature extraction of cone-shaped objects with different micro-motion forms, this paper proposes the best selection method of micro-motion feature based on support vector machine. After the time-frequency distribution of radar echoes, comparing the time-frequency spectrum of objects with different micro-motion forms, features are extracted based on the differences between the instantaneous frequency variations of different micro-motions. According to the methods based on SVM (Support Vector Machine) features are extracted, then the best features are acquired. Finally, the result shows the method proposed in this paper is feasible under the test condition of certain signal-to-noise ratio(SNR).

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

NASA Astrophysics Data System (ADS)

Lei, Meizhen; Wang, Liqiang

2018-01-01

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

A comparative study of surface EMG classification by fuzzy relevance vector machine and fuzzy support vector machine.

PubMed

Xie, Hong-Bo; Huang, Hu; Wu, Jianhua; Liu, Lei

2015-02-01

We present a multiclass fuzzy relevance vector machine (FRVM) learning mechanism and evaluate its performance to classify multiple hand motions using surface electromyographic (sEMG) signals. The relevance vector machine (RVM) is a sparse Bayesian kernel method which avoids some limitations of the support vector machine (SVM). However, RVM still suffers the difficulty of possible unclassifiable regions in multiclass problems. We propose two fuzzy membership function-based FRVM algorithms to solve such problems, based on experiments conducted on seven healthy subjects and two amputees with six hand motions. Two feature sets, namely, AR model coefficients and room mean square value (AR-RMS), and wavelet transform (WT) features, are extracted from the recorded sEMG signals. Fuzzy support vector machine (FSVM) analysis was also conducted for wide comparison in terms of accuracy, sparsity, training and testing time, as well as the effect of training sample sizes. FRVM yielded comparable classification accuracy with dramatically fewer support vectors in comparison with FSVM. Furthermore, the processing delay of FRVM was much less than that of FSVM, whilst training time of FSVM much faster than FRVM. The results indicate that FRVM classifier trained using sufficient samples can achieve comparable generalization capability as FSVM with significant sparsity in multi-channel sEMG classification, which is more suitable for sEMG-based real-time control applications.

Multiple-stage ambiguity in motion perception reveals global computation of local motion directions.

PubMed

Rider, Andrew T; Nishida, Shin'ya; Johnston, Alan

2016-12-01

The motion of a 1D image feature, such as a line, seen through a small aperture, or the small receptive field of a neural motion sensor, is underconstrained, and it is not possible to derive the true motion direction from a single local measurement. This is referred to as the aperture problem. How the visual system solves the aperture problem is a fundamental question in visual motion research. In the estimation of motion vectors through integration of ambiguous local motion measurements at different positions, conventional theories assume that the object motion is a rigid translation, with motion signals sharing a common motion vector within the spatial region over which the aperture problem is solved. However, this strategy fails for global rotation. Here we show that the human visual system can estimate global rotation directly through spatial pooling of locally ambiguous measurements, without an intervening step that computes local motion vectors. We designed a novel ambiguous global flow stimulus, which is globally as well as locally ambiguous. The global ambiguity implies that the stimulus is simultaneously consistent with both a global rigid translation and an infinite number of global rigid rotations. By the standard view, the motion should always be seen as a global translation, but it appears to shift from translation to rotation as observers shift fixation. This finding indicates that the visual system can estimate local vectors using a global rotation constraint, and suggests that local motion ambiguity may not be resolved until consistencies with multiple global motion patterns are assessed.

Contributions a l'etude et a l'application industrielle de la machine asynchrone

NASA Astrophysics Data System (ADS)

Ouhrouche, Mohand-Ameziane

The work presented in this thesis, done in the Electrical Drives Laboratory of Electrical and Computer Engineering Department, deals with the industrial applications of a three-phase induction machine (electrical drives and electricity generation). This thesis, characterized by its multidisciplinary content, has two major parts. The first one deals with the on-line and off-line parametric identification of the induction machine model necessary to achieve accurate vector control strategy. The second part, which is a resume of a research work sponsored by Hydro-Quebec, deals with the application of an induction machine in Asynchronous Non Utility Generators units (ANUG). As it is shown in the following, major scientific contributions are made in both two parts. In the first part of our research work, we propose a new speed sensorless vector control strategy for an induction machine, which is adaptive to the rotor resistance variations. The proposed control strategy is based on the Extended Kalman Filter approach and a decoupling controller which takes into account the rotor resistance variations. The consideration of coupled electrical and mechanical modes leads to a fifth order nonlinear model of the induction machine. The load torque is taken as a function of the rotor angular speed. The Extended Kalman Filter, based on the process's nonlinear (bilinear) model, estimate simultaneously the rotor resistance, angular speed and the flux vector from the startup to the steady state equilibrium point. The machine-converter-control system is implemented in MATLAB/SIMULINK environment and the obtained results confirm the robustness of the proposed scheme. As in the electrical drives erea, the induction machine is now widely used by small to medium power Non Utility Generator units (NUG) to produce electricity. In Quebec, these NUGs units are integrated into the Hydro-Quebec 25 kV distribution system via transformer which exhibit nonlinear characteristics. We have shown by using the ElectroMagnetic Program (EMTP) that, in some islanding scenarios, i.e. that the NUG unit is disconnected from the power grid, in addition to frequency variations, appearence of high an abnormal overvoltages, ferroresonance should occur. As a consequence, normal protective devices could fail to securely operate, which could cause serious damages to the equipment and the maintenance staff. This result, established for the first time , can be useful to improve the reliability of the NUGs units and is considered important by the power engineering community. This has led to a publication in the John Wiley & Sons Encyclopedia of Electrical and Electronics Engineering which will be available in February 1999 ( http://www.engr.wisc.edu/ ece/ece).

Wind estimates from cloud motions: Phase 1 of an in situ aircraft verification experiment

NASA Technical Reports Server (NTRS)

Hasler, A. F.; Shenk, W. E.; Skillman, W.

1974-01-01

An initial experiment was conducted to verify geostationary satellite derived cloud motion wind estimates with in situ aircraft wind velocity measurements. Case histories of one-half hour to two hours were obtained for 3-10km diameter cumulus cloud systems on 6 days. Also, one cirrus cloud case was obtained. In most cases the clouds were discrete enough that both the cloud motion and the ambient wind could be measured with the same aircraft Inertial Navigation System (INS). Since the INS drift error is the same for both the cloud motion and wind measurements, the drift error subtracts out of the relative motion determinations. The magnitude of the vector difference between the cloud motion and the ambient wind at the cloud base averaged 1.2 m/sec. The wind vector at higher levels in the cloud layer differed by about 3 m/sec to 5 m/sec from the cloud motion vector.

Two novel motion-based algorithms for surveillance video analysis on embedded platforms

NASA Astrophysics Data System (ADS)

Vijverberg, Julien A.; Loomans, Marijn J. H.; Koeleman, Cornelis J.; de With, Peter H. N.

2010-05-01

This paper proposes two novel motion-vector based techniques for target detection and target tracking in surveillance videos. The algorithms are designed to operate on a resource-constrained device, such as a surveillance camera, and to reuse the motion vectors generated by the video encoder. The first novel algorithm for target detection uses motion vectors to construct a consistent motion mask, which is combined with a simple background segmentation technique to obtain a segmentation mask. The second proposed algorithm aims at multi-target tracking and uses motion vectors to assign blocks to targets employing five features. The weights of these features are adapted based on the interaction between targets. These algorithms are combined in one complete analysis application. The performance of this application for target detection has been evaluated for the i-LIDS sterile zone dataset and achieves an F1-score of 0.40-0.69. The performance of the analysis algorithm for multi-target tracking has been evaluated using the CAVIAR dataset and achieves an MOTP of around 9.7 and MOTA of 0.17-0.25. On a selection of targets in videos from other datasets, the achieved MOTP and MOTA are 8.8-10.5 and 0.32-0.49 respectively. The execution time on a PC-based platform is 36 ms. This includes the 20 ms for generating motion vectors, which are also required by the video encoder.

Use of digital micromirror devices as dynamic pinhole arrays for adaptive confocal fluorescence microscopy

NASA Astrophysics Data System (ADS)

Pozzi, Paolo; Wilding, Dean; Soloviev, Oleg; Vdovin, Gleb; Verhaegen, Michel

2018-02-01

In this work, we present a new confocal laser scanning microscope capable to perform sensorless wavefront optimization in real time. The device is a parallelized laser scanning microscope in which the excitation light is structured in a lattice of spots by a spatial light modulator, while a deformable mirror provides aberration correction and scanning. A binary DMD is positioned in an image plane of the detection optical path, acting as a dynamic array of reflective confocal pinholes, images by a high performance cmos camera. A second camera detects images of the light rejected by the pinholes for sensorless aberration correction.

Simulink-aided Design and Implementation of Sensorless BLDC Motor Digital Control System

NASA Astrophysics Data System (ADS)

Zhilenkov, A. A.; Tsvetkov, Y. N.; Chistov, V. B.; Nyrkov, A. P.; Sokolov, S. S.

2017-07-01

The paper describes the process of creating of brushless direct current motor’s digital control system. The target motor has no speed sensor, so back-EMF method is used for commutation control. Authors show how to model the control system in MatLab/Simulink and to test it onboard STM32F4 microcontroller.This technology allows to create the most flexible system, which will control possible with a personal computer by communication lines. It is possible to examine the signals in the circuit of the actuator without any external measuring instruments - testers, oscilloscopes, etc. - and output waveforms and measured values of signals directly on the host PC.

MISR 17.6 KM Gridded Cloud Motion Vectors: Overview and Assessment

NASA Technical Reports Server (NTRS)

Mueller, Kevin; Garay, Michael; Moroney, Catherine; Jovanovic, Veljko

2012-01-01

The MISR (Multi-angle Imaging SpectroRadiometer) instrument on the Terra satellite has been retrieving cloud motion vectors (CMVs) globally and almost continuously since early in 2000. In February 2012 the new MISR Level 2 Cloud product was publicly released, providing cloud motion vectors at 17.6 km resolution with improved accuracy and roughly threefold increased coverage relative to the 70.4 km resolution vectors of the current MISR Level 2 Stereo product (which remains available). MISR retrieves both horizontal cloud motion and height from the apparent displacement due to parallax and movement of cloud features across three visible channel (670nm) camera views over a span of 200 seconds. The retrieval has comparable accuracy to operational atmospheric motion vectors from other current sensors, but holds the additional advantage of global coverage and finer precision height retrieval that is insensitive to radiometric calibration. The MISR mission is expected to continue operation for many more years, possibly until 2019, and Level 2 Cloud has the possibility of being produced with a sensing-to-availability lag of 5 hours. This report compares MISR CMV with collocated motion vectors from arctic rawinsonde sites, and from the GOES and MODISTerra instruments. CMV at heights below 3 km exhibit the smallest differences, as small as 3.3 m/s for MISR and GOES. Clouds above 3 km exhibit larger differences, as large as 8.9 m/s for MISR and MODIS. Typical differences are on the order of 6 m/s.

Navy and the HARV: High angle of attack tactical utility issues

NASA Technical Reports Server (NTRS)

Sternberg, Charles A.; Traven, Ricardo; Lackey, James B.

1994-01-01

This presentation will highlight results from the latest Navy evaluation of the HARV (March 1994) and focus primarily on the impressions from a piloting standpoint of the tactical utility of thrust vectoring. Issue to be addressed will be mission suitability of high AOA flight, visual and motion feedback cues associated with operating at high AOA, and the adaptability of a pilot to effectively use the increased control power provided by the thrust vectoring system.

Method and System for Temporal Filtering in Video Compression Systems

NASA Technical Reports Server (NTRS)

Lu, Ligang; He, Drake; Jagmohan, Ashish; Sheinin, Vadim

2011-01-01

Three related innovations combine improved non-linear motion estimation, video coding, and video compression. The first system comprises a method in which side information is generated using an adaptive, non-linear motion model. This method enables extrapolating and interpolating a visual signal, including determining the first motion vector between the first pixel position in a first image to a second pixel position in a second image; determining a second motion vector between the second pixel position in the second image and a third pixel position in a third image; determining a third motion vector between the first pixel position in the first image and the second pixel position in the second image, the second pixel position in the second image, and the third pixel position in the third image using a non-linear model; and determining a position of the fourth pixel in a fourth image based upon the third motion vector. For the video compression element, the video encoder has low computational complexity and high compression efficiency. The disclosed system comprises a video encoder and a decoder. The encoder converts the source frame into a space-frequency representation, estimates the conditional statistics of at least one vector of space-frequency coefficients with similar frequencies, and is conditioned on previously encoded data. It estimates an encoding rate based on the conditional statistics and applies a Slepian-Wolf code with the computed encoding rate. The method for decoding includes generating a side-information vector of frequency coefficients based on previously decoded source data and encoder statistics and previous reconstructions of the source frequency vector. It also performs Slepian-Wolf decoding of a source frequency vector based on the generated side-information and the Slepian-Wolf code bits. The video coding element includes receiving a first reference frame having a first pixel value at a first pixel position, a second reference frame having a second pixel value at a second pixel position, and a third reference frame having a third pixel value at a third pixel position. It determines a first motion vector between the first pixel position and the second pixel position, a second motion vector between the second pixel position and the third pixel position, and a fourth pixel value for a fourth frame based upon a linear or nonlinear combination of the first pixel value, the second pixel value, and the third pixel value. A stationary filtering process determines the estimated pixel values. The parameters of the filter may be predetermined constants.

Visualization of the collective vortex-like motions in liquid argon and water: Molecular dynamics simulation

NASA Astrophysics Data System (ADS)

Anikeenko, A. V.; Malenkov, G. G.; Naberukhin, Yu. I.

2018-03-01

We propose a new measure of collectivity of molecular motion in the liquid: the average vector of displacement of the particles, ⟨ΔR⟩, which initially have been localized within a sphere of radius Rsph and then have executed the diffusive motion during a time interval Δt. The more correlated the motion of the particles is, the longer will be the vector ⟨ΔR⟩. We visualize the picture of collective motions in molecular dynamics (MD) models of liquids by constructing the ⟨ΔR⟩ vectors and pinning them to the sites of the uniform grid which divides each of the edges of the model box into equal parts. MD models of liquid argon and water have been studied by this method. Qualitatively, the patterns of ⟨ΔR⟩ vectors are similar for these two liquids but differ in minor details. The most important result of our research is the revealing of the aggregates of ⟨ΔR⟩ vectors which have the form of extended flows which sometimes look like the parts of vortices. These vortex-like clusters of ⟨ΔR⟩ vectors have the mesoscopic size (of the order of 10 nm) and persist for tens of picoseconds. Dependence of the ⟨ΔR⟩ vector field on parameters Rsph, Δt, and on the model size has been investigated. This field in the models of liquids differs essentially from that in a random-walk model.

MISR Level 3 Cloud Motion Vector Versioning

Atmospheric Science Data Center

2016-11-04

... Versioning   Cloud Motion Vector Product (CMV) - Monthly, Quarterly, Yearly products Processing Status ... MI3MCMVN, MI3QCMVN, MI3YCMVN MISR_AM1_CMV Stage 1 Validated:  All parameters MISR maturity ...

Demonstrating the Direction of Angular Velocity in Circular Motion

NASA Astrophysics Data System (ADS)

Demircioglu, Salih; Yurumezoglu, Kemal; Isik, Hakan

2015-09-01

Rotational motion is ubiquitous in nature, from astronomical systems to household devices in everyday life to elementary models of atoms. Unlike the tangential velocity vector that represents the instantaneous linear velocity (magnitude and direction), an angular velocity vector is conceptually more challenging for students to grasp. In physics classrooms, the direction of an angular velocity vector is taught by the right-hand rule, a mnemonic tool intended to aid memory. A setup constructed for instructional purposes may provide students with a more easily understood and concrete method to observe the direction of the angular velocity. This article attempts to demonstrate the angular velocity vector using the observable motion of a screw mounted to a remotely operated toy car.

In Vivo Evaluation of Active and Passive Physiological Control Systems for Rotary Left and Right Ventricular Assist Devices.

PubMed

Gregory, Shaun D; Stevens, Michael C; Pauls, Jo P; Schummy, Emma; Diab, Sara; Thomson, Bruce; Anderson, Ben; Tansley, Geoff; Salamonsen, Robert; Fraser, John F; Timms, Daniel

2016-09-01

Preventing ventricular suction and venous congestion through balancing flow rates and circulatory volumes with dual rotary ventricular assist devices (VADs) configured for biventricular support is clinically challenging due to their low preload and high afterload sensitivities relative to the natural heart. This study presents the in vivo evaluation of several physiological control systems, which aim to prevent ventricular suction and venous congestion. The control systems included a sensor-based, master/slave (MS) controller that altered left and right VAD speed based on pressure and flow; a sensor-less compliant inflow cannula (IC), which altered inlet resistance and, therefore, pump flow based on preload; a sensor-less compliant outflow cannula (OC) on the right VAD, which altered outlet resistance and thus pump flow based on afterload; and a combined controller, which incorporated the MS controller, compliant IC, and compliant OC. Each control system was evaluated in vivo under step increases in systemic (SVR ∼1400-2400 dyne/s/cm(5) ) and pulmonary (PVR ∼200-1000 dyne/s/cm(5) ) vascular resistances in four sheep supported by dual rotary VADs in a biventricular assist configuration. Constant speed support was also evaluated for comparison and resulted in suction events during all resistance increases and pulmonary congestion during SVR increases. The MS controller reduced suction events and prevented congestion through an initial sharp reduction in pump flow followed by a gradual return to baseline (5.0 L/min). The compliant IC prevented suction events; however, reduced pump flows and pulmonary congestion were noted during the SVR increase. The compliant OC maintained pump flow close to baseline (5.0 L/min) and prevented suction and congestion during PVR increases. The combined controller responded similarly to the MS controller to prevent suction and congestion events in all cases while providing a backup system in the event of single controller failure. © 2016 International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

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.

The use of vestibular models for design and evaluation of flight simulator motion

NASA Technical Reports Server (NTRS)

Bussolari, Steven R.; Young, Laurence R.; Lee, Alfred T.

1989-01-01

Quantitative models for the dynamics of the human vestibular system are applied to the design and evaluation of flight simulator platform motion. An optimal simulator motion control algorithm is generated to minimize the vector difference between perceived spatial orientation estimated in flight and in simulation. The motion controller has been implemented on the Vertical Motion Simulator at NASA Ames Research Center and evaluated experimentally through measurement of pilot performance and subjective rating during VTOL aircraft simulation. In general, pilot performance in a longitudinal tracking task (formation flight) did not appear to be sensitive to variations in platform motion condition as long as motion was present. However, pilot assessment of motion fidelity by means of a rating scale designed for this purpose, were sensitive to motion controller design. Platform motion generated with the optimal motion controller was found to be generally equivalent to that generated by conventional linear crossfeed washout. The vestibular models are used to evaluate the motion fidelity of transport category aircraft (Boeing 727) simulation in a pilot performance and simulator acceptability study at the Man-Vehicle Systems Research Facility at NASA Ames Research Center. Eighteen airline pilots, currently flying B-727, were given a series of flight scenarios in the simulator under various conditions of simulator motion. The scenarios were chosen to reflect the flight maneuvers that these pilots might expect to be given during a routine pilot proficiency check. Pilot performance and subjective rating of simulator fidelity was relatively insensitive to the motion condition, despite large differences in the amplitude of motion provided. This lack of sensitivity may be explained by means of the vestibular models, which predict little difference in the modeled motion sensations of the pilots when different motion conditions are imposed.

Haptograph Representation of Real-World Haptic Information by Wideband Force Control

NASA Astrophysics Data System (ADS)

Katsura, Seiichiro; Irie, Kouhei; Ohishi, Kiyoshi

Artificial acquisition and reproduction of human sensations are basic technologies of communication engineering. For example, auditory information is obtained by a microphone, and a speaker reproduces it by artificial means. Furthermore, a video camera and a television make it possible to transmit visual sensation by broadcasting. On the contrary, since tactile or haptic information is subject to the Newton's “law of action and reaction” in the real world, a device which acquires, transmits, and reproduces the information has not been established. From the point of view, real-world haptics is the key technology for future haptic communication engineering. This paper proposes a novel acquisition method of haptic information named “haptograph”. The haptograph visualizes the haptic information like photograph. The proposed haptograph is applied to haptic recognition of the contact environment. A linear motor contacts to the surface of the environment and its reaction force is used to make a haptograph. A robust contact motion and sensor-less sensing of the reaction force are attained by using a disturbance observer. As a result, an encyclopedia of contact environment is attained. Since temporal and spatial analyses are conducted to represent haptic information as the haptograph, it is possible to be recognized and to be evaluated intuitively.

A priori motion models for four-dimensional reconstruction in gated cardiac SPECT

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

Lalush, D.S.; Tsui, B.M.W.; Cui, Lin

1996-12-31

We investigate the benefit of incorporating a priori assumptions about cardiac motion in a fully four-dimensional (4D) reconstruction algorithm for gated cardiac SPECT. Previous work has shown that non-motion-specific 4D Gibbs priors enforcing smoothing in time and space can control noise while preserving resolution. In this paper, we evaluate methods for incorporating known heart motion in the Gibbs prior model. The new model is derived by assigning motion vectors to each 4D voxel, defining the movement of that volume of activity into the neighboring time frames. Weights for the Gibbs cliques are computed based on these {open_quotes}most likely{close_quotes} motion vectors.more » To evaluate, we employ the mathematical cardiac-torso (MCAT) phantom with a new dynamic heart model that simulates the beating and twisting motion of the heart. Sixteen realistically-simulated gated datasets were generated, with noise simulated to emulate a real Tl-201 gated SPECT study. Reconstructions were performed using several different reconstruction algorithms, all modeling nonuniform attenuation and three-dimensional detector response. These include ML-EM with 4D filtering, 4D MAP-EM without prior motion assumption, and 4D MAP-EM with prior motion assumptions. The prior motion assumptions included both the correct motion model and incorrect models. Results show that reconstructions using the 4D prior model can smooth noise and preserve time-domain resolution more effectively than 4D linear filters. We conclude that modeling of motion in 4D reconstruction algorithms can be a powerful tool for smoothing noise and preserving temporal resolution in gated cardiac studies.« 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

Model-based sensor-less wavefront aberration correction in optical coherence tomography.

PubMed

Verstraete, Hans R G W; Wahls, Sander; Kalkman, Jeroen; Verhaegen, Michel

2015-12-15

Several sensor-less wavefront aberration correction methods that correct nonlinear wavefront aberrations by maximizing the optical coherence tomography (OCT) signal are tested on an OCT setup. A conventional coordinate search method is compared to two model-based optimization methods. The first model-based method takes advantage of the well-known optimization algorithm (NEWUOA) and utilizes a quadratic model. The second model-based method (DONE) is new and utilizes a random multidimensional Fourier-basis expansion. The model-based algorithms achieve lower wavefront errors with up to ten times fewer measurements. Furthermore, the newly proposed DONE method outperforms the NEWUOA method significantly. The DONE algorithm is tested on OCT images and shows a significantly improved image quality.

Contrast-based sensorless adaptive optics for retinal imaging.

PubMed

Zhou, Xiaolin; Bedggood, Phillip; Bui, Bang; Nguyen, Christine T O; He, Zheng; Metha, Andrew

2015-09-01

Conventional adaptive optics ophthalmoscopes use wavefront sensing methods to characterize ocular aberrations for real-time correction. However, there are important situations in which the wavefront sensing step is susceptible to difficulties that affect the accuracy of the correction. To circumvent these, wavefront sensorless adaptive optics (or non-wavefront sensing AO; NS-AO) imaging has recently been developed and has been applied to point-scanning based retinal imaging modalities. In this study we show, for the first time, contrast-based NS-AO ophthalmoscopy for full-frame in vivo imaging of human and animal eyes. We suggest a robust image quality metric that could be used for any imaging modality, and test its performance against other metrics using (physical) model eyes.

Sensorless speed detection of squirrel-cage induction machines using stator neutral point voltage harmonics

NASA Astrophysics Data System (ADS)

Petrovic, Goran; Kilic, Tomislav; Terzic, Bozo

2009-04-01

In this paper a sensorless speed detection method of induction squirrel-cage machines is presented. This method is based on frequency determination of the stator neutral point voltage primary slot harmonic, which is dependent on rotor speed. In order to prove method in steady state and dynamic conditions the simulation and experimental study was carried out. For theoretical investigation the mathematical model of squirrel cage induction machines, which takes into consideration actual geometry and windings layout, is used. Speed-related harmonics that arise from rotor slotting are analyzed using digital signal processing and DFT algorithm with Hanning window. The performance of the method is demonstrated over a wide range of load conditions.

Motion of the angular momentum vector in body coordinates for torque-free dual-spin spacecraft

NASA Technical Reports Server (NTRS)

Fedor, J. V.

1981-01-01

The motion of the angular momentum vector in body coordinates for torque free, asymmetric dual spin spacecraft without and, for a special case, with energy dissipation on the main spacecraft is investigated. Without energy dissipation, two integrals can be obtained from the Euler equations of motion. Using the classical method of elimination of variable, the motion about the equilibrium points (six for the general case) are derived with these integrals. For small nutation angle, theta, the trajectories about the theta = 0 deg and theta = 180 deg points readily show the requirements for stable motion about these points. Also the conditions needed to eliminate stable motion about the theta = 180 deg point as well as the other undesireable equilibrium points follow directly from these equations. For the special case where the angular momentum vector moves about the principal axis which contains the momentum wheel, the notion of 'free variable' azimuth angle is used. Physically this angle must vary from 0 to 2 pi in a circular periodic fashion. Expressions are thus obtained for the nutation angle in terms of the free variable and other spacecraft parameters. Results show that in general there are two separate trajectory expressions that govern the motion of the angular momentum vector in body coordinates.

Covariant Formulation of Hooke's Law.

ERIC Educational Resources Information Center

Gron, O.

1981-01-01

Introducing a four-vector strain and a four-force stress, Hooke's law is written as a four-vector equation. This formulation is shown to clarify seemingly paradoxical results in connection with uniformly accelerated motion, and rotational motion with angular acceleration. (Author/JN)

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

Computerized method to compensate for breathing body motion in dynamic chest radiographs

NASA Astrophysics Data System (ADS)

Matsuda, H.; Tanaka, R.; Sanada, S.

2017-03-01

Dynamic chest radiography combined with computer analysis allows quantitative analyses on pulmonary function and rib motion. The accuracy of kinematic analysis is directly linked to diagnostic accuracy, and thus body motion compensation is a major concern. Our purpose in this study was to develop a computerized method to reduce a breathing body motion in dynamic chest radiographs. Dynamic chest radiographs of 56 patients were obtained using a dynamic flat-panel detector. The images were divided into a 1 cm-square and the squares on body counter were used to detect the body motion. Velocity vector was measured using cross-correlation method on the body counter and the body motion was then determined on the basis of the summation of motion vector. The body motion was then compensated by shifting the images based on the measured vector. By using our method, the body motion was accurately detected by the order of a few pixels in clinical cases, mean 82.5% in right and left directions. In addition, our method detected slight body motion which was not able to be identified by human observations. We confirmed our method effectively worked in kinetic analysis of rib motion. The present method would be useful for the reduction of a breathing body motion in dynamic chest radiography.

Object motion computation for the initiation of smooth pursuit eye movements in humans.

PubMed

Wallace, Julian M; Stone, Leland S; Masson, Guillaume S

2005-04-01

Pursuing an object with smooth eye movements requires an accurate estimate of its two-dimensional (2D) trajectory. This 2D motion computation requires that different local motion measurements are extracted and combined to recover the global object-motion direction and speed. Several combination rules have been proposed such as vector averaging (VA), intersection of constraints (IOC), or 2D feature tracking (2DFT). To examine this computation, we investigated the time course of smooth pursuit eye movements driven by simple objects of different shapes. For type II diamond (where the direction of true object motion is dramatically different from the vector average of the 1-dimensional edge motions, i.e., VA not equal IOC = 2DFT), the ocular tracking is initiated in the vector average direction. Over a period of less than 300 ms, the eye-tracking direction converges on the true object motion. The reduction of the tracking error starts before the closing of the oculomotor loop. For type I diamonds (where the direction of true object motion is identical to the vector average direction, i.e., VA = IOC = 2DFT), there is no such bias. We quantified this effect by calculating the direction error between responses to types I and II and measuring its maximum value and time constant. At low contrast and high speeds, the initial bias in tracking direction is larger and takes longer to converge onto the actual object-motion direction. This effect is attenuated with the introduction of more 2D information to the extent that it was totally obliterated with a texture-filled type II diamond. These results suggest a flexible 2D computation for motion integration, which combines all available one-dimensional (edge) and 2D (feature) motion information to refine the estimate of object-motion direction over time.

Sea Mines and Countermeasures: A Bibliography. Revision

DTIC Science & Technology

2007-07-01

days. " Vector polarization filtering" was employed to separate the reflected signal due to Rayleigh waves, for which the particle motion is...buried mines. Rayleigh waves are unique in that they have elliptical particle motion that allows one to use vector polarization filtering to separate...D. Vector Acoustic Mine Mechanism. Patent. Washington, DC: Department of the Navy, February 1980. 11p. ABSTRACT: This patent discloses a submarine

MISR Level 3 Cloud Motion Vector

Atmospheric Science Data Center

2013-07-10

... 2012 A new version, F02_0002, of the MISR L3 CMV (Cloud Motion Vector) data product is now available. This new release ... CMV products for the full mission time period of March 2000 - September 2012 are now available for ordering.   Information ...

Sea ice motion from low-resolution satellite sensors: An alternative method and its validation in the Arctic

NASA Astrophysics Data System (ADS)

Lavergne, T.; Eastwood, S.; Teffah, Z.; Schyberg, H.; Breivik, L.-A.

2010-10-01

The retrieval of sea ice motion with the Maximum Cross-Correlation (MCC) method from low-resolution (10-15 km) spaceborne imaging sensors is challenged by a dominating quantization noise as the time span of displacement vectors is shortened. To allow investigating shorter displacements from these instruments, we introduce an alternative sea ice motion tracking algorithm that builds on the MCC method but relies on a continuous optimization step for computing the motion vector. The prime effect of this method is to effectively dampen the quantization noise, an artifact of the MCC. It allows for retrieving spatially smooth 48 h sea ice motion vector fields in the Arctic. Strategies to detect and correct erroneous vectors as well as to optimally merge several polarization channels of a given instrument are also described. A test processing chain is implemented and run with several active and passive microwave imagers (Advanced Microwave Scanning Radiometer-EOS (AMSR-E), Special Sensor Microwave Imager, and Advanced Scatterometer) during three Arctic autumn, winter, and spring seasons. Ice motion vectors are collocated to and compared with GPS positions of in situ drifters. Error statistics are shown to be ranging from 2.5 to 4.5 km (standard deviation for components of the vectors) depending on the sensor, without significant bias. We discuss the relative contribution of measurement and representativeness errors by analyzing monthly validation statistics. The 37 GHz channels of the AMSR-E instrument allow for the best validation statistics. The operational low-resolution sea ice drift product of the EUMETSAT OSI SAF (European Organisation for the Exploitation of Meteorological Satellites Ocean and Sea Ice Satellite Application Facility) is based on the algorithms presented in this paper.

Advanced Techniques for Scene Analysis

DTIC Science & Technology

2010-06-01

robustness prefers a bigger intergration window to handle larger motions. The advantage of pyramidal implementation is that, while each motion vector dL...labeled SAR images. Now the previous algorithm leads to a more dedicated classifier for the particular target; however, our algorithm trades generality for...accuracy is traded for generality. 7.3.2 I-RELIEF Feature weighting transforms the original feature vector x into a new feature vector x′ by assigning each

Motion Estimation Using the Firefly Algorithm in Ultrasonic Image Sequence of Soft Tissue

PubMed Central

Chao, Chih-Feng; Horng, Ming-Huwi; Chen, Yu-Chan

2015-01-01

Ultrasonic image sequence of the soft tissue is widely used in disease diagnosis; however, the speckle noises usually influenced the image quality. These images usually have a low signal-to-noise ratio presentation. The phenomenon gives rise to traditional motion estimation algorithms that are not suitable to measure the motion vectors. In this paper, a new motion estimation algorithm is developed for assessing the velocity field of soft tissue in a sequence of ultrasonic B-mode images. The proposed iterative firefly algorithm (IFA) searches for few candidate points to obtain the optimal motion vector, and then compares it to the traditional iterative full search algorithm (IFSA) via a series of experiments of in vivo ultrasonic image sequences. The experimental results show that the IFA can assess the vector with better efficiency and almost equal estimation quality compared to the traditional IFSA method. PMID:25873987

Motion estimation using the firefly algorithm in ultrasonic image sequence of soft tissue.

PubMed

Chao, Chih-Feng; Horng, Ming-Huwi; Chen, Yu-Chan

2015-01-01

Ultrasonic image sequence of the soft tissue is widely used in disease diagnosis; however, the speckle noises usually influenced the image quality. These images usually have a low signal-to-noise ratio presentation. The phenomenon gives rise to traditional motion estimation algorithms that are not suitable to measure the motion vectors. In this paper, a new motion estimation algorithm is developed for assessing the velocity field of soft tissue in a sequence of ultrasonic B-mode images. The proposed iterative firefly algorithm (IFA) searches for few candidate points to obtain the optimal motion vector, and then compares it to the traditional iterative full search algorithm (IFSA) via a series of experiments of in vivo ultrasonic image sequences. The experimental results show that the IFA can assess the vector with better efficiency and almost equal estimation quality compared to the traditional IFSA method.

Contrast-based sensorless adaptive optics for retinal imaging

PubMed Central

Zhou, Xiaolin; Bedggood, Phillip; Bui, Bang; Nguyen, Christine T.O.; He, Zheng; Metha, Andrew

2015-01-01

Conventional adaptive optics ophthalmoscopes use wavefront sensing methods to characterize ocular aberrations for real-time correction. However, there are important situations in which the wavefront sensing step is susceptible to difficulties that affect the accuracy of the correction. To circumvent these, wavefront sensorless adaptive optics (or non-wavefront sensing AO; NS-AO) imaging has recently been developed and has been applied to point-scanning based retinal imaging modalities. In this study we show, for the first time, contrast-based NS-AO ophthalmoscopy for full-frame in vivo imaging of human and animal eyes. We suggest a robust image quality metric that could be used for any imaging modality, and test its performance against other metrics using (physical) model eyes. PMID:26417525

Sensorless position estimator applied to nonlinear IPMC model

NASA Astrophysics Data System (ADS)

Bernat, Jakub; Kolota, Jakub

2016-11-01

This paper addresses the issue of estimating position for an ionic polymer metal composite (IPMC) known as electro active polymer (EAP). The key step is the construction of a sensorless mode considering only current feedback. This work takes into account nonlinearities caused by electrochemical effects in the material. Owing to the recent observer design technique, the authors obtained both Lyapunov function based estimation law as well as sliding mode observer. To accomplish the observer design, the IPMC model was identified through a series of experiments. The research comprises time domain measurements. The identification process was completed by means of geometric scaling of three test samples. In the proposed design, the estimated position accurately tracks the polymer position, which is illustrated by the experiments.

Motion direction estimation based on active RFID with changing environment

NASA Astrophysics Data System (ADS)

Jie, Wu; Minghua, Zhu; Wei, He

2018-05-01

The gate system is used to estimate the direction of RFID tags carriers when they are going through the gate. Normally, it is difficult to achieve and keep a high accuracy in estimating motion direction of RFID tags because the received signal strength of tag changes sharply according to the changing electromagnetic environment. In this paper, a method of motion direction estimation for RFID tags is presented. To improve estimation accuracy, the machine leaning algorithm is used to get the fitting function of the received data by readers which are deployed inside and outside gate respectively. Then the fitted data are sampled to get the standard vector. We compare the stand vector with template vectors to get the motion direction estimation result. Then the corresponding template vector is updated according to the surrounding environment. We conducted the simulation and implement of the proposed method and the result shows that the proposed method in this work can improve and keep a high accuracy under the condition of the constantly changing environment.

The effect of wind and moisture gradients on the arbitrary assignment of cloud motions to a vertical coordinate system in two Sesame cases

NASA Technical Reports Server (NTRS)

Peslen, C. A.; Koch, S. E.; Uccellini, L. W.

1984-01-01

Satellite-derived cloud motion 'wind' vectors (CMV) are increasingly used in mesoscale and in global analyses, and questions have been raised regarding the uncertainty of the level assignment for the CMV. One of two major problems in selecting a level for the CMV is related to uncertainties in assigning the motion vector to either the cloud top or base. The second problem is related to the inability to transfer the 'wind' derived from the CMV at individually specified heights to a standard coordinated surface. The present investigation has the objective to determine if the arbitrary level assignment represents a serious obstacle to the use of cloud motion wind vectors in the mesoscale analysis of a severe storm environment.

On a model of the processes of maintaining a technological area by a manipulator

NASA Astrophysics Data System (ADS)

Ghukasyan, A. A.; Ordyan, A. Ya

2018-04-01

The research refers to the results of mathematical modeling of the process of maintaining a technological area which consists of unstable or fixed objects (targets) and a controlled multi-link manipulator [1–9]. It is assumed that, in the maintenance process, the dynamic characteristics and the phase vector of the manipulator state can change at certain finite times depending on the mass of the cargo or instrument [10, 11]. Some controllability problems are investigated in the case where the manipulator motion on each maintenance interval is described by linear differential equations with constant coefficients and the motions of the objects are given.

Motion control of rigid bodies in SE(3)

NASA Astrophysics Data System (ADS)

Roza, Ashton

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

Global velocity constrained cloud motion prediction for short-term solar forecasting

NASA Astrophysics Data System (ADS)

Chen, Yanjun; Li, Wei; Zhang, Chongyang; Hu, Chuanping

2016-09-01

Cloud motion is the primary reason for short-term solar power output fluctuation. In this work, a new cloud motion estimation algorithm using a global velocity constraint is proposed. Compared to the most used Particle Image Velocity (PIV) algorithm, which assumes the homogeneity of motion vectors, the proposed method can capture the accurate motion vector for each cloud block, including both the motional tendency and morphological changes. Specifically, global velocity derived from PIV is first calculated, and then fine-grained cloud motion estimation can be achieved by global velocity based cloud block researching and multi-scale cloud block matching. Experimental results show that the proposed global velocity constrained cloud motion prediction achieves comparable performance to the existing PIV and filtered PIV algorithms, especially in a short prediction horizon.

Suggested Courseware for the Non-Calculus Physics Student: Measurement, Vectors, and One-Dimensional Motion.

ERIC Educational Resources Information Center

Mahoney, Joyce; And Others

1988-01-01

Evaluates 16 commercially available courseware packages covering topics for introductory physics. Discusses the price, sub-topics, program type, interaction, time, calculus required, graphics, and comments of each program. Recommends two packages in measurement and vectors, and one-dimensional motion respectively. (YP)

The determination of high-resolution spatio-temporal glacier motion fields from time-lapse sequences

NASA Astrophysics Data System (ADS)

Schwalbe, Ellen; Maas, Hans-Gerd

2017-12-01

This paper presents a comprehensive method for the determination of glacier surface motion vector fields at high spatial and temporal resolution. These vector fields can be derived from monocular terrestrial camera image sequences and are a valuable data source for glaciological analysis of the motion behaviour of glaciers. The measurement concepts for the acquisition of image sequences are presented, and an automated monoscopic image sequence processing chain is developed. Motion vector fields can be derived with high precision by applying automatic subpixel-accuracy image matching techniques on grey value patterns in the image sequences. Well-established matching techniques have been adapted to the special characteristics of the glacier data in order to achieve high reliability in automatic image sequence processing, including the handling of moving shadows as well as motion effects induced by small instabilities in the camera set-up. Suitable geo-referencing techniques were developed to transform image measurements into a reference coordinate system.The result of monoscopic image sequence analysis is a dense raster of glacier surface point trajectories for each image sequence. Each translation vector component in these trajectories can be determined with an accuracy of a few centimetres for points at a distance of several kilometres from the camera. Extensive practical validation experiments have shown that motion vector and trajectory fields derived from monocular image sequences can be used for the determination of high-resolution velocity fields of glaciers, including the analysis of tidal effects on glacier movement, the investigation of a glacier's motion behaviour during calving events, the determination of the position and migration of the grounding line and the detection of subglacial channels during glacier lake outburst floods.

Static vs. dynamic decoding algorithms in a non-invasive body-machine interface

PubMed Central

Seáñez-González, Ismael; Pierella, Camilla; Farshchiansadegh, Ali; Thorp, Elias B.; Abdollahi, Farnaz; Pedersen, Jessica; Mussa-Ivaldi, Ferdinando A.

2017-01-01

In this study, we consider a non-invasive body-machine interface that captures body motions still available to people with spinal cord injury (SCI) and maps them into a set of signals for controlling a computer user interface while engaging in a sustained level of mobility and exercise. We compare the effectiveness of two decoding algorithms that transform a high-dimensional body-signal vector into a lower dimensional control vector on 6 subjects with high-level SCI and 8 controls. One algorithm is based on a static map from current body signals to the current value of the control vector set through principal component analysis (PCA), the other on dynamic mapping a segment of body signals to the value and the temporal derivatives of the control vector set through a Kalman filter. SCI and control participants performed straighter and smoother cursor movements with the Kalman algorithm during center-out reaching, but their movements were faster and more precise when using PCA. All participants were able to use the BMI’s continuous, two-dimensional control to type on a virtual keyboard and play pong, and performance with both algorithms was comparable. However, seven of eight control participants preferred PCA as their method of virtual wheelchair control. The unsupervised PCA algorithm was easier to train and seemed sufficient to achieve a higher degree of learnability and perceived ease of use. PMID:28092564

GPS determined eastward Sundaland motion with respect to Eurasia confirmed by earthquakes slip vectors at Sunda and Philippine trenches

NASA Astrophysics Data System (ADS)

Chamot-Rooke, N.; Le Pichon, X.

1999-12-01

GPS measurements acquired over Southeast Asia in 1994 and 1996 in the framework of the GEODYSSEA program revealed that a large piece of continental lithosphere comprising the Indochina Peninsula, Sunda shelf and part of Indonesia behaves as a rigid `Sundaland' platelet. A direct adjustment of velocity vectors obtained in a Eurasian frame of reference shows that Sundaland block is rotating clockwise with respect to Eurasia around a pole of rotation located south of Australia. We present here an additional check of Sundaland motion that uses earthquakes slip vectors at Sunda and Philippine trenches. Seven sites of the GEODYSSEA network are close to the trenches and not separated from them by large active faults (two at Sumatra Trench, three at Java Trench and two at the Philippine Trench). The difference between the vector at the station and the adjacent subducting plate vector defines the relative subduction motion and should thus be aligned with the subduction earthquake slip vectors. We first derive a frame-free solution that minimizes the upper plate (or Sundaland) motion. When corrected for Australia-Eurasia and Philippines-Eurasia NUVEL1-A motion, the misfit between GPS and slip vectors azimuths is significant at 95% confidence, indicating that the upper plate does not belong to Eurasia. We then examine the range of solutions compatible with the slip vectors azimuths and conclude that the minimum velocity of Sundaland is a uniform 7-10 mm/a eastward velocity. However, introducing the additional constraint of the fit of the GEODYSSEA sites with the Australian IGS reference ones, or tie with the NTUS Singapore station, leads to a much narrower range of solutions. We conclude that Sundaland has an eastward velocity of about 10 mm/a on its southern boundary increasing to 16-18 mm/a on its northern boundary.

Development of a Multiple Input Integrated Pole-to-Pole Global CMORPH

NASA Astrophysics Data System (ADS)

Joyce, R.; Xie, P.

2013-12-01

A test system is being developed at NOAA Climate Prediction Center (CPC) to produce a passive microwave (PMW), IR-based, and model integrated high-resolution precipitation estimation on a 0.05olat/lon grid covering the entire globe from pole to pole. Experiments have been conducted for a summer Test Bed period using data for July and August of 2009. The pole-to-pole global CMORPH system is built upon the Kalman Filter based CMORPH algorithm of Joyce and Xie (2011). First, retrievals of instantaneous precipitation rates from PMW observations aboard nine low earth orbit (LEO) satellites are decoded and pole-to-pole mapped onto a 0.05olat/lon grid over the globe. Also precipitation estimates from LEO AVHRR retrievals are derived using a PDF matching of LEO IR with calibrated microwave combined (MWCOMB) precipitation retrievals. The motion vectors for the precipitating cloud systems are defined using information from both satellite IR observations and precipitation fields generated by the NCEP Climate Forecast System Reanalysis (CFSR). To this end, motion vectors are first computed for the CFSR hourly precipitation fields through cross-correlation analysis of consecutive hourly precipitation fields on the global T382 (~35 km) grid. In a similar manner, separate processing is also performed on satellite IR-based precipitation estimates to derive motion vectors from observations. A blended analysis of precipitating cloud motion vectors is then constructed through the combination of CFSR and satellite-derived vectors utilizing a two-dimensional optimal interpolation (2D-OI) method, in which CFSR-derived motion vectors are used as the first guess and subsequently satellite derived vectors modify the first guess. Weights used to generate the combinations are defined under the OI framework as a function of error statistics for the CFSR and satellite IR based motion vectors. The screened and calibrated PMW and AVHRR derived precipitation estimates are then separately spatially propagated forward and backward in time, using precipitating cloud motion vectors, from their observation time to the next PMW observation. The PMW estimates propagated in both the forward and backward directions are then combined with propagated IR-based precipitation estimates under the Kalman Filter framework, with weights defined based on previously determined error statistics dependent on latitude, season, surface type, and temporal distance from observation time. Performance of the pole-to-pole global CMORPH and its key components, including combined PMW (MWCOMB), IR-based, and model precipitation, as well as model-derived, IR-based, and blended precipitation motion vectors, will be examined against NSSL Q2 radar observed precipitation estimates over CONUS, Finland FMI radar precipitation, and a daily gauge-based analysis including daily Canadian surface reports over global land. Also an initial investigation will be performed over a January - February 2010 winter Test Bed period. Detailed results will be reported at the Fall 2013 AGU Meeting.

Demonstrating the Direction of Angular Velocity in Circular Motion

ERIC Educational Resources Information Center

Demircioglu, Salih; Yurumezoglu, Kemal; Isik, Hakan

2015-01-01

Rotational motion is ubiquitous in nature, from astronomical systems to household devices in everyday life to elementary models of atoms. Unlike the tangential velocity vector that represents the instantaneous linear velocity (magnitude and direction), an angular velocity vector is conceptually more challenging for students to grasp. In physics…

Preliminary design study of a lateral-directional control system using thrust vectoring

NASA Technical Reports Server (NTRS)

Lallman, F. J.

1985-01-01

A preliminary design of a lateral-directional control system for a fighter airplane capable of controlled operation at extreme angles of attack is developed. The subject airplane is representative of a modern twin-engine high-performance jet fighter, is equipped with ailerons, rudder, and independent horizontal-tail surfaces. Idealized bidirectional thrust-vectoring engine nozzles are appended to the mathematic model of the airplane to provide additional control moments. Optimal schedules for lateral and directional pseudo control variables are calculated. Use of pseudo controls results in coordinated operation of the aerodynamic and thrust-vectoring controls with minimum coupling between the lateral and directional airplane dynamics. Linear quadratic regulator designs are used to specify a preliminary flight control system to improve the stability and response characteristics of the airplane. Simulated responses to step pilot control inputs are stable and well behaved. For lateral stick deflections, peak stability axis roll rates are between 1.25 and 1.60 rad/sec over an angle-of-attack range of 10 deg to 70 deg. For rudder pedal deflections, the roll rates accompanying the sideslip responses can be arrested by small lateral stick motions.

Manipulator interactive design with interconnected flexible elements

NASA Technical Reports Server (NTRS)

Singh, R. P.; Likins, P. W.

1983-01-01

This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.

Wavefront sensorless adaptive optics versus sensor-based adaptive optics for in vivo fluorescence retinal imaging (Conference Presentation)

NASA Astrophysics Data System (ADS)

Wahl, Daniel J.; Zhang, Pengfei; Jian, Yifan; Bonora, Stefano; Sarunic, Marinko V.; Zawadzki, Robert J.

2017-02-01

Adaptive optics (AO) is essential for achieving diffraction limited resolution in large numerical aperture (NA) in-vivo retinal imaging in small animals. Cellular-resolution in-vivo imaging of fluorescently labeled cells is highly desirable for studying pathophysiology in animal models of retina diseases in pre-clinical vision research. Currently, wavefront sensor-based (WFS-based) AO is widely used for retinal imaging and has demonstrated great success. However, the performance can be limited by several factors including common path errors, wavefront reconstruction errors and an ill-defined reference plane on the retina. Wavefront sensorless (WFS-less) AO has the advantage of avoiding these issues at the cost of algorithmic execution time. We have investigated WFS-less AO on a fluorescence scanning laser ophthalmoscopy (fSLO) system that was originally designed for WFS-based AO. The WFS-based AO uses a Shack-Hartmann WFS and a continuous surface deformable mirror in a closed-loop control system to measure and correct for aberrations induced by the mouse eye. The WFS-less AO performs an open-loop modal optimization with an image quality metric. After WFS-less AO aberration correction, the WFS was used as a control of the closed-loop WFS-less AO operation. We can easily switch between WFS-based and WFS-less control of the deformable mirror multiple times within an imaging session for the same mouse. This allows for a direct comparison between these two types of AO correction for fSLO. Our results demonstrate volumetric AO-fSLO imaging of mouse retinal cells labeled with GFP. Most significantly, we have analyzed and compared the aberration correction results for WFS-based and WFS-less AO imaging.

A variable structure approach to robust control of VTOL aircraft

NASA Technical Reports Server (NTRS)

Calise, A. J.; Kramer, F.

1982-01-01

This paper examines the application of variable structure control theory to the design of a flight control system for the AV-8A Harrier in a hover mode. The objective in variable structure design is to confine the motion to a subspace of the total state space. The motion in this subspace is insensitive to system parameter variations and external disturbances that lie in the range space of the control. A switching type of control law results from the design procedure. The control system was designed to track a vector velocity command defined in the body frame. For comparison purposes, a proportional controller was designed using optimal linear regulator theory. Both control designs were first evaluated for transient response performance using a linearized model, then a nonlinear simulation study of a hovering approach to landing was conducted. Wind turbulence was modeled using a 1052 destroyer class air wake model.

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.

Fault tolerant operation of switched reluctance machine

NASA Astrophysics Data System (ADS)

Wang, Wei

The energy crisis and environmental challenges have driven industry towards more energy efficient solutions. With nearly 60% of electricity consumed by various electric machines in industry sector, advancement in the efficiency of the electric drive system is of vital importance. Adjustable speed drive system (ASDS) provides excellent speed regulation and dynamic performance as well as dramatically improved system efficiency compared with conventional motors without electronics drives. Industry has witnessed tremendous grow in ASDS applications not only as a driving force but also as an electric auxiliary system for replacing bulky and low efficiency auxiliary hydraulic and mechanical systems. With the vast penetration of ASDS, its fault tolerant operation capability is more widely recognized as an important feature of drive performance especially for aerospace, automotive applications and other industrial drive applications demanding high reliability. The Switched Reluctance Machine (SRM), a low cost, highly reliable electric machine with fault tolerant operation capability, has drawn substantial attention in the past three decades. Nevertheless, SRM is not free of fault. Certain faults such as converter faults, sensor faults, winding shorts, eccentricity and position sensor faults are commonly shared among all ASDS. In this dissertation, a thorough understanding of various faults and their influence on transient and steady state performance of SRM is developed via simulation and experimental study, providing necessary knowledge for fault detection and post fault management. Lumped parameter models are established for fast real time simulation and drive control. Based on the behavior of the faults, a fault detection scheme is developed for the purpose of fast and reliable fault diagnosis. In order to improve the SRM power and torque capacity under faults, the maximum torque per ampere excitation are conceptualized and validated through theoretical analysis and experiments. With the proposed optimal waveform, torque production is greatly improved under the same Root Mean Square (RMS) current constraint. Additionally, position sensorless operation methods under phase faults are investigated to account for the combination of physical position sensor and phase winding faults. A comprehensive solution for position sensorless operation under single and multiple phases fault are proposed and validated through experiments. Continuous position sensorless operation with seamless transition between various numbers of phase fault is achieved.

Autonomous dynamic obstacle avoidance for bacteria-powered microrobots (BPMs) with modified vector field histogram

PubMed Central

Kim, Hoyeon; Cheang, U. Kei

2017-01-01

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algorithm for bacteria-powered microrobots (BPMs) using electric field in fluidic environments. A BPM consists of an artificial body, which is made of SU-8, and a high dense layer of harnessed bacteria. BPMs can be controlled using externally applied electric fields due to the electrokinetic property of bacteria. For developing dynamic obstacle avoidance for BPMs, a kinematic model of BPMs was utilized to prevent collision and a finite element model was used to characteristic the deformation of an electric field near the obstacle walls. In order to avoid fast moving obstacles, we modified our previously static obstacle avoidance approach using a modified vector field histogram (VFH) method. To validate the advanced algorithm in experiments, magnetically controlled moving obstacles were used to intercept the BPMs as the BPMs move from the initial position to final position. The algorithm was able to successfully guide the BPMs to reach their respective goal positions while avoiding the dynamic obstacles. PMID:29020016

Autonomous dynamic obstacle avoidance for bacteria-powered microrobots (BPMs) with modified vector field histogram.

PubMed

Kim, Hoyeon; Cheang, U Kei; Kim, Min Jun

2017-01-01

In order to broaden the use of microrobots in practical fields, autonomous control algorithms such as obstacle avoidance must be further developed. However, most previous studies of microrobots used manual motion control to navigate past tight spaces and obstacles while very few studies demonstrated the use of autonomous motion. In this paper, we demonstrated a dynamic obstacle avoidance algorithm for bacteria-powered microrobots (BPMs) using electric field in fluidic environments. A BPM consists of an artificial body, which is made of SU-8, and a high dense layer of harnessed bacteria. BPMs can be controlled using externally applied electric fields due to the electrokinetic property of bacteria. For developing dynamic obstacle avoidance for BPMs, a kinematic model of BPMs was utilized to prevent collision and a finite element model was used to characteristic the deformation of an electric field near the obstacle walls. In order to avoid fast moving obstacles, we modified our previously static obstacle avoidance approach using a modified vector field histogram (VFH) method. To validate the advanced algorithm in experiments, magnetically controlled moving obstacles were used to intercept the BPMs as the BPMs move from the initial position to final position. The algorithm was able to successfully guide the BPMs to reach their respective goal positions while avoiding the dynamic obstacles.

Optimal preview control for a linear continuous-time stochastic control system in finite-time horizon

NASA Astrophysics Data System (ADS)

Wu, Jiang; Liao, Fucheng; Tomizuka, Masayoshi

2017-01-01

This paper discusses the design of the optimal preview controller for a linear continuous-time stochastic control system in finite-time horizon, using the method of augmented error system. First, an assistant system is introduced for state shifting. Then, in order to overcome the difficulty of the state equation of the stochastic control system being unable to be differentiated because of Brownian motion, the integrator is introduced. Thus, the augmented error system which contains the integrator vector, control input, reference signal, error vector and state of the system is reconstructed. This leads to the tracking problem of the optimal preview control of the linear stochastic control system being transformed into the optimal output tracking problem of the augmented error system. With the method of dynamic programming in the theory of stochastic control, the optimal controller with previewable signals of the augmented error system being equal to the controller of the original system is obtained. Finally, numerical simulations show the effectiveness of the controller.

Motion-based nearest vector metric for reference frame selection in the perception of motion.

PubMed

Agaoglu, Mehmet N; Clarke, Aaron M; Herzog, Michael H; Ögmen, Haluk

2016-05-01

We investigated how the visual system selects a reference frame for the perception of motion. Two concentric arcs underwent circular motion around the center of the display, where observers fixated. The outer (target) arc's angular velocity profile was modulated by a sine wave midflight whereas the inner (reference) arc moved at a constant angular speed. The task was to report whether the target reversed its direction of motion at any point during its motion. We investigated the effects of spatial and figural factors by systematically varying the radial and angular distances between the arcs, and their relative sizes. We found that the effectiveness of the reference frame decreases with increasing radial- and angular-distance measures. Drastic changes in the relative sizes of the arcs did not influence motion reversal thresholds, suggesting no influence of stimulus form on perceived motion. We also investigated the effect of common velocity by introducing velocity fluctuations to the reference arc as well. We found no effect of whether or not a reference frame has a constant motion. We examined several form- and motion-based metrics, which could potentially unify our findings. We found that a motion-based nearest vector metric can fully account for all the data reported here. These findings suggest that the selection of reference frames for motion processing does not result from a winner-take-all process, but instead, can be explained by a field whose strength decreases with the distance between the nearest motion vectors regardless of the form of the moving objects.

A vectorized algorithm for 3D dynamics of a tethered satellite

NASA Technical Reports Server (NTRS)

Wilson, Howard B.

1989-01-01

Equations of motion characterizing the three dimensional motion of a tethered satellite during the retrieval phase are studied. The mathematical model involves an arbitrary number of point masses connected by weightless cords. Motion occurs in a gravity gradient field. The formulation presented accounts for general functions describing support point motion, rate of tether retrieval, and arbitrary forces applied to the point masses. The matrix oriented program language MATLAB is used to produce an efficient vectorized formulation for computing natural frequencies and mode shapes for small oscillations about the static equilibrium configuration; and for integrating the nonlinear differential equations governing large amplitude motions. An example of time response pertaining to the skip rope effect is investigated.

Manufacturing in space: Fluid dynamics numerical analysis

NASA Technical Reports Server (NTRS)

Robertson, S. J.; Nicholson, L. A.; Spradley, L. W.

1982-01-01

Numerical computations were performed for natural convection in circular enclosures under various conditions of acceleration. It was found that subcritical acceleration vectors applied in the direction of the temperature gradient will lead to an eventual state of rest regardless of the initial state of motion. Supercritical acceleration vectors will lead to the same steady state condition of motion regardless of the initial state of motion. Convection velocities were computed for acceleration vectors at various angles of the initial temperature gradient. The results for Rayleigh numbers of 1000 or less were found to closely follow Weinbaum's first order theory. Higher Rayleigh number results were shown to depart significantly from the first order theory. Supercritical behavior was confirmed for Rayleigh numbers greater than the known supercritical value of 9216. Response times were determined to provide an indication of the time required to change states of motion for the various cases considered.

A Self-Alignment Algorithm for SINS Based on Gravitational Apparent Motion and Sensor Data Denoising

PubMed Central

Liu, Yiting; Xu, Xiaosu; Liu, Xixiang; Yao, Yiqing; Wu, Liang; Sun, Jin

2015-01-01

Initial alignment is always a key topic and difficult to achieve in an inertial navigation system (INS). In this paper a novel self-initial alignment algorithm is proposed using gravitational apparent motion vectors at three different moments and vector-operation. Simulation and analysis showed that this method easily suffers from the random noise contained in accelerometer measurements which are used to construct apparent motion directly. Aiming to resolve this problem, an online sensor data denoising method based on a Kalman filter is proposed and a novel reconstruction method for apparent motion is designed to avoid the collinearity among vectors participating in the alignment solution. Simulation, turntable tests and vehicle tests indicate that the proposed alignment algorithm can fulfill initial alignment of strapdown INS (SINS) under both static and swinging conditions. The accuracy can either reach or approach the theoretical values determined by sensor precision under static or swinging conditions. PMID:25923932

A Drive Method of Permanent Magnet Synchronous Motor Using Torque Angle Estimation without Position Sensor

NASA Astrophysics Data System (ADS)

Tanaka, Takuro; Takahashi, Hisashi

In some motor applications, it is very difficult to attach a position sensor to the motor in housing. One of the examples of such applications is the dental handpiece-motor. In those designs, it is necessary to drive highly efficiency at low speed and variable load condition without a position sensor. We developed a method to control a motor high-efficient and smoothly at low speed without a position sensor. In this paper, the method in which permanent magnet synchronous motor is controlled smoothly and high-efficient by using torque angle control in synchronized operation is shown. The usefulness is confirmed by experimental results. In conclusion, the proposed sensor-less control method has been achieved to be very efficiently and smoothly.

LCD motion blur reduction: a signal processing approach.

PubMed

Har-Noy, Shay; Nguyen, Truong Q

2008-02-01

Liquid crystal displays (LCDs) have shown great promise in the consumer market for their use as both computer and television displays. Despite their many advantages, the inherent sample-and-hold nature of LCD image formation results in a phenomenon known as motion blur. In this work, we develop a method for motion blur reduction using the Richardson-Lucy deconvolution algorithm in concert with motion vector information from the scene. We further refine our approach by introducing a perceptual significance metric that allows us to weight the amount of processing performed on different regions in the image. In addition, we analyze the role of motion vector errors in the quality of our resulting image. Perceptual tests indicate that our algorithm reduces the amount of perceivable motion blur in LCDs.

3D landslide motion from a UAV-derived time-series of morphological attributes

NASA Astrophysics Data System (ADS)

Valasia Peppa, Maria; Mills, Jon Philip; Moore, Philip; Miller, Pauline; Chambers, Jon

2017-04-01

Landslides are recognised as dynamic and significantly hazardous phenomena. Time-series observations can improve the understanding of a landslide's complex behaviour and aid assessment of its geometry and kinematics. Conventional quantification of landslide motion involves the installation of survey markers into the ground at discrete locations and periodic observations over time. However, such surveying is labour intensive, provides limited spatial resolution, is occasionally hazardous for steep terrain, or even impossible for inaccessible mountainous areas. The emergence of mini unmanned aerial vehicles (UAVs) equipped with off-the-shelf compact cameras, alongside the structure-from-motion (SfM) photogrammetric pipeline and modern pixel-based matching approaches, has expedited the automatic generation of high resolution digital elevation models (DEMs). Moreover, cross-correlation functions applied to finely co-registered consecutive orthomosaics and/or DEMs have been widely used to determine the displacement of moving features in an automated way, resulting in high spatial resolution motion vectors. This research focuses on estimating the 3D displacement field of an active slow moving earth-slide earth-flow landslide located in Lias mudrocks of North Yorkshire, UK, with the ultimate aim of assessing landslide deformation patterns. The landslide extends approximately 290 m E-W and 230 m N-S, with an average slope of 12˚ and 50 m elevation difference from N-S. Cross-correlation functions were applied to an eighteen-month duration, UAV-derived, time-series of morphological attributes in order to determine motion vectors for subsequent landslide analysis. A self-calibrating bundle adjustment was firstly incorporated into the SfM pipeline and utilised to process imagery acquired using a Panasonic Lumix DMC-LX5 compact camera from a mini fixed-wing Quest 300 UAV, with 2 m wingspan and maximum 5 kg payload. Data from six field campaigns were used to generate a DEM time-series at 6 cm spatial resolution. DEMs were georeferenced into a common reference frame using control information from surveyed ground control points. The accuracy of the co-registration was estimated from planimetric and vertical RMS errors at independent checkpoints as 4 cm and 3 cm respectively. Afterwards, various morphological attributes, including shaded relief, curvature and openness were calculated from the UAV-derived DEMs. These attributes are indicative of the local structures of discernible geomorphological features (e.g. scarps, ridges, cracks, etc.), the motion of which can be monitored using the cross-correlation algorithm. Multiple experiments were conducted to test the performance of the cross-correlation function implemented on successive epochs. Two benchmark datasets were used for validation of the cross-correlation results: a) the motion vectors generated from the surveyed 3D position of installed markers; b) the calculated displacements of features, manually tracked from successive UAV-derived orthomosaics. Both benchmark datasets detected a maximum planimetric displacement of approximately 1 m at the foot of the landslide, with a dominant N-S orientation, between December 2014 and May 2016. Preliminary cross-correlation results illustrated a similar planimetric motion in both magnitude and orientation, however user intervention was required to filter spurious displacement vectors.

Modeling respiratory motion for reducing motion artifacts in 4D CT images.

PubMed

Zhang, Yongbin; Yang, Jinzhong; Zhang, Lifei; Court, Laurence E; Balter, Peter A; Dong, Lei

2013-04-01

Four-dimensional computed tomography (4D CT) images have been recently adopted in radiation treatment planning for thoracic and abdominal cancers to explicitly define respiratory motion and anatomy deformation. However, significant image distortions (artifacts) exist in 4D CT images that may affect accurate tumor delineation and the shape representation of normal anatomy. In this study, the authors present a patient-specific respiratory motion model, based on principal component analysis (PCA) of motion vectors obtained from deformable image registration, with the main goal of reducing image artifacts caused by irregular motion during 4D CT acquisition. For a 4D CT image set of a specific patient, the authors calculated displacement vector fields relative to a reference phase, using an in-house deformable image registration method. The authors then used PCA to decompose each of the displacement vector fields into linear combinations of principal motion bases. The authors have demonstrated that the regular respiratory motion of a patient can be accurately represented by a subspace spanned by three principal motion bases and their projections. These projections were parameterized using a spline model to allow the reconstruction of the displacement vector fields at any given phase in a respiratory cycle. Finally, the displacement vector fields were used to deform the reference CT image to synthesize CT images at the selected phase with much reduced image artifacts. The authors evaluated the performance of the in-house deformable image registration method using benchmark datasets consisting of ten 4D CT sets annotated with 300 landmark pairs that were approved by physicians. The initial large discrepancies across the landmark pairs were significantly reduced after deformable registration, and the accuracy was similar to or better than that reported by state-of-the-art methods. The proposed motion model was quantitatively validated on 4D CT images of a phantom and a lung cancer patient by comparing the synthesized images and the original images at different phases. The synthesized images matched well with the original images. The motion model was used to reduce irregular motion artifacts in the 4D CT images of three lung cancer patients. Visual assessment indicated that the proposed approach could reduce severe image artifacts. The shape distortions around the diaphragm and tumor regions were mitigated in the synthesized 4D CT images. The authors have derived a mathematical model to represent the regular respiratory motion from a patient-specific 4D CT set and have demonstrated its application in reducing irregular motion artifacts in 4D CT images. The authors' approach can mitigate shape distortions of anatomy caused by irregular breathing motion during 4D CT acquisition.

Sensorless adaptive optics for isoSTED nanoscopy

NASA Astrophysics Data System (ADS)

Antonello, Jacopo; Hao, Xiang; Allgeyer, Edward S.; Bewersdorf, Joerg; Rittscher, Jens; Booth, Martin J.

2018-02-01

The presence of aberrations is a major concern when using fluorescence microscopy to image deep inside tissue. Aberrations due to refractive index mismatch and heterogeneity of the specimen under investigation cause severe reduction in the amount of fluorescence emission that is collected by the microscope. Furthermore, aberrations adversely affect the resolution, leading to loss of fine detail in the acquired images. These phenomena are particularly troublesome for super-resolution microscopy techniques such as isotropic stimulated-emission-depletion microscopy (isoSTED), which relies on accurate control of the shape and co-alignment of multiple excitation and depletion foci to operate as expected and to achieve the super-resolution effect. Aberrations can be suppressed by implementing sensorless adaptive optics techniques, whereby aberration correction is achieved by maximising a certain image quality metric. In confocal microscopy for example, one can employ the total image brightness as an image quality metric. Aberration correction is subsequently achieved by iteratively changing the settings of a wavefront corrector device until the metric is maximised. This simplistic approach has limited applicability to isoSTED microscopy where, due to the complex interplay between the excitation and depletion foci, maximising the total image brightness can lead to introducing aberrations in the depletion foci. In this work we first consider the effects that different aberration modes have on isoSTED microscopes. We then propose an iterative, wavelet-based aberration correction algorithm and evaluate its benefits.

Motor Control of Two Flywheels Enabling Combined Attitude Control and Bus Regulation

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.

2004-01-01

This presentation discussed the flywheel technology development work that is ongoing at NASA GRC with a particular emphasis on the flywheel system control. The "field orientation" motor/generator control algorithm was discussed and explained. The position-sensorless angle and speed estimation algorithm was presented. The motor current response to a step change in command at low (10 kRPM) and high (60 kRPM) was discussed. The flywheel DC bus regulation control was explained and experimental results presented. Finally, the combined attitude control and energy storage algorithm that controls two flywheels simultaneously was presented. Experimental results were shown that verified the operational capability of the algorithm. shows high speed flywheel energy storage (60,000 RPM) and the successful implementation of an algorithm to simultaneously control both energy storage and a single axis of attitude with two flywheels. Overall, the presentation demonstrated that GRC has an operational facility that

DSP-based adaptive backstepping using the tracking errors for high-performance sensorless speed control of induction motor drive.

PubMed

Zaafouri, Abderrahmen; Regaya, Chiheb Ben; Azza, Hechmi Ben; Châari, Abdelkader

2016-01-01

This paper presents a modified structure of the backstepping nonlinear control of the induction motor (IM) fitted with an adaptive backstepping speed observer. The control design is based on the backstepping technique complemented by the introduction of integral tracking errors action to improve its robustness. Unlike other research performed on backstepping control with integral action, the control law developed in this paper does not propose the increase of the number of system state so as not increase the complexity of differential equations resolution. The digital simulation and experimental results show the effectiveness of the proposed control compared to the conventional PI control. The results analysis shows the characteristic robustness of the adaptive control to disturbances of the load, the speed variation and low speed. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Practical Methodology for the Inclusion of Nonlinear Slosh Damping in the Stability Analysis of Liquid-Propelled Space Vehicles

NASA Technical Reports Server (NTRS)

Ottander, John A.; Hall, Robert A.; Powers, Joseph F.

2017-01-01

One of the challenges of developing flight control systems for liquid-propelled space vehicles is ensuring stability and performance in the presence of parasitic minimally damped slosh dynamics in the liquid propellants. This can be especially difficult when the fundamental frequencies of the slosh motions are in proximity to the frequency used for vehicle control. The challenge is partially alleviated since the energy dissipation and effective damping in the slosh modes increases with amplitude. However, traditional launch vehicle control design methodology is performed with linearized systems using a fixed slosh damping corresponding to a slosh motion amplitude based on heritage values. This papers presents a method for performing the control design and analysis using damping at slosh amplitudes chosen based on the resulting limit cycle amplitude of the vehicle thrust vector system due to a control-slosh interaction under degraded phase and gain margin conditions.

Practical Methodology for the Inclusion of Nonlinear Slosh Damping in the Stability Analysis of Liquid-propelled Space Vehicles

NASA Technical Reports Server (NTRS)

Ottander, John A.; Hall, Robert A., Jr.; Powers, Joseph F.

2017-01-01

One of the challenges of developing flight control systems for liquid-propelled space vehicles is ensuring stability and performance in the presence of parasitic minimally damped slosh dynamics in the liquid propellants. This can be especially difficult when the fundamental frequencies of the slosh motions are in proximity to the frequency used for vehicle control. The challenge is partially alleviated since the energy dissipation and effective damping in the slosh modes increases with amplitude. However, traditional launch vehicle control design methodology is performed with linearized systems using a fixed slosh damping corresponding to a slosh motion amplitude based on heritage values. This papers presents a method for performing the control design and analysis using damping at slosh amplitudes chosen based on the resulting limit cycle amplitude of the vehicle thrust vector system due to a control-slosh interaction under degraded phase and gain margin conditions.

A vector-dyadic development of the equations of motion for N-coupled rigid bodies and point masses

NASA Technical Reports Server (NTRS)

Frisch, H. P.

1974-01-01

The equations of motion are derived, in vector-dyadic format, for a topological tree of coupled rigid bodies, point masses, and symmetrical momentum wheels. These equations were programmed, and form the basis for the general-purpose digital computer program N-BOD. A complete derivation of the equations of motion is included along with a description of the methods used for kinematics, constraint elimination, and for the inclusion of nongyroscope forces and torques acting external or internal to the system.

SU-F-J-77: Variations in the Displacement Vector Fields Calculated by Different Deformable Image Registration Algorithms Used in Helical, Axial and Cone-Beam CT Images of a Mobile

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

Ali, I; Jaskowiak, J; Ahmad, S

Purpose: To investigate quantitatively the displacement-vector-fields (DVF) obtained from different deformable image registration algorithms (DIR) in helical (HCT), axial (ACT) and cone-beam CT (CBCT) to register CT images of a mobile phantom and its correlation with motion amplitudes and frequencies. Methods: HCT, ACT and CBCT are used to image a mobile phantom which includes three targets with different sizes that are manufactured from water-equivalent material and embedded in low density foam. The phantom is moved with controlled motion patterns where a range of motion amplitudes (0–40mm) and frequencies (0.125–0.5Hz) are used. The CT images obtained from scanning of the mobilemore » phantom are registered with the stationary CT-images using four deformable image registration algorithms including demons, fast-demons, Horn-Schunk and Locas-Kanade from DIRART software. Results: The DVF calculated by the different algorithms correlate well with the motion amplitudes that are applied on the mobile phantom where maximal DVF increase linearly with the motion amplitudes of the mobile phantom in CBCT. Similarly in HCT, DVF increase linearly with motion amplitude, however, its correlation is weaker than CBCT. In ACT, the DVF’s do not correlate well with the motion amplitudes where motion induces strong image artifacts and DIR algorithms are not able to deform the ACT image of the mobile targets to the stationary targets. Three DIR-algorithms produce comparable values and patterns of the DVF for certain CT imaging modality. However, DVF from fast-demons deviated strongly from other algorithms at large motion amplitudes. Conclusion: In CBCT and HCT, the DVF correlate well with the motion amplitude of the mobile phantom. However, in ACT, DVF do not correlate with motion amplitudes. Correlations of DVF with motion amplitude as in CBCT and HCT imaging techniques can provide information about unknown motion parameters of the mobile organs in real patients as demonstrated in this phantom visibility study.« less

Use of the flight simulator in the design of a STOL research aircraft.

NASA Technical Reports Server (NTRS)

Spitzer, R. E.; Rumsey, P. C.; Quigley, H. C.

1972-01-01

Piloted simulator tests on the NASA-Ames Flight Simulator for Advanced Aircraft motion base played a major role in guiding the design of the Modified C-8A 'Buffalo' augmentor wing jet flap STOL research airplane. Design results are presented for the flight control systems, lateral-directional SAS, hydraulic systems, and engine and thrust vector controls. Emphasis is given to lateral control characteristics on STOL landing approach, engine-out control and recovery techniques in the powered-lift regime, and operational flight procedures which affected airplane design.

Motion Cueing Algorithm Development: Human-Centered Linear and Nonlinear Approaches

NASA Technical Reports Server (NTRS)

Houck, Jacob A. (Technical Monitor); Telban, Robert J.; Cardullo, Frank M.

2005-01-01

While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. Prior research identified viable features from two algorithms: the nonlinear "adaptive algorithm", and the "optimal algorithm" that incorporates human vestibular models. A novel approach to motion cueing, the "nonlinear algorithm" is introduced that combines features from both approaches. This algorithm is formulated by optimal control, and incorporates a new integrated perception model that includes both visual and vestibular sensation and the interaction between the stimuli. Using a time-varying control law, the matrix Riccati equation is updated in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. The neurocomputing approach was crucial in that the number of presentations of an input vector could be reduced to meet the real time requirement without degrading the quality of the motion cues.

Project Physics Reader 1, Concepts of Motion.

ERIC Educational Resources Information Center

Harvard Univ., Cambridge, MA. Harvard Project Physics.

As a supplement to Project Physics Unit 1, 21 articles are presented in this reader. Concepts of motion are discussed under headings: motion, motion in words, representation of movement, introducing vectors, Galileo's discussion of projectile motion, Newton's laws of dynamics, the dynamics of a golf club, report on Tait's lecture on force, and bad…

Nonlinear feedback control for high alpha flight

NASA Technical Reports Server (NTRS)

Stalford, Harold

1990-01-01

Analytical aerodynamic models are derived from a high alpha 6 DOF wind tunnel model. One detail model requires some interpolation between nonlinear functions of alpha. One analytical model requires no interpolation and as such is a completely continuous model. Flight path optimization is conducted on the basic maneuvers: half-loop, 90 degree pitch-up, and level turn. The optimal control analysis uses the derived analytical model in the equations of motion and is based on both moment and force equations. The maximum principle solution for the half-loop is poststall trajectory performing the half-loop in 13.6 seconds. The agility induced by thrust vectoring capability provided a minimum effect on reducing the maneuver time. By means of thrust vectoring control the 90 degrees pitch-up maneuver can be executed in a small place over a short time interval. The agility capability of thrust vectoring is quite beneficial for pitch-up maneuvers. The level turn results are based currently on only outer layer solutions of singular perturbation. Poststall solutions provide high turn rates but generate higher losses of energy than that of classical sustained solutions.

Dynamic visual attention: motion direction versus motion magnitude

NASA Astrophysics Data System (ADS)

Bur, A.; Wurtz, P.; Müri, R. M.; Hügli, H.

2008-02-01

Defined as an attentive process in the context of visual sequences, dynamic visual attention refers to the selection of the most informative parts of video sequence. This paper investigates the contribution of motion in dynamic visual attention, and specifically compares computer models designed with the motion component expressed either as the speed magnitude or as the speed vector. Several computer models, including static features (color, intensity and orientation) and motion features (magnitude and vector) are considered. Qualitative and quantitative evaluations are performed by comparing the computer model output with human saliency maps obtained experimentally from eye movement recordings. The model suitability is evaluated in various situations (synthetic and real sequences, acquired with fixed and moving camera perspective), showing advantages and inconveniences of each method as well as preferred domain of application.

Video segmentation and camera motion characterization using compressed data

NASA Astrophysics Data System (ADS)

Milanese, Ruggero; Deguillaume, Frederic; Jacot-Descombes, Alain

1997-10-01

We address the problem of automatically extracting visual indexes from videos, in order to provide sophisticated access methods to the contents of a video server. We focus on tow tasks, namely the decomposition of a video clip into uniform segments, and the characterization of each shot by camera motion parameters. For the first task we use a Bayesian classification approach to detecting scene cuts by analyzing motion vectors. For the second task a least- squares fitting procedure determines the pan/tilt/zoom camera parameters. In order to guarantee the highest processing speed, all techniques process and analyze directly MPEG-1 motion vectors, without need for video decompression. Experimental results are reported for a database of news video clips.

Steady-State Pursuit Is Driven by Object Motion Rather Than the Vector Average of Local Motions

NASA Technical Reports Server (NTRS)

Stone, Leland S.; Beutter, B. R.; Lorenceau, J. D.; Ahumada, Al (Technical Monitor)

1997-01-01

We have previously shown that humans can pursue the motion of objects whose trajectories can be recovered only by spatio-temporal integration of local motion signals. We now explore the integration rule used to derive the target-motion signal driving pursuit. We measured the pursuit response of 4 observers (2 naive) to the motion of a line-figure diamond viewed through two vertical bar apertures (0.2 cd/square m). The comers were always occluded so that only four line segments (93 cd/square m) were visible behind the occluding foreground (38 cd/square m). The diamond was flattened (40 & 140 degree vertex angles) such that vector averaging of the local normal motions and vertical integration (e.g. IOC) yield very I or different predictions, analogous to using a Type II plaid. The diamond moved along Lissajous-figure trajectories (Ax = Ay = 2 degrees; TFx = 0.8 Hz; TFy = 0.4 Hz). We presented only 1.25 cycles and used 6 different randomly interleaved initial relative phases to minimize the role of predictive strategies. Observers were instructed to track the diamond and reported that its motion was always coherent (unlike type II plaids). Saccade-free portions of the horizontal and vertical eye-position traces sampled at 240 Hz were fit by separate sinusoids. Pursuit gain with respect to the diamond averaged 0.7 across subjects and directions. The ratio of the mean vertical to horizontal amplitude of the pursuit response was 1.7 +/- 0.7 averaged across subjects (1SD). This is close to the prediction of 1.0 from vertical motion-integration rules, but far from 7.7 predicted by vector averaging and infinity predicted by segment- or terminator-tracking strategies. Because there is no retinal motion which directly corresponds to the diamond's motion, steady-state pursuit of our "virtual" diamond is not closed-loop in the traditional sense. Thus, accurate pursuit is unlikely to result simply from local retinal negative feedback. We conclude that the signal driving steady-state pursuit is not the vector average of local motion signals, but rather a more vertical estimate of object motion, derived in extrastriate cortical areas beyond V1, perhaps NIT or MST.

Dynamics and control of escape and rescue from a tumbling spacecraft

NASA Technical Reports Server (NTRS)

Kaplan, M. H.

1972-01-01

Papers on the problem of controlling a tumbling spacecraft before crew rescue is affected are presented. Fluid jets are considered; It is concluded that a gas jet results in long tumble times and low utilization efficiencies and a liquid jet appears more attractive because it can be directed. A conceptual design of an unmanned antitumbling module for automatic dock and detumble is formulated, and analyses of its dynamics and control, synthesis of position and attitude control systems, and sequence of operations are given. The minimum time detumble operation is analyzed with respect to (1) to a constraint on the magnitude of the control moment vector and (2) to constraints on the magnitude of each of the three components of the control moment vector. Internal passive and active mechanisms of energy dissipation are also considered. Structural flexibility modelling techniques and detumbling effects of structural flexibility on free-tumbling motion, are reviewed. Mass expulsion, momentum exchange, and moveable mass techniques are described, and methods of analyzing these devices are surveyed.

A Module for Automatic Dock and Detumble (MADD) for orbital rescue operations

NASA Technical Reports Server (NTRS)

Snow, W. R.; Kunciw, B. G.; Kaplan, M. H.

1973-01-01

The module for automatic dock and detumble (MADD) is an automated device for bringing a passive, tumbling space base under control in an orbital rescue situation. The conceptual design of such a device resulted from a consideration of tumbling motion analyses and mission constraints. Specific topics of investigation include orbit and attitude dynamics and detumble profiles. Position and attitude control systems for the various phases of operation were developed. Dynamic motion of a passive vehicle with MADD attached is considered as an example application and to determine control requirements. Since time is a critical factor in rescue operations, it is essential to execute the detumbling maneuver in a minimum of time. Optimization of the MADD thrusting sequence has also been investigated. Results indicate the control torque must be directed opposite to the angular momentum vector for the assumption used here.

Shaking Takete and Flowing Maluma. Non-Sense Words Are Associated with Motion Patterns

PubMed Central

Koppensteiner, Markus; Stephan, Pia; Jäschke, Johannes Paul Michael

2016-01-01

People assign the artificial words takete and kiki to spiky, angular figures and the artificial words maluma and bouba to rounded figures. We examined whether such a cross-modal correspondence could also be found for human body motion. We transferred the body movements of speakers onto two-dimensional coordinates and created animated stick-figures based on this data. Then we invited people to judge these stimuli using the words takete-maluma, bouba-kiki, and several verbal descriptors that served as measures of angularity/smoothness. In addition to this we extracted the quantity of motion, the velocity of motion and the average angle between motion vectors from the coordinate data. Judgments of takete (and kiki) were related to verbal descriptors of angularity, a high quantity of motion, high velocity and sharper angles. Judgments of maluma (or bouba) were related to smooth movements, a low velocity, a lower quantity of motion and blunter angles. A forced-choice experiment during which we presented subsets with low and high rankers on our motion measures revealed that people preferably assigned stimuli displaying fast movements with sharp angles in motion vectors to takete and stimuli displaying slow movements with blunter angles in motion vectors to maluma. Results indicated that body movements share features with information inherent in words such as takete and maluma and that people perceive the body movements of speakers on the level of changes in motion direction (e.g., body moves to the left and then back to the right). Follow-up studies are needed to clarify whether impressions of angularity and smoothness have similar communicative values across different modalities and how this affects social judgments and person perception. PMID:26939013

Coherence-Gated Sensorless Adaptive Optics Multiphoton Retinal Imaging

PubMed Central

Cua, Michelle; Wahl, Daniel J.; Zhao, Yuan; Lee, Sujin; Bonora, Stefano; Zawadzki, Robert J.; Jian, Yifan; Sarunic, Marinko V.

2016-01-01

Multiphoton microscopy enables imaging deep into scattering tissues. The efficient generation of non-linear optical effects is related to both the pulse duration (typically on the order of femtoseconds) and the size of the focused spot. Aberrations introduced by refractive index inhomogeneity in the sample distort the wavefront and enlarge the focal spot, which reduces the multiphoton signal. Traditional approaches to adaptive optics wavefront correction are not effective in thick or multi-layered scattering media. In this report, we present sensorless adaptive optics (SAO) using low-coherence interferometric detection of the excitation light for depth-resolved aberration correction of two-photon excited fluorescence (TPEF) in biological tissue. We demonstrate coherence-gated SAO TPEF using a transmissive multi-actuator adaptive lens for in vivo imaging in a mouse retina. This configuration has significant potential for reducing the laser power required for adaptive optics multiphoton imaging, and for facilitating integration with existing systems. PMID:27599635

Coherence-Gated Sensorless Adaptive Optics Multiphoton Retinal Imaging.

PubMed

Cua, Michelle; Wahl, Daniel J; Zhao, Yuan; Lee, Sujin; Bonora, Stefano; Zawadzki, Robert J; Jian, Yifan; Sarunic, Marinko V

2016-09-07

Multiphoton microscopy enables imaging deep into scattering tissues. The efficient generation of non-linear optical effects is related to both the pulse duration (typically on the order of femtoseconds) and the size of the focused spot. Aberrations introduced by refractive index inhomogeneity in the sample distort the wavefront and enlarge the focal spot, which reduces the multiphoton signal. Traditional approaches to adaptive optics wavefront correction are not effective in thick or multi-layered scattering media. In this report, we present sensorless adaptive optics (SAO) using low-coherence interferometric detection of the excitation light for depth-resolved aberration correction of two-photon excited fluorescence (TPEF) in biological tissue. We demonstrate coherence-gated SAO TPEF using a transmissive multi-actuator adaptive lens for in vivo imaging in a mouse retina. This configuration has significant potential for reducing the laser power required for adaptive optics multiphoton imaging, and for facilitating integration with existing systems.

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

NASA Astrophysics Data System (ADS)

Chen, Dechao; Zhang, Yunong

2017-10-01

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

Fast image interpolation for motion estimation using graphics hardware

NASA Astrophysics Data System (ADS)

Kelly, Francis; Kokaram, Anil

2004-05-01

Motion estimation and compensation is the key to high quality video coding. Block matching motion estimation is used in most video codecs, including MPEG-2, MPEG-4, H.263 and H.26L. Motion estimation is also a key component in the digital restoration of archived video and for post-production and special effects in the movie industry. Sub-pixel accurate motion vectors can improve the quality of the vector field and lead to more efficient video coding. However sub-pixel accuracy requires interpolation of the image data. Image interpolation is a key requirement of many image processing algorithms. Often interpolation can be a bottleneck in these applications, especially in motion estimation due to the large number pixels involved. In this paper we propose using commodity computer graphics hardware for fast image interpolation. We use the full search block matching algorithm to illustrate the problems and limitations of using graphics hardware in this way.

A description of rotations for DEM models of particle systems

NASA Astrophysics Data System (ADS)

Campello, Eduardo M. B.

2015-06-01

In this work, we show how a vector parameterization of rotations can be adopted to describe the rotational motion of particles within the framework of the discrete element method (DEM). It is based on the use of a special rotation vector, called Rodrigues rotation vector, and accounts for finite rotations in a fully exact manner. The use of fictitious entities such as quaternions or complicated structures such as Euler angles is thereby circumvented. As an additional advantage, stick-slip friction models with inter-particle rolling motion are made possible in a consistent and elegant way. A few examples are provided to illustrate the applicability of the scheme. We believe that simple vector descriptions of rotations are very useful for DEM models of particle systems.

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

NASA Astrophysics Data System (ADS)

Bedka, Kristopher M.; Mecikalski, John R.

2005-11-01

This study demonstrates methods to obtain high-density, satellite-derived atmospheric motion vectors (AMV) that contain both synoptic-scale and mesoscale flow components associated with and induced by cumuliform clouds through adjustments made to the University of Wisconsin—Madison Cooperative Institute for Meteorological Satellite Studies (UW-CIMSS) AMV processing algorithm. Operational AMV processing is geared toward the identification of synoptic-scale motions in geostrophic balance, which are useful in data assimilation applications. AMVs identified in the vicinity of deep convection are often rejected by quality-control checks used in the production of operational AMV datasets. Few users of these data have considered the use of AMVs with ageostrophic flow components, which often fail checks that assure both spatial coherence between neighboring AMVs and a strong correlation to an NWP-model first-guess wind field. The UW-CIMSS algorithm identifies coherent cloud and water vapor features (i.e., targets) that can be tracked within a sequence of geostationary visible (VIS) and infrared (IR) imagery. AMVs are derived through the combined use of satellite feature tracking and an NWP-model first guess. Reducing the impact of the NWP-model first guess on the final AMV field, in addition to adjusting the target selection and vector-editing schemes, is found to result in greater than a 20-fold increase in the number of AMVs obtained from the UW-CIMSS algorithm for one convective storm case examined here. Over a three-image sequence of Geostationary Operational Environmental Satellite (GOES)-12 VIS and IR data, 3516 AMVs are obtained, most of which contain flow components that deviate considerably from geostrophy. In comparison, 152 AMVs are derived when a tighter NWP-model constraint and no targeting adjustments were imposed, similar to settings used with operational AMV production algorithms. A detailed analysis reveals that many of these 3516 vectors contain low-level (100 70 kPa) convergent and midlevel (70 40 kPa) to upper-level (40 10 kPa) divergent motion components consistent with localized mesoscale flow patterns. The applicability of AMVs for estimating cloud-top cooling rates at the 1-km pixel scale is demonstrated with excellent correspondence to rates identified by a human expert.

Analysis of ground-motion simulation big data

NASA Astrophysics Data System (ADS)

Maeda, T.; Fujiwara, H.

2016-12-01

We developed a parallel distributed processing system which applies a big data analysis to the large-scale ground motion simulation data. The system uses ground-motion index values and earthquake scenario parameters as input. We used peak ground velocity value and velocity response spectra as the ground-motion index. The ground-motion index values are calculated from our simulation data. We used simulated long-period ground motion waveforms at about 80,000 meshes calculated by a three dimensional finite difference method based on 369 earthquake scenarios of a great earthquake in the Nankai Trough. These scenarios were constructed by considering the uncertainty of source model parameters such as source area, rupture starting point, asperity location, rupture velocity, fmax and slip function. We used these parameters as the earthquake scenario parameter. The system firstly carries out the clustering of the earthquake scenario in each mesh by the k-means method. The number of clusters is determined in advance using a hierarchical clustering by the Ward's method. The scenario clustering results are converted to the 1-D feature vector. The dimension of the feature vector is the number of scenario combination. If two scenarios belong to the same cluster the component of the feature vector is 1, and otherwise the component is 0. The feature vector shows a `response' of mesh to the assumed earthquake scenario group. Next, the system performs the clustering of the mesh by k-means method using the feature vector of each mesh previously obtained. Here the number of clusters is arbitrarily given. The clustering of scenarios and meshes are performed by parallel distributed processing with Hadoop and Spark, respectively. In this study, we divided the meshes into 20 clusters. The meshes in each cluster are geometrically concentrated. Thus this system can extract regions, in which the meshes have similar `response', as clusters. For each cluster, it is possible to determine particular scenario parameters which characterize the cluster. In other word, by utilizing this system, we can obtain critical scenario parameters of the ground-motion simulation for each evaluation point objectively. This research was supported by CREST, JST.

A test of present-day plate geometries for northeast Asia and Japan

NASA Technical Reports Server (NTRS)

Demets, Charles

1992-01-01

Alternative geometries for the present-day configuration of plate boundaries in northeast Asia and Japan are tested using NUVEL-1 and 256 horizontal earthquake slip vectors from the Japan and northern Kuril trenches. Statistical analysis of the slip vectors is used to determine whether the North American, Eurasian, or Okhotsk plate overlies the trench. Along the northern Kuril trench, slip vectors are well-fit by the NUVEL-1 Pacific-North America Euler pole, but are poorly fit by the Pacific-Eurasia Euler pole. Results for the Japan trench are less conclusive, but suggest that much of Honshu and Hokkaido are also part of the North American plate. The simplest geometry consistent with the trench slip vectors is a geometry in which the North American plate extends south to 41 deg N, and possibly includes northern Honshu and southern Hokkaido. Although these results imply that the diffuse seismicity that connects the Lena River delta to Sakhalin Island and the eastern Sea of Japan records motion between Eurasia and North America, onshore geologic and seismic data define an additional belt of seismicity in Siberia that cannot be explained with this geometry. Assuming that these two seismic belts constitute evidence for an Okhotsk block, two published kinematic models for motion of the Okhotsk block are tested. The first model, which predicts motion of up to 15 mm/yr relative to North America, is rejected because Kuril and Japan trench slip vectors are fit more poorly than for the simpler geometry described above. The second model gives a good fit to the trench slip vectors, but only if Okhotsk-North America motion is slower than 5 mm/yr.

Novel Expressions of Equations of Relative Motion and Control in Keplerian Orbits

DTIC Science & Technology

2009-04-01

Control, and Dynamics, Vol. 29, No. 2, March– April 2006, pp. 495–499. doi:10.2514/1.19148 [12] Singla, P., Subbarao , K ., and Junkins, J. L...negative orbit normal, and thex axis is defined as i j k , where i; j and k are the basis vector of the LVLH frame. Thus, in a circular orbit, the x...a. REPORT unclassified b . ABSTRACT unclassified c. THIS PAGE unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18

Feasibility Study of Jupiter Icy Moons Orbiter Permanent Magnet Alternator Start Sequence

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Tokars, Roger P.

2006-01-01

The Jupiter Icy Moons Orbiter (JIMO) mission was a proposed, (recently cancelled) long duration science mission to study three moons of Jupiter: Callisto, Ganymede, and Europa. One design of the JIMO spacecraft used a nuclear heat source in conjunction with a Brayton rotating machine to generate electrical power for the electric thrusters and the spacecraft bus. The basic operation of the closed cycle Brayton system was as follows. The working fluid, a heliumxenon gas mixture, first entered a compressor, then went through a recuperator and hot-side heat exchanger, then expanded across a turbine that drove an alternator, then entered the cold-side of the recuperator and heat exchanger and finally returned to the compressor. The spacecraft was to be launched with the Brayton system off-line and the nuclear reactor shut down. Once the system was started, the helium-xenon gas would be circulated into the heat exchangers as the nuclear reactors were activated. Initially, the alternator unit would operate as a motor so as to drive the turbine and compressor to get the cycle started. This report investigated the feasibility of the start up sequence of a permanent magnet (PM) machine, similar in operation to the alternator unit, without any position or speed feedback sensors ("sensorless") and with a variable load torque. It is found that the permanent magnet machine can start with sensorless control and a load torque of up to 30 percent of the rated value.

Optimal integer resolution for attitude determination using global positioning system signals

NASA Technical Reports Server (NTRS)

Crassidis, John L.; Markley, F. Landis; Lightsey, E. Glenn

1998-01-01

In this paper, a new motion-based algorithm for GPS integer ambiguity resolution is derived. The first step of this algorithm converts the reference sightline vectors into body frame vectors. This is accomplished by an optimal vectorized transformation of the phase difference measurements. The result of this transformation leads to the conversion of the integer ambiguities to vectorized biases. This essentially converts the problem to the familiar magnetometer-bias determination problem, for which an optimal and efficient solution exists. Also, the formulation in this paper is re-derived to provide a sequential estimate, so that a suitable stopping condition can be found during the vehicle motion. The advantages of the new algorithm include: it does not require an a-priori estimate of the vehicle's attitude; it provides an inherent integrity check using a covariance-type expression; and it can sequentially estimate the ambiguities during the vehicle motion. The only disadvantage of the new algorithm is that it requires at least three non-coplanar baselines. The performance of the new algorithm is tested on a dynamic hardware simulator.

Full-field drift Hamiltonian particle orbits in 3D geometry

NASA Astrophysics Data System (ADS)

Cooper, W. A.; Graves, J. P.; Brunner, S.; Isaev, M. Yu

2011-02-01

A Hamiltonian/Lagrangian theory to describe guiding centre orbit drift motion which is canonical in the Boozer coordinate frame has been extended to include full electromagnetic perturbed fields in anisotropic pressure 3D equilibria with nested magnetic flux surfaces. A redefinition of the guiding centre velocity to eliminate the motion due to finite equilibrium radial magnetic fields and the choice of a gauge condition that sets the radial component of the electromagnetic vector potential to zero are invoked to guarantee that the Boozer angular coordinates retain the canonical structure. The canonical momenta are identified and the guiding centre particle radial drift motion and parallel gyroradius evolution are derived. The particle coordinate position is linearly modified by wave-particle interactions. All the nonlinear wave-wave interactions appear explicitly only in the evolution of the parallel gyroradius. The radial variation of the electrostatic potential is related to the binormal component of the displacement vector for MHD-type perturbations. The electromagnetic vector potential projections can then be determined from the electrostatic potential and the radial component of the MHD displacement vector.

Development of advanced control schemes for telerobot manipulators

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1991-01-01

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

An Inexpensive Mechanical Model for Projectile Motion

ERIC Educational Resources Information Center

Kagan, David

2011-01-01

As experienced physicists, we see the beauty and simplicity of projectile motion. It is merely the superposition of uniform linear motion along the direction of the initial velocity vector and the downward motion due to the constant acceleration of gravity. We see the kinematic equations as just the mathematical machinery to perform the…

Efficient low-bit-rate adaptive mesh-based motion compensation technique

NASA Astrophysics Data System (ADS)

Mahmoud, Hanan A.; Bayoumi, Magdy A.

2001-08-01

This paper proposes a two-stage global motion estimation method using a novel quadtree block-based motion estimation technique and an active mesh model. In the first stage, motion parameters are estimated by fitting block-based motion vectors computed using a new efficient quadtree technique, that divides a frame into equilateral triangle blocks using the quad-tree structure. Arbitrary partition shapes are achieved by allowing 4-to-1, 3-to-1 and 2-1 merge/combine of sibling blocks having the same motion vector . In the second stage, the mesh is constructed using an adaptive triangulation procedure that places more triangles over areas with high motion content, these areas are estimated during the first stage. finally the motion compensation is achieved by using a novel algorithm that is carried by both the encoder and the decoder to determine the optimal triangulation of the resultant partitions followed by affine mapping at the encoder. Computer simulation results show that the proposed method gives better performance that the conventional ones in terms of the peak signal-to-noise ration (PSNR) and the compression ratio (CR).

MGRA: Motion Gesture Recognition via Accelerometer.

PubMed

Hong, Feng; You, Shujuan; Wei, Meiyu; Zhang, Yongtuo; Guo, Zhongwen

2016-04-13

Accelerometers have been widely embedded in most current mobile devices, enabling easy and intuitive operations. This paper proposes a Motion Gesture Recognition system (MGRA) based on accelerometer data only, which is entirely implemented on mobile devices and can provide users with real-time interactions. A robust and unique feature set is enumerated through the time domain, the frequency domain and singular value decomposition analysis using our motion gesture set containing 11,110 traces. The best feature vector for classification is selected, taking both static and mobile scenarios into consideration. MGRA exploits support vector machine as the classifier with the best feature vector. Evaluations confirm that MGRA can accommodate a broad set of gesture variations within each class, including execution time, amplitude and non-gestural movement. Extensive evaluations confirm that MGRA achieves higher accuracy under both static and mobile scenarios and costs less computation time and energy on an LG Nexus 5 than previous methods.

Recent Progress on the Second Generation CMORPH: LEO-IR Based Precipitation Estimates and Cloud Motion Vector

NASA Astrophysics Data System (ADS)

Xie, Pingping; Joyce, Robert; Wu, Shaorong

2015-04-01

As reported at the EGU General Assembly of 2014, a prototype system was developed for the second generation CMORPH to produce global analyses of 30-min precipitation on a 0.05olat/lon grid over the entire globe from pole to pole through integration of information from satellite observations as well as numerical model simulations. The second generation CMORPH is built upon the Kalman Filter based CMORPH algorithm of Joyce and Xie (2011). Inputs to the system include rainfall and snowfall rate retrievals from passive microwave (PMW) measurements aboard all available low earth orbit (LEO) satellites, precipitation estimates derived from infrared (IR) observations of geostationary (GEO) as well as LEO platforms, and precipitation simulations from numerical global models. Key to the success of the 2nd generation CMORPH, among a couple of other elements, are the development of a LEO-IR based precipitation estimation to fill in the polar gaps and objectively analyzed cloud motion vectors to capture the cloud movements of various spatial scales over the entire globe. In this presentation, we report our recent work on the refinement for these two important algorithm components. The prototype algorithm for the LEO IR precipitation estimation is refined to achieve improved quantitative accuracy and consistency with PMW retrievals. AVHRR IR TBB data from all LEO satellites are first remapped to a 0.05olat/lon grid over the entire globe and in a 30-min interval. Temporally and spatially co-located data pairs of the LEO TBB and inter-calibrated combined satellite PMW retrievals (MWCOMB) are then collected to construct tables. Precipitation at a grid box is derived from the TBB through matching the PDF tables for the TBB and the MWCOMB. This procedure is implemented for different season, latitude band and underlying surface types to account for the variations in the cloud - precipitation relationship. At the meantime, a sub-system is developed to construct analyzed fields of cloud motion vectors from the GEO/LEO IR based precipitation estimates and the CFS Reanalysis (CFSR) precipitation fields. Motion vectors are first derived separately from the satellite IR based precipitation estimates and the CFSR precipitation fields. These individually derived motion vectors are then combined through a 2D-VAR technique to form an analyzed field of cloud motion vectors over the entire globe. Error function is experimented to best reflect the performance of the satellite IR based estimates and the CFSR in capturing the movements of precipitating cloud systems over different regions and for different seasons. Quantitative experiments are conducted to optimize the LEO IR based precipitation estimation technique and the 2D-VAR based motion vector analysis system. Detailed results will be reported at the EGU.

The effect of the arbitrary level assignment of satellite cloud motion wind vectors on wind analyses in the pre-thunderstorm environment

NASA Technical Reports Server (NTRS)

Peslen, C. A.; Koch, S. E.; Uccellini, L. W.

1985-01-01

The impact of satellite-derived cloud motion vectors on SESAME rawinsonde wind fields was studied in two separate cases. The effect of wind and moisture gradients on the arbitrary assignment of the satellite data is assessed to coordinate surfaces in a severe storm environment marked by strong vertical wind shear. Objective analyses of SESAME rawinsonde winds and combined winds are produced and differences between these two analyzed fields are used to make an assessment of coordinate level choice. It is shown that the standard method of arbitrarily assigning wind vectors to a low level coordinate surface yields systematic differences between the rawinsonde and combined wind analyses. Arbitrary assignment of cloud motions to the 0.9 sigma surface produces smaller differences than assignment to the 825 mb pressure surface. Systematic differences occur near moisture discontinuities and in regions of horizontal and vertical wind shears. The differences between the combined and SESAME wind fields are made smallest by vertically interpolating cloud motions to either a pressure or sigma surface.

Developing the Second Generation CMORPH: A Prototype

NASA Astrophysics Data System (ADS)

Xie, Pingping; Joyce, Robert

2014-05-01

A prototype system of the second generation CMORPH is being developed at NOAA Climate Prediction Center (CPC) to produce global analyses of 30-min precipitation on a 0.05deg lat/lon grid over the entire globe from pole to pole through integration of information from satellite observations as well as numerical model simulations. The second generation CMORPH is built upon the Kalman Filter based CMORPH algorithm of Joyce and Xie (2011). Inputs to the system include rainfall and snowfall rate retrievals from passive microwave (PMW) measurements aboard all available low earth orbit (LEO) satellites, estimates derived from infrared (IR) observations of geostationary (GEO) as well as LEO platforms, and precipitation simulations from numerical global models. First, precipitation estimation / retrievals from various sources are mapped onto a global grid of 0.05deg lat/lon and calibrated against a common reference field to ensure consistency in their precipitation rate PDF structures. The motion vectors for the precipitating cloud systems are then defined using information from both satellite IR observations and precipitation fields generated by the NCEP Climate Forecast System Reanalysis (CFSR). To this end, motion vectors are first computed from CFSR hourly precipitation fields through cross-correlation analysis of consecutive hourly precipitation fields on the global T382 (~35 km) grid. In a similar manner, separate processing is also performed on satellite IR-based precipitation estimates to derive motion vectors from observations. A blended analysis of precipitating cloud motion vectors is then constructed through the combination of CFSR and satellite-derived vectors with an objective analysis technique. Fine resolution mapped PMW precipitation retrievals are then separately propagated along the motion vectors from their respective observation times to the target analysis time from both forward and backward directions. The CMORPH high resolution precipitation analyses are finally constructed through the combination of propagated PMW retrievals with the IR based estimates for the target analysis time. This Kalman Filter based CMORPH processing is performed for rainfall and snowfall fields separately with the same motion vectors. Experiments have been conducted for two periods of two months each, July - August 2009, and January - February 2010, to explore the development of an optimal algorithm that generates global precipitation for summer and winter situations. Preliminary results demonstrated technical feasibility to construct global rainfall and snowfall analyses through the integration of information from multiple sources. More work is underway to refine various technical components of the system for operational applications of the system. Detailed results will be reported at the EGU meeting.

SU-E-T-428: Feasibility Study of 4D Image Reconstruction by Organ Motion Vector Extension Based On Portal Images

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

Yoon, J; Jung, J; Yeo, I

2015-06-15

Purpose: To develop and to test a method to generate a new 4D CT images of the treatment day from the old 4D CT and the portal images of the day when the motion extent exceeded from that represented by plan CTs. Methods: A motion vector of a moving tumor in a patient may be extended to reconstruct the tumor position when the motion extent exceeded from that represented by plan CTs. To test this, 1. a phantom that consists of a polystyrene cylinder (tumor) embedded in cork (lung) was placed on a moving platform with 4 sec/cycle and amplitudesmore » of 1 cm and 2 cm, and was 4D-scanned. 2. A 6MV photon beam was irradiated on the moving phantoms and cineEPID images were obtained. 3. A motion vector of the tumor was acquired from 4D CT images of the phantom with 1 cm amplitude. 4. From cine EPID images of the phantom with the 2 cm amplitude, various motion extents (0.3 cm, 0.5 cm, etc) were acquired and programmed into the motion vector, producing CT images at each position. 5. The reconstructed CT images were then compared with pre-acquired “reference” 4D CT images at each position (i.e. phase). Results: The CT image was reconstructed and compared with the reference image, showing a slight mismatch in the transition direction limited by voxel size (slice thickness) in CT image. Due to the rigid nature of the phantom studied, the modeling the displacement of the center of object was sufficient. When deformable tumors are to be modeled, more complex scheme is necessary, which utilize cine EPID and 4D CT images. Conclusion: The new idea of CT image reconstruction was demonstrated. Deformable tumor movements need to be considered in the future.« less

Automated Illustration of Molecular Flexibility.

PubMed

Bryden, A; Phillips, George N; Gleicher, M

2012-01-01

In this paper, we present an approach to creating illustrations of molecular flexibility using normal mode analysis (NMA). The output of NMA is a collection of points corresponding to the locations of atoms and associated motion vectors, where a vector for each point is known. Our approach abstracts the complex object and its motion by grouping the points, models the motion of each group as an affine velocity, and depicts the motion of each group by automatically choosing glyphs such as arrows. Affine exponentials allow the extrapolation of nonlinear effects such as near rotations and spirals from the linear velocities. Our approach automatically groups points by finding sets of neighboring points whose motions fit the motion model. The geometry and motion models for each group are used to determine glyphs that depict the motion, with various aspects of the motion mapped to each glyph. We evaluated the utility of our system in real work done by structural biologists both by utilizing it in our own structural biology work and quantitatively measuring its usefulness on a set of known protein conformation changes. Additionally, in order to allow ourselves and our collaborators to effectively use our techniques we integrated our system with commonly used tools for molecular visualization.

A new fundamental model of moving particle for reinterpreting Schroedinger equation

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

Umar, Muhamad Darwis

2012-06-20

The study of Schroedinger equation based on a hypothesis that every particle must move randomly in a quantum-sized volume has been done. In addition to random motion, every particle can do relative motion through the movement of its quantum-sized volume. On the other way these motions can coincide. In this proposed model, the random motion is one kind of intrinsic properties of the particle. The every change of both speed of randomly intrinsic motion and or the velocity of translational motion of a quantum-sized volume will represent a transition between two states, and the change of speed of randomly intrinsicmore » motion will generate diffusion process or Brownian motion perspectives. Diffusion process can take place in backward and forward processes and will represent a dissipative system. To derive Schroedinger equation from our hypothesis we use time operator introduced by Nelson. From a fundamental analysis, we find out that, naturally, we should view the means of Newton's Law F(vector sign) = ma(vector sign) as no an external force, but it is just to describe both the presence of intrinsic random motion and the change of the particle energy.« less

Recursive linearization of multibody dynamics equations of motion

NASA Technical Reports Server (NTRS)

Lin, Tsung-Chieh; Yae, K. Harold

1989-01-01

The equations of motion of a multibody system are nonlinear in nature, and thus pose a difficult problem in linear control design. One approach is to have a first-order approximation through the numerical perturbations at a given configuration, and to design a control law based on the linearized model. Here, a linearized model is generated analytically by following the footsteps of the recursive derivation of the equations of motion. The equations of motion are first written in a Newton-Euler form, which is systematic and easy to construct; then, they are transformed into a relative coordinate representation, which is more efficient in computation. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient because of its recursive nature. It has also turned out to be more accurate because of the fact that analytical perturbation circumvents numerical differentiation and other associated numerical operations that may accumulate computational error, thus requiring only analytical operations of matrices and vectors. The power of the proposed linearization algorithm is demonstrated, in comparison to a numerical perturbation method, with a two-link manipulator and a seven degrees of freedom robotic manipulator. Its application to control design is also demonstrated.

Angular motion estimation using dynamic models in a gyro-free inertial measurement unit.

PubMed

Edwan, Ezzaldeen; Knedlik, Stefan; Loffeld, Otmar

2012-01-01

In this paper, we summarize the results of using dynamic models borrowed from tracking theory in describing the time evolution of the state vector to have an estimate of the angular motion in a gyro-free inertial measurement unit (GF-IMU). The GF-IMU is a special type inertial measurement unit (IMU) that uses only a set of accelerometers in inferring the angular motion. Using distributed accelerometers, we get an angular information vector (AIV) composed of angular acceleration and quadratic angular velocity terms. We use a Kalman filter approach to estimate the angular velocity vector since it is not expressed explicitly within the AIV. The bias parameters inherent in the accelerometers measurements' produce a biased AIV and hence the AIV bias parameters are estimated within an augmented state vector. Using dynamic models, the appended bias parameters of the AIV become observable and hence we can have unbiased angular motion estimate. Moreover, a good model is required to extract the maximum amount of information from the observation. Observability analysis is done to determine the conditions for having an observable state space model. For higher grades of accelerometers and under relatively higher sampling frequency, the error of accelerometer measurements is dominated by the noise error. Consequently, simulations are conducted on two models, one has bias parameters appended in the state space model and the other is a reduced model without bias parameters.

Angular Motion Estimation Using Dynamic Models in a Gyro-Free Inertial Measurement Unit

PubMed Central

Edwan, Ezzaldeen; Knedlik, Stefan; Loffeld, Otmar

2012-01-01

In this paper, we summarize the results of using dynamic models borrowed from tracking theory in describing the time evolution of the state vector to have an estimate of the angular motion in a gyro-free inertial measurement unit (GF-IMU). The GF-IMU is a special type inertial measurement unit (IMU) that uses only a set of accelerometers in inferring the angular motion. Using distributed accelerometers, we get an angular information vector (AIV) composed of angular acceleration and quadratic angular velocity terms. We use a Kalman filter approach to estimate the angular velocity vector since it is not expressed explicitly within the AIV. The bias parameters inherent in the accelerometers measurements' produce a biased AIV and hence the AIV bias parameters are estimated within an augmented state vector. Using dynamic models, the appended bias parameters of the AIV become observable and hence we can have unbiased angular motion estimate. Moreover, a good model is required to extract the maximum amount of information from the observation. Observability analysis is done to determine the conditions for having an observable state space model. For higher grades of accelerometers and under relatively higher sampling frequency, the error of accelerometer measurements is dominated by the noise error. Consequently, simulations are conducted on two models, one has bias parameters appended in the state space model and the other is a reduced model without bias parameters. PMID:22778586

VLBI2020: From Reality to Vision

NASA Technical Reports Server (NTRS)

Titov, Oleg

2010-01-01

The individual apparent motions of distant radio sources are believed to be caused by the effect of intrinsic structure variations of the active galactic nuclei (AGN). However, some cosmological models of the expanded Universe predict that systematic astrometric proper motions of distant quasars do not vanish as the radial distance from the observer to the quasar grows. These systematic effects can even increase with the distance, making it possible to measure them with high-precision astrometric techniques like VLBI. The Galactocentric acceleration of the Solar System barycenter may cause a secular aberration drift with a magnitude of 4 uas/yr. The Solar System motion relative to the cosmic microwave background produces an additional dipole effect, proportional to red shift. We analyzed geodetic VLBI data spanning from 1979 until 2009 to estimate the vector spherical harmonics in the expansion of the vector field of the proper motion of 687 radio sources. The dipole and quadrupole vector spherical harmonics were estimated with an accuracy of 1-5 as/yr. We have shown that over the next decade the geodetic VLBI may approach the level of accuracy on which the cosmological models of the Universe could be tested. Hence, it is important to organize a dedicated observational program to increase the number of measured proper motions to 3000.

Three-dimensional vibrometry of the human eardrum with stroboscopic lensless digital holography

NASA Astrophysics Data System (ADS)

Khaleghi, Morteza; Furlong, Cosme; Ravicz, Mike; Cheng, Jeffrey Tao; Rosowski, John J.

2015-05-01

The eardrum or tympanic membrane (TM) transforms acoustic energy at the ear canal into mechanical motions of the ossicles. The acousto-mechanical transformer behavior of the TM is determined by its shape, three-dimensional (3-D) motion, and mechanical properties. We have developed an optoelectronic holographic system to measure the shape and 3-D sound-induced displacements of the TM. The shape of the TM is measured with dual-wavelength holographic contouring using a tunable near IR laser source with a central wavelength of 780 nm. 3-D components of sound-induced displacements of the TM are measured with the method of multiple sensitivity vectors using stroboscopic holographic interferometry. To accurately obtain sensitivity vectors, a new technique is developed and used in which the sensitivity vectors are obtained from the images of a specular sphere that is being illuminated from different directions. Shape and 3-D acoustically induced displacement components of cadaveric human TMs at several excitation frequencies are measured at more than one million points on its surface. A numerical rotation matrix is used to rotate the original Euclidean coordinate of the measuring system in order to obtain in-plane and out-of-plane motion components. Results show that in-plane components of motion are much smaller (<20%) than the out-of-plane motions' components.

Inflation with a massive vector field nonminimally coupled to gravity

NASA Astrophysics Data System (ADS)

Páramos, J.

2018-01-01

The possibility that inflation is driven by a massive vector field with SO(3) global symmetry nonminimally coupled to gravity is presented. Through an appropriate Ansatz for the vector field, the behaviour of the equations of motion is studied through the ensuing dynamical system, focusing on the characterisation of the ensuing fixed points.

Enhanced visualization of peripheral retinal vasculature with wavefront sensorless adaptive optics OCT angiography in diabetic patients

PubMed Central

Polans, James; Cunefare, David; Cole, Eli; Keller, Brenton; Mettu, Priyatham S.; Cousins, Scott W.; Allingham, Michael J.; Izatt, Joseph A.; Farsiu, Sina

2017-01-01

Optical coherence tomography angiography (OCTA) is a promising technique for non-invasive visualization of vessel networks in the human eye. We debut a system capable of acquiring wide field-of-view (>70°) OCT angiograms without mosaicking. Additionally, we report on enhancing the visualization of peripheral microvasculature using wavefront sensorless adaptive optics (WSAO). We employed a fast WSAO algorithm that enabled wavefront correction in <2 seconds by iterating the mirror shape at the speed of OCT B-scans rather than volumes. Also, we contrasted ~7° field-of-view OCTA angiograms acquired in the periphery with and without WSAO correction. On average, WSAO improved the sharpness of microvasculature by 65% in healthy and 38% in diseased eyes. Preliminary observations demonstrated that the location of 7° images could be identified directly from the wide field-of-view angiogram. A pilot study on a normal subject and patients with diabetic retinopathy showed the impact of utilizing WSAO for OCTA when visualizing peripheral vasculature pathologies. PMID:28059209

Shapes of Bubbles and Drops in Motion.

ERIC Educational Resources Information Center

O'Connell, James

2000-01-01

Explains the shape distortions that take place in fluid packets (bubbles or drops) with steady flow motion by using the laws of Archimedes, Pascal, and Bernoulli rather than advanced vector calculus. (WRM)

Geomagnetic field models for satellite angular motion studies

NASA Astrophysics Data System (ADS)

Ovchinnikov, M. Yu.; Penkov, V. I.; Roldugin, D. S.; Pichuzhkina, A. V.

2018-03-01

Four geomagnetic field models are discussed: IGRF, inclined, direct and simplified dipoles. Geomagnetic induction vector expressions are provided in different reference frames. Induction vector behavior is compared for different models. Models applicability for the analysis of satellite motion is studied from theoretical and engineering perspectives. Relevant satellite dynamics analysis cases using analytical and numerical techniques are provided. These cases demonstrate the benefit of a certain model for a specific dynamics study. Recommendations for models usage are summarized in the end.

Project Physics Tests 1, Concepts of Motion.

ERIC Educational Resources Information Center

Harvard Univ., Cambridge, MA. Harvard Project Physics.

Test items relating to Project Physics Unit 1 are presented in this booklet, consisting of 70 multiple-choice and 20 problem-and-essay questions. Concepts of motion are examined with respect to velocities, acceleration, forces, vectors, Newton's laws, and circular motion. Suggestions are made for time consumption in answering some items. Besides…

The Local Stellar Velocity Field via Vector Spherical Harmonics

NASA Technical Reports Server (NTRS)

Makarov, V. V.; Murphy, D. W.

2007-01-01

We analyze the local field of stellar tangential velocities for a sample of 42,339 nonbinary Hipparcos stars with accurate parallaxes, using a vector spherical harmonic formalism.We derive simple relations between the parameters of the classical linear model (Ogorodnikov-Milne) of the local systemic field and low-degree terms of the general vector harmonic decomposition. Taking advantage of these relationships, we determine the solar velocity with respect to the local stars of (V(sub X), V(sub Y), V(sub Z)) = (10.5, 18.5, 7.3) +/- 0.1 km s(exp -1) not for the asymmetric drift with respect to the local standard of rest. If only stars more distant than 100 pc are considered, the peculiar solar motion is (V(sub X), V(sub Y), V(sub Z)) = (9.9, 15.6, 6.9) +/- 0.2 km s(exp -1). The adverse effects of harmonic leakage, which occurs between the reflex solar motion represented by the three electric vector harmonics in the velocity space and higher degree harmonics in the proper-motion space, are eliminated in our analysis by direct subtraction of the reflex solar velocity in its tangential components for each star...

Simplified model of statistically stationary spacecraft rotation and associated induced gravity environments

NASA Technical Reports Server (NTRS)

Fichtl, G. H.; Holland, R. L.

1978-01-01

A stochastic model of spacecraft motion was developed based on the assumption that the net torque vector due to crew activity and rocket thruster firings is a statistically stationary Gaussian vector process. The process had zero ensemble mean value, and the components of the torque vector were mutually stochastically independent. The linearized rigid-body equations of motion were used to derive the autospectral density functions of the components of the spacecraft rotation vector. The cross-spectral density functions of the components of the rotation vector vanish for all frequencies so that the components of rotation were mutually stochastically independent. The autospectral and cross-spectral density functions of the induced gravity environment imparted to scientific apparatus rigidly attached to the spacecraft were calculated from the rotation rate spectral density functions via linearized inertial frame to body-fixed principal axis frame transformation formulae. The induced gravity process was a Gaussian one with zero mean value. Transformation formulae were used to rotate the principal axis body-fixed frame to which the rotation rate and induced gravity vector were referred to a body-fixed frame in which the components of the induced gravity vector were stochastically independent. Rice's theory of exceedances was used to calculate expected exceedance rates of the components of the rotation and induced gravity vector processes.

Fundamental Principles of Classical Mechanics: a Geometrical Perspectives

NASA Astrophysics Data System (ADS)

Lam, Kai S.

2014-07-01

Classical mechanics is the quantitative study of the laws of motion for oscopic physical systems with mass. The fundamental laws of this subject, known as Newton's Laws of Motion, are expressed in terms of second-order differential equations governing the time evolution of vectors in a so-called configuration space of a system (see Chapter 12). In an elementary setting, these are usually vectors in 3-dimensional Euclidean space, such as position vectors of point particles; but typically they can be vectors in higher dimensional and more abstract spaces. A general knowledge of the mathematical properties of vectors, not only in their most intuitive incarnations as directed arrows in physical space but as elements of abstract linear vector spaces, and those of linear operators (transformations) on vector spaces as well, is then indispensable in laying the groundwork for both the physical and the more advanced mathematical - more precisely topological and geometrical - concepts that will prove to be vital in our subject. In this beginning chapter we will review these properties, and introduce the all-important related notions of dual spaces and tensor products of vector spaces. The notational convention for vectorial and tensorial indices used for the rest of this book (except when otherwise specified) will also be established...

Automatic techniques for 3D reconstruction of critical workplace body postures from range imaging data

NASA Astrophysics Data System (ADS)

Westfeld, Patrick; Maas, Hans-Gerd; Bringmann, Oliver; Gröllich, Daniel; Schmauder, Martin

2013-11-01

The paper shows techniques for the determination of structured motion parameters from range camera image sequences. The core contribution of the work presented here is the development of an integrated least squares 3D tracking approach based on amplitude and range image sequences to calculate dense 3D motion vector fields. Geometric primitives of a human body model are fitted to time series of range camera point clouds using these vector fields as additional information. Body poses and motion information for individual body parts are derived from the model fit. On the basis of these pose and motion parameters, critical body postures are detected. The primary aim of the study is to automate ergonomic studies for risk assessments regulated by law, identifying harmful movements and awkward body postures in a workplace.

Probabilistic seismic demand analysis using advanced ground motion intensity measures

USGS Publications Warehouse

Tothong, P.; Luco, N.

2007-01-01

One of the objectives in performance-based earthquake engineering is to quantify the seismic reliability of a structure at a site. For that purpose, probabilistic seismic demand analysis (PSDA) is used as a tool to estimate the mean annual frequency of exceeding a specified value of a structural demand parameter (e.g. interstorey drift). This paper compares and contrasts the use, in PSDA, of certain advanced scalar versus vector and conventional scalar ground motion intensity measures (IMs). One of the benefits of using a well-chosen IM is that more accurate evaluations of seismic performance are achieved without the need to perform detailed ground motion record selection for the nonlinear dynamic structural analyses involved in PSDA (e.g. record selection with respect to seismic parameters such as earthquake magnitude, source-to-site distance, and ground motion epsilon). For structural demands that are dominated by a first mode of vibration, using inelastic spectral displacement (Sdi) can be advantageous relative to the conventionally used elastic spectral acceleration (Sa) and the vector IM consisting of Sa and epsilon (??). This paper demonstrates that this is true for ordinary and for near-source pulse-like earthquake records. The latter ground motions cannot be adequately characterized by either Sa alone or the vector of Sa and ??. For structural demands with significant higher-mode contributions (under either of the two types of ground motions), even Sdi (alone) is not sufficient, so an advanced scalar IM that additionally incorporates higher modes is used.

Multimodal Integration of Self-Motion Cues in the Vestibular System: Active versus Passive Translations

PubMed Central

Carriot, Jerome; Brooks, Jessica X.

2013-01-01

The ability to keep track of where we are going as we navigate through our environment requires knowledge of our ongoing location and orientation. In response to passively applied motion, the otolith organs of the vestibular system encode changes in the velocity and direction of linear self-motion (i.e., heading). When self-motion is voluntarily generated, proprioceptive and motor efference copy information is also available to contribute to the brain's internal representation of current heading direction and speed. However to date, how the brain integrates these extra-vestibular cues with otolith signals during active linear self-motion remains unknown. Here, to address this question, we compared the responses of macaque vestibular neurons during active and passive translations. Single-unit recordings were made from a subgroup of neurons at the first central stage of sensory processing in the vestibular pathways involved in postural control and the computation of self-motion perception. Neurons responded far less robustly to otolith stimulation during self-generated than passive head translations. Yet, the mechanism underlying the marked cancellation of otolith signals did not affect other characteristics of neuronal responses (i.e., baseline firing rate, tuning ratio, orientation of maximal sensitivity vector). Transiently applied perturbations during active motion further established that an otolith cancellation signal was only gated in conditions where proprioceptive sensory feedback matched the motor-based expectation. Together our results have important implications for understanding the brain's ability to ensure accurate postural and motor control, as well as perceptual stability, during active self-motion. PMID:24336720

Quasiperiodicity in time evolution of the Bloch vector under the thermal Jaynes-Cummings model

NASA Astrophysics Data System (ADS)

Azuma, Hiroo; Ban, Masashi

2014-07-01

We study a quasiperiodic structure in the time evolution of the Bloch vector, whose dynamics is governed by the thermal Jaynes-Cummings model (JCM). Putting the two-level atom into a certain pure state and the cavity field into a mixed state in thermal equilibrium at initial time, we let the whole system evolve according to the JCM Hamiltonian. During this time evolution, motion of the Bloch vector seems to be in disorder. Because of the thermal photon distribution, both a norm and a direction of the Bloch vector change hard at random. In this paper, taking a different viewpoint compared with ones that we have been used to, we investigate quasiperiodicity of the Bloch vector’s trajectories. Introducing the concept of the quasiperiodic motion, we can explain the confused behaviour of the system as an intermediate state between periodic and chaotic motions. More specifically, we discuss the following two facts: (1) If we adjust the time interval Δt properly, figures consisting of plotted dots at the constant time interval acquire scale invariance under replacement of Δt by sΔt, where s(>1) is an arbitrary real but not transcendental number. (2) We can compute values of the time variable t, which let |Sz(t)| (the absolute value of the z-component of the Bloch vector) be very small, with the Diophantine approximation (a rational approximation of an irrational number).

A Novel Design of an Automatic Lighting Control System for a Wireless Sensor Network with Increased Sensor Lifetime and Reduced Sensor Numbers

PubMed Central

Mohamaddoust, Reza; Haghighat, Abolfazl Toroghi; Sharif, Mohamad Javad Motahari; Capanni, Niccolo

2011-01-01

Wireless sensor networks (WSN) are currently being applied to energy conservation applications such as light control. We propose a design for such a system called a Lighting Automatic Control System (LACS). The LACS system contains a centralized or distributed architecture determined by application requirements and space usage. The system optimizes the calculations and communications for lighting intensity, incorporates user illumination requirements according to their activities and performs adjustments based on external lighting effects in external sensor and external sensor-less architectures. Methods are proposed for reducing the number of sensors required and increasing the lifetime of those used, for considerably reduced energy consumption. Additionally we suggest methods for improving uniformity of illuminance distribution on a workplane’s surface, which improves user satisfaction. Finally simulation results are presented to verify the effectiveness of our design. PMID:22164114

A novel design of an automatic lighting control system for a wireless sensor network with increased sensor lifetime and reduced sensor numbers.

PubMed

Mohamaddoust, Reza; Haghighat, Abolfazl Toroghi; Sharif, Mohamad Javad Motahari; Capanni, Niccolo

2011-01-01

Wireless sensor networks (WSN) are currently being applied to energy conservation applications such as light control. We propose a design for such a system called a lighting automatic control system (LACS). The LACS system contains a centralized or distributed architecture determined by application requirements and space usage. The system optimizes the calculations and communications for lighting intensity, incorporates user illumination requirements according to their activities and performs adjustments based on external lighting effects in external sensor and external sensor-less architectures. Methods are proposed for reducing the number of sensors required and increasing the lifetime of those used, for considerably reduced energy consumption. Additionally we suggest methods for improving uniformity of illuminance distribution on a workplane's surface, which improves user satisfaction. Finally simulation results are presented to verify the effectiveness of our design.

Moving vehicles segmentation based on Gaussian motion model

NASA Astrophysics Data System (ADS)

Zhang, Wei; Fang, Xiang Z.; Lin, Wei Y.

2005-07-01

Moving objects segmentation is a challenge in computer vision. This paper focuses on the segmentation of moving vehicles in dynamic scene. We analyses the psychology of human vision and present a framework for segmenting moving vehicles in the highway. The proposed framework consists of two parts. Firstly, we propose an adaptive background update method in which the background is updated according to the change of illumination conditions and thus can adapt to the change of illumination sensitively. Secondly, we construct a Gaussian motion model to segment moving vehicles, in which the motion vectors of the moving pixels are modeled as a Gaussian model and an on-line EM algorithm is used to update the model. The Gaussian distribution of the adaptive model is elevated to determine which moving vectors result from moving vehicles and which from other moving objects such as waving trees. Finally, the pixels with motion vector result from the moving vehicles are segmented. Experimental results of several typical scenes show that the proposed model can detect the moving vehicles correctly and is immune from influence of the moving objects caused by the waving trees and the vibration of camera.

Pure visual imagery as a potential approach to achieve three classes of control for implementation of BCI in non-motor disorders

NASA Astrophysics Data System (ADS)

Sousa, Teresa; Amaral, Carlos; Andrade, João; Pires, Gabriel; Nunes, Urbano J.; Castelo-Branco, Miguel

2017-08-01

Objective. The achievement of multiple instances of control with the same type of mental strategy represents a way to improve flexibility of brain-computer interface (BCI) systems. Here we test the hypothesis that pure visual motion imagery of an external actuator can be used as a tool to achieve three classes of electroencephalographic (EEG) based control, which might be useful in attention disorders. Approach. We hypothesize that different numbers of imagined motion alternations lead to distinctive signals, as predicted by distinct motion patterns. Accordingly, a distinct number of alternating sensory/perceptual signals would lead to distinct neural responses as previously demonstrated using functional magnetic resonance imaging (fMRI). We anticipate that differential modulations should also be observed in the EEG domain. EEG recordings were obtained from twelve participants using three imagery tasks: imagery of a static dot, imagery of a dot with two opposing motions in the vertical axis (two motion directions) and imagery of a dot with four opposing motions in vertical or horizontal axes (four directions). The data were analysed offline. Main results. An increase of alpha-band power was found in frontal and central channels as a result of visual motion imagery tasks when compared with static dot imagery, in contrast with the expected posterior alpha decreases found during simple visual stimulation. The successful classification and discrimination between the three imagery tasks confirmed that three different classes of control based on visual motion imagery can be achieved. The classification approach was based on a support vector machine (SVM) and on the alpha-band relative spectral power of a small group of six frontal and central channels. Patterns of alpha activity, as captured by single-trial SVM closely reflected imagery properties, in particular the number of imagined motion alternations. Significance. We found a new mental task based on visual motion imagery with potential for the implementation of multiclass (3) BCIs. Our results are consistent with the notion that frontal alpha synchronization is related with high internal processing demands, changing with the number of alternation levels during imagery. Together, these findings suggest the feasibility of pure visual motion imagery tasks as a strategy to achieve multiclass control systems with potential for BCI and in particular, neurofeedback applications in non-motor (attentional) disorders.

General Relativity Exactly Described by Use of Newton's Laws within a Curved Geometry

NASA Astrophysics Data System (ADS)

Savickas, David

2014-03-01

The connection between general relativity and Newtonian mechanics is shown to be much closer than generally recognized. When Newton's second law is written in a curved geometry by using the physical components of a vector as defined in tensor calculus, and by replacing distance within the momentum's velocity by the vector metric ds in a curved geometry, the second law can then be easily shown to be exactly identical to the geodesic equation of motion occurring in general relativity. By using a time whose vector direction is constant, as similarly occurs in Newtonian mechanics, this equation can be separated into two equations one of which is a curved three-dimensional equation of motion and the other is an equation for energy. For the gravitational field of an isolated particle, they yield the Schwarzschild equations. They can be used to describe gravitation for any array of masses for which the Newtonian gravitational potential is known, and is applied here to describe motion in the gravitational field of a thin mass-rod.

Noninvasive evaluation of contractile behavior of cardiomyocyte monolayers based on motion vector analysis.

PubMed

Hayakawa, Tomohiro; Kunihiro, Takeshi; Dowaki, Suguru; Uno, Hatsume; Matsui, Eriko; Uchida, Masashi; Kobayashi, Seiji; Yasuda, Akio; Shimizu, Tatsuya; Okano, Teruo

2012-01-01

A noninvasive method for the characterization of cardiomyocyte contractile behavior is presented. Light microscopic video images of cardiomyocytes were captured with a high-speed camera, and motion vectors (which have a velocity dimension) were calculated with a high spatiotemporal resolution using a block-matching algorithm. This method could extract contraction and relaxation motions of cardiomyocytes separately and evaluate characteristics such as the beating rate, orientation of contraction, beating cooperativity/homogeneity in the monolayer, and wave propagation of impulses. Simultaneous phase-contrast imaging and calcium (Ca2+) fluorescence measurements confirmed that the timing of the maximum shortening velocity of cardiomyocytes correlated well with intracellular Ca2+ transients. Based on our analysis, gap junction inhibitors, 1-heptanol (2 mM) or 18-β-glycyrrhetinic acid (30 μM), resulted in clear changes in beating cooperativity and the propagation pattern of impulses in the cardiomyocyte monolayer. Additionally, the time dependence of the motion vector length indicated a prolonged relaxation process in the presence of potassium (K+) channel blockers, dl-sotalol (1 μM), E-4031 (100 nM), or terfenadine (100 nM), reflecting the prolonged QT (Q wave and T wave) interval of cardiomyocytes. Effects of autonomic agents (acetylcholine or epinephrine [EPI]) or EPI and propranolol on cardiomyocytes were clearly detected by the alterations of beating rate and the motion vector length in contraction and relaxation processes. This method was noninvasive and could sensitively evaluate the contractile behavior of cardiomyocytes; therefore, it may be used to study and/or monitor cardiomyocyte tissue during prolonged culture periods and in screens for drugs that may alter the contraction of cardiomyocytes.

On the Lamb vector divergence as a momentum field diagnostic employed in turbulent channel flow

NASA Astrophysics Data System (ADS)

Hamman, Curtis W.; Kirby, Robert M.; Klewicki, Joseph C.

2006-11-01

Vorticity, enstrophy, helicity, and other derived field variables provide invaluable information about the kinematics and dynamics of fluids. However, whether or not derived field variables exist that intrinsically identify spatially localized motions having a distinct capacity to affect a time rate of change of linear momentum is seldom addressed in the literature. The purpose of the present study is to illustrate the unique attributes of the divergence of the Lamb vector in order to qualify its potential for characterizing such spatially localized motions. Toward this aim, we describe the mathematical properties, near-wall behavior, and scaling characteristics of the divergence of the Lamb vector for turbulent channel flow. When scaled by inner variables, the mean divergence of the Lamb vector merges to a single curve in the inner layer, and the fluctuating quantities exhibit a strong correlation with the Bernoulli function throughout much of the inner layer.

The balance and harmony of control power for a combat aircraft in tactical maneuvering

NASA Technical Reports Server (NTRS)

Bocvarov, Spiro; Cliff, Eugene M.; Lutze, Frederick H.

1992-01-01

An analysis is presented for a family of regular extremal attitude-maneuvers for the High Angle-of-Attack Research Vehicle that has thrust-vectoring capability. Different levels of dynamic coupling are identified in the combat aircraft attitude model, and the characteristic extremal-family motion is explained. It is shown why the extremal-family trajectories develop small sideslip-angles, a highly desirable feature from a practical viewpoint.

1 kHz 2D Visual Motion Sensor Using 20 × 20 Silicon Retina Optical Sensor and DSP Microcontroller.

PubMed

Liu, Shih-Chii; Yang, MinHao; Steiner, Andreas; Moeckel, Rico; Delbruck, Tobi

2015-04-01

Optical flow sensors have been a long running theme in neuromorphic vision sensors which include circuits that implement the local background intensity adaptation mechanism seen in biological retinas. This paper reports a bio-inspired optical motion sensor aimed towards miniature robotic and aerial platforms. It combines a 20 × 20 continuous-time CMOS silicon retina vision sensor with a DSP microcontroller. The retina sensor has pixels that have local gain control and adapt to background lighting. The system allows the user to validate various motion algorithms without building dedicated custom solutions. Measurements are presented to show that the system can compute global 2D translational motion from complex natural scenes using one particular algorithm: the image interpolation algorithm (I2A). With this algorithm, the system can compute global translational motion vectors at a sample rate of 1 kHz, for speeds up to ±1000 pixels/s, using less than 5 k instruction cycles (12 instructions per pixel) per frame. At 1 kHz sample rate the DSP is 12% occupied with motion computation. The sensor is implemented as a 6 g PCB consuming 170 mW of power.

Motion camera based on a custom vision sensor and an FPGA architecture

NASA Astrophysics Data System (ADS)

Arias-Estrada, Miguel

1998-09-01

A digital camera for custom focal plane arrays was developed. The camera allows the test and development of analog or mixed-mode arrays for focal plane processing. The camera is used with a custom sensor for motion detection to implement a motion computation system. The custom focal plane sensor detects moving edges at the pixel level using analog VLSI techniques. The sensor communicates motion events using the event-address protocol associated to a temporal reference. In a second stage, a coprocessing architecture based on a field programmable gate array (FPGA) computes the time-of-travel between adjacent pixels. The FPGA allows rapid prototyping and flexible architecture development. Furthermore, the FPGA interfaces the sensor to a compact PC computer which is used for high level control and data communication to the local network. The camera could be used in applications such as self-guided vehicles, mobile robotics and smart surveillance systems. The programmability of the FPGA allows the exploration of further signal processing like spatial edge detection or image segmentation tasks. The article details the motion algorithm, the sensor architecture, the use of the event- address protocol for velocity vector computation and the FPGA architecture used in the motion camera system.

Prosthetic design directives: Low-cost hands within reach.

PubMed

Jones, G K; Rosendo, A; Stopforth, R

2017-07-01

Although three million people around the world suffer from the lack of one or both upper limbs 80% of this number is located within developing countries. While prosthetic prices soar with technology 3D printing and low cost electronics present a sensible solution for those that cannot afford expensive prosthetics. The electronic and control design of a low-cost prosthetic hand, the Touch Hand II, is discussed. This paper shows that sensorless techniques can be used to reduce design complexities, costs, and provide easier access to the electronics. A closing and opening finite state machine (COFSM) was developed to handle the actuated digit joint control state and a supervisory switching control scheme, used for speed and grip strength control. Three torque and speed settings were created to be preset for specific grasps. The hand was able to replicate ten frequently used grasps and grip some common objects. Future work is necessary to enable a user to control it with myoelectric signals (MESs) and to solve operational problems related to electromagnetic interference (EMI).

Wind estimates from cloud motions: Preliminary results from phases 1, 2, and 3 of an in situ aircraft verification experiment

NASA Technical Reports Server (NTRS)

Hasler, A. F.; Shenk, W. E.; Skillman, W. C.

1975-01-01

Low level aircraft equipped with Inertial Navigation Systems (INS) were used to define the vertical extent and horizontal motion of a cloud and to measure the ambient wind field. A high level aircraft, also equipped with an INS, took photographs to describe the horizontal extent of the cloud field and to measure cloud motion. The aerial photographs were also used to make a positive identification in a satellite picture of the cloud observed by the low level aircraft. The experiment was conducted over the tropical oceans in the vicinity of Florida, Puerto Rico, Panama and in the Western Gulf of Mexico. Results for tropical cumulus clouds indicate excellent agreement between the cloud motion and the wind at the cloud base. The magnitude of the vector difference between the cloud motion and the cloud base wind is less than 1.3 m/sec for 67% of the cases with track lengths of 1 hour or longer. The cirrus cloud motions agreed best with the mean wind in the cloud layer with a vector difference of about 1.6 m/sec.

Speed tuning of motion segmentation and discrimination

NASA Technical Reports Server (NTRS)

Masson, G. S.; Mestre, D. R.; Stone, L. S.

1999-01-01

Motion transparency requires that the visual system distinguish different motion vectors and selectively integrate similar motion vectors over space into the perception of multiple surfaces moving through or over each other. Using large-field (7 degrees x 7 degrees) displays containing two populations of random-dots moving in the same (horizontal) direction but at different speeds, we examined speed-based segmentation by measuring the speed difference above which observers can perceive two moving surfaces. We systematically investigated this 'speed-segmentation' threshold as a function of speed and stimulus duration, and found that it increases sharply for speeds above approximately 8 degrees/s. In addition, speed-segmentation thresholds decrease with stimulus duration out to approximately 200 ms. In contrast, under matched conditions, speed-discrimination thresholds stay low at least out to 16 degrees/s and decrease with increasing stimulus duration at a faster rate than for speed segmentation. Thus, motion segmentation and motion discrimination exhibit different speed selectivity and different temporal integration characteristics. Results are discussed in terms of the speed preferences of different neuronal populations within the primate visual cortex.

[4D-CT-based plan target volume (PTV) definition compared with conventional PTV definition using general margin in radiotherapy for lung cancer].

PubMed

Ju, Xiao; Li, Minghui; Zhou, Zongmei; Zhang, Ke; Han, Wei; Fu, Guishan; Cao, Ying; Wang, Lyuhua

2014-01-01

To investigate the dosimetric benefit of 4D-CT in the planning target volume (PTV) definition process compared with conventional PTV definition using general margin in radiotherapy of lung cancer. A set of 4D-CT images and multiphase helical CT scans were obtained in 10 patients with lung cancer. The radiotherapeutic plans based on PTV determined by 4D-CT and in addition of general margin were performed, respectively. The 3D motion of the centroid of GTV and the 3D spatial motion vectors were calculated. The differences of the two kinds of PTVs, mean lung dose (MLD), V5,V10,V15,V20 of total lung, mean heart dose (MHD), V30 and V40 of heart, D99 and D95 were compared, and the correlation between them and the 3D spatial motion vector was analyzed. The PTV4D in eight patients were smaller than PTVconv, with a mean reduction of (13.0 ± 8.0)% (P = 0.018). In other two patients, whose respiration motion was great, PTV4D was larger than PTVconv. The mean 3D spatial motion vector of GTV centroid was (0.78 ± 0.72)cm. By using 4D-CT, the mean reduction of MLD was (8.6 ± 9.9)% (P = 0.037). V5, V10, V15, V20 of total lung were decreased averagely by (7.2 ± 10.5)%, (5.5 ± 8.9)%, (6.5 ± 8.4)% and (5.7 ± 7.4)%, respectively (P < 0.05 for all). There was a significant positive correlation between PTV4D/PTVconv and the 3D spatial motion vector of the GTV centroid (P = 0.008). A significant inverse correlation was found between D994D/D99conv and the 3D spatial motion vector of the GTV centroid (P = 0.002). D994D/D99conv, (MLDconv-MLD4D) /MLDconv, total lung (V5conv-V54D)/V5conv, total lung (V10conv-V104D)/V10conv, (MHDconv-MHD4D)/MHDconv, heart (V30conv-V304D)/V30conv were inversely correlated with PTV4D/PTVconv (P < 0.05 for all). 4D-CT can be used to evaluate the respiration motion of lung tumor accurately. The 4D-CT-based PTV definition and radiotherapeutic planing can reduce the volume of PTV in patients with small respiration motion, increase the intra-target dose, and decrease the dose of normal tissue sequentially. For patients with large respiration motion, especially those more than 1.5-2 cm, this method can avoid target miss, meanwhile, not increase the dose of normal tissue significantly.

An introduction to shuttle/LDEF retrieval operations: The R-bar approach option. [orbital mechanics and braking schedule

NASA Technical Reports Server (NTRS)

Hall, W. M.

1978-01-01

Simulated orbiter direct approaches during long duration exposure facility (LDEF) retrieval operations reveal that the resultant orbiter jet plume fields can significantly disturb LDEF. An alternate approach technique which utilizes orbital mechanics forces in lieu of jets to brake the final orbiter/LDEF relative motion during the final approach, is described. Topics discussed include: rendezvous operations from the terminal phase initiation burn through braking at some standoff distance from LDEF, pilot and copilot activities, the cockpit instrumentation employed, and a convenient coordinate frame for studying the relative motion between two orbiting bodies. The basic equations of motion for operating on the LDEF radius vector are introduced. Practical considerations of implementing an R-bar approach, namely, orbiter/LDEF relative state uncertainties and orbiter control system limitations are explored. A possible R-bar approach strategy is developed and demonstrated.

An Individual Finger Gesture Recognition System Based on Motion-Intent Analysis Using Mechanomyogram Signal

PubMed Central

Ding, Huijun; He, Qing; Zhou, Yongjin; Dan, Guo; Cui, Song

2017-01-01

Motion-intent-based finger gesture recognition systems are crucial for many applications such as prosthesis control, sign language recognition, wearable rehabilitation system, and human–computer interaction. In this article, a motion-intent-based finger gesture recognition system is designed to correctly identify the tapping of every finger for the first time. Two auto-event annotation algorithms are firstly applied and evaluated for detecting the finger tapping frame. Based on the truncated signals, the Wavelet packet transform (WPT) coefficients are calculated and compressed as the features, followed by a feature selection method that is able to improve the performance by optimizing the feature set. Finally, three popular classifiers including naive Bayes (NBC), K-nearest neighbor (KNN), and support vector machine (SVM) are applied and evaluated. The recognition accuracy can be achieved up to 94%. The design and the architecture of the system are presented with full system characterization results. PMID:29167655

Hurricane Debby

Atmospheric Science Data Center

2013-04-19

... cloud-tracked winds at the different cloud levels. The wind vectors, shown in the right panel, reveal cyclonic motion associated with ... of cloud height and motions globally will help us monitor the effects of climate change on the three-dimensional distribution of ...

Chaotic Electron Motion Caused by Sidebands in Free Electron Lasers

DTIC Science & Technology

1988-10-27

sideband. The total vector potential is then, A (z,t) = (1) •w (e~ )ri(krZ-Wr t) l(ksZ-Wst)] -c’-[(ex-iey)AweZ% _+V-(ex+iey)Are ikrzwr _) (ex+iey)Ase... light c, ignoring the small correction of order w 2/W 2 from the dielectric contribution of the beam. Electrostatic contributions to the fields are...mass to me and the vector potentials according to ai=IeIAi/mec2 the dimensionless Hamiltonian describing the electron motion in the fields of Eq. (1

Sliding mode based fault detection, reconstruction and fault tolerant control scheme for motor systems.

PubMed

Mekki, Hemza; Benzineb, Omar; Boukhetala, Djamel; Tadjine, Mohamed; Benbouzid, Mohamed

2015-07-01

The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Optimum instantaneous impulsive orbital injection to attain a specified asymptotic velocity vector.

NASA Technical Reports Server (NTRS)

Bean, W. C.

1971-01-01

A nalysis of the necessary conditions of Battin for instantaneous orbital injection, with consideration of the uniqueness of his solution, and of the further problem which arises in the degenerate case when radius vector and asymptotic vector are separated by 180 deg. It is shown that when the angular separation between radius vector and asymptotic velocity vector satisfies theta not equal to 180 deg, there are precisely two insertion-velocity vectors which permit attainment of the target asymptotic velocity vector, one yielding posigrade, the other retrograde motion. When theta equals to 180 deg, there is a family of insertion-velocity vectors which permit attainment of a specified asymptotic velocity vector with a unique insertion-velocity vector for every arbitrary orientation of a target unit angular momentum vector.

Summer Study Program in Geophysical Fluid Dynamics - The Influence of Convection on Large-Scale Circulations - 1988

DTIC Science & Technology

1989-07-01

the vector of the body force." lo., ,P /’P l> 16 __ __ _ __ ___P . 19 U In the first lecture we define the buoyancy force, develop a simplified...force and l’is a unit vector along the motion vector . Integrating Bernoulli’s law over a closed loop one gets: I also [ C by integrating along the...convection. It is conveiient to write these equations as evolution equations for a atate vector U(x, z, t) where x is the horizontal coordinate vector

Bulldozing Your Way Through Projectile Motion.

ERIC Educational Resources Information Center

Lamb, William G.

1983-01-01

Presents two models and two demonstrations targeted at student understanding of projectile motion as the sum of two independent, perpendicular vectors. Describes materials required, construction, and procedures used. Includes a discussion of teaching points appropriate to each demonstration or model. (JM)

Applying integrals of motion to the numerical solution of differential equations

NASA Technical Reports Server (NTRS)

Vezewski, D. J.

1980-01-01

A method is developed for using the integrals of systems of nonlinear, ordinary, differential equations in a numerical integration process to control the local errors in these integrals and reduce the global errors of the solution. The method is general and can be applied to either scalar or vector integrals. A number of example problems, with accompanying numerical results, are used to verify the analysis and support the conjecture of global error reduction.

Applying integrals of motion to the numerical solution of differential equations

NASA Technical Reports Server (NTRS)

Jezewski, D. J.

1979-01-01

A method is developed for using the integrals of systems of nonlinear, ordinary differential equations in a numerical integration process to control the local errors in these integrals and reduce the global errors of the solution. The method is general and can be applied to either scaler or vector integrals. A number of example problems, with accompanying numerical results, are used to verify the analysis and support the conjecture of global error reduction.

Computational Methods for Dynamic Stability and Control Derivatives

NASA Technical Reports Server (NTRS)

Green, Lawrence L.; Spence, Angela M.; Murphy, Patrick C.

2003-01-01

Force and moment measurements from an F-16XL during forced pitch oscillation tests result in dynamic stability derivatives, which are measured in combinations. Initial computational simulations of the motions and combined derivatives are attempted via a low-order, time-dependent panel method computational fluid dynamics code. The code dynamics are shown to be highly questionable for this application and the chosen configuration. However, three methods to computationally separate such combined dynamic stability derivatives are proposed. One of the separation techniques is demonstrated on the measured forced pitch oscillation data. Extensions of the separation techniques to yawing and rolling motions are discussed. In addition, the possibility of considering the angles of attack and sideslip state vector elements as distributed quantities, rather than point quantities, is introduced.

Computational Methods for Dynamic Stability and Control Derivatives

NASA Technical Reports Server (NTRS)

Green, Lawrence L.; Spence, Angela M.; Murphy, Patrick C.

2004-01-01

Force and moment measurements from an F-16XL during forced pitch oscillation tests result in dynamic stability derivatives, which are measured in combinations. Initial computational simulations of the motions and combined derivatives are attempted via a low-order, time-dependent panel method computational fluid dynamics code. The code dynamics are shown to be highly questionable for this application and the chosen configuration. However, three methods to computationally separate such combined dynamic stability derivatives are proposed. One of the separation techniques is demonstrated on the measured forced pitch oscillation data. Extensions of the separation techniques to yawing and rolling motions are discussed. In addition, the possibility of considering the angles of attack and sideslip state vector elements as distributed quantities, rather than point quantities, is introduced.

A Novel Method for Vertical Acceleration Noise Suppression of a Thrust-Vectored VTOL UAV.

PubMed

Li, Huanyu; Wu, Linfeng; Li, Yingjie; Li, Chunwen; Li, Hangyu

2016-12-02

Acceleration is of great importance in motion control for unmanned aerial vehicles (UAVs), especially during the takeoff and landing stages. However, the measured acceleration is inevitably polluted by severe noise. Therefore, a proper noise suppression procedure is required. This paper presents a novel method to reduce the noise in the measured vertical acceleration for a thrust-vectored tail-sitter vertical takeoff and landing (VTOL) UAV. In the new procedure, a Kalman filter is first applied to estimate the UAV mass by using the information in the vertical thrust and measured acceleration. The UAV mass is then used to compute an estimate of UAV vertical acceleration. The estimated acceleration is finally fused with the measured acceleration to obtain the minimum variance estimate of vertical acceleration. By doing this, the new approach incorporates the thrust information into the acceleration estimate. The method is applied to the data measured in a VTOL UAV takeoff experiment. Two other denoising approaches developed by former researchers are also tested for comparison. The results demonstrate that the new method is able to suppress the acceleration noise substantially. It also maintains the real-time performance in the final estimated acceleration, which is not seen in the former denoising approaches. The acceleration treated with the new method can be readily used in the motion control applications for UAVs to achieve improved accuracy.

A Novel Method for Vertical Acceleration Noise Suppression of a Thrust-Vectored VTOL UAV

PubMed Central

Li, Huanyu; Wu, Linfeng; Li, Yingjie; Li, Chunwen; Li, Hangyu

2016-01-01

Acceleration is of great importance in motion control for unmanned aerial vehicles (UAVs), especially during the takeoff and landing stages. However, the measured acceleration is inevitably polluted by severe noise. Therefore, a proper noise suppression procedure is required. This paper presents a novel method to reduce the noise in the measured vertical acceleration for a thrust-vectored tail-sitter vertical takeoff and landing (VTOL) UAV. In the new procedure, a Kalman filter is first applied to estimate the UAV mass by using the information in the vertical thrust and measured acceleration. The UAV mass is then used to compute an estimate of UAV vertical acceleration. The estimated acceleration is finally fused with the measured acceleration to obtain the minimum variance estimate of vertical acceleration. By doing this, the new approach incorporates the thrust information into the acceleration estimate. The method is applied to the data measured in a VTOL UAV takeoff experiment. Two other denoising approaches developed by former researchers are also tested for comparison. The results demonstrate that the new method is able to suppress the acceleration noise substantially. It also maintains the real-time performance in the final estimated acceleration, which is not seen in the former denoising approaches. The acceleration treated with the new method can be readily used in the motion control applications for UAVs to achieve improved accuracy. PMID:27918422

Verifying the equivalence of representations of the knee joint moment vector from a drop vertical jump task.

PubMed

Nichols, Julia K; O'Reilly, Oliver M

2017-03-01

Biomechanics software programs, such as Visual3D, Nexus, Cortex, and OpenSim, have the capability of generating several distinct component representations for joint moments and forces from motion capture data. These representations include those for orthonormal proximal and distal coordinate systems and a non-orthogonal joint coordinate system. In this article, a method is presented to address the challenging problem of evaluating and verifying the equivalence of these representations. The method accommodates the difficulty that there are two possible sets of non-orthogonal basis vectors that can be used to express a vector in the joint coordinate system and is illuminated using motion capture data from a drop vertical jump task. Copyright © 2016 Elsevier B.V. All rights reserved.

IBMISPS (International Brain Mapping & Intraoperative Surgical Planning Symposium)

DTIC Science & Technology

2005-12-01

they received the 2005 Excellence in R, D & E award for their contribution in the feild of prosthetics and brain imaging. Excellence in Educational...specific bipolar magnetic gradient pulses which measure the velocity vector components of motion. Presented here are the development of dynamic MR...movies of quantitative velocity vector components, 30 frames per second. The 3 velocity vector maps with tensor analysis produced maps of the

Fradkin-Bacry-Ruegg-Souriau perihelion vector for Gorringe-Leach equations

NASA Astrophysics Data System (ADS)

Grandati, Yves; Bérard, Alain; Mohrbach, Hervé

2010-02-01

We show that every generalized Gorringe-Leach equation admits an associated Fradkin-Bacry-Ruegg-Souriau’s vector which, in general, is only a piecewise conserved quantity. In the case of dualizable generalized Gorringe-Leach equations, which include the case of conservative motions in central power law potentials, the image sets of the FBRS vectors for dual classes are dual images of each other.

Exact Descriptions of General Relativity Derived from Newtonian Mechanics within Curved Geometries

NASA Astrophysics Data System (ADS)

Savickas, David

2015-04-01

General relativity and Newtonian mechanics are shown to be exactly related when Newton's second law is written in a curved geometry by using the physical components of a vector as is defined in tensor calculus. By replacing length within the momentum's velocity by the vector metric in a curved geometry the second law can then be shown to be exactly identical to the geodesic equation of motion occurring in general relativity. When time's vector direction is constant, as similarly occurs in Newtonian mechanics, this equation can be reduced to a curved three-dimensional equation of motion that yields the the Schwarzschild equations of motion for an isolated particle. They can be used to describe gravitational behavior for any array of masses for which the Newtonian gravitational potential is known, and is shown to describe a mass particle's behavior in the gravitational field of a thin mass-rod. This use of Newton's laws allows relativistic behavior to be described in a physically comprehensible manner. D. Savickas, Int. J. Mod. Phys. D 23 1430018, (2014).

Gravito-Inertial Force Resolution in Perception of Synchronized Tilt and Translation

NASA Technical Reports Server (NTRS)

Wood, Scott J.; Holly, Jan; Zhang, Guen-Lu

2011-01-01

Natural movements in the sagittal plane involve pitch tilt relative to gravity combined with translation motion. The Gravito-Inertial Force (GIF) resolution hypothesis states that the resultant force on the body is perceptually resolved into tilt and translation consistently with the laws of physics. The purpose of this study was to test this hypothesis for human perception during combined tilt and translation motion. EXPERIMENTAL METHODS: Twelve subjects provided verbal reports during 0.3 Hz motion in the dark with 4 types of tilt and/or translation motion: 1) pitch tilt about an interaural axis at +/-10deg or +/-20deg, 2) fore-aft translation with acceleration equivalent to +/-10deg or +/-20deg, 3) combined "in phase" tilt and translation motion resulting in acceleration equivalent to +/-20deg, and 4) "out of phase" tilt and translation motion that maintained the resultant gravito-inertial force aligned with the longitudinal body axis. The amplitude of perceived pitch tilt and translation at the head were obtained during separate trials. MODELING METHODS: Three-dimensional mathematical modeling was performed to test the GIF-resolution hypothesis using a dynamical model. The model encoded GIF-resolution using the standard vector equation, and used an internal model of motion parameters, including gravity. Differential equations conveyed time-varying predictions. The six motion profiles were tested, resulting in predicted perceived amplitude of tilt and translation for each. RESULTS: The modeling results exhibited the same pattern as the experimental results. Most importantly, both modeling and experimental results showed greater perceived tilt during the "in phase" profile than the "out of phase" profile, and greater perceived tilt during combined "in phase" motion than during pure tilt of the same amplitude. However, the model did not predict as much perceived translation as reported by subjects during pure tilt. CONCLUSION: Human perception is consistent with the GIF-resolution hypothesis even when the gravito-inertial force vector remains aligned with the body during periodic motion. Perception is also consistent with GIF-resolution in the opposite condition, when the gravito-inertial force vector angle is enhanced by synchronized tilt and translation.

Approximate approach for optimization space flights with a low thrust on the basis of sufficient optimality conditions

NASA Astrophysics Data System (ADS)

Salmin, Vadim V.

2017-01-01

Flight mechanics with a low-thrust is a new chapter of mechanics of space flight, considered plurality of all problems trajectory optimization and movement control laws and the design parameters of spacecraft. Thus tasks associated with taking into account the additional factors in mathematical models of the motion of spacecraft becomes increasingly important, as well as additional restrictions on the possibilities of the thrust vector control. The complication of the mathematical models of controlled motion leads to difficulties in solving optimization problems. Author proposed methods of finding approximate optimal control and evaluating their optimality based on analytical solutions. These methods are based on the principle of extending the class of admissible states and controls and sufficient conditions for the absolute minimum. Developed procedures of the estimation enabling to determine how close to the optimal founded solution, and indicate ways to improve them. Authors describes procedures of estimate for approximately optimal control laws for space flight mechanics problems, in particular for optimization flight low-thrust between the circular non-coplanar orbits, optimization the control angle and trajectory movement of the spacecraft during interorbital flights, optimization flights with low-thrust between arbitrary elliptical orbits Earth satellites.

Shape memory alloy wire for self-sensing servo actuation

NASA Astrophysics Data System (ADS)

Josephine Selvarani Ruth, D.; Dhanalakshmi, K.

2017-01-01

This paper reports on the development of a straightforward approach to realise self-sensing shape memory alloy (SMA) wire actuated control. A differential electrical resistance measurement circuit (the sensorless signal conditioning (SSC) circuit) is designed; this sensing signal is directly used as the feedback for control. Antagonistic SMA wire actuators designed for servo actuation is realized in self-sensing actuation (SSA) mode for direct control with the differential electrical resistance feedback. The self-sensing scheme is established on a 1-DOF manipulator with the discrete time sliding mode controls which demonstrates good control performance, whatever be the disturbance and loading conditions. The uniqueness of this work is the design of the generic electronic SSC circuit for SMA actuated system, for measurement and control. With a concern to the implementation of self-sensing technique in SMA, this scheme retains the systematic control architecture by using the sensing signal (self-sensed, electrical resistance corresponding to the system position) for feedback, without requiring any processing as that of the methods adopted and reported previously for SSA techniques of SMA.

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

The Mechanism for Processing Random-Dot Motion at Various Speeds in Early Visual Cortices

PubMed Central

An, Xu; Gong, Hongliang; McLoughlin, Niall; Yang, Yupeng; Wang, Wei

2014-01-01

All moving objects generate sequential retinotopic activations representing a series of discrete locations in space and time (motion trajectory). How direction-selective neurons in mammalian early visual cortices process motion trajectory remains to be clarified. Using single-cell recording and optical imaging of intrinsic signals along with mathematical simulation, we studied response properties of cat visual areas 17 and 18 to random dots moving at various speeds. We found that, the motion trajectory at low speed was encoded primarily as a direction signal by groups of neurons preferring that motion direction. Above certain transition speeds, the motion trajectory is perceived as a spatial orientation representing the motion axis of the moving dots. In both areas studied, above these speeds, other groups of direction-selective neurons with perpendicular direction preferences were activated to encode the motion trajectory as motion-axis information. This applied to both simple and complex neurons. The average transition speed for switching between encoding motion direction and axis was about 31°/s in area 18 and 15°/s in area 17. A spatio-temporal energy model predicted the transition speeds accurately in both areas, but not the direction-selective indexes to random-dot stimuli in area 18. In addition, above transition speeds, the change of direction preferences of population responses recorded by optical imaging can be revealed using vector maximum but not vector summation method. Together, this combined processing of motion direction and axis by neurons with orthogonal direction preferences associated with speed may serve as a common principle of early visual motion processing. PMID:24682033

Quasi-local action of curl-less vector potential on vortex dynamics in superconductors

NASA Astrophysics Data System (ADS)

Gulian, Armen M.; Nikoghosyan, Vahan R.; Gulian, Ellen D.; Melkonyan, Gurgen G.

2018-04-01

Studies of the Abrikosov vortex motion in superconductors based on time-dependent Ginzburg-Landau equations reveal an opportunity to detect the values of the Aharonov-Bohm type curl-less vector potentials without closed-loop electron trajectories encompassing the magnetic flux.

Cosmology in generalized Proca theories

NASA Astrophysics Data System (ADS)

De Felice, Antonio; Heisenberg, Lavinia; Kase, Ryotaro; Mukohyama, Shinji; Tsujikawa, Shinji; Zhang, Ying-li

2016-06-01

We consider a massive vector field with derivative interactions that propagates only the 3 desired polarizations (besides two tensor polarizations from gravity) with second-order equations of motion in curved space-time. The cosmological implications of such generalized Proca theories are investigated for both the background and the linear perturbation by taking into account the Lagrangian up to quintic order. In the presence of a matter fluid with a temporal component of the vector field, we derive the background equations of motion and show the existence of de Sitter solutions relevant to the late-time cosmic acceleration. We also obtain conditions for the absence of ghosts and Laplacian instabilities of tensor, vector, and scalar perturbations in the small-scale limit. Our results are applied to concrete examples of the general functions in the theory, which encompass vector Galileons as a specific case. In such examples, we show that the de Sitter fixed point is always a stable attractor and study viable parameter spaces in which the no-ghost and stability conditions are satisfied during the cosmic expansion history.

A variational reconstruction method for undersampled dynamic x-ray tomography based on physical motion models

NASA Astrophysics Data System (ADS)

Burger, Martin; Dirks, Hendrik; Frerking, Lena; Hauptmann, Andreas; Helin, Tapio; Siltanen, Samuli

2017-12-01

In this paper we study the reconstruction of moving object densities from undersampled dynamic x-ray tomography in two dimensions. A particular motivation of this study is to use realistic measurement protocols for practical applications, i.e. we do not assume to have a full Radon transform in each time step, but only projections in few angular directions. This restriction enforces a space-time reconstruction, which we perform by incorporating physical motion models and regularization of motion vectors in a variational framework. The methodology of optical flow, which is one of the most common methods to estimate motion between two images, is utilized to formulate a joint variational model for reconstruction and motion estimation. We provide a basic mathematical analysis of the forward model and the variational model for the image reconstruction. Moreover, we discuss the efficient numerical minimization based on alternating minimizations between images and motion vectors. A variety of results are presented for simulated and real measurement data with different sampling strategy. A key observation is that random sampling combined with our model allows reconstructions of similar amount of measurements and quality as a single static reconstruction.

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

Direct Measurement of Lung Motion Using Hyperpolarized Helium-3 MR Tagging

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

Cai Jing; Miller, G. Wilson; Altes, Talissa A.

2007-07-01

Purpose: To measure lung motion between end-inhalation and end-exhalation using a hyperpolarized helium-3 (HP {sup 3}He) magnetic resonance (MR) tagging technique. Methods and Materials: Three healthy volunteers underwent MR tagging studies after inhalation of 1 L HP {sup 3}He gas diluted with nitrogen. Multiple-slice two-dimensional and volumetric three-dimensional MR tagged images of the lungs were obtained at end-inhalation and end-exhalation, and displacement vector maps were computed. Results: The grids of tag lines in the HP {sup 3}He MR images were well defined at end-inhalation and remained evident at end-exhalation. Displacement vector maps clearly demonstrated the regional lung motion and deformationmore » that occurred during exhalation. Discontinuity and differences in motion pattern between two adjacent lung lobes were readily resolved. Conclusions: Hyperpolarized helium-3 MR tagging technique can be used for direct in vivo measurement of respiratory lung motion on a regional basis. This technique may lend new insights into the regional pulmonary biomechanics and thus provide valuable information for the deformable registration of lung.« less

Adaptive mesh optimization and nonrigid motion recovery based image registration for wide-field-of-view ultrasound imaging.

PubMed

Tan, Chaowei; Wang, Bo; Liu, Paul; Liu, Dong

2008-01-01

Wide field of view (WFOV) imaging mode obtains an ultrasound image over an area much larger than the real time window normally available. As the probe is moved over the region of interest, new image frames are combined with prior frames to form a panorama image. Image registration techniques are used to recover the probe motion, eliminating the need for a position sensor. Speckle patterns, which are inherent in ultrasound imaging, change, or become decorrelated, as the scan plane moves, so we pre-smooth the image to reduce the effects of speckle in registration, as well as reducing effects from thermal noise. Because we wish to track the movement of features such as structural boundaries, we use an adaptive mesh over the entire smoothed image to home in on areas with feature. Motion estimation using blocks centered at the individual mesh nodes generates a field of motion vectors. After angular correction of motion vectors, we model the overall movement between frames as a nonrigid deformation. The polygon filling algorithm for precise, persistence-based spatial compounding constructs the final speckle reduced WFOV image.

Trochoidal X-ray Vector Radiography: Directional dark-field without grating stepping

NASA Astrophysics Data System (ADS)

Sharma, Y.; Bachche, S.; Kageyama, M.; Kuribayashi, M.; Pfeiffer, F.; Lasser, T.; Momose, A.

2018-03-01

X-ray Vector Radiography (XVR) is an imaging technique that reveals the orientations of sub-pixel sized structures within a sample. Several dark-field radiographs are acquired by rotating the sample around the beam propagation direction and stepping one of the gratings to several positions for every pose of the sample in an X-ray grating interferometry setup. In this letter, we present a method of performing XVR of a continuously moving sample without the need of any grating motion. We reconstruct the orientations within a sample by analyzing the change in the background moire fringes caused by the sample moving and simultaneously rotating in plane (trochoidal trajectory) across the detector field-of-view. Avoiding the motion of gratings provides significant advantages in terms of stability and repeatability, while the continuous motion of the sample makes this kind of system adaptable for industrial applications such as the scanning of samples on a conveyor belt. Being the first step in the direction of utilizing advanced sample trajectories to replace grating motion, this work also lays the foundations for a full three dimensional reconstruction of scattering function without grating motion.

[Image processing applying in analysis of motion features of cultured cardiac myocyte in rat].

PubMed

Teng, Qizhi; He, Xiaohai; Luo, Daisheng; Wang, Zhengrong; Zhou, Beiyi; Yuan, Zhirun; Tao, Dachang

2007-02-01

Study of mechanism of medicine actions, by quantitative analysis of cultured cardiac myocyte, is one of the cutting edge researches in myocyte dynamics and molecular biology. The characteristics of cardiac myocyte auto-beating without external stimulation make the research sense. Research of the morphology and cardiac myocyte motion using image analysis can reveal the fundamental mechanism of medical actions, increase the accuracy of medicine filtering, and design the optimal formula of medicine for best medical treatments. A system of hardware and software has been built with complete sets of functions including living cardiac myocyte image acquisition, image processing, motion image analysis, and image recognition. In this paper, theories and approaches are introduced for analysis of living cardiac myocyte motion images and implementing quantitative analysis of cardiac myocyte features. A motion estimation algorithm is used for motion vector detection of particular points and amplitude and frequency detection of a cardiac myocyte. Beatings of cardiac myocytes are sometimes very small. In such case, it is difficult to detect the motion vectors from the particular points in a time sequence of images. For this reason, an image correlation theory is employed to detect the beating frequencies. Active contour algorithm in terms of energy function is proposed to approximate the boundary and detect the changes of edge of myocyte.

Incompressible Deformation Estimation Algorithm (IDEA) from Tagged MR Images

PubMed Central

Liu, Xiaofeng; Abd-Elmoniem, Khaled Z.; Stone, Maureen; Murano, Emi Z.; Zhuo, Jiachen; Gullapalli, Rao P.; Prince, Jerry L.

2013-01-01

Measuring the three-dimensional motion of muscular tissues, e.g., the heart or the tongue, using magnetic resonance (MR) tagging is typically carried out by interpolating the two-dimensional motion information measured on orthogonal stacks of images. The incompressibility of muscle tissue is an important constraint on the reconstructed motion field and can significantly help to counter the sparsity and incompleteness of the available motion information. Previous methods utilizing this fact produced incompressible motions with limited accuracy. In this paper, we present an incompressible deformation estimation algorithm (IDEA) that reconstructs a dense representation of the three-dimensional displacement field from tagged MR images and the estimated motion field is incompressible to high precision. At each imaged time frame, the tagged images are first processed to determine components of the displacement vector at each pixel relative to the reference time. IDEA then applies a smoothing, divergence-free, vector spline to interpolate velocity fields at intermediate discrete times such that the collection of velocity fields integrate over time to match the observed displacement components. Through this process, IDEA yields a dense estimate of a three-dimensional displacement field that matches our observations and also corresponds to an incompressible motion. The method was validated with both numerical simulation and in vivo human experiments on the heart and the tongue. PMID:21937342

Three-dimensional tool radius compensation for multi-axis peripheral milling

NASA Astrophysics Data System (ADS)

Chen, Youdong; Wang, Tianmiao

2013-05-01

Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the case of tool size changing with tool wear in machining, a new NC program has to be recreated. A generic 3D tool radius compensation method for multi-axis peripheral milling in CNC systems is presented. The offset path is calculated by offsetting the tool path along the direction of the offset vector with a given distance. The offset vector is perpendicular to both the tangent vector of the tool path and the orientation vector of the tool axis relative to the workpiece. The orientation vector equations of the tool axis relative to the workpiece are obtained through homogeneous coordinate transformation matrix and forward kinematics of generalized kinematics model of multi-axis machine tools. To avoid cutting into the corner formed by the two adjacent tool paths, the coordinates of offset path at the intersection point have been calculated according to the transition type that is determined by the angle between the two tool path tangent vectors at the corner. Through the verification by the solid cutting simulation software VERICUT® with different tool radiuses on a table-tilting type five-axis machine tool, and by the real machining experiment of machining a soup spoon on a five-axis machine tool with the developed CNC system, the effectiveness of the proposed 3D tool radius compensation method is confirmed. The proposed compensation method can be suitable for all kinds of three- to five-axis machine tools as a general form.

Kepler unbound: Some elegant curiosities of classical mechanics

NASA Astrophysics Data System (ADS)

MacKay, Niall J.; Salour, Sam

2015-01-01

We explain two exotic systems of classical mechanics: the McIntosh-Cisneros-Zwanziger ("MICZ") Kepler system, of motion of a charged particle in the presence of a modified dyon; and Gibbons and Manton's description of the slow motion of well-separated solitonic ("BPS") monopoles using Taub-NUT space. Each system is characterized by the conservation of a Laplace-Runge-Lenz vector, and we use elementary vector techniques to show that each obeys a subtly different variation on Kepler's three laws for the Newton-Coulomb two-body problem, including a new modified Kepler third law for BPS monopoles.

Stability of Horndeski vector-tensor interactions

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

Jiménez, Jose Beltrán; Durrer, Ruth; Heisenberg, Lavinia

2013-10-01

We study the Horndeski vector-tensor theory that leads to second order equations of motion and contains a non-minimally coupled abelian gauge vector field. This theory is remarkably simple and consists of only 2 terms for the vector field, namely: the standard Maxwell kinetic term and a coupling to the dual Riemann tensor. Furthermore, the vector sector respects the U(1) gauge symmetry and the theory contains only one free parameter, M{sup 2}, that controls the strength of the non-minimal coupling. We explore the theory in a de Sitter spacetime and study the presence of instabilities and show that it corresponds tomore » an attractor solution in the presence of the vector field. We also investigate the cosmological evolution and stability of perturbations in a general FLRW spacetime. We find that a sufficient condition for the absence of ghosts is M{sup 2} > 0. Moreover, we study further constraints coming from imposing the absence of Laplacian instabilities. Finally, we study the stability of the theory in static and spherically symmetric backgrounds (in particular, Schwarzschild and Reissner-Nordström-de Sitter). We find that the theory, quite generally, do have ghosts or Laplacian instabilities in regions of spacetime where the non-minimal interaction dominates over the Maxwell term. We also calculate the propagation speed in these spacetimes and show that superluminality is a quite generic phenomenon in this theory.« less

G-DYN Multibody Dynamics Engine

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Blackmore, James C.; Broderick, Daniel

2011-01-01

G-DYN is a multi-body dynamic simulation software engine that automatically assembles and integrates equations of motion for arbitrarily connected multibody dynamic systems. The algorithm behind G-DYN is based on a primal-dual formulation of the dynamics that captures the position and velocity vectors (primal variables) of each body and the interaction forces (dual variables) between bodies, which are particularly useful for control and estimation analysis and synthesis. It also takes full advantage of the spare matrix structure resulting from the system dynamics to numerically integrate the equations of motion efficiently. Furthermore, the dynamic model for each body can easily be replaced without re-deriving the overall equations of motion, and the assembly of the equations of motion is done automatically. G-DYN proved an essential software tool in the simulation of spacecraft systems used for small celestial body surface sampling, specifically in simulating touch-and-go (TAG) maneuvers of a robotic sampling system from a comet and asteroid. It is used extensively in validating mission concepts for small body sample return, such as Comet Odyssey and Galahad New Frontiers proposals.

Motion of Air Bubbles in Water Subjected to Microgravity Accelerations

NASA Technical Reports Server (NTRS)

DeLombard, Richard; Kelly, Eric M.; Hrovat, Kenneth; Nelson, Emily S.; Pettit, Donald R.

2006-01-01

The International Space Station (ISS) serves as a platform for microgravity research for the foreseeable future. A microgravity environment is one in which the effects of gravity are drastically reduced which then allows physical experiments to be conducted without the over powering effects of gravity. During his 6-month stay on the ISS, astronaut Donald R. Pettit performed many informal/impromptu science experiments with available equipment. One such experiment focused on the motion of air bubbles in a rectangular container nearly filled with de-ionized water. Bubbles were introduced by shaking and then the container was secured in place for several hours while motion of the bubbles was recorded using time-lapse photography. This paper shows correlation between bubble motion and quasi-steady acceleration levels during one such experiment operation. The quasi-steady acceleration vectors were measured by the Microgravity Acceleration Measurement System (MAMS). Essentially linear motion was observed in the condition considered here. Dr. Pettit also created other conditions which produced linear and circulating motion, which are the subjects of further study. Initial observations of this bubble motion agree with calculations from many microgravity physical science experiments conducted on shuttle microgravity science missions. Many crystal-growth furnaces involve heavy metals and high temperatures in which undesired acceleration-driven convection during solidification can adversely affect the crystal. Presented in this paper will be results showing correlation between bubble motion and the quasi-steady acceleration vector.

Sensorless FOC Performance Improved with On-Line Speed and Rotor Resistance Estimator Based on an Artificial Neural Network for an Induction Motor Drive

PubMed Central

Gutierrez-Villalobos, Jose M.; Rodriguez-Resendiz, Juvenal; Rivas-Araiza, Edgar A.; Martínez-Hernández, Moisés A.

2015-01-01

Three-phase induction motor drive requires high accuracy in high performance processes in industrial applications. Field oriented control, which is one of the most employed control schemes for induction motors, bases its function on the electrical parameter estimation coming from the motor. These parameters make an electrical machine driver work improperly, since these electrical parameter values change at low speeds, temperature changes, and especially with load and duty changes. The focus of this paper is the real-time and on-line electrical parameters with a CMAC-ADALINE block added in the standard FOC scheme to improve the IM driver performance and endure the driver and the induction motor lifetime. Two kinds of neural network structures are used; one to estimate rotor speed and the other one to estimate rotor resistance of an induction motor. PMID:26131677

Sensorless FOC Performance Improved with On-Line Speed and Rotor Resistance Estimator Based on an Artificial Neural Network for an Induction Motor Drive.

PubMed

Gutierrez-Villalobos, Jose M; Rodriguez-Resendiz, Juvenal; Rivas-Araiza, Edgar A; Martínez-Hernández, Moisés A

2015-06-29

Three-phase induction motor drive requires high accuracy in high performance processes in industrial applications. Field oriented control, which is one of the most employed control schemes for induction motors, bases its function on the electrical parameter estimation coming from the motor. These parameters make an electrical machine driver work improperly, since these electrical parameter values change at low speeds, temperature changes, and especially with load and duty changes. The focus of this paper is the real-time and on-line electrical parameters with a CMAC-ADALINE block added in the standard FOC scheme to improve the IM driver performance and endure the driver and the induction motor lifetime. Two kinds of neural network structures are used; one to estimate rotor speed and the other one to estimate rotor resistance of an induction motor.

Motions and entropies in proteins as seen in NMR relaxation experiments and molecular dynamics simulations.

PubMed

Allnér, Olof; Foloppe, Nicolas; Nilsson, Lennart

2015-01-22

Molecular dynamics simulations of E. coli glutaredoxin1 in water have been performed to relate the dynamical parameters and entropy obtained in NMR relaxation experiments, with results extracted from simulated trajectory data. NMR relaxation is the most widely used experimental method to obtain data on dynamics of proteins, but it is limited to relatively short timescales and to motions of backbone amides or in some cases (13)C-H vectors. By relating the experimental data to the all-atom picture obtained in molecular dynamics simulations, valuable insights on the interpretation of the experiment can be gained. We have estimated the internal dynamics and their timescales by calculating the generalized order parameters (O) for different time windows. We then calculate the quasiharmonic entropy (S) and compare it to the entropy calculated from the NMR-derived generalized order parameter of the amide vectors. Special emphasis is put on characterizing dynamics that are not expressed through the motions of the amide group. The NMR and MD methods suffer from complementary limitations, with NMR being restricted to local vectors and dynamics on a timescale determined by the rotational diffusion of the solute, while in simulations, it may be difficult to obtain sufficient sampling to ensure convergence of the results. We also evaluate the amount of sampling obtained with molecular dynamics simulations and how it is affected by the length of individual simulations, by clustering of the sampled conformations. We find that two structural turns act as hinges, allowing the α helix between them to undergo large, long timescale motions that cannot be detected in the time window of the NMR dipolar relaxation experiments. We also show that the entropy obtained from the amide vector does not account for correlated motions of adjacent residues. Finally, we show that the sampling in a total of 100 ns molecular dynamics simulation can be increased by around 50%, by dividing the trajectory into 10 replicas with different starting velocities.

Primer vector theory applied to the linear relative-motion equations. [for N-impulse space trajectory optimization

NASA Technical Reports Server (NTRS)

Jezewski, D.

1980-01-01

Prime vector theory is used in analyzing a set of linear relative-motion equations - the Clohessy-Wiltshire (C/W) equations - to determine the criteria and necessary conditions for an optimal N-impulse trajectory. The analysis develops the analytical criteria for improving a solution by: (1) moving any dependent or independent variable in the initial and/or final orbit, and (2) adding intermediate impulses. If these criteria are violated, the theory establishes a sufficient number of analytical equations. The subsequent satisfaction of these equations will result in the optimal position vectors and times of an N-impulse trajectory. The solution is examined for the specific boundary conditions of: (1) fixed-end conditions, two impulse, and time-open transfer; (2) an orbit-to-orbit transfer; and (3) a generalized renezvous problem.

Binocular eye movement control and motion perception: what is being tracked?

PubMed

van der Steen, Johannes; Dits, Joyce

2012-10-19

We investigated under what conditions humans can make independent slow phase eye movements. The ability to make independent movements of the two eyes generally is attributed to few specialized lateral eyed animal species, for example chameleons. In our study, we showed that humans also can move the eyes in different directions. To maintain binocular retinal correspondence independent slow phase movements of each eye are produced. We used the scleral search coil method to measure binocular eye movements in response to dichoptically viewed visual stimuli oscillating in orthogonal direction. Correlated stimuli led to orthogonal slow eye movements, while the binocularly perceived motion was the vector sum of the motion presented to each eye. The importance of binocular fusion on independency of the movements of the two eyes was investigated with anti-correlated stimuli. The perceived global motion pattern of anti-correlated dichoptic stimuli was perceived as an oblique oscillatory motion, as well as resulted in a conjugate oblique motion of the eyes. We propose that the ability to make independent slow phase eye movements in humans is used to maintain binocular retinal correspondence. Eye-of-origin and binocular information are used during the processing of binocular visual information, and it is decided at an early stage whether binocular or monocular motion information and independent slow phase eye movements of each eye are produced during binocular tracking.

Binocular Eye Movement Control and Motion Perception: What Is Being Tracked?

PubMed Central

van der Steen, Johannes; Dits, Joyce

2012-01-01

Purpose. We investigated under what conditions humans can make independent slow phase eye movements. The ability to make independent movements of the two eyes generally is attributed to few specialized lateral eyed animal species, for example chameleons. In our study, we showed that humans also can move the eyes in different directions. To maintain binocular retinal correspondence independent slow phase movements of each eye are produced. Methods. We used the scleral search coil method to measure binocular eye movements in response to dichoptically viewed visual stimuli oscillating in orthogonal direction. Results. Correlated stimuli led to orthogonal slow eye movements, while the binocularly perceived motion was the vector sum of the motion presented to each eye. The importance of binocular fusion on independency of the movements of the two eyes was investigated with anti-correlated stimuli. The perceived global motion pattern of anti-correlated dichoptic stimuli was perceived as an oblique oscillatory motion, as well as resulted in a conjugate oblique motion of the eyes. Conclusions. We propose that the ability to make independent slow phase eye movements in humans is used to maintain binocular retinal correspondence. Eye-of-origin and binocular information are used during the processing of binocular visual information, and it is decided at an early stage whether binocular or monocular motion information and independent slow phase eye movements of each eye are produced during binocular tracking. PMID:22997286

Motion in a Central Field in the Presence of a Constant Perturbing Acceleration in a Coordinate System Comoving with the Velocity Vector

NASA Astrophysics Data System (ADS)

Batmunkh, N.; Sannikova, T. N.; Kholshevnikov, K. V.

2018-04-01

The motion of a zero-mass point under the action of gravitation toward a central body and a perturbing acceleration P is considered. The magnitude of P is taken to be small compared to the main acceleration due to the gravitation of the central body, and the components of the vector P are taken to be constant in a reference frame with its origin at the central body and its axes directed along the velocity vector, normal to the velocity vector in the plane of the osculating orbit, and along the binormal. The equations in the mean elements were obtained in an earlier study. The algorithm used to solve these equations is given in this study. This algorithm is analogous to one constructed earlier for the case when P is constant in a reference frame tied to the radius vector. The properties of the solutions are similar. The main difference is that, in the most important cases, the quadratures to which the solution reduces lead to non-elementary functions. However, they can be expressed as series in powers of the eccentricity e that converge for e < 1, and often also for e = 1.

Pixel-By Estimation of Scene Motion in Video

NASA Astrophysics Data System (ADS)

Tashlinskii, A. G.; Smirnov, P. V.; Tsaryov, M. G.

2017-05-01

The paper considers the effectiveness of motion estimation in video using pixel-by-pixel recurrent algorithms. The algorithms use stochastic gradient decent to find inter-frame shifts of all pixels of a frame. These vectors form shift vectors' field. As estimated parameters of the vectors the paper studies their projections and polar parameters. It considers two methods for estimating shift vectors' field. The first method uses stochastic gradient descent algorithm to sequentially process all nodes of the image row-by-row. It processes each row bidirectionally i.e. from the left to the right and from the right to the left. Subsequent joint processing of the results allows compensating inertia of the recursive estimation. The second method uses correlation between rows to increase processing efficiency. It processes rows one after the other with the change in direction after each row and uses obtained values to form resulting estimate. The paper studies two criteria of its formation: gradient estimation minimum and correlation coefficient maximum. The paper gives examples of experimental results of pixel-by-pixel estimation for a video with a moving object and estimation of a moving object trajectory using shift vectors' field.

How many fish in a tank? Constructing an automated fish counting system by using PTV analysis

NASA Astrophysics Data System (ADS)

Abe, S.; Takagi, T.; Takehara, K.; Kimura, N.; Hiraishi, T.; Komeyama, K.; Torisawa, S.; Asaumi, S.

2017-02-01

Because escape from a net cage and mortality are constant problems in fish farming, health control and management of facilities are important in aquaculture. In particular, the development of an accurate fish counting system has been strongly desired for the Pacific Bluefin tuna farming industry owing to the high market value of these fish. The current fish counting method, which involves human counting, results in poor accuracy; moreover, the method is cumbersome because the aquaculture net cage is so large that fish can only be counted when they move to another net cage. Therefore, we have developed an automated fish counting system by applying particle tracking velocimetry (PTV) analysis to a shoal of swimming fish inside a net cage. In essence, we treated the swimming fish as tracer particles and estimated the number of fish by analyzing the corresponding motion vectors. The proposed fish counting system comprises two main components: image processing and motion analysis, where the image-processing component abstracts the foreground and the motion analysis component traces the individual's motion. In this study, we developed a Region Extraction and Centroid Computation (RECC) method and a Kalman filter and Chi-square (KC) test for the two main components. To evaluate the efficiency of our method, we constructed a closed system, placed an underwater video camera with a spherical curved lens at the bottom of the tank, and recorded a 360° view of a swimming school of Japanese rice fish (Oryzias latipes). Our study showed that almost all fish could be abstracted by the RECC method and the motion vectors could be calculated by the KC test. The recognition rate was approximately 90% when more than 180 individuals were observed within the frame of the video camera. These results suggest that the presented method has potential application as a fish counting system for industrial aquaculture.

Derivation of cloud-free-region atmospheric motion vectors from FY-2E thermal infrared imagery

NASA Astrophysics Data System (ADS)

Wang, Zhenhui; Sui, Xinxiu; Zhang, Qing; Yang, Lu; Zhao, Hang; Tang, Min; Zhan, Yizhe; Zhang, Zhiguo

2017-02-01

The operational cloud-motion tracking technique fails to retrieve atmospheric motion vectors (AMVs) in areas lacking cloud; and while water vapor shown in water vapor imagery can be used, the heights assigned to the retrieved AMVs are mostly in the upper troposphere. As the noise-equivalent temperature difference (NEdT) performance of FY-2E split window (10.3-11.5 μm, 11.6-12.8 μm) channels has been improved, the weak signals representing the spatial texture of water vapor and aerosols in cloud-free areas can be strengthened with algorithms based on the difference principle, and applied in calculating AMVs in the lower troposphere. This paper is a preliminary summary for this purpose, in which the principles and algorithm schemes for the temporal difference, split window difference and second-order difference (SD) methods are introduced. Results from simulation and cases experiments are reported in order to verify and evaluate the methods, based on comparison among retrievals and the "truth". The results show that all three algorithms, though not perfect in some cases, generally work well. Moreover, the SD method appears to be the best in suppressing the surface temperature influence and clarifying the spatial texture of water vapor and aerosols. The accuracy with respect to NCEP 800 hPa reanalysis data was found to be acceptable, as compared with the accuracy of the cloud motion vectors.

Three-dimensional vibrometry of the human eardrum with stroboscopic lensless digital holography

PubMed Central

Khaleghi, Morteza; Furlong, Cosme; Ravicz, Mike; Cheng, Jeffrey Tao; Rosowski, John J.

2015-01-01

Abstract. The eardrum or tympanic membrane (TM) transforms acoustic energy at the ear canal into mechanical motions of the ossicles. The acousto-mechanical transformer behavior of the TM is determined by its shape, three-dimensional (3-D) motion, and mechanical properties. We have developed an optoelectronic holographic system to measure the shape and 3-D sound-induced displacements of the TM. The shape of the TM is measured with dual-wavelength holographic contouring using a tunable near IR laser source with a central wavelength of 780 nm. 3-D components of sound-induced displacements of the TM are measured with the method of multiple sensitivity vectors using stroboscopic holographic interferometry. To accurately obtain sensitivity vectors, a new technique is developed and used in which the sensitivity vectors are obtained from the images of a specular sphere that is being illuminated from different directions. Shape and 3-D acoustically induced displacement components of cadaveric human TMs at several excitation frequencies are measured at more than one million points on its surface. A numerical rotation matrix is used to rotate the original Euclidean coordinate of the measuring system in order to obtain in-plane and out-of-plane motion components. Results show that in-plane components of motion are much smaller (<20%) than the out-of-plane motions’ components. PMID:25652791

Acoustic power of a moving point source in a moving medium

NASA Technical Reports Server (NTRS)

Cole, J. E., III; Sarris, I. I.

1976-01-01

The acoustic power output of a moving point-mass source in an acoustic medium which is in uniform motion and infinite in extent is examined. The acoustic medium is considered to be a homogeneous fluid having both zero viscosity and zero thermal conductivity. Two expressions for the acoustic power output are obtained based on a different definition cited in the literature for the average energy-flux vector in an acoustic medium in uniform motion. The acoustic power output of the source is found by integrating the component of acoustic intensity vector in the radial direction over the surface of an infinitely long cylinder which is within the medium and encloses the line of motion of the source. One of the power expressions is found to give unreasonable results even though the flow is uniform.

Acceleration constraints in modeling and control of nonholonomic systems

NASA Astrophysics Data System (ADS)

Bajodah, Abdulrahman H.

2003-10-01

Acceleration constraints are used to enhance modeling techniques for dynamical systems. In particular, Kane's equations of motion subjected to bilateral constraints, unilateral constraints, and servo-constraints are modified by utilizing acceleration constraints for the purpose of simplifying the equations and increasing their applicability. The tangential properties of Kane's method provide relationships between the holonomic and the nonholonomic partial velocities, and hence allow one to describe nonholonomic generalized active and inertia forces in terms of their holonomic counterparts, i.e., those which correspond to the system without constraints. Therefore, based on the modeling process objectives, the holonomic and the nonholonomic vector entities in Kane's approach are used interchangeably to model holonomic and nonholonomic systems. When the holonomic partial velocities are used to model nonholonomic systems, the resulting models are full-order (also called nonminimal or unreduced) and separated in accelerations. As a consequence, they are readily integrable and can be used for generic system analysis. Other related topics are constraint forces, numerical stability of the nonminimal equations of motion, and numerical constraint stabilization. Two types of unilateral constraints considered are impulsive and friction constraints. Impulsive constraints are modeled by means of a continuous-in-velocities and impulse-momentum approaches. In controlled motion, the acceleration form of constraints is utilized with the Moore-Penrose generalized inverse of the corresponding constraint matrix to solve for the inverse dynamics of servo-constraints, and for the redundancy resolution of overactuated manipulators. If control variables are involved in the algebraic constraint equations, then these tools are used to modify the controlled equations of motion in order to facilitate control system design. An illustrative example of spacecraft stabilization is presented.

Verification of real sensor motion for a high-dynamic 3D measurement inspection system

NASA Astrophysics Data System (ADS)

Breitbarth, Andreas; Correns, Martin; Zimmermann, Manuel; Zhang, Chen; Rosenberger, Maik; Schambach, Jörg; Notni, Gunther

2017-06-01

Inline three-dimensional measurements are a growing part of optical inspection. Considering increasing production capacities and economic aspects, dynamic measurements under motion are inescapable. Using a sequence of different pattern, like it is generally done in fringe projection systems, relative movements of the measurement object with respect to the 3d sensor between the images of one pattern sequence have to be compensated. Based on the application of fully automated optical inspection of circuit boards at an assembly line, the knowledge of the relative speed of movement between the measurement object and the 3d sensor system should be used inside the algorithms of motion compensation. Optimally, this relative speed is constant over the whole measurement process and consists of only one motion direction to avoid sensor vibrations. The quantified evaluation of this two assumptions and the error impact on the 3d accuracy are content of the research project described by this paper. For our experiments we use a glass etalon with non-transparent circles and transmitted light. Focused on the circle borders, this is one of the most reliable methods to determine subpixel positions using a couple of searching rays. The intersection point of all rays characterize the center of each circle. Based on these circle centers determined with a precision of approximately 1=50 pixel, the motion vector between two images could be calculated and compared with the input motion vector. Overall, the results are used to optimize the weight distribution of the 3d sensor head and reduce non-uniformly vibrations. Finally, there exists a dynamic 3d measurement system with an error of motion vectors about 4 micrometer. Based on this outcome, simulations result in a 3d standard deviation at planar object regions of 6 micrometers. The same system yields a 3d standard deviation of 9 µm without the optimization of weight distribution.

The Utility of SAR to Monitor Ocean Processes.

DTIC Science & Technology

1981-11-01

echo received from ocean waves include the motion of the a horizontally polarized wave will have its E vector parallel to scattering surfaces, the so...radiation is defined by the direction of the electric field intensity, E, vector . For example, a horizontally polarized wave will have its E vector ...Oil Spill Off the East Coast of the United States ................ .... 55 19. L-band Parallel and Cross Polarized SAR Imagery of Ice in the Beaufort

Investigation of electrodynamic stabilization and control of long orbiting tethers. [space shuttle payloads

NASA Technical Reports Server (NTRS)

Arnold, D. A.; Dobrowolny, M.

1981-01-01

An algorithm for using electric currents to control pendular oscillations induced by various perturbing forces on the Skyhook wire is considered. Transverse and vertical forces on the tether; tether instability modes and causes during retrieval by space shuttle; simple and spherical pendulum motion and vector damping; and current generation and control are discussed. A computer program for numerical integration of the in-plane and out-of-plane displacements of the tether vs time was developed for heuristic study. Some techniques for controlling instabilities during payload retrieval and methods for employing the tether for launching satellites from the space shuttle are considered. Derivations and analyses of a general nature used in all of the areas studied are included.

Novel Assessment of Renal Motion in Children as Measured via Four-Dimensional Computed Tomography

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

Pai Panandiker, Atmaram S., E-mail: atmaram.pai-panandiker@stjude.org; Sharma, Shelly; Naik, Mihir H.

Objectives: Abdominal intensity-modulated radiation therapy and proton therapy require quantification of target and organ motion to optimize localization and treatment. Although addressed in adults, there is no available literature on this issue in pediatric patients. We assessed physiologic renal motion in pediatric patients. Methods and Materials: Twenty free-breathing pediatric patients at a median age of 8 years (range, 2-18 years) with intra-abdominal tumors underwent computed tomography simulation and four-dimensional computed tomography acquisition (slice thickness, 3 mm). Kidneys and diaphragms were contoured during eight phases of respiration to estimate center-of-mass motion. We quantified center of kidney mass mobility vectors in threemore » dimensions: anteroposterior (AP), mediolateral (ML), and superoinferior (SI). Results: Kidney motion decreases linearly with decreasing age and height. The 95% confidence interval for the averaged minima and maxima of renal motion in children younger than 9 years was 5-9 mm in the ML direction, 4-11 mm in the AP direction, and 12-25 mm in the SI dimension for both kidneys. In children older than 9 years, the same confidence interval reveals a widening range of motion that was 5-16 mm in the ML direction, 6-17 mm in the AP direction, and 21-52 mm in the SI direction. Although not statistically significant, renal motion correlated with diaphragm motion in older patients. The correlation between diaphragm motion and body mass index was borderline (r = 0.52, p = 0.0816) in younger patients. Conclusions: Renal motion is age and height dependent. Measuring diaphragmatic motion alone does not reliably quantify pediatric renal motion. Renal motion in young children ranges from 5 to 25 mm in orientation-specific directions. The vectors of motion range from 5 to 52 mm in older children. These preliminary data represent novel analyses of pediatric intra-abdominal organ motion.« less

Intelligent complementary sliding-mode control for LUSMS-based X-Y-theta motion control stage.

PubMed

Lin, Faa-Jeng; Chen, Syuan-Yi; Shyu, Kuo-Kai; Liu, Yen-Hung

2010-07-01

An intelligent complementary sliding-mode control (ICSMC) system using a recurrent wavelet-based Elman neural network (RWENN) estimator is proposed in this study to control the mover position of a linear ultrasonic motors (LUSMs)-based X-Y-theta motion control stage for the tracking of various contours. By the addition of a complementary generalized error transformation, the complementary sliding-mode control (CSMC) can efficiently reduce the guaranteed ultimate bound of the tracking error by half compared with the slidingmode control (SMC) while using the saturation function. To estimate a lumped uncertainty on-line and replace the hitting control of the CSMC directly, the RWENN estimator is adopted in the proposed ICSMC system. In the RWENN, each hidden neuron employs a different wavelet function as an activation function to improve both the convergent precision and the convergent time compared with the conventional Elman neural network (ENN). The estimation laws of the RWENN are derived using the Lyapunov stability theorem to train the network parameters on-line. A robust compensator is also proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher-order terms in Taylor series. Finally, some experimental results of various contours tracking show that the tracking performance of the ICSMC system is significantly improved compared with the SMC and CSMC systems.

Experimental Evaluation of the High-Speed Motion Vector Measurement by Combining Synthetic Aperture Array Processing with Constrained Least Square Method

NASA Astrophysics Data System (ADS)

Yokoyama, Ryouta; Yagi, Shin-ichi; Tamura, Kiyoshi; Sato, Masakazu

2009-07-01

Ultrahigh speed dynamic elastography has promising potential capabilities in applying clinical diagnosis and therapy of living soft tissues. In order to realize the ultrahigh speed motion tracking at speeds of over thousand frames per second, synthetic aperture (SA) array signal processing technology must be introduced. Furthermore, the overall system performance should overcome the fine quantitative evaluation in accuracy and variance of echo phase changes distributed across a tissue medium. On spatial evaluation of local phase changes caused by pulsed excitation on a tissue phantom, investigation was made with the proposed SA signal system utilizing different virtual point sources that were generated by an array transducer to probe each component of local tissue displacement vectors. The final results derived from the cross-correlation method (CCM) brought about almost the same performance as obtained by the constrained least square method (LSM) extended to successive echo frames. These frames were reconstructed by SA processing after the real-time acquisition triggered by the pulsed irradiation from a point source. The continuous behavior of spatial motion vectors demonstrated the dynamic generation and traveling of the pulsed shear wave at a speed of one thousand frames per second.

A Temperature Compensation Method for Piezo-Resistive Pressure Sensor Utilizing Chaotic Ions Motion Algorithm Optimized Hybrid Kernel LSSVM.

PubMed

Li, Ji; Hu, Guoqing; Zhou, Yonghong; Zou, Chong; Peng, Wei; Alam Sm, Jahangir

2016-10-14

A piezo-resistive pressure sensor is made of silicon, the nature of which is considerably influenced by ambient temperature. The effect of temperature should be eliminated during the working period in expectation of linear output. To deal with this issue, an approach consists of a hybrid kernel Least Squares Support Vector Machine (LSSVM) optimized by a chaotic ions motion algorithm presented. To achieve the learning and generalization for excellent performance, a hybrid kernel function, constructed by a local kernel as Radial Basis Function (RBF) kernel, and a global kernel as polynomial kernel is incorporated into the Least Squares Support Vector Machine. The chaotic ions motion algorithm is introduced to find the best hyper-parameters of the Least Squares Support Vector Machine. The temperature data from a calibration experiment is conducted to validate the proposed method. With attention on algorithm robustness and engineering applications, the compensation result shows the proposed scheme outperforms other compared methods on several performance measures as maximum absolute relative error, minimum absolute relative error mean and variance of the averaged value on fifty runs. Furthermore, the proposed temperature compensation approach lays a foundation for more extensive research.

Assessment of dyssynchronous wall motion during acute myocardial ischemia using velocity vector imaging.

PubMed

Masuda, Kasumi; Asanuma, Toshihiko; Taniguchi, Asuka; Uranishi, Ayumi; Ishikura, Fuminobu; Beppu, Shintaro

2008-03-01

The purpose of this study was to investigate the diagnostic value of velocity vector imaging (VVI) for detecting acute myocardial ischemia and whether VVI can accurately demonstrate the spatial extent of ischemic risk area. Using a tracking algorithm, VVI can display velocity vectors of regional wall motion overlaid onto the B-mode image and allows the quantitative assessment of myocardial mechanics. However, its efficacy for diagnosing myocardial ischemia has not been evaluated. In 18 dogs with flow-limiting stenosis and/or total occlusion of the coronary artery, peak systolic radial velocity (V(SYS)), radial velocity at mitral valve opening (V(MVO)), peak systolic radial strain, and the percent change in wall thickening (%WT) were measured in the normal and risk areas and compared to those at baseline. Sensitivity and specificity for detecting the stenosis and occlusion were analyzed in each parameter. The area of inward velocity vectors at mitral valve opening (MVO) detected by VVI was compared to the risk area derived from real-time myocardial contrast echocardiography (MCE). Twelve image clips were randomly selected from the baseline, stenosis, and occlusions to determine the intra- and inter-observer agreement for the VVI parameters. The left circumflex coronary flow was reduced by 44.3 +/- 9.0% during stenosis and completely interrupted during occlusion. During coronary artery occlusion, inward motion at MVO was observed in the risk area. Percent WT, peak systolic radial strain, V(SYS), and V(MVO) changed significantly from values at baseline. During stenosis, %WT, peak systolic radial strain, and V(SYS) did not differ from those at baseline; however, V(MVO) was significantly increased (-0.12 +/- 0.60 cm/s vs. -0.96 +/- 0.55 cm/s, p = 0.015). Sensitivity and specificity of V(MVO) for detecting ischemia were superior to those of other parameters. The spatial extent of inward velocity vectors at MVO correlated well with that of the risk area derived from MCE (r = 0.74, p < 0.001 with a linear regression). The assessment of VVI at MVO permits easy detection of dyssynchronous wall motion during acute myocardial ischemia that cannot be diagnosed by conventional measurement of systolic wall thickness. The spatial extent of inward motion at MVO suggests the size of the risk area.

A new optical head tracing reflected light for nanoprofiler

NASA Astrophysics Data System (ADS)

Okuda, K.; Okita, K.; Tokuta, Y.; Kitayama, T.; Nakano, M.; Kudo, R.; Yamamura, K.; Endo, K.

2014-09-01

High accuracy optical elements are applied in various fields. For example, ultraprecise aspherical mirrors are necessary for developing third-generation synchrotron radiation and XFEL (X-ray Free Electron LASER) sources. In order to make such high accuracy optical elements, it is necessary to realize the measurement of aspherical mirrors with high accuracy. But there has been no measurement method which simultaneously achieves these demands yet. So, we develop the nanoprofiler that can directly measure the any surfaces figures with high accuracy. The nanoprofiler gets the normal vector and the coordinate of a measurement point with using LASER and the QPD (Quadrant Photo Diode) as a detector. And, from the normal vectors and their coordinates, the three-dimensional figure is calculated. In order to measure the figure, the nanoprofiler controls its five motion axis numerically to make the reflected light enter to the QPD's center. The control is based on the sample's design formula. We measured a concave spherical mirror with a radius of curvature of 400 mm by the deflection method which calculates the figure error from QPD's output, and compared the results with those using a Fizeau interferometer. The profile was consistent within the range of system error. The deflection method can't neglect the error caused from the QPD's spatial irregularity of sensitivity. In order to improve it, we have contrived the zero method which moves the QPD by the piezoelectric motion stage and calculates the figure error from the displacement.

The primer vector in linear, relative-motion equations. [spacecraft trajectory optimization

NASA Technical Reports Server (NTRS)

1980-01-01

Primer vector theory is used in analyzing a set of linear, relative-motion equations - the Clohessy-Wiltshire equations - to determine the criteria and necessary conditions for an optimal, N-impulse trajectory. Since the state vector for these equations is defined in terms of a linear system of ordinary differential equations, all fundamental relations defining the solution of the state and costate equations, and the necessary conditions for optimality, can be expressed in terms of elementary functions. The analysis develops the analytical criteria for improving a solution by (1) moving any dependent or independent variable in the initial and/or final orbit, and (2) adding intermediate impulses. If these criteria are violated, the theory establishes a sufficient number of analytical equations. The subsequent satisfaction of these equations will result in the optimal position vectors and times of an N-impulse trajectory. The solution is examined for the specific boundary conditions of (1) fixed-end conditions, two-impulse, and time-open transfer; (2) an orbit-to-orbit transfer; and (3) a generalized rendezvous problem. A sequence of rendezvous problems is solved to illustrate the analysis and the computational procedure.

Cosmology in generalized Proca theories

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

Felice, Antonio De; Mukohyama, Shinji; Heisenberg, Lavinia

2016-06-01

We consider a massive vector field with derivative interactions that propagates only the 3 desired polarizations (besides two tensor polarizations from gravity) with second-order equations of motion in curved space-time. The cosmological implications of such generalized Proca theories are investigated for both the background and the linear perturbation by taking into account the Lagrangian up to quintic order. In the presence of a matter fluid with a temporal component of the vector field, we derive the background equations of motion and show the existence of de Sitter solutions relevant to the late-time cosmic acceleration. We also obtain conditions for themore » absence of ghosts and Laplacian instabilities of tensor, vector, and scalar perturbations in the small-scale limit. Our results are applied to concrete examples of the general functions in the theory, which encompass vector Galileons as a specific case. In such examples, we show that the de Sitter fixed point is always a stable attractor and study viable parameter spaces in which the no-ghost and stability conditions are satisfied during the cosmic expansion history.« less

Global rotational motion and displacement estimation of digital image stabilization based on the oblique vectors matching algorithm

NASA Astrophysics Data System (ADS)

Yu, Fei; Hui, Mei; Zhao, Yue-jin

2009-08-01

The image block matching algorithm based on motion vectors of correlative pixels in oblique direction is presented for digital image stabilization. The digital image stabilization is a new generation of image stabilization technique which can obtains the information of relative motion among frames of dynamic image sequences by the method of digital image processing. In this method the matching parameters are calculated from the vectors projected in the oblique direction. The matching parameters based on the vectors contain the information of vectors in transverse and vertical direction in the image blocks at the same time. So the better matching information can be obtained after making correlative operation in the oblique direction. And an iterative weighted least square method is used to eliminate the error of block matching. The weights are related with the pixels' rotational angle. The center of rotation and the global emotion estimation of the shaking image can be obtained by the weighted least square from the estimation of each block chosen evenly from the image. Then, the shaking image can be stabilized with the center of rotation and the global emotion estimation. Also, the algorithm can run at real time by the method of simulated annealing in searching method of block matching. An image processing system based on DSP was used to exam this algorithm. The core processor in the DSP system is TMS320C6416 of TI, and the CCD camera with definition of 720×576 pixels was chosen as the input video signal. Experimental results show that the algorithm can be performed at the real time processing system and have an accurate matching precision.

Current Sierra Nevada-North America motion from very long baseline interferometry: Implications for the kinematics of the western United States

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

Argus, D.F.; Gordon, R.G.

1991-11-01

The authors use geodetic measurements from very long baseline interferometry to estimate the motion of the Sierra Nevadan microplate. The motion of the Sierra Nevadan microplate relative to the North American plate is described by a right-handed rotation of 0.61{degree}/m.y. about lat 32{degree}N, long 128{degree}W. This Euler pole predicts a significant counterclockwise rotation about a local vertical axis. It further predicts a velocity of the eastern edge of the Sierra Nevada relative to stable North America of 11 {plus minus}1 mm/yr toward N36{degree} {plus minus}3{degree}W, which accounts for about one-fourth of the velocity between the Pacific and North American platesmore » and is {approximately}25{degree} clockwise of many prior estimates. The velocity nearly parallels the boundary between the Sierra Nevada and the Great Basin, which implies that current motion within the Great Basin results in a rotational, noncoaxial deformation. The authors use this velocity to estimate how motion is distributed across the broad deforming zone taking up Pacific-North America plate motion. They find that the vector sum of strike slip along the San Andreas fault and motion of the Sierra Nevada relative to stable North America (taken up by deformation within the Great Basin) differs little from the Pacific-north America plate velocity. The difference can be described at 36{degree}N along the San Andreas fault by a vector of 6 mm/yr directed toward N20{degree}W. This vector resolves into components of 5 mm/yr parallel to the fault and 2 mm/yr perpendicular to the fault with 95% confidence intervals of 0 to 10 mm/yr and {minus}1 to +5 mm/yr, respectively. The authors conclude that motion previously inferred to be taken up by deformation other than strike slip along the San Andreas fault or deformation within the Great Basin is much smaller than previously thought.« less

Fundamentals of Physics, Part 1 (Chapters 1-11)

NASA Astrophysics Data System (ADS)

Halliday, David; Resnick, Robert; Walker, Jearl

2003-12-01

Chapter 1.Measurement. How does the appearance of a new type of cloud signal changes in Earth's atmosphere? 1-1 What Is Physics? 1-2 Measuring Things. 1-3 The International System of Units. 1-4 Changing Units. 1-5 Length. 1-6 Time. 1-7 Mass. Review & Summary. Problems. Chapter 2.Motion Along a Straight Line. What causes whiplash injury in rear-end collisions of cars? 2-1 What Is Physics? 2-2 Motion. 2-3 Position and Displacement. 2-4 Average Velocity and Average Speed. 2-5 Instantaneous Velocity and Speed. 2-6 Acceleration. 2-7 Constant Acceleration: A Special Case. 2-8 Another Look at Constant Acceleration. 2-9 Free-Fall Acceleration. 2-10 Graphical Integration in Motion Analysis. Review & Summary. Questions. Problems. Chapter 3.Vectors. How does an ant know the way home with no guiding clues on the deser t plains? 3-2 Vectors and Scalars. 3-3 Adding Vectors Geometrically. 3-4 Components of Vectors. 3-5 Unit Vectors. 3-6 Adding Vectors by Components. 3-7 Vectors and the Laws of Physics. 3-8 Multiplying Vectors. Review & Summary. Questions. Problems. Chapter 4.Motion in Two and Three Dimensions. In a motorcycle jump for record distance, where does the jumper put the second ramp? 4-1 What Is Physics? 4-2 Position and Displacement. 4-3 Average Velocity and Instantaneous Velocity. 4-4 Average Acceleration and Instantaneous Acceleration. 4-5 Projectile Motion. 4-6 Projectile Motion Analyzed. 4-7 Uniform Circular Motion. 4-8 Relative Motion in One Dimension. 4-9 Relative Motion in Two Dimensions. Review & Summary. Questions. Problems. Chapter 5.Force and Motion-I. When a pilot takes off from an aircraft carrier, what causes the compulsion to fly the plane into the ocean? 5-1 What Is Physics? 5-2 Newtonian Mechanics. 5-3 Newton's First Law. 5-4 Force. 5-5 Mass. 5-6 Newton's Second Law. 5-7 Some Particular Forces. 5-8 Newton's Third Law. 5-9 Applying Newton's Laws. Review & Summary. Questions. Problems. Chapter 6.Force and Motion-II. Can a Grand Prix race car be driven upside down on a ceiling? 6-1 What Is Physics? 6-2 Friction. 6-3 Properties of Friction. 6-4 The Drag Force and Terminal Speed. 6-5 Uniform Circular Motion. Review & Summary. Questions. Problems. Chapter 7.Kinetic Energy and Work. In an epidural procedure, what sensations clue a surgeon that the needle has reached the spinal canal? 7-1 What Is Physics? 7-2 What Is Energy? 7-3 Kinetic Energy. 7-4 Work. 7-5 Work and Kinetic Energy. 7-6 Work Done by the Gravitational Force. 7-7 Work Done by a Spring Force. 7-8 Work Done by a General Variable Force. 7-9 Power. Review & Summary. Questions. Problems. Chapter 8.Potential Energy and Conservation of Energy. In rock climbing, what subtle factor determines if a falling climber will snap the rope? 8-1 What Is Physics? 8-2 Work and Potential Energy. 8-3 Path Independence of Conservative Forces. 8-4 Determining Potential Energy Values. 8-5 Conservation of Mechanical Energy. 8-6 Reading a Potential Energy Curve. 8-7 Work Done on a System by an External Force. 8-8 Conservation of Energy. Review & Summary. Questions. Problems. Chapter 9.Center of Mass and Linear Momentum. Does the presence of a passenger reduce the fatality risk in head-on car collisions? 9-1 What Is Physics? 9-2 The Center of Mass. 9-3 Newton's Second Law for a System of Particles. 9-4 Linear Momentum. 9-5 The Linear Momentum of a System of Particles. 9-6 Collision and Impulse. 9-7 Conservation of Linear Momentum. 9-8 Momentum and Kinetic Energy in Collisions. 9-9 Inelastic Collisions in One Dimension. 9-10 Elastic Collisions in One Dimension. 9-11 Collisions in Two Dimensions. 9-12 Systems with Varying Mass: A Rocket. Review & Summary. Questions. Problems. Chapter 10.Rotation. What causes roller-coaster headache? 10-1 What Is Physics? 10-2 The Rotational Variables. 10-3 Are Angular Quantities Vectors? 10-4 Rotation with Constant Angular Acceleration. 10-5 Relating the Linear and Angular Variables. 10-6 Kinetic Energy of Rotation. 10-7 Calculating the Rotational Inertia. 10-8 Torque. 10-9 Newton's Second Law for Rotation. 10-10 Work and Rotational Kinetic Energy. Review & Summary. Questions. Problems. Chapter 11.Rolling, Torque, and Angular Momentum. When a jet-powered car became supersonic in setting the land-speed record, what was the danger to the wheels? 11-1 What Is Physics? 11-2 Rolling as Translation and Rotation Combined. 11-3 The Kinetic Energy of Rolling. 11-4 The Forces of Rolling. 11-5 The Yo-Yo. 11-6 Torque Revisited. 11-7 Angular Momentum. 11-8 Newton's Second Law in Angular Form. 11-9 The Angular Momentum of a System of Particles. 11-10 The Angular Momentum of a Rigid Body Rotating About a Fixed Axis. 11-11 Conservation of Angular Momentum. 11-12 Precession of a Gyroscope. Review & Summary. Questions. Problems. Appendix A: The International System of Units (SI). Appendix B: Some Fundamental Constants of Physics. Appendix C: Some Astronomical Data. Appendix D: Conversion Factors. Appendix E: Mathematical Formulas. Appendix F: Properties of the Elements. Appendix G: Periodic Table of the Elements. Answers to Checkpoints and Odd-Numbered Questions and Problems. Index.

Sensorless battery temperature measurements based on electrochemical impedance spectroscopy

NASA Astrophysics Data System (ADS)

Raijmakers, L. H. J.; Danilov, D. L.; van Lammeren, J. P. M.; Lammers, M. J. G.; Notten, P. H. L.

2014-02-01

A new method is proposed to measure the internal temperature of (Li-ion) batteries. Based on electrochemical impedance spectroscopy measurements, an intercept frequency (f0) can be determined which is exclusively related to the internal battery temperature. The intercept frequency is defined as the frequency at which the imaginary part of the impedance is zero (Zim = 0), i.e. where the phase shift between the battery current and voltage is absent. The advantage of the proposed method is twofold: (i) no hardware temperature sensors are required anymore to monitor the battery temperature and (ii) the method does not suffer from heat transfer delays. Mathematical analysis of the equivalent electrical-circuit, representing the battery performance, confirms that the intercept frequency decreases with rising temperatures. Impedance measurements on rechargeable Li-ion cells of various chemistries were conducted to verify the proposed method. These experiments reveal that the intercept frequency is clearly dependent on the temperature and does not depend on State-of-Charge (SoC) and aging. These impedance-based sensorless temperature measurements are therefore simple and convenient for application in a wide range of stationary, mobile and high-power devices, such as hybrid- and full electric vehicles.

Lens-based wavefront sensorless adaptive optics swept source OCT

NASA Astrophysics Data System (ADS)

Jian, Yifan; Lee, Sujin; Ju, Myeong Jin; Heisler, Morgan; Ding, Weiguang; Zawadzki, Robert J.; Bonora, Stefano; Sarunic, Marinko V.

2016-06-01

Optical coherence tomography (OCT) has revolutionized modern ophthalmology, providing depth resolved images of the retinal layers in a system that is suited to a clinical environment. Although the axial resolution of OCT system, which is a function of the light source bandwidth, is sufficient to resolve retinal features at a micrometer scale, the lateral resolution is dependent on the delivery optics and is limited by ocular aberrations. Through the combination of wavefront sensorless adaptive optics and the use of dual deformable transmissive optical elements, we present a compact lens-based OCT system at an imaging wavelength of 1060 nm for high resolution retinal imaging. We utilized a commercially available variable focal length lens to correct for a wide range of defocus commonly found in patient’s eyes, and a novel multi-actuator adaptive lens for aberration correction to achieve near diffraction limited imaging performance at the retina. With a parallel processing computational platform, high resolution cross-sectional and en face retinal image acquisition and display was performed in real time. In order to demonstrate the system functionality and clinical utility, we present images of the photoreceptor cone mosaic and other retinal layers acquired in vivo from research subjects.

Testing stellar proper motions of TGAS stars using data from the HSOY, UCAC5 and PMA catalogues

NASA Astrophysics Data System (ADS)

Fedorov, P. N.; Akhmetov, V. S.; Velichko, A. B.

2018-05-01

We analyse the stellar proper motions from the Tycho-Gaia Astrometric Solution (TGAS) and those from the ground-based HSOY, UCAC5 and PMA catalogues derived by combining them with Gaia DR1 space data. Assuming that systematic differences in stellar proper motions of the two catalogues are caused by a mutual rigid-body rotation of the reference catalogue systems, we analyse components of the rotation vector between the systems. We found that the ωy component of the rotation vector is ˜1.5 mas yr-1 and it depends non-linearly on stellar magnitude for the objects of 9.5-11.5 mag used in all three comparisons of the catalogues HSOY, UCAC5 and PMA with respect to TGAS. We found that the Tycho-2 stars in TGAS appeared to have an inexplicable dependence of proper motion on stellar magnitude. We showed that the proper motions of the TGAS stars derived using AGIS differ from those obtained by the conventional (classical) method. Moreover, the application of both methods has not revealed such a difference between the proper motions of the Hipparcos and TGAS stars. An analysis of the systematic differences between the proper motions of the TGAS stars derived by the classical method and the proper motions of the HSOY, UCAC5 and PMA stars shows that the ωy component here does not depend on the magnitude. This indicates unambiguously that there is a magnitude error in the proper motions of the Tycho-2 stars derived with the AGIS.

Present-day plate motions

NASA Technical Reports Server (NTRS)

Minster, J. B.; Jordan, T. H.

1977-01-01

A data set comprising 110 spreading rates, 78 transform fault azimuths and 142 earthquake slip vectors was inverted to yield a new instantaneous plate motion model, designated RM2. The mean averaging interval for the relative motion data was reduced to less than 3 My. A detailed comparison of RM2 with angular velocity vectors which best fit the data along individual plate boundaries indicates that RM2 performs close to optimally in most regions, with several notable exceptions. On the other hand, a previous estimate (RM1) failed to satisfy an extensive set of new data collected in the South Atlantic Ocean. It is shown that RM1 incorrectly predicts the plate kinematics in the South Atlantic because the presently available data are inconsistent with the plate geometry assumed in deriving RM1. It is demonstrated that this inconsistency can be remedied by postulating the existence of internal deformation with the Indian plate, although alternate explanations are possible.

Real-time characterization of motion of motile microorganisms by means of a hybrid laser Doppler velocimeter technique

NASA Astrophysics Data System (ADS)

Zheng, Bin; Pleass, Charles M.; Ih, Charles S.

1993-11-01

A hybrid three-axis laser Doppler velocimeter system has been demonstrated in our laboratory. The system can monitor the motion of microorganisms in an unconstrained environment. During measurement, a computer system collects and processes time series data from the transit of a microorganism through the measurement volume. The fast Fourier transform of this data contains the motion signature of this microorganism. Because individual microorganisms can be selected from the field, ambiguity caused by multiscattering among two or more microorganisms can be avoided. Using this new system, we can obtain a feature vector that relates to features of the microorganism, such as its size, average translational velocity, rotation or wobbling, and its flagellum beat frequency. Such a vector appears to be a useful criterion for distinguishing the species using statistical pattern recognition. Successful experiments demonstrate that the new system and technique has some unique advantages.

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.

Diagnostics of vector magnetic fields

NASA Technical Reports Server (NTRS)

Stenflo, J. O.

1985-01-01

It is shown that the vector magnetic fields derived from observations with a filter magnetograph will be severely distorted if the spatially unresolved magnetic structure is not properly accounted for. Thus the apparent vector field will appear much more horizontal than it really is, but this distortion is strongly dependent on the area factor and the temperature line weakenings. As the available fluxtube models are not sufficiently well determined, it is not possible to correct the filter magnetograph observations for these effects in a reliable way, although a crude correction is of course much better than no correction at all. The solution to this diagnostic problem is to observe simultaneously in suitable combinations of spectral lines, and/or use Stokes line profiles recorded with very high spectral resolution. The diagnostic power of using a Fourier transform spectrometer for polarimetry is shown and some results from I and V spectra are illustrated. The line asymmetries caused by mass motions inside the fluxtubes adds an extra complication to the diagnostic problem, in particular as there are indications that the motions are nonstationary in nature. The temperature structure appears to be a function of fluxtube diameter, as a clear difference between plage and network fluxtubes was revealed. The divergence of the magnetic field with height plays an essential role in the explanation of the Stokes V asymmetries (in combination with the mass motions). A self consistent treatment of the subarcsec field geometry may be required to allow an accurate derivation of the spatially averaged vector magnetic field from spectrally resolved data.

Image velocimetry for clouds with relaxation labeling based on deformation consistency

NASA Astrophysics Data System (ADS)

Horinouchi, Takeshi; Murakami, Shin-ya; Kouyama, Toru; Ogohara, Kazunori; Yamazaki, Atsushi; Yamada, Manabu; Watanabe, Shigeto

2017-08-01

Correlation-based cloud tracking has been extensively used to measure atmospheric winds, but still difficulty remains. In this study, aiming at developing a cloud tracking system for Akatsuki, an artificial satellite orbiting Venus, a formulation is developed for improving the relaxation labeling technique to select appropriate peaks of cross-correlation surfaces which tend to have multiple peaks. The formulation makes an explicit use of consistency inherent in the type of cross-correlation method where template sub-images are slid without deformation; if the resultant motion vectors indicate a too-large deformation, it is contradictory to the assumption of the method. The deformation consistency is exploited further to develop two post processes; one clusters the motion vectors into groups within each of which the consistency is perfect, and the other extends the groups using the original candidate lists. These processes are useful to eliminate erroneous vectors, distinguish motion vectors at different altitudes, and detect phase velocities of waves in fluids such as atmospheric gravity waves. As a basis of the relaxation labeling and the post processes as well as uncertainty estimation, the necessity to find isolated (well-separated) peaks of cross-correlation surfaces is argued, and an algorithm to realize it is presented. All the methods are implemented, and their effectiveness is demonstrated with initial images obtained by the ultraviolet imager onboard Akatsuki. Since the deformation consistency regards the logical consistency inherent in template matching methods, it should have broad application beyond cloud tracking.

Spaceborne Autonomous and Ground Based Relative Orbit Control for the TerraSAR-X/TanDEM-X Formation

NASA Technical Reports Server (NTRS)

Ardaens, J. S.; D'Amico, S.; Kazeminejad, B.; Montenbruck, O.; Gill, E.

2007-01-01

TerraSAR-X (TSX) and TanDEM-X (TDX) are two advanced synthetic aperture radar (SAR) satellites flying in formation. SAR interferometry allows a high resolution imaging of the Earth by processing SAR images obtained from two slightly different orbits. TSX operates as a repeat-pass interferometer in the first phase of its lifetime and will be supplemented after two years by TDX in order to produce digital elevation models (DEM) with unprecedented accuracy. Such a flying formation makes indeed possible a simultaneous interferometric data acquisition characterized by highly flexible baselines with range of variations between a few hundreds meters and several kilometers [1]. TSX has been successfully launched on the 15th of June, 2007. TDX is expected to be launched on the 31st of May, 2009. A safe and robust maintenance of the formation is based on the concept of relative eccentricity/inclination (e/i) vector separation whose efficiency has already been demonstrated during the Gravity Recovery and Climate Experiment (GRACE) [2]. Here, the satellite relative motion is parameterized by mean of relative orbit elements and the key idea is to align the relative eccentricity and inclination vectors to minimize the hazard of a collision. Previous studies have already shown the pertinence of this concept and have described the way of controlling the formation using an impulsive deterministic control law [3]. Despite the completely different relative orbit control requirements, the same approach can be applied to the TSX/TDX formation. The task of TDX is to maintain the close formation configuration by actively controlling its relative motion with respect to TSX, the leader of the formation. TDX must replicate the absolute orbit keeping maneuvers executed by TSX and also compensate the natural deviation of the relative e/i vectors. In fact the relative orbital elements of the formation tend to drift because of the secular non-keplerian perturbations acting on both satellites. The goal of the ground segment is thus to regularly correct this configuration by performing small orbit correction maneuvers on TDX. The ground station contacts are limited due to the geographic position of the station and the costs for contact time. Only with a polar ground station a contact visibility is possible every orbit for LEO satellites. TSX and TDX use only the Weilheim ground station (in the southern part of Germany) during routine operations. This station allows two scheduled contact per day for the nominal orbit configuration, meaning that the satellite conditions can be checked with an interval of 12 hours. While this limitation is usually not critical for single satellite operations, the visibility constraints drive the achievable orbit control accuracy for a LEO formation if a ground based approach is chosen. Along-track position uncertainties and maneuver execution errors affect the relative motion and can be compensated only after a ground station contact.

Hairy black hole solutions in U(1) gauge-invariant scalar-vector-tensor theories

NASA Astrophysics Data System (ADS)

Heisenberg, Lavinia; Tsujikawa, Shinji

2018-05-01

In U (1) gauge-invariant scalar-vector-tensor theories with second-order equations of motion, we study the properties of black holes (BH) on a static and spherically symmetric background. In shift-symmetric theories invariant under the shift of scalar ϕ → ϕ + c, we show the existence of new hairy BH solutions where a cubic-order scalar-vector interaction gives rise to a scalar hair manifesting itself around the event horizon. In the presence of a quartic-order interaction besides the cubic coupling, there are also regular BH solutions endowed with scalar and vector hairs.

Respiratory motion correction in 4D-PET by simultaneous motion estimation and image reconstruction (SMEIR)

PubMed Central

Kalantari, Faraz; Li, Tianfang; Jin, Mingwu; Wang, Jing

2016-01-01

In conventional 4D positron emission tomography (4D-PET), images from different frames are reconstructed individually and aligned by registration methods. Two issues that arise with this approach are as follows: 1) the reconstruction algorithms do not make full use of projection statistics; and 2) the registration between noisy images can result in poor alignment. In this study, we investigated the use of simultaneous motion estimation and image reconstruction (SMEIR) methods for motion estimation/correction in 4D-PET. A modified ordered-subset expectation maximization algorithm coupled with total variation minimization (OSEM-TV) was used to obtain a primary motion-compensated PET (pmc-PET) from all projection data, using Demons derived deformation vector fields (DVFs) as initial motion vectors. A motion model update was performed to obtain an optimal set of DVFs in the pmc-PET and other phases, by matching the forward projection of the deformed pmc-PET with measured projections from other phases. The OSEM-TV image reconstruction was repeated using updated DVFs, and new DVFs were estimated based on updated images. A 4D-XCAT phantom with typical FDG biodistribution was generated to evaluate the performance of the SMEIR algorithm in lung and liver tumors with different contrasts and different diameters (10 to 40 mm). The image quality of the 4D-PET was greatly improved by the SMEIR algorithm. When all projections were used to reconstruct 3D-PET without motion compensation, motion blurring artifacts were present, leading up to 150% tumor size overestimation and significant quantitative errors, including 50% underestimation of tumor contrast and 59% underestimation of tumor uptake. Errors were reduced to less than 10% in most images by using the SMEIR algorithm, showing its potential in motion estimation/correction in 4D-PET. PMID:27385378

Respiratory motion correction in 4D-PET by simultaneous motion estimation and image reconstruction (SMEIR)

NASA Astrophysics Data System (ADS)

Kalantari, Faraz; Li, Tianfang; Jin, Mingwu; Wang, Jing

2016-08-01

In conventional 4D positron emission tomography (4D-PET), images from different frames are reconstructed individually and aligned by registration methods. Two issues that arise with this approach are as follows: (1) the reconstruction algorithms do not make full use of projection statistics; and (2) the registration between noisy images can result in poor alignment. In this study, we investigated the use of simultaneous motion estimation and image reconstruction (SMEIR) methods for motion estimation/correction in 4D-PET. A modified ordered-subset expectation maximization algorithm coupled with total variation minimization (OSEM-TV) was used to obtain a primary motion-compensated PET (pmc-PET) from all projection data, using Demons derived deformation vector fields (DVFs) as initial motion vectors. A motion model update was performed to obtain an optimal set of DVFs in the pmc-PET and other phases, by matching the forward projection of the deformed pmc-PET with measured projections from other phases. The OSEM-TV image reconstruction was repeated using updated DVFs, and new DVFs were estimated based on updated images. A 4D-XCAT phantom with typical FDG biodistribution was generated to evaluate the performance of the SMEIR algorithm in lung and liver tumors with different contrasts and different diameters (10-40 mm). The image quality of the 4D-PET was greatly improved by the SMEIR algorithm. When all projections were used to reconstruct 3D-PET without motion compensation, motion blurring artifacts were present, leading up to 150% tumor size overestimation and significant quantitative errors, including 50% underestimation of tumor contrast and 59% underestimation of tumor uptake. Errors were reduced to less than 10% in most images by using the SMEIR algorithm, showing its potential in motion estimation/correction in 4D-PET.

Micro PIV Measurements of the Internal Flow of an Amoeba proteus

NASA Astrophysics Data System (ADS)

Resagk, Christian; Lobutova, Elka; Li, Ling; Voges, Danja

2011-11-01

We report about micro PIV measurements of the internal flow in the protoplasm of an amoeba. The velocity data shall give information about the mechanism of the change of amoeba's contour during its locomotion in water. The experimental data is used for an analytical modeling of the locomotion mechanism with the help of a variable contour and finally for the development of locomotion principles for micro robots. The experimental set-up consists of a microscope and a CCD camera with 12 frames per second and image analysis software. The illumination of the amoeba was done by the built-in microscope halogen lamp. We use the phase contrast configuration to capture images of the amoeba moving in water. We applied an electrical field to the water channel in order to control the movement of the amoeba in one direction. During this motion we measured time dependent velocity vector fields of the protoplasm flow, estimated velocity profiles and analyzed time series of the maximum velocity. The velocity vector plots are calculated from the images by using cross correlation and naturally occurring particles in the protoplasm. Beside the analyses of the internal flow we recorded the motion of the center of gravity and the variation of the sectional area.

A computational model for reference-frame synthesis with applications to motion perception.

PubMed

Clarke, Aaron M; Öğmen, Haluk; Herzog, Michael H

2016-09-01

As discovered by the Gestaltists, in particular by Duncker, we often perceive motion to be within a non-retinotopic reference frame. For example, the motion of a reflector on a bicycle appears to be circular, whereas, it traces out a cycloidal path with respect to external world coordinates. The reflector motion appears to be circular because the human brain subtracts the horizontal motion of the bicycle from the reflector motion. The bicycle serves as a reference frame for the reflector motion. Here, we present a general mathematical framework, based on vector fields, to explain non-retinotopic motion processing. Using four types of non-retinotopic motion paradigms, we show how the theory works in detail. For example, we show how non-retinotopic motion in the Ternus-Pikler display can be computed. Copyright © 2015 Elsevier Ltd. All rights reserved.

Separating Internal Waves and Vortical Motions: Analysis of LatMix -EM-APEX Float Measurements

DTIC Science & Technology

2015-09-30

vortical motions and internal waves and quantify their effects on horizontal dispersion and diapycnal mixing. WORK COMPLETED...defined as Π = ( + ∇×)⋅∇( − η) (e.g., Kunze and Sanford 1993), where f is the Coriolis frequency, U the velocity vector, z the vertical coordinate

The derivative and tangent operators of a motion in Lorentzian space

NASA Astrophysics Data System (ADS)

Durmaz, Olgun; Aktaş, Buşra; Gündoğan, Hali˙t

In this paper, by using Lorentzian matrix multiplication, L-Tangent operator is obtained in Lorentzian space. The L-Tangent operators related with planar, spherical and spatial motion are computed via special matrix groups. L-Tangent operators are related to vectors. Some illustrative examples for applications of L-Tangent operators are also presented.

Rigid Body Motion in Stereo 3D Simulation

ERIC Educational Resources Information Center

Zabunov, Svetoslav

2010-01-01

This paper addresses the difficulties experienced by first-grade students studying rigid body motion at Sofia University. Most quantities describing the rigid body are in relations that the students find hard to visualize and understand. They also lose the notion of cause-result relations between vector quantities, such as the relation between…

The generalized formula for angular velocity vector of the moving coordinate system

NASA Astrophysics Data System (ADS)

Ermolin, Vladislav S.; Vlasova, Tatyana V.

2018-05-01

There are various ways for introducing the concept of the instantaneous angular velocity vector. In this paper we propose a method based on introducing of this concept by construction of the solution for the system of kinematic equations. These equations connect the function vectors defining the motion of the basis, and their derivatives. Necessary and sufficient conditions for the existence and uniqueness of the solution of this system are established. The instantaneous angular velocity vector is a solution of the algebraic system of equations. It is built explicitly. The derived formulas for the angular velocity vector generalize the earlier results, both for a basis of an affine oblique coordinate system and for an orthonormal basis.

Self-similar motion of a Nambu-Goto string

NASA Astrophysics Data System (ADS)

Igata, Takahisa; Houri, Tsuyoshi; Harada, Tomohiro

2016-09-01

We study the self-similar motion of a string in a self-similar spacetime by introducing the concept of a self-similar string, which is defined as the world sheet to which a homothetic vector field is tangent. It is shown that in Nambu-Goto theory, the equations of motion for a self-similar string reduce to those for a particle. Moreover, under certain conditions such as the hypersurface orthogonality of the homothetic vector field, the equations of motion for a self-similar string simplify to the geodesic equations on a (pseudo)Riemannian space. As a concrete example, we investigate a self-similar Nambu-Goto string in a spatially flat Friedmann-Lemaître-Robertson-Walker expanding universe with self-similarity and obtain solutions of open and closed strings, which have various nontrivial configurations depending on the rate of the cosmic expansion. For instance, we obtain a circular solution that evolves linearly in the cosmic time while keeping its configuration by the balance between the effects of the cosmic expansion and string tension. We also show the instability for linear radial perturbation of the circular solutions.

Betatron motion with coupling of horizontal and vertical degrees of freedom

DOE PAGES

Lebedev, V. A.; Bogacz, S. A.

2010-10-21

Presently, there are two most frequently used parameterezations of linear x-y coupled motion used in the accelerator physics. They are the Edwards-Teng and Mais-Ripken parameterizations. The article is devoted to an analysis of close relationship between the two representations, thus adding a clarity to their physical meaning. It also discusses the relationship between the eigen-vectors, the beta-functions, second order moments and the bilinear form representing the particle ellipsoid in the 4D phase space. Then, it consideres a further development of Mais-Ripken parameteresation where the particle motion is descrabed by 10 parameters: four beta-functions, four alpha-functions and two betatron phase advances.more » In comparison with Edwards-Teng parameterization the chosen parametrization has an advantage that it works equally well for analysis of coupled betatron motion in circular accelerators and in transfer lines. In addition, considered relationship between second order moments, eigen-vectors and beta-functions can be useful in interpreting tracking results and experimental data. As an example, the developed formalizm is applied to the FNAL electron cooler and Derbenev’s vertex-to-plane adapter.« less

Betatron motion with coupling of horizontal and vertical degrees of freedom

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

Lebedev, V. A.; Bogacz, S. A.

Presently, there are two most frequently used parameterezations of linear x-y coupled motion used in the accelerator physics. They are the Edwards-Teng and Mais-Ripken parameterizations. The article is devoted to an analysis of close relationship between the two representations, thus adding a clarity to their physical meaning. It also discusses the relationship between the eigen-vectors, the beta-functions, second order moments and the bilinear form representing the particle ellipsoid in the 4D phase space. Then, it consideres a further development of Mais-Ripken parameteresation where the particle motion is descrabed by 10 parameters: four beta-functions, four alpha-functions and two betatron phase advances.more » In comparison with Edwards-Teng parameterization the chosen parametrization has an advantage that it works equally well for analysis of coupled betatron motion in circular accelerators and in transfer lines. In addition, considered relationship between second order moments, eigen-vectors and beta-functions can be useful in interpreting tracking results and experimental data. As an example, the developed formalizm is applied to the FNAL electron cooler and Derbenev’s vertex-to-plane adapter.« less

Betatron motion with coupling of horizontal and vertical degrees of freedom

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

Lebedev, V.A.; /Fermilab; Bogacz, S.A.

Presently, there are two most frequently used parameterizations of linear x-y coupled motion used in the accelerator physics. They are the Edwards-Teng and Mais-Ripken parameterizations. The article is devoted to an analysis of close relationship between the two representations, thus adding a clarity to their physical meaning. It also discusses the relationship between the eigen-vectors, the beta-functions, second order moments and the bilinear form representing the particle ellipsoid in the 4D phase space. Then, it consideres a further development of Mais-Ripken parameteresation where the particle motion is described by 10 parameters: four beta-functions, four alpha-functions and two betatron phase advances.more » In comparison with Edwards-Teng parameterization the chosen parametrization has an advantage that it works equally well for analysis of coupled betatron motion in circular accelerators and in transfer lines. Considered relationship between second order moments, eigen-vectors and beta-functions can be useful in interpreting tracking results and experimental data. As an example, the developed formalizm is applied to the FNAL electron cooler and Derbenev's vertex-to-plane adapter.« less

Spinning particles in vacuum spacetimes of different curvature types

NASA Astrophysics Data System (ADS)

Semerák, O.; Šrámek, M.

2015-09-01

We consider the motion of spinning test particles with nonzero rest mass in the "pole-dipole" approximation, as described by the Mathisson-Papapetrou-Dixon (MPD) equations, and examine its properties in dependence on the spin supplementary condition added to close the system. In order to better understand the spin-curvature interaction, the MPD equation of motion is decomposed in the orthonormal tetrad whose time vector is given by the four-velocity Vμ chosen to fix the spin condition (the "reference observer") and the first spatial vector by the corresponding spin sμ; such projections do not contain the Weyl scalars Ψ0 and Ψ4 obtained in the associated Newman-Penrose (NP) null tetrad. One natural option of how to choose the remaining two spatial basis vectors is shown to follow "intrinsically" whenever Vμ has been chosen; it is realizable if the particle's four-velocity and four-momentum are not parallel. In order to see how the problem depends on the algebraic type of curvature, one first identifies the first vector of the NP tetrad kμ with the highest-multiplicity principal null direction of the Weyl tensor, and then sets Vμ so that kμ belong to the spin-bivector eigenplane. In spacetimes of any algebraic type but III, it is known to be possible to rotate the tetrads so as to become "transverse," namely so that Ψ1 and Ψ3 vanish. If the spin-bivector eigenplane could be made to coincide with the real-vector plane of any of such transverse frames, the spinning particle motion would consequently be fully determined by Ψ2 and the cosmological constant; however, this can be managed in exceptional cases only. Besides focusing on specific Petrov types, we derive several sets of useful relations that are valid generally and check whether/how the exercise simplifies for some specific types of motion. The particular option of having four-velocity parallel to four-momentum is advocated, and a natural resolution of nonuniqueness of the corresponding reference observer Vμ is suggested.

Muscle-tendon units localization and activation level analysis based on high-density surface EMG array and NMF algorithm

NASA Astrophysics Data System (ADS)

Huang, Chengjun; Chen, Xiang; Cao, Shuai; Zhang, Xu

2016-12-01

Objective. Some skeletal muscles can be subdivided into smaller segments called muscle-tendon units (MTUs). The purpose of this paper is to propose a framework to locate the active region of the corresponding MTUs within a single skeletal muscle and to analyze the activation level varieties of different MTUs during a dynamic motion task. Approach. Biceps brachii and gastrocnemius were selected as targeted muscles and three dynamic motion tasks were designed and studied. Eight healthy male subjects participated in the data collection experiments, and 128-channel surface electromyographic (sEMG) signals were collected with a high-density sEMG electrode grid (a grid consists of 8 rows and 16 columns). Then the sEMG envelopes matrix was factorized into a matrix of weighting vectors and a matrix of time-varying coefficients by nonnegative matrix factorization algorithm. Main results. The experimental results demonstrated that the weightings vectors, which represent invariant pattern of muscle activity across all channels, could be used to estimate the location of MTUs and the time-varying coefficients could be used to depict the variation of MTUs activation level during dynamic motion task. Significance. The proposed method provides one way to analyze in-depth the functional state of MTUs during dynamic tasks and thus can be employed on multiple noteworthy sEMG-based applications such as muscle force estimation, muscle fatigue research and the control of myoelectric prostheses. This work was supported by the National Nature Science Foundation of China under Grant 61431017 and 61271138.

The Results of a Simulator Study to Determine the Effects on Pilot Performance of Two Different Motion Cueing Algorithms and Various Delays, Compensated and Uncompensated

NASA Technical Reports Server (NTRS)

Guo, Li-Wen; Cardullo, Frank M.; Telban, Robert J.; Houck, Jacob A.; Kelly, Lon C.

2003-01-01

A study was conducted employing the Visual Motion Simulator (VMS) at the NASA Langley Research Center, Hampton, Virginia. This study compared two motion cueing algorithms, the NASA adaptive algorithm and a new optimal control based algorithm. Also, the study included the effects of transport delays and the compensation thereof. The delay compensation algorithm employed is one developed by Richard McFarland at NASA Ames Research Center. This paper reports on the analyses of the results of analyzing the experimental data collected from preliminary simulation tests. This series of tests was conducted to evaluate the protocols and the methodology of data analysis in preparation for more comprehensive tests which will be conducted during the spring of 2003. Therefore only three pilots were used. Nevertheless some useful results were obtained. The experimental conditions involved three maneuvers; a straight-in approach with a rotating wind vector, an offset approach with turbulence and gust, and a takeoff with and without an engine failure shortly after liftoff. For each of the maneuvers the two motion conditions were combined with four delay conditions (0, 50, 100 & 200ms), with and without compensation.

Equations of motion of slung load systems with results for dual lift

NASA Technical Reports Server (NTRS)

Cicolani, Luigi S.; Kanning, Gerd

1990-01-01

General simulation equations are derived for the rigid body motion of slung load systems. These systems are viewed as consisting of several rigid bodies connected by straight-line cables or links. The suspension can be assumed to be elastic or inelastic, both cases being of interest in simulation and control studies. Equations for the general system are obtained via D'Alembert's principle and the introduction of generalized velocity coordinates. Three forms are obtained. Two of these generalize previous case-specific results for single helicopter systems with elastic or inelastic suspensions. The third is a new formulation for inelastic suspensions. It is derived from the elastic suspension equations by choosing the generalized coordinates so as to separate motion due to cable stretching from motion with invariant cable lengths. The result is computationally more efficient than the conventional formulation, and is readily integrated with the elastic suspension formulation and readily applied to the complex dual lift and multilift systems. Equations are derived for dual lift systems. Three proposed suspension arrangements can be integrated in a single equation set. The equations are given in terms of the natural vectors and matrices of three-dimensional rigid body mechanics and are tractable for both analysis and programming.

Velocity Estimate Following Air Data System Failure

DTIC Science & Technology

2008-03-01

39 Figure 3.3. Sampled Two Vector Approach .................................................................... 40 Figure 3.4...algorithm design in terms of reference frames, equations of motion, and velocity triangles describing the vector relationship between airspeed, wind speed...2.2.1 Reference Frames The flight of an aircraft through the air mass can be described in specific coordinate systems [ Nelson 1998]. To determine how

Effective gravitational couplings for cosmological perturbations in generalized Proca theories

NASA Astrophysics Data System (ADS)

De Felice, Antonio; Heisenberg, Lavinia; Kase, Ryotaro; Mukohyama, Shinji; Tsujikawa, Shinji; Zhang, Ying-li

2016-08-01

We consider the finite interactions of the generalized Proca theory including the sixth-order Lagrangian and derive the full linear perturbation equations of motion on the flat Friedmann-Lemaître-Robertson-Walker background in the presence of a matter perfect fluid. By construction, the propagating degrees of freedom (besides the matter perfect fluid) are two transverse vector perturbations, one longitudinal scalar, and two tensor polarizations. The Lagrangians associated with intrinsic vector modes neither affect the background equations of motion nor the second-order action of tensor perturbations, but they do give rise to nontrivial modifications to the no-ghost condition of vector perturbations and to the propagation speeds of vector and scalar perturbations. We derive the effective gravitational coupling Geff with matter density perturbations under a quasistatic approximation on scales deep inside the sound horizon. We find that the existence of intrinsic vector modes allows a possibility for reducing Geff. In fact, within the parameter space, Geff can be even smaller than the Newton gravitational constant G at the late cosmological epoch, with a peculiar phantom dark energy equation of state (without ghosts). The modifications to the slip parameter η and the evolution of the growth rate f σ8 are discussed as well. Thus, dark energy models in the framework of generalized Proca theories can be observationally distinguished from the Λ CDM model according to both cosmic growth and expansion history. Furthermore, we study the evolution of vector perturbations and show that outside the vector sound horizon the perturbations are nearly frozen and start to decay with oscillations after the horizon entry.

Towards breaking the spatial resolution barriers: An optical flow and super-resolution approach for sea ice motion estimation

NASA Astrophysics Data System (ADS)

Petrou, Zisis I.; Xian, Yang; Tian, YingLi

2018-04-01

Estimation of sea ice motion at fine scales is important for a number of regional and local level applications, including modeling of sea ice distribution, ocean-atmosphere and climate dynamics, as well as safe navigation and sea operations. In this study, we propose an optical flow and super-resolution approach to accurately estimate motion from remote sensing images at a higher spatial resolution than the original data. First, an external example learning-based super-resolution method is applied on the original images to generate higher resolution versions. Then, an optical flow approach is applied on the higher resolution images, identifying sparse correspondences and interpolating them to extract a dense motion vector field with continuous values and subpixel accuracies. Our proposed approach is successfully evaluated on passive microwave, optical, and Synthetic Aperture Radar data, proving appropriate for multi-sensor applications and different spatial resolutions. The approach estimates motion with similar or higher accuracy than the original data, while increasing the spatial resolution of up to eight times. In addition, the adopted optical flow component outperforms a state-of-the-art pattern matching method. Overall, the proposed approach results in accurate motion vectors with unprecedented spatial resolutions of up to 1.5 km for passive microwave data covering the entire Arctic and 20 m for radar data, and proves promising for numerous scientific and operational applications.

Integrated Power and Attitude Control for a Spacecraft with Flywheels and Control Moment Gyroscopes

NASA Technical Reports Server (NTRS)

Roithmayr, Carlos M.; Karlgaard, Christopher D.; Kumar, Renjith R.; Bose, David M.

2003-01-01

A law is designed for simultaneous control of the orientation of an Earth-pointing spacecraft, the energy stored by counter-rotating flywheels, and the angular momentum of the flywheels and control moment gyroscopes used together as all integrated set of actuators for attitude control. General. nonlinear equations of motion are presented in vector-dyadic form, and used to obtain approximate expressions which are then linearized in preparation for design of control laws that include feedback of flywheel kinetic energy error as it means of compensating for damping exerted by rotor bearings. Two flywheel 'steering laws' are developed such that torque commanded by all attitude control law is achieved while energy is stored or discharged at the required rate. Using the International Space Station as an example, numerical simulations are performed to demonstrate control about a torque equilibrium attitude and illustrate the benefits of kinetic energy error feedback.

Motion vector field upsampling for improved 4D cone-beam CT motion compensation of the thorax

NASA Astrophysics Data System (ADS)

Sauppe, Sebastian; Rank, Christopher M.; Brehm, Marcus; Paysan, Pascal; Seghers, Dieter; Kachelrieß, Marc

2017-03-01

To improve the accuracy of motion vector fields (MVFs) required for respiratory motion compensated (MoCo) CT image reconstruction without increasing the computational complexity of the MVF estimation approach, we propose a MVF upsampling method that is able to reduce the motion blurring in reconstructed 4D images. While respiratory gating improves the temporal resolution, it leads to sparse view sampling artifacts. MoCo image reconstruction has the potential to remove all motion artifacts while simultaneously making use of 100% of the rawdata. However the MVF accuracy is still below the temporal resolution of the CBCT data acquisition. Increasing the number of motion bins would increase reconstruction time and amplify sparse view artifacts, but not necessarily the accuracy of MVF. Therefore we propose a new method to upsample estimated MVFs and use those for MoCo. To estimate the MVFs, a modified version of the Demons algorithm is used. Our proposed method is able to interpolate the original MVFs up to a factor that each projection has its own individual MVF. To validate the method we use an artificially deformed clinical CT scan, with a breathing pattern of a real patient, and patient data acquired with a TrueBeamTM4D CBCT system (Varian Medical Systems). We evaluate our method for different numbers of respiratory bins, each again with different upsampling factors. Employing our upsampling method, motion blurring in the reconstructed 4D images, induced by irregular breathing and the limited temporal resolution of phase-correlated images, is substantially reduced.

Estimating the accuracy of the technique of reconstructing the rotational motion of a satellite based on the measurements of its angular velocity and the magnetic field of the Earth

NASA Astrophysics Data System (ADS)

Belyaev, M. Yu.; Volkov, O. N.; Monakhov, M. I.; Sazonov, V. V.

2017-09-01

The paper has studied the accuracy of the technique that allows the rotational motion of the Earth artificial satellites (AES) to be reconstructed based on the data of onboard measurements of angular velocity vectors and the strength of the Earth magnetic field (EMF). The technique is based on kinematic equations of the rotational motion of a rigid body. Both types of measurement data collected over some time interval have been processed jointly. The angular velocity measurements have been approximated using convenient formulas, which are substituted into the kinematic differential equations for the quaternion that specifies the transition from the body-fixed coordinate system of a satellite to the inertial coordinate system. Thus obtained equations represent a kinematic model of the rotational motion of a satellite. The solution of these equations, which approximate real motion, has been found by the least-square method from the condition of best fitting between the data of measurements of the EMF strength vector and its calculated values. The accuracy of the technique has been estimated by processing the data obtained from the board of the service module of the International Space Station ( ISS). The reconstruction of station motion using the aforementioned technique has been compared with the telemetry data on the actual motion of the station. The technique has allowed us to reconstruct the station motion in the orbital orientation mode with a maximum error less than 0.6° and the turns with a maximal error of less than 1.2°.

On the 4D generalized Proca action for an Abelian vector field

NASA Astrophysics Data System (ADS)

Allys, Erwan; Beltrán Almeida, Juan P.; Peter, Patrick; Rodríguez, Yeinzon

2016-09-01

We summarize previous results on the most general Proca theory in 4 dimensions containing only first-order derivatives in the vector field (second-order at most in the associated Stückelberg scalar) and having only three propagating degrees of freedom with dynamics controlled by second-order equations of motion. Discussing the Hessian condition used in previous works, we conjecture that, as in the scalar galileon case, the most complete action contains only a finite number of terms with second-order derivatives of the Stückelberg field describing the longitudinal mode, which is in agreement with the results of JCAP 05 (2014) 015 and Phys. Lett. B 757 (2016) 405 and complements those of JCAP 02 (2016) 004. We also correct and complete the parity violating sector, obtaining an extra term on top of the arbitrary function of the field Aμ, the Faraday tensor Fμν and its Hodge dual tilde Fμν.

Image-based evaluation of contraction-relaxation kinetics of human-induced pluripotent stem cell-derived cardiomyocytes: Correlation and complementarity with extracellular electrophysiology.

PubMed

Hayakawa, Tomohiro; Kunihiro, Takeshi; Ando, Tomoko; Kobayashi, Seiji; Matsui, Eriko; Yada, Hiroaki; Kanda, Yasunari; Kurokawa, Junko; Furukawa, Tetsushi

2014-12-01

In this study, we used high-speed video microscopy with motion vector analysis to investigate the contractile characteristics of hiPS-CM monolayer, in addition to further characterizing the motion with extracellular field potential (FP), traction force and the Ca(2+) transient. Results of our traction force microscopy demonstrated that the force development of hiPS-CMs correlated well with the cellular deformation detected by the video microscopy with motion vector analysis. In the presence of verapamil and isoproterenol, contractile motion of hiPS-CMs showed alteration in accordance with the changes in fluorescence peak of the Ca(2+) transient, i.e., upstroke, decay, amplitude and full-width at half-maximum. Simultaneously recorded hiPS-CM motion and FP showed that there was a linear correlation between changes in the motion and field potential duration in response to verapamil (30-150nM), isoproterenol (0.1-10μM) and E-4031 (10-50nM). In addition, tetrodotoxin (3-30μM)-induced delay of sodium current was corresponded with the delay of the contraction onset of hiPS-CMs. These results indicate that the electrophysiological and functional behaviors of hiPS-CMs are quantitatively reflected in the contractile motion detected by this image-based technique. In the presence of 100nM E-4031, the occurrence of early after-depolarization-like negative deflection in FP was also detected in the hiPS-CM motion as a characteristic two-step relaxation pattern. These findings offer insights into the interpretation of the motion kinetics of the hiPS-CMs, and are relevant for understanding electrical and mechanical relationship in hiPS-CMs. Copyright © 2014. Published by Elsevier Ltd.

The vectorial control of magnetization by light.

PubMed

Kanda, Natsuki; Higuchi, Takuya; Shimizu, Hirokatsu; Konishi, Kuniaki; Yoshioka, Kosuke; Kuwata-Gonokami, Makoto

2011-06-21

Application of coherent light-matter interactions has recently been extended to the ultrafast control of magnetization. An important but unrealized technique is the manipulation of magnetization vector motion to make it follow an arbitrarily designed multidimensional trajectory. Here we demonstrate a full manipulation of two-dimensional magnetic oscillations in antiferromagnetic NiO with a pair of polarization-twisted femtosecond laser pulses. We employ Raman-type nonlinear optical processes, wherein magnetic oscillations are impulsively induced with a controlled initial phase. Their azimuthal angle follows well-defined selection rules that have been determined by the symmetries of the materials. We emphasize that the temporal variation of the laser-pulse polarization angle enables us to control the phase and amplitude of the two degenerate modes, independently. These results lead to a new concept of the vectorial control of magnetization by light.

Quantication and analysis of respiratory motion from 4D MRI

NASA Astrophysics Data System (ADS)

Aizzuddin Abd Rahni, Ashrani; Lewis, Emma; Wells, Kevin

2014-11-01

It is well known that respiratory motion affects image acquisition and also external beam radiotherapy (EBRT) treatment planning and delivery. However often the existing approaches for respiratory motion management are based on a generic view of respiratory motion such as the general movement of organ, tissue or fiducials. This paper thus aims to present a more in depth analysis of respiratory motion based on 4D MRI for further integration into motion correction in image acquisition or image based EBRT. Internal and external motion was first analysed separately, on a per-organ basis for internal motion. Principal component analysis (PCA) was then performed on the internal and external motion vectors separately and the relationship between the two PCA spaces was analysed. The motion extracted from 4D MRI on general was found to be consistent with what has been reported in literature.

Device-Free Passive Identity Identification via WiFi Signals.

PubMed

Lv, Jiguang; Yang, Wu; Man, Dapeng

2017-11-02

Device-free passive identity identification attracts much attention in recent years, and it is a representative application in sensorless sensing. It can be used in many applications such as intrusion detection and smart building. Previous studies show the sensing potential of WiFi signals in a device-free passive manner. It is confirmed that human's gait is unique from each other similar to fingerprint and iris. However, the identification accuracy of existing approaches is not satisfactory in practice. In this paper, we present Wii, a device-free WiFi-based Identity Identification approach utilizing human's gait based on Channel State Information (CSI) of WiFi signals. Principle Component Analysis (PCA) and low pass filter are applied to remove the noises in the signals. We then extract several entities' gait features from both time and frequency domain, and select the most effective features according to information gain. Based on these features, Wii realizes stranger recognition through Gaussian Mixture Model (GMM) and identity identification through a Support Vector Machine (SVM) with Radial Basis Function (RBF) kernel. It is implemented using commercial WiFi devices and evaluated on a dataset with more than 1500 gait instances collected from eight subjects walking in a room. The results indicate that Wii can effectively recognize strangers and can achieves high identification accuracy with low computational cost. As a result, Wii has the potential to work in typical home security systems.

Device-Free Passive Identity Identification via WiFi Signals

PubMed Central

Yang, Wu; Man, Dapeng

2017-01-01

Device-free passive identity identification attracts much attention in recent years, and it is a representative application in sensorless sensing. It can be used in many applications such as intrusion detection and smart building. Previous studies show the sensing potential of WiFi signals in a device-free passive manner. It is confirmed that human’s gait is unique from each other similar to fingerprint and iris. However, the identification accuracy of existing approaches is not satisfactory in practice. In this paper, we present Wii, a device-free WiFi-based Identity Identification approach utilizing human’s gait based on Channel State Information (CSI) of WiFi signals. Principle Component Analysis (PCA) and low pass filter are applied to remove the noises in the signals. We then extract several entities’ gait features from both time and frequency domain, and select the most effective features according to information gain. Based on these features, Wii realizes stranger recognition through Gaussian Mixture Model (GMM) and identity identification through a Support Vector Machine (SVM) with Radial Basis Function (RBF) kernel. It is implemented using commercial WiFi devices and evaluated on a dataset with more than 1500 gait instances collected from eight subjects walking in a room. The results indicate that Wii can effectively recognize strangers and can achieves high identification accuracy with low computational cost. As a result, Wii has the potential to work in typical home security systems. PMID:29099091

Solution to Projectile Motion with Quadratic Drag and Graphing the Trajectory in Spreadsheets

ERIC Educational Resources Information Center

Benacka, Jan

2010-01-01

This note gives the analytical solution to projectile motion with quadratic drag by decomposing the velocity vector to "x," "y" coordinate directions. The solution is given by definite integrals. First, the impact angle is estimated from above, then the projectile coordinates are computed, and the trajectory is graphed at various launch angles and…

OMV: A simplified mathematical model of the orbital maneuvering vehicle

NASA Technical Reports Server (NTRS)

Teoh, W.

1984-01-01

A model of the orbital maneuvering vehicle (OMV) is presented which contains several simplications. A set of hand controller signals may be used to control the motion of the OMV. Model verification is carried out using a sequence of tests. The dynamic variables generated by the model are compared, whenever possible, with the corresponding analytical variables. The results of the tests show conclusively that the present model is behaving correctly. Further, this model interfaces properly with the state vector transformation module (SVX) developed previously. Correct command sentence sequences are generated by the OMV and and SVX system, and these command sequences can be used to drive the flat floor simulation system at MSFC.

Carter separable electromagnetic fields

NASA Astrophysics Data System (ADS)

Lynden-Bell, D.

2000-02-01

The purely electromagnetic analogue in flat space of Kerr's metric in general relativity is only rarely considered. Here we carry out in flat space a programme similar to Carter's investigation of metrics in general relativity in which the motion of a charged particle is separable. We concentrate on the separability of the motion (be it classical, relativistic or quantum) of a charged particle in electromagnetic fields that lie in planes through an axis of symmetry. In cylindrical polar coordinates (t,R,φ,z) the four-vector potential takes the form [formmu2] is the unit toroidal vector. The forms of the functions Φ(R,z) and A(R,z) are sought that allow separable motion. This occurs for relativistic motion only when AR,Φ and A2-Φ2 are all of the separable form ζ(λ)-η(μ)]/(λ-μ), where ζ and η are arbitrary functions, and λ and μ are spheroidal coordinates or degenerations thereof. The special forms of A and Φ that allow this are deduced. They include the Kerr metric analogue, with E+iB=-∇{q[(r-ia).(r-ia)]-1/2}. Rather more general electromagnetic fields allow separation when the motion is non-relativistic. The investigation is extended to fields that lie in parallel planes. Connections to Larmor's theorem are remarked upon.

A Preliminary Examination of the Second Generation CMORPH Real-time Production

NASA Astrophysics Data System (ADS)

Joyce, R.; Xie, P.; Wu, S.

2017-12-01

The second generation CMORPH (CMORPH2) has started test real-time production of 30-minute precipitation estimates on a 0.05olat/lon grid over the entire globe, from pole-to-pole. The CMORPH2 is built upon the Kalman Filter based CMORPH algorithm of Joyce and Xie (2011). Inputs to the system include rainfall and snowfall rate retrievals from passive microwave (PMW) measurements aboard all available low earth orbit (LEO) satellites, precipitation estimates derived from infrared (IR) observations of geostationary (GEO) and LEO platforms, and precipitation simulations from the NCEP operational global forecast system (GFS). Inputs from the various sources are first inter-calibrated to ensure quantitative consistencies in representing precipitation events of different intensities through PDF calibration against a common reference standard. The inter-calibrated PMW retrievals and IR-based precipitation estimates are then propagated from their respective observation times to the target analysis time along the motion vectors of the precipitating clouds. Motion vectors are first derived separately from the satellite IR based precipitation estimates and the GFS precipitation fields. These individually derived motion vectors are then combined through a 2D-VAR technique to form an analyzed field of cloud motion vectors over the entire globe. The propagated PMW and IR based precipitation estimates are finally integrated into a single field of global precipitation through the Kalman Filter framework. A set of procedures have been established to examine the performance of the CMORPH2 real-time production. CMORPH2 satellite precipitation estimates are compared against the CPC daily gauge analysis, Stage IV radar precipitation over the CONUS, and numerical model forecasts to discover potential shortcomings and quantify improvements against the first generation CMORPH. Special attention has been focused on the CMORPH behavior over high-latitude areas beyond the coverage of the first generation CMORPH. Detailed results will be reported at the AGU.

Multi-application controls: Robust nonlinear multivariable aerospace controls applications

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Classification of motor intent in transradial amputees using sonomyography and spatio-temporal image analysis

NASA Astrophysics Data System (ADS)

Hariharan, Harishwaran; Aklaghi, Nima; Baker, Clayton A.; Rangwala, Huzefa; Kosecka, Jana; Sikdar, Siddhartha

2016-04-01

In spite of major advances in biomechanical design of upper extremity prosthetics, these devices continue to lack intuitive control. Conventional myoelectric control strategies typically utilize electromyography (EMG) signal amplitude sensed from forearm muscles. EMG has limited specificity in resolving deep muscle activity and poor signal-to-noise ratio. We have been investigating alternative control strategies that rely on real-time ultrasound imaging that can overcome many of the limitations of EMG. In this work, we present an ultrasound image sequence classification method that utilizes spatiotemporal features to describe muscle activity and classify motor intent. Ultrasound images of the forearm muscles were obtained from able-bodied subjects and a trans-radial amputee while they attempted different hand movements. A grid-based approach is used to test the feasibility of using spatio-temporal features by classifying hand motions performed by the subjects. Using the leave-one-out cross validation on image sequences acquired from able-bodied subjects, we observe that the grid-based approach is able to discern four hand motions with 95.31% accuracy. In case of the trans-radial amputee, we are able to discern three hand motions with 80% accuracy. In a second set of experiments, we study classification accuracy by extracting spatio-temporal sub-sequences the depict activity due to the motion of local anatomical interfaces. Short time and space limited cuboidal sequences are initially extracted and assigned an optical flow behavior label, based on a response function. The image space is clustered based on the location of cuboids and features calculated from the cuboids in each cluster. Using sequences of known motions, we extract feature vectors that describe said motion. A K-nearest neighbor classifier is designed for classification experiments. Using the leave-one-out cross validation on image sequences for an amputee subject, we demonstrate that the classifier is able to discern three important hand motions with an accuracy of 93.33% accuracy, 91-100% precision and 80-100% recall rate. We anticipate that ultrasound imaging based methods will address some limitations of conventional myoelectric sensing, while adding advantages inherent to ultrasound imaging.

Recognizing human activities using appearance metric feature and kinematics feature

NASA Astrophysics Data System (ADS)

Qian, Huimin; Zhou, Jun; Lu, Xinbiao; Wu, Xinye

2017-05-01

The problem of automatically recognizing human activities from videos through the fusion of the two most important cues, appearance metric feature and kinematics feature, is considered. And a system of two-dimensional (2-D) Poisson equations is introduced to extract the more discriminative appearance metric feature. Specifically, the moving human blobs are first detected out from the video by background subtraction technique to form a binary image sequence, from which the appearance feature designated as the motion accumulation image and the kinematics feature termed as centroid instantaneous velocity are extracted. Second, 2-D discrete Poisson equations are employed to reinterpret the motion accumulation image to produce a more differentiated Poisson silhouette image, from which the appearance feature vector is created through the dimension reduction technique called bidirectional 2-D principal component analysis, considering the balance between classification accuracy and time consumption. Finally, a cascaded classifier based on the nearest neighbor classifier and two directed acyclic graph support vector machine classifiers, integrated with the fusion of the appearance feature vector and centroid instantaneous velocity vector, is applied to recognize the human activities. Experimental results on the open databases and a homemade one confirm the recognition performance of the proposed algorithm.

Illustrating dynamical symmetries in classical mechanics: The Laplace-Runge-Lenz vector revisited

NASA Astrophysics Data System (ADS)

O'Connell, Ross C.; Jagannathan, Kannan

2003-03-01

The inverse square force law admits a conserved vector that lies in the plane of motion. This vector has been associated with the names of Laplace, Runge, and Lenz, among others. Many workers have explored aspects of the symmetry and degeneracy associated with this vector and with analogous dynamical symmetries. We define a conserved dynamical variable α that characterizes the orientation of the orbit in two-dimensional configuration space for the Kepler problem and an analogous variable β for the isotropic harmonic oscillator. This orbit orientation variable is canonically conjugate to the angular momentum component normal to the plane of motion. We explore the canonical one-parameter group of transformations generated by α(β). Because we have an obvious pair of conserved canonically conjugate variables, it is desirable to use them as a coordinate-momentum pair. In terms of these phase space coordinates, the form of the Hamiltonian is nearly trivial because neither member of the pair can occur explicitly in the Hamiltonian. From these considerations we gain a simple picture of dynamics in phase space. The procedure we use is in the spirit of the Hamilton-Jacobi method.

3-D-Gaze-Based Robotic Grasping Through Mimicking Human Visuomotor Function for People With Motion Impairments.

PubMed

Li, Songpo; Zhang, Xiaoli; Webb, Jeremy D

2017-12-01

The goal of this paper is to achieve a novel 3-D-gaze-based human-robot-interaction modality, with which a user with motion impairment can intuitively express what tasks he/she wants the robot to do by directly looking at the object of interest in the real world. Toward this goal, we investigate 1) the technology to accurately sense where a person is looking in real environments and 2) the method to interpret the human gaze and convert it into an effective interaction modality. Looking at a specific object reflects what a person is thinking related to that object, and the gaze location contains essential information for object manipulation. A novel gaze vector method is developed to accurately estimate the 3-D coordinates of the object being looked at in real environments, and a novel interpretation framework that mimics human visuomotor functions is designed to increase the control capability of gaze in object grasping tasks. High tracking accuracy was achieved using the gaze vector method. Participants successfully controlled a robotic arm for object grasping by directly looking at the target object. Human 3-D gaze can be effectively employed as an intuitive interaction modality for robotic object manipulation. It is the first time that 3-D gaze is utilized in a real environment to command a robot for a practical application. Three-dimensional gaze tracking is promising as an intuitive alternative for human-robot interaction especially for disabled and elderly people who cannot handle the conventional interaction modalities.

Evaluation of interpolation methods for surface-based motion compensated tomographic reconstruction for cardiac angiographic C-arm data

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

Mueller, Kerstin; Schwemmer, Chris; Hornegger, Joachim

2013-03-15

Purpose: For interventional cardiac procedures, anatomical and functional information about the cardiac chambers is of major interest. With the technology of angiographic C-arm systems it is possible to reconstruct intraprocedural three-dimensional (3D) images from 2D rotational angiographic projection data (C-arm CT). However, 3D reconstruction of a dynamic object is a fundamental problem in C-arm CT reconstruction. The 2D projections are acquired over a scan time of several seconds, thus the projection data show different states of the heart. A standard FDK reconstruction algorithm would use all acquired data for a filtered backprojection and result in a motion-blurred image. In thismore » approach, a motion compensated reconstruction algorithm requiring knowledge of the 3D heart motion is used. The motion is estimated from a previously presented 3D dynamic surface model. This dynamic surface model results in a sparse motion vector field (MVF) defined at control points. In order to perform a motion compensated reconstruction, a dense motion vector field is required. The dense MVF is generated by interpolation of the sparse MVF. Therefore, the influence of different motion interpolation methods on the reconstructed image quality is evaluated. Methods: Four different interpolation methods, thin-plate splines (TPS), Shepard's method, a smoothed weighting function, and a simple averaging, were evaluated. The reconstruction quality was measured on phantom data, a porcine model as well as on in vivo clinical data sets. As a quality index, the 2D overlap of the forward projected motion compensated reconstructed ventricle and the segmented 2D ventricle blood pool was quantitatively measured with the Dice similarity coefficient and the mean deviation between extracted ventricle contours. For the phantom data set, the normalized root mean square error (nRMSE) and the universal quality index (UQI) were also evaluated in 3D image space. Results: The quantitative evaluation of all experiments showed that TPS interpolation provided the best results. The quantitative results in the phantom experiments showed comparable nRMSE of Almost-Equal-To 0.047 {+-} 0.004 for the TPS and Shepard's method. Only slightly inferior results for the smoothed weighting function and the linear approach were achieved. The UQI resulted in a value of Almost-Equal-To 99% for all four interpolation methods. On clinical human data sets, the best results were clearly obtained with the TPS interpolation. The mean contour deviation between the TPS reconstruction and the standard FDK reconstruction improved in the three human cases by 1.52, 1.34, and 1.55 mm. The Dice coefficient showed less sensitivity with respect to variations in the ventricle boundary. Conclusions: In this work, the influence of different motion interpolation methods on left ventricle motion compensated tomographic reconstructions was investigated. The best quantitative reconstruction results of a phantom, a porcine, and human clinical data sets were achieved with the TPS approach. In general, the framework of motion estimation using a surface model and motion interpolation to a dense MVF provides the ability for tomographic reconstruction using a motion compensation technique.« less

Evaluation of vector coastline features extracted from 'structure from motion'-derived elevation data

USGS Publications Warehouse

Kinsman, Nicole; Gibbs, Ann E.; Nolan, Matt

2015-01-01

For extensive and remote coastlines, the absence of high-quality elevation models—for example, those produced with lidar—leaves some coastal populations lacking one of the essential elements for mapping shoreline positions or flood extents. Here, we compare seven different elevation products in a lowlying area in western Alaska to establish their appropriateness for coastal mapping applications that require the delineation of elevation-based vectors. We further investigate the effective use of a Structure from Motion (SfM)-derived surface model (vertical RMSE<20 cm) by generating a tidal datum-based shoreline and an inundation extent map for a 2011 flood event. Our results suggest that SfM-derived elevation products can yield elevation-based vector features that have horizontal positional uncertainties comparable to those derived from other techniques. We also provide a rule-of-thumb equation to aid in the selection of minimum elevation model specifications based on terrain slope, vertical uncertainties, and desired horizontal accuracy.

Effects of Air Drag and Lunar Third-Body Perturbations on Motion Near a Reference KAM Torus

DTIC Science & Technology

2011-03-01

body m 1) mass of satellite; 2) order of associated Legendre polynomial n 1) mean motion; 2) degree of associated Legendre polynomial n3 mean motion...physical momentum pi ith physical momentum Pmn associated Legendre polynomial of order m and degree n q̇ physical coordinate derivatives vector, [q̇1...are constants specifying the shape of the gravitational field; and Pmn are associated Legendre polynomials . When m = n = 0, the geopotential function

Tracking without perceiving: a dissociation between eye movements and motion perception.

PubMed

Spering, Miriam; Pomplun, Marc; Carrasco, Marisa

2011-02-01

Can people react to objects in their visual field that they do not consciously perceive? We investigated how visual perception and motor action respond to moving objects whose visibility is reduced, and we found a dissociation between motion processing for perception and for action. We compared motion perception and eye movements evoked by two orthogonally drifting gratings, each presented separately to a different eye. The strength of each monocular grating was manipulated by inducing adaptation to one grating prior to the presentation of both gratings. Reflexive eye movements tracked the vector average of both gratings (pattern motion) even though perceptual responses followed one motion direction exclusively (component motion). Observers almost never perceived pattern motion. This dissociation implies the existence of visual-motion signals that guide eye movements in the absence of a corresponding conscious percept.

Tracking Without Perceiving: A Dissociation Between Eye Movements and Motion Perception

PubMed Central

Spering, Miriam; Pomplun, Marc; Carrasco, Marisa

2011-01-01

Can people react to objects in their visual field that they do not consciously perceive? We investigated how visual perception and motor action respond to moving objects whose visibility is reduced, and we found a dissociation between motion processing for perception and for action. We compared motion perception and eye movements evoked by two orthogonally drifting gratings, each presented separately to a different eye. The strength of each monocular grating was manipulated by inducing adaptation to one grating prior to the presentation of both gratings. Reflexive eye movements tracked the vector average of both gratings (pattern motion) even though perceptual responses followed one motion direction exclusively (component motion). Observers almost never perceived pattern motion. This dissociation implies the existence of visual-motion signals that guide eye movements in the absence of a corresponding conscious percept. PMID:21189353

Representing motion in a static image: constraints and parallels in art, science, and popular culture.

PubMed

Cutting, James E

2002-01-01

Representing motion in a picture is a challenge to artists, scientists, and all other imagemakers. Moreover, it presents a problem that will not go away with electronic and digital media, because often the pedagogical purpose of the representation of motion is more important than the motion itself. All satisfactory solutions evoke motion-for example, dynamic balance (or broken symmetry), stroboscopic sequences, affine shear (or forward lean), and photographic blur-but they also typically sacrifice the accuracy of the motion represented, a solution often unsuitable for science. Vector representations superimposed on static images allow for accuracy, but are not applicable to all situations. Workable solutions are almost certainly case specific and subject to continual evolution through exploration by imagemakers.

Geometric decompositions of collective motion

NASA Astrophysics Data System (ADS)

Mischiati, Matteo; Krishnaprasad, P. S.

2017-04-01

Collective motion in nature is a captivating phenomenon. Revealing the underlying mechanisms, which are of biological and theoretical interest, will require empirical data, modelling and analysis techniques. Here, we contribute a geometric viewpoint, yielding a novel method of analysing movement. Snapshots of collective motion are portrayed as tangent vectors on configuration space, with length determined by the total kinetic energy. Using the geometry of fibre bundles and connections, this portrait is split into orthogonal components each tangential to a lower dimensional manifold derived from configuration space. The resulting decomposition, when interleaved with classical shape space construction, is categorized into a family of kinematic modes-including rigid translations, rigid rotations, inertia tensor transformations, expansions and compressions. Snapshots of empirical data from natural collectives can be allocated to these modes and weighted by fractions of total kinetic energy. Such quantitative measures can provide insight into the variation of the driving goals of a collective, as illustrated by applying these methods to a publicly available dataset of pigeon flocking. The geometric framework may also be profitably employed in the control of artificial systems of interacting agents such as robots.

Geometric decompositions of collective motion

PubMed Central

Krishnaprasad, P. S.

2017-01-01

Collective motion in nature is a captivating phenomenon. Revealing the underlying mechanisms, which are of biological and theoretical interest, will require empirical data, modelling and analysis techniques. Here, we contribute a geometric viewpoint, yielding a novel method of analysing movement. Snapshots of collective motion are portrayed as tangent vectors on configuration space, with length determined by the total kinetic energy. Using the geometry of fibre bundles and connections, this portrait is split into orthogonal components each tangential to a lower dimensional manifold derived from configuration space. The resulting decomposition, when interleaved with classical shape space construction, is categorized into a family of kinematic modes—including rigid translations, rigid rotations, inertia tensor transformations, expansions and compressions. Snapshots of empirical data from natural collectives can be allocated to these modes and weighted by fractions of total kinetic energy. Such quantitative measures can provide insight into the variation of the driving goals of a collective, as illustrated by applying these methods to a publicly available dataset of pigeon flocking. The geometric framework may also be profitably employed in the control of artificial systems of interacting agents such as robots. PMID:28484319

Using an external surrogate for predictor model training in real-time motion management of lung tumors.

PubMed

Rottmann, Joerg; Berbeco, Ross

2014-12-01

Precise prediction of respiratory motion is a prerequisite for real-time motion compensation techniques such as beam, dynamic couch, or dynamic multileaf collimator tracking. Collection of tumor motion data to train the prediction model is required for most algorithms. To avoid exposure of patients to additional dose from imaging during this procedure, the feasibility of training a linear respiratory motion prediction model with an external surrogate signal is investigated and its performance benchmarked against training the model with tumor positions directly. The authors implement a lung tumor motion prediction algorithm based on linear ridge regression that is suitable to overcome system latencies up to about 300 ms. Its performance is investigated on a data set of 91 patient breathing trajectories recorded from fiducial marker tracking during radiotherapy delivery to the lung of ten patients. The expected 3D geometric error is quantified as a function of predictor lookahead time, signal sampling frequency and history vector length. Additionally, adaptive model retraining is evaluated, i.e., repeatedly updating the prediction model after initial training. Training length for this is gradually increased with incoming (internal) data availability. To assess practical feasibility model calculation times as well as various minimum data lengths for retraining are evaluated. Relative performance of model training with external surrogate motion data versus tumor motion data is evaluated. However, an internal-external motion correlation model is not utilized, i.e., prediction is solely driven by internal motion in both cases. Similar prediction performance was achieved for training the model with external surrogate data versus internal (tumor motion) data. Adaptive model retraining can substantially boost performance in the case of external surrogate training while it has little impact for training with internal motion data. A minimum adaptive retraining data length of 8 s and history vector length of 3 s achieve maximal performance. Sampling frequency appears to have little impact on performance confirming previously published work. By using the linear predictor, a relative geometric 3D error reduction of about 50% was achieved (using adaptive retraining, a history vector length of 3 s and with results averaged over all investigated lookahead times and signal sampling frequencies). The absolute mean error could be reduced from (2.0 ± 1.6) mm when using no prediction at all to (0.9 ± 0.8) mm and (1.0 ± 0.9) mm when using the predictor trained with internal tumor motion training data and external surrogate motion training data, respectively (for a typical lookahead time of 250 ms and sampling frequency of 15 Hz). A linear prediction model can reduce latency induced tracking errors by an average of about 50% in real-time image guided radiotherapy systems with system latencies of up to 300 ms. Training a linear model for lung tumor motion prediction with an external surrogate signal alone is feasible and results in similar performance as training with (internal) tumor motion. Particularly for scenarios where motion data are extracted from fluoroscopic imaging with ionizing radiation, this may alleviate the need for additional imaging dose during the collection of model training data.

Learning Motion Features for Example-Based Finger Motion Estimation for Virtual Characters

NASA Astrophysics Data System (ADS)

Mousas, Christos; Anagnostopoulos, Christos-Nikolaos

2017-09-01

This paper presents a methodology for estimating the motion of a character's fingers based on the use of motion features provided by a virtual character's hand. In the presented methodology, firstly, the motion data is segmented into discrete phases. Then, a number of motion features are computed for each motion segment of a character's hand. The motion features are pre-processed using restricted Boltzmann machines, and by using the different variations of semantically similar finger gestures in a support vector machine learning mechanism, the optimal weights for each feature assigned to a metric are computed. The advantages of the presented methodology in comparison to previous solutions are the following: First, we automate the computation of optimal weights that are assigned to each motion feature counted in our metric. Second, the presented methodology achieves an increase (about 17%) in correctly estimated finger gestures in comparison to a previous method.

A hybrid frame concealment algorithm for H.264/AVC.

PubMed

Yan, Bo; Gharavi, Hamid

2010-01-01

In packet-based video transmissions, packets loss due to channel errors may result in the loss of the whole video frame. Recently, many error concealment algorithms have been proposed in order to combat channel errors; however, most of the existing algorithms can only deal with the loss of macroblocks and are not able to conceal the whole missing frame. In order to resolve this problem, in this paper, we have proposed a new hybrid motion vector extrapolation (HMVE) algorithm to recover the whole missing frame, and it is able to provide more accurate estimation for the motion vectors of the missing frame than other conventional methods. Simulation results show that it is highly effective and significantly outperforms other existing frame recovery methods.

On the Milankovitch orbital elements for perturbed Keplerian motion

NASA Astrophysics Data System (ADS)

Rosengren, Aaron J.; Scheeres, Daniel J.

2014-03-01

We consider sets of natural vectorial orbital elements of the Milankovitch type for perturbed Keplerian motion. These elements are closely related to the two vectorial first integrals of the unperturbed two-body problem; namely, the angular momentum vector and the Laplace-Runge-Lenz vector. After a detailed historical discussion of the origin and development of such elements, nonsingular equations for the time variations of these sets of elements under perturbations are established, both in Lagrangian and Gaussian form. After averaging, a compact, elegant, and symmetrical form of secular Milankovitch-like equations is obtained, which reminds of the structure of canonical systems of equations in Hamiltonian mechanics. As an application of this vectorial formulation, we analyze the motion of an object orbiting about a planet (idealized as a point mass moving in a heliocentric elliptical orbit) and subject to solar radiation pressure acceleration (obeying an inverse-square law). We show that the corresponding secular problem is integrable and we give an explicit closed-form solution.

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.

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

NASA Technical Reports Server (NTRS)

Tse, C. J. C.

1973-01-01

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

Quantum entanglement and position-momentum entropic squeezing of a moving Lambda-type three-level atom interacting with a single-mode quantized field with intensity-dependent coupling

NASA Astrophysics Data System (ADS)

Faghihi, M. J.; Tavassoly, M. K.

2013-07-01

In this paper, we study the interaction between a moving Λ-type three-level atom and a single-mode cavity field in the presence of intensity-dependent atom-field coupling. After obtaining the state vector of the entire system explicitly, we study the nonclassical features of the system such as quantum entanglement, position-momentum entropic squeezing, quadrature squeezing and sub-Poissonian statistics. According to the obtained numerical results we illustrate that the squeezed period, the duration of entropy squeezing and the maximal squeezing can be controlled by choosing the appropriate nonlinearity function together with entering the atomic motion effect by the suitable selection of the field-mode structure parameter. Also, the atomic motion, as well as the nonlinearity function, leads to the oscillatory behaviour of the degree of entanglement between the atom and field.

Determination of lateral-stability derivatives and transfer-function coefficients from frequency-response data for lateral motions

NASA Technical Reports Server (NTRS)

Donegan, James J; Robinson, Samuel W , Jr; Gates, Ordway, B , jr

1955-01-01

A method is presented for determining the lateral-stability derivatives, transfer-function coefficients, and the modes for lateral motion from frequency-response data for a rigid aircraft. The method is based on the application of the vector technique to the equations of lateral motion, so that the three equations of lateral motion can be separated into six equations. The method of least squares is then applied to the data for each of these equations to yield the coefficients of the equations of lateral motion from which the lateral-stability derivatives and lateral transfer-function coefficients are computed. Two numerical examples are given to demonstrate the use of the method.

Relative attitude dynamics and control for a satellite inspection mission

NASA Astrophysics Data System (ADS)

Horri, Nadjim M.; Kristiansen, Kristian U.; Palmer, Phil; Roberts, Mark

2012-02-01

The problem of conducting an inspection mission from a chaser satellite orbiting a target spaceraft is considered. It is assumed that both satellites follow nearly circular orbits. The relative orbital motion is described by the Hill-Clohessy-Wiltshire equation. In the case of an elliptic relative orbit, it is shown that an inspection mission is feasible when the chaser is inertially pointing, provided that the camera mounted on the chaser satellite has sufficiently large field of view. The same possibility is shown when the optical axis of the chaser's camera points in, or opposite to, the tangential direction of the local vertical local horizontal frame. For an arbitrary relative orbit and arbitrary initial conditions, the concept of relative Euler angles is defined for this inspection mission. The expression of the desired relative angular velocity vector is derived as a function of Cartesian coordinates of the relative orbit. A quaternion feedback controller is then designed and shown to perform relative attitude control with admissible internal torques. Three different types of relative orbits are considered, namely the elliptic, Pogo and drifting relative orbits. Measurements of the relative orbital motion are assumed to be available from optical navigation.

Optical coherence tomography with a 2.8-mm beam diameter and sensorless defocus and astigmatism correction

NASA Astrophysics Data System (ADS)

Reddikumar, Maddipatla; Tanabe, Ayano; Hashimoto, Nobuyuki; Cense, Barry

2017-02-01

An optical coherence tomography (OCT) system with a 2.8-mm beam diameter is presented. Sensorless defocus correction can be performed with a Badal optometer and astigmatism correction with a liquid crystal device. OCT B-scans were used in an image-based optimization algorithm for aberration correction. Defocus can be corrected from -4.3 D to +4.3 D and vertical and oblique astigmatism from -2.5 D to +2.5 D. A contrast gain of 6.9 times was measured after aberration correction. In comparison with a 1.3-mm beam diameter OCT system, this concept achieved a 3.7-dB gain in dynamic range on a model retina. Both systems were used to image the retina of a human subject. As the correction of the liquid crystal device can take more than 60 s, the subject's spectacle prescription was adopted instead. This resulted in a 2.5 times smaller speckle size compared with the standard OCT system. The liquid crystal device for astigmatism correction does not need a high-voltage amplifier and can be operated at 5 V. The correction device is small (9 mm×30 mm×38 mm) and can easily be implemented in existing designs for OCT.

Multiscale sensorless adaptive optics OCT angiography system for in vivo human retinal imaging.

PubMed

Ju, Myeong Jin; Heisler, Morgan; Wahl, Daniel; Jian, Yifan; Sarunic, Marinko V

2017-11-01

We present a multiscale sensorless adaptive optics (SAO) OCT system capable of imaging retinal structure and vasculature with various fields-of-view (FOV) and resolutions. Using a single deformable mirror and exploiting the polarization properties of light, the SAO-OCT-A was implemented in a compact and easy to operate system. With the ability to adjust the beam diameter at the pupil, retinal imaging was demonstrated at two different numerical apertures with the same system. The general morphological structure and retinal vasculature could be observed with a few tens of micrometer-scale lateral resolution with conventional OCT and OCT-A scanning protocols with a 1.7-mm-diameter beam incident at the pupil and a large FOV (15 deg× 15 deg). Changing the system to a higher numerical aperture with a 5.0-mm-diameter beam incident at the pupil and the SAO aberration correction, the FOV was reduced to 3 deg× 3 deg for fine detailed imaging of morphological structure and microvasculature such as the photoreceptor mosaic and capillaries. Multiscale functional SAO-OCT imaging was performed on four healthy subjects, demonstrating its functionality and potential for clinical utility. (2017) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE).

3D surface perception from motion involves a temporal–parietal network

PubMed Central

Beer, Anton L.; Watanabe, Takeo; Ni, Rui; Sasaki, Yuka; Andersen, George J.

2010-01-01

Previous research has suggested that three-dimensional (3D) structure-from-motion (SFM) perception in humans involves several motion-sensitive occipital and parietal brain areas. By contrast, SFM perception in nonhuman primates seems to involve the temporal lobe including areas MT, MST and FST. The present functional magnetic resonance imaging study compared several motion-sensitive regions of interest including the superior temporal sulcus (STS) while human observers viewed horizontally moving dots that defined either a 3D corrugated surface or a 3D random volume. Low-level stimulus features such as dot density and velocity vectors as well as attention were tightly controlled. Consistent with previous research we found that 3D corrugated surfaces elicited stronger responses than random motion in occipital and parietal brain areas including area V3A, the ventral and dorsal intraparietal sulcus, the lateral occipital sulcus and the fusiform gyrus. Additionally, 3D corrugated surfaces elicited stronger activity in area MT and the STS but not in area MST. Brain activity in the STS but not in area MT correlated with interindividual differences in 3D surface perception. Our findings suggest that area MT is involved in the analysis of optic flow patterns such as speed gradients and that the STS in humans plays a greater role in the analysis of 3D SFM than previously thought. PMID:19674088

Novel Integration of Frame Rate Up Conversion and HEVC Coding Based on Rate-Distortion Optimization.

PubMed

Guo Lu; Xiaoyun Zhang; Li Chen; Zhiyong Gao

2018-02-01

Frame rate up conversion (FRUC) can improve the visual quality by interpolating new intermediate frames. However, high frame rate videos by FRUC are confronted with more bitrate consumption or annoying artifacts of interpolated frames. In this paper, a novel integration framework of FRUC and high efficiency video coding (HEVC) is proposed based on rate-distortion optimization, and the interpolated frames can be reconstructed at encoder side with low bitrate cost and high visual quality. First, joint motion estimation (JME) algorithm is proposed to obtain robust motion vectors, which are shared between FRUC and video coding. What's more, JME is embedded into the coding loop and employs the original motion search strategy in HEVC coding. Then, the frame interpolation is formulated as a rate-distortion optimization problem, where both the coding bitrate consumption and visual quality are taken into account. Due to the absence of original frames, the distortion model for interpolated frames is established according to the motion vector reliability and coding quantization error. Experimental results demonstrate that the proposed framework can achieve 21% ~ 42% reduction in BDBR, when compared with the traditional methods of FRUC cascaded with coding.

Motion in a central field in the presence of a constant perturbing acceleration in a co-moving coordinate system

NASA Astrophysics Data System (ADS)

Sannikova, T. N.; Kholshevnikov, K. V.

2015-08-01

The motion of a point mass under the action of a gravitational force toward a central body and a perturbing acceleration P is considered. The magnitude of P is taken to be small compared to the main gravitational acceleration due to the central body, and the direction of P to be constant in a standard astronomical coordinate system with its origin at the central body and axes directed along the radius vector, the transversal, and the binormal. Consideration of a constant vector perturbing acceleration simplifies averaging of the Euler equations for the motion in osculating elements, making it straightforward to obtain evolutionary differential equations of motion in the mean elements, as was done earlier in a first small-parameter approximation. This paper is devoted to integration of the mean equations. The system is integratable by quadratures if at least one component of the perturbing acceleration is zero, and also if the orbit is initially circular. Moreover, all the quadratures can be expressed in terms of elementary functions and elliptical integrals of the first kind in Jacobi form. If all three components of P are non-zero, this problem reduces to a system of two first-order differential equations, which are apparently not integrable. Possible applications include the motion of natural and artificial satellites taking into account light pressure, the motion of a spacecraft with low thrust, and the motion of an asteroid subject to a thrust from an engine mounted on it or to a gravitational tractor designed, for example, to avoid a collision with Earth.

Supercell and tornado roles

Science.gov Websites

where C is the storm motion vector, and k is the unit vector in the vertical (Davies-Jones et al. 1990 mutually interacting perspectives, each addressing different aspects of the supercell storms most directly marked by low clouds, extending to the left. Photograph © 2005 C. Doswell 4. Developing a conceptual

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

Rottmann, Joerg; Berbeco, Ross

Purpose: Precise prediction of respiratory motion is a prerequisite for real-time motion compensation techniques such as beam, dynamic couch, or dynamic multileaf collimator tracking. Collection of tumor motion data to train the prediction model is required for most algorithms. To avoid exposure of patients to additional dose from imaging during this procedure, the feasibility of training a linear respiratory motion prediction model with an external surrogate signal is investigated and its performance benchmarked against training the model with tumor positions directly. Methods: The authors implement a lung tumor motion prediction algorithm based on linear ridge regression that is suitable tomore » overcome system latencies up to about 300 ms. Its performance is investigated on a data set of 91 patient breathing trajectories recorded from fiducial marker tracking during radiotherapy delivery to the lung of ten patients. The expected 3D geometric error is quantified as a function of predictor lookahead time, signal sampling frequency and history vector length. Additionally, adaptive model retraining is evaluated, i.e., repeatedly updating the prediction model after initial training. Training length for this is gradually increased with incoming (internal) data availability. To assess practical feasibility model calculation times as well as various minimum data lengths for retraining are evaluated. Relative performance of model training with external surrogate motion data versus tumor motion data is evaluated. However, an internal–external motion correlation model is not utilized, i.e., prediction is solely driven by internal motion in both cases. Results: Similar prediction performance was achieved for training the model with external surrogate data versus internal (tumor motion) data. Adaptive model retraining can substantially boost performance in the case of external surrogate training while it has little impact for training with internal motion data. A minimum adaptive retraining data length of 8 s and history vector length of 3 s achieve maximal performance. Sampling frequency appears to have little impact on performance confirming previously published work. By using the linear predictor, a relative geometric 3D error reduction of about 50% was achieved (using adaptive retraining, a history vector length of 3 s and with results averaged over all investigated lookahead times and signal sampling frequencies). The absolute mean error could be reduced from (2.0 ± 1.6) mm when using no prediction at all to (0.9 ± 0.8) mm and (1.0 ± 0.9) mm when using the predictor trained with internal tumor motion training data and external surrogate motion training data, respectively (for a typical lookahead time of 250 ms and sampling frequency of 15 Hz). Conclusions: A linear prediction model can reduce latency induced tracking errors by an average of about 50% in real-time image guided radiotherapy systems with system latencies of up to 300 ms. Training a linear model for lung tumor motion prediction with an external surrogate signal alone is feasible and results in similar performance as training with (internal) tumor motion. Particularly for scenarios where motion data are extracted from fluoroscopic imaging with ionizing radiation, this may alleviate the need for additional imaging dose during the collection of model training data.« less

Input relegation control for gross motion of a kinematically redundant manipulator

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

Unseren, M.A.

1992-10-01

This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the jointmore » velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.« less

The Local Stellar Velocity Field via Vector Spherical Harmonics

NASA Technical Reports Server (NTRS)

Markarov, V. V.; Murphy, D. W.

2007-01-01

We analyze the local field of stellar tangential velocities for a sample of 42,339 nonbinary Hipparcos stars with accurate parallaxes, using a vector spherical harmonic formalism. We derive simple relations between the parameters of the classical linear model (Ogorodnikov-Milne) of the local systemic field and low-degree terms of the general vector harmonic decomposition. Taking advantage of these relationships, we determine the solar velocity with respect to the local stars of (V(sub X), V(sub Y), V(sub Z)) (10.5, 18.5, 7.3) +/- 0.1 km s(exp -1) not corrected for the asymmetric drift with respect to the local standard of rest. If only stars more distant than 100 pc are considered, the peculiar solar motion is (V(sub X), V(sub Y), V(sub Z)) (9.9, 15.6, 6.9) +/- 0.2 km s(exp -1). The adverse effects of harmonic leakage, which occurs between the reflex solar motion represented by the three electric vector harmonics in the velocity space and higher degree harmonics in the proper-motion space, are eliminated in our analysis by direct subtraction of the reflex solar velocity in its tangential components for each star. The Oort parameters determined by a straightforward least-squares adjustment in vector spherical harmonics are A=14.0 +/- 1.4, B=13.1 +/- 1.2, K=1.1 +/- 1.8, and C=2.9 +/- 1.4 km s(exp -1) kpc(exp -1). The physical meaning and the implications of these parameters are discussed in the framework of a general linear model of the velocity field. We find a few statistically significant higher degree harmonic terms that do not correspond to any parameters in the classical linear model. One of them, a third-degree electric harmonic, is tentatively explained as the response to a negative linear gradient of rotation velocity with distance from the Galactic plane, which we estimate at approximately -20 km s(exp -1) kpc(exp -1). A similar vertical gradient of rotation velocity has been detected for more distant stars representing the thick disk (z greater than 1 kpc), but here we surmise its existence in the thin disk at z less than 200 pc. The most unexpected and unexplained term within the Ogorodnikov-Milne model is the first-degree magnetic harmonic, representing a rigid rotation of the stellar field about the axis -Y pointing opposite to the direction of rotation. This harmonic comes out with a statistically robust coefficient of 6.2 +/- 0.9 km s(exp -1) kpc(exp -1) and is also present in the velocity field of more distant stars. The ensuing upward vertical motion of stars in the general direction of the Galactic center and the downward motion in the anticenter direction are opposite to the vector field expected from the stationary Galactic warp model.

Einstein-aether theory: dynamics of relativistic particles with spin or polarization in a Gödel-type universe

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

Balakin, Alexander B.; Popov, Vladimir A., E-mail: alexander.balakin@kpfu.ru, E-mail: vladipopov@mail.ru

In the framework of the Einstein-aether theory we consider a cosmological model, which describes the evolution of the unit dynamic vector field with activated rotational degree of freedom. We discuss exact solutions of the Einstein-aether theory, for which the space-time is of the Gödel-type, the velocity four-vector of the aether motion is characterized by a non-vanishing vorticity, thus the rotational vectorial modes can be associated with the source of the universe rotation. The main goal of our paper is to study the motion of test relativistic particles with a vectorial internal degree of freedom (spin or polarization), which is coupledmore » to the unit dynamic vector field. The particles are considered as the test ones in the given space-time background of the Gödel-type; the spin (polarization) coupling to the unit dynamic vector field is modeled using exact solutions of three types. The first exact solution describes the aether with arbitrary Jacobson's coupling constants; the second one relates to the case, when the Jacobson's constant responsible for the vorticity is vanishing; the third exact solution is obtained using three constraints for the coupling constants. The analysis of the exact expressions, which are obtained for the particle momentum and for the spin (polarization) four-vector components, shows that the interaction of the spin (polarization) with the unit vector field induces a rotation, which is additional to the geodesic precession of the spin (polarization) associated with the universe rotation as a whole.« less

A study of the nonlinear aerodynamics of bodies in nonplanar motion. Ph.D. Thesis - Stanford Univ., Calif.; [numerical analysis of aerodynamic force and moment systems during large amplitude, arbitrary motions

NASA Technical Reports Server (NTRS)

Schiff, L. B.

1974-01-01

Concepts from the theory of functionals are used to develop nonlinear formulations of the aerodynamic force and moment systems acting on bodies in large-amplitude, arbitrary motions. The analysis, which proceeds formally once the functional dependence of the aerodynamic reactions upon the motion variables is established, ensures the inclusion, within the resulting formulation, of pertinent aerodynamic terms that normally are excluded in the classical treatment. Applied to the large-amplitude, slowly varying, nonplanar motion of a body, the formulation suggests that the aerodynamic moment can be compounded of the moments acting on the body in four basic motions: steady angle of attack, pitch oscillations, either roll or yaw oscillations, and coning motion. Coning, where the nose of the body describes a circle around the velocity vector, characterizes the nonplanar nature of the general motion.

Possible microplate generation at RRR triple junctions due to the non-circular finite motion of plates relative to each other

NASA Astrophysics Data System (ADS)

Cronin, V. S.

2012-12-01

First generation ideas of the kinematic stability of triple junctions lead to the common belief that the geometry of ridge-ridge-ridge (RRR) triple junctions remains constant over time under conditions of symmetric spreading. Given constant relative motion between each plate pair -- that is, the pole of plate relative motion is fixed to both plates in each pair during finite motion, as assumed in many accounts of plate kinematics -- there would be no boundary mismatch at the triple junction and no apparent kinematic reason why a microplate might develop there. But if, in a given RRR triple junction, the finite motion of one plate as observed from the other plate is not circular (as is generally the case, given the three-plate problem of plate kinematics), the geometry of the ridges and the triple junction will vary with time (Cronin, 1992, Tectonophys 207, 287-301). To explore the possible consequences of non-circular finite motion between plates at an RRR triple junction, a simple model was coded based on the cycloid finite-motion model (e.g., Cronin, 1987, Geology 15, 1006-1009) using NNR-MORVEL56 velocities for individual plates (Argus et al., 2011, G3 12, doi: 10.1029/2011GC003751). Initial assumptions include a spherical Earth, symmetric spreading, and constant angular velocities during the modeled finite time interval. The assumed-constant angular velocity vectors constitute a reference frame for observing finite plate motion. Typical results are [1] that the triple junction migrates relative to a coordinate system fixed to the angular-velocity vectors, [2] ridge axes rotates relative to each other, and [3] a boundary mismatch develops at the synthetic triple junction that might result in microplate nucleation. In a model simulating the Galapagos triple junction between the Cocos, Nazca and Pacific plates whose initial state did not include the Galapagos microplate, the mismatch gap was as much as ~3.4 km during 3 Myr of model displacement (see figure). The centroid of the synthetic triple junction translates ~81 km toward azimuth ~352° in 3 Myr. Of course, the details will vary as different angular velocity vectors are used; however, modeling indicates that non-circular finite relative motion between adjacent plates generally results in boundary mismatches and rotation of ridge segments relative to each other at RRR triple junctions. Left: synthetic Galapagos triple junction at initial model time, without a microplate. Right: synthetic triple junction after 3 Myr displacement, illustrating the resulting boundary mismatch (gap) and rotated ridge axes.

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.

Large Angle Reorientation of a Solar Sail Using Gimballed Mass Control

NASA Astrophysics Data System (ADS)

Sperber, E.; Fu, B.; Eke, F. O.

2016-06-01

This paper proposes a control strategy for the large angle reorientation of a solar sail equipped with a gimballed mass. The algorithm consists of a first stage that manipulates the gimbal angle in order to minimize the attitude error about a single principal axis. Once certain termination conditions are reached, a regulator is employed that selects a single gimbal angle for minimizing both the residual attitude error concomitantly with the body rate. Because the force due to the specular reflection of radiation is always directed along a reflector's surface normal, this form of thrust vector control cannot generate torques about an axis normal to the plane of the sail. Thus, in order to achieve three-axis control authority a 1-2-1 or 2-1-2 sequence of rotations about principal axes is performed. The control algorithm is implemented directly in-line with the nonlinear equations of motion and key performance characteristics are identified.

Motion estimation in the frequency domain using fuzzy c-planes clustering.

PubMed

Erdem, C E; Karabulut, G Z; Yanmaz, E; Anarim, E

2001-01-01

A recent work explicitly models the discontinuous motion estimation problem in the frequency domain where the motion parameters are estimated using a harmonic retrieval approach. The vertical and horizontal components of the motion are independently estimated from the locations of the peaks of respective periodogram analyses and they are paired to obtain the motion vectors using a procedure proposed. In this paper, we present a more efficient method that replaces the motion component pairing task and hence eliminates the problems of the pairing method described. The method described in this paper uses the fuzzy c-planes (FCP) clustering approach to fit planes to three-dimensional (3-D) frequency domain data obtained from the peaks of the periodograms. Experimental results are provided to demonstrate the effectiveness of the proposed method.

Complete integrability of geodesic motion in Sasaki-Einstein toric Yp,q spaces

NASA Astrophysics Data System (ADS)

Babalic, Elena Mirela; Visinescu, Mihai

2015-09-01

We construct explicitly the constants of motion for geodesics in the five-dimensional Sasaki-Einstein spaces Yp,q. To carry out this task, we use the knowledge of the complete set of Killing vectors and Killing-Yano tensors on these spaces. In spite of the fact that we generate a multitude of constants of motion, only five of them are functionally independent implying the complete integrability of geodesic flow on Yp,q spaces. In the particular case of the homogeneous Sasaki-Einstein manifold T1,1 the integrals of motion have simpler forms and the relations between them are described in detail.

Study to determine cloud motion from meteorological satellite data

NASA Technical Reports Server (NTRS)

Clark, B. B.

1972-01-01

Processing techniques were tested for deducing cloud motion vectors from overlapped portions of pairs of pictures made from meteorological satellites. This was accomplished by programming and testing techniques for estimating pattern motion by means of cross correlation analysis with emphasis placed upon identifying and reducing errors resulting from various factors. Techniques were then selected and incorporated into a cloud motion determination program which included a routine which would select and prepare sample array pairs from the preprocessed test data. The program was then subjected to limited testing with data samples selected from the Nimbus 4 THIR data provided by the 11.5 micron channel.

Improved optical flow motion estimation for digital image stabilization

NASA Astrophysics Data System (ADS)

Lai, Lijun; Xu, Zhiyong; Zhang, Xuyao

2015-11-01

Optical flow is the instantaneous motion vector at each pixel in the image frame at a time instant. The gradient-based approach for optical flow computation can't work well when the video motion is too large. To alleviate such problem, we incorporate this algorithm into a pyramid multi-resolution coarse-to-fine search strategy. Using pyramid strategy to obtain multi-resolution images; Using iterative relationship from the highest level to the lowest level to obtain inter-frames' affine parameters; Subsequence frames compensate back to the first frame to obtain stabilized sequence. The experiment results demonstrate that the promoted method has good performance in global motion estimation.

Insitu aircraft verification of the quality of satellite cloud winds over oceanic regions

NASA Technical Reports Server (NTRS)

Hasler, A. F.; Skillman, W. C.

1979-01-01

A five year aircraft experiment to verify the quality of satellite cloud winds over oceans using in situ aircraft inertial navigation system wind measurements is presented. The final results show that satellite measured cumulus cloud motions are very good estimators of the cloud base wind for trade wind and subtropical high regions. The average magnitude of the vector differences between the cloud motion and the cloud base wind is given. For cumulus clouds near frontal regions, the cloud motion agreed best with the mean cloud layer wind. For a very limited sample, cirrus cloud motions also most closely followed the mean wind in the cloud layer.

Coupled B-snake grids and constrained thin-plate splines for analysis of 2-D tissue deformations from tagged MRI.

PubMed

Amini, A A; Chen, Y; Curwen, R W; Mani, V; Sun, J

1998-06-01

Magnetic resonance imaging (MRI) is unique in its ability to noninvasively and selectively alter tissue magnetization and create tagged patterns within a deforming body such as the heart muscle. The resulting patterns define a time-varying curvilinear coordinate system on the tissue, which we track with coupled B-snake grids. B-spline bases provide local control of shape, compact representation, and parametric continuity. Efficient spline warps are proposed which warp an area in the plane such that two embedded snake grids obtained from two tagged frames are brought into registration, interpolating a dense displacement vector field. The reconstructed vector field adheres to the known displacement information at the intersections, forces corresponding snakes to be warped into one another, and for all other points in the plane, where no information is available, a C1 continuous vector field is interpolated. The implementation proposed in this paper improves on our previous variational-based implementation and generalizes warp methods to include biologically relevant contiguous open curves, in addition to standard landmark points. The methods are validated with a cardiac motion simulator, in addition to in-vivo tagging data sets.

Detection of abnormal living patterns for elderly living alone using support vector data description.

PubMed

Shin, Jae Hyuk; Lee, Boreom; Park, Kwang Suk

2011-05-01

In this study, we developed an automated behavior analysis system using infrared (IR) motion sensors to assist the independent living of the elderly who live alone and to improve the efficiency of their healthcare. An IR motion-sensor-based activity-monitoring system was installed in the houses of the elderly subjects to collect motion signals and three different feature values, activity level, mobility level, and nonresponse interval (NRI). These factors were calculated from the measured motion signals. The support vector data description (SVDD) method was used to classify normal behavior patterns and to detect abnormal behavioral patterns based on the aforementioned three feature values. The simulation data and real data were used to verify the proposed method in the individual analysis. A robust scheme is presented in this paper for optimally selecting the values of different parameters especially that of the scale parameter of the Gaussian kernel function involving in the training of the SVDD window length, T of the circadian rhythmic approach with the aim of applying the SVDD to the daily behavior patterns calculated over 24 h. Accuracies by positive predictive value (PPV) were 95.8% and 90.5% for the simulation and real data, respectively. The results suggest that the monitoring system utilizing the IR motion sensors and abnormal-behavior-pattern detection with SVDD are effective methods for home healthcare of elderly people living alone.

A motion picture presentation of magnetic pulsations

NASA Technical Reports Server (NTRS)

Suzuki, A.; Kim, J. S.; Sugura, M.; Nagano, H.

1981-01-01

Using the data obtained from the IMS North American magnetometer network stations at high latitudes, a motion picture was made by a computer technique, describing time changes of Pc5 and Pi3 magnetic pulsation vectors. Examples of pulsation characteristics derived from this presentation are regional polarization changes including shifts of polarization demarcation lines, changes in the extent of an active region and its movement with time.

PIV/HPIV Film Analysis Software Package

NASA Technical Reports Server (NTRS)

Blackshire, James L.

1997-01-01

A PIV/HPIV film analysis software system was developed that calculates the 2-dimensional spatial autocorrelations of subregions of Particle Image Velocimetry (PIV) or Holographic Particle Image Velocimetry (HPIV) film recordings. The software controls three hardware subsystems including (1) a Kodak Megaplus 1.4 camera and EPIX 4MEG framegrabber subsystem, (2) an IEEE/Unidex 11 precision motion control subsystem, and (3) an Alacron I860 array processor subsystem. The software runs on an IBM PC/AT host computer running either the Microsoft Windows 3.1 or Windows 95 operating system. It is capable of processing five PIV or HPIV displacement vectors per second, and is completely automated with the exception of user input to a configuration file prior to analysis execution for update of various system parameters.

SMP84: Improvements to Capability and Prediction Accuracy of the Standard Ship Motion Program SMP81

DTIC Science & Technology

1985-09-01

active fin behaves in a manner similar to a rotating cylinder in a flow. The general form of the Magnus Lift term is FML z 2,(Vt/V)(2rs)(PV2 /2) (38...DEPARTMENT [AVIATION AND "SHIP PERFORMANCE SURFACE EFFECTS • ~ ~~~~DEPARTMENTSUFEEF T PT 1DEPARTMENT• 15 16 COMPUTATION.STRUCTURES MATHEMATICS...Force vector developed by active motion of tin F* Magnitude of force due to active motion of fin FML Magnus lift term FP Forward perpendicular Fv

Simultaneous full-field 3-D vibrometry of the human eardrum using spatial-bandwidth multiplexed holography

NASA Astrophysics Data System (ADS)

Khaleghi, Morteza; Guignard, Jérémie; Furlong, Cosme; Rosowski, John J.

2015-11-01

Holographic interferometric methods typically require the use of three sensitivity vectors in order to obtain three-dimensional (3-D) information. Methods based on multiple directions of illumination have limited applications when studying biological tissues that have temporally varying responses such as the tympanic membrane (TM). Therefore, to measure 3-D displacements in such applications, the measurements along all the sensitivity vectors have to be done simultaneously. We propose a multiple-illumination directions approach to measure 3-D displacements from a single-shot hologram that contains displacement information from three sensitivity vectors. The hologram of an object of interest is simultaneously recorded with three incoherently superimposed pairs of reference and object beams. The incident off-axis angles of the reference beams are adjusted such that the frequency components of the multiplexed hologram are completely separate. Because of the differences in the directions and wavelengths of the reference beams, the positions of each reconstructed image corresponding to each sensitivity vector are different. We implemented a registration algorithm to accurately translate individual components of the hologram into a single global coordinate system to calculate 3-D displacements. The results include magnitudes and phases of 3-D sound-induced motions of a human cadaveric TM at several excitation frequencies showing modal and traveling wave motions on its surface.

Forces Associated with Nonlinear Nonholonomic Constraint Equations

NASA Technical Reports Server (NTRS)

Roithmayr, Carlos M.; Hodges, Dewey H.

2010-01-01

A concise method has been formulated for identifying a set of forces needed to constrain the behavior of a mechanical system, modeled as a set of particles and rigid bodies, when it is subject to motion constraints described by nonholonomic equations that are inherently nonlinear in velocity. An expression in vector form is obtained for each force; a direction is determined, together with the point of application. This result is a consequence of expressing constraint equations in terms of dot products of vectors rather than in the usual way, which is entirely in terms of scalars and matrices. The constraint forces in vector form are used together with two new analytical approaches for deriving equations governing motion of a system subject to such constraints. If constraint forces are of interest they can be brought into evidence in explicit dynamical equations by employing the well-known nonholonomic partial velocities associated with Kane's method; if they are not of interest, equations can be formed instead with the aid of vectors introduced here as nonholonomic partial accelerations. When the analyst requires only the latter, smaller set of equations, they can be formed directly; it is not necessary to expend the labor to form the former, larger set first and subsequently perform matrix multiplications.

Measurement of aspheric mirror by nanoprofiler using normal vector tracing

NASA Astrophysics Data System (ADS)

Kitayama, Takao; Shiraji, Hiroki; Yamamura, Kazuya; Endo, Katsuyoshi

2016-09-01

Aspheric or free-form optics with high accuracy are necessary in many fields such as third-generation synchrotron radiation and extreme-ultraviolet lithography. Therefore the demand of measurement method for aspherical or free-form surface with nanometer accuracy increases. Purpose of our study is to develop a non-contact measurement technology for aspheric or free-form surfaces directly with high repeatability. To achieve this purpose we have developed threedimensional Nanoprofiler which detects normal vectors of sample surface. The measurement principle is based on the straightness of laser light and the accurate motion of rotational goniometers. This machine consists of four rotational stages, one translational stage and optical head which has the quadrant photodiode (QPD) and laser source. In this measurement method, we conform the incident light beam to reflect the beam by controlling five stages and determine the normal vectors and the coordinates of the surface from signal of goniometers, translational stage and QPD. We can obtain three-dimensional figure from the normal vectors and their coordinates by surface reconstruction algorithm. To evaluate performance of this machine we measure a concave aspheric mirror with diameter of 150 mm. As a result we achieve to measure large area of 150mm diameter. And we observe influence of systematic errors which the machine has. Then we simulated the influence and subtracted it from measurement result.

MISR CMV New Data

Atmospheric Science Data Center

2016-10-31

Cloud Motion Vector (CMV) Product The MISR Level 3 Products are global or ... field campaigns at daily and monthly time scales. The CMV product provides conveniently organized, high quality retrievals of cloud ...

Primer Vector Optimization: Survey of Theory, New Analysis and Applications

NASA Technical Reports Server (NTRS)

Guzman, J. J.; Mailhe, L. M.; Schiff, C.; Hughes, S. P.; Folta, D. C.

2002-01-01

In this paper, a summary of primer vector theory is presented. The applicability of primer vector theory is examined in an effort to understand when and why the theory can fail. For example, since the Calculus of Variations is based on "small" variations, singularities in the linearized (variational) equations of motion along the arcs must be taken into account. These singularities are a recurring problem in analyse that employ small variations. Two examples, the initialization of an orbit and a line of apsides rotation, are presented. Recommendations, future work, and the possible addition of other optimization techniques are also discussed.

Rate determination from vector observations

NASA Technical Reports Server (NTRS)

Weiss, Jerold L.

1993-01-01

Vector observations are a common class of attitude data provided by a wide variety of attitude sensors. Attitude determination from vector observations is a well-understood process and numerous algorithms such as the TRIAD algorithm exist. These algorithms require measurement of the line of site (LOS) vector to reference objects and knowledge of the LOS directions in some predetermined reference frame. Once attitude is determined, it is a simple matter to synthesize vehicle rate using some form of lead-lag filter, and then, use it for vehicle stabilization. Many situations arise, however, in which rate knowledge is required but knowledge of the nominal LOS directions are not available. This paper presents two methods for determining spacecraft angular rates from vector observations without a priori knowledge of the vector directions. The first approach uses an extended Kalman filter with a spacecraft dynamic model and a kinematic model representing the motion of the observed LOS vectors. The second approach uses a 'differential' TRIAD algorithm to compute the incremental direction cosine matrix, from which vehicle rate is then derived.

MTPA control of mechanical sensorless IPMSM based on adaptive nonlinear control.

PubMed

Najjar-Khodabakhsh, Abbas; Soltani, Jafar

2016-03-01

In this paper, an adaptive nonlinear control scheme has been proposed for implementing maximum torque per ampere (MTPA) control strategy corresponding to interior permanent magnet synchronous motor (IPMSM) drive. This control scheme is developed in the rotor d-q axis reference frame using adaptive input-output state feedback linearization (AIOFL) method. The drive system control stability is supported by Lyapunov theory. The motor inductances are online estimated by an estimation law obtained by AIOFL. The estimation errors of these parameters are proved to be asymptotically converged to zero. Based on minimizing the motor current amplitude, the MTPA control strategy is performed by using the nonlinear optimization technique while considering the online reference torque. The motor reference torque is generated by a conventional rotor speed PI controller. By performing MTPA control strategy, the generated online motor d-q reference currents were used in AIOFL controller to obtain the SV-PWM reference voltages and the online estimation of the motor d-q inductances. In addition, the stator resistance is online estimated using a conventional PI controller. Moreover, the rotor position is detected using the online estimation of the stator flux and online estimation of the motor q-axis inductance. Simulation and experimental results obtained prove the effectiveness and the capability of the proposed control method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A direct application of the non-linear inverse transformation flight control system design on a STOVL aircraft

NASA Technical Reports Server (NTRS)

Chung, W. W.; Mcneill, W. E.; Stortz, M. W.

1993-01-01

The nonlinear inverse transformation flight control system design method is applied to the Lockheed Ft. Worth Company's E-7D short takeoff and vertical land (STOVL) supersonic fighter/attack aircraft design with a modified General Electric F110 engine which has augmented propulsive lift capability. The system is fully augmented to provide flight path control and velocity control, and rate command attitude hold for angular axes during the transition and hover operations. In cruise mode, the flight control system is configured to provide direct thrust command, rate command attitude hold for pitch and roll axes, and sideslip command with turn coordination. A control selector based on the nonlinear inverse transformation method is designed specifically to be compatible with the propulsion system's physical configuration which has a two dimensional convergent-divergent aft nozzle, a vectorable ventral nozzle, and a thrust augmented ejector. The nonlinear inverse transformation is used to determine the propulsive forces and nozzle deflections, which in combination with the aerodynamic forces and moments (including propulsive induced contributions), and gravitational force, are required to achieve the longitudinal and vertical acceleration commands. The longitudinal control axes are fully decoupled within the propulsion system's performance envelope. A piloted motion-base flight simulation was conducted on the Vertical Motion Simulator (VMS) at NASA Ames Research Center to examine the handling qualities of this design. Based on results of the simulation, refinements to the control system have been made and will also be covered in the report.

Signal injection as a fault detection technique.

PubMed

Cusidó, Jordi; Romeral, Luis; Ortega, Juan Antonio; Garcia, Antoni; Riba, Jordi

2011-01-01

Double frequency tests are used for evaluating stator windings and analyzing the temperature. Likewise, signal injection on induction machines is used on sensorless motor control fields to find out the rotor position. Motor Current Signature Analysis (MCSA), which focuses on the spectral analysis of stator current, is the most widely used method for identifying faults in induction motors. Motor faults such as broken rotor bars, bearing damage and eccentricity of the rotor axis can be detected. However, the method presents some problems at low speed and low torque, mainly due to the proximity between the frequencies to be detected and the small amplitude of the resulting harmonics. This paper proposes the injection of an additional voltage into the machine being tested at a frequency different from the fundamental one, and then studying the resulting harmonics around the new frequencies appearing due to the composition between injected and main frequencies.

Signal Injection as a Fault Detection Technique

PubMed Central

Cusidó, Jordi; Romeral, Luis; Ortega, Juan Antonio; Garcia, Antoni; Riba, Jordi

2011-01-01

Double frequency tests are used for evaluating stator windings and analyzing the temperature. Likewise, signal injection on induction machines is used on sensorless motor control fields to find out the rotor position. Motor Current Signature Analysis (MCSA), which focuses on the spectral analysis of stator current, is the most widely used method for identifying faults in induction motors. Motor faults such as broken rotor bars, bearing damage and eccentricity of the rotor axis can be detected. However, the method presents some problems at low speed and low torque, mainly due to the proximity between the frequencies to be detected and the small amplitude of the resulting harmonics. This paper proposes the injection of an additional voltage into the machine being tested at a frequency different from the fundamental one, and then studying the resulting harmonics around the new frequencies appearing due to the composition between injected and main frequencies. PMID:22163801

Motion vector field phase-to-amplitude resampling for 4D motion-compensated cone-beam CT

NASA Astrophysics Data System (ADS)

Sauppe, Sebastian; Kuhm, Julian; Brehm, Marcus; Paysan, Pascal; Seghers, Dieter; Kachelrieß, Marc

2018-02-01

We propose a phase-to-amplitude resampling (PTAR) method to reduce motion blurring in motion-compensated (MoCo) 4D cone-beam CT (CBCT) image reconstruction, without increasing the computational complexity of the motion vector field (MVF) estimation approach. PTAR is able to improve the image quality in reconstructed 4D volumes, including both regular and irregular respiration patterns. The PTAR approach starts with a robust phase-gating procedure for the initial MVF estimation and then switches to a phase-adapted amplitude gating method. The switch implies an MVF-resampling, which makes them amplitude-specific. PTAR ensures that the MVFs, which have been estimated on phase-gated reconstructions, are still valid for all amplitude-gated reconstructions. To validate the method, we use an artificially deformed clinical CT scan with a realistic breathing pattern and several patient data sets acquired with a TrueBeamTM integrated imaging system (Varian Medical Systems, Palo Alto, CA, USA). Motion blurring, which still occurs around the area of the diaphragm or at small vessels above the diaphragm in artifact-specific cyclic motion compensation (acMoCo) images based on phase-gating, is significantly reduced by PTAR. Also, small lung structures appear sharper in the images. This is demonstrated both for simulated and real patient data. A quantification of the sharpness of the diaphragm confirms these findings. PTAR improves the image quality of 4D MoCo reconstructions compared to conventional phase-gated MoCo images, in particular for irregular breathing patterns. Thus, PTAR increases the robustness of MoCo reconstructions for CBCT. Because PTAR does not require any additional steps for the MVF estimation, it is computationally efficient. Our method is not restricted to CBCT but could rather be applied to other image modalities.

Uniform circular motion concept attainment through circle share learning model using real media

NASA Astrophysics Data System (ADS)

Ponimin; Suparmi; Sarwanto; Sunarno, W.

2017-01-01

Uniform circular motion is an important concept and has many applications in life. Student’s concept understanding of uniform circular motion is not optimal because the teaching learning is not carried out properly in accordance with the characteristics of the concept. To improve student learning outcomes required better teaching learning which is match with the characteristics of uniform circular motion. The purpose of the study is to determine the effect of real media and circle share model to the understanding of the uniform circular motion concept. The real media was used to visualize of uniform circular motion concept. The real media consists of toy car, round table and spring balance. Circle share model is a learning model through discussion sequentially and programmed. Each group must evaluate the worksheets of another group in a circular position. The first group evaluates worksheets the second group, the second group evaluates worksheets third group, and the end group evaluates the worksheets of the first group. Assessment of learning outcomes includes experiment worksheets and post-test of students. Based on data analysis we obtained some findings. First, students can explain the understanding of uniform circular motion whose angular velocity and speed is constant correctly. Second, students can distinguish the angular velocity and linear velocity correctly. Third, students can explain the direction of the linear velocity vector and the direction of the centripetal force vector. Fourth, the student can explain the influence of the mass, radius, and velocity toward the centripetal force. Fifth, students can explain the principle of combined of wheels. Sixth, teaching learning used circle share, can increase student activity, experimental results and efficiency of discussion time.

Towards denoising XMCD movies of fast magnetization dynamics using extended Kalman filter.

PubMed

Kopp, M; Harmeling, S; Schütz, G; Schölkopf, B; Fähnle, M

2015-01-01

The Kalman filter is a well-established approach to get information on the time-dependent state of a system from noisy observations. It was developed in the context of the Apollo project to see the deviation of the true trajectory of a rocket from the desired trajectory. Afterwards it was applied to many different systems with small numbers of components of the respective state vector (typically about 10). In all cases the equation of motion for the state vector was known exactly. The fast dissipative magnetization dynamics is often investigated by x-ray magnetic circular dichroism movies (XMCD movies), which are often very noisy. In this situation the number of components of the state vector is extremely large (about 10(5)), and the equation of motion for the dissipative magnetization dynamics (especially the values of the material parameters of this equation) is not well known. In the present paper it is shown by theoretical considerations that - nevertheless - there is no principle problem for the use of the Kalman filter to denoise XMCD movies of fast dissipative magnetization dynamics. Copyright © 2014 Elsevier B.V. All rights reserved.

Dynamic analysis of suspension cable based on vector form intrinsic finite element method

NASA Astrophysics Data System (ADS)

Qin, Jian; Qiao, Liang; Wan, Jiancheng; Jiang, Ming; Xia, Yongjun

2017-10-01

A vector finite element method is presented for the dynamic analysis of cable structures based on the vector form intrinsic finite element (VFIFE) and mechanical properties of suspension cable. Firstly, the suspension cable is discretized into different elements by space points, the mass and external forces of suspension cable are transformed into space points. The structural form of cable is described by the space points at different time. The equations of motion for the space points are established according to the Newton’s second law. Then, the element internal forces between the space points are derived from the flexible truss structure. Finally, the motion equations of space points are solved by the central difference method with reasonable time integration step. The tangential tension of the bearing rope in a test ropeway with the moving concentrated loads is calculated and compared with the experimental data. The results show that the tangential tension of suspension cable with moving loads is consistent with the experimental data. This method has high calculated precision and meets the requirements of engineering application.

Aircraft panel with sensorless active sound power reduction capabilities through virtual mechanical impedances

NASA Astrophysics Data System (ADS)

Boulandet, R.; Michau, M.; Micheau, P.; Berry, A.

2016-01-01

This paper deals with an active structural acoustic control approach to reduce the transmission of tonal noise in aircraft cabins. The focus is on the practical implementation of the virtual mechanical impedances method by using sensoriactuators instead of conventional control units composed of separate sensors and actuators. The experimental setup includes two sensoriactuators developed from the electrodynamic inertial exciter and distributed over an aircraft trim panel which is subject to a time-harmonic diffuse sound field. The target mechanical impedances are first defined by solving a linear optimization problem from sound power measurements before being applied to the test panel using a complex envelope controller. Measured data are compared to results obtained with sensor-actuator pairs consisting of an accelerometer and an inertial exciter, particularly as regards sound power reduction. It is shown that the two types of control unit provide similar performance, and that here virtual impedance control stands apart from conventional active damping. In particular, it is clear from this study that extra vibrational energy must be provided by the actuators for optimal sound power reduction, mainly due to the high structural damping in the aircraft trim panel. Concluding remarks on the benefits of using these electrodynamic sensoriactuators to control tonal disturbances are also provided.

Generalized predictive control for a coupled four tank MIMO system using a continuous-discrete time observer.

PubMed

Gouta, Houssemeddine; Hadj Saïd, Salim; Barhoumi, Nabil; M'Sahli, Faouzi

2017-03-01

This paper deals with the problem of the observer based control design for a coupled four-tank liquid level system. For this MIMO system's dynamics, motivated by a desire to provide precise and sensorless liquid level control, a nonlinear predictive controller based on a continuous-discrete observer is presented. First, an analytical solution from the model predictive control (MPC) technique is developed for a particular class of nonlinear MIMO systems and its corresponding exponential stability is proven. Then, a high gain observer that runs in continuous-time with an output error correction time that is updated in a mixed continuous-discrete fashion is designed in order to estimate the liquid levels in the two upper tanks. The effectiveness of the designed control schemes are validated by two tests; The first one is maintaining a constant level in the first bottom tank while making the level in the second bottom tank to follow a sinusoidal reference signal. The second test is more difficult and it is made using two trapezoidal reference signals in order to see the decoupling performance of the system's outputs. Simulation and experimental results validate the objective of the paper. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

LONG-TERM STABILITY OF THE LOCAL GROUND CONTROL NETWORK AT THE CO-LOCATION SITE OF MEDICINA

NASA Astrophysics Data System (ADS)

Abbondanza, C.; Sarti, P.; Legrand, J.

2009-12-01

ITRF combinations rely on the availability of accurate tie vectors linking reference points of space geodetic techniques. Co-located instruments are assumed to move consistently and no local relative motion is taken into account. Instabilities may degrade the quality of the co-location itself and perturb the result of ITRF combinations. This work aims to determine the stability of the local ground control network at Medicina (Italy) with independent surveying methods. The observatory hosts a co-location between a VLBI telescope and two GPS antennas, MEDI and MSEL. It is located in the Po Plain where thick layers of clays are the prevalent soil characteristics. Hence, provision of long term stability of geodetic monuments is a challenge and monitoring their stability is an issue. MEDI and the VLBI station regularly contribute to the determination of ITRF, while MSEL is part of the EUREF network. A set of five tie vectors observations linking the VLBI and MEDI reference points was acquired between 2001 and 2007. It is our main tool for performing local deformation analysis. Additionally, the GPS time series of MEDI and MSEL were used to cross check and confirm the local instability detected by terrestrial methods. To achieve a rigorous and reliable investigation of the local stability, multi-epoch terrestrial observations were homogeneously processed according to common parameterizations in a consistent reference frame. Similarly, continuous GPS observations from MEDI and MSEL were analysed according to the new EPN reprocessing strategy in order to monitor the short baseline between MEDI and MSEL; to spotlight any change in its length. Both approaches confirm differential motions at the site which can be related to monument instabilities originated by the particularly unfavourable local geological setting and the inapt design of the monuments foundation. The monuments move non homogeneously at rates reaching up to 1.6 mm/year, this value being comparable to intra-plate tectonic deformations. Evidences of relative motion between MEDI and MSEL are found: an annual signal with amplitude ≈1.3 mm is detected along the East component and an 80 weeks signal with amplitude ≈1.1 mm is found along the vertical component of the baseline. The combination of the two independent observing techniques confirms the importance of repeatedly performed terrestrial surveys and the presence of intra-technique co-locations at geodetic sites. Although available, VLBI observations were not considered since we are interested in detecting local relative motions in a very restricted area (100m x 100m) avoiding problems of datum consistencies between different space geodetic techniques. In fact, the combination of technique-specific frames might originate local inconsistencies on station positions due to misalignments of tie vectors in the global reference frame. These inconsistencies might degrade the accuracy of the displacement analysis and can be difficult to deal with.

Vulnerability assessment of RC frames considering the characteristic of pulse-like ground motions

NASA Astrophysics Data System (ADS)

Xu, Chao; Wen, Zengping

2017-04-01

Pulse-like ground motions are a special class of ground motions that are particularly challenging to characterize for earthquake hazard assessment. These motions are characterized by a "pulse" in the velocity time history of the motion, and they are typically very intense and have been observed to cause severe damage to structures in past earthquakes. So it is particularly important to characterize these ground motions. Previous studies show that the severe response of structure is not entirely accounted for by measuring the intensity of the ground motion using spectral acceleration of the elastic first-mode period of a structure (Sa(T1)). This paper will use several alternative intensity measures to characterize the effect of pulse-like ground motions in vulnerability assessment. The ability of these intensity measures to characterize pulse-like ground motions will be evaluated. Pulse-like ground motions and ordinary ground motions are selected as input to carry out incremental dynamic analysis. Structural response and vulnerability are estimated by using Sa(T1) as the intensity measure. The impact of pulse period on structural response is studied through residual analysis. By comparing the difference between the structural response and vulnerability curves using pulse-like ground motions and ordinary ground motions as the input, the impact of velocity pulse on vulnerability is investigated and the shortcoming of using Sa(T1) to characterize pulse-like ground motion is analyzed. Then, vector-valued ground motion intensity measures(Sa(T1)&RT1,T2, Sa(T1)&RPGV,Sa) and inelastic displacement spectra(Sdi(T1)) are used to characterize the damage potential of pulse-like ground motions, the efficiency and sufficiency of these intensity measures are evaluated. The study shows that: have strong the damage potential of near fault ground motions with velocity pulse is closely related to the pulse period of strong motion as well as first mode period of vibration and nonlinear features of the structure. The above factors should be taken into account when choosing a reasonable ground motion parameter to characterize the damage potential of pulse-like ground motions. Vulnerability curves based on Sa(T1) show obvious differences between using near fault ground motions and ordinary ground motions, as well as pulse-like ground motions with different pulse periods as the input. When using vector-valued intensity measures such as Sa(T1)&RT1,T2, Sa(T1)&RPGV,Sa and inelastic displacement spectra, the results of vulnerability analysis are roughly the same. These ground motion intensity measures are more efficient and sufficient to characterize the damage potential of near fault ground motions with velocity pulse.

Theory of relativistic Brownian motion in the presence of electromagnetic field in (1+1) dimension

NASA Astrophysics Data System (ADS)

Mukhopadhyay, Annesh; Bandyopadhyay, M.; Bhamidipati, C.

2018-04-01

In this work, we consider the relativistic generalization of the theory of Brownian motion for the (1+1) dimensional case, which is again consistent with Einstein's special theory of relativity and reduces to standard Brownian motion in the Newtonian limit. All the generalizations are made considering Special theory of relativity into account. The particle under consideration has a velocity close to the speed of light and is a free Brownian particle suspended in a heat bath. With this generalization the velocity probability density functions are also obtained using Ito, Stratonovich and Hanggi-Klimontovich approach of pre-point, mid-point and post-point discretization rule. Subsequently, in our work, we have obtained the relativistic Langevin equations in the presence of an electromagnetic field. Finally, taking a special case of a constant vector potential and a constant electric field into account the Langevin equations are solved for the momentum and subsequently the velocity of the particle. Using a similar approach to the Fokker-planck equations of motion, the velocity distributions are also obtained in the presence of a constant vector potential and are plotted, which shows essential deviations from the one obtained without a potential. Our constant potential model can be realized in an optical potential.

Introduction to Plasma Physics

NASA Astrophysics Data System (ADS)

Gurnett, Donald A.; Bhattacharjee, Amitava

2017-03-01

Preface; 1. Introduction; 2. Characteristic parameters of a plasma; 3. Single particle motions; 4. Waves in a cold plasma; 5. Kinetic theory and the moment equations; 6. Magnetohydrodynamics; 7. MHD equilibria and stability; 8. Discontinuities and shock waves; 9. Electrostatic waves in a hot unmagnetized plasma; 10. Waves in a hot magnetized plasma; 11. Nonlinear effects; 12. Collisional processes; Appendix A. Symbols; Appendix B. Useful trigonometric identities; Appendix C. Vector differential operators; Appendix D. Vector calculus identities; Index.

Experimental Validation of a Coupled Fluid-Multibody Dynamics Model for Tanker Trucks

DTIC Science & Technology

2007-11-08

order to accurately predict the dynamic response of tanker trucks, the model must accurately account for the following effects : • Incompressible...computational code which uses a time- accurate explicit solution procedure is used to solve both the solid and fluid equations of motion. Many commercial...position vector, τ is the deviatoric stress tensor, D is the rate of deformation tensor, f r is the body force vector, r is the artificial

Accurate motion parameter estimation for colonoscopy tracking using a regression method

NASA Astrophysics Data System (ADS)

Liu, Jianfei; Subramanian, Kalpathi R.; Yoo, Terry S.

2010-03-01

Co-located optical and virtual colonoscopy images have the potential to provide important clinical information during routine colonoscopy procedures. In our earlier work, we presented an optical flow based algorithm to compute egomotion from live colonoscopy video, permitting navigation and visualization of the corresponding patient anatomy. In the original algorithm, motion parameters were estimated using the traditional Least Sum of squares(LS) procedure which can be unstable in the context of optical flow vectors with large errors. In the improved algorithm, we use the Least Median of Squares (LMS) method, a robust regression method for motion parameter estimation. Using the LMS method, we iteratively analyze and converge toward the main distribution of the flow vectors, while disregarding outliers. We show through three experiments the improvement in tracking results obtained using the LMS method, in comparison to the LS estimator. The first experiment demonstrates better spatial accuracy in positioning the virtual camera in the sigmoid colon. The second and third experiments demonstrate the robustness of this estimator, resulting in longer tracked sequences: from 300 to 1310 in the ascending colon, and 410 to 1316 in the transverse colon.

Physics that Textbook Writers Usually Get Wrong: III.

ERIC Educational Resources Information Center

Bauman, Robert P.

1992-01-01

Examines inconsistencies in science textbook discussions of vector quantities and force. Provides illustrations of textbook inconsistencies related to Newton's laws of motion and the concepts of centrifugal and coriolis force. (MDH)

Dynamic Aberration Correction for Conformal Window of High-Speed Aircraft Using Optimized Model-Based Wavefront Sensorless Adaptive Optics.

PubMed

Dong, Bing; Li, Yan; Han, Xin-Li; Hu, Bin

2016-09-02

For high-speed aircraft, a conformal window is used to optimize the aerodynamic performance. However, the local shape of the conformal window leads to large amounts of dynamic aberrations varying with look angle. In this paper, deformable mirror (DM) and model-based wavefront sensorless adaptive optics (WSLAO) are used for dynamic aberration correction of an infrared remote sensor equipped with a conformal window and scanning mirror. In model-based WSLAO, aberration is captured using Lukosz mode, and we use the low spatial frequency content of the image spectral density as the metric function. Simulations show that aberrations induced by the conformal window are dominated by some low-order Lukosz modes. To optimize the dynamic correction, we can only correct dominant Lukosz modes and the image size can be minimized to reduce the time required to compute the metric function. In our experiment, a 37-channel DM is used to mimic the dynamic aberration of conformal window with scanning rate of 10 degrees per second. A 52-channel DM is used for correction. For a 128 × 128 image, the mean value of image sharpness during dynamic correction is 1.436 × 10(-5) in optimized correction and is 1.427 × 10(-5) in un-optimized correction. We also demonstrated that model-based WSLAO can achieve convergence two times faster than traditional stochastic parallel gradient descent (SPGD) method.

Navigation of the autonomous vehicle reverse movement

NASA Astrophysics Data System (ADS)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

Integrability of spinning particle motion in higher-dimensional rotating black hole spacetimes.

PubMed

Kubizňák, David; Cariglia, Marco

2012-02-03

We study the motion of a classical spinning particle (with spin degrees of freedom described by a vector of Grassmann variables) in higher-dimensional general rotating black hole spacetimes with a cosmological constant. In all dimensions n we exhibit n bosonic functionally independent integrals of spinning particle motion, corresponding to explicit and hidden symmetries generated from the principal conformal Killing-Yano tensor. Moreover, we demonstrate that in 4-, 5-, 6-, and 7-dimensional black hole spacetimes such integrals are in involution, proving the bosonic part of the motion integrable. We conjecture that the same conclusion remains valid in all higher dimensions. Our result generalizes the result of Page et al. [Phys. Rev. Lett. 98, 061102 (2007)] on complete integrability of geodesic motion in these spacetimes.

Optimum Multi-Impulse Rendezvous Program

NASA Technical Reports Server (NTRS)

Glandorf, D. R.; Onley, A. G.; Rozendaal, H. L.

1970-01-01

OMIRPROGRAM determines optimal n-impulse rendezvous trajectories under the restrictions of two-body motion in free space. Lawden's primer vector theory is applied to determine optimum number of midcourse impulse applications. Global optimality is not guaranteed.

Compilation of Published Estimates of Annual Geocenter Motions Using Space Geodesy

NASA Technical Reports Server (NTRS)

Elosegui, P.

2005-01-01

The definition of the term "geocenter motion" depends on the adopted origin of the reference frame. Common reference frames used in Space Geodesy include: the center of mass of the whole Earth (CM), the center of mass of the Solid Earth without mass load (CE), and the center of figure of the outer surface of the Solid Earth (CF). There are two established definitions of the term geocenter: one, the vector offset of CF relative to CM and, two, the reverse, the vector offset of CM relative to CF. Obviously, their amplitude is the same and their phase differs by 180 deg. Following Dong et al. [2003], we label the first X(sub CF, sup CM) and the second X(sup CF, sup CM) (i.e., the superscript represents the frame, the subscript represents any point in the frame).

Representation of deformable motion for compression of dynamic cardiac image data

NASA Astrophysics Data System (ADS)

Weinlich, Andreas; Amon, Peter; Hutter, Andreas; Kaup, André

2012-02-01

We present a new approach for efficient estimation and storage of tissue deformation in dynamic medical image data like 3-D+t computed tomography reconstructions of human heart acquisitions. Tissue deformation between two points in time can be described by means of a displacement vector field indicating for each voxel of a slice, from which position in the previous slice at a fixed position in the third dimension it has moved to this position. Our deformation model represents the motion in a compact manner using a down-sampled potential function of the displacement vector field. This function is obtained by a Gauss-Newton minimization of the estimation error image, i. e., the difference between the current and the deformed previous slice. For lossless or lossy compression of volume slices, the potential function and the error image can afterwards be coded separately. By assuming deformations instead of translational motion, a subsequent coding algorithm using this method will achieve better compression ratios for medical volume data than with conventional block-based motion compensation known from video coding. Due to the smooth prediction without block artifacts, particularly whole-image transforms like wavelet decomposition as well as intra-slice prediction methods can benefit from this approach. We show that with discrete cosine as well as with Karhunen-Lo`eve transform the method can achieve a better energy compaction of the error image than block-based motion compensation while reaching approximately the same prediction error energy.

Mathematical modeling of a class of multibody flexible spacecraft structures

NASA Technical Reports Server (NTRS)

Kelkar, Atul, G.

1994-01-01

A mathematical model for a general multibody flexible spacecraft is obtained. The generic spacecraft considered consists of a flexible central body to which a number of flexible multibody structures are attached. The coordinate systems used in the derivation allow effective decoupling of the translational motion of the entire spacecraft from its rotational motion about its center of mass. The derivation assumes that the deformations in the bodies are only due to elastic motions. The dynamic model derived is a closed-form vector-matrix differential equation. The model developed can be used for analysis and simulation of many realistic spacecraft configurations.

Role of the vestibular end organs in experimental motion sickness - A primate model

NASA Technical Reports Server (NTRS)

Igarashi, Makoto

1990-01-01

Experimental studies of the role of vestibular end organs in motion sickness experienced by squirrel monkeys are reviewed. The first experiments in motion-sickness-susceptible squirrel monkeys were performed under a free-moving condition with horizontal rotation and vertical oscillation. In the following experiments, the vestibular-visual conflict in the pitch plane was given to the chair-restrained (upright position) squirrel monkeys. Results of this study showed that the existence of otolith afferents, which continually signal the directional change of gravity and linear acceleration vectors, was necessary for the elicitation of emesis by the sensory conflict in pitch.

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

PubMed

Dikbas, Salih; Altunbasak, Yucel

2013-08-01

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

Which Way Is the Flow?

NASA Technical Reports Server (NTRS)

Kao, David

1999-01-01

The line integral convolution (LIC) technique has been known to be an effective tool for depicting flow patterns in a given vector field. There have been many extensions to make it run faster and reveal useful flow information such as velocity magnitude, motion, and direction. There are also extensions to unsteady flows and 3D vector fields. Surprisingly, none of these extensions automatically highlight flow features, which often represent the most important and interesting physical flow phenomena. In this sketch, a method for highlighting flow direction in LIC images is presented. The method gives an intuitive impression of flow direction in the given vector field and automatically reveals saddle points in the flow.

Lorentz-invariant three-vectors and alternative formulation of relativistic dynamics

NASA Astrophysics Data System (ADS)

RÈ©bilas, Krzysztof

2010-03-01

Besides the well-known scalar invariants, there also exist vectorial invariants in special relativity. It is shown that the three-vector (dp⃗/dt)∥+γv(dp⃗/dt)⊥ is invariant under the Lorentz transformation. The subscripts ∥ and ⊥ denote the respective components with respect to the direction of the velocity of the body v⃗, and p⃗ is the relativistic momentum. We show that this vector is equal to a force F⃗R, which satisfies the classical Newtonian law F⃗R=ma⃗R in the instantaneous inertial rest frame of an accelerating body. Therefore, the relation F⃗R=(dp⃗/dt)∥+γv(dp⃗/dt)⊥, based on the Lorentz-invariant vectors, may be used as an invariant (not merely a covariant) relativistic equation of motion in any inertial system of reference. An alternative approach to classical electrodynamics based on the invariant three-vectors is proposed.

Vector Acoustics, Vector Sensors, and 3D Underwater Imaging

NASA Astrophysics Data System (ADS)

Lindwall, D.

2007-12-01

Vector acoustic data has two more dimensions of information than pressure data and may allow for 3D underwater imaging with much less data than with hydrophone data. The vector acoustic sensors measures the particle motions due to passing sound waves and, in conjunction with a collocated hydrophone, the direction of travel of the sound waves. When using a controlled source with known source and sensor locations, the reflection points of the sound field can be determined with a simple trigonometric calculation. I demonstrate this concept with an experiment that used an accelerometer based vector acoustic sensor in a water tank with a short-pulse source and passive scattering targets. The sensor consists of a three-axis accelerometer and a matched hydrophone. The sound source was a standard transducer driven by a short 7 kHz pulse. The sensor was suspended in a fixed location and the hydrophone was moved about the tank by a robotic arm to insonify the tank from many locations. Several floats were placed in the tank as acoustic targets at diagonal ranges of approximately one meter. The accelerometer data show the direct source wave as well as the target scattered waves and reflections from the nearby water surface, tank bottom and sides. Without resorting to the usual methods of seismic imaging, which in this case is only two dimensional and relied entirely on the use of a synthetic source aperture, the two targets, the tank walls, the tank bottom, and the water surface were imaged. A directional ambiguity inherent to vector sensors is removed by using collocated hydrophone data. Although this experiment was in a very simple environment, it suggests that 3-D seismic surveys may be achieved with vector sensors using the same logistics as a 2-D survey that uses conventional hydrophones. This work was supported by the Office of Naval Research, program element 61153N.

Vector flow mapping in obstructive hypertrophic cardiomyopathy to assess the relationship of early systolic left ventricular flow and the mitral valve.

PubMed

Ro, Richard; Halpern, Dan; Sahn, David J; Homel, Peter; Arabadjian, Milla; Lopresto, Charles; Sherrid, Mark V

2014-11-11

The hydrodynamic cause of systolic anterior motion of the mitral valve (SAM) is unresolved. This study hypothesized that echocardiographic vector flow mapping, a new echocardiographic technique, would provide insights into the cause of early SAM in obstructive hypertrophic cardiomyopathy (HCM). We analyzed the spatial relationship of left ventricular (LV) flow and the mitral valve leaflets (MVL) on 3-chamber vector flow mapping frames, and performed mitral valve measurements on 2-dimensional frames in patients with obstructive and nonobstructive HCM and in normal patients. We compared 82 patients (22 obstructive HCM, 23 nonobstructive HCM, and 37 normal) by measuring 164 LV pre- and post-SAM velocity vector flow maps, 82 maximum isovolumic vortices, and 328 2-dimensional frames. We observed color flow and velocity vector flow posterior to the MVL impacting them in the early systolic frames of 95% of obstructive HCM, 22% of nonobstructive HCM, and 11% of normal patients (p < 0.001). In both pre- and post-SAM frames, we measured a high angle of attack >60° of local vector flow onto the posterior surface of the leaflets whether the flow was ejection (59%) or the early systolic isovolumic vortex (41%). Ricochet of vector flow, rebounding off the leaflet into the cul-de-sac, was noted in 82% of the obstructed HCM, 9% of nonobstructive HCM, and none (0%) of the control patients (p < 0.001). Flow velocities in the LV outflow tract on the pre-SAM frame 1 and 2 mm from the tip of the anterior leaflet were low: 39 and 43 cm/s, respectively. Early systolic flow impacts the posterior surfaces of protruding MVL initiating SAM in obstructive HCM. Copyright © 2014 American College of Cardiology Foundation. Published by Elsevier Inc. All rights reserved.

Geodetic constraints on continental rifting along the Red Sea

NASA Astrophysics Data System (ADS)

Reilinger, R.; McClusky, S.; Arrajehi, A.; Mahmoud, S.; Rayan, A.; Ghebreab, W.; Ogubazghi, G.; Al-Aydrus, A.

2006-12-01

We are using the Global Positioning System (GPS) to monitor and quantify patterns and rates of tectonic and magmatic deformation associated with active rifting of the continental lithosphere and the transition to sea floor spreading in the Red Sea. Broad-scale motions of the Nubian and Arabian plates indicate coherent plate motion with internal deformation below the current resolution of our measurements (~ 1-2 mm/yr). The GPS-determined Euler vector for Arabia-Nubia is indistinguishable from the geologic Euler vector determined from marine magnetic anomalies, and Arabia-Eurasia relative motion from GPS is equal within uncertainties to relative motion determined from plate reconstructions, suggesting that Arabia plate motion has remained constant (±10%) during at least the past ~10 Ma. The approximate agreement between broad-scale GPS rates of extension (i.e., determined from relative plate motions) and those determined from magnetic anomalies along the Red Sea rift implies that spreading in the central Red Sea is primarily confined to the central rift (±10-20%). Extension appears to be more broadly distributed in the N Red Sea and Gulf of Suez where comparisons with geologic data also indicate a relatively recent (between 500 and 125 kyr BP) change in the motion of the Sinai block that is distinct from both Nubia and Arabia. In the southern Red Sea, GPS results are beginning to define the motion of the "Danakil micro-plate". We investigate and report on a model involving CCW rotation of the Danakil micro-plate relative to Nubia and magmatic inflation below the Afar Triple Junction that is consistent with available geodetic constraints. Running the model back in time suggests that the Danakil micro-plate has been an integral part of rifting/triple junction processes throughout the history of separation of the Arabian and Nubian plates. On the scale of Nubia-Arabia-Eurasia plate interactions, we show that new area formed at spreading centers roughly equals that consumed at trenches, implying a dynamic connection between extension and subduction.

Nonlinear stability and control study of highly maneuverable high performance aircraft

NASA Technical Reports Server (NTRS)

Mohler, R. R.

1993-01-01

This project is intended to research and develop new nonlinear methodologies for the control and stability analysis of high-performance, high angle-of-attack aircraft such as HARV (F18). Past research (reported in our Phase 1, 2, and 3 progress reports) is summarized and more details of final Phase 3 research is provided. While research emphasis is on nonlinear control, other tasks such as associated model development, system identification, stability analysis, and simulation are performed in some detail as well. An overview of various models that were investigated for different purposes such as an approximate model reference for control adaptation, as well as another model for accurate rigid-body longitudinal motion is provided. Only a very cursory analysis was made relative to type 8 (flexible body dynamics). Standard nonlinear longitudinal airframe dynamics (type 7) with the available modified F18 stability derivatives, thrust vectoring, actuator dynamics, and control constraints are utilized for simulated flight evaluation of derived controller performance in all cases studied.

A generalized nonlocal vector calculus

NASA Astrophysics Data System (ADS)

Alali, Bacim; Liu, Kuo; Gunzburger, Max

2015-10-01

A nonlocal vector calculus was introduced in Du et al. (Math Model Meth Appl Sci 23:493-540, 2013) that has proved useful for the analysis of the peridynamics model of nonlocal mechanics and nonlocal diffusion models. A formulation is developed that provides a more general setting for the nonlocal vector calculus that is independent of particular nonlocal models. It is shown that general nonlocal calculus operators are integral operators with specific integral kernels. General nonlocal calculus properties are developed, including nonlocal integration by parts formula and Green's identities. The nonlocal vector calculus introduced in Du et al. (Math Model Meth Appl Sci 23:493-540, 2013) is shown to be recoverable from the general formulation as a special example. This special nonlocal vector calculus is used to reformulate the peridynamics equation of motion in terms of the nonlocal gradient operator and its adjoint. A new example of nonlocal vector calculus operators is introduced, which shows the potential use of the general formulation for general nonlocal models.

Design of motion adjusting system for space camera based on ultrasonic motor

NASA Astrophysics Data System (ADS)

Xu, Kai; Jin, Guang; Gu, Song; Yan, Yong; Sun, Zhiyuan

2011-08-01

Drift angle is a transverse intersection angle of vector of image motion of the space camera. Adjusting the angle could reduce the influence on image quality. Ultrasonic motor (USM) is a new type of actuator using ultrasonic wave stimulated by piezoelectric ceramics. They have many advantages in comparison with conventional electromagnetic motors. In this paper, some improvement was designed for control system of drift adjusting mechanism. Based on ultrasonic motor T-60 was designed the drift adjusting system, which is composed of the drift adjusting mechanical frame, the ultrasonic motor, the driver of Ultrasonic Motor, the photoelectric encoder and the drift adjusting controller. The TMS320F28335 DSP was adopted as the calculation and control processor, photoelectric encoder was used as sensor of position closed loop system and the voltage driving circuit designed as generator of ultrasonic wave. It was built the mathematic model of drive circuit of the ultrasonic motor T-60 using matlab modules. In order to verify the validity of the drift adjusting system, was introduced the source of the disturbance, and made simulation analysis. It designed the control systems of motor drive for drift adjusting system with the improved PID control. The drift angle adjusting system has such advantages as the small space, simple configuration, high position control precision, fine repeatability, self locking property and low powers. It showed that the system could accomplish the mission of drift angle adjusting excellent.

Magnetic particles guided by ellipsoidal AC magnetic fields in a shallow viscous fluid: Controlling trajectories and chain lengths

NASA Astrophysics Data System (ADS)

Jorge, Guillermo A.; Llera, María; Bekeris, Victoria

2017-12-01

We study the propulsion of superparamagnetic particles dispersed in a viscous fluid upon the application of an elliptically polarized rotating magnetic field. Reducing the fluid surface tension the particles sediment due to density mismatch and rotate close to the low recipient confining plate. We study the net translational motion arising from the hydrodynamic coupling with the plate and find that, above a cross over magnetic field, magnetically assembled doublets move faster than single particles. In turn, particles are driven in complex highly controlled trajectories by rotating the plane containing the magnetic field vector. The effect of the field rotation on long self assembled chains is discussed and the alternating breakup and reformation of the particle chains is described.

Anisotropic responses to motion toward and away from the eye

NASA Technical Reports Server (NTRS)

Perrone, John A.

1986-01-01

When a rigid object moves toward the eye, it is usually perceived as being rigid. However, in the case of motion away from the eye, the motion and structure of the object are perceived nonveridically, with the percept tending to reflect the nonrigid transformations that are present in the retinal image. This difference in response to motion to and from the observer was quantified in an experiment using wire-frame computer-generated boxes which moved toward and away from the eye. Two theoretical systems are developed by which uniform three-dimensional velocity can be recovered from an expansion pattern of nonuniform velocity vectors. It is proposed that the human visual system uses two similar systems for processing motion in depth. The mechanism used for motion away from the eye produces perceptual errors because it is not suited to objects with a depth component.

The Equations of Oceanic Motions

NASA Astrophysics Data System (ADS)

Müller, Peter

2006-10-01

Modeling and prediction of oceanographic phenomena and climate is based on the integration of dynamic equations. The Equations of Oceanic Motions derives and systematically classifies the most common dynamic equations used in physical oceanography, from large scale thermohaline circulations to those governing small scale motions and turbulence. After establishing the basic dynamical equations that describe all oceanic motions, M|ller then derives approximate equations, emphasizing the assumptions made and physical processes eliminated. He distinguishes between geometric, thermodynamic and dynamic approximations and between the acoustic, gravity, vortical and temperature-salinity modes of motion. Basic concepts and formulae of equilibrium thermodynamics, vector and tensor calculus, curvilinear coordinate systems, and the kinematics of fluid motion and wave propagation are covered in appendices. Providing the basic theoretical background for graduate students and researchers of physical oceanography and climate science, this book will serve as both a comprehensive text and an essential reference.

Simultaneous full-field 3-D vibrometry of the human eardrum using spatial-bandwidth multiplexed holography

PubMed Central

Khaleghi, Morteza; Guignard, Jérémie; Furlong, Cosme; Rosowski, John J.

2015-01-01

Abstract. Holographic interferometric methods typically require the use of three sensitivity vectors in order to obtain three-dimensional (3-D) information. Methods based on multiple directions of illumination have limited applications when studying biological tissues that have temporally varying responses such as the tympanic membrane (TM). Therefore, to measure 3-D displacements in such applications, the measurements along all the sensitivity vectors have to be done simultaneously. We propose a multiple-illumination directions approach to measure 3-D displacements from a single-shot hologram that contains displacement information from three sensitivity vectors. The hologram of an object of interest is simultaneously recorded with three incoherently superimposed pairs of reference and object beams. The incident off-axis angles of the reference beams are adjusted such that the frequency components of the multiplexed hologram are completely separate. Because of the differences in the directions and wavelengths of the reference beams, the positions of each reconstructed image corresponding to each sensitivity vector are different. We implemented a registration algorithm to accurately translate individual components of the hologram into a single global coordinate system to calculate 3-D displacements. The results include magnitudes and phases of 3-D sound-induced motions of a human cadaveric TM at several excitation frequencies showing modal and traveling wave motions on its surface. PMID:25984986

Contour-based image warping

NASA Astrophysics Data System (ADS)

Chan, Kwai H.; Lau, Rynson W.

1996-09-01

Image warping concerns about transforming an image from one spatial coordinate to another. It is widely used for the vidual effect of deforming and morphing images in the film industry. A number of warping techniques have been introduced, which are mainly based on the corresponding pair mapping of feature points, feature vectors or feature patches (mostly triangular or quadrilateral). However, very often warping of an image object with an arbitrary shape is required. This requires a warping technique which is based on boundary contour instead of feature points or feature line-vectors. In addition, when feature point or feature vector based techniques are used, approximation of the object boundary by using point or vectors is required. In this case, the matching process of the corresponding pairs will be very time consuming if a fine approximation is required. In this paper, we propose a contour-based warping technique for warping image objects with arbitrary shapes. The novel idea of the new method is the introduction of mathematical morphology to allow a more flexible control of image warping. Two morphological operators are used as contour determinators. The erosion operator is used to warp image contents which are inside a user specified contour while the dilation operation is used to warp image contents which are outside of the contour. This new method is proposed to assist further development of a semi-automatic motion morphing system when accompanied with robust feature extractors such as deformable template or active contour model.

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.

Symmetry breaking and electrical frustration during tip-induced polarization switching in the non-polar cut of lithium niobate single crystals

DOE PAGES

Ievlev, Anton; Alikin, Denis O.; Morozovska, A. N.; ...

2014-12-15

Polarization switching in ferroelectric materials is governed by a delicate interplay between bulk polarization dynamics and screening processes at surfaces and domain walls. Here we explore the mechanism of tip-induced polarization switching in the non-polar cuts of uniaxial ferroelectrics. In this case, in-plane component of polarization vector switches, allowing for detailed observations of resultant domain morphologies. We observe surprising variability of resultant domain morphologies stemming from fundamental instability of formed charged domain wall and associated electric frustration. In particular, we demonstrate that controlling vertical tip position allows the polarity of the switching to be controlled. This represents very unusual formmore » of symmetry breaking where mechanical motion in vertical direction controls the lateral domain growth. The implication of these studies for ferroelectric devices and domain wall electronics are discussed.« less

Integrability of Spinning Particle Motion in Higher-Dimensional Rotating Black Hole Spacetimes

NASA Astrophysics Data System (ADS)

Kubizňák, David; Cariglia, Marco

2012-02-01

We study the motion of a classical spinning particle (with spin degrees of freedom described by a vector of Grassmann variables) in higher-dimensional general rotating black hole spacetimes with a cosmological constant. In all dimensions n we exhibit n bosonic functionally independent integrals of spinning particle motion, corresponding to explicit and hidden symmetries generated from the principal conformal Killing-Yano tensor. Moreover, we demonstrate that in 4-, 5-, 6-, and 7-dimensional black hole spacetimes such integrals are in involution, proving the bosonic part of the motion integrable. We conjecture that the same conclusion remains valid in all higher dimensions. Our result generalizes the result of Page et al. [Phys. Rev. Lett. 98, 061102 (2007)PRLTAO0031-900710.1103/PhysRevLett.98.061102] on complete integrability of geodesic motion in these spacetimes.

Roll tracking effects of G-vector tilt and various types of motion washout

NASA Technical Reports Server (NTRS)

Jex, H. R.; Magdaleno, R. E.; Junker, A. M.

1978-01-01

In a dogfight scenario, the task was to follow the target's roll angle while suppressing gust disturbances. All subjects adopted the same behavioral strategies in following the target while suppressing the gusts, and the MFP-fitted math model response was generally within one data symbol width. The results include the following: (1) comparisons of full roll motion (both with and without the spurious gravity tilt cue) with the static case. These motion cues help suppress disturbances with little net effect on the visual performance. Tilt cues were clearly used by the pilots but gave only small improvement in tracking errors. (2) The optimum washout (in terms of performance close to real world, similar behavioral parameters, significant motion attenuation (60 percent), and acceptable motion fidelity) was the combined attenuation and first-order washout. (3) Various trends in parameters across the motion conditions were apparent, and are discussed with respect to a comprehensive model for predicting adaptation to various roll motion cues.

Operational tracking of lava lake surface motion at Kīlauea Volcano, Hawai‘i

USGS Publications Warehouse

Patrick, Matthew R.; Orr, Tim R.

2018-03-08

Surface motion is an important component of lava lake behavior, but previous studies of lake motion have been focused on short time intervals. In this study, we implement the first continuous, real-time operational routine for tracking lava lake surface motion, applying the technique to the persistent lava lake in Halema‘uma‘u Crater at the summit of Kīlauea Volcano, Hawai‘i. We measure lake motion by using images from a fixed thermal camera positioned on the crater rim, transmitting images to the Hawaiian Volcano Observatory (HVO) in real time. We use an existing optical flow toolbox in Matlab to calculate motion vectors, and we track the position of lava upwelling in the lake, as well as the intensity of spattering on the lake surface. Over the past 2 years, real-time tracking of lava lake surface motion at Halema‘uma‘u has been an important part of monitoring the lake’s activity, serving as another valuable tool in the volcano monitoring suite at HVO.

High efficiency and simple technique for controlling mechanisms by EMG signals

NASA Astrophysics Data System (ADS)

Dugarte, N.; Álvarez, A.; Balacco, J.; Mercado, G.; Gonzalez, A.; Dugarte, E.; Javier, F.; Ceballos, G.; Olivares, A.

2016-04-01

This article reports the development of a simple and efficient system that allows control of mechanisms through electromyography (EMG) signals. The novelty about this instrument is focused on individual control of each motion vector mechanism through independent electronic circuits. Each of electronic circuit does positions a motor according to intensity of EMG signal captured. This action defines movement in one mechanical axis considered from an initial point, based on increased muscle tension. The final displacement of mechanism depends on individual’s ability to handle the levels of muscle tension at different body parts. This is the design of a robotic arm where each degree of freedom is handled with a specific microcontroller that responds to signals taken from a defined muscle. The biophysical interaction between the person and the final positioning of the robotic arm is used as feedback. Preliminary tests showed that the control operates with minimal positioning error margins. The constant use of system with the same operator showed that the person adapts and progressively improves at control technique.

High Resolution Digital Radar Imaging of Rotating Objects

DTIC Science & Technology

1980-06-01

associated with it is called motion compensation. 1.2. Problem Description Consider a rigid body as shown in figure 1.1 rotating with its axis normal to the...vector of an arbitrary point B on the target referenced to the target reference point C as shown in Fig. 3.1.1. The entire rigid body is moving with...relationships. Since x is a vector on a rigid body , its tangential velocity (ixx-) is the only velocity component it has. Hence, Ad _T X. Also from

Flare activity, sunspot motions, and the evolution of vector magnetic fields in Hale region 17244

NASA Technical Reports Server (NTRS)

Neidig, Donald F.; Hagyard, Mona J.; Machado, Marcos E.; Smith, Jesse B., Jr.

1986-01-01

The magnetic and dynamical circumstances leading to the 1B/M4 flare of November 5, 1980 are studied, and a strong association is found between the buildup of magnetic shear and the onset of flare activity within the active region. The development of shear, as observed directly in vector magnetograms, is consistent in detail with the dynamical history of the active region and identifies the precise location of the optical and hard-X-ray kernels of the flare emission.

Conserved quantities in non-Abelian monopole fields

NASA Astrophysics Data System (ADS)

Horváthy, P. A.; Ngome, J.-P.

2009-06-01

Van Holten’s covariant Hamiltonian framework is used to find conserved quantities for an isospin-carrying particle in a non-Abelian monopolelike field. For a Wu-Yang monopole we find the most general scalar potential such that the combined system admits a conserved Runge-Lenz vector. In the effective non-Abelian field for nuclear motion in a diatomic molecule due to Moody, Shapere, and Wilczek, a conserved angular momentum is constructed, despite the nonconservation of the electric charge. No Runge-Lenz vector has been found.

WE-AB-204-09: Respiratory Motion Correction in 4D-PET by Simultaneous Motion Estimation and Image Reconstruction (SMEIR)

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

Kalantari, F; Wang, J; Li, T

2015-06-15

Purpose: In conventional 4D-PET, images from different frames are reconstructed individually and aligned by registration methods. Two issues with these approaches are: 1) Reconstruction algorithms do not make full use of all projections statistics; and 2) Image registration between noisy images can Result in poor alignment. In this study we investigated the use of simultaneous motion estimation and image reconstruction (SMEIR) method for cone beam CT for motion estimation/correction in 4D-PET. Methods: Modified ordered-subset expectation maximization algorithm coupled with total variation minimization (OSEM- TV) is used to obtain a primary motion-compensated PET (pmc-PET) from all projection data using Demons derivedmore » deformation vector fields (DVFs) as initial. Motion model update is done to obtain an optimal set of DVFs between the pmc-PET and other phases by matching the forward projection of the deformed pmc-PET and measured projections of other phases. Using updated DVFs, OSEM- TV image reconstruction is repeated and new DVFs are estimated based on updated images. 4D XCAT phantom with typical FDG biodistribution and a 10mm diameter tumor was used to evaluate the performance of the SMEIR algorithm. Results: Image quality of 4D-PET is greatly improved by the SMEIR algorithm. When all projections are used to reconstruct a 3D-PET, motion blurring artifacts are present, leading to a more than 5 times overestimation of the tumor size and 54% tumor to lung contrast ratio underestimation. This error reduced to 37% and 20% for post reconstruction registration methods and SMEIR respectively. Conclusion: SMEIR method can be used for motion estimation/correction in 4D-PET. The statistics is greatly improved since all projection data are combined together to update the image. The performance of the SMEIR algorithm for 4D-PET is sensitive to smoothness control parameters in the DVF estimation step.« less

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.

First geodetic measurement of convergence across the Java Trench

NASA Technical Reports Server (NTRS)

Tregoning, P.; Brunner, F. K.; Bock, Y.; Puntodewo, S. S. O.; Mccraffrey, R.; Genrich, J. F.; Calais, E.; Rais, J.; Subarya, C.

1994-01-01

Convergence across the Java Trench has been estimated for the first time, from annual Global Positioning System (GPS) measurements commencing in 1989. The directions of motion of Christmas and Cocos Island are within 1 deg of that predicted by the No-Net Rotation (NNR) NUVEL-1 plate motion model for the Australian plate although their rates are 25% and 37% less than predcited, respectively. The motion of West Java differs significantly from the NNR NUVEL-1 prediction for the Eurasian plate with a 1 deg difference in direction and a 40% increase in rate. We infer that either West Java moves with a distinct Southeast Asian plate or this region experiences plate margin deformation. The convergence of Christmas Island with respect to West Java is 67 +/- mm/yr in a direction N11 deg E +/- 4 deg which is orthogonal to the trench. The magnitude of convergence agrees well with rescaled NUVEL-1 relative plate model which predicts a value of 71 mm/yr between Australia and Eurasia. The direction of motion matches the direction inferred from earthquake slip vectors at the trench but may be more northerly than the N20 deg E +/- 3 deg predicted by NUVEL-1. On June 2, 1994, almost a year after the last GPS survey, an M(sub W) = 7.5 earthquake with slip vector direction N5 deg occurred south of central Java.

Suction prevention and physiologic control of continuous flow left ventricular assist devices using intrinsic pump parameters.

PubMed

Wang, Yu; Koenig, Steven C; Slaughter, Mark S; Giridharan, Guruprasad A

2015-01-01

The risk for left ventricular (LV) suction during left ventricular assist devices (LVAD) support has been a clinical concern. Current development efforts suggest LVAD suction prevention and physiologic control algorithms may require chronic implantation of pressure or flow sensors, which can be unreliable because of baseline drift and short lifespan. To overcome this limitation, we designed a sensorless suction prevention and physiologic control (eSPPC) algorithm that only requires LVAD intrinsic parameters (pump speed and power). Two gain-scheduled, proportional-integral controllers maintain a differential pump speed (ΔRPM) above a user-defined threshold to prevent LV suction while maintaining an average reference differential pressure (ΔP) between the LV and aorta. ΔRPM is calculated from noisy pump speed measurements that are low-pass filtered, and ΔP is estimated using an extended Kalman filter. Efficacy and robustness of the eSPPC algorithm were evaluated in silico during simulated rest and exercise test conditions for 1) excessive ΔP setpoint (ES); 2) rapid eightfold increase in pulmonary vascular resistance (PVR); and 3) ES and PVR. Simulated hemodynamic waveforms (LV pressure and volume; aortic pressure and flow) using only intrinsic pump parameters showed the feasibility of our proposed eSPPC algorithm in preventing LV suction for all test conditions.

WE-DE-BRA-11: A Study of Motion Tracking Accuracy of Robotic Radiosurgery Using a Novel CCD Camera Based End-To-End Test System

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

Wang, L; M Yang, Y; Nelson, B

Purpose: A novel end-to-end test system using a CCD camera and a scintillator based phantom (XRV-124, Logos Systems Int’l) capable of measuring the beam-by-beam delivery accuracy of Robotic Radiosurgery (CyberKnife) was developed and reported in our previous work. This work investigates its application in assessing the motion tracking (Synchrony) accuracy for CyberKnife. Methods: A QA plan with Anterior and Lateral beams (with 4 different collimator sizes) was created (Multiplan v5.3) for the XRV-124 phantom. The phantom was placed on a motion platform (superior and inferior movement), and the plans were delivered on the CyberKnife M6 system using four motion patterns:more » static, Sine- wave, Sine with 15° phase shift, and a patient breathing pattern composed of 2cm maximum motion with 4 second breathing cycle. Under integral recording mode, the time-averaged beam vectors (X, Y, Z) were measured by the phantom and compared with static delivery. In dynamic recording mode, the beam spots were recorded at a rate of 10 frames/second. The beam vector deviation from average position was evaluated against the various breathing patterns. Results: The average beam position of the six deliveries with no motion and three deliveries with Synchrony tracking on ideal motion (sinewave without phase shift) all agree within −0.03±0.00 mm, 0.10±0.04, and 0.04±0.03 in the X, Y, and X directions. Radiation beam width (FWHM) variations are within ±0.03 mm. Dynamic video record showed submillimeter tracking stability for both regular and irregular breathing pattern; however the tracking error up to 3.5 mm was observed when a 15 degree phase shift was introduced. Conclusion: The XRV-124 system is able to provide 3D and 4D targeting accuracy for CyberKnife delivery with Synchrony. The experimental results showed sub-millimeter delivery in phantom with excellent correlation in target to breathing motion. The accuracy was degraded when irregular motion and phase shift was introduced.« less

NBOD2- PROGRAM TO DERIVE AND SOLVE EQUATIONS OF MOTION FOR COUPLED N-BODY SYSTEMS

NASA Technical Reports Server (NTRS)

Frisch, H. P.

1994-01-01

The analysis of the dynamic characteristics of a complex system, such as a spacecraft or a robot, is usually best accomplished through the study of a simulation model. The simulation model must have the same dynamic characteristics as the complex system, while lending itself to mathematical quantification. The NBOD2 computer program was developed to aid in the analysis of spacecraft attitude dynamics. NBOD2 is a very general program that may be applied to a large class of problems involving coupled N-body systems. NBOD2 provides the dynamics analyst with the capability to automatically derive and numerically solve the equations of motion for any system that can be modeled as a topological tree of coupled rigid bodies, flexible bodies, point masses, and symmetrical momentum wheels. NBOD2 uses a topological tree model of the dynamic system to derive the vector-dyadic equations of motion for the system. The user builds this topological tree model by using rigid and flexible bodies, point masses, and symmetrical momentum wheels with appropriate connections. To insure that the relative motion between contiguous bodies is kinematically constrained, NBOD2 assumes that contiguous rigid and flexible bodies are connected by physically reliable 0, 1, 2, and 3-degrees-of-freedom gimbals. These gimbals prohibit relative translational motion, while permitting up to 3 degrees of relative rotational freedom at hinge points. Point masses may have 0, 1, 2, or 3-degrees of relative translational freedom, and symmetric momentum wheels may have a single degree of rotational freedom relative to the body in which they are imbedded. Flexible bodies may possess several degrees of vibrational freedom in addition to the degrees of freedom associated with the connection gimbals. Data concerning the natural modes and vibrations of the flexible bodies must be supplied by the user. NBOD2 combines the best features of the discrete-body approach and the nested body approach to reduce the topological tree to a complete set of nonlinear equations of motion in vector-dyadic form for the system being analyzed. NBOD2 can then numerically solve the equations of motion. Input to NBOD2 consists of a user-supplied description of the system to be modeled. The NBOD2 system includes an interactive, tutorial, input support program to aid the NBOD2 user in preparing input data. Output from NBOD2 consists of a listing of the complete set of nonlinear equations of motion in vector-dyadic form and any userspecified set of system state variables. The NBOD2 program is written in FORTRAN 77 for batch execution and has been implemented on a DEC VAX-11/780 computer. The NBOD2 program was developed in 1978 and last updated in 1982.

Turbulent fluid motion 2: Scalars, vectors, and tensors

NASA Technical Reports Server (NTRS)

Deissler, Robert G.

1991-01-01

The author shows that the sum or difference of two vectors is a vector. Similarly the sum of any two tensors of the same order is a tensor of that order. No meaning is attached to the sum of tensors of different orders, say u(sub i) + u(sub ij); that is not a tensor. In general, an equation containing tensors has meaning only if all the terms in the equation are tensors of the same order, and if the same unrepeated subscripts appear in all the terms. These facts will be used in obtaining appropriate equations for fluid turbulence. With the foregoing background, the derivation of appropriate continuum equations for turbulence should be straightforward.

The reference frame for encoding and retention of motion depends on stimulus set size.

PubMed

Huynh, Duong; Tripathy, Srimant P; Bedell, Harold E; Öğmen, Haluk

2017-04-01

The goal of this study was to investigate the reference frames used in perceptual encoding and storage of visual motion information. In our experiments, observers viewed multiple moving objects and reported the direction of motion of a randomly selected item. Using a vector-decomposition technique, we computed performance during smooth pursuit with respect to a spatiotopic (nonretinotopic) and to a retinotopic component and compared them with performance during fixation, which served as the baseline. For the stimulus encoding stage, which precedes memory, we found that the reference frame depends on the stimulus set size. For a single moving target, the spatiotopic reference frame had the most significant contribution with some additional contribution from the retinotopic reference frame. When the number of items increased (Set Sizes 3 to 7), the spatiotopic reference frame was able to account for the performance. Finally, when the number of items became larger than 7, the distinction between reference frames vanished. We interpret this finding as a switch to a more abstract nonmetric encoding of motion direction. We found that the retinotopic reference frame was not used in memory. Taken together with other studies, our results suggest that, whereas a retinotopic reference frame may be employed for controlling eye movements, perception and memory use primarily nonretinotopic reference frames. Furthermore, the use of nonretinotopic reference frames appears to be capacity limited. In the case of complex stimuli, the visual system may use perceptual grouping in order to simplify the complexity of stimuli or resort to a nonmetric abstract coding of motion information.

Comparison of sEMG-Based Feature Extraction and Motion Classification Methods for Upper-Limb Movement

PubMed Central

Guo, Shuxiang; Pang, Muye; Gao, Baofeng; Hirata, Hideyuki; Ishihara, Hidenori

2015-01-01

The surface electromyography (sEMG) technique is proposed for muscle activation detection and intuitive control of prostheses or robot arms. Motion recognition is widely used to map sEMG signals to the target motions. One of the main factors preventing the implementation of this kind of method for real-time applications is the unsatisfactory motion recognition rate and time consumption. The purpose of this paper is to compare eight combinations of four feature extraction methods (Root Mean Square (RMS), Detrended Fluctuation Analysis (DFA), Weight Peaks (WP), and Muscular Model (MM)) and two classifiers (Neural Networks (NN) and Support Vector Machine (SVM)), for the task of mapping sEMG signals to eight upper-limb motions, to find out the relation between these methods and propose a proper combination to solve this issue. Seven subjects participated in the experiment and six muscles of the upper-limb were selected to record sEMG signals. The experimental results showed that NN classifier obtained the highest recognition accuracy rate (88.7%) during the training process while SVM performed better in real-time experiments (85.9%). For time consumption, SVM took less time than NN during the training process but needed more time for real-time computation. Among the four feature extraction methods, WP had the highest recognition rate for the training process (97.7%) while MM performed the best during real-time tests (94.3%). The combination of MM and NN is recommended for strict real-time applications while a combination of MM and SVM will be more suitable when time consumption is not a key requirement. PMID:25894941

Vector Graph Assisted Pedestrian Dead Reckoning Using an Unconstrained Smartphone

PubMed Central

Qian, Jiuchao; Pei, Ling; Ma, Jiabin; Ying, Rendong; Liu, Peilin

2015-01-01

The paper presents a hybrid indoor positioning solution based on a pedestrian dead reckoning (PDR) approach using built-in sensors on a smartphone. To address the challenges of flexible and complex contexts of carrying a phone while walking, a robust step detection algorithm based on motion-awareness has been proposed. Given the fact that step length is influenced by different motion states, an adaptive step length estimation algorithm based on motion recognition is developed. Heading estimation is carried out by an attitude acquisition algorithm, which contains a two-phase filter to mitigate the distortion of magnetic anomalies. In order to estimate the heading for an unconstrained smartphone, principal component analysis (PCA) of acceleration is applied to determine the offset between the orientation of smartphone and the actual heading of a pedestrian. Moreover, a particle filter with vector graph assisted particle weighting is introduced to correct the deviation in step length and heading estimation. Extensive field tests, including four contexts of carrying a phone, have been conducted in an office building to verify the performance of the proposed algorithm. Test results show that the proposed algorithm can achieve sub-meter mean error in all contexts. PMID:25738763

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

Anderson, John

This project aims to understand the characteristics of the free-field strong-motion records that have yielded the 100 largest peak accelerations and the 100 largest peak velocities recorded to date. The peak is defined as the maximum magnitude of the acceleration or velocity vector during the strong shaking. This compilation includes 35 records with peak acceleration greater than gravity, and 41 records with peak velocities greater than 100 cm/s. The results represent an estimated 150,000 instrument-years of strong-motion recordings. The mean horizontal acceleration or velocity, as used for the NGA ground motion models, is typically 0.76 times the magnitude of thismore » vector peak. Accelerations in the top 100 come from earthquakes as small as magnitude 5, while velocities in the top 100 all come from earthquakes with magnitude 6 or larger. Records are dominated by crustal earthquakes with thrust, oblique-thrust, or strike-slip mechanisms. Normal faulting mechanisms in crustal earthquakes constitute under 5% of the records in the databases searched, and an even smaller percentage of the exceptional records. All NEHRP site categories have contributed exceptional records, in proportions similar to the extent that they are represented in the larger database.« less

A substructure coupling procedure applicable to general linear time-invariant dynamic systems

NASA Technical Reports Server (NTRS)

Howsman, T. G.; Craig, R. R., Jr.

1984-01-01

A substructure synthesis procedure applicable to structural systems containing general nonconservative terms is presented. In their final form, the nonself-adjoint substructure equations of motion are cast in state vector form through the use of a variational principle. A reduced-order mode for each substructure is implemented by representing the substructure as a combination of a small number of Ritz vectors. For the method presented, the substructure Ritz vectors are identified as a truncated set of substructure eigenmodes, which are typically complex, along with a set of generalized real attachment modes. The formation of the generalized attachment modes does not require any knowledge of the substructure flexible modes; hence, only the eigenmodes used explicitly as Ritz vectors need to be extracted from the substructure eigenproblem. An example problem is presented to illustrate the method.

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

Nasehi Tehrani, J; Wang, J; McEwan, A

Purpose: In this study, we developed and evaluated a method for predicting lung surface deformation vector fields (SDVFs) based on surrogate signals such as chest and abdomen motion at selected locations and spirometry measurements. Methods: A Patient-specific 3D triangular surface mesh of the lung region at end-expiration (EE) phase was obtained by threshold-based segmentation method. For each patient, a spirometer recorded the flow volume changes of the lungs; and 192 selected points at a regular spacing of 2cm X 2cm matrix points over a total area of 34cm X 24cm on the surface of chest and abdomen was used tomore » detect chest wall motions. Preprocessing techniques such as QR factorization with column pivoting (QRCP) were employed to remove redundant observations of the chest and abdominal area. To create a statistical model between the lung surface and the corresponding surrogate signals, we developed a predictive model based on canonical ridge regression (CRR). Two unique weighting vectors were selected for each vertex on the surface of the lung, and they were optimized during the training process using the all other phases of 4D-CT except the end-inspiration (EI) phase. These parameters were employed to predict the vertices locations of a testing data set, which was the EI phase of 4D-CT. Results: For ten lung cancer patients, the deformation vector field of each vertex of lung surface mesh was estimated from the external motion at selected positions on the chest wall surface plus spirometry measurements. The average estimation of 98th percentile of error was less than 1 mm (AP= 0.85, RL= 0.61, and SI= 0.82). Conclusion: The developed predictive model provides a non-invasive approach to derive lung boundary condition. Together with personalized biomechanical respiration modelling, the proposed model can be used to derive the lung tumor motion during radiation therapy accurately from non-invasive measurements.« less

A microfluidic device for simultaneous measurement of viscosity and flow rate of blood in a complex fluidic network

PubMed Central

Jun Kang, Yang; Yeom, Eunseop; Lee, Sang-Joon

2013-01-01

Blood viscosity has been considered as one of important biophysical parameters for effectively monitoring variations in physiological and pathological conditions of circulatory disorders. Standard previous methods make it difficult to evaluate variations of blood viscosity under cardiopulmonary bypass procedures or hemodialysis. In this study, we proposed a unique microfluidic device for simultaneously measuring viscosity and flow rate of whole blood circulating in a complex fluidic network including a rat, a reservoir, a pinch valve, and a peristaltic pump. To demonstrate the proposed method, a twin-shaped microfluidic device, which is composed of two half-circular chambers, two side channels with multiple indicating channels, and one bridge channel, was carefully designed. Based on the microfluidic device, three sequential flow controls were applied to identify viscosity and flow rate of blood, with label-free and sensorless detection. The half-circular chamber was employed to achieve mechanical membrane compliance for flow stabilization in the microfluidic device. To quantify the effect of flow stabilization on flow fluctuations, a formula of pulsation index (PI) was analytically derived using a discrete fluidic circuit model. Using the PI formula, the time constant contributed by the half-circular chamber is estimated to be 8 s. Furthermore, flow fluctuations resulting from the peristaltic pumps are completely removed, especially under periodic flow conditions within short periods (T < 10 s). For performance demonstrations, the proposed method was applied to evaluate blood viscosity with respect to varying flow rate conditions [(a) known blood flow rate via a syringe pump, (b) unknown blood flow rate via a peristaltic pump]. As a result, the flow rate and viscosity of blood can be simultaneously measured with satisfactory accuracy. In addition, the proposed method was successfully applied to identify the viscosity of rat blood, which circulates in a complex fluidic network. These observations confirm that the proposed method can be used for simultaneous measurement of viscosity and flow rate of whole blood circulating in the complex fluid network, with sensorless and label-free detection. Furthermore, the proposed method will be used in evaluating variations in the viscosity of human blood during cardiopulmonary bypass procedures or hemodialysis. PMID:24404074

A microfluidic device for simultaneous measurement of viscosity and flow rate of blood in a complex fluidic network.

PubMed

Jun Kang, Yang; Yeom, Eunseop; Lee, Sang-Joon

2013-01-01

Blood viscosity has been considered as one of important biophysical parameters for effectively monitoring variations in physiological and pathological conditions of circulatory disorders. Standard previous methods make it difficult to evaluate variations of blood viscosity under cardiopulmonary bypass procedures or hemodialysis. In this study, we proposed a unique microfluidic device for simultaneously measuring viscosity and flow rate of whole blood circulating in a complex fluidic network including a rat, a reservoir, a pinch valve, and a peristaltic pump. To demonstrate the proposed method, a twin-shaped microfluidic device, which is composed of two half-circular chambers, two side channels with multiple indicating channels, and one bridge channel, was carefully designed. Based on the microfluidic device, three sequential flow controls were applied to identify viscosity and flow rate of blood, with label-free and sensorless detection. The half-circular chamber was employed to achieve mechanical membrane compliance for flow stabilization in the microfluidic device. To quantify the effect of flow stabilization on flow fluctuations, a formula of pulsation index (PI) was analytically derived using a discrete fluidic circuit model. Using the PI formula, the time constant contributed by the half-circular chamber is estimated to be 8 s. Furthermore, flow fluctuations resulting from the peristaltic pumps are completely removed, especially under periodic flow conditions within short periods (T < 10 s). For performance demonstrations, the proposed method was applied to evaluate blood viscosity with respect to varying flow rate conditions [(a) known blood flow rate via a syringe pump, (b) unknown blood flow rate via a peristaltic pump]. As a result, the flow rate and viscosity of blood can be simultaneously measured with satisfactory accuracy. In addition, the proposed method was successfully applied to identify the viscosity of rat blood, which circulates in a complex fluidic network. These observations confirm that the proposed method can be used for simultaneous measurement of viscosity and flow rate of whole blood circulating in the complex fluid network, with sensorless and label-free detection. Furthermore, the proposed method will be used in evaluating variations in the viscosity of human blood during cardiopulmonary bypass procedures or hemodialysis.

Plate motions and deformations from geologic and geodetic data

NASA Technical Reports Server (NTRS)

Jordan, T. H.

1986-01-01

Research effort on behalf of the Crustal Dynamics Project focused on the development of methodologies suitable for the analysis of space-geodetic data sets for the estimation of crustal motions, in conjunction with results derived from land-based geodetic data, neo-tectonic studies, and other geophysical data. These methodologies were used to provide estimates of both global plate motions and intraplate deformation in the western U.S. Results from the satellite ranging experiment for the rate of change of the baseline length between San Diego and Quincy, California indicated that relative motion between the North American and Pacific plates over the course of the observing period during 1972 to 1982 were consistent with estimates calculated from geologic data averaged over the past few million years. This result, when combined with other kinematic constraints on western U.S. deformation derived from land-based geodesy, neo-tectonic studies, and other geophysical data, places limits on the possible extension of the Basin and Range province, and implies significant deformation is occurring west of the San Andreas fault. A new methodology was developed to analyze vector-position space-geodetic data to provide estimates of relative vector motions of the observing sites. The algorithm is suitable for the reduction of large, inhomogeneous data sets, and takes into account the full position covariances, errors due to poorly resolved Earth orientation parameters and vertical positions, and reduces baises due to inhomogeneous sampling of the data. This methodology was applied to the problem of estimating the rate-scaling parameter of a global plate tectonic model using satellite laser ranging observations over a five-year interval. The results indicate that the mean rate of global plate motions for that interval are consistent with those averaged over several million years, and are not consistent with quiescent or greatly accelerated plate motions. This methodology was also used to provide constraints on deformation in the western U.S. using very long baseline interferometry observations over a two-year period.

Fast adaptive diamond search algorithm for block-matching motion estimation using spatial correlation

NASA Astrophysics Data System (ADS)

Park, Sang-Gon; Jeong, Dong-Seok

2000-12-01

In this paper, we propose a fast adaptive diamond search algorithm (FADS) for block matching motion estimation. Many fast motion estimation algorithms reduce the computational complexity by the UESA (Unimodal Error Surface Assumption) where the matching error monotonically increases as the search moves away from the global minimum point. Recently, many fast BMAs (Block Matching Algorithms) make use of the fact that global minimum points in real world video sequences are centered at the position of zero motion. But these BMAs, especially in large motion, are easily trapped into the local minima and result in poor matching accuracy. So, we propose a new motion estimation algorithm using the spatial correlation among the neighboring blocks. We move the search origin according to the motion vectors of the spatially neighboring blocks and their MAEs (Mean Absolute Errors). The computer simulation shows that the proposed algorithm has almost the same computational complexity with DS (Diamond Search), but enhances PSNR. Moreover, the proposed algorithm gives almost the same PSNR as that of FS (Full Search), even for the large motion with half the computational load.

Physics Notes

ERIC Educational Resources Information Center

School Science Review, 1972

1972-01-01

Short articles describe the demonstration of Brownian motion in a bubble included in a quartz crystal, an inexpensive technique for investigating conservation of momentum, a method of teaching vector addition, and ideas for inexpensive substitutes for heavy masses and for additional laboratory bench space. (AL)

Polarized object detection in crabs: a two-channel system.

PubMed

Basnak, Melanie Ailín; Pérez-Schuster, Verónica; Hermitte, Gabriela; Berón de Astrada, Martín

2018-05-25

Many animal species take advantage of polarization vision for vital tasks such as orientation, communication and contrast enhancement. Previous studies have suggested that decapod crustaceans use a two-channel polarization system for contrast enhancement. Here, we characterize the polarization contrast sensitivity in a grapsid crab . We estimated the polarization contrast sensitivity of the animals by quantifying both their escape response and changes in heart rate when presented with polarized motion stimuli. The motion stimulus consisted of an expanding disk with an 82 deg polarization difference between the object and the background. More than 90% of animals responded by freezing or trying to avoid the polarized stimulus. In addition, we co-rotated the electric vector (e-vector) orientation of the light from the object and background by increments of 30 deg and found that the animals' escape response varied periodically with a 90 deg period. Maximum escape responses were obtained for object and background e-vectors near the vertical and horizontal orientations. Changes in cardiac response showed parallel results but also a minimum response when e-vectors of object and background were shifted by 45 deg with respect to the maxima. These results are consistent with an orthogonal receptor arrangement for the detection of polarized light, in which two channels are aligned with the vertical and horizontal orientations. It has been hypothesized that animals with object-based polarization vision rely on a two-channel detection system analogous to that of color processing in dichromats. Our results, obtained by systematically varying the e-vectors of object and background, provide strong empirical support for this theoretical model of polarized object detection. © 2018. Published by The Company of Biologists Ltd.

Euler-Vector Clustering of GPS Velocities Defines Microplate Geometry in Southwest Japan

NASA Astrophysics Data System (ADS)

Savage, J. C.

2018-02-01

I have used Euler-vector clustering to assign 469 GEONET stations in southwest Japan to k clusters (k = 2, 3,..., 9) so that, for any k, the velocities of stations within each cluster are most consistent with rigid-block motion on a sphere. That is, I attempt to explain the raw (i.e., uncorrected for strain accumulation), 1996-2006 velocities of those 469 Global Positioning System stations by rigid motion of k clusters on the surface of a spherical Earth. Because block geometry is maintained as strain accumulates, Euler-vector clustering may better approximate the block geometry than the values of the associated Euler vectors. The microplate solution for each k is constructed by merging contiguous clusters that have closely similar Euler vectors. The best solution consists of three microplates arranged along the Nankaido Trough-Ryukyu Trench between the Amurian and Philippine Sea Plates. One of these microplates, the South Kyushu Microplate (an extension of the Ryukyu forearc into the southeast corner of Kyushu), had previously been identified from paleomagnetic rotations. Relative to ITRF2000 the three microplates rotate at different rates about neighboring poles located close to the northwest corner of Shikoku. The microplate model is identical to that proposed in the block model of Wallace et al. (2009, https://doi.org/10.1130/G2522A.1) except in southernmost Kyushu. On Shikoku and Honshu, but not Kyushu, the microplate model is consistent with that proposed in the block models of Nishimura and Hashimoto (2006, https://doi.org/10.1016/j.tecto.2006.04.017) and Loveless and Meade (2010, https://doi.org/10.1029/2008JB006248) without the low-slip-rate boundaries proposed in the latter.

Dynamic Aberration Correction for Conformal Window of High-Speed Aircraft Using Optimized Model-Based Wavefront Sensorless Adaptive Optics

PubMed Central

Dong, Bing; Li, Yan; Han, Xin-li; Hu, Bin

2016-01-01

For high-speed aircraft, a conformal window is used to optimize the aerodynamic performance. However, the local shape of the conformal window leads to large amounts of dynamic aberrations varying with look angle. In this paper, deformable mirror (DM) and model-based wavefront sensorless adaptive optics (WSLAO) are used for dynamic aberration correction of an infrared remote sensor equipped with a conformal window and scanning mirror. In model-based WSLAO, aberration is captured using Lukosz mode, and we use the low spatial frequency content of the image spectral density as the metric function. Simulations show that aberrations induced by the conformal window are dominated by some low-order Lukosz modes. To optimize the dynamic correction, we can only correct dominant Lukosz modes and the image size can be minimized to reduce the time required to compute the metric function. In our experiment, a 37-channel DM is used to mimic the dynamic aberration of conformal window with scanning rate of 10 degrees per second. A 52-channel DM is used for correction. For a 128 × 128 image, the mean value of image sharpness during dynamic correction is 1.436 × 10−5 in optimized correction and is 1.427 × 10−5 in un-optimized correction. We also demonstrated that model-based WSLAO can achieve convergence two times faster than traditional stochastic parallel gradient descent (SPGD) method. PMID:27598161

The rotational motion of an earth orbiting gyroscope according to the Einstein theory of general relativity

NASA Technical Reports Server (NTRS)

Hoots, F. R.; Fitzpatrick, P. M.

1979-01-01

The classical Poisson equations of rotational motion are used to study the attitude motions of an earth orbiting, rapidly spinning gyroscope perturbed by the effects of general relativity (Einstein theory). The center of mass of the gyroscope is assumed to move about a rotating oblate earth in an evolving elliptic orbit which includes all first-order oblateness effects produced by the earth. A method of averaging is used to obtain a transformation of variables, for the nonresonance case, which significantly simplifies the Poisson differential equations of motion of the gyroscope. Long-term solutions are obtained by an exact analytical integration of the simplified transformed equations. These solutions may be used to predict both the orientation of the gyroscope and the motion of its rotational angular momentum vector as viewed from its center of mass. The results are valid for all eccentricities and all inclinations not near the critical inclination.

Detecting dominant motion patterns in crowds of pedestrians

NASA Astrophysics Data System (ADS)

Saqib, Muhammad; Khan, Sultan Daud; Blumenstein, Michael

2017-02-01

As the population of the world increases, urbanization generates crowding situations which poses challenges to public safety and security. Manual analysis of crowded situations is a tedious job and usually prone to errors. In this paper, we propose a novel technique of crowd analysis, the aim of which is to detect different dominant motion patterns in real-time videos. A motion field is generated by computing the dense optical flow. The motion field is then divided into blocks. For each block, we adopt an Intra-clustering algorithm for detecting different flows within the block. Later on, we employ Inter-clustering for clustering the flow vectors among different blocks. We evaluate the performance of our approach on different real-time videos. The experimental results show that our proposed method is capable of detecting distinct motion patterns in crowded videos. Moreover, our algorithm outperforms state-of-the-art methods.

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.

The pointing errors of geosynchronous satellites

NASA Technical Reports Server (NTRS)

Sikdar, D. N.; Das, A.

1971-01-01

A study of the correlation between cloud motion and wind field was initiated. Cloud heights and displacements were being obtained from a ceilometer and movie pictures, while winds were measured from pilot balloon observations on a near-simultaneous basis. Cloud motion vectors were obtained from time-lapse cloud pictures, using the WINDCO program, for 27, 28 July, 1969, in the Atlantic. The relationship between observed features of cloud clusters and the ambient wind field derived from cloud trajectories on a wide range of space and time scales is discussed.

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.

Betatron motion with coupling of horizontal and vertical degrees of freedom

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

S. A. Bogacz; V. A. Lebedev

2002-11-21

The Courant-Snyder parameterization of one-dimensional linear betatron motion is generalized to two-dimensional coupled linear motion. To represent the 4 x 4 symplectic transfer matrix the following ten parameters were chosen: four beta-functions, four alpha-functions and two betatron phase advances which have a meaning similar to the Courant-Snyder parameterization. Such a parameterization works equally well for weak and strong coupling and can be useful for analysis of coupled betatron motion in circular accelerators as well as in transfer lines. Similarly, the transfer matrix, the bilinear form describing the phase space ellipsoid and the second order moments are related to the eigen-vectors.more » Corresponding equations can be useful in interpreting tracking results and experimental data.« less

The lucky image-motion prediction for simple scene observation based soft-sensor technology

NASA Astrophysics Data System (ADS)

Li, Yan; Su, Yun; Hu, Bin

2015-08-01

High resolution is important to earth remote sensors, while the vibration of the platforms of the remote sensors is a major factor restricting high resolution imaging. The image-motion prediction and real-time compensation are key technologies to solve this problem. For the reason that the traditional autocorrelation image algorithm cannot meet the demand for the simple scene image stabilization, this paper proposes to utilize soft-sensor technology in image-motion prediction, and focus on the research of algorithm optimization in imaging image-motion prediction. Simulations results indicate that the improving lucky image-motion stabilization algorithm combining the Back Propagation Network (BP NN) and support vector machine (SVM) is the most suitable for the simple scene image stabilization. The relative error of the image-motion prediction based the soft-sensor technology is below 5%, the training computing speed of the mathematical predication model is as fast as the real-time image stabilization in aerial photography.

Neural Circuit to Integrate Opposing Motions in the Visual Field.

PubMed

Mauss, Alex S; Pankova, Katarina; Arenz, Alexander; Nern, Aljoscha; Rubin, Gerald M; Borst, Alexander

2015-07-16

When navigating in their environment, animals use visual motion cues as feedback signals that are elicited by their own motion. Such signals are provided by wide-field neurons sampling motion directions at multiple image points as the animal maneuvers. Each one of these neurons responds selectively to a specific optic flow-field representing the spatial distribution of motion vectors on the retina. Here, we describe the discovery of a group of local, inhibitory interneurons in the fruit fly Drosophila key for filtering these cues. Using anatomy, molecular characterization, activity manipulation, and physiological recordings, we demonstrate that these interneurons convey direction-selective inhibition to wide-field neurons with opposite preferred direction and provide evidence for how their connectivity enables the computation required for integrating opposing motions. Our results indicate that, rather than sharpening directional selectivity per se, these circuit elements reduce noise by eliminating non-specific responses to complex visual information. Copyright © 2015 Elsevier Inc. All rights reserved.

A Rolling Sphere on a Tilted Rotating Turntable.

ERIC Educational Resources Information Center

Sambles, J. R.; And Others

1983-01-01

Describes an advanced high school/college experiment that illustrates the mechanics describing the motion of a rolling ball. Includes procedures used, discussions of vectoral and mathematical (calculus) solutions to the investigation, and sample student results using the recommended materials. (JM)