System and method for monitoring and controlling stator winding temperature in a de-energized AC motor

DOEpatents

Lu, Bin [Kenosha, WI; Luebke, Charles John [Sussex, WI; Habetler, Thomas G [Snellville, GA; Zhang, Pinjia [Atlanta, GA; Becker, Scott K [Oak Creek, WI

2011-12-27

A system and method for measuring and controlling stator winding temperature in an AC motor while idling is disclosed. The system includes a circuit having an input connectable to an AC source and an output connectable to an input terminal of a multi-phase AC motor. The circuit further includes a plurality of switching devices to control current flow and terminal voltages in the multi-phase AC motor and a controller connected to the circuit. The controller is configured to activate the plurality of switching devices to create a DC signal in an output of the motor control device corresponding to an input to the multi-phase AC motor, determine or estimate a stator winding resistance of the multi-phase AC motor based on the DC signal, and estimate a stator temperature from the stator winding resistance. Temperature can then be controlled and regulated by DC injection into the stator windings.

Motorized control for mirror mount apparatus

DOEpatents

Cutburth, Ronald W.

1989-01-01

A motorized control and automatic braking system for adjusting mirror mount apparatus is disclosed. The motor control includes a planetary gear arrangement to provide improved pitch adjustment capability while permitting a small packaged design. The motor control for mirror mount adjustment is suitable for laser beam propagation applications. The brake is a system of constant contact, floating detents which engage the planetary gear at selected between-teeth increments to stop rotation instantaneously when the drive motor stops.

Biomechanics as a window into the neural control of movement

PubMed Central

2016-01-01

Abstract Biomechanics and motor control are discussed as parts of a more general science, physics of living systems. Major problems of biomechanics deal with exact definition of variables and their experimental measurement. In motor control, major problems are associated with formulating currently unknown laws of nature specific for movements by biological objects. Mechanics-based hypotheses in motor control, such as those originating from notions of a generalized motor program and internal models, are non-physical. The famous problem of motor redundancy is wrongly formulated; it has to be replaced by the principle of abundance, which does not pose computational problems for the central nervous system. Biomechanical methods play a central role in motor control studies. This is illustrated with studies with the reconstruction of hypothetical control variables and those exploring motor synergies within the framework of the uncontrolled manifold hypothesis. Biomechanics and motor control have to merge into physics of living systems, and the earlier this process starts the better. PMID:28149390

Motor control for a brushless DC motor

NASA Technical Reports Server (NTRS)

Peterson, William J. (Inventor); Faulkner, Dennis T. (Inventor)

1985-01-01

This invention relates to a motor control system for a brushless DC motor having an inverter responsively coupled to the motor control system and in power transmitting relationship to the motor. The motor control system includes a motor rotor speed detecting unit that provides a pulsed waveform signal proportional to rotor speed. This pulsed waveform signal is delivered to the inverter to thereby cause an inverter fundamental current waveform output to the motor to be switched at a rate proportional to said rotor speed. In addition, the fundamental current waveform is also pulse width modulated at a rate proportional to the rotor speed. A fundamental current waveform phase advance circuit is controllingly coupled to the inverter. The phase advance circuit is coupled to receive the pulsed waveform signal from the motor rotor speed detecting unit and phase advance the pulsed waveform signal as a predetermined function of motor speed to thereby cause the fundamental current waveform to be advanced and thereby compensate for fundamental current waveform lag due to motor winding reactance which allows the motor to operate at higher speeds than the motor is rated while providing optimal torque and therefore increased efficiency.

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.

Universal computer control system (UCCS) for space telerobots

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Szakaly, Zoltan

1987-01-01

A universal computer control system (UCCS) is under development for all motor elements of a space telerobot. The basic hardware architecture and software design of UCCS are described, together with the rich motor sensing, control, and self-test capabilities of this all-computerized motor control system. UCCS is integrated into a multibus computer environment with direct interface to higher level control processors, uses pulsewidth multiplier power amplifiers, and one unit can control up to sixteen different motors simultaneously at a high I/O rate. UCCS performance capabilities are illustrated by a few data.

ARDOLORES: an Arduino based motors control system for DOLORES

NASA Astrophysics Data System (ADS)

Gonzalez, Manuel; Ventura, H.; San Juan, J.; Di Fabrizio, L.

2014-07-01

We present ARDOLORES a custom made motor control system for the DOLORES instrument in use at the TNG telescope. ARDOLORES replaced the original PMAC based motor control system at a fraction of the cost. The whole system is composed by one master Arduino ONE with its Ethernet shield, to handle the communications with the external world through an Ethernet socket, and by one Arduino ONE with its custom motor shield for each axis to be controlled. The communication between the master and slaves Arduinos is made possible through the I2C bus. Also a Java web-service has been written to control the motors from an higher level and provides an external API for the scientific GUI. The system has been working since January 2012 handling the DOLORES motors and has demonstrated to be stable, reliable, and with easy maintenance in both the hardware and the software parts.

Microcomputer control of an electronically commutated dc motor

NASA Astrophysics Data System (ADS)

El-Sharkawi, M. A.; Coleman, J. S.; Mehdi, I. S.; Sommer, D. L.

A microcomputer control system for an electronically commutated dc motor (ECM) has been designed, built and tested. A 3-hp, 270-volt, samarium-cobalt brushless dc motor is controlled by an Intel 8086-based microcomputer. The main functions of the microcomputer are to control the speed of the motor, to provide forward or reverse rotation, to brake, and to protect the motor and its power electronic switching circuits from overcurrents. The necessary interface circuits were designed and built, and the system components have been integrated and tested. It is shown that the proposed ECM system with the microcomputer control operate the motor reliably over a wide range of speeds. The purpose of this effort is to develop the motorcontroller for driving electromechanical actuators for flight control and other aircraft applications.

DC servo motor positioning with anti-windup implementation using C2000 ARM-Texas Instrument

NASA Astrophysics Data System (ADS)

Linggarjati, Jimmy

2017-12-01

One of the most important topics in control system is DC Motor. At this research, a positioning control system for a DC motor is investigated. Firstly, the DC Motor will be paramaterized to get the transfer function model, in order to be simulated in Matlab, and then implemented in a C2000-ARM microcontroller from TI (Texas Instrument). With this investigation, students in control system theory will be able to understand the importance of classical control theories, in relation to the real world implementation of the position control for the DC Motor, escpecially the importance of Anti-Windup technique in real-world implementation.

Design of permanent magnet synchronous motor speed control system based on SVPWM

NASA Astrophysics Data System (ADS)

Wu, Haibo

2017-04-01

The control system is designed to realize TMS320F28335 based on the permanent magnet synchronous motor speed control system, and put it to quoting all electric of injection molding machine. The system of the control method used SVPWM, through the sampling motor current and rotating transformer position information, realize speed, current double closed loop control. Through the TMS320F28335 hardware floating-point processing core, realize the application for permanent magnet synchronous motor in the floating point arithmetic, to replace the past fixed-point algorithm, and improve the efficiency of the code.

Research on Control System of Three - phase Brushless DC Motor for Electric Vehicle

NASA Astrophysics Data System (ADS)

Wang, Zhiwei; Jin, Hai; Guo, Jie; Su, Jie; Wang, Miao

2017-12-01

In order to study the three-phase brushless motor control system of electric vehicle, Freescale9S12XS128 chip is used as the control core, and the power MOSFET is used as the inverter device. The software is compiled by Codewarrior software. The speed control link adopts open-loop control, and the control chip collects the external sensor signal voltage Change control PWM signal output control three-phase brushless DC motor speed. The whole system consists of Hall position detection module, current detection module, power drive module and voltage detection module. The basic functions of three-phase brushless DC motor drive control are realized.

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.

Synchronization controller design of two coupling permanent magnet synchronous motors system with nonlinear constraints.

PubMed

Deng, Zhenhua; Shang, Jing; Nian, Xiaohong

2015-11-01

In this paper, two coupling permanent magnet synchronous motors system with nonlinear constraints is studied. First of all, the mathematical model of the system is established according to the engineering practices, in which the dynamic model of motor and the nonlinear coupling effect between two motors are considered. In order to keep the two motors synchronization, a synchronization controller based on load observer is designed via cross-coupling idea and interval matrix. Moreover, speed, position and current signals of two motor all are taken as self-feedback signal as well as cross-feedback signal in the proposed controller, which is conducive to improving the dynamical performance and the synchronization performance of the system. The proposed control strategy is verified by simulation via Matlab/Simulink program. The simulation results show that the proposed control method has a better control performance, especially synchronization performance, than that of the conventional PI controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

Solar Powered Aircraft, Photovoltaic Array/Battery System Tabletop Demonstration: Design and Operation Manual

NASA Technical Reports Server (NTRS)

Colozza, Anthony J.; Scheiman, David A.; Bailey, Sheila (Technical Monitor)

2000-01-01

A system was constructed to demonstrate the power system operation of a solar powered aircraft. The system consists of a photovoltaic (PV) array, a charge controller, a battery, an electric motor and propeller. The system collects energy from the PV array and either utilizes this energy to operate an electric motor or stores it in a rechargeable battery for future use. The system has a control panel which displays the output of the array and battery as well as the total current going to the electric motor. The control panel also has a means for adjusting the output to the motor to control its speed. The entire system is regulated around 12 VDC.

SDRE control strategy applied to a nonlinear robotic including drive motor

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

Lima, Jeferson J. de, E-mail: jefersonjl82@gmail.com, E-mail: tusset@utfpr.edu.br, E-mail: fcjanzen@utfpr.edu.br, E-mail: piccirillo@utfpr.edu.br, E-mail: claudinor@utfpr.edu.br; Tusset, Angelo M., E-mail: jefersonjl82@gmail.com, E-mail: tusset@utfpr.edu.br, E-mail: fcjanzen@utfpr.edu.br, E-mail: piccirillo@utfpr.edu.br, E-mail: claudinor@utfpr.edu.br; Janzen, Frederic C., E-mail: jefersonjl82@gmail.com, E-mail: tusset@utfpr.edu.br, E-mail: fcjanzen@utfpr.edu.br, E-mail: piccirillo@utfpr.edu.br, E-mail: claudinor@utfpr.edu.br

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque betweenmore » the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.« less

Dual motor drive vehicle speed synchronization and coordination control strategy

NASA Astrophysics Data System (ADS)

Huang, Hao; Tu, Qunzhang; Jiang, Chenming; Ma, Limin; Li, Pei; Zhang, Hongxing

2018-04-01

Multi-motor driven systems are more and more widely used in the field of electric engineering vehicles, as a result of the road conditions and the variable load of engineering vehicles, makes multi-motors synchronization coordinated control system as a key point of the development of the electric vehicle drive system. This paper based on electrical machinery transmission speed in the process of engineering vehicles headed for coordinated control problem, summarized control strategies at home and abroad in recent years, made analysis and comparison of the characteristics, finally discussed the trend of development of the multi-motor coordination control, provided a reference for synchronized control system research of electric drive engineering vehicles.

Design and simulation of permanent magnet synchronous motor control system

NASA Astrophysics Data System (ADS)

Li, Li; Liu, Yongqiu

2018-06-01

In recent years, with the development of power electronics, microelectronics, new motor control theory and rare earth permanent magnet materials, permanent magnet synchronous motors have been rapidly applied. Permanent magnet synchronous motors have the advantages of small size, low loss and high efficiency. Today, energy conservation and environmental protection are increasingly valued. It is very necessary to study them. Permanent magnet synchronous motor control system has a wide range of application prospects in the fields of electric vehicles, ships and other transportation. Using the simulation function of MATLAB/SIMULINK, a modular design structure was used to simulate the whole system model of speed loop adjustment, current PI modulation, SVPWM (Space Vector Pulse Width Module) wave generation and double closed loop. The results show that this control method has good robustness, and this method can improve the design efficiency and shorten the system design time. In this article, the analysis of the control principle of modern permanent magnet synchronous motor and the various processes of MATLAB simulation application will be analyzed in detail. The basic theory, basic method and application technology of the permanent magnet synchronous motor control system are systematically introduced.

Smart motor technology

NASA Technical Reports Server (NTRS)

Packard, D.; Schmitt, D.

1984-01-01

Current spacecraft design relies upon microprocessor control; however, motors usually require extensive additional electronic circuitry to interface with these microprocessor controls. An improved control technique that allows a smart brushless motor to connect directly to a microprocessor control system is described. An actuator with smart motors receives a spacecraft command directly and responds in a closed loop control mode. In fact, two or more smart motors can be controlled for synchronous operation.

The Design of Software for Three-Phase Induction Motor Test System

NASA Astrophysics Data System (ADS)

Haixiang, Xu; Fengqi, Wu; Jiai, Xue

2017-11-01

The design and development of control system software is important to three-phase induction motor test equipment, which needs to be completely familiar with the test process and the control procedure of test equipment. In this paper, the software is developed according to the national standard (GB/T1032-2005) about three-phase induction motor test method by VB language. The control system and data analysis software and the implement about motor test system are described individually, which has the advantages of high automation and high accuracy.

Research on Hybrid Vehicle Drivetrain

NASA Astrophysics Data System (ADS)

Xie, Zhongzhi

Hybrid cars as a solution to energy saving, emission reduction measures, have received widespread attention. Motor drive system as an important part of the hybrid vehicles as an important object of study. Based on the hybrid electric vehicle powertrain control system for permanent magnet synchronous motor as the object of study. Can be applied to hybrid car compares the characteristics of traction motors, chose permanent magnet synchronous Motors as drive motors for hybrid vehicles. Building applications in hybrid cars in MATLAB/Simulink simulation model of permanent-magnet synchronous motor speed control system and analysis of simulation results.

Control Systems Lab Using a LEGO Mindstorms NXT Motor System

ERIC Educational Resources Information Center

Kim, Y.

2011-01-01

This paper introduces a low-cost LEGO Mindstorms NXT motor system for teaching classical and modern control theories in standard third-year undergraduate courses. The LEGO motor system can be used in conjunction with MATLAB, Simulink, and several necessary toolboxes to demonstrate: 1) a modeling technique; 2) proportional-integral-differential…

Cortical Interactions Underlying the Production of Speech Sounds

ERIC Educational Resources Information Center

Guenther, Frank H.

2006-01-01

Speech production involves the integration of auditory, somatosensory, and motor information in the brain. This article describes a model of speech motor control in which a feedforward control system, involving premotor and primary motor cortex and the cerebellum, works in concert with auditory and somatosensory feedback control systems that…

Transistorized PWM inverter-induction motor drive system

NASA Technical Reports Server (NTRS)

Peak, S. C.; Plunkett, A. B.

1982-01-01

This paper describes the development of a transistorized PWM inverter-induction motor traction drive system. A vehicle performance analysis was performed to establish the vehicle tractive effort-speed requirements. These requirements were then converted into a set of inverter and motor specifications. The inverter was a transistorized three-phase bridge using General Electric power Darlington transistors. The description of the design and development of this inverter is the principal object of this paper. The high-speed induction motor is a design which is optimized for use with an inverter power source. The primary feedback control is a torque angle control with voltage and torque outer loop controls. A current-controlled PWM technique is used to control the motor voltage. The drive has a constant torque output with PWM operation to base motor speed and a constant horsepower output with square wave operation to maximum speed. The drive system was dynamometer tested and the results are presented.

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

NASA Astrophysics Data System (ADS)

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

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

Optimal Control Strategy Design Based on Dynamic Programming for a Dual-Motor Coupling-Propulsion System

PubMed Central

Zhang, Shuo; Zhang, Chengning; Han, Guangwei; Wang, Qinghui

2014-01-01

A dual-motor coupling-propulsion electric bus (DMCPEB) is modeled, and its optimal control strategy is studied in this paper. The necessary dynamic features of energy loss for subsystems is modeled. Dynamic programming (DP) technique is applied to find the optimal control strategy including upshift threshold, downshift threshold, and power split ratio between the main motor and auxiliary motor. Improved control rules are extracted from the DP-based control solution, forming near-optimal control strategies. Simulation results demonstrate that a significant improvement in reducing energy loss due to the dual-motor coupling-propulsion system (DMCPS) running is realized without increasing the frequency of the mode switch. PMID:25540814

Optimal control strategy design based on dynamic programming for a dual-motor coupling-propulsion system.

PubMed

Zhang, Shuo; Zhang, Chengning; Han, Guangwei; Wang, Qinghui

2014-01-01

A dual-motor coupling-propulsion electric bus (DMCPEB) is modeled, and its optimal control strategy is studied in this paper. The necessary dynamic features of energy loss for subsystems is modeled. Dynamic programming (DP) technique is applied to find the optimal control strategy including upshift threshold, downshift threshold, and power split ratio between the main motor and auxiliary motor. Improved control rules are extracted from the DP-based control solution, forming near-optimal control strategies. Simulation results demonstrate that a significant improvement in reducing energy loss due to the dual-motor coupling-propulsion system (DMCPS) running is realized without increasing the frequency of the mode switch.

Field oriented control of induction motors

NASA Technical Reports Server (NTRS)

Burrows, Linda M.; Zinger, Don S.; Roth, Mary Ellen

1990-01-01

Induction motors have always been known for their simple rugged construction, but until lately were not suitable for variable speed or servo drives due to the inherent complexity of the controls. With the advent of field oriented control (FOC), however, the induction motor has become an attractive option for these types of drive systems. An FOC system which utilizes the pulse population modulation method to synthesize the motor drive frequencies is examined. This system allows for a variable voltage to frequency ratio and enables the user to have independent control of both the speed and torque of an induction motor. A second generation of the control boards were developed and tested with the next point of focus being the minimization of the size and complexity of these controls. Many options were considered with the best approach being the use of a digital signal processor (DSP) due to its inherent ability to quickly evaluate control algorithms. The present test results of the system and the status of the optimization process using a DSP are discussed.

A modular robust control framework for control of movement elicited by multi-electrode intraspinal microstimulation

NASA Astrophysics Data System (ADS)

Roshani, Amir; Erfanian, Abbas

2016-08-01

Objective. An important issue in restoring motor function through intraspinal microstimulation (ISMS) is the motor control. To provide a physiologically plausible motor control using ISMS, it should be able to control the individual motor unit which is the lowest functional unit of motor control. By focal stimulation only a small group of motor neurons (MNs) within a motor pool can be activated. Different groups of MNs within a motor pool can potentially be activated without involving adjacent motor pools by local stimulation of different parts of a motor pool via microelectrode array implanted into a motor pool. However, since the system has multiple inputs with single output during multi-electrode ISMS, it poses a challenge to movement control. In this paper, we proposed a modular robust control strategy for movement control, whereas multi-electrode array is implanted into each motor activation pool of a muscle. Approach. The controller was based on the combination of proportional-integral-derivative and adaptive fuzzy sliding mode control. The global stability of the controller was guaranteed. Main results. The results of the experiments on rat models showed that the multi-electrode control can provide a more robust control and accurate tracking performance than a single-electrode control. The control output can be pulse amplitude (pulse amplitude modulation, PAM) or pulse width (pulse width modulation, PWM) of the stimulation signal. The results demonstrated that the controller with PAM provided faster convergence rate and better tracking performance than the controller with PWM. Significance. This work represents a promising control approach to the restoring motor functions using ISMS. The proposed controller requires no prior knowledge about the dynamics of the system to be controlled and no offline learning phase. The proposed control design is modular in the sense that each motor pool has an independent controller and each controller is able to control ISMS through an array of microelectrodes.

Electric Drive Study. Volume 1

DTIC Science & Technology

1987-12-21

CONDITIONER HIGH VOLTAGE DC ICONDITIONER 3 ,300-50 VOLT5), dCONTROL! Figure 5-4. Typical AC Drive System 20 system usable with an induction motor. The...controlling component in an AC drive is the motor power conditioner . This component changes the high voltage DC power to controlled AC power of...selected voltage and frequency which is applied to the drive motors. Since the vehicle gains stored energy as it is accelerated, the motor power conditioner

An Efficient Fuzzy Controller Design for Parallel Connected Induction Motor Drives

NASA Astrophysics Data System (ADS)

Usha, S.; Subramani, C.

2018-04-01

Generally, an induction motors are highly non-linear and has a complex time varying dynamics. This makes the speed control of an induction motor a challenging issue in the industries. But, due to the recent trends in the power electronic devices and intelligent controllers, the speed control of the induction motor is achieved by including non-linear characteristics also. Conventionally a single inverter is used to run one induction motor in industries. In the traction applications, two or more inductions motors are operated in parallel to reduce the size and cost of induction motors. In this application, the parallel connected induction motors can be driven by a single inverter unit. The stability problems may introduce in the parallel operation under low speed operating conditions. Hence, the speed deviations should be reduce with help of suitable controllers. The speed control of the parallel connected system is performed by PID controller and fuzzy logic controller. In this paper the speed response of the induction motor for the rating of IHP, 1440 rpm, and 50Hz with these controller are compared in time domain specifications. The stability analysis of the system also performed under low speed using matlab platform. The hardware model is developed for speed control using fuzzy logic controller which exhibited superior performances over the other controller.

A novel dual motor drive system for three wheel electric vehicles

NASA Astrophysics Data System (ADS)

Panmuang, Piyapat; Thongsan, Taweesak; Suwapaet, Nuchida; Laohavanich, Juckamass; Photong, Chonlatee

2018-03-01

This paper presents a novel dual motor drive system used for three wheel electric vehicles that have one free wheel at the front and two wheels with a drive system at the end of the vehicles. A novel dual motor drive system consists of two identical DC motors that are independently controlled by its speed-torque controller. Under light load conditions, only one of the DC motors will operate around it rated whilst under hard load conditions both of the DC motors will operate. With this drive system, the motors will operate only at its high performance at rated or else no operate to retain longer lifetime. The simulated results for the Skylab three wheel electric vehicle prototype with 8kW at full load (high torque, low speed) and around 4kW at light/normal operating loads (regular speed-torque) showed that the proposed system provides better dynamic responses with faster overshoot current/voltage recovery time, has lower investment costs, has longer lifetime of the motors and allows the motors to always operate at their high performance and thus achieve more cost effective system compared to a single motor drive system with 8kW DC motors.

A new instantaneous torque control of PM synchronous motor for high-performance direct-drive applications

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

Chung, S.K.; Kim, H.S.; Kim, C.G.

1998-05-01

a new instantaneous torque-control strategy is presented for high-performance control of a permanent magnet (PM) synchronous motor. In order to deal with the torque pulsating problem of a PM synchronous motor in a low-speed region, new torque estimation and control techniques are proposed. The linkage flux of a PM synchronous motor is estimated using a model reference adaptive system technique, and the developed torque is instantaneously controlled by the proposed torque controller combining a variable structure control (VSC) with a space-vector pulse-width modulation (PWM). The proposed control provides the advantage of reducing the torque pulsation caused by the nonsinusoidal fluxmore » distribution. This control strategy is applied to the high-torque PM synchronous motor drive system for direct-drive applications and implemented by using a software of the digital signal processor (DSP) TMS320C30. The simulations and experiments are carried out for this system, and the results well demonstrate the effectiveness of the proposed control.« less

Dynamic Characteristics of Human Motor Performance in Control Systems.

DTIC Science & Technology

1979-01-01

h drynontrol system . Several lines of inves ___ igaion avebee use inaddiionto nputoutut sudis wth hmansubets LI.- 7 Th (nulreycmriigifrainfosusl...TAB Untjc. ao un c ’ n TTci St rLi b DYNAMIC CHARACTERISTICS OF HUMAN MOTOR PERFORMANCE IN CONTROL SYSTEMS %iOSRTR. 8-0 76 0 Ar3) -O75 -8’O’f FINAL...whereby motor patterns are represented in the nervous system . Findings include a detailing of linear and non-linear features of motor activity in

A flight simulator control system using electric torque motors

NASA Technical Reports Server (NTRS)

Musick, R. O.; Wagner, C. A.

1975-01-01

Control systems are required in flight simulators to provide representative stick and rudder pedal characteristics. A system has been developed that uses electric dc torque motors instead of the more common hydraulic actuators. The torque motor system overcomes certain disadvantages of hydraulic systems, such as high cost, high power consumption, noise, oil leaks, and safety problems. A description of the torque motor system is presented, including both electrical and mechanical design as well as performance characteristics. The system develops forces sufficiently high for most simulations, and is physically small and light enough to be used in most motion-base cockpits.

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.

Characteristic Evaluation of Synchronous Motors Using an Universal Drive System with a Real-Time Interface

NASA Astrophysics Data System (ADS)

Amano, Yoko; Ogasawara, Satoshi

In this paper, a new universal drive system of synchronous motors used Real-Time Interface (RTI) performs characteristic evaluation of Synchronous Reluctance (SynR) motors and Surface Permanent Magnet (SPM) synchronous motors. The RTI connects directly a simulation model with experimental equipment, and makes it possible to use the simulation model for an experiment. The RTI is very effective in the early detection of an actual problem and examination of solution technique. Moreover, it concentrates on examination of control algorithm, and efficient research and development are enabled. A measuring system of synchronous motors is built by the universal drive system. The examination of various synchronous motors is possible for the measurement system using the same control algorithm. Characteristic evaluation of a SynR motor and a SPM synchronous motor that are the same gap length and stator was performed using the measuring system. The measurement result shows experimentally that motor loss of the SynR motor is smaller rather than the SPM synchronous motor, at the time of high speed and low load operation. For example, the SynR motor is suitable to hybrid cars with the comparatively long time of low load and high-speed operation.

Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

NASA Astrophysics Data System (ADS)

Bian, Min; Guo, Qingyun

Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

DC motor speed control using fuzzy logic controller

NASA Astrophysics Data System (ADS)

Ismail, N. L.; Zakaria, K. A.; Nazar, N. S. Moh; Syaripuddin, M.; Mokhtar, A. S. N.; Thanakodi, S.

2018-02-01

The automatic control has played a vital role in the advance of engineering and science. Nowadays in industries, the control of direct current (DC) motor is a common practice thus the implementation of DC motor controller speed is important. The main purpose of motor speed control is to keep the rotation of the motor at the present speed and to drive a system at the demand speed. The main purpose of this project is to control speed of DC Series Wound Motor using Fuzzy Logic Controller (FLC). The expectation of this project is the Fuzzy Logic Controller will get the best performance compared to dc motor without controller in terms of settling time (Ts), rise time (Tr), peak time (Tp) and percent overshoot (%OS).

Variable-Speed Induction Motor Drives for Aircraft Environmental Control Compressors

NASA Technical Reports Server (NTRS)

Mildice, J. W.; Hansen, I. G.; Schreiner, K. E.; Roth, M. E.

1996-01-01

New, more-efficient designs for aircraft jet engines are not capable of supplying the large quantities of bleed air necessary to provide pressurization and air conditioning for the environmental control systems (ECS) of the next generation of large passenger aircraft. System analysis and engineering have determined that electrically-driven ECS can help to maintain the improved fuel efficiencies; and electronic controllers and induction motors are now being developed in a NASA/NPD SBIR Program to drive both types of ECS compressors. Previous variable-speed induction motor/controller system developments and publications have primarily focused on field-oriented control, with large transient reserve power, for maximum acceleration and optimum response in actuator and robotics systems. The application area addressed herein is characterized by slowly-changing inputs and outputs, small reserve power capability for acceleration, and optimization for maximum efficiency. This paper therefore focuses on the differences between this case and the optimum response case, and shows the development of this new motor/controller approach. It starts with the creation of a new set of controller requirements. In response to those requirements, new control algorithms are being developed and implemented in an embedded computer, which is integrated into the motor controller closed loop. Buffered logic outputs are used to drive the power switches in a resonant-technology, power processor/motor-controller, at switching/resonant frequencies high enough to support efficient high-frequency induction motor operation at speeds up to 50,000-RPA

Control System for Bearingless Motor-generator

NASA Technical Reports Server (NTRS)

Kascak, Peter E. (Inventor); Jansen, Ralph H. (Inventor); Dever, Timothy P. (Inventor)

2008-01-01

A control system for an electromagnetic rotary drive for bearingless motor-generators comprises a winding configuration comprising a plurality of individual pole pairs through which phase current flows, each phase current producing both a lateral force and a torque. A motor-generator comprises a stator, a rotor supported for movement relative to the stator, and a control system. The motor-generator comprises a winding configuration supported by the stator. The winding configuration comprises at least three pole pairs through which phase current flows resulting in three three-phase systems. Each phase system has a first rotor reference frame axis current that produces a levitating force with no average torque and a second rotor reference frame axis current that produces torque.

Control system for bearingless motor-generator

NASA Technical Reports Server (NTRS)

Jansen, Ralph H. (Inventor); Dever, Timothy P. (Inventor); Kascak, Peter E. (Inventor)

2010-01-01

A control system for an electromagnetic rotary drive for bearingless motor-generators comprises a winding configuration comprising a plurality of individual pole pairs through which phase current flows, each phase current producing both a lateral force and a torque. A motor-generator comprises a stator, a rotor supported for movement relative to the stator, and a control system. The motor-generator comprises a winding configuration supported by the stator. The winding configuration comprises at least three pole pairs through which phase current flows resulting in three three-phase systems. Each phase system has a first rotor reference frame axis current that produces a levitating force with no average torque and a second rotor reference frame axis current that produces torque.

Decoupling control of a five-phase fault-tolerant permanent magnet motor by radial basis function neural network inverse

NASA Astrophysics Data System (ADS)

Chen, Qian; Liu, Guohai; Xu, Dezhi; Xu, Liang; Xu, Gaohong; Aamir, Nazir

2018-05-01

This paper proposes a new decoupled control for a five-phase in-wheel fault-tolerant permanent magnet (IW-FTPM) motor drive, in which radial basis function neural network inverse (RBF-NNI) and internal model control (IMC) are combined. The RBF-NNI system is introduced into original system to construct a pseudo-linear system, and IMC is used as a robust controller. Hence, the newly proposed control system incorporates the merits of the IMC and RBF-NNI methods. In order to verify the proposed strategy, an IW-FTPM motor drive is designed based on dSPACE real-time control platform. Then, the experimental results are offered to verify that the d-axis current and the rotor speed are successfully decoupled. Besides, the proposed motor drive exhibits strong robustness even under load torque disturbance.

Oscillation control system for electric motor drive

DOEpatents

Slicker, James M.; Sereshteh, Ahmad

1988-01-01

A feedback system for controlling mechanical oscillations in the torsionally complaint drive train of an electric or other vehicle. Motor speed is converted in a processor to estimate state signals in which a plant model which are used to electronically modify thetorque commands applied to the motor.

A universal computer control system for motors

NASA Technical Reports Server (NTRS)

Szakaly, Zoltan F. (Inventor)

1991-01-01

A control system for a multi-motor system such as a space telerobot, having a remote computational node and a local computational node interconnected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot is located at each node. Each node is provided with a multibus computer system which is characterized by a plurality of processors with all processors being connected to a common bus, and including at least one command processor. The command processor communicates over the bus with a plurality of joint controller cards. A plurality of direct current torque motors, of the type used in telerobot joints and telerobot hand-held controllers, are connected to the controller cards and responds to digital control signals from the command processor. Essential motor operating parameters are sensed by analog sensing circuits and the sensed analog signals are converted to digital signals for storage at the controller cards where such signals can be read during an address read/write cycle of the command processing processor.

System and method for determining stator winding resistance in an AC motor

DOEpatents

Lu, Bin [Kenosha, WI; Habetler, Thomas G [Snellville, GA; Zhang, Pinjia [Atlanta, GA; Theisen, Peter J [West Bend, WI

2011-05-31

A system and method for determining stator winding resistance in an AC motor is disclosed. The system includes a circuit having an input connectable to an AC source and an output connectable to an input terminal of an AC motor. The circuit includes at least one contactor and at least one switch to control current flow and terminal voltages in the AC motor. The system also includes a controller connected to the circuit and configured to modify a switching time of the at least one switch to create a DC component in an output of the system corresponding to an input to the AC motor and determine a stator winding resistance of the AC motor based on the injected DC component of the voltage and current.

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient

PubMed Central

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices. PMID:29666634

Dynamical Motor Control Learned with Deep Deterministic Policy Gradient.

PubMed

Shi, Haibo; Sun, Yaoru; Li, Jie

2018-01-01

Conventional models of motor control exploit the spatial representation of the controlled system to generate control commands. Typically, the control command is gained with the feedback state of a specific instant in time, which behaves like an optimal regulator or spatial filter to the feedback state. Yet, recent neuroscience studies found that the motor network may constitute an autonomous dynamical system and the temporal patterns of the control command can be contained in the dynamics of the motor network, that is, the dynamical system hypothesis (DSH). Inspired by these findings, here we propose a computational model that incorporates this neural mechanism, in which the control command could be unfolded from a dynamical controller whose initial state is specified with the task parameters. The model is trained in a trial-and-error manner in the framework of deep deterministic policy gradient (DDPG). The experimental results show that the dynamical controller successfully learns the control policy for arm reaching movements, while the analysis of the internal activities of the dynamical controller provides the computational evidence to the DSH of the neural coding in motor cortices.

Measurement of motor disability in MPTP-treated macaques using a telemetry system for estimating circadian motor activity.

PubMed

Barcia, C; De Pablos, V; Bautista-Hernández, V; Sanchez-Bahillo, A; Fernández-Barreiro, A; Poza, M; Herrero, M T

2004-03-15

The parkinsonian symptoms of primates after MPTP exposure can be measured by several visual methods (classical motor scores). However, these methods have a subjective bias, especially as regards the evaluation of the motor activity. Computerized monitoring systems represent an unbiased method for measuring the motor disability of monkeys after MPTP administration. In this work the motor activity of monkeys before and after MPTP administration is measured and compared with the activity of a control intact group by means of a telemetry system. A pronounced decrease in motor activity was observed after MPTP administration. These results suggest the monitoring method used is suited for characterizing the motor incapacity and possible improvements following treatments to test different therapies to control Parkinson's disease in MPTP models involving primates.

Oscillation control system for electric motor drive

DOEpatents

Slicker, J.M.; Sereshteh, A.

1988-08-30

A feedback system for controlling mechanical oscillations in the torsionally complaint drive train of an electric or other vehicle. Motor speed is converted in a processor to estimate state signals in which a plant model which are used to electronically modify the torque commands applied to the motor. 5 figs.

Fuzzy control of small servo motors

NASA Technical Reports Server (NTRS)

Maor, Ron; Jani, Yashvant

1993-01-01

To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

The (un)coupling between action execution and observation. Comment on "Grasping synergies: A motor-control approach to the mirror neuron mechanism" by D'Ausilio, Bartoli and Maffongelli

NASA Astrophysics Data System (ADS)

Cavallo, Andrea; Ansuini, Caterina; Becchio, Cristina

2015-03-01

When we observe actions performed by others, our motor system resonates along with that of the observed agent [1]. The exact features of this resonant motor response, however, are unclear. Do we mirror the goal of others' actions or rather the low-kinematic features of their movements? D'Ausilio et al. suggest that this is an ill-defined problem: the mirror system plausibly replicates the same computational mechanisms implicated by motor control. Accordingly, motor synergies may not only constitute a pervasive element of motor control, but also form the fundamental unit of action observation.

Adaptive control system for line-commutated inverters

NASA Technical Reports Server (NTRS)

Dolland, C. R.; Bailey, D. A. (Inventor)

1983-01-01

A control system for a permanent magnet motor driven by a multiphase line commutated inverter is provided with integration for integrating the back EMF of each phase of the motor. This is used in generating system control signals for an inverter gate logic using a sync and firing angle (alpha) control generator connected to the outputs of the integrators. A precision full wave rectifier provides a speed control feedback signal to a phase delay rectifier via a gain and loop compensation circuit and to the integrators for adaptive control of the attenuation of low frequencies by the integrators as a function of motor speed. As the motor speed increases, the attenuation of low frequency components by the integrators is increased to offset the gain of the integrators to spurious low frequencies.

Controlling An Inverter-Driven Three-Phase Motor

NASA Technical Reports Server (NTRS)

Dolland, C.

1984-01-01

Control system for three-phase permanent-magnet motor driven by linecommutated inverter uses signals generated by integrating back emf of each phase of motor. High-pass filter network eliminates low-frequency components from control loop while maintaining desired power factor.

A neuro-inspired spike-based PID motor controller for multi-motor robots with low cost FPGAs.

PubMed

Jimenez-Fernandez, Angel; Jimenez-Moreno, Gabriel; Linares-Barranco, Alejandro; Dominguez-Morales, Manuel J; Paz-Vicente, Rafael; Civit-Balcells, Anton

2012-01-01

In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control.

A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs

PubMed Central

Jimenez-Fernandez, Angel; Jimenez-Moreno, Gabriel; Linares-Barranco, Alejandro; Dominguez-Morales, Manuel J.; Paz-Vicente, Rafael; Civit-Balcells, Anton

2012-01-01

In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control. PMID:22666004

Control system and method for a hybrid electric vehicle

DOEpatents

Tamor, Michael Alan

2001-03-06

Several control methods are presented for application in a hybrid electric vehicle powertrain including in various embodiments an engine, a motor/generator, a transmission coupled at an input thereof to receive torque from the engine and the motor generator coupled to augment torque provided by the engine, an energy storage device coupled to receive energy from and provide energy to the motor/generator, an engine controller (EEC) coupled to control the engine, a transmission controller (TCM) coupled to control the transmission and a vehicle system controller (VSC) adapted to control the powertrain.

Motor Controller System For Large Dynamic Range of Motor Operation

NASA Technical Reports Server (NTRS)

Howard, David E. (Inventor); Alhorn, Dean C. (Inventor); Smith, Dennis A. (Inventor); Dutton, Kenneth R. (Inventor); Paulson, Mitchell Scott (Inventor)

2006-01-01

A motor controller system uses a rotary sensor with a plurality of signal conditioning units, coupled to the rotary sensor. Each of these units, which is associated with a particular range of motor output shaft rotation rates, generate a feedback signal indicative of the position of the motor s output shaft. A controller (i) converts a selected motor output shaft rotation rate to a corresponding incremental amount of rotational movement for a selected fixed time period, (ii) selects, at periodic completions of the selected fixed time period, the feedback signal from one of the signal conditioning units for which the particular range of motor output shaft rotation rates associated therewith encompasses the selected motor output shaft rotation rate, and (iii) generates a motor drive signal based on a difference between the incremental amount of rotational movement and the feedback signal from the selected one of the signal conditioning Units.

DC motor proportional control system for orthotic devices

NASA Technical Reports Server (NTRS)

Blaise, H. T.; Allen, J. R.

1972-01-01

Multi-channel proportional control system for operation of dc motors for use with externally-powered orthotic arm braces is described. Components of circuitry and principles of operation are described. Schematic diagram of control circuit is provided.

JEN-1 Reactor Control System; SISTEMA DE CONTROL DEL REACTOR JEN-1

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

Cantillo, M.F.; Nuno, C.M.; Andreu, J.L.M.

1963-01-01

ABS>The JEN-1 3Mw power swimming pool reactor electrical control circuits are described. Start-up, power generation in the core, and shutdown are controlled by the reactor control system. This control system guarantees in each moment the safety conditions during reactor operation. Each circuit was represented by a scheme, complemented with a description of its function, components, and operation theory. Components described include: scram circuit; fission counter control circuit; servo control circuit; control circuit of safety sheets; control circuits of primary, secondary, and clean-up pump motors and tower fan motor; primary valve motor circuit; center cubicle alarm circuit; and process alarm circuit.more » (auth)« less

Brake blending strategy for a hybrid vehicle

DOEpatents

Boberg, Evan S.

2000-12-05

A hybrid electric powertrain system is provided including a transmission for driving a pair of wheels of a vehicle and a heat engine and an electric motor/generator coupled to the transmission. A friction brake system is provided for applying a braking torque to said vehicle. A controller unit generates control signals to the electric motor/generator and the friction brake system for controllably braking the vehicle in response to a drivers brake command. The controller unit determines and amount of regenerative torque available and compares this value to a determined amount of brake torque requested for determining the control signals to the electric motor/generator and the friction brake system.

Test Platform for Advanced Digital Control of Brushless DC Motors (MSFC Center Director's Discretionary Fund)

NASA Technical Reports Server (NTRS)

Gwaltney, D. A.

2002-01-01

A FY 2001 Center Director's Discretionary Fund task to develop a test platform for the development, implementation. and evaluation of adaptive and other advanced control techniques for brushless DC (BLDC) motor-driven mechanisms is described. Important applications for BLDC motor-driven mechanisms are the translation of specimens in microgravity experiments and electromechanical actuation of nozzle and fuel valves in propulsion systems. Motor-driven aerocontrol surfaces are also being utilized in developmental X vehicles. The experimental test platform employs a linear translation stage that is mounted vertically and driven by a BLDC motor. Control approaches are implemented on a digital signal processor-based controller for real-time, closed-loop control of the stage carriage position. The goal of the effort is to explore the application of advanced control approaches that can enhance the performance of a motor-driven actuator over the performance obtained using linear control approaches with fixed gains. Adaptive controllers utilizing an exact model knowledge controller and a self-tuning controller are implemented and the control system performance is illustrated through the presentation of experimental results.

The roles of the olivocerebellar pathway in motor learning and motor control. A consensus paper

PubMed Central

Lang, Eric J.; Apps, Richard; Bengtsson, Fredrik; Cerminara, Nadia L.; De Zeeuw, Chris I.; Ebner, Timothy J.; Heck, Detlef H.; Jaeger, Dieter; Jörntell, Henrik; Kawato, Mitsuo; Otis, Thomas S.; Ozyildirim, Ozgecan; Popa, Laurentiu S.; Reeves, Alexander M.B.; Schweighofer, Nicolas; Sugihara, Izumi; Xiao, Jianqiang

2016-01-01

For many decades the predominant view in the cerebellar field has been that the olivocerebellar system's primary function is to induce plasticity in the cerebellar cortex, specifically, at the parallel fiber-Purkinje cell synapse. However, it has also long been proposed that the olivocerebellar system participates directly in motor control by helping to shape ongoing motor commands being issued by the cerebellum. Evidence consistent with both hypotheses exists; however, they are often investigated as mutually exclusive alternatives. In contrast, here we take the perspective that the olivocerebellar system can contribute to both the motor learning and motor control functions of the cerebellum, and might also play a role in development. We then consider the potential problems and benefits of its having multiple functions. Moreover, we discuss how its distinctive characteristics (e.g., low firing rates, synchronization, variable complex spike waveform) make it more or less suitable for one or the other of these functions, and why its having a dual role makes sense from an evolutionary perspective. We did not attempt to reach a consensus on the specific role(s) the olivocerebellar system plays in different types of movements, as that will ultimately be determined experimentally; however, collectively, the various contributions highlight the flexibility of the olivocerebellar system, and thereby suggest it has the potential to act in both the motor learning and motor control functions of the cerebellum. PMID:27193702

Generating Spatiotemporal Joint Torque Patterns from Dynamical Synchronization of Distributed Pattern Generators

PubMed Central

Pitti, Alexandre; Lungarella, Max; Kuniyoshi, Yasuo

2009-01-01

Pattern generators found in the spinal cord are no more seen as simple rhythmic oscillators for motion control. Indeed, they achieve flexible and dynamical coordination in interaction with the body and the environment dynamics giving to rise motor synergies. Discovering the mechanisms underlying the control of motor synergies constitutes an important research question not only for neuroscience but also for robotics: the motors coordination of high dimensional robotic systems is still a drawback and new control methods based on biological solutions may reduce their overall complexity. We propose to model the flexible combination of motor synergies in embodied systems via partial phase synchronization of distributed chaotic systems; for specific coupling strength, chaotic systems are able to phase synchronize their dynamics to the resonant frequencies of one external force. We take advantage of this property to explore and exploit the intrinsic dynamics of one specified embodied system. In two experiments with bipedal walkers, we show how motor synergies emerge when the controllers phase synchronize to the body's dynamics, entraining it to its intrinsic behavioral patterns. This stage is characterized by directed information flow from the sensors to the motors exhibiting the optimal situation when the body dynamics drive the controllers (mutual entrainment). Based on our results, we discuss the relevance of our findings for modeling the modular control of distributed pattern generators exhibited in the spinal cord, and for exploring the motor synergies in robots. PMID:20011216

Chaotic operation and chaos control of travelling wave ultrasonic motor.

PubMed

Shi, Jingzhuo; Zhao, Fujie; Shen, Xiaoxi; Wang, Xiaojie

2013-08-01

The travelling wave ultrasonic motor, which is a nonlinear dynamic system, has complex chaotic phenomenon with some certain choices of system parameters and external inputs, and its chaotic characteristics have not been studied until now. In this paper, the preliminary study of the chaos phenomenon in ultrasonic motor driving system has been done. The experiment of speed closed-loop control is designed to obtain several groups of time sampling data sequence of the amplitude of driving voltage, and phase-space reconstruction is used to analyze the chaos characteristics of these time sequences. The largest Lyapunov index is calculated and the result is positive, which shows that the travelling wave ultrasonic motor has chaotic characteristics in a certain working condition Then, the nonlinear characteristics of travelling wave ultrasonic motor are analyzed which includes Lyapunov exponent map, the bifurcation diagram and the locus of voltage relative to speed based on the nonlinear chaos model of a travelling wave ultrasonic motor. After that, two kinds of adaptive delay feedback controllers are designed in this paper to control and suppress chaos in USM speed control system. Simulation results show that the method can control unstable periodic orbits, suppress chaos in USM control system. Proportion-delayed feedback controller was designed following and arithmetic of fuzzy logic was used to adaptively adjust the delay time online. Simulation results show that this method could fast and effectively change the chaos movement into periodic or fixed-point movement and make the system enter into stable state from chaos state. Finally the chaos behavior was controlled. Copyright © 2013 Elsevier B.V. All rights reserved.

Transcranial Magnetic Stimulation: Decomposing the Processes Underlying Action Preparation.

PubMed

Bestmann, Sven; Duque, Julie

2016-08-01

Preparing actions requires the operation of several cognitive control processes that influence the state of the motor system to ensure that the appropriate behavior is ultimately selected and executed. For example, some form of competition resolution ensures that the right action is chosen among alternatives, often in the presence of conflict; at the same time, impulse control ought to be deployed to prevent premature responses. Here we review how state-changes in the human motor system during action preparation can be studied through motor-evoked potentials (MEPs) elicited by transcranial magnetic stimulation over the contralateral primary motor cortex (M1). We discuss how the physiological fingerprints afforded by MEPs have helped to decompose some of the dynamic and effector-specific influences on the motor system during action preparation. We focus on competition resolution, conflict and impulse control, as well as on the influence of higher cognitive decision-related variables. The selected examples demonstrate the usefulness of MEPs as physiological readouts for decomposing the influence of distinct, but often overlapping, control processes on the human motor system during action preparation. © The Author(s) 2015.

Variable current speed controller for eddy current motors

DOEpatents

Gerth, H.L.; Bailey, J.M.; Casstevens, J.M.; Dixon, J.H.; Griffith, B.O.; Igou, R.E.

1982-03-12

A speed control system for eddy current motors is provided in which the current to the motor from a constant frequency power source is varied by comparing the actual motor speed signal with a setpoint speed signal to control the motor speed according to the selected setpoint speed. A three-phase variable voltage autotransformer is provided for controlling the voltage from a three-phase power supply. A corresponding plurality of current control resistors is provided in series with each phase of the autotransformer output connected to inputs of a three-phase motor. Each resistor is connected in parallel with a set of normally closed contacts of plurality of relays which are operated by control logic. A logic circuit compares the selected speed with the actual motor speed obtained from a digital tachometer monitoring the motor spindle speed and operated the relays to add or substract resistance equally in each phase of the motor input to vary the motor current to control the motor at the selected speed.

Developmental kinesiology: three levels of motor control in the assessment and treatment of the motor system.

PubMed

Kobesova, Alena; Kolar, Pavel

2014-01-01

Three levels of sensorimotor control within the central nervous system (CNS) can be distinguished. During the neonatal stage, general movements and primitive reflexes are controlled at the spinal and brain stem levels. Analysis of the newborn's spontaneous general movements and the assessment of primitive reflexes is crucial in the screening and early recognition of a risk for abnormal development. Following the newborn period, the subcortical level of the CNS motor control emerges and matures mainly during the first year of life. This allows for basic trunk stabilization, a prerequisite for any phasic movement and for the locomotor function of the extremities. At the subcortical level, orofacial muscles and afferent information are automatically integrated within postural-locomotor patterns. Finally, the cortical (the highest) level of motor control increasingly becomes activated. Cortical control is important for the individual qualities and characteristics of movement. It also allows for isolated segmental movement and relaxation. A child with impaired cortical motor control may be diagnosed with developmental dyspraxia or developmental coordination disorder. Human ontogenetic models, i.e., developmental motor patterns, can be used in both the diagnosis and treatment of locomotor system dysfunction. Copyright © 2013 Elsevier Ltd. All rights reserved.

Electric vehicle regenerative antiskid braking and traction control system

DOEpatents

Cikanek, S.R.

1995-09-12

An antiskid braking and traction control system for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes one or more sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensors and determining if regenerative antiskid braking control, requiring hydraulic braking control, or requiring traction control are required. The processor then employs a control strategy based on the determined vehicle state and provides command signals to a motor controller to control the operation of the electric traction motor and to a brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative antiskid braking control, hydraulic braking control, and traction control. 10 figs.

Electric vehicle regenerative antiskid braking and traction control system

DOEpatents

Cikanek, Susan R.

1995-01-01

An antiskid braking and traction control system for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes one or more sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensors and determining if regenerative antiskid braking control, requiring hydrualic braking control, or requiring traction control are required. The processor then employs a control strategy based on the determined vehicle state and provides command signals to a motor controller to control the operation of the electric traction motor and to a brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative antiskid braking control, hydraulic braking control, and traction control.

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.

49 CFR 571.124 - Standard No. 124; Accelerator control systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

.... S3. Application. This standard applies to passenger cars, multi-purpose passenger vehicles, trucks... electric motors, the words throttle and idle refer to the motor speed controller and motor shutdown...

49 CFR 571.124 - Standard No. 124; Accelerator control systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

.... S3. Application. This standard applies to passenger cars, multi-purpose passenger vehicles, trucks... electric motors, the words throttle and idle refer to the motor speed controller and motor shutdown...

49 CFR 571.124 - Standard No. 124; Accelerator control systems.

Code of Federal Regulations, 2010 CFR

2010-10-01

.... S3. Application. This standard applies to passenger cars, multi-purpose passenger vehicles, trucks... electric motors, the words throttle and idle refer to the motor speed controller and motor shutdown...

49 CFR 571.124 - Standard No. 124; Accelerator control systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

.... S3. Application. This standard applies to passenger cars, multi-purpose passenger vehicles, trucks... electric motors, the words throttle and idle refer to the motor speed controller and motor shutdown...

Fuzzy logic electric vehicle regenerative antiskid braking and traction control system

DOEpatents

Cikanek, S.R.

1994-10-25

An regenerative antiskid braking and traction control system using fuzzy logic for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensor and determining if regenerative antiskid braking control, requiring hydraulic braking control, and requiring traction control are required. The processor then employs fuzzy logic based on the determined vehicle state and provides command signals to a motor controller to control operation of the electric traction motor and to the brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative braking control, hydraulic braking control, and traction control. 123 figs.

Fuzzy logic electric vehicle regenerative antiskid braking and traction control system

DOEpatents

Cikanek, Susan R.

1994-01-01

An regenerative antiskid braking and traction control system using fuzzy logic for an electric or hybrid vehicle having a regenerative braking system operatively connected to an electric traction motor, and a separate hydraulic braking system includes sensors for monitoring present vehicle parameters and a processor, responsive to the sensors, for calculating vehicle parameters defining the vehicle behavior not directly measurable by the sensor and determining if regenerative antiskid braking control, requiring hydraulic braking control, and requiring traction control are required. The processor then employs fuzzy logic based on the determined vehicle state and provides command signals to a motor controller to control operation of the electric traction motor and to the brake controller to control fluid pressure applied at each vehicle wheel to provide the appropriate regenerative braking control, hydraulic braking control, and traction control.

Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications

PubMed Central

Muniraj, Murali; Arulmozhiyal, Ramaswamy

2015-01-01

A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102

Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications.

PubMed

Muniraj, Murali; Arulmozhiyal, Ramaswamy

2015-01-01

A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.

Design of digital load torque observer in hybrid electric vehicle

NASA Astrophysics Data System (ADS)

Sun, Yukun; Zhang, Haoming; Wang, Yinghai

2008-12-01

In hybrid electric vehicle, engine begain to work only when motor was in high speed in order to decrease tail gas emission. However, permanent magnet motor was sensitive to its load, adding engine to the system always made its speed drop sharply, which caused engine to work in low efficiency again and produced much more environment pollution. Dynamic load torque model of permanent magnet synchronous motor is established on the basic of motor mechanical equation and permanent magnet synchronous motor vector control theory, Full- digital load torque observer and compensation control system is made based on TMS320F2407A. Experiment results prove load torque observer and compensation control system can detect and compensate torque disturbing effectively, which can solve load torque disturbing and decrease gas pollution of hybrid electric vehicle.

Electromechanical actuation for thrust vector control applications

NASA Technical Reports Server (NTRS)

Roth, Mary Ellen

1990-01-01

At present, actuation systems for the Thrust Vector Control (TVC) for launch vehicles are hydraulic systems. The Advanced Launch System (ALS), a joint initiative between NASA and the Air Force, is a launch vehicle that is designed to be cost effective, highly reliable and operationally efficient with a goal of reducing the cost per pound to orbit. As part of this initiative, an electromechanical actuation system is being developed as an attractive alternative to the hydraulic systems used today. NASA-Lewis is developing and demonstrating an Induction Motor Controller Actuation System with a 40 hp peak rating. The controller will integrate 20 kHz resonant link Power Management and Distribution (PMAD) technology and Pulse Population Modulation (PPM) techniques to implement Field Oriented Vector Control (FOVC) of a new advanced induction motor. Through PPM, multiphase variable frequency, variable voltage waveforms can be synthesized from the 20 kHz source. FOVC shows that varying both the voltage and frequency and their ratio (V/F), permits independent control of both torque and speed while operating at maximum efficiency at any point on the torque-speed curve. The driver and the FOVC will be microprocessor controlled. For increased system reliability, a Built-in Test (BITE) capability will be included. This involves introducing testability into the design of a system such that testing is calibrated and exercised during the design, manufacturing, maintenance and prelaunch activities. An actuator will be integrated with the motor controller for performance testing of the EMA TVC system. The design and fabrication of the motor controller is being done by General Dynamics Space Systems Division. The University of Wisconsin-Madison will assist in the design of the advanced induction motor and in the implementation of the FOVC theory. A 75 hp electronically controlled dynamometer will be used to test the motor controller in all four quadrants of operation using flight type control algorithms. Integrated testing of the controller and actuator will be conducted at a facility yet to be named. The EMA system described above is discussed in detail.

Load speed regulation in compliant mechanical transmission systems using feedback and feedforward control actions.

PubMed

Raul, P R; Dwivedula, R V; Pagilla, P R

2016-07-01

The problem of controlling the load speed of a mechanical transmission system consisting of a belt-pulley and gear-pair is considered. The system is modeled as two inertia (motor and load) connected by a compliant transmission. If the transmission is assumed to be rigid, then using either the motor or load speed feedback provides the same result. However, with transmission compliance, due to belts or long shafts, the stability characteristics and performance of the closed-loop system are quite different when either motor or load speed feedback is employed. We investigate motor and load speed feedback schemes by utilizing the singular perturbation method. We propose and discuss a control scheme that utilizes both motor and load speed feedback, and design an adaptive feedforward action to reject load torque disturbances. The control algorithms are implemented on an experimental platform that is typically used in roll-to-roll manufacturing and results are shown and discussed. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Apparatus and method for controlling the rotary airlocks in a coal processing system by reversing the motor current rotating the air lock

DOEpatents

Groombridge, Clifton E.

1996-01-01

An improvement to a coal processing system where hard materials found in the coal may cause jamming of either inflow or outflow rotary airlocks, each driven by a reversible motor. The instantaneous current used by the motor is continually monitored and compared to a predetermined value. If an overcurrent condition occurs, indicating a jamming of the airlock, a controller means starts a "soft" reverse rotation of the motor thereby clearing the jamming. Three patterns of the motor reversal are provided.

Advanced dc-Traction-Motor Control System

NASA Technical Reports Server (NTRS)

Vittone, O.

1985-01-01

Motor-control concept for battery-powered vehicles includes stateof-the-art power-transistor switching and separate excitation of motor windings in traction and regenerative braking. Switching transistors and other components of power-conditioning subsystem operate under control of computer that coordinates traction, braking, and protective functions.

Universal Parameter Measurement and Sensorless Vector Control of Induction and Permanent Magnet Synchronous Motors

NASA Astrophysics Data System (ADS)

Yamamoto, Shu; Ara, Takahiro

Recently, induction motors (IMs) and permanent-magnet synchronous motors (PMSMs) have been used in various industrial drive systems. The features of the hardware device used for controlling the adjustable-speed drive in these motors are almost identical. Despite this, different techniques are generally used for parameter measurement and speed-sensorless control of these motors. If the same technique can be used for parameter measurement and sensorless control, a highly versatile adjustable-speed-drive system can be realized. In this paper, the authors describe a new universal sensorless control technique for both IMs and PMSMs (including salient pole and nonsalient pole machines). A mathematical model applicable for IMs and PMSMs is discussed. Using this model, the authors derive the proposed universal sensorless vector control algorithm on the basis of estimation of the stator flux linkage vector. All the electrical motor parameters are determined by a unified test procedure. The proposed method is implemented on three test machines. The actual driving test results demonstrate the validity of the proposed method.

Finite element based electric motor design optimization

NASA Technical Reports Server (NTRS)

Campbell, C. Warren

1993-01-01

The purpose of this effort was to develop a finite element code for the analysis and design of permanent magnet electric motors. These motors would drive electromechanical actuators in advanced rocket engines. The actuators would control fuel valves and thrust vector control systems. Refurbishing the hydraulic systems of the Space Shuttle after each flight is costly and time consuming. Electromechanical actuators could replace hydraulics, improve system reliability, and reduce down time.

HTS flywheel energy storage system with rotor shaft stabilized by feed-back control of armature currents of motor-generator

NASA Astrophysics Data System (ADS)

Tsukamoto, O.; Utsunomiya, A.

2007-10-01

We propose an HTS bulk bearing flywheel energy system (FWES) with rotor shaft stabilization system using feed-back control of the armature currents of the motor-generator. In the proposed system the rotor shift has a pivot bearing at one end of the shaft and an HTS bulk bearing (SMB) at the other end. The fluctuation of the rotor shaft with SMB is damped by feed-back control of the armature currents of the motor-generator sensing the position of the rotor shaft. The method has merits that the fluctuations are damped without active control magnet bearings and extra devices which may deteriorate the energy storage efficiency and need additional costs. The principle of the method was demonstrated by an experiment using a model permanent magnet motor.

New propulsion components for electric vehicles

NASA Technical Reports Server (NTRS)

Secunde, R. R.

1982-01-01

Improved component technology is described. This includes electronically commutated permanent magnet motors of both drum and disk configurations, an unconventional brush commutated motor, ac induction motors, various controllers, transmissions and complete systems. One or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors.

Energy-saving technology of vector controlled induction motor based on the adaptive neuro-controller

NASA Astrophysics Data System (ADS)

Engel, E.; Kovalev, I. V.; Karandeev, D.

2015-10-01

The ongoing evolution of the power system towards a Smart Grid implies an important role of intelligent technologies, but poses strict requirements on their control schemes to preserve stability and controllability. This paper presents the adaptive neuro-controller for the vector control of induction motor within Smart Gird. The validity and effectiveness of the proposed energy-saving technology of vector controlled induction motor based on adaptive neuro-controller are verified by simulation results at different operating conditions over a wide speed range of induction motor.

Robust control of integrated motor-transmission powertrain system over controller area network for automotive applications

NASA Astrophysics Data System (ADS)

Zhu, Xiaoyuan; Zhang, Hui; Cao, Dongpu; Fang, Zongde

2015-06-01

Integrated motor-transmission (IMT) powertrain system with directly coupled motor and gearbox is a good choice for electric commercial vehicles (e.g., pure electric buses) due to its potential in motor size reduction and energy efficiency improvement. However, the controller design for powertrain oscillation damping becomes challenging due to the elimination of damping components. On the other hand, as controller area network (CAN) is commonly adopted in modern vehicle system, the network-induced time-varying delays that caused by bandwidth limitation will further lead to powertrain vibration or even destabilize the powertrain control system. Therefore, in this paper, a robust energy-to-peak controller is proposed for the IMT powertrain system to address the oscillation damping problem and also attenuate the external disturbance. The control law adopted here is based on a multivariable PI control, which ensures the applicability and performance of the proposed controller in engineering practice. With the linearized delay uncertainties characterized by polytopic inclusions, a delay-free closed-loop augmented system is established for the IMT powertrain system under discrete-time framework. The proposed controller design problem is then converted to a static output feedback (SOF) controller design problem where the feedback control gains are obtained by solving a set of linear matrix inequalities (LMIs). The effectiveness as well as robustness of the proposed controller is demonstrated by comparing its performance against that of a conventional PI controller.

Control methodologies for large space structures

NASA Technical Reports Server (NTRS)

Mcree, G. J.; Altonji, E.

1984-01-01

The objectives of this research were to develop techniques of controlling a dc-motor driven flywheel which would apply torque to the structure to which it was mounted. The motor control system was to be implemented using a microprocessor based controller. The purpose of the torque applied by this system was to dampen oscillations of the structure to which it was mounted. Before the work was terminated due to the unavailability of equipment, a system was developed and partially tested which would provide tight control of the flywheel velocity when it received a velocity command in the form of a voltage. The procedure followed in this development was to first model the motor and flywheel system on an analog computer. Prior to the time the microprocessor development system was available, an analog control loop was replaced by the microprocessor and the system was partially tested.

Low-Cost Undergraduate Control Systems Experiments Using Microcontroller-Based Control of a DC Motor

ERIC Educational Resources Information Center

Gunasekaran, M.; Potluri, R.

2012-01-01

This paper presents low-cost experiments for a control systems laboratory module that is worth one and a third credits. The experiments are organized around the microcontroller-based control of a permanent magnet dc motor. The experimental setups were built in-house. Except for the operating system, the software used is primarily freeware or free…

Electromagnetic phenomena analysis in brushless DC motor with speed control using PWM method

NASA Astrophysics Data System (ADS)

Ciurys, Marek Pawel

2017-12-01

Field-circuit model of a brushless DC motor with speed control using PWM method was developed. Waveforms of electrical and mechanical quantities of the designed motor with a high pressure vane pump built in a rotor of the motor were computed. Analysis of electromagnetic phenomena in the system: single phase AC network - converter - BLDC motor was carried out.

Fault tolerant vector control of induction motor drive

NASA Astrophysics Data System (ADS)

Odnokopylov, G.; Bragin, A.

2014-10-01

For electric composed of technical objects hazardous industries, such as nuclear, military, chemical, etc. an urgent task is to increase their resiliency and survivability. The construction principle of vector control system fault-tolerant asynchronous electric. Displaying recovery efficiency three-phase induction motor drive in emergency mode using two-phase vector control system. The process of formation of a simulation model of the asynchronous electric unbalance in emergency mode. When modeling used coordinate transformation, providing emergency operation electric unbalance work. The results of modeling transient phase loss motor stator. During a power failure phase induction motor cannot save circular rotating field in the air gap of the motor and ensure the restoration of its efficiency at rated torque and speed.

Improving Control of Two Motor Controllers

NASA Technical Reports Server (NTRS)

Toland, Ronald W.

2004-01-01

A computer program controls motors that drive translation stages in a metrology system that consists of a pair of two-axis cathetometers. This program is specific to Compumotor Gemini (or equivalent) motors and the Compumotor 6K-series (or equivalent) motor controller. Relative to the software supplied with the controller, this program affords more capabilities and is easier to use. Written as a Virtual Instrument in the LabVIEW software system, the program presents an imitation control panel that the user can manipulate by use of a keyboard and mouse. There are three modes of operation: command, movement, and joystick. In command mode, single commands are sent to the controller for troubleshooting. In movement mode, distance, speed, and/or acceleration commands are sent to the controller. Position readouts from the motors and from position encoders on the translation stages are displayed in marked fields. At any time, the position readouts can be recorded in a file named by the user. In joystick mode, the program yields control of the motors to a joystick. The program sends commands to, and receives data from, the controller via a serial cable connection, using the serial-communication portion of the software supplied with the controller.

Electric motor/controller design tradeoffs for noise, weight, and efficiency

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

Kopp, N.L.; Brown, G.W.

1994-12-31

It is common for an AUV [Autonomous Underwater Vehicle] designer to be put in the position of a subsystem hardware integrator. In the case of electric motors and controllers this may be more by necessity than choice because a suitable subsystems supplier cannot be found. As a result, motors and controllers are purchased from various manufacturers who may optimize the design of each part but hold system performance secondary in importance. Unlike hydraulics, an electric motor/controller system presents significant opportunities to improve noise, weight, and efficiency. But, these opportunities can best be recognized by a single source who not onlymore » understands the technology but has the ability to implement them in the development and manufacture of the product. An analysis is presented which explains the various design considerations of noise, weight and efficiency of electric motors and controllers for submersible AUV`s. In concert with the design considerations, their interrelationships are discussed as to how they affect each other in the overall optimization of the system. In conclusion, a matrix is created which shows how the resultant system parameters of noise, weight, and efficiency may be ``traded off`` to tailor the best overall system for the application. 1 ref.« less

Development of magneto-rheologial fluid (MRF) based clutch for output torque control of AC motors

NASA Astrophysics Data System (ADS)

Nguyen, Q. Hung; Do, H. M. Hieu; Nguyen, V. Quoc; Nguyen, N. Diep; Le, D. Thang

2018-03-01

In industry, the AC motor is widely used because of low price, power availability, low cost maintenance. The main disadvantages of AC motors compared to DC motors are difficulty in speed and torque control, requiring expensive controllers with complex control algorithms. This is the basic limitations in the widespread adoption of AC motor systems for industrial automation. One feasible solution for AC motor control is using MRF (magneto-rheological fluid) based clutches (shortly called MR clutches) Although there have been many studies on MR clutches, most of these clutches used traditional configuration with coils wound on the middle cylindrical part and a compotator is used to supply power to the coils. Therefore, this type of MR clutches possesses many disadvantages such as high friction and unstable applied current due to commutator, complex structure which causes difficulty in manufacture, assembly, and maintenance. In addition, the bottleneck problem of magnetic field is also a challenging issue. In this research, we will develop a new type of MR clutches that overcomes the abovementioned disadvantages of traditional MR clutches and more suitable for application in controlling of AC motor. Besides, in this study, speed and torque control system for AC motors using developed MR clutches is designed and experimental validated.

Looking East at Motor Control System, Clarity Columns and Blend ...

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

Looking East at Motor Control System, Clarity Columns and Blend Tank Along East Side of Recycle Recovery Building - Hematite Fuel Fabrication Facility, Recycle Recovery Building, 3300 State Road P, Festus, Jefferson County, MO

Validation of a motor activity system by a robotically controlled vehicle and using standard reference compounds.

PubMed

Patterson, John P; Markgraf, Carrie G; Cirino, Maria; Bass, Alan S

2005-01-01

A series of experiments were undertaken to evaluate the accuracy, precision, specificity, and sensitivity of an automated, infrared photo beam-based open field motor activity system, the MotorMonitor v. 4.01, Hamilton-Kinder, LLC, for use in a good laboratory practices (GLP) Safety Pharmacology laboratory. This evaluation consisted of two phases: (1) system validation, employing known inputs using the EM-100 Controller Photo Beam Validation System, a robotically controlled vehicle representing a rodent and (2) biologic validation, employing groups of rats treated with the standard pharmacologic agents diazepam or D-amphetamine. The MotorMonitor's parameters that described the open-field activity of a subject were: basic movements, total distance, fine movements, x/y horizontal ambulations, rearing, and total rest time. These measurements were evaluated over a number of zones within each enclosure. System validation with the EM-100 Controller Photo Beam Validation System showed that all the parameters accurately and precisely measured what they were intended to measure, with the exception of fine movements and x/y ambulations. Biologic validation using the central nervous system depressant diazepam at 1, 2, or 5 mg/kg, i.p. produced the expected dose-dependent reduction in rat motor activity. In contrast, the central nervous system stimulant D-amphetamine produced the expected increases in rat motor activity at 0.1 and 1 mg/kg, i.p, demonstrating the specificity and sensitivity of the system. Taken together, these studies of the accuracy, precision, specificity, and sensitivity show the importance of both system and biologic validation in the evaluation of an automated open field motor activity system for use in a GLP compliant laboratory.

75 FR 15620 - Federal Motor Vehicle Safety Standards; Air Brake Systems

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-30

... fully develop improved brake systems and also to ensure vehicle control and stability while braking... [Docket No. NHTSA 2009-0175] RIN 2127-AK62 Federal Motor Vehicle Safety Standards; Air Brake Systems... Federal motor vehicle safety standard for air brake systems by requiring substantial improvements in...

Electric turbocompound control system

DOEpatents

Algrain, Marcelo C [Dunlap, IL

2007-02-13

Turbocompound systems can be used to affect engine operation using the energy in exhaust gas that is driving the available turbocharger. A first electrical device acts as a generator in response to turbocharger rotation. A second electrical device acts as a motor to put mechanical power into the engine, typically at the crankshaft. Apparatus, systems, steps, and methods are described to control the generator and motor operations to control the amount of power being recovered. This can control engine operation closer to desirable parameters for given engine-related operating conditions compared to actual. The electrical devices can also operate in "reverse," going between motor and generator functions. This permits the electrical device associated with the crankshaft to drive the electrical device associated with the turbocharger as a motor, overcoming deficient engine operating conditions such as associated with turbocharger lag.

Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

NASA Astrophysics Data System (ADS)

Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

Similarities between GCS and human motor cortex: complex movement coordination

NASA Astrophysics Data System (ADS)

Rodríguez, Jose A.; Macias, Rosa; Molgo, Jordi; Guerra, Dailos

2014-07-01

The "Gran Telescopio de Canarias" (GTC1) is an optical-infrared 10-meter segmented mirror telescope at the ORM observatory in Canary Islands (Spain). The GTC control system (GCS), the brain of the telescope, is is a distributed object & component oriented system based on RT-CORBA and it is responsible for the management and operation of the telescope, including its instrumentation. On the other hand, the Human motor cortex (HMC) is a region of the cerebrum responsible for the coordination of planning, control, and executing voluntary movements. If we analyze both systems, as far as the movement control of their mechanisms and body parts is concerned, we can find extraordinary similarities in their architectures. Both are structured in layers, and their functionalities are comparable from the movement conception until the movement action itself: In the GCS we can enumerate the Sequencer high level components, the Coordination libraries, the Control Kit library and the Device Driver library as the subsystems involved in the telescope movement control. If we look at the motor cortex, we can also enumerate the primary motor cortex, the secondary motor cortices, which include the posterior parietal cortex, the premotor cortex, and the supplementary motor area (SMA), the motor units, the sensory organs and the basal ganglia. From all these components/areas we will analyze in depth the several subcortical regions, of the the motor cortex, that are involved in organizing motor programs for complex movements and the GCS coordination framework, which is composed by a set of classes that allow to the high level components to transparently control a group of mechanisms simultaneously.

Controlling a Four-Quadrant Brushless Three-Phase dc Motor

NASA Technical Reports Server (NTRS)

Nola, F. J.

1986-01-01

Control circuit commutates windings of brushless, three-phase, permanent-magnet motor operating from power supply. With single analog command voltage, controller makes motor accelerate, drive steadily, or brake regeneratively, in clockwise or counterclockwise direction. Controller well suited for use with energy-storage flywheels, actuators for aircraft-control surfaces, cranes, industrial robots, and other electromechanical systems requiring bidirectional control or sudden stopping and reversal.

A remote monitoring system for patients with implantable ventricular assist devices with a personal handy phone system.

PubMed

Okamoto, E; Shimanaka, M; Suzuki, S; Baba, K; Mitamura, Y

1999-01-01

The usefulness of a remote monitoring system that uses a personal handy phone for artificial heart implanted patients was investigated. The type of handy phone used in this study was a personal handy phone system (PHS), which is a system developed in Japan that uses the NTT (Nippon Telephone and Telegraph, Inc.) telephone network service. The PHS has several advantages: high-speed data transmission, low power output, little electromagnetic interference with medical devices, and easy locating of patients. In our system, patients have a mobile computer (Toshiba, Libretto 50, Kawasaki, Japan) for data transmission control between an implanted controller and a host computer (NEC, PC-9821V16) in the hospital. Information on the motor rotational angle (8 bits) and motor current (8 bits) of the implanted motor driven heart is fed into the mobile computer from the implanted controller (Hitachi, H8/532, Yokohama, Japan) according to 32-bit command codes from the host computer. Motor current and motor rotational angle data from inside the body are framed together by a control code (frame number and parity) for data error checking and correcting at the receiving site, and the data are sent through the PHS connection to the mobile computer. The host computer calculates pump outflow and arterial pressure from the motor rotational angle and motor current values and displays the data in real-time waveforms. The results of this study showed that accurate data on motor rotational angle and current could be transmitted from the subjects while they were walking or driving a car to the host computer at a data transmission rate of 9600 bps. This system is useful for remote monitoring of patients with an implanted artificial heart.

Personal Computer Based Controller For Switched Reluctance Motor Drives

NASA Astrophysics Data System (ADS)

Mang, X.; Krishnan, R.; Adkar, S.; Chandramouli, G.

1987-10-01

Th9, switched reluctance motor (SRM) has recently gained considerable attention in the variable speed drive market. Two important factors that have contributed to this are, the simplicity of construction and the possibility of developing low cost con-trollers with minimum number of switching devices in the drive circuits. This is mainly due to the state-of-art of the present digital circuits technology and the low cost of switching devices. The control of this motor drive is under research. Optimized performance of the SRM motor drive is very dependent on the integration of the controller, converter and the motor. This research on system integration involves considerable changes in the control algorithms and their implementation. A Personal computer (PC) based controller is very appropriate for this purpose. Accordingly, the present paper is concerned with the design of a PC based controller for a SRM. The PC allows for real-time microprocessor control with the possibility of on-line system parameter modifications. Software reconfiguration of this controller is easier than a hardware based controller. User friendliness is a natural consequence of such a system. Considering the low cost of PCs, this controller will offer an excellent cost-effective means of studying the control strategies for the SRM drive intop greater detail than in the past.

Fuzzy Logic Controlled Solar Module for Driving Three- Phase Induction Motor

NASA Astrophysics Data System (ADS)

Afiqah Zainal, Nurul; Sooi Tat, Chan; Ajisman

2016-02-01

Renewable energy produced by solar module gives advantages for generated three- phase induction motor in remote area. But, solar module's ou tput is uncertain and complex. Fuzzy logic controller is one of controllers that can handle non-linear system and maximum power of solar module. Fuzzy logic controller used for Maximum Power Point Tracking (MPPT) technique to control Pulse-Width Modulation (PWM) for switching power electronics circuit. DC-DC boost converter used to boost up photovoltaic voltage to desired output and supply voltage source inverter which controlled by three-phase PWM generated by microcontroller. IGBT switched Voltage source inverter (VSI) produced alternating current (AC) voltage from direct current (DC) source to control speed of three-phase induction motor from boost converter output. Results showed that, the output power of solar module is optimized and controlled by using fuzzy logic controller. Besides that, the three-phase induction motor can be drive and control using VSI switching by the PWM signal generated by the fuzzy logic controller. This concluded that the non-linear system can be controlled and used in driving three-phase induction motor.

Simulation of an Electromechanical Spin Motor System of a Control Moment Gyroscope

NASA Technical Reports Server (NTRS)

Inampudi, Ravi; Gordeuk, John

2016-01-01

A two-phase brushless DC motor (BDCM) with pulse-width modulated (PWM) voltage drive is simulated to control the flywheel speed of a control moment gyroscope (CMG). An overview of a double-gimballed control moment gyroscope (DGCMG) assembly is presented along with the CMG torque effects on the spacecraft. The operating principles of a two-phase brushless DC motor are presented and the system's electro-mechanical equations of motion are developed for the root-mean-square (RMS) currents and wheel speed. It is shown that the system is an extremely "stiff" set of first-order equations for which an implicit Euler integrator is required for a stable solution. An adaptive proportional voltage controller is presented which adjusts the PWM voltages depending on several control modes for speed, current, and torque. The simulation results illustrate the interaction between the electrical system and the load dynamics and how these influence the overall performance of the system. As will be shown, the CMG spin motor model can directly provide electrical power use and thermal power output to spacecraft subsystems for effective (average) calculations of CMG power consumption.

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

Nadel, S.; Elliott, R.N.; Shepard, M.

This updated and revised book, based on the best-selling first edition, will address how motors and motor systems can achieve greater efficiency through efficient motors, motor management, optimized controls, improved component sizing and repair, better transmission hardware, and comprehensive monitoring and maintenance. In language understandable to non-engineers, this second edition will provide an overview of existing motor stock, chronicle experience with drive power programs and policies, and offer recommendations for future efforts to increase motor system efficiency.

Field-Oriented Control Of Induction Motors

NASA Technical Reports Server (NTRS)

Burrows, Linda M.; Roth, Mary Ellen; Zinger, Don S.

1993-01-01

Field-oriented control system provides for feedback control of torque or speed or both. Developed for use with commercial three-phase, 400-Hz, 208-V, 5-hp motor. Systems include resonant power supply operating at 20 kHz. Pulse-population-modulation subsystem selects individual pulses of 20-kHz single-phase waveform as needed to synthesize three waveforms of appropriate lower frequency applied to three phase windings of motor. Electric actuation systems using technology currently being built to peak powers of 70 kW. Amplitude of voltage of effective machine-frequency waveform determined by momentary frequency of pulses, while machine frequency determined by rate of repetition of overall temporal pattern of pulses. System enables independent control of both voltage and frequency.

Induction motor speed control using varied duty cycle terminal voltage via PI controller

NASA Astrophysics Data System (ADS)

Azwin, A.; Ahmed, S.

2018-03-01

This paper deals with the PI speed controller for the three-phase induction motor using PWM technique. The PWM generated signal is utilized for voltage source inverter with an optimal duty cycle on a simplified induction motor model. A control algorithm for generating PWM control signal is developed. Obtained results shows that the steady state error and overshoot of the developed system is in the limit under different speed and load condition. The robustness of the control performance would be potential for induction motor performance improvement.

Compact Hybrid Automotive Propulsion System

NASA Technical Reports Server (NTRS)

Lupo, G.

1986-01-01

Power train proposed for experimental vehicle powered by internal combustion engine and electric motor. Intended for front-wheel drive automobile, power train mass produced using existing technology. System includes internal-combustion engine, electric motor, continuously variable transmission, torque converter, differential, and control and adjustment systems for electric motor and transmission. Continuously variable transmission integrated into hydraulic system that also handles power steering and power brakes. Batteries for electric motor mounted elsewhere in vehicle.

Extraneous torque and compensation control on the electric load simulator

NASA Astrophysics Data System (ADS)

Jiao, Zongxia; Li, Chenggong; Ren, Zhiting

2003-09-01

In this paper a novel motor-drive load simulator based on compensation control strategy is proposed and designed. Through analyzing the torque control system consisting of DC torque motor, PWM module and torque sensor, it is shown that performance of the motor-drive load simulator is possible to be as good as that of the electro-hydraulic load simulator in the range of small torque. In the course of loading, the rotation of the actuator would cause a strong disturbance torque through the motor back-EMF, which produces extraneous torque similar as in electro-hydraulic load simulator. This paper analyzes the cause of extraneous torque inside the torque motor in detail and presents an appropriate compensation control with which the extraneous torque can be compensated and the good performance of the torque control system can be obtained. The results of simulation indicate that the compensation is very effective and the track performance is according with the request.

Design of control system for optical fiber drawing machine driven by double motor

NASA Astrophysics Data System (ADS)

Yu, Yue Chen; Bo, Yu Ming; Wang, Jun

2018-01-01

Micro channel Plate (MCP) is a kind of large-area array electron multiplier with high two-dimensional spatial resolution, used as high-performance night vision intensifier. The high precision control of the fiber is the key technology of the micro channel plate manufacturing process, and it was achieved by the control of optical fiber drawing machine driven by dual-motor in this paper. First of all, utilizing STM32 chip, the servo motor drive and control circuit was designed to realize the dual motor synchronization. Secondly, neural network PID control algorithm was designed for controlling the fiber diameter fabricated in high precision; Finally, the hexagonal fiber was manufactured by this system and it shows that multifilament diameter accuracy of the fiber is +/- 1.5μm.

Study on Enhanceing Mechanisim and Policy on Energy Efficiency of Electrical Motor System in China

NASA Astrophysics Data System (ADS)

Liu, Ren; Zhao, Yuejin; Liu, Meng; Chen, Lili; Yang, Ming

2017-12-01

Motor is a kind of terminal energy-consumption equipment with the maximum power consumption in China every year; compared with international advanced level, the technical innovation of motor equipment, speed regulating system, drive system and automatic intelligent control technique in China still lag behind relatively; the standard technical service support system of motor system is not complete, the energy conserving transformation mode needs to be innovated, and the market development mechanism of motor industry is not perfect, etc. This paper analyzes the promotion mechanism and policy on energy efficiency of the motor system in China in recent years, studies the demonstration cases of successful promotion of high-efficiency motor, standard labeling, financial finance and tax policy, and puts forward suggestions on promotion of high-efficiency motor in China.

Stepping-Motion Motor-Control Subsystem For Testing Bearings

NASA Technical Reports Server (NTRS)

Powers, Charles E.

1992-01-01

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

A DNA-based molecular motor that can navigate a network of tracks

NASA Astrophysics Data System (ADS)

Wickham, Shelley F. J.; Bath, Jonathan; Katsuda, Yousuke; Endo, Masayuki; Hidaka, Kumi; Sugiyama, Hiroshi; Turberfield, Andrew J.

2012-03-01

Synthetic molecular motors can be fuelled by the hydrolysis or hybridization of DNA. Such motors can move autonomously and programmably, and long-range transport has been observed on linear tracks. It has also been shown that DNA systems can compute. Here, we report a synthetic DNA-based system that integrates long-range transport and information processing. We show that the path of a motor through a network of tracks containing four possible routes can be programmed using instructions that are added externally or carried by the motor itself. When external control is used we find that 87% of the motors follow the correct path, and when internal control is used 71% of the motors follow the correct path. Programmable motion will allow the development of computing networks, molecular systems that can sort and process cargoes according to instructions that they carry, and assembly lines that can be reconfigured dynamically in response to changing demands.

Motor/generator and electronic control considerations for energy storage flywheels

NASA Technical Reports Server (NTRS)

Nola, F. J.

1984-01-01

A spacecraft electric power supply system is described. Requirements of the system are to accelerate a momentum wheel to a fixed maximum speed when solar energy is available and to maintain a constant voltage on the spacecraft bus under varying loads when solar energy is not available. Candidate motor types, pulse width modulated current control systems, and efficiency considerations are discussed. In addition, the Lunar Roving Vehicle motors are described along with their respective efficiencies.

Solar powered actuator with continuously variable auxiliary power control

NASA Technical Reports Server (NTRS)

Nola, F. J. (Inventor)

1984-01-01

A solar powered system is disclosed in which a load such as a compressor is driven by a main induction motor powered by a solar array. An auxiliary motor shares the load with the solar powered motor in proportion to the amount of sunlight available, is provided with a power factor controller for controlling voltage applied to the auxiliary motor in accordance with the loading on that motor. In one embodiment, when sufficient power is available from the solar cell, the auxiliary motor is driven as a generator by excess power from the main motor so as to return electrical energy to the power company utility lines.

Design and experiment study of a semi-active energy-regenerative suspension system

NASA Astrophysics Data System (ADS)

Shi, Dehua; Chen, Long; Wang, Ruochen; Jiang, Haobin; Shen, Yujie

2015-01-01

A new kind of semi-active energy-regenerative suspension system is proposed to recover suspension vibration energy, as well as to reduce the suspension cost and demands for the motor-rated capacity. The system consists of an energy-regenerative damper and a DC-DC converter-based energy-regenerative circuit. The energy-regenerative damper is composed of an electromagnetic linear motor and an adjustable shock absorber with three regulating levels. The linear motor just works as the generator to harvest the suspension vibration energy. The circuit can be used to improve the system’s energy-regenerative performance and to continuously regulate the motor’s electromagnetic damping force. Therefore, although the motor works as a generator and damps the isolation without an external power source, the motor damping force is controllable. The damping characteristics of the system are studied based on a two degrees of freedom vehicle vibration model. By further analyzing the circuit operation characteristics under different working modes, the double-loop controller is designed to track the desired damping force. The external-loop is a fuzzy controller that offers the desired equivalent damping. The inner-loop controller, on one hand, is used to generate the pulse number and the frequency to control the angle and the rotational speed of the step motor; on the other hand, the inner-loop is used to offer the duty cycle of the energy-regenerative circuit. Simulations and experiments are conducted to validate such a new suspension system. The results show that the semi-active energy-regenerative suspension can improve vehicle ride comfort with the controllable damping characteristics of the linear motor. Meanwhile, it also ensures energy regeneration.

Detail of motor control cabinet and field breakers. Control cabinet ...

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

Detail of motor control cabinet and field breakers. Control cabinet and breaker panel built by Cutler-Hammer - Wellton-Mohawk Irrigation System, Pumping Plant No. 3, South of Interstate 8, Wellton, Yuma County, AZ

Electric motor assisted bicycle as an aerobic exercise machine.

PubMed

Nagata, T; Okada, S; Makikawa, M

2012-01-01

The goal of this study is to maintain a continuous level of exercise intensity around the aerobic threshold (AT) during riding on an electric motor assisted bicycle using a new control system of electrical motor assistance which uses the efficient pedaling rate of popular bicycles. Five male subjects participated in the experiment, and the oxygen uptake was measured during cycling exercise using this new pedaling rate control system of electrical motor assistance, which could maintain the pedaling rate within a specific range, similar to that in previous type of electrically assisted bicycles. Results showed that this new pedaling rate control system at 65 rpm ensured continuous aerobic exercise intensity around the AT in two subjects, and this intensity level was higher than that observed in previous type. However, certain subjects were unable to maintain the expected exercise intensity because of their particular cycling preferences such as the pedaling rate. It is necessary to adjust the specific pedaling rate range of the electrical motor assist control according to the preferred pedaling rate, so that this system becomes applicable to anyone who want continuous aerobic exercise.

Vectorial Command of Induction Motor Pumping System Supplied by a Photovoltaic Generator

NASA Astrophysics Data System (ADS)

Makhlouf, Messaoud; Messai, Feyrouz; Benalla, Hocine

2011-01-01

With the continuous decrease of the cost of solar cells, there is an increasing interest and needs in photovoltaic (PV) system applications following standard of living improvements. Water pumping system powered by solar-cell generators are one of the most important applications. The fluctuation of solar energy on one hand, and the necessity to optimise available solar energy on the other, it is useful to develop new efficient and flexible modes to control motors that entrain the pump. A vectorial control of an asynchronous motor fed by a photovoltaic system is proposed. This paper investigates a photovoltaic-electro mechanic chain, composed of a PV generator, DC-AC converter, a vector controlled induction motor and centrifugal pump. The PV generator is forced to operate at its maximum power point by using an appropriate search algorithm integrated in the vector control. The optimization is realized without need to adding a DC-DC converter to the chain. The motor supply is also ensured in all insolation conditions. Simulation results show the effectiveness and feasibility of such an approach.

Behavioral responses of trained squirrel and rhesus monkeys during oculomotor tasks

PubMed Central

Heiney, Shane A.; Blazquez, Pablo M.

2018-01-01

The oculomotor system is the motor system of choice for many neuroscientists studying motor control and learning because of its simplicity, easy control of inputs (e.g., visual stimulation), and precise control and measurement of motor outputs (eye position). This is especially true in primates, which are easily trained to perform oculomotor tasks. Here we provide the first detailed characterization of the oculomotor performance of trained squirrel monkeys, primates used extensively in oculomotor physiology, during saccade and smooth pursuit tasks, and compare it to that of the rhesus macaque. We found that both primates have similar oculomotor behavior but the rhesus shows a larger oculomotor range, better performance for horizontal saccades above 10 degrees, and better horizontal smooth pursuit gain to target velocities above 15 deg/s. These results are important for interspecies comparisons and necessary when selecting the best stimuli to study motor control and motor learning in the oculomotor systems of these primates. PMID:21656216

Three-phase multilevel solar inverter for motor drive system

NASA Astrophysics Data System (ADS)

Bhasagare, Mayuresh P.

This thesis deals with three phase inverters and the different control strategies that can be associated with an inverter being used together. The first part of this thesis discusses the present research in the fields of PV panels, motor drive systems and three phase inverters along with their control. This control includes various strategies like MPPT, Volts-Hertz and modulation index compensation. Incorporating these techniques together is the goal of this thesis. A new topology for operating an open end motor drive system has also been discusses, where a boost converter and a flyback converter have been used in cascade to run a three phase motor. The main advantage of this is increasing the number of levels and improving the quality of the output voltage, not to mention a few other benefits of having the proposed circuit. A new algorithm has also been designed for starting and stopping the motor, which controls the current drawn from the power source during starting.

Slip control for LIM propelled transit vehicles

NASA Astrophysics Data System (ADS)

Wallace, A. K.; Parker, J. H.; Dawson, G. E.

1980-09-01

Short stator linear induction motors, with an iron-backed aluminum sheet reaction rail and powered by a controlled inverter, have been selected as the propulsion system for transit vehicles in an intermediate capacity system (12-20,000 pphpd). The linear induction motor is capable of adhesion independent braking and acceleration levels which permit safe, close headways. In addition, simple control is possible allowing moving block automatic train control. This paper presents a slip frequency control scheme for the LIM. Experimental results for motoring and braking obtained from a test vehicle are also presented. These values are compared with theoretical predictions.

New propulsion components for electric vehicles

NASA Astrophysics Data System (ADS)

Secunde, R. R.

Improved component technology is described. This includes electronically commutated permanent magnet motors of both drum and disk configurations, an unconventional brush commutated motor, ac induction motors, various controllers, transmissions and complete systems. One or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors. Previously announced in STAR as N83-25982

New propulsion components for electric vehicles

NASA Technical Reports Server (NTRS)

Secunde, R. R.

1983-01-01

Improved component technology is described. This includes electronically commutated permanent magnet motors of both drum and disk configurations, an unconventional brush commutated motor, ac induction motors, various controllers, transmissions and complete systems. One or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors. Previously announced in STAR as N83-25982

Delays, Scaling and the Acquisition of Motor Skill

NASA Astrophysics Data System (ADS)

Cabrera, Juan Luis; Milton, John

2003-05-01

Motion analysis in three dimensions reveals a number of surprising features of the neural control of stick balancing at the fingertip, namely, 1) on-off intermittency in the controlled variable, and 2) controlling motor forces that exhibit self-similarity. The growing evidence in support of scaling and critical behaviors in neural motor control necessitates a re-thinking of how the nervous systems works.

Modification of the azimuth control system in the LLMC

NASA Astrophysics Data System (ADS)

Li, Binhua; Yang, Lei; Chen, Linfei; Mao, Wei

2000-10-01

A new control system of the azimuth transmission mechanism used in the Lower Latitude Meridian Circle (LLMC) is described in this paper. Because the original azimuth transmission mechanism causes too much vibration during the transposition of the horizontal axis of the instrument, we decided to modify the original system by two ways. One is to modify the lift mechanism and the azimuth transmission mechanism. The other is to replace the original stepper motors with a new type of stepper motor. According to the requirement of the new motor and its sine subdivided microstep driver, the original control system has been modified. The new system has an expansion output board and a new control program compared with the original one. The hardware architecture of the new system is described. The program in the single chip microcontroller is written in ASM, which is composed of 10 subroutines. The program in a host PC is written in C++. The methods using in controlling motors and skills in designing these programs are discussed. Two sketch flow charts of the control program are presented in the paper. Modification of the lift mechanism is also introduced. All this works make the vibration very slight.

Closed-loop motor control using high-speed fiber optics

NASA Technical Reports Server (NTRS)

Dawson, Reginald (Inventor); Rodriquiz, Dagobert (Inventor)

1991-01-01

A closed-loop control system for controlling the operation of one or more servo motors or other controllable devices is described. The system employs a fiber optics link immune to electromagnetic interference, for transmission of control signals from a controller or controllers at a remote station to the power electronics located in proximity to the motors or other devices at the local station. At the remote station the electrical control signals are time-multiplexed, converted to a formatted serial bit stream, and converted to light signals for transmission over a single fiber of the fiber optics link. At the local station, the received optical signals are reconstructed as electrical control signals for the controlled motors or other devices. At the local station, an encoder sensor linked to the driven device generates encoded feedback signals which provide information as to a condition of the controlled device. The encoded signals are placed in a formatted serial bit stream, multiplexed, and transmitted as optical signals over a second fiber of the fiber optic link which closes the control loop of the closed-loop motor controller. The encoded optical signals received at the remote station are demultiplexed, reconstructed and coupled to the controller(s) as electrical feedback signals.

An adaptive nonlinear internal-model control for the speed control of homopolar salient-pole BLDC motor

NASA Astrophysics Data System (ADS)

CheshmehBeigi, Hassan Moradi

2018-05-01

In this paper, a novel speed control method for Homopolar Brushless DC (HBLDC) motor based on the adaptive nonlinear internal-model control (ANIMC) is presented. Rotor position information is obtained online by the Hall-Effect sensors placed on the motor's shaft, and is used to calculate the accurate model and accurate inverse model of the HBLDC motor. The online inverse model of the motor is used in the controller structure. To suppress the reference ? error, the negative feedback of difference between the motor speed and its model output ? is applied in the proposed controller. An appropriate signal is the output of the controller, which drives the power switches to converge the motor speed to the constant desired speed. Simulations and experiments are carried out on a ? three-phase HBLDC motor. The proposed drive system operates well in the speed response and has good robustness with respect to the disturbances. To validate the theoretical analysis, several experimental results are discussed in this paper.

Improved Speed Control System for the 87,000 HP Wind Tunnel Drive

NASA Technical Reports Server (NTRS)

Becks, Edward A.; Bencic, Timothy J.; Blumenthal, Philip Z.

1995-01-01

This paper describes the design, installation, and integrated systems tests for a new drive motor speed control system which was part of a recent rehab project for the NASA Lewis 8x6 Supersonic Wind Tunnel. The tunnel drive consists of three mechanically-coupled 29,000 HP wound rotor induction motors driving an axial flow compressor. Liquid rheostats are used to vary the impedance of the rotor circuits, thus varying the speed of the drive system. The new design utilizes a distributed digital control system with a dual touch screen CRT operator console to provide alarm monitoring, logging, and trending. The liquid rheostats are driven by brushtype servomotor systems with magnetostrictive linear displacement transducers used for position feedback. The new system achieved all goals for speed variations with load, motor load balance, and control of total power.

Improved speed control system for the 87,000 HP wind tunnel drive

NASA Astrophysics Data System (ADS)

Becks, Edward A.; Bencic, Timothy J.; Blumenthal, Philip Z.

1995-01-01

This paper describes the design, installation, and integrated systems tests for a new drive motor speed control system which was part of a recent rehab project for the NASA Lewis 8x6 Supersonic Wind Tunnel. The tunnel drive consists of three mechanically-coupled 29,000 HP wound rotor induction motors driving an axial flow compressor. Liquid rheostats are used to vary the impedance of the rotor circuits, thus varying the speed of the drive system. The new design utilizes a distributed digital control system with a dual touch screen CRT operator console to provide alarm monitoring, logging, and trending. The liquid rheostats are driven by brushtype servomotor systems with magnetostrictive linear displacement transducers used for position feedback. The new system achieved all goals for speed variations with load, motor load balance, and control of total power.

Postnatal Maturation of the Red Nucleus Motor Map Depends on Rubrospinal Connections with Forelimb Motor Pools

PubMed Central

Williams, Preston T. J. A.; Kim, Sangsoo

2014-01-01

The red nucleus (RN) and rubrospinal tract (RST) are important for forelimb motor control. Although the RST is present postnatally in cats, nothing is known about when rubrospinal projections could support motor functions or the relation between the development of the motor functions of the rubrospinal system and the corticospinal system, the other major system for limb control. Our hypothesis is that the RN motor map is present earlier in development than the motor cortex (M1) map, to support early forelimb control. We investigated RN motor map maturation with microstimulation and RST cervical enlargement projections using anterograde tracers between postnatal week 3 (PW3) and PW16. Microstimulation and tracer injection sites were verified histologically to be located within the RN. Microstimulation at PW4 evoked contralateral wrist, elbow, and shoulder movements. The number of sites producing limb movement increased and response thresholds decreased progressively through PW16. From the outset, all forelimb joints were represented. At PW3, RST projections were present within the cervical intermediate zone, with a mature density of putative synapses. In contrast, beginning at PW5 there was delayed and age-dependent development of forelimb motor pool projections and putative rubromotoneuronal synapses. The RN has a more complete forelimb map early in development than previous studies showed for M1, supporting our hypothesis of preferential rubrospinal rather than corticospinal control for early movements. Remarkably, development of the motor pool, not intermediate zone, RST projections paralleled RN motor map development. The RST may be critical for establishing the rudiments of motor skills that subsequently become refined with further CST development. PMID:24647962

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

NASA Technical Reports Server (NTRS)

Rubaai, Ahmed

1996-01-01

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

The role of tactile sensation in online and offline hierarchical control of multi-finger force synergy.

PubMed

Koh, Kyung; Kwon, Hyun Joon; Yoon, Bum Chul; Cho, Yongseok; Shin, Joon-Ho; Hahn, Jin-Oh; Miller, Ross H; Kim, Yoon Hyuk; Shim, Jae Kun

2015-09-01

The hand, one of the most versatile but mechanically redundant parts of the human body, must overcome imperfect motor commands and inherent noise in both the sensory and motor systems in order to produce desired motor actions. For example, it is nearly impossible to produce a perfectly consistent note during a single violin stroke or to produce the exact same note over multiple strokes, which we denote online and offline control, respectively. To overcome these challenges, the central nervous system synergistically integrates multiple sensory modalities and coordinates multiple motor effectors. Among these sensory modalities, tactile sensation plays an important role in manual motor tasks by providing hand-object contact information. The purpose of this study was to investigate the role of tactile feedback in individual finger actions and multi-finger interactions during constant force production tasks. We developed analytical techniques for the linear decomposition of the overall variance in the motor system in both online and offline control. We removed tactile feedback from the fingers and demonstrated that tactile sensors played a critical role in the online control of synergistic interactions between fingers. In contrast, the same sensors did not contribute to offline control. We also demonstrated that when tactile feedback was removed from the fingers, the combined motor output of individual fingers did not change while individual finger behaviors did. This finding supports the idea of hierarchical control where individual fingers at the lower level work together to stabilize the performance of combined motor output at the higher level.

Motor-Skill Learning in an Insect Inspired Neuro-Computational Control System

PubMed Central

Arena, Eleonora; Arena, Paolo; Strauss, Roland; Patané, Luca

2017-01-01

In nature, insects show impressive adaptation and learning capabilities. The proposed computational model takes inspiration from specific structures of the insect brain: after proposing key hypotheses on the direct involvement of the mushroom bodies (MBs) and on their neural organization, we developed a new architecture for motor learning to be applied in insect-like walking robots. The proposed model is a nonlinear control system based on spiking neurons. MBs are modeled as a nonlinear recurrent spiking neural network (SNN) with novel characteristics, able to memorize time evolutions of key parameters of the neural motor controller, so that existing motor primitives can be improved. The adopted control scheme enables the structure to efficiently cope with goal-oriented behavioral motor tasks. Here, a six-legged structure, showing a steady-state exponentially stable locomotion pattern, is exposed to the need of learning new motor skills: moving through the environment, the structure is able to modulate motor commands and implements an obstacle climbing procedure. Experimental results on a simulated hexapod robot are reported; they are obtained in a dynamic simulation environment and the robot mimicks the structures of Drosophila melanogaster. PMID:28337138

Novel Observer Scheme of Fuzzy-MRAS Sensorless Speed Control of Induction Motor Drive

NASA Astrophysics Data System (ADS)

Chekroun, S.; Zerikat, M.; Mechernene, A.; Benharir, N.

2017-01-01

This paper presents a novel approach Fuzzy-MRAS conception for robust accurate tracking of induction motor drive operating in a high-performance drives environment. Of the different methods for sensorless control of induction motor drive the model reference adaptive system (MRAS) finds lot of attention due to its good performance. The analysis of the sensorless vector control system using MRAS is presented and the resistance parameters variations and speed observer using new Fuzzy Self-Tuning adaptive IP Controller is proposed. In fact, fuzzy logic is reminiscent of human thinking processes and natural language enabling decisions to be made based on vague information. The present approach helps to achieve a good dynamic response, disturbance rejection and low to plant parameter variations of the induction motor. In order to verify the performances of the proposed observer and control algorithms and to test behaviour of the controlled system, numerical simulation is achieved. Simulation results are presented and discussed to shown the validity and the performance of the proposed observer.

Space shuttle booster separation motor design

NASA Technical Reports Server (NTRS)

Smith, G. W.; Chase, C. A.

1976-01-01

The separation characteristics of the space shuttle solid rocket boosters (SRBs) are introduced along with the system level requirements for the booster separation motors (BSMs). These system requirements are then translated into specific motor requirements that control the design of the BSM. Each motor component is discussed including its geometry, material selection, and fabrication process. Also discussed is the propellant selection, grain design, and performance capabilities of the motor. The upcoming test program to develop and qualify the motor is outlined.

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

PubMed

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

2015-09-01

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

Hardware Evolution of Analog Speed Controllers for a DC Motor

NASA Technical Reports Server (NTRS)

Gwaltney, David A.; Ferguson, Michael I.

2003-01-01

This viewgraph presentation provides information on the design of analog speed controllers for DC motors on aerospace systems. The presentation includes an overview of controller evolution, evolvable controller configuration, an emphasis on proportion integral (PI) controllers, schematic diagrams, and experimental results.

Propulsion Electric Grid Simulator (PEGS) for Future Turboelectric Distributed Propulsion Aircraft

NASA Technical Reports Server (NTRS)

Choi, Benjamin B.; Morrison, Carlos; Dever, Timothy; Brown, Gerald V.

2014-01-01

NASA Glenn Research Center, in collaboration with the aerospace industry and academia, has begun the development of technology for a future hybrid-wing body electric airplane with a turboelectric distributed propulsion (TeDP) system. It is essential to design a subscale system to emulate the TeDP power grid, which would enable rapid analysis and demonstration of the proof-of-concept of the TeDP electrical system. This paper describes how small electrical machines with their controllers can emulate all the components in a TeDP power train. The whole system model in Matlab/Simulink was first developed and tested in simulation, and the simulation results showed that system dynamic characteristics could be implemented by using the closed-loop control of the electric motor drive systems. Then we designed a subscale experimental system to emulate the entire power system from the turbine engine to the propulsive fans. Firstly, we built a system to emulate a gas turbine engine driving a generator, consisting of two permanent magnet (PM) motors with brushless motor drives, coupled by a shaft. We programmed the first motor and its drive to mimic the speed-torque characteristic of the gas turbine engine, while the second motor and drive act as a generator and produce a torque load on the first motor. Secondly, we built another system of two PM motors and drives to emulate a motor driving a propulsive fan. We programmed the first motor and drive to emulate a wound-rotor synchronous motor. The propulsive fan was emulated by implementing fan maps and flight conditions into the fourth motor and drive, which produce a torque load on the driving motor. The stator of each PM motor is designed to travel axially to change the coupling between rotor and stator. This feature allows the PM motor to more closely emulate a wound-rotor synchronous machine. These techniques can convert the plain motor system into a unique TeDP power grid emulator that enables real-time simulation performance using hardware-in-the-loop (HIL).

Control Systems of Rubber Dryer Machinery Components Using Programmable Logic Control (PLC)

NASA Astrophysics Data System (ADS)

Hendra; Yulianto, A. S.; Indriani, A.; Hernadewita; Hermiyetti

2018-02-01

Application of programmable logic control (PLC) is widely used on the control systems in the many field engineering such as automotive, aviation, food processing and other industries [1-2]. PLC is simply program to control many automatic activity, easy to use, flexible and others. PLC using the ladder program to solve and regulated the control system component. In previous research, PLC was used for control system of rotary dryer machine. In this paper PLC are used for control system of motion component in the rubber dryer machinery. Component of rubber dryer machine is motors, gearbox, sprocket, heater, drying chamber and bearing. Principle working of rubber dryer machinery is wet rubber moving into the drying chamber by sprocket. Sprocket is driven by motors that conducted by PLC to moving and set of wet rubber on the drying chamber. Drying system uses greenhouse effect by making hanger dryer design in the form of line path. In this paper focused on motion control system motors and sensors drying rubber using PLC. The results show that control system of rubber dryer machinery can work in accordance control input and the time required to dry the rubber.

Computerized Torque Control for Large dc Motors

NASA Technical Reports Server (NTRS)

Willett, Richard M.; Carroll, Michael J.; Geiger, Ronald V.

1987-01-01

Speed and torque ranges in generator mode extended. System of shunt resistors, electronic switches, and pulse-width modulation controls torque exerted by large, three-phase, electronically commutated dc motor. Particularly useful for motor operating in generator mode because it extends operating range to low torque and high speed.

Electropneumatic transducer automatically limits motor current

NASA Technical Reports Server (NTRS)

Lovitt, T. F.

1966-01-01

Pneumatic controller regulates the load on a centrifugal freon compressor in a water cooling system, thus limiting the current input to an electric motor driving it. An electromechanical transducer monitoring the motor input current sends out air signals which indicate changes in the current to the pneumatic controller.

Asymmetric Brownian motor driven by bubble formation in a hydrophobic channel.

PubMed

Arai, Noriyoshi; Yasuoka, Kenji; Koishi, Takahiro; Ebisuzaki, Toshikazu

2010-10-26

The "asymmetric brownian ratchet model" is a variation of Feynman's ratchet and pawl system proposed. In this model, a system consisting of a motor and a rail has two binding states. One is the random brownian state, and the other is the asymmetric potential state. When the system is alternatively switched between these states, the motor can be driven in one direction. This model is believed to explain nanomotor behavior in biological systems. The feasibility of the model has been demonstrated using electrical and magnetic forces; however, switching of these forces is unlikely to be found in biological systems. In this paper, we propose an original mechanism of transition between states by bubble formation in a nanosized channel surrounded by hydrophobic atoms. This amounts to a nanoscale motor system using bubble propulsion. The motor system consists of a hydrophobic motor and a rail on which hydrophobic patterns are printed. Potential asymmetry can be produced by using a left-right asymmetric pattern shape. Hydrophobic interactions are believed to play an important role in the binding of biomolecules and molecular recognition. The bubble formation is controlled by changing the width of the channel by an atomic distance (∼0.1 nm). Therefore, the motor is potentially more efficient than systems controlled by other forces, in which a much larger change in the motor position is necessary. We have simulated the bubble-powered motor using dissipative particle dynamics and found behavior in good agreement with that of motor proteins. Energy efficiency is as high as 60%.

Chaos control for the output-constrained system by using adaptive dynamic surface technology and application to the brushless DC motor

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

Luo, Shaohua, E-mail: hua66com@163.com; School of Automation, Chongqing University, Chongqing 400044; Hou, Zhiwei

2015-12-15

In this paper, chaos control is proposed for the output- constrained system with uncertain control gain and time delay and is applied to the brushless DC motor. Using the dynamic surface technology, the controller overcomes the repetitive differentiation of backstepping and boundedness hypothesis of pre-determined control gain by incorporating radial basis function neural network and adaptive technology. The tangent barrier Lyapunov function is employed for time-delay chaotic system to prevent constraint violation. It is proved that the proposed control approach can guarantee asymptotically stable in the sense of uniformly ultimate boundedness without constraint violation. Finally, the effectiveness of the proposedmore » approach is demonstrated on the brushless DC motor example.« less

Automatic inoculating apparatus. [includes movable carraige, drive motor, and swabbing motor

NASA Technical Reports Server (NTRS)

Wilkins, J. R.; Mills, S. M. (Inventor)

1974-01-01

An automatic inoculating apparatus for agar trays is described and using a simple inoculating element, such as a cotton swab or inoculating loop. The apparatus includes a movable carriage for supporting the tray to be inoculated, a drive motor for moving the tray along a trackway, and a swabbing motor for automatically swabbing the tray during the movement. An actuator motor controls lowering of the inoculating element onto the tray and lifting of the inoculating element. An electrical control system, including limit microswitches, enables automatic control of the actuator motor and return of the carriage to the initial position after inoculating is completed.

Progress on advanced dc and ac induction drives for electric vehicles

NASA Technical Reports Server (NTRS)

Schwartz, H. J.

1982-01-01

Progress is reported in the development of complete electric vehicle propulsion systems, and the results of tests on the Road Load Simulator of two such systems representative of advanced dc and ac drive technology are presented. One is the system used in the DOE's ETV-1 integrated test vehicle which consists of a shunt wound dc traction motor under microprocessor control using a transistorized controller. The motor drives the vehicle through a fixed ratio transmission. The second system uses an ac induction motor controlled by transistorized pulse width modulated inverter which drives through a two speed automatically shifted transmission. The inverter and transmission both operate under the control of a microprocessor. The characteristics of these systems are also compared with the propulsion system technology available in vehicles being manufactured at the inception of the DOE program and with an advanced, highly integrated propulsion system upon which technology development was recently initiated.

Brushless DC motor control system responsive to control signals generated by a computer or the like

NASA Technical Reports Server (NTRS)

Packard, D. T. (Inventor)

1985-01-01

A control system for a brushless DC motor responsive to digital control signals is disclosed. The motor includes a multiphase wound stator and a permanent magnet rotor. The motor is arranged so that each phase winding, when energized from a DC source, will drive the rotor through a predetermined angular position or step. A commutation signal generator responsive to the shaft position provides a commutation signal for each winding. A programmable control signal generator such as a computer or microprocessor produces individual digital control signals for each phase winding. The control signals and commutation signals associated with each winding are applied to an AND gate for that phase winding. Each gate controls a switch connected in series with the associated phase winding and the DC source so that each phase winding is energized only when the commutation signal and the control signal associated with that phase winding are present. The motor shaft may be advanced one step at a time to a desired position by applying a predetermined number of control signals in the proper sequence to the AND gates and the torque generated by the motor be regulated by applying a separate control signal and each AND gate which is pulse width modulated to control the total time that each switch connects its associated winding to the DC source during each commutation period.

Action observation has a positive impact on rehabilitation of motor deficits after stroke.

PubMed

Ertelt, Denis; Small, Steven; Solodkin, Ana; Dettmers, Christian; McNamara, Adam; Binkofski, Ferdinand; Buccino, Giovanni

2007-01-01

Evidence exists that the observation of actions activates the same cortical motor areas that are involved in the performance of the observed actions. The neural substrate for this is the mirror neuron system. We harness this neuronal system and its ability to re-enact stored motor representations as a means for rehabilitating motor control. We combined observation of daily actions with concomitant physical training of the observed actions in a new neurorehabilitative program (action observation therapy). Eight stroke patients with moderate, chronic motor deficit of the upper limb as a consequence of medial artery infarction participated. A significant improvement of motor functions in the course of a 4-week treatment, as compared to the stable pre-treatment baseline, and compared with a control group have been found. The improvement lasted for at least 8 weeks after the end of the intervention. Additionally, the effects of action observation therapy on the reorganization of the motor system were investigated by functional magnetic resonance imaging (fMRI), using an independent sensorimotor task consisting of object manipulation. The direct comparison of neural activations between experimental and control groups after training with those elicited by the same task before training yielded a significant rise in activity in the bilateral ventral premotor cortex, bilateral superior temporal gyrus, the supplementary motor area (SMA) and the contralateral supramarginal gyrus. Our results provide pieces of evidence that action observation has a positive additional impact on recovery of motor functions after stroke by reactivation of motor areas, which contain the action observation/action execution matching system.

Simulation of three-phase induction motor drives using indirect field oriented control in PSIM environment

NASA Astrophysics Data System (ADS)

Aziri, Hasif; Patakor, Fizatul Aini; Sulaiman, Marizan; Salleh, Zulhisyam

2017-09-01

This paper presents the simulation of three-phase induction motor drives using Indirect Field Oriented Control (IFOC) in PSIM environment. The asynchronous machine is well known about natural limitations fact of highly nonlinearity and complexity of motor model. In order to resolve these problems, the IFOC is applied to control the instantaneous electrical quantities such as torque and flux component. As FOC is controlling the stator current that represented by a vector, the torque component is aligned with d coordinate while the flux component is aligned with q coordinate. There are five levels of the incremental system are gradually built up to verify and testing the software module in the system. Indeed, all of system build levels are verified and successfully tested in PSIM environment. Moreover, the corresponding system of five build levels are simulated in PSIM environment which is user-friendly for simulation studies in order to explore the performance of speed responses based on IFOC algorithm for three-phase induction motor drives.

Optimality, stochasticity, and variability in motor behavior

PubMed Central

Guigon, Emmanuel; Baraduc, Pierre; Desmurget, Michel

2008-01-01

Recent theories of motor control have proposed that the nervous system acts as a stochastically optimal controller, i.e. it plans and executes motor behaviors taking into account the nature and statistics of noise. Detrimental effects of noise are converted into a principled way of controlling movements. Attractive aspects of such theories are their ability to explain not only characteristic features of single motor acts, but also statistical properties of repeated actions. Here, we present a critical analysis of stochastic optimality in motor control which reveals several difficulties with this hypothesis. We show that stochastic control may not be necessary to explain the stochastic nature of motor behavior, and we propose an alternative framework, based on the action of a deterministic controller coupled with an optimal state estimator, which relieves drawbacks of stochastic optimality and appropriately explains movement variability. PMID:18202922

Mathematical modeling of bent-axis hydraulic piston motors

NASA Technical Reports Server (NTRS)

Bartos, R. D.

1992-01-01

Each of the DSN 70-m antennas uses 16 bent-axis hydraulic piston motors as part of the antenna drive system. On each of the two antenna axes, four motors are used to drive the antenna and four motors provide counter torque to remove the backlash in the antenna drive train. This article presents a mathematical model for bent-axis hydraulic piston motors. The model was developed to understand the influence of the hydraulic motors on the performance of the DSN 70-m antennas' servo control system.

Dynamics of the line-start reluctance motor with rotor made of SMC material

NASA Astrophysics Data System (ADS)

Smółka, Krzysztof; Gmyrek, Zbigniew

2017-12-01

Design and control of electric motors in such a way as to ensure the expected motor dynamics, are the problems studied for many years. Many researchers tried to solve this problem, for example by the design optimization or by the use of special control algorithms in electronic systems. In the case of low-power and fractional power motors, the manufacture cost of the final product is many times less than cost of electronic system powering them. The authors of this paper attempt to improve the dynamic of 120 W line-start synchronous reluctance motor, energized by 50 Hz mains (without any electronic systems). The authors seek a road enabling improvement of dynamics of the analyzed motor, by changing the shape and material of the rotor, in such a way to minimize the modification cost of the tools necessary for the motor production. After the initial selection, the analysis of four rotors having different tooth shapes, was conducted.

Study of adaptation to altered gravity through systems analysis of motor control.

PubMed

Fox, R A; Daunton, N G; Corcoran, M L

1998-01-01

Maintenance of posture and production of functional, coordinated movement demand integration of sensory feedback with spinal and supra-spinal circuitry to produce adaptive motor control in altered gravity (G). To investigate neuroplastic processes leading to optimal performance in altered G we have studied motor control in adult rats using a battery of motor function tests following chronic exposure to various treatments (hyper-G, hindlimb suspension, chemical distruction of hair cells, space flight). These treatments differentially affect muscle fibers, vestibular receptors, and behavioral compensations and, in consequence, differentially disrupt air righting, swimming, posture and gait. The time-course of recovery from these disruptions varies depending on the function tested and the duration and type of treatment. These studies, with others (e.g., D'Amelio et al. in this volume), indicate that adaptation to altered gravity involves alterations in multiple sensory-motor systems that change at different rates. We propose that the use of parallel studies under different altered G conditions will most efficiently lead to an understanding of the modifications in central (neural) and peripheral (sensory and neuromuscular) systems that underlie sensory-motor adaptation in active, intact individuals.

Study of adaptation to altered gravity through systems analysis of motor control

NASA Astrophysics Data System (ADS)

Fox, R. A.; Daunton, N. G.; Corcoran, M. L.

Maintenance of posture and production of functional, coordinated movement demand integration of sensory feedback with spinal and supra-spinal circuitry to produce adaptive motor control in altered gravity (G). To investigate neuroplastic processes leading to optimal performance in altered G we have studied motor control in adult rats using a battery of motor function tests following chronic exposure to various treatments (hyper-G, hindlimb suspension, chemical distruction of hair cells, space flight). These treatments differentially affect muscle fibers, vestibular receptors, and behavioral compensations and, in consequence, differentially disrupt air righting, swimming, posture and gait. The time-course of recovery from these disruptions varies depending on the function tested and the duration and type of treatment. These studies, with others (e.g., D'Amelio et al. in this volume), indicate that adaptation to altered gravity involves alterations in multiple sensory-motor systems that change at different rates. We propose that the use of parallel studies under different altered G conditions will most efficiently lead to an understanding of the modifications in central (neural) and peripheral (sensory and neuromuscular) systems that underlie sensory-motor adaptation in active, intact individuals.

Nonsomatotopic organization of the higher motor centers in octopus.

PubMed

Zullo, Letizia; Sumbre, German; Agnisola, Claudio; Flash, Tamar; Hochner, Binyamin

2009-10-13

Hyperredundant limbs with a virtually unlimited number of degrees of freedom (DOFs) pose a challenge for both biological and computational systems of motor control. In the flexible arms of the octopus, simplification strategies have evolved to reduce the number of controlled DOFs. Motor control in the octopus nervous system is hierarchically organized. A relatively small central brain integrates a huge amount of visual and tactile information from the large optic lobes and the peripheral nervous system of the arms and issues commands to lower motor centers controlling the elaborated neuromuscular system of the arms. This unique organization raises new questions on the organization of the octopus brain and whether and how it represents the rich movement repertoire. We developed a method of brain microstimulation in freely behaving animals and stimulated the higher motor centers-the basal lobes-thus inducing discrete and complex sets of movements. As stimulation strength increased, complex movements were recruited from basic components shared by different types of movement. We found no stimulation site where movements of a single arm or body part could be elicited. Discrete and complex components have no central topographical organization but are distributed over wide regions.

Altered resting-state effective connectivity of fronto-parietal motor control systems on the primary motor network following stroke

PubMed Central

Inman, Cory S.; James, G. Andrew; Hamann, Stephan; Rajendra, Justin K.; Pagnoni, Giuseppe; Butler, Andrew J.

2011-01-01

Previous brain imaging work suggests that stroke alters the effective connectivity (the influence neural regions exert upon each other) of motor execution networks. The present study examines the intrinsic effective connectivity of top-down motor control in stroke survivors (n=13) relative to healthy participants (n=12). Stroke survivors exhibited significant deficits in motor function, as assessed by the Fugl-Meyer Motor Assessment. We used structural equation modeling (SEM) of resting-state fMRI data to investigate the relationship between motor deficits and the intrinsic effective connectivity between brain regions involved in motor control and motor execution. An exploratory adaptation of SEM determined the optimal model of motor execution effective connectivity in healthy participants, and confirmatory SEM assessed stroke survivors’ fit to that model. We observed alterations in spontaneous resting-state effective connectivity from fronto-parietal guidance systems to the motor network in stroke survivors. More specifically, diminished connectivity was found in connections from the superior parietal cortex to primary motor cortex and supplementary motor cortex. Furthermore, the paths demonstrated large individual variance in stroke survivors but less variance in healthy participants. These findings suggest that characterizing the deficits in resting-state connectivity of top-down processes in stroke survivors may help optimize cognitive and physical rehabilitation therapies by individually targeting specific neural pathway. PMID:21839174

Enhanced pid vs model predictive control applied to bldc motor

NASA Astrophysics Data System (ADS)

Gaya, M. S.; Muhammad, Auwal; Aliyu Abdulkadir, Rabiu; Salim, S. N. S.; Madugu, I. S.; Tijjani, Aminu; Aminu Yusuf, Lukman; Dauda Umar, Ibrahim; Khairi, M. T. M.

2018-01-01

BrushLess Direct Current (BLDC) motor is a multivariable and highly complex nonlinear system. Variation of internal parameter values with environment or reference signal increases the difficulty in controlling the BLDC effectively. Advanced control strategies (like model predictive control) often have to be integrated to satisfy the control desires. Enhancing or proper tuning of a conventional algorithm results in achieving the desired performance. This paper presents a performance comparison of Enhanced PID and Model Predictive Control (MPC) applied to brushless direct current motor. The simulation results demonstrated that the PSO-PID is slightly better than the PID and MPC in tracking the trajectory of the reference signal. The proposed scheme could be useful algorithms for the system.

Design and application of a novel high precision and low cost electronic tachogenerator for sensor-based brushless direct current motor drivers.

PubMed

Ozgenel, Mehmet Cihat; Bal, Gungor; Uygun, Durmus

2017-03-01

This study presents a precise speed control method for Brushless Direct Current (BLDC) Motors using an electronic tachogenerator (ETg) instead of an electro-mechanical tachogenerator. Most commonly used three-phase BLDC motors have three position sensors for rotor position data to provide commutation among stator windings. Aforementioned position sensors are usually Hall-effect sensors delivering binary-high and binary-low data as long as the motor rotates. These binary sets from three Hall-effect sensors can be used as an analogue rotor speed signal for closed loop applications. Each position sensor signal is apart from 120 electrical degrees. By using an electronic circuitry, a combination of position sensor signals is converted to the analogue signal providing an input to a PI speed controller. To implement this, a frequency to voltage converter has been used in this study. Then, the analogue speed signal has been evaluated as rotor speed data in comparison with the reference speed. So, an ETg system has been successfully achieved in place of an electro-mechanical tachogenerator for BLDC motor speed control. The proposed ETg has been tested under various speed conditions on an experimental setup. Employed tests and obtained results show that the proposed low-cost speed feedback sub-system can be effectively used in BLDC motor drive systems. Through the proved method and designed sub-system, a new motor controller chip with a speed feedback capability has been aimed.

Design and application of a novel high precision and low cost electronic tachogenerator for sensor-based brushless direct current motor drivers

NASA Astrophysics Data System (ADS)

Ozgenel, Mehmet Cihat; Bal, Gungor; Uygun, Durmus

2017-03-01

This study presents a precise speed control method for Brushless Direct Current (BLDC) Motors using an electronic tachogenerator (ETg) instead of an electro-mechanical tachogenerator. Most commonly used three-phase BLDC motors have three position sensors for rotor position data to provide commutation among stator windings. Aforementioned position sensors are usually Hall-effect sensors delivering binary-high and binary-low data as long as the motor rotates. These binary sets from three Hall-effect sensors can be used as an analogue rotor speed signal for closed loop applications. Each position sensor signal is apart from 120 electrical degrees. By using an electronic circuitry, a combination of position sensor signals is converted to the analogue signal providing an input to a PI speed controller. To implement this, a frequency to voltage converter has been used in this study. Then, the analogue speed signal has been evaluated as rotor speed data in comparison with the reference speed. So, an ETg system has been successfully achieved in place of an electro-mechanical tachogenerator for BLDC motor speed control. The proposed ETg has been tested under various speed conditions on an experimental setup. Employed tests and obtained results show that the proposed low-cost speed feedback sub-system can be effectively used in BLDC motor drive systems. Through the proved method and designed sub-system, a new motor controller chip with a speed feedback capability has been aimed.

Output power stability of a HCN laser using a stepping motor for the EAST interferometer system

NASA Astrophysics Data System (ADS)

Zhang, J. B.; Wei, X. C.; Liu, H. Q.; Shen, J. J.; Zeng, L.; Jie, Y. X.

2015-11-01

The HCN laser on EAST is a continuous wave glow discharge laser with 3.4 m cavity length and 120 mW power output at 337 μ m wavelength. Without a temperature-controlled system, the cavity length of the laser is very sensitive to the environmental temperature. An external power feedback control system is applied on the HCN laser to stabilize the laser output power. The feedback system is composed of a stepping motor, a PLC, a supervisory computer, and the corresponding control program. One step distance of the stepping motor is 1 μ m and the time response is 0.5 s. Based on the power feedback control system, a stable discharge for the HCN laser is obtained more than eight hours, which satisfies the EAST experiment.

The control system of synchronous movement of the gantry crane supports

NASA Astrophysics Data System (ADS)

Odnokopylov, I. G.; Gneushev, V. V.; Galtseva, O. V.; Natalinova, N. M.; Li, J.; Serebryakov, D. I.

2017-01-01

The paper presents study findings on synchronization of the gantry crane support movement. Asynchrony moving speed bearings may lead to an emergency mode at the natural rate of deformed metal structure alignment. The use of separate control of asynchronous motors with the vector control method allows synchronizing the movement speed of crane supports and achieving a balance between the motors. Simulation results of various control systems are described. Recommendations regarding the system further application are given.

[Research on magnetic coupling centrifugal blood pump control based on a self-tuning fuzzy PI algorithm].

PubMed

Yang, Lei; Yang, Ming; Xu, Zihao; Zhuang, Xiaoqi; Wang, Wei; Zhang, Haibo; Han, Lu; Xu, Liang

2014-10-01

The purpose of this paper is to report the research and design of control system of magnetic coupling centrifugal blood pump in our laboratory, and to briefly describe the structure of the magnetic coupling centrifugal blood pump and principles of the body circulation model. The performance of blood pump is not only related to materials and structure, but also depends on the control algorithm. We studied the algorithm about motor current double-loop control for brushless DC motor. In order to make the algorithm adjust parameter change in different situations, we used the self-tuning fuzzy PI control algorithm and gave the details about how to design fuzzy rules. We mainly used Matlab Simulink to simulate the motor control system to test the performance of algorithm, and briefly introduced how to implement these algorithms in hardware system. Finally, by building the platform and conducting experiments, we proved that self-tuning fuzzy PI control algorithm could greatly improve both dynamic and static performance of blood pump and make the motor speed and the blood pump flow stable and adjustable.

Filtering and Control of High Speed Motor Current in a Flywheel Energy Storage System

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Santiago, Walter

2004-01-01

The NASA Glenn Research Center has been developing technology to enable the use of high speed flywheel energy storage units in future spacecraft for the last several years. An integral part of the flywheel unit is the three phase motor/generator that is used to accelerate and decelerate the flywheel. The motor/generator voltage is supplied from a pulse width modulated (PWM) inverter operating from a fixed DC voltage supply. The motor current is regulated through a closed loop current control that commands the necessary voltage from the inverter to achieve the desired current. The current regulation loop is the innermost control loop of the overall flywheel system and, as a result, must be fast and accurate over the entire operating speed range (20,000 to 60,000 rpm) of the flywheel. The voltage applied to the motor is a high frequency PWM version of the DC bus voltage that results in the commanded fundamental value plus higher order harmonics. Most of the harmonic content is at the switching frequency and above. The higher order harmonics cause a rapid change in voltage to be applied to the motor that can result in large voltage stresses across the motor windings. In addition, the high frequency content in the motor causes sensor noise in the magnetic bearings that leads to disturbances for the bearing control. To alleviate these problems, a filter is used to present a more sinusoidal voltage to the motor/generator. However, the filter adds additional dynamics and phase lag to the motor system that can interfere with the performance of the current regulator. This paper will discuss the tuning methodology and results for the motor/generator current regulator and the impact of the filter on the control. Results at speeds up to 50,000 rpm are presented.

Development of a precise controller for an electrohydraulic total artificial heart. Improvement of the motor's dynamic response.

PubMed

Ahn, J M; Masuzawa, T; Taenaka, Y; Tatsumi, E; Ohno, T; Choi, W W; Toda, K; Miyazaki, K; Baba, Y; Nakatani, T; Takano, H; Min, B G

1996-01-01

In an electrohydraulic total artificial heart developed at the National Cardiovascular Center (Osaka, Japan), two blood pumps are pushed alternatively by means of the bidirectional motion of a brushless DC motor for pump systole and diastole. Improvement in the dynamic response of the motor is very important to obtain better pump performance; this was accomplished by using power electronic simulation. For the motor to have the desired dynamic response, it must be commutated properly and the damping ratio (zeta), which represents transient characteristics of the motor, must lie between 0.4 and 0.8. Consequently, all satisfactory specifications with respect to power consumption must be obtained. Based on the simulated results, the design criteria were determined and the precise controller designed to reduce torque ripple and motor vibration, and determine motor stop time at every direction change. In in vitro tests, evaluation of the controller and dynamic response of the motor was justified in terms of zeta, power consumption, and motor stop time. The results indicated that the power consumption of the controller and the input power of the motor were decreased by 1.2 and 2.5 W at zeta = 0.6, respectively, compared to the previous system. An acceptable dynamic response of the motor, necessary for the reduction of torque ripple and motor vibration, was obtained between zeta = 0.5 and zeta = 0.7, with an increase in system efficiency from 10% to 12%. The motor stop time required for stable motor reoperation was determined to be over 10 msec, for a savings in power consumption of approximately 1.5 W. Therefore, the improved dynamic response of the motor can contribute to the stability and reliability of the pump.

Robotics, motor learning, and neurologic recovery.

PubMed

Reinkensmeyer, David J; Emken, Jeremy L; Cramer, Steven C

2004-01-01

Robotic devices are helping shed light on human motor control in health and injury. By using robots to apply novel force fields to the arm, investigators are gaining insight into how the nervous system models its external dynamic environment. The nervous system builds internal models gradually by experience and uses them in combination with impedance and feedback control strategies. Internal models are robust to environmental and neural noise, generalized across space, implemented in multiple brain regions, and developed in childhood. Robots are also being used to assist in repetitive movement practice following neurologic injury, providing insight into movement recovery. Robots can haptically assess sensorimotor performance, administer training, quantify amount of training, and improve motor recovery. In addition to providing insight into motor control, robotic paradigms may eventually enhance motor learning and rehabilitation beyond the levels possible with conventional training techniques.

Biomechanical stability analysis of the lambda-model controlling one joint.

PubMed

Lan, L; Zhu, K Y

2007-06-01

Computer modeling and control of the human motor system might be helpful for understanding the mechanism of human motor system and for the diagnosis and treatment of neuromuscular disorders. In this paper, a brief view of the equilibrium point hypothesis for human motor system modeling is given, and the lambda-model derived from this hypothesis is studied. The stability of the lambda-model based on equilibrium and Jacobian matrix is investigated. The results obtained in this paper suggest that the lambda-model is stable and has a unique equilibrium point under certain conditions.

Fractional order PID controller for improvement of PMSM speed control in aerospace applications

NASA Astrophysics Data System (ADS)

Saraji, Ali Motalebi; Ghanbari, Mahmood

2014-12-01

Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loop of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear.

A portable integrated system to control an active needle

NASA Astrophysics Data System (ADS)

Konh, Bardia; Motalleb, Mahdi; Ashrafiuon, Hashem

2017-04-01

The primary objective of this work is to introduce an integrated portable system to operate a flexible active surgical needle with actuation capabilities. The smart needle uses the robust actuation capabilities of the shape memory alloy wires to drastically improve the accuracy of in medical procedures such as brachytherapy. This, however, requires an integrated system aimed to control the insertion of the needle via a linear motor and its deflection by the SMA wire in real-time. The integrated system includes a flexible needle prototype, a Raspberry Pi computer, a linear stage motor, an SMA wire actuator, a power supply, electromagnetic tracking system, and various communication supplies. The linear stage motor guides the needle into tissue. The power supply provides appropriate current to the SMA actuator. The tracking system measures tip movement for feedback, The Raspberry Pi is the central tool that receives the tip movement feedback and controls the linear stage motor and the SMA actuator via the power supply. The implemented algorithms required for communication and feedback control are also described. This paper demonstrates that the portable integrated system may be a viable solution for more effective procedures requiring surgical needles.

Neuromusculoskeletal models based on the muscle synergy hypothesis for the investigation of adaptive motor control in locomotion via sensory-motor coordination.

PubMed

Aoi, Shinya; Funato, Tetsuro

2016-03-01

Humans and animals walk adaptively in diverse situations by skillfully manipulating their complicated and redundant musculoskeletal systems. From an analysis of measured electromyographic (EMG) data, it appears that despite complicated spatiotemporal properties, muscle activation patterns can be explained by a low dimensional spatiotemporal structure. More specifically, they can be accounted for by the combination of a small number of basic activation patterns. The basic patterns and distribution weights indicate temporal and spatial structures, respectively, and the weights show the muscle sets that are activated synchronously. In addition, various locomotor behaviors have similar low dimensional structures and major differences appear in the basic patterns. These analysis results suggest that neural systems use muscle group combinations to solve motor control redundancy problems (muscle synergy hypothesis) and manipulate those basic patterns to create various locomotor functions. However, it remains unclear how the neural system controls such muscle groups and basic patterns through neuromechanical interactions in order to achieve adaptive locomotor behavior. This paper reviews simulation studies that explored adaptive motor control in locomotion via sensory-motor coordination using neuromusculoskeletal models based on the muscle synergy hypothesis. Herein, the neural mechanism in motor control related to the muscle synergy for adaptive locomotion and a potential muscle synergy analysis method including neuromusculoskeletal modeling for motor impairments and rehabilitation are discussed. Copyright © 2015 The Authors. Published by Elsevier Ireland Ltd.. All rights reserved.

Development of a DC propulsion system for an electric vehicle

NASA Technical Reports Server (NTRS)

Kelledes, W. L.

1984-01-01

The suitability of the Eaton automatically shifted mechanical transaxle concept for use in a near-term dc powered electric vehicle is evaluated. A prototype dc propulsion system for a passenger electric vehicle was designed, fabricated, tested, installed in a modified Mercury Lynx vehicle and track tested at the contractor's site. The system consisted of a two-axis, three-speed, automatically-shifted mechanical transaxle, 15.2 Kw rated, separately excited traction motor, and a transistorized motor controller with a single chopper providing limited armature current below motor base speed and full range field control above base speed at up to twice rated motor current. The controller utilized a microprocessor to perform motor and vehicle speed monitoring and shift sequencing by means of solenoids applying hydraulic pressure to the transaxle clutches. Bench dynamometer and track testing was performed. Track testing showed best system efficiency for steady-state cruising speeds of 65-80 Km/Hz (40-50 mph). Test results include acceleration, steady speed and SAE J227A/D cycle energy consumption, braking tests and coast down to characterize the vehicle road load.

Theories and control models and motor learning: clinical applications in neuro-rehabilitation.

PubMed

Cano-de-la-Cuerda, R; Molero-Sánchez, A; Carratalá-Tejada, M; Alguacil-Diego, I M; Molina-Rueda, F; Miangolarra-Page, J C; Torricelli, D

2015-01-01

In recent decades there has been a special interest in theories that could explain the regulation of motor control, and their applications. These theories are often based on models of brain function, philosophically reflecting different criteria on how movement is controlled by the brain, each being emphasised in different neural components of the movement. The concept of motor learning, regarded as the set of internal processes associated with practice and experience that produce relatively permanent changes in the ability to produce motor activities through a specific skill, is also relevant in the context of neuroscience. Thus, both motor control and learning are seen as key fields of study for health professionals in the field of neuro-rehabilitation. The major theories of motor control are described, which include, motor programming theory, systems theory, the theory of dynamic action, and the theory of parallel distributed processing, as well as the factors that influence motor learning and its applications in neuro-rehabilitation. At present there is no consensus on which theory or model defines the regulations to explain motor control. Theories of motor learning should be the basis for motor rehabilitation. The new research should apply the knowledge generated in the fields of control and motor learning in neuro-rehabilitation. Copyright © 2011 Sociedad Española de Neurología. Published by Elsevier Espana. All rights reserved.

Motor Controllers

NASA Technical Reports Server (NTRS)

1984-01-01

Kollmorgen Corporation's Mermaid II two person submersible is propeller-driven by a system of five DC brushless motors with new electronic controllers that originated in work performed in a NASA/DOE project managed by Lewis Research Center. A key feature of the system is electric commutation rather than mechanical commutation for converting AC current to DC.

Motor run-up system. [power lines

NASA Technical Reports Server (NTRS)

Daeges, J. J. (Inventor)

1975-01-01

A starting system is described for bringing a large synchronous motor up to speed to prevent large power line disturbances at the moment the motor is connected to the power line. The system includes (1) a digital counter which generates a count determined by the difference in frequency between the power line and a small current generated by the synchronous motor; (2) a latch which stores the count; and (3) a comparator which compares the stored count with a newly generated count to determine whether the synchronous motor is accelerating or decelerating. Signals generated by the counter and comparator control the current to a clutch that couples a starting motor to the large synchronous motor.

Motorized CPM/CAM physiotherapy device with sliding-mode Fuzzy Neural Network control loop.

PubMed

Ho, Hung-Jung; Chen, Tien-Chi

2009-11-01

Continuous passive motion (CPM) and controllable active motion (CAM) physiotherapy devices promote rehabilitation of damaged joints. This paper presents a computerized CPM/CAM system that obviates the need for mechanical resistance devices such as springs. The system is controlled by a computer which performs sliding-mode Fuzzy Neural Network (FNN) calculations online. CAM-type resistance force is generated by the active performance of an electric motor which is controlled so as to oppose the motion of the patient's leg. A force sensor under the patient's foot on the device pedal provides data for feedback in a sliding-mode FNN control loop built around the motor. Via an active impedance control feedback system, the controller drives the motor to behave similarly to a damped spring by generating and controlling the amplitude and direction of the pedal force in relation to the patient's leg. Experiments demonstrate the high sensitivity and speed of the device. The PC-based feedback nature of the control loop means that sophisticated auto-adaptable CPM/CAM custom-designed physiotherapy becomes possible. The computer base also allows extensive data recording, data analysis and network-connected remote patient monitoring.

Acceleration feedback of a current-following synchronized control algorithm for telescope elevation axis

NASA Astrophysics Data System (ADS)

Tang, Tao; Zhang, Tong; Du, Jun-Feng; Ren, Ge; Tian, Jing

2016-11-01

This paper proposes a dual-motor configuration to enhance closed-loop performance of a telescope control system. Two identical motors are mounted on each side of a U-type frame to drive the telescope elevation axis instead of a single motor drive, which is usually used in a classical design. This new configuration and mechanism can reduce the motor to half the size used in the former design, and it also provides some other advantages. A master-slave current control mode is employed to synchronize the two motors. Acceleration feedback control is utilized to further enhance the servo performance. Extensive experiments are used to validate the effectiveness of the proposed control algorithm in synchronization, disturbance attenuation and low-velocity tracking.

Postural Control in Children: Implications for Pediatric Practice

ERIC Educational Resources Information Center

Westcott, Sarah L.; Burtner, Patricia

2004-01-01

Based on a systems theory of motor control, reactive postural control (RPA) and anticipatory postural control (APA) in children are reviewed from several perspectives in order to develop an evidence-based intervention strategy for improving postural control in children with limitations in motor function. Research on development of postural…

Controllable molecular motors engineered from myosin and RNA

NASA Astrophysics Data System (ADS)

Omabegho, Tosan; Gurel, Pinar S.; Cheng, Clarence Y.; Kim, Laura Y.; Ruijgrok, Paul V.; Das, Rhiju; Alushin, Gregory M.; Bryant, Zev

2018-01-01

Engineering biomolecular motors can provide direct tests of structure-function relationships and customized components for controlling molecular transport in artificial systems1 or in living cells2. Previously, synthetic nucleic acid motors3-5 and modified natural protein motors6-10 have been developed in separate complementary strategies to achieve tunable and controllable motor function. Integrating protein and nucleic-acid components to form engineered nucleoprotein motors may enable additional sophisticated functionalities. However, this potential has only begun to be explored in pioneering work harnessing DNA scaffolds to dictate the spacing, number and composition of tethered protein motors11-15. Here, we describe myosin motors that incorporate RNA lever arms, forming hybrid assemblies in which conformational changes in the protein motor domain are amplified and redirected by nucleic acid structures. The RNA lever arm geometry determines the speed and direction of motor transport and can be dynamically controlled using programmed transitions in the lever arm structure7,9. We have characterized the hybrid motors using in vitro motility assays, single-molecule tracking, cryo-electron microscopy and structural probing16. Our designs include nucleoprotein motors that reversibly change direction in response to oligonucleotides that drive strand-displacement17 reactions. In multimeric assemblies, the controllable motors walk processively along actin filaments at speeds of 10-20 nm s-1. Finally, to illustrate the potential for multiplexed addressable control, we demonstrate sequence-specific responses of RNA variants to oligonucleotide signals.

Issues in Humanoid Audition and Sound Source Localization by Active Audition

NASA Astrophysics Data System (ADS)

Nakadai, Kazuhiro; Okuno, Hiroshi G.; Kitano, Hiroaki

In this paper, we present an active audition system which is implemented on the humanoid robot "SIG the humanoid". The audition system for highly intelligent humanoids localizes sound sources and recognizes auditory events in the auditory scene. Active audition reported in this paper enables SIG to track sources by integrating audition, vision, and motor movements. Given the multiple sound sources in the auditory scene, SIG actively moves its head to improve localization by aligning microphones orthogonal to the sound source and by capturing the possible sound sources by vision. However, such an active head movement inevitably creates motor noises.The system adaptively cancels motor noises using motor control signals and the cover acoustics. The experimental result demonstrates that active audition by integration of audition, vision, and motor control attains sound source tracking in variety of conditions.onditions.

Language Acquisition and Categorical Perception with Particular Reference to /r/ and /1/.

ERIC Educational Resources Information Center

Perecman, Ellen; Kellar, Lucia A.

1983-01-01

Examines the relationship between the development of fine motor control for articulation and the development of fine motor control in other muscle systems. Discusses whether the late appearance of /r/ and /1/ is due to the fact that their articulation requires finer motor coordination than other classes of sounds. (EKN)

Myoelectrically controlled wrist robot for stroke rehabilitation

PubMed Central

2013-01-01

Background Robot-assisted rehabilitation is an advanced new technology in stroke rehabilitation to provide intensive training. Post-stroke motor recovery depends on active rehabilitation by voluntary participation of patient’s paretic motor system as early as possible in order to promote reorganization of brain. However, voluntary residual motor efforts to the affected limb have not been involved enough in most robot-assisted rehabilitation for patients after stroke. The objective of this study is to evaluate the feasibility of robot-assisted rehabilitation using myoelectric control on upper limb motor recovery. Methods In the present study, an exoskeleton-type rehabilitation robotic system was designed to provide voluntarily controlled assisted torque to the affected wrist. Voluntary intention was involved by using the residual surface electromyography (EMG) from flexor carpi radialis(FCR) and extensor carpi radialis (ECR)on the affected limb to control the mechanical assistance provided by the robotic system during wrist flexion and extension in a 20-session training. The system also applied constant resistant torque to the affected wrist during the training. Sixteen subjects after stroke had been recruited for evaluating the tracking performance and therapeutical effects of myoelectrically controlled robotic system. Results With the myoelectrically-controlled assistive torque, stroke survivors could reach a larger range of motion with a significant decrease in the EMG signal from the agonist muscles. The stroke survivors could be trained in the unreached range with their voluntary residual EMG on the paretic side. After 20-session rehabilitation training, there was a non-significant increase in the range of motion and a significant decrease in the root mean square error (RMSE) between the actual wrist angle and target angle. Significant improvements also could be found in muscle strength and clinical scales. Conclusions These results indicate that robot-aided therapy with voluntary participation of patient’s paretic motor system using myoelectric control might have positive effect on upper limb motor recovery. PMID:23758925

Openstage: A Low-Cost Motorized Microscope Stage with Sub-Micron Positioning Accuracy

PubMed Central

Campbell, Robert A. A.; Eifert, Robert W.; Turner, Glenn C.

2014-01-01

Recent progress in intracellular calcium sensors and other fluorophores has promoted the widespread adoption of functional optical imaging in the life sciences. Home-built multiphoton microscopes are easy to build, highly customizable, and cost effective. For many imaging applications a 3-axis motorized stage is critical, but commercially available motorization hardware (motorized translators, controller boxes, etc) are often very expensive. Furthermore, the firmware on commercial motor controllers cannot easily be altered and is not usually designed with a microscope stage in mind. Here we describe an open-source motorization solution that is simple to construct, yet far cheaper and more customizable than commercial offerings. The cost of the controller and motorization hardware are under $1000. Hardware costs are kept low by replacing linear actuators with high quality stepper motors. Electronics are assembled from commonly available hobby components, which are easy to work with. Here we describe assembly of the system and quantify the positioning accuracy of all three axes. We obtain positioning repeatability of the order of in X/Y and in Z. A hand-held control-pad allows the user to direct stage motion precisely over a wide range of speeds ( to ), rapidly store and return to different locations, and execute “jumps” of a fixed size. In addition, the system can be controlled from a PC serial port. Our “OpenStage” controller is sufficiently flexible that it could be used to drive other devices, such as micro-manipulators, with minimal modifications. PMID:24586468

Synergetic motor control paradigm for optimizing energy efficiency of multijoint reaching via tacit learning

PubMed Central

Hayashibe, Mitsuhiro; Shimoda, Shingo

2014-01-01

A human motor system can improve its behavior toward optimal movement. The skeletal system has more degrees of freedom than the task dimensions, which incurs an ill-posed problem. The multijoint system involves complex interaction torques between joints. To produce optimal motion in terms of energy consumption, the so-called cost function based optimization has been commonly used in previous works.Even if it is a fact that an optimal motor pattern is employed phenomenologically, there is no evidence that shows the existence of a physiological process that is similar to such a mathematical optimization in our central nervous system.In this study, we aim to find a more primitive computational mechanism with a modular configuration to realize adaptability and optimality without prior knowledge of system dynamics.We propose a novel motor control paradigm based on tacit learning with task space feedback. The motor command accumulation during repetitive environmental interactions, play a major role in the learning process. It is applied to a vertical cyclic reaching which involves complex interaction torques.We evaluated whether the proposed paradigm can learn how to optimize solutions with a 3-joint, planar biomechanical model. The results demonstrate that the proposed method was valid for acquiring motor synergy and resulted in energy efficient solutions for different load conditions. The case in feedback control is largely affected by the interaction torques. In contrast, the trajectory is corrected over time with tacit learning toward optimal solutions.Energy efficient solutions were obtained by the emergence of motor synergy. During learning, the contribution from feedforward controller is augmented and the one from the feedback controller is significantly minimized down to 12% for no load at hand, 16% for a 0.5 kg load condition.The proposed paradigm could provide an optimization process in redundant system with dynamic-model-free and cost-function-free approach. PMID:24616695

Synergetic motor control paradigm for optimizing energy efficiency of multijoint reaching via tacit learning.

PubMed

Hayashibe, Mitsuhiro; Shimoda, Shingo

2014-01-01

A human motor system can improve its behavior toward optimal movement. The skeletal system has more degrees of freedom than the task dimensions, which incurs an ill-posed problem. The multijoint system involves complex interaction torques between joints. To produce optimal motion in terms of energy consumption, the so-called cost function based optimization has been commonly used in previous works.Even if it is a fact that an optimal motor pattern is employed phenomenologically, there is no evidence that shows the existence of a physiological process that is similar to such a mathematical optimization in our central nervous system.In this study, we aim to find a more primitive computational mechanism with a modular configuration to realize adaptability and optimality without prior knowledge of system dynamics.We propose a novel motor control paradigm based on tacit learning with task space feedback. The motor command accumulation during repetitive environmental interactions, play a major role in the learning process. It is applied to a vertical cyclic reaching which involves complex interaction torques.We evaluated whether the proposed paradigm can learn how to optimize solutions with a 3-joint, planar biomechanical model. The results demonstrate that the proposed method was valid for acquiring motor synergy and resulted in energy efficient solutions for different load conditions. The case in feedback control is largely affected by the interaction torques. In contrast, the trajectory is corrected over time with tacit learning toward optimal solutions.Energy efficient solutions were obtained by the emergence of motor synergy. During learning, the contribution from feedforward controller is augmented and the one from the feedback controller is significantly minimized down to 12% for no load at hand, 16% for a 0.5 kg load condition.The proposed paradigm could provide an optimization process in redundant system with dynamic-model-free and cost-function-free approach.

Serotonin Affects Movement Gain Control in the Spinal Cord

PubMed Central

Glaser, Joshua I.; Deng, Linna; Thompson, Christopher K.; Stevenson, Ian H.; Wang, Qining; Hornby, Thomas George; Heckman, Charles J.; Kording, Konrad P.

2014-01-01

A fundamental challenge for the nervous system is to encode signals spanning many orders of magnitude with neurons of limited bandwidth. To meet this challenge, perceptual systems use gain control. However, whether the motor system uses an analogous mechanism is essentially unknown. Neuromodulators, such as serotonin, are prime candidates for gain control signals during force production. Serotonergic neurons project diffusely to motor pools, and, therefore, force production by one muscle should change the gain of others. Here we present behavioral and pharmaceutical evidence that serotonin modulates the input–output gain of motoneurons in humans. By selectively changing the efficacy of serotonin with drugs, we systematically modulated the amplitude of spinal reflexes. More importantly, force production in different limbs interacts systematically, as predicted by a spinal gain control mechanism. Psychophysics and pharmacology suggest that the motor system adopts gain control mechanisms, and serotonin is a primary driver for their implementation in force production. PMID:25232107

Research on motor rotational speed measurement in regenerative braking system of electric vehicle

NASA Astrophysics Data System (ADS)

Pan, Chaofeng; Chen, Liao; Chen, Long; Jiang, Haobin; Li, Zhongxing; Wang, Shaohua

2016-01-01

Rotational speed signals acquisition and processing techniques are widely used in rotational machinery. In order to realized precise and real-time control of motor drive and regenerative braking process, rotational speed measurement techniques are needed in electric vehicles. Obtaining accurate motor rotational speed signal will contribute to the regenerative braking force control steadily and realized higher energy recovery rate. This paper aims to develop a method that provides instantaneous speed information in the form of motor rotation. It addresses principles of motor rotational speed measurement in the regenerative braking systems of electric vehicle firstly. The paper then presents ideal and actual Hall position sensor signals characteristics, the relation between the motor rotational speed and the Hall position sensor signals is revealed. Finally, Hall position sensor signals conditioning and processing circuit and program for motor rotational speed measurement have been carried out based on measurement error analysis.

Simulation model for a seven-phase BLDCM drive system

NASA Astrophysics Data System (ADS)

Park, Sang-Hoon; Lee, Won-Cheol; Lee, Jung-Hyo; Yu, Jae-Sung; Kim, Gyu-Sik; Won, Chung-Yuen

2007-12-01

BLDC motors have many advantages over brushed DC motors and induction motors. So, BLDC motors extend their application to many industrial fields. In this paper, the digital simulation and modeling of a 7-phase brushless DC motor have been presented. The 14-switch inverter and a 7-phase brushless DC motor drive system are simulated using hysteresis current controller and logic of switching pattern with the Boolean¡s function. Through some simulations, we found that our modeling and analysis of a 7-phase BLDCM with PWM inverter would be helpful for the further studies of the multi-phase BLDCM drive systems.

Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor

NASA Astrophysics Data System (ADS)

Boukhnifer, Moussa

2012-07-01

Ultrasonic piezoelectric motor technology is an important system component in integrated mechatronics devices working on extreme operating conditions. Due to these constraints, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an ultrasonic piezoelectric motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral PI2 performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.

Speed synchronization control for integrated automotive motor-transmission powertrain system with random delays

NASA Astrophysics Data System (ADS)

Zhu, Xiaoyuan; Zhang, Hui; Fang, Zongde

2015-12-01

This paper presents a robust speed synchronization controller design for an integrated motor-transmission powertrain system in which the driving motor and multi-gearbox are directly coupled. As the controller area network (CAN) is commonly used in the vehicle powertrain system, the possible network-induced random delays in both feedback and forward channel are considered and modeled by using two Markov chains in the controller design process. For the application perspective, the control law adopted here is a generalized proportional-integral (PI) control. By employing the system-augmentation technique, a delay-free stochastic closed-loop system is obtained and the generalized PI controller design problem is converted to a static output feedback (SOF) controller design problem. Since there are external disturbances involved in the closed-loop system, the energy-to-peak performance is considered to guarantee the robustness of the controller. And the controlled output is chosen as the speed synchronization error. To further improve the transient response of the closed-loop system, the pole placement is also employed in the energy-to-peak performance based speed synchronization control. The mode-dependent control gains are obtained by using an iterative linear matrix inequality (LMI) algorithm. Simulation results show the effectiveness of the proposed control approach.

Evaluation of Motor Control Using Haptic Device

NASA Astrophysics Data System (ADS)

Nuruki, Atsuo; Kawabata, Takuro; Shimozono, Tomoyuki; Yamada, Masafumi; Yunokuchi, Kazutomo

When the kinesthesia and the touch act at the same time, such perception is called haptic perception. This sense has the key role in motor information on the force and position control. The haptic perception is important in the field where the evaluation of the motor control is needed. The purpose of this paper is to evaluate the motor control, perception of heaviness and distance in normal and fatigue conditions using psychophysical experiment. We used a haptic device in order to generate precise force and distance, but the precedent of the evaluation system with the haptic device has been few. Therefore, it is another purpose to examine whether the haptic device is useful as evaluation system for the motor control. The psychophysical quantity of force and distance was measured by two kinds of experiments. Eight healthy subjects participated in this study. The stimulation was presented by haptic device [PHANTOM Omni: SensAble Company]. The subjects compared between standard and test stimulation, and answered it had felt which stimulation was strong. In the result of the psychophysical quantity of force, just noticeable difference (JND) had a significant difference, and point of subjective equality (PSE) was not different between normal and muscle fatigue. On the other hand, in the result of the psychophysical quantity of distance, JND and PSE were not difference between normal and muscle fatigue. These results show that control of force was influenced, but control of distance was not influenced in muscle fatigue. Moreover, these results suggested that the haptic device is useful as the evaluation system for the motor control.

What Is the Contribution of Ia-Afference for Regulating Motor Output Variability during Standing?

PubMed

König, Niklas; Ferraro, Matteo G; Baur, Heiner; Taylor, William R; Singh, Navrag B

2017-01-01

Motor variability is an inherent feature of all human movements, and describes the system's stability and rigidity during the performance of functional motor tasks such as balancing. In order to ensure successful task execution, the nervous system is thought to be able to flexibly select the appropriate level of variability. However, it remains unknown which neurophysiological pathways are utilized for the control of motor output variability. In responding to natural variability (in this example sway), it is plausible that the neuro-physiological response to muscular elongation contributes to restoring a balanced upright posture. In this study, the postural sway of 18 healthy subjects was observed while their visual and mechano-sensory system was perturbed. Simultaneously, the contribution of Ia-afferent information for controlling the motor task was assessed by means of H-reflex. There was no association between postural sway and Ia-afference in the eyes open condition, however up to 4% of the effects of eye closure on the magnitude of sway can be compensated by increased reliance on Ia-afference. Increasing the biomechanical demands by adding up to 40% bodyweight around the trunk induced a specific sway response, such that the magnitude of sway remained unchanged but its dynamic structure became more regular and stable (by up to 18%). Such regular sway patterns have been associated with enhanced cognitive involvement in controlling motor tasks. It therefore appears that the nervous system applies different control strategies in response to the perturbations: The loss of visual information is compensated by increased reliance on other receptors; while the specific regular sway pattern associated with additional weight-bearing was independent of Ia-afferent information, suggesting the fundamental involvement of supraspinal centers for the control of motor output variability.

Electrical engineering unit for the reactive power control of the load bus at the voltage instability

NASA Astrophysics Data System (ADS)

Kotenev, A. V.; Kotenev, V. I.; Kochetkov, V. V.; Elkin, D. A.

2018-01-01

For the purpose of reactive power control error reduction and decrease of the voltage sags in the electric power system caused by the asynchronous motors started the mathematical model of the load bus was developed. The model was built up of the sub-models of the following elements: a transformer, a transmission line, a synchronous and an asynchronous loads and a capacitor bank load, and represents the automatic reactive power control system taking into account electromagnetic processes of the asynchronous motors started and reactive power changing of the electric power system elements caused by the voltage fluctuation. The active power/time and reactive power/time characteristics based on the recommended procedure of the equivalent electric circuit parameters calculation were obtained. The derived automatic reactive power control system was shown to eliminate the voltage sags in the electric power system caused by the asynchronous motors started.

Design of intelligent vehicle control system based on single chip microcomputer

NASA Astrophysics Data System (ADS)

Zhang, Congwei

2018-06-01

The smart car microprocessor uses the KL25ZV128VLK4 in the Freescale series of single-chip microcomputers. The image sampling sensor uses the CMOS digital camera OV7725. The obtained track data is processed by the corresponding algorithm to obtain track sideline information. At the same time, the pulse width modulation control (PWM) is used to control the motor and servo movements, and based on the digital incremental PID algorithm, the motor speed control and servo steering control are realized. In the project design, IAR Embedded Workbench IDE is used as the software development platform to program and debug the micro-control module, camera image processing module, hardware power distribution module, motor drive and servo control module, and then complete the design of the intelligent car control system.

Counteracting Rotor Imbalance in a Bearingless Motor System with Feedforward Control

NASA Technical Reports Server (NTRS)

Kascak, Peter Eugene; Jansen, Ralph H.; Dever, Timothy; Nagorny, Aleksandr; Loparo, Kenneth

2012-01-01

In standard motor applications, traditional mechanical bearings represent the most economical approach to rotor suspension. However, in certain high performance applications, rotor suspension without bearing contact is either required or highly beneficial. Such applications include very high speed, extreme environment, or limited maintenance access applications. This paper extends upon a novel bearingless motor concept, in which full five-axis levitation and rotation of the rotor is achieved using two motors with opposing conical air-gaps. By leaving the motors' pole-pairs unconnected, different d-axis flux in each pole-pair is created, generating a flux imbalance which creates lateral force. Note this is approach is different than that used in previous bearingless motors, which use separate windings for levitation and rotation. This paper will examine the use of feedforward control to counteract synchronous whirl caused by rotor imbalance. Experimental results will be presented showing the performance of a prototype bearingless system, which was sized for a high speed flywheel energy storage application, with and without feedforward control.

Pediatric aquatic therapy on motor function and enjoyment in children diagnosed with cerebral palsy of various motor severities.

PubMed

Lai, Chih-Jou; Liu, Wen-Yu; Yang, Tsui-Fen; Chen, Chia-Ling; Wu, Ching-Yi; Chan, Rai-Chi

2015-02-01

This study investigates the effects of pediatric aquatic therapy on motor function, enjoyment, activities of daily living, and health-related quality of life for children with spastic cerebral palsy of various motor severities. Children with spastic cerebral palsy were assigned to a pediatric aquatic therapy group (n = 11; mean age = 85.0 ± 33.1 months; male : female = 4 : 7) or a control group (n = 13; mean age = 87.6 ± 34.0 months; male : female = 9 : 4). The statistic results indicate that the pediatric aquatic therapy group had greater average 66-item Gross Motor Function Measure following intervention than the control group (η(2) = 0.308, P = .007), even for children with Gross Motor Function Classification System level IV (5.0 vs 1.3). The pediatric aquatic therapy group had higher Physical Activity Enjoyment Scale scores than the control group at post-treatment (P = .015). These findings demonstrate that pediatric aquatic therapy can be an effective and alternative therapy for children with cerebral palsy even with poor Gross Motor Function Classification System level. © The Author(s) 2014.

Imparting Motion to a Test Object Such as a Motor Vehicle in a Controlled Fashion

NASA Technical Reports Server (NTRS)

Southward, Stephen C. (Inventor); Reubush, Chandler (Inventor); Pittman, Bryan (Inventor); Roehrig, Kurt (Inventor); Gerard, Doug (Inventor)

2014-01-01

An apparatus imparts motion to a test object such as a motor vehicle in a controlled fashion. A base has mounted on it a linear electromagnetic motor having a first end and a second end, the first end being connected to the base. A pneumatic cylinder and piston combination have a first end and a second end, the first end connected to the base so that the pneumatic cylinder and piston combination is generally parallel with the linear electromagnetic motor. The second ends of the linear electromagnetic motor and pneumatic cylinder and piston combination being commonly linked to a mount for the test object. A control system for the linear electromagnetic motor and pneumatic cylinder and piston combination drives the pneumatic cylinder and piston combination to support a substantial static load of the test object and the linear electromagnetic motor to impart controlled motion to the test object.

Power system

DOEpatents

Hickam, Christopher Dale [Glasford, IL

2008-03-18

A power system includes a prime mover, a transmission, and a fluid coupler having a selectively engageable lockup clutch. The fluid coupler may be drivingly connected between the prime mover and the transmission. Additionally, the power system may include a motor/generator drivingly connected to at least one of the prime mover and the transmission. The power-system may also include power-system controls configured to execute a control method. The control method may include selecting one of a plurality of modes of operation of the power system. Additionally, the control method may include controlling the operating state of the lockup clutch dependent upon the mode of operation selected. The control method may also include controlling the operating state of the motor/generator dependent upon the mode of operation selected.

Method and apparatus for monitoring the rotating frequency of de-energized induction motors

DOEpatents

Mikesell, H.E.; Lucy, E.

1998-02-03

The rotational speed of a coasting induction motor is measured by sensing e residual electrical voltages at the power terminals of the motor, thus eliminating the need for conventional tachometer equipment, additional mechanical components or modifications to the induction motor itself. The power terminal voltage signal is detected and transformed into a DC voltage proportional to the frequency of the signal. This DC voltage can be input to the control system of a variable frequency motor controller to regulate the output characteristics thereof relative to the speed of the coasting motor. 6 figs.

Method and apparatus for monitoring the rotating frequency of de-energized induction motors

DOEpatents

Mikesell, Harvey E.; Lucy, Eric

1998-01-01

The rotational speed of a coasting induction motor is measured by sensing e residual electrical voltages at the power terminals of the motor, thus eliminating the need for conventional tachometer equipment, additional mechanical components or modifications to the induction motor itself. The power terminal voltage signal is detected and transformed into a DC voltage proportional to the frequency of the signal. This DC voltage can be input to the control system of a variable frequency motor controller to regulate the output characteristics thereof relative to the speed of the coasting motor.

Control system for several rotating mirror camera synchronization operation

NASA Astrophysics Data System (ADS)

Liu, Ningwen; Wu, Yunfeng; Tan, Xianxiang; Lai, Guoji

1997-05-01

This paper introduces a single chip microcomputer control system for synchronization operation of several rotating mirror high-speed cameras. The system consists of four parts: the microcomputer control unit (including the synchronization part and precise measurement part and the time delay part), the shutter control unit, the motor driving unit and the high voltage pulse generator unit. The control system has been used to control the synchronization working process of the GSI cameras (driven by a motor) and FJZ-250 rotating mirror cameras (driven by a gas driven turbine). We have obtained the films of the same objective from different directions in different speed or in same speed.

The perceptual shaping of anticipatory actions.

PubMed

Maffei, Giovanni; Herreros, Ivan; Sanchez-Fibla, Marti; Friston, Karl J; Verschure, Paul F M J

2017-12-20

Humans display anticipatory motor responses to minimize the adverse effects of predictable perturbations. A widely accepted explanation for this behaviour relies on the notion of an inverse model that, learning from motor errors, anticipates corrective responses. Here, we propose and validate the alternative hypothesis that anticipatory control can be realized through a cascade of purely sensory predictions that drive the motor system, reflecting the causal sequence of the perceptual events preceding the error. We compare both hypotheses in a simulated anticipatory postural adjustment task. We observe that adaptation in the sensory domain, but not in the motor one, supports the robust and generalizable anticipatory control characteristic of biological systems. Our proposal unites the neurobiology of the cerebellum with the theory of active inference and provides a concrete implementation of its core tenets with great relevance both to our understanding of biological control systems and, possibly, to their emulation in complex artefacts. © 2017 The Author(s).

A novel open-loop tracking strategy for photovoltaic systems.

PubMed

Alexandru, Cătălin

2013-01-01

This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system.

A Novel Open-Loop Tracking Strategy for Photovoltaic Systems

PubMed Central

Alexandru, Cătălin

2013-01-01

This paper approaches a dual-axis equatorial tracking system that is used to increase the photovoltaic efficiency by maximizing the degree of use of the solar radiation. The innovative aspect in the solar tracker design consists in considering the tracking mechanism as a perturbation for the DC motors. The goal is to control the DC motors, which are perturbed with the motor torques whose computation is based on the dynamic model of the mechanical structure on which external forces act. The daily and elevation angles of the PV module represent the input parameters in the mechanical device, while the outputs transmitted to the controller are the motor torques. The controller tuning is approached by a parametric optimization process, using design of experiments and response surface methodology techniques, in a multiple regression. The simulation and experimental results demonstrate the operational performance of the tracking system. PMID:24327803

Detail of field breakers in the motor control cabinet for ...

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

Detail of field breakers in the motor control cabinet for unit 3. Control cabinet and breaker panel built by Cutler-Hammer - Wellton-Mohawk Irrigation System, Pumping Plant No. 1, Bounded by Gila River & Union Pacific Railroad, Wellton, Yuma County, AZ

46 CFR 58.25-55 - Overcurrent protection for steering-gear systems.

Code of Federal Regulations, 2012 CFR

2012-10-01

... ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-55 Overcurrent protection... machinery-control station if there is an overload that would cause overheating of the motor. (d) No control... operated by power, is not operated by electric power or is operated by an electric motor primarily intended...

46 CFR 58.25-55 - Overcurrent protection for steering-gear systems.

Code of Federal Regulations, 2011 CFR

2011-10-01

... ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Steering Gear § 58.25-55 Overcurrent protection... machinery-control station if there is an overload that would cause overheating of the motor. (d) No control... operated by power, is not operated by electric power or is operated by an electric motor primarily intended...

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.

Advanced dc motor controller for battery-powered electric vehicles

NASA Technical Reports Server (NTRS)

Belsterling, C. A.

1981-01-01

A motor generation set is connected to run from the dc source and generate a voltage in the traction motor armature circuit that normally opposes the source voltage. The functional feasibility of the concept is demonstrated with tests on a Proof of Principle System. An analog computer simulation is developed, validated with the results of the tests, applied to predict the performance of a full scale Functional Model dc Controller. The results indicate high efficiencies over wide operating ranges and exceptional recovery of regenerated energy. The new machine integrates both motor and generator on a single two bearing shaft. The control strategy produces a controlled bidirectional plus or minus 48 volts dc output from the generator permitting full control of a 96 volt dc traction motor from a 48 volt battery, was designed to control a 20 hp traction motor. The controller weighs 63.5 kg (140 lb.) and has a peak efficiency of 90% in random driving modes and 96% during the SAE J 227a/D driving cycle.

Integrated High-Speed Torque Control System for a Robotic Joint

NASA Technical Reports Server (NTRS)

Davis, Donald R. (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Valvo, Michael C. (Inventor); Askew, R. Scott (Inventor)

2013-01-01

A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).

Adaptive Motor Resistance Video Game Exercise Apparatus and Method of Use Thereof

NASA Technical Reports Server (NTRS)

Reich, Alton (Inventor); Shaw, James (Inventor)

2015-01-01

The invention comprises a method and/or an apparatus using computer configured exercise equipment and an electric motor provided physical resistance in conjunction with a game system, such as a video game system, where the exercise system provides real physical resistance to a user interface. Results of user interaction with the user interface are integrated into a video game, such as running on a game console. The resistance system comprises: a subject interface, software control, a controller, an electric servo assist/resist motor, an actuator, and/or a subject sensor. The system provides actual physical interaction with a resistance device as input to the game console and game run thereon.

System and method for motor fault detection using stator current noise cancellation

DOEpatents

Zhou, Wei; Lu, Bin; Nowak, Michael P.; Dimino, Steven A.

2010-12-07

A system and method for detecting incipient mechanical motor faults by way of current noise cancellation is disclosed. The system includes a controller configured to detect indicia of incipient mechanical motor faults. The controller further includes a processor programmed to receive a baseline set of current data from an operating motor and define a noise component in the baseline set of current data. The processor is also programmed to acquire at least on additional set of real-time operating current data from the motor during operation, redefine the noise component present in each additional set of real-time operating current data, and remove the noise component from the operating current data in real-time to isolate any fault components present in the operating current data. The processor is then programmed to generate a fault index for the operating current data based on any isolated fault components.

Space shuttle propulsion systems

NASA Technical Reports Server (NTRS)

Bardos, Russell

1991-01-01

This is a presentation of view graphs. The design parameters are given for the redesigned solid rocket motor (RSRM), the Advanced Solid Rocket Motor (ASRM), Space Shuttle Main Engine (SSME), Solid Rocket Booster (SRB) separation motor, Orbit Maneuvering System (OMS), and the Reaction Control System (RCS) primary and Vernier thrusters. Space shuttle propulsion issues are outlined along with ASA program definition, ASA program selection methodology, its priorities, candidates, and categories.

Four quadrant control of induction motors

NASA Technical Reports Server (NTRS)

Hansen, Irving G.

1991-01-01

Induction motors are the nation's workhorse, being the motor of choice in most applications due to their simple rugged construction. It has been estimated that 14 to 27 percent of the country's total electricity use could be saved with adjustable speed drives. Until now, induction motors have not been suited well for variable speed or servo-drives, due to the inherent complexity, size, and inefficiency of their variable speed controls. Work at NASA Lewis Research Center on field oriented control of induction motors using pulse population modulation method holds the promise for the desired drive electronics. The system allows for a variable voltage to frequency ratio which enables the user to operate the motor at maximum efficiency, while having independent control of both the speed and torque of an induction motor in all four quadrants of the speed torque map. Multiple horsepower machine drives were demonstrated, and work is on-going to develop a 20 hp average, 40 hp peak class of machine. The pulse population technique, results to date, and projections for implementation of this existing new motor control technology are discussed.

Musical Sequence Learning and EEG Correlates of Audiomotor Processing

PubMed Central

Schalles, Matt D.; Pineda, Jaime A.

2015-01-01

Our motor and auditory systems are functionally connected during musical performance, and functional imaging suggests that the association is strong enough that passive music listening can engage the motor system. As predictive coding constrains movement sequence selections, could the motor system contribute to sequential processing of musical passages? If this is the case, then we hypothesized that the motor system should respond preferentially to passages of music that contain similar sequential information, even if other aspects of music, such as the absolute pitch, have been altered. We trained piano naive subjects with a learn-to play-by-ear paradigm, to play a simple melodic sequence over five days. After training, we recorded EEG of subjects listening to the song they learned to play, a transposed version of that song, and a control song with different notes and sequence from the learned song. Beta band power over sensorimotor scalp showed increased suppression for the learned song, a moderate level of suppression for the transposed song, and no suppression for the control song. As beta power is associated with attention and motor processing, we interpret this as support of the motor system's activity during covert perception of music one can play and similar musical sequences. PMID:26527118

The neural optimal control hierarchy for motor control

NASA Astrophysics Data System (ADS)

DeWolf, T.; Eliasmith, C.

2011-10-01

Our empirical, neuroscientific understanding of biological motor systems has been rapidly growing in recent years. However, this understanding has not been systematically mapped to a quantitative characterization of motor control based in control theory. Here, we attempt to bridge this gap by describing the neural optimal control hierarchy (NOCH), which can serve as a foundation for biologically plausible models of neural motor control. The NOCH has been constructed by taking recent control theoretic models of motor control, analyzing the required processes, generating neurally plausible equivalent calculations and mapping them on to the neural structures that have been empirically identified to form the anatomical basis of motor control. We demonstrate the utility of the NOCH by constructing a simple model based on the identified principles and testing it in two ways. First, we perturb specific anatomical elements of the model and compare the resulting motor behavior with clinical data in which the corresponding area of the brain has been damaged. We show that damaging the assigned functions of the basal ganglia and cerebellum can cause the movement deficiencies seen in patients with Huntington's disease and cerebellar lesions. Second, we demonstrate that single spiking neuron data from our model's motor cortical areas explain major features of single-cell responses recorded from the same primate areas. We suggest that together these results show how NOCH-based models can be used to unify a broad range of data relevant to biological motor control in a quantitative, control theoretic framework.

Processing graspable object images and their nouns is impaired in Parkinson's disease patients.

PubMed

Buccino, Giovanni; Dalla Volta, Riccardo; Arabia, Gennarina; Morelli, Maurizio; Chiriaco, Carmelina; Lupo, Angela; Silipo, Franco; Quattrone, Aldo

2018-03-01

According to embodiment, the recruitment of the motor system is necessary to process language material expressing a motor content. Coherently, an impairment of the motor system should affect the capacity to process language items with a motor content. The aim of the present study was to assess the capacity to process graspable objects and their nouns in Parkinson's disease (PD) patients and healthy controls. Participants saw photos and nouns depicting graspable and non-graspable objects. Scrambled images and pseudo-words served as control stimuli. At 150 msec after stimulus presentation, they had to respond when the stimulus referred to a real object, and refrain from responding when it was meaningless (go-no go paradigm). In the control group, participants gave slower motor responses for stimuli (both photos and nouns) related to graspable objects as compared to non-graspable ones. This in keeping with data obtained in a previous study with young healthy participants. In the PD group, motor responses were similar for both graspable and non-graspable items. Moreover, error number was significantly greater than in controls. These findings support the notion that when the motor circuits are lesioned, like in PD, patients do not show the typical modulation of motor responses and have troubles in processing graspable objects and their nouns. Copyright © 2017. Published by Elsevier Ltd.

Reluctance apparatus for flywheel energy storage

DOEpatents

Hull, John R.

2000-01-01

A motor generator for providing high efficiency, controlled voltage output or storage of energy in a flywheel system. A motor generator includes a stator of a soft ferromagnetic material, a motor coil and a generator coil, and a rotor has at least one embedded soft ferromagnetic piece. Control of voltage output is achieved by use of multiple stator pieces and multiple rotors with controllable gaps between the stator pieces and the soft ferromagnetic piece.

Linear motor drive system for continuous-path closed-loop position control of an object

DOEpatents

Barkman, William E.

1980-01-01

A precision numerical controlled servo-positioning system is provided for continuous closed-loop position control of a machine slide or platform driven by a linear-induction motor. The system utilizes filtered velocity feedback to provide system stability required to operate with a system gain of 100 inches/minute/0.001 inch of following error. The filtered velocity feedback signal is derived from the position output signals of a laser interferometer utilized to monitor the movement of the slide. Air-bearing slides mounted to a stable support are utilized to minimize friction and small irregularities in the slideway which would tend to introduce positioning errors. A microprocessor is programmed to read command and feedback information and converts this information into the system following error signal. This error signal is summed with the negative filtered velocity feedback signal at the input of a servo amplifier whose output serves as the drive power signal to the linear motor position control coil.

Learning-induced Dependence of Neuronal Activity in Primary Motor Cortex on Motor Task Condition.

PubMed

Cai, X; Shimansky, Y; He, Jiping

2005-01-01

A brain-computer interface (BCI) system such as a cortically controlled robotic arm must have a capacity of adjusting its function to a specific environmental condition. We studied this capacity in non-human primates based on chronic multi-electrode recording from the primary motor cortex of a monkey during the animal's performance of a center-out 3D reaching task and adaptation to external force perturbations. The main condition-related feature of motor cortical activity observed before the onset of force perturbation was a phasic raise of activity immediately before the perturbation onset. This feature was observed during a series of perturbation trials, but were absent under no perturbations. After adaptation has been completed, it usually was taking the subject only one trial to recognize a change in the condition to switch the neuronal activity accordingly. These condition-dependent features of neuronal activity can be used by a BCI for recognizing a change in the environmental condition and making corresponding adjustments, which requires that the BCI-based control system possess such advanced properties of the neural motor control system as capacity to learn and adapt.

Brushless DC motor control system responsive to control signals generated by a computer or the like

NASA Technical Reports Server (NTRS)

Packard, Douglas T. (Inventor); Schmitt, Donald E. (Inventor)

1987-01-01

A control system for a brushless DC motor responsive to digital control signals is disclosed. The motor includes a multiphase wound stator and a permanent magnet rotor. The rotor is arranged so that each phase winding, when energized from a DC source, will drive the rotor through a predetermined angular position or step. A commutation signal generator responsive to the shaft position provides a commutation signal for each winding. A programmable control signal generator such as a computer or microprocessor produces individual digital control signals for each phase winding. The control signals and commutation signals associated with each winding are applied to an AND gate for that phase winding. Each gate controls a switch connected in series with the associated phase winding and the DC source so that each phase winding is energized only when the commutation signal and the control signal associated with that phase winding are present. The motor shaft may be advanced one step at a time to a desired position by applying a predetermined number of control signals in the proper sequence to the AND gates and the torque generated by the motor may be regulated by applying a separate control signal to each AND gate which is pulse width modulated to control the total time that each switch connects its associated winding to the DC source during each commutation period.

High-temperature brushless DC motor controller

DOEpatents

Cieslewski, Crzegorz; Lindblom, Scott C.; Maldonado, Frank J.; Eckert, Michael Nathan

2017-05-16

A motor control system for deployment in high temperature environments includes a controller; a first half-bridge circuit that includes a first high-side switching element and a first low-side switching element; a second half-bridge circuit that includes a second high-side switching element and a second low-side switching element; and a third half-bridge circuit that includes a third high-side switching element and a third; low-side switching element. The motor controller is arranged to apply a pulse width modulation (PWM) scheme to switch the first half-bridge circuit, second half-bridge circuit, and third half-bridge circuit to power a motor.

Examining impairment of adaptive compensation for stabilizing motor repetitions in stroke survivors.

PubMed

Kim, Yushin; Koh, Kyung; Yoon, BumChul; Kim, Woo-Sub; Shin, Joon-Ho; Park, Hyung-Soon; Shim, Jae Kun

2017-12-01

The hand, one of the most versatile but mechanically redundant parts of the human body, suffers more and longer than other body parts after stroke. One of the rehabilitation paradigms, task-oriented rehabilitation, encourages motor repeatability, the ability to produce similar motor performance over repetitions through compensatory strategies while taking advantage of the motor system's redundancy. The previous studies showed that stroke survivors inconsistently performed a given motor task with limited motor solutions. We hypothesized that stroke survivors would exhibit deficits in motor repeatability and adaptive compensation compared to healthy controls in during repetitive force-pulse (RFP) production tasks using multiple fingers. Seventeen hemiparetic stroke survivors and seven healthy controls were asked to repeatedly press force sensors as fast as possible using the four fingers of each hand. The hierarchical variability decomposition model was employed to compute motor repeatability and adaptive compensation across finger-force impulses, respectively. Stroke survivors showed decreased repeatability and adaptive compensation of force impulses between individual fingers as compared to the control (p < 0.05). The stroke survivors also showed decreased pulse frequency and greater peak-to-peak time variance than the control (p < 0.05). Force-related variables, such as mean peak force and peak force interval variability, demonstrated no significant difference between groups. Our findings indicate that stroke-induced brain injury negatively affects their ability to exploit their redundant or abundant motor system in an RFP task.

Fractional order PID controller for improvement of PMSM speed control in aerospace applications

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

Saraji, Ali Motalebi; Ghanbari, Mahmood

Because of the benefits reduced size, cost and maintenance, noise, CO2 emissions and increased control flexibility and precision, to meet these expectations, electrical equipment increasingly utilize in modern aircraft systems and aerospace industry rather than conventional mechanic, hydraulic, and pneumatic power systems. Electric motor drives are capable of converting electrical power to drive actuators, pumps, compressors, and other subsystems at variable speeds. In the past decades, permanent magnet synchronous motor (PMSM) and brushless dc (BLDC) motor were investigated for aerospace applications such as aircraft actuators. In this paper, the fractional-order PID controller is used in the design of speed loopmore » of PMSM speed control system. Having more parameters for tuning fractional order PID controller lead to good performance ratio to integer order. This good performance is shown by comparison fractional order PID controller with the conventional PI and tuned PID controller by Genetic algorithm in MATLAB soft wear.« less

A novel instrumented multipeg running wheel system, Step-Wheel, for monitoring and controlling complex sequential stepping in mice

PubMed Central

Nagata, Masatoshi; Yanagihara, Dai; Tomioka, Ryohei; Utsumi, Hideko; Kubota, Yasuo; Yagi, Takeshi; Graybiel, Ann M.; Yamamori, Tetsuo

2011-01-01

Motor control is critical in daily life as well as in artistic and athletic performance and thus is the subject of intense interest in neuroscience. Mouse models of movement disorders have proven valuable for many aspects of investigation, but adequate methods for analyzing complex motor control in mouse models have not been fully established. Here, we report the development of a novel running-wheel system that can be used to evoke simple and complex stepping patterns in mice. The stepping patterns are controlled by spatially organized pegs, which serve as footholds that can be arranged in adjustable, ladder-like configurations. The mice run as they drink water from a spout, providing reward, while the wheel turns at a constant speed. The stepping patterns of the mice can thus be controlled not only spatially, but also temporally. A voltage sensor to detect paw touches is attached to each peg, allowing precise registration of footfalls. We show that this device can be used to analyze patterns of complex motor coordination in mice. We further demonstrate that it is possible to measure patterns of neural activity with chronically implanted tetrodes as the mice engage in vigorous running bouts. We suggest that this instrumented multipeg running wheel (which we name the Step-Wheel System) can serve as an important tool in analyzing motor control and motor learning in mice. PMID:21525375

A novel instrumented multipeg running wheel system, Step-Wheel, for monitoring and controlling complex sequential stepping in mice.

PubMed

Kitsukawa, Takashi; Nagata, Masatoshi; Yanagihara, Dai; Tomioka, Ryohei; Utsumi, Hideko; Kubota, Yasuo; Yagi, Takeshi; Graybiel, Ann M; Yamamori, Tetsuo

2011-07-01

Motor control is critical in daily life as well as in artistic and athletic performance and thus is the subject of intense interest in neuroscience. Mouse models of movement disorders have proven valuable for many aspects of investigation, but adequate methods for analyzing complex motor control in mouse models have not been fully established. Here, we report the development of a novel running-wheel system that can be used to evoke simple and complex stepping patterns in mice. The stepping patterns are controlled by spatially organized pegs, which serve as footholds that can be arranged in adjustable, ladder-like configurations. The mice run as they drink water from a spout, providing reward, while the wheel turns at a constant speed. The stepping patterns of the mice can thus be controlled not only spatially, but also temporally. A voltage sensor to detect paw touches is attached to each peg, allowing precise registration of footfalls. We show that this device can be used to analyze patterns of complex motor coordination in mice. We further demonstrate that it is possible to measure patterns of neural activity with chronically implanted tetrodes as the mice engage in vigorous running bouts. We suggest that this instrumented multipeg running wheel (which we name the Step-Wheel System) can serve as an important tool in analyzing motor control and motor learning in mice.

40 CFR 86.1803-01 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-07-01

... which are designed primarily for emission control, or whose failure may result in a significant increase... waiver of emission data submission requirements under § 86.1829-01. Element of design means any control... a motor vehicle or motor vehicle engine. Emission control system is a unique group of emission...

Regenerative braking system of PM synchronous motor

NASA Astrophysics Data System (ADS)

Gao, Qian; Lv, Chengxing; Zhao, Na; Zang, Hechao; Jiang, Huilue; Zhang, Zhaowen; Zhang, Fengli

2018-04-01

Permanent-magnet synchronous motor is widely adopted in many fields with the advantage of a high efficiency and a high torque density. Regenerative Braking Systems (RBS) provide an efficient method to assist PMSM system achieve better fuel economy and lowering exhaust emissions. This paper describes the design and testing of the regenerative braking systems of PMSM. The mode of PWM duty has been adjusted to control regenerative braking of PMSM using energy controller for the port-controlled Hamiltonian model. The simulation analysis indicates that a smooth control could be realized and the highest efficiency and the smallest current ripple could be achieved by Regenerative Braking Systems.

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.

System and method for bearing fault detection using stator current noise cancellation

DOEpatents

Zhou, Wei; Lu, Bin; Habetler, Thomas G.; Harley, Ronald G.; Theisen, Peter J.

2010-08-17

A system and method for detecting incipient mechanical motor faults by way of current noise cancellation is disclosed. The system includes a controller configured to detect indicia of incipient mechanical motor faults. The controller further includes a processor programmed to receive a baseline set of current data from an operating motor and define a noise component in the baseline set of current data. The processor is also programmed to repeatedly receive real-time operating current data from the operating motor and remove the noise component from the operating current data in real-time to isolate any fault components present in the operating current data. The processor is then programmed to generate a fault index for the operating current data based on any isolated fault components.

Control of octopus arm extension by a peripheral motor program.

PubMed

Sumbre, G; Gutfreund, Y; Fiorito, G; Flash, T; Hochner, B

2001-09-07

For goal-directed arm movements, the nervous system generates a sequence of motor commands that bring the arm toward the target. Control of the octopus arm is especially complex because the arm can be moved in any direction, with a virtually infinite number of degrees of freedom. Here we show that arm extensions can be evoked mechanically or electrically in arms whose connection with the brain has been severed. These extensions show kinematic features that are almost identical to normal behavior, suggesting that the basic motor program for voluntary movement is embedded within the neural circuitry of the arm itself. Such peripheral motor programs represent considerable simplification in the motor control of this highly redundant appendage.

Non-invasive brain-computer interface system: towards its application as assistive technology.

PubMed

Cincotti, Febo; Mattia, Donatella; Aloise, Fabio; Bufalari, Simona; Schalk, Gerwin; Oriolo, Giuseppe; Cherubini, Andrea; Marciani, Maria Grazia; Babiloni, Fabio

2008-04-15

The quality of life of people suffering from severe motor disabilities can benefit from the use of current assistive technology capable of ameliorating communication, house-environment management and mobility, according to the user's residual motor abilities. Brain-computer interfaces (BCIs) are systems that can translate brain activity into signals that control external devices. Thus they can represent the only technology for severely paralyzed patients to increase or maintain their communication and control options. Here we report on a pilot study in which a system was implemented and validated to allow disabled persons to improve or recover their mobility (directly or by emulation) and communication within the surrounding environment. The system is based on a software controller that offers to the user a communication interface that is matched with the individual's residual motor abilities. Patients (n=14) with severe motor disabilities due to progressive neurodegenerative disorders were trained to use the system prototype under a rehabilitation program carried out in a house-like furnished space. All users utilized regular assistive control options (e.g., microswitches or head trackers). In addition, four subjects learned to operate the system by means of a non-invasive EEG-based BCI. This system was controlled by the subjects' voluntary modulations of EEG sensorimotor rhythms recorded on the scalp; this skill was learnt even though the subjects have not had control over their limbs for a long time. We conclude that such a prototype system, which integrates several different assistive technologies including a BCI system, can potentially facilitate the translation from pre-clinical demonstrations to a clinical useful BCI.

Non invasive Brain-Computer Interface system: towards its application as assistive technology

PubMed Central

Cincotti, Febo; Mattia, Donatella; Aloise, Fabio; Bufalari, Simona; Schalk, Gerwin; Oriolo, Giuseppe; Cherubini, Andrea; Marciani, Maria Grazia; Babiloni, Fabio

2010-01-01

The quality of life of people suffering from severe motor disabilities can benefit from the use of current assistive technology capable of ameliorating communication, house-environment management and mobility, according to the user's residual motor abilities. Brain Computer Interfaces (BCIs) are systems that can translate brain activity into signals that control external devices. Thus they can represent the only technology for severely paralyzed patients to increase or maintain their communication and control options. Here we report on a pilot study in which a system was implemented and validated to allow disabled persons to improve or recover their mobility (directly or by emulation) and communication within the surrounding environment. The system is based on a software controller that offers to the user a communication interface that is matched with the individual's residual motor abilities. Patients (n=14) with severe motor disabilities due to progressive neurodegenerative disorders were trained to use the system prototype under a rehabilitation program carried out in a house-like furnished space. All users utilized regular assistive control options (e.g., microswitches or head trackers). In addition, four subjects learned to operate the system by means of a non-invasive EEG-based BCI. This system was controlled by the subjects' voluntary modulations of EEG sensorimotor rhythms recorded on the scalp; this skill was learnt even though the subjects have not had control over their limbs for a long time. We conclude that such a prototype system, which integrates several different assistive technologies including a BCI system, can potentially facilitate the translation from pre-clinical demonstrations to a clinical useful BCI. PMID:18394526

Real time control “es-dawet” mixer using dasboard based on PLC and WSN

NASA Astrophysics Data System (ADS)

Siagian, Pandapotan; Hutauruk, Sindak; Kisno

2017-09-01

The aim of this study is to monitor and acquire the remote parameters like Speed control a DC Motor, IR Sensor, Temperature of pasteurize mix of ice cream, and send these real values over wireless network. A proposed system is dashboard monitoring system for PLC based system wirelessly using ZigBee protocol. To implement this a ZigBee model is connected to a programmed digital signal controller which would transmit the data to Zigbee coordinator which is connected to a PC through RS232 serial communication. Person can need only to send the reply about the process that is to be carried out and PLC will check the status of the web base sent by person and take the action according to it where wired communication is either more expensive or impossible due to physical conditions. A low cost system for measured the parameters of motor such as IR Sensor, Speed control a DC Motor by PWM and temperature with Zigbee protocol connectivity. A database is built to execute monitoring and to save the motor parameters received by radio frequency (RF) data acquisition system. Experimental results show that the proposed system is less costly, provides higher accuracy as well as safe and gives visual environment.

Excessive motor overflow reveals abnormal inter-hemispheric connectivity in Friedreich ataxia.

PubMed

Low, Sze-Cheen; Corben, Louise A; Delatycki, Martin B; Ternes, Anne-Marie; Addamo, Patricia K; Georgiou-Karistianis, Nellie

2013-07-01

This study sought to characterise force variability and motor overflow in 12 individuals with Friedreich ataxia (FRDA) and 12 age- and gender-matched controls. Participants performed a finger-pressing task by exerting 30 and 70 % of their maximum finger force using the index finger of the right and left hand. Control of force production was measured as force variability, while any involuntary movements occurring on the finger of the other, passive hand, was measured as motor overflow. Significantly greater force variability in individuals with FRDA compared with controls is indicative of cortico-cerebellar disruption affecting motor control. Meanwhile, significantly greater motor overflow in this group provides the first evidence of possible abnormal inter-hemispheric activity that may be attributable to asymmetrical neuronal loss in the dentate nucleus. Overall, this study demonstrated a differential engagement in the underlying default processes of the motor system in FRDA.

Redundant speed control for brushless Hall effect motor

NASA Technical Reports Server (NTRS)

Nola, F. J. (Inventor)

1973-01-01

A speed control system for a brushless Hall effect device equipped direct current (D.C.) motor is described. Separate windings of the motor are powered by separate speed responsive power sources. A change in speed, upward or downward, because of the failure of a component of one of the power sources results in a corrective signal being generated in the other power source to supply an appropriate power level and polarity to one winding to cause the motor to be corrected in speed.

Light-controlled intracellular transport in Caenorhabditis elegans.

PubMed

Harterink, Martin; van Bergeijk, Petra; Allier, Calixte; de Haan, Bart; van den Heuvel, Sander; Hoogenraad, Casper C; Kapitein, Lukas C

2016-02-22

To establish and maintain their complex morphology and function, neurons and other polarized cells exploit cytoskeletal motor proteins to distribute cargoes to specific compartments. Recent studies in cultured cells have used inducible motor protein recruitment to explore how different motors contribute to polarized transport and to control the subcellular positioning of organelles. Such approaches also seem promising avenues for studying motor activity and organelle positioning within more complex cellular assemblies, but their applicability to multicellular in vivo systems has so far remained unexplored. Here, we report the development of an optogenetic organelle transport strategy in the in vivo model system Caenorhabditis elegans. We demonstrate that movement and pausing of various organelles can be achieved by recruiting the proper cytoskeletal motor protein with light. In neurons, we find that kinesin and dynein exclusively target the axon and dendrite, respectively, revealing the basic principles for polarized transport. In vivo control of motor attachment and organelle distributions will be widely useful in exploring the mechanisms that govern the dynamic morphogenesis of cells and tissues, within the context of a developing animal. Copyright © 2016 Elsevier Ltd. All rights reserved.

Lateralization in motor facilitation during action observation: a TMS study.

PubMed

Aziz-Zadeh, Lisa; Maeda, Fumiko; Zaidel, Eran; Mazziotta, John; Iacoboni, Marco

2002-05-01

Action observation facilitates corticospinal excitability. This is presumably due to a premotor neural system that is active when we perform actions and when we observe actions performed by others. It has been speculated that this neural system is a precursor of neural systems subserving language. If this theory is true, we may expect hemispheric differences in the motor facilitation produced by action observation, with the language-dominant left hemisphere showing stronger facilitation than the right hemisphere. Furthermore, it has been suggested that body parts are recognized via cortical regions controlling sensory and motor processing associated with that body part. If this is true, then corticospinal facilitation during action observation should be modulated by the laterality of the observed body part. The present study addressed these two issues using TMS for each motor cortex separately as participants observed actions being performed by a left hand, a right hand, or a control stimulus on the computer screen. We found no overall difference between the right and left hemisphere for motor-evoked potential (MEP) size during action observation. However, when TMS was applied to the left motor cortex, MEPs were larger while observing right hand actions. Likewise, when TMS was applied to the right motor cortex, MEPs were larger while observing left hand actions. Our data do not suggest left hemisphere superiority in the facilitating effects of action observation on the motor system. However, they do support the notion of a sensory-motor loop according to which sensory stimulus properties (for example, the image of a left hand or a right hand) directly affect motor cortex activity, even when no motor output is required. The pattern of this effect is congruent with the pattern of motor representation in each hemisphere.

Two Archetypes of Motor Control Research.

PubMed

Latash, Mark L

2010-07-01

This reply to the Commentaries is focused on two archetypes of motor control research, one based on physics and physiology and the other based on control theory and ideas of neural computations. The former approach, represented by the equilibrium-point hypothesis, strives to discover the physical laws and salient physiological variables that make purposeful coordinated movements possible. The latter approach, represented by the ideas of internal models and optimal control, tries to apply methods of control developed for man-made inanimate systems to the human body. Specific issues related to control with subthreshold membrane depolarization, motor redundancy, and the idea of synergies are briefly discussed.

Effect of different methods of pulse width modulation on power losses in an induction motor

NASA Astrophysics Data System (ADS)

Gulyaev, Alexander; Fokin, Dmitrii; Shuharev, Sergey; Ten, Evgenii

2017-10-01

We consider the calculation of modulation power losses in a system “induction motor-inverter” for various pulse width modulation (PWM) methods of the supply voltage. Presented values of modulation power losses are the result of modeling a system “DC link - two-level three-phase voltage inverter - induction motor - load”. In this study the power losses in a system “induction motor - inverter” are computed, as well as losses caused by higher harmonics of PWM supply voltage, followed by definition of active power consumed by the DC link for a specified value mechanical power on the induction motor shaft. Mechanical power was determined by the rotation speed and the torque on the motor shaft in various quasi-sinusoidal supply voltage PWM modes. These calculations reveal the best coefficient of performance (COP) in a system of a variable frequency drive (VFD) with independent voltage inverter controlled by induction motor PWM.

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.

Suspension force control of bearingless permanent magnet slice motor based on flux linkage identification.

PubMed

Zhu, Suming; Zhu, Huangqiu

2015-07-01

The control accuracy and dynamic performance of suspension force are confined in the traditional bearingless permanent magnet slice motor (BPMSM) control strategies because the suspension force control is indirectly achieved by adopting a closed loop of displacement only. Besides, the phase information in suspension force control relies on accurate measurement of rotor position, making the control system more complex. In this paper, a new suspension force control strategy with displacement and radial suspension force double closed loops is proposed, the flux linkage of motor windings is identified based on voltage-current model and the flexibility of motor control can be improved greatly. Simulation and experimental results show that the proposed suspension force control strategy is effective to realize the stable operation of the BPMSM. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Solar receiver heliostat reflector having a linear drive and position information system

DOEpatents

Horton, Richard H.

1980-01-01

A heliostat for a solar receiver system comprises an improved drive and control system for the heliostat reflector assembly. The heliostat reflector assembly is controllably driven in a predetermined way by a light-weight drive system so as to be angularly adjustable in both elevation and azimuth to track the sun and efficiently continuously reflect the sun's rays to a focal zone, i.e., heat receiver, which forms part of a solar energy utilization system, such as a solar energy fueled electrical power generation system. The improved drive system includes linear stepping motors which comprise low weight, low cost, electronic pulse driven components. One embodiment comprises linear stepping motors controlled by a programmed, electronic microprocessor. Another embodiment comprises a tape driven system controlled by a position control magnetic tape.

Vertical-angle control system in the LLMC

NASA Astrophysics Data System (ADS)

Li, Binhua; Yang, Lei; Tie, Qiongxian; Mao, Wei

2000-10-01

A control system of the vertical angle transmission used in the Lower Latitude Meridian Circle (LLMC) is described in this paper. The transmission system can change the zenith distance of the tube quickly and precisely. It works in three modes: fast motion, slow motion and lock mode. The fast motion mode and the slow motion mode are that the tube of the instrument is driven by a fast motion stepper motor and a slow motion one separately. The lock mode is running for lock mechanism that is driven by a lock stepper motor. These three motors are controlled together by a single chip microcontroller, which is controlled in turn by a host personal computer. The slow motion mechanism and its rotational step angle are fully discussed because the mechanism is not used before. Then the hardware structure of this control system based on a microcontroller is described. Control process of the system is introduced during a normal observation, which is divided into eleven steps. All the steps are programmed in our control software in C++ and/or in ASM. The C++ control program is set up in the host PC, while the ASM control program is in the microcontroller system. Structures and functions of these rprograms are presented. Some details and skills for programming are discussed in the paper too.

Corticalization of motor control in humans is a consequence of brain scaling in primate evolution.

PubMed

Herculano-Houzel, Suzana; Kaas, Jon H; de Oliveira-Souza, Ricardo

2016-02-15

Control over spinal and brainstem somatomotor neurons is exerted by two sets of descending fibers, corticospinal/pyramidal and extrapyramidal. Although in nonhuman primates the effect of bilateral pyramidal lesions is mostly limited to an impairment of the independent use of digits in skilled manual actions, similar injuries in humans result in the locked-in syndrome, a state of mutism and quadriplegia in which communication can be established only by residual vertical eye movements. This behavioral contrast makes humans appear to be outliers compared with other primates because of our almost total dependence on the corticospinal/pyramidal system for the effectuation of movement. Here we propose, instead, that an increasing preponderance of the corticospinal/pyramidal system over motor control is an expected consequence of increasing brain size in primates because of the faster scaling of the number of neurons in the primary motor cortex over the brainstem and spinal cord motor neuron pools, explaining the apparent uniqueness of the corticalization of motor control in humans. © 2015 Wiley Periodicals, Inc.

Motor-based bodily self is selectively impaired in eating disorders.

PubMed

Campione, Giovanna Cristina; Mansi, Gianluigi; Fumagalli, Alessandra; Fumagalli, Beatrice; Sottocornola, Simona; Molteni, Massimo; Micali, Nadia

2017-01-01

Body representation disturbances in body schema (i.e. unconscious sensorimotor body representations for action) have been frequently reported in eating disorders. Recently, it has been proposed that body schema relies on adequate functioning of the motor system, which is strongly implicated in discriminating between one's own and someone else's body. The present study aimed to investigate the motor-based bodily self in eating disorders and controls, in order to examine the role of the motor system in body representation disturbances at the body schema level. Female outpatients diagnosed with eating disorders (N = 15), and healthy controls (N = 18) underwent a hand laterality task, in which their own (self-stimuli) and someone else's hands (other-stimuli) were displayed at different orientations. Participants had to mentally rotate their own hand in order to provide a laterality judgement. Group differences in motor-based bodily self-recognition-i.e. whether a general advantage occurred when implicitly processing self- vs. other-stimuli - were evaluated, by analyzing response times and accuracy by means of mixed ANOVAs. Patients with eating disorders did not show a temporal advantage when mentally rotating self-stimuli compared to other-stimuli, as opposed to controls (F(1, 31) = 5.6, p = 0.02; eating disorders-other = 1092 ±256 msec, eating disorders-self = 1097±254 msec; healthy controls-other = 1239±233 msec, healthy controls -self = 1192±232 msec). This study provides initial indication that high-level motor functions might be compromised as part of body schema disturbances in eating disorders. Further larger investigations are required to test motor system abnormalities in the context of body schema disturbance in eating disorders.

A New Low-frequency Sonophoresis System Combined with Ultrasonic Motor and Transducer

NASA Astrophysics Data System (ADS)

Zhu, Pancheng; Peng, Hanmin; Yang, Jianzhi; Mao, Ting; Sheng, Juan

2018-03-01

Low frequency sonophoresis (LFS) is currently being attempted as a transdermal drug delivery method in clinical areas. However, it lacks both an effective control method and the equipment to satisfy the varying drug dosage requirements of individual patients. Herein, a novel method aimed at controlling permeability is proposed and developed, using a pressure control strategy which is based on an accurate, adjustable and non-invasive ultrasound transdermal drug delivery system in in vitro LFS. The system mainly consists of a lead screw linear ultrasonic motor and an ultrasonic transducer, in which the former offers pressure and the latter provides ultrasound wave in the liquid. The ultrasound can enhance non-invasive permeation and the pressure from the motor can control the permeability. The calculated and experimental results demonstrate that the maximum pressure on artificial skin is under the area with the maximum vibration amplitude of the ultrasonic transducer, and the total pressure consists of acoustic pressure from the transducer and approximate static pressure from the motor. Changing the static pressure from the ultrasonic motor can effectively control the non-invasive permeability, by adjusting the duty ratio or the amplitude of the motor’s driving voltage. In addition, the permeability control of calcein by thrust control is realized in 15 min, indicating the suitability of this method for application in accurate medical technology. The obtained results reveal that the issue of difficult permeability control can be addressed, using this control method in in vitro LFS to open up a route to the design of accurate drug delivery technology for individual patients.

The remapping of space in motor learning and human-machine interfaces

PubMed Central

Mussa-Ivaldi, F.A.; Danziger, Z.

2009-01-01

Studies of motor adaptation to patterns of deterministic forces have revealed the ability of the motor control system to form and use predictive representations of the environment. One of the most fundamental elements of our environment is space itself. This article focuses on the notion of Euclidean space as it applies to common sensory motor experiences. Starting from the assumption that we interact with the world through a system of neural signals, we observe that these signals are not inherently endowed with metric properties of the ordinary Euclidean space. The ability of the nervous system to represent these properties depends on adaptive mechanisms that reconstruct the Euclidean metric from signals that are not Euclidean. Gaining access to these mechanisms will reveal the process by which the nervous system handles novel sophisticated coordinate transformation tasks, thus highlighting possible avenues to create functional human-machine interfaces that can make that task much easier. A set of experiments is presented that demonstrate the ability of the sensory-motor system to reorganize coordination in novel geometrical environments. In these environments multiple degrees of freedom of body motions are used to control the coordinates of a point in a two-dimensional Euclidean space. We discuss how practice leads to the acquisition of the metric properties of the controlled space. Methods of machine learning based on the reduction of reaching errors are tested as a means to facilitate learning by adaptively changing he map from body motions to controlled device. We discuss the relevance of the results to the development of adaptive human machine interfaces and optimal control. PMID:19665553

A motor-driven ventricular assist device controlled with an optical encoder system.

PubMed

Nakamura, T; Hayashi, K; Yamane, H

1993-01-01

An electric motor-driven ventricular assist device has been developed for long-term use inside the body. The system is composed of a pusher-plate-type blood pump and an actuator consisting of an electrical motor and a ball screw. Cyclic change of the direction of motor rotation makes a back-and-forth axial movement of the ball screw shaft. The shaft, which is detached from the pump diaphragm, pushes the diaphragm via a pusher plate to eject blood during systole; blood is sucked by the diaphragm resilience during diastole. Using the output signals from a newly designed, incremental-type, miniature optical rotary encoder mounted inside the actuator, the input voltage of the motor is optimally controlled referring to the phase difference between the current position of the moving rotor and the electrical reference signal of the rotation generated by a microprocessor-based controller. In vitro performance tests indicated that the system fulfills required specifications. The maximum efficiency was 11%, which was about twice as high as that obtained with the previous open-loop prototype system. In the air, the surface temperature of the actuator elevated to 20 degrees C above the room temperature. An acute in vivo test showed its feasibility as a left ventricular assist device. Analysis of the energy loss in each component of the system indicated that redesign and precise assembly of the mechanical parts could increase the system efficiency.

Gap Junction-Mediated Signaling from Motor Neurons Regulates Motor Generation in the Central Circuits of Larval Drosophila.

PubMed

Matsunaga, Teruyuki; Kohsaka, Hiroshi; Nose, Akinao

2017-02-22

In this study, we used the peristaltic crawling of Drosophila larvae as a model to study how motor patterns are regulated by central circuits. We built an experimental system that allows simultaneous application of optogenetics and calcium imaging to the isolated ventral nerve cord (VNC). We then investigated the effects of manipulating local activity of motor neurons (MNs) on fictive locomotion observed as waves of MN activity propagating along neuromeres. Optical inhibition of MNs with halorhodopsin3 in a middle segment (A4, A5, or A6), but not other segments, dramatically decreased the frequency of the motor waves. Conversely, local activation of MNs with channelrhodopsin2 in a posterior segment (A6 or A7) increased the frequency of the motor waves. Since peripheral nerves mediating sensory feedback were severed in the VNC preparation, these results indicate that MNs send signals to the central circuits to regulate motor pattern generation. Our results also indicate segmental specificity in the roles of MNs in motor control. The effects of the local MN activity manipulation were lost in shaking-B 2 ( shakB 2 ) or ogre 2 , gap-junction mutations in Drosophila , or upon acute application of the gap junction blocker carbenoxolone, implicating electrical synapses in the signaling from MNs. Cell-type-specific RNAi suggested shakB and ogre function in MNs and interneurons, respectively, during the signaling. Our results not only reveal an unexpected role for MNs in motor pattern regulation, but also introduce a powerful experimental system that enables examination of the input-output relationship among the component neurons in this system. SIGNIFICANCE STATEMENT Motor neurons are generally considered passive players in motor pattern generation, simply relaying information from upstream interneuronal circuits to the target muscles. This study shows instead that MNs play active roles in the control of motor generation by conveying information via gap junctions to the central pattern-generating circuits in larval Drosophila , providing novel insights into motor circuit control. The experimental system introduced in this study also presents a new approach for studying intersegmentally coordinated locomotion. Unlike traditional electrophysiology methods, this system enables the simultaneous recording and manipulation of populations of neurons that are genetically specified and span multiple segments. Copyright © 2017 the authors 0270-6474/17/372045-16$15.00/0.

Computer simulation of a cruise missile using brushless dc motor fin control

NASA Astrophysics Data System (ADS)

Franklin, G. C.

1985-03-01

This thesis describes a computer simulation developed in order to provide a method of establishing the potential of brushless dc motors for applications to tactical cruise missile control surface positioning. In particular, an altitude hold controller has been developed that provides an operational load test condition for the evaluation of the electromechanical actuator. A proportional integral control scheme in conjunction with tachometer feedback provides the position control for the missile tailfin surfaces. The fin control system is further imbedded in a cruise missile model to allow altitude control of the missile. The load on the fin is developed from the dynamic fluid environment that the missile will be operating in and is proportional to such factors as fin size and air density. The program written in CSMP language is suitable for parametric studies including motor and torque load characteristics, and missile and control system parameters.

46 CFR 58.30-15 - Pipe, tubing, valves, fittings, pumps, and motors.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 2 2014-10-01 2014-10-01 false Pipe, tubing, valves, fittings, pumps, and motors. 58.30-15 Section 58.30-15 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) MARINE ENGINEERING MAIN AND AUXILIARY MACHINERY AND RELATED SYSTEMS Fluid Power and Control Systems § 58.30-15 Pipe, tubing, valves, fittings, pumps, and motors. ...

Final prototype of magnetically suspended flywheel energy storage system

NASA Technical Reports Server (NTRS)

Anand, D. K.; Kirk, J. A.; Zmood, R. B.; Pang, D.; Lashley, C.

1991-01-01

A prototype of a 500 Wh magnetically suspended flywheel energy storage system was designed, built, and tested. The authors present the work done and include the following: (1) a final design of the magnetic bearing, control system, and motor/generator, (2) construction of a prototype system consisting of the magnetic bearing stack, flywheel, motor, container, and display module, and (3) experimental results for the magnetic bearings, motor, and the entire system. The successful completion of the prototype system has achieved: (1) manufacture of tight tolerance bearings, (2) stability and spin above the first critical frequency, (3) use of inside sensors to eliminate runout problems, and (4) integration of the motor and magnetic bearings.

Final prototype of magnetically suspended flywheel energy storage system

NASA Astrophysics Data System (ADS)

Anand, D. K.; Kirk, J. A.; Zmood, R. B.; Pang, D.; Lashley, C.

A prototype of a 500 Wh magnetically suspended flywheel energy storage system was designed, built, and tested. The authors present the work done and include the following: (1) a final design of the magnetic bearing, control system, and motor/generator, (2) construction of a prototype system consisting of the magnetic bearing stack, flywheel, motor, container, and display module, and (3) experimental results for the magnetic bearings, motor, and the entire system. The successful completion of the prototype system has achieved: (1) manufacture of tight tolerance bearings, (2) stability and spin above the first critical frequency, (3) use of inside sensors to eliminate runout problems, and (4) integration of the motor and magnetic bearings.

Development of a Mechatronic Syringe Pump to Control Fluid Flow in a Microfluidic Device Based on Polyimide Film

NASA Astrophysics Data System (ADS)

Sek Tee, Kian; Sharil Saripan, Muhammad; Yap, Hiung Yin; Fhong Soon, Chin

2017-08-01

With the advancement in microfluidic technology, fluid flow control for syringe pump is always essential. In this paper, a mechatronic syringe pump will be developed and customized to control the fluid flow in a poly-dimethylsiloxane (PDMS) microfluidic device based on a polyimide laminating film. The syringe pump is designed to drive fluid with flow rates of 100 and 1000 μl/min which intended to drive continuous fluid in a polyimide based microfluidic device. The electronic system consists of an Arduino microcontroller board and a uni-polar stepper motor. In the system, the uni-polar stepper motor was coupled to a linear slider attached to the plunger of a syringe pump. As the motor rotates, the plunger pumps the liquid out of the syringe. The accuracy of the fluid flow rate was determined by adjusting the number of micro-step/revolution to drive the stepper motor to infuse fluid into the microfluidic device. With the precise control of the electronic system, the syringe pump could accurately inject fluid volume at 100 and 1000 μl/min into a microfluidic device.

The Position Control of the Surface Motor with the Poles Distribution of Triangular Lattice

NASA Astrophysics Data System (ADS)

Watada, Masaya; Katsuyama, Norikazu; Ebihara, Daiki

Recently, as for the machine tools or industrial robots, high performance, accuracy, etc. are demanded. Generally, when drive of many degrees of freedom is required in the machine tools or industrial robots, it has realized by using two or more motors. For example, two-dimensional positioning stages such as the X-Y plotter or the X-Y stage are enabling the two-dimensional drive by using each one motor in the direction of x, y. In order to use plural motors, these, however, have problems that equipment becomes large and complicate control system. From such problems, the Surface Motor (SFM) that can drive two directions by only one motor is researched. Authors have proposed SFM that considered wide range movement and the application to a curved surface. In this paper, the characteristics of the micro step drive by the open loop control are showed. Introduction of closed loop control for highly accurate positioning, moreover, is examined. The drive characteristics by each control are compared.

Motor skill learning and offline-changes in TGA patients with acute hippocampal CA1 lesions.

PubMed

Döhring, Juliane; Stoldt, Anne; Witt, Karsten; Schönfeld, Robby; Deuschl, Günther; Born, Jan; Bartsch, Thorsten

2017-04-01

Learning and the formation of memory are reflected in various memory systems in the human brain such as the hippocampus based declarative memory system and the striatum-cortex based system involved in motor sequence learning. It is a matter of debate how both memory systems interact in humans during learning and consolidation and how this interaction is influenced by sleep. We studied the effect of an acute dysfunction of hippocampal CA1 neurons on the acquisition (on-line condition) and off-line changes of a motor skill in patients with a transient global amnesia (TGA). Sixteen patients (68 ± 4.4 yrs) were studied in the acute phase and during follow-up using a declarative and procedural test, and were compared to controls. Acute TGA patients displayed profound deficits in all declarative memory functions. During the acute amnestic phase, patients were able to acquire the motor skill task reflected by increasing finger tapping speed across the on-line condition, albeit to a lesser degree than during follow-up or compared to controls. Retrieval two days later indicated a greater off-line gain in motor speed in patients than controls. Moreover, this gain in motor skill performance was negatively correlated to the declarative learning deficit. Our results suggest a differential interaction between procedural and declarative memory systems during acquisition and consolidation of motor sequences in older humans. During acquisition, hippocampal dysfunction attenuates fast learning and thus unmasks the slow and rigid learning curve of striatum-based procedural learning. The stronger gains in the post-consolidation condition in motor skill in CA1 lesioned patients indicate a facilitated consolidation process probably occurring during sleep, and suggest a competitive interaction between the memory systems. These findings might be a reflection of network reorganization and plasticity in older humans and in the presence of CA1 hippocampal pathology. Copyright © 2016 Elsevier Ltd. All rights reserved.

Motor Drive Technologies for the Power-by-Wire (PBW) Program: Options, Trends and Tradeoffs

NASA Technical Reports Server (NTRS)

Elbuluk, Malik E.; Kankam, M. David

1995-01-01

Power-By-Wire (PBW) is a program involving the replacement of hydraulic and pneumatic systems currently used in aircraft with an all-electric secondary power system. One of the largest loads of the all-electric secondary power system will be the motor loads which include pumps, compressors and Electrical Actuators (EA's). Issues of improved reliability, reduced maintenance and efficiency, among other advantages, are the motivation for replacing the existing aircraft actuators with electrical actuators. An EA system contains four major components. These are the motor, the power electronic converters, the actuator and the control system, including the sensors. This paper is a comparative literature review in motor drive technologies, with a focus on the trends and tradeoffs involved in the selection of a particular motor drive technology. The reported research comprises three motor drive technologies. These are the induction motor (IM), the brushless dc motor (BLDCM) and the switched reluctance motor (SRM). Each of the three drives has the potential for application in the PBW program. Many issues remain to be investigated and compared between the three motor drives, using actual mechanical loads expected in the PBW program.

Electric motor designs for attenuating torque disturbance in sensitive space mechanisms

NASA Astrophysics Data System (ADS)

Marks, David B.; Fink, Richard A.

2003-09-01

When a motion control system introduces unwanted torque jitter and motion anomalies into sensitive space flight optical or positioning mechanisms, the pointing accuracy, positioning capability, or scanning resolution of the mission suffers. Special motion control technology must be employed to provide attenuation of the harmful torque disturbances. Brushless DC (BLDC) Motors with low torque disturbance characteristics have been successfully used on such notable missions as the Hubble Space Telescope when conventional approaches to motor design would not work. Motor designs for low disturbance mechanisms can include two and three phase sinusoidal BLDC motors, BLDC motors without iron teeth, and sometimes skewed or non-integral slot designs for motors commutated with Hall effect devices. The principal components of motor torque disturbance, successful BLDC motor designs for attenuating disturbances, and design trade-offs for optimum performance are examined.

Real-time operating system timing jitter and its impact on motor control

NASA Astrophysics Data System (ADS)

Proctor, Frederick M.; Shackleford, William P.

2001-12-01

General-purpose microprocessors are increasingly being used for control applications due to their widespread availability and software support for non-control functions like networking and operator interfaces. Two classes of real-time operating systems (RTOS) exist for these systems. The traditional RTOS serves as the sole operating system, and provides all OS services. Examples include ETS, LynxOS, QNX, Windows CE and VxWorks. RTOS extensions add real-time scheduling capabilities to non-real-time OSes, and provide minimal services needed for the time-critical portions of an application. Examples include RTAI and RTL for Linux, and HyperKernel, OnTime and RTX for Windows NT. Timing jitter is an issue in these systems, due to hardware effects such as bus locking, caches and pipelines, and software effects from mutual exclusion resource locks, non-preemtible critical sections, disabled interrupts, and multiple code paths in the scheduler. Jitter is typically on the order of a microsecond to a few tens of microseconds for hard real-time operating systems, and ranges from milliseconds to seconds in the worst case for soft real-time operating systems. The question of its significance on the performance of a controller arises. Naturally, the smaller the scheduling period required for a control task, the more significant is the impact of timing jitter. Aside from this intuitive relationship is the greater significance of timing on open-loop control, such as for stepper motors, than for closed-loop control, such as for servo motors. Techniques for measuring timing jitter are discussed, and comparisons between various platforms are presented. Techniques to reduce jitter or mitigate its effects are presented. The impact of jitter on stepper motor control is analyzed.

Spoken language and arm gestures are controlled by the same motor control system.

PubMed

Gentilucci, Maurizio; Dalla Volta, Riccardo

2008-06-01

Arm movements can influence language comprehension much as semantics can influence arm movement planning. Arm movement itself can be used as a linguistic signal. We reviewed neurophysiological and behavioural evidence that manual gestures and vocal language share the same control system. Studies of primate premotor cortex and, in particular, of the so-called "mirror system", including humans, suggest the existence of a dual hand/mouth motor command system involved in ingestion activities. This may be the platform on which a combined manual and vocal communication system was constructed. In humans, speech is typically accompanied by manual gesture, speech production itself is influenced by executing or observing transitive hand actions, and manual actions play an important role in the development of speech, from the babbling stage onwards. Behavioural data also show reciprocal influence between word and symbolic gestures. Neuroimaging and repetitive transcranial magnetic stimulation (rTMS) data suggest that the system governing both speech and gesture is located in Broca's area. In general, the presented data support the hypothesis that the hand motor-control system is involved in higher order cognition.

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.

Electrical system for pulse-width modulated control of a power inverter using phase-shifted carrier signals and related operating methods

DOEpatents

Welchko, Brian A [Torrance, CA

2012-02-14

Systems and methods are provided for pulse-width modulated control of power inverter using phase-shifted carrier signals. An electrical system comprises an energy source and a motor. The motor has a first set of windings and a second set of windings, which are electrically isolated from each other. An inverter module is coupled between the energy source and the motor and comprises a first set of phase legs coupled to the first set of windings and a second set of phase legs coupled to the second set of windings. A controller is coupled to the inverter module and is configured to achieve a desired power flow between the energy source and the motor by modulating the first set of phase legs using a first carrier signal and modulating the second set of phase legs using a second carrier signal. The second carrier signal is phase-shifted relative to the first carrier signal.

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.

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

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

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

2016-07-27

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

Sensory motor remapping of space in human–machine interfaces

PubMed Central

Mussa-Ivaldi, Ferdinando A.; Casadio, Maura; Danziger, Zachary C.; Mosier, Kristine M.; Scheidt, Robert A.

2012-01-01

Studies of adaptation to patterns of deterministic forces have revealed the ability of the motor control system to form and use predictive representations of the environment. These studies have also pointed out that adaptation to novel dynamics is aimed at preserving the trajectories of a controlled endpoint, either the hand of a subject or a transported object. We review some of these experiments and present more recent studies aimed at understanding how the motor system forms representations of the physical space in which actions take place. An extensive line of investigations in visual information processing has dealt with the issue of how the Euclidean properties of space are recovered from visual signals that do not appear to possess these properties. The same question is addressed here in the context of motor behavior and motor learning by observing how people remap hand gestures and body motions that control the state of an external device. We present some theoretical considerations and experimental evidence about the ability of the nervous system to create novel patterns of coordination that are consistent with the representation of extrapersonal space. We also discuss the perspective of endowing human–machine interfaces with learning algorithms that, combined with human learning, may facilitate the control of powered wheelchairs and other assistive devices. PMID:21741543

A Principle and Winding Design of Consequent-Pole Bearingless Motors

NASA Astrophysics Data System (ADS)

Takenaga, Tomohiro; Kubota, Yutaka; Chiba, Akira; Fukao, Tadashi

Recently, bearingless motors have been developed to enhance motor drive systems with magnetic suspension. Several types of motors have been proposed as bearingless motors, such as induction, surface mounted permanent magnet, inset permanent magnet, interior permanent magnet, buried permanent magnet, homopolar, hybrid, and switched reluctance bearingless motors. Permanent magnet bearingless motors have been attracting more interests in these years because of the high efficiency. In this paper, a consequent-pole bearingless motor is proposed. A rotor has buried permanent magnets, of which polarities are like. The radial force of a consequent-pole bearingless motor is generated by dc current. Thus, rotational angular position is not needed in a magnetic suspension controller. Radial force variations caused by a rotor rotation are minimized by improving arrangement of stator suspension conductors. A prototype bearingless motor and its controller are built. In experiment, principles of magnetic suspension in the proposed consequent-pole bearingless drive are confirmed.

Auditory priming improves neural synchronization in auditory-motor entrainment.

PubMed

Crasta, Jewel E; Thaut, Michael H; Anderson, Charles W; Davies, Patricia L; Gavin, William J

2018-05-22

Neurophysiological research has shown that auditory and motor systems interact during movement to rhythmic auditory stimuli through a process called entrainment. This study explores the neural oscillations underlying auditory-motor entrainment using electroencephalography. Forty young adults were randomly assigned to one of two control conditions, an auditory-only condition or a motor-only condition, prior to a rhythmic auditory-motor synchronization condition (referred to as combined condition). Participants assigned to the auditory-only condition auditory-first group) listened to 400 trials of auditory stimuli presented every 800 ms, while those in the motor-only condition (motor-first group) were asked to tap rhythmically every 800 ms without any external stimuli. Following their control condition, all participants completed an auditory-motor combined condition that required tapping along with auditory stimuli every 800 ms. As expected, the neural processes for the combined condition for each group were different compared to their respective control condition. Time-frequency analysis of total power at an electrode site on the left central scalp (C3) indicated that the neural oscillations elicited by auditory stimuli, especially in the beta and gamma range, drove the auditory-motor entrainment. For the combined condition, the auditory-first group had significantly lower evoked power for a region of interest representing sensorimotor processing (4-20 Hz) and less total power in a region associated with anticipation and predictive timing (13-16 Hz) than the motor-first group. Thus, the auditory-only condition served as a priming facilitator of the neural processes in the combined condition, more so than the motor-only condition. Results suggest that even brief periods of rhythmic training of the auditory system leads to neural efficiency facilitating the motor system during the process of entrainment. These findings have implications for interventions using rhythmic auditory stimulation. Copyright © 2018 Elsevier Ltd. All rights reserved.

Low speed phaselock speed control system. [for brushless dc motor

NASA Technical Reports Server (NTRS)

Fulcher, R. W.; Sudey, J. (Inventor)

1975-01-01

A motor speed control system for an electronically commutated brushless dc motor is provided which includes a phaselock loop with bidirectional torque control for locking the frequency output of a high density encoder, responsive to actual speed conditions, to a reference frequency signal, corresponding to the desired speed. The system includes a phase comparator, which produces an output in accordance with the difference in phase between the reference and encoder frequency signals, and an integrator-digital-to-analog converter unit, which converts the comparator output into an analog error signal voltage. Compensation circuitry, including a biasing means, is provided to convert the analog error signal voltage to a bidirectional error signal voltage which is utilized by an absolute value amplifier, rotational decoder, power amplifier-commutators, and an arrangement of commutation circuitry.

Study of the fractional order proportional integral controller for the permanent magnet synchronous motor based on the differential evolution algorithm.

PubMed

Zheng, Weijia; Pi, Youguo

2016-07-01

A tuning method of the fractional order proportional integral speed controller for a permanent magnet synchronous motor is proposed in this paper. Taking the combination of the integral of time and absolute error and the phase margin as the optimization index, the robustness specification as the constraint condition, the differential evolution algorithm is applied to search the optimal controller parameters. The dynamic response performance and robustness of the obtained optimal controller are verified by motor speed-tracking experiments on the motor speed control platform. Experimental results show that the proposed tuning method can enable the obtained control system to achieve both the optimal dynamic response performance and the robustness to gain variations. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Fuzzy efficiency optimization of AC induction motors

NASA Technical Reports Server (NTRS)

Jani, Yashvant; Sousa, Gilberto; Turner, Wayne; Spiegel, Ron; Chappell, Jeff

1993-01-01

This paper describes the early states of work to implement a fuzzy logic controller to optimize the efficiency of AC induction motor/adjustable speed drive (ASD) systems running at less than optimal speed and torque conditions. In this paper, the process by which the membership functions of the controller were tuned is discussed and a controller which operates on frequency as well as voltage is proposed. The membership functions for this dual-variable controller are sketched. Additional topics include an approach for fuzzy logic to motor current control which can be used with vector-controlled drives. Incorporation of a fuzzy controller as an application-specific integrated circuit (ASIC) microchip is planned.

Deficient inhibition in alcohol-dependence: let's consider the role of the motor system!

PubMed

Quoilin, Caroline; Wilhelm, Emmanuelle; Maurage, Pierre; de Timary, Philippe; Duque, Julie

2018-04-26

Impaired inhibitory control contributes to the development, maintenance, and relapse of alcohol-dependence, but the neural correlates of this deficit are still unclear. Because inhibitory control has been labeled as an executive function, most studies have focused on prefrontal areas, overlooking the contribution of more "primary" structures, such as the motor system. Yet, appropriate neural inhibition of the motor output pathway has emerged as a central aspect of healthy behavior. Here, we tested the hypothesis that this motor inhibition is altered in alcohol-dependence. Neural inhibitory measures of motor activity were obtained in 20 detoxified alcohol-dependent (AD) patients and 20 matched healthy subjects, using a standard transcranial magnetic stimulation procedure whereby motor-evoked potentials (MEPs) are elicited in a choice reaction time task. Moreover, behavioral inhibition and trait impulsivity were evaluated in all participants. Finally, the relapse status of patients was assessed 1 year after the experiment. As expected, AD patients displayed poorer behavioral inhibition and higher trait impulsivity than controls. More importantly, the MEP data revealed a considerable shortage of neural motor inhibition in AD patients. Interestingly, this neural defect was strongest in the patients who ended up relapsing during the year following the experiment. Our data suggest a strong motor component in the neural correlates of altered inhibitory control in AD patients. They also highlight an intriguing relationship with relapse and the perspective of a new biomarker to follow strategies aiming at reducing relapse in AD patients.

Position measurement of the direct drive motor of Large Aperture Telescope

NASA Astrophysics Data System (ADS)

Li, Ying; Wang, Daxing

2010-07-01

Along with the development of space and astronomy science, production of large aperture telescope and super large aperture telescope will definitely become the trend. It's one of methods to solve precise drive of large aperture telescope using direct drive technology unified designed of electricity and magnetism structure. A direct drive precise rotary table with diameter of 2.5 meters researched and produced by us is a typical mechanical & electrical integration design. This paper mainly introduces position measurement control system of direct drive motor. In design of this motor, position measurement control system requires having high resolution, and precisely aligning the position of rotor shaft and making measurement, meanwhile transferring position information to position reversing information corresponding to needed motor pole number. This system has chosen high precision metal band coder and absolute type coder, processing information of coders, and has sent 32-bit RISC CPU making software processing, and gained high resolution composite coder. The paper gives relevant laboratory test results at the end, indicating the position measurement can apply to large aperture telescope control system. This project is subsidized by Chinese National Natural Science Funds (10833004).

Regaining motor control in musician's dystonia by restoring sensorimotor organization.

PubMed

Rosenkranz, Karin; Butler, Katherine; Williamon, Aaron; Rothwell, John C

2009-11-18

Professional musicians are an excellent model of long-term motor learning effects on structure and function of the sensorimotor system. However, intensive motor skill training has been associated with task-specific deficiency in hand motor control, which has a higher prevalence among musicians (musician's dystonia) than in the general population. Using a transcranial magnetic stimulation paradigm, we previously found an expanded spatial integration of proprioceptive input into the hand motor cortex [sensorimotor organization (SMO)] in healthy musicians. In musician's dystonia, however, this expansion was even larger. Whereas motor skills of musicians are likely to be supported by a spatially expanded SMO, we hypothesized that in musician's dystonia this might have developed too far and now disrupts rather than assists task-specific motor control. If so, motor control should be regained by reversing the excessive reorganization in musician's dystonia. Here, we test this hypothesis and show that a 15 min intervention with proprioceptive input (proprioceptive training) restored SMO in pianists with musician's dystonia to the pattern seen in healthy pianists. Crucially, task-specific motor control improved significantly and objectively as measured with a MIDI (musical instrument digital interface) piano, and the amount of behavioral improvement was significantly correlated to the degree of sensorimotor reorganization. In healthy pianists and nonmusicians, the SMO and motor performance remained essentially unchanged. These findings suggest that the differentiation of SMO in the hand motor cortex and the degree of motor control of intensively practiced tasks are significantly linked and finely balanced. Proprioceptive training restored this balance in musician's dystonia to the behaviorally beneficial level of healthy musicians.

A self-paced motor imagery based brain-computer interface for robotic wheelchair control.

PubMed

Tsui, Chun Sing Louis; Gan, John Q; Hu, Huosheng

2011-10-01

This paper presents a simple self-paced motor imagery based brain-computer interface (BCI) to control a robotic wheelchair. An innovative control protocol is proposed to enable a 2-class self-paced BCI for wheelchair control, in which the user makes path planning and fully controls the wheelchair except for the automatic obstacle avoidance based on a laser range finder when necessary. In order for the users to train their motor imagery control online safely and easily, simulated robot navigation in a specially designed environment was developed. This allowed the users to practice motor imagery control with the core self-paced BCI system in a simulated scenario before controlling the wheelchair. The self-paced BCI can then be applied to control a real robotic wheelchair using a protocol similar to that controlling the simulated robot. Our emphasis is on allowing more potential users to use the BCI controlled wheelchair with minimal training; a simple 2-class self paced system is adequate with the novel control protocol, resulting in a better transition from offline training to online control. Experimental results have demonstrated the usefulness of the online practice under the simulated scenario, and the effectiveness of the proposed self-paced BCI for robotic wheelchair control.

Propulsion and Power Rapid Response R&D Support Delivery Order 0041: Power Dense Solid Oxide Fuel Cell Systems: High Performance, High Power Density Solid Oxide Fuel Cells - Materials and Load Control

DTIC Science & Technology

2008-12-01

respectively. 2.3.1.2 Brushless DC Motor Brushless direct current ( BLDC ) motors feature high efficiency, ease of control , and astonishingly high power...modeling purposes, we ignore the modeling complexity of the BLDC controller and treat the motor and controller “as commutated”, i.e. we assume the...High Performance, High Power Density Solid Oxide Fuel Cells− Materials and Load Control Stephen W. Sofie, Steven R. Shaw, Peter A. Lindahl, and Lee H

Adaptive reference voltage generator for firing angle control of line-commutated inverters

NASA Technical Reports Server (NTRS)

Dolland, C. R. (Inventor)

1983-01-01

A control system for a permanent-magnet motor driven by a multiphase line-commulated inverter is described. It is provided with integrators for integrating the back EMF of each phase of the motor for use in generating system control signals for an inverter gate logic using a sync and firing angle control generator connected to the outputs of the integrators. The firing angle control signals are produced by the control generator by means for combining 120 deg segments of the integrated back EMF signals symmetrical about their maxima into composite positive and negative waveforms, and means for sampling the maxima of each waveform every 120 deg. These samples are then used as positive and negative firing angle control signals. Whereby any change in amplitude of the integrated back EMF signals will not affect a change in the operating power factor of the motor and inverter.

Neural control of computer cursor velocity by decoding motor cortical spiking activity in humans with tetraplegia

NASA Astrophysics Data System (ADS)

Kim, Sung-Phil; Simeral, John D.; Hochberg, Leigh R.; Donoghue, John P.; Black, Michael J.

2008-12-01

Computer-mediated connections between human motor cortical neurons and assistive devices promise to improve or restore lost function in people with paralysis. Recently, a pilot clinical study of an intracortical neural interface system demonstrated that a tetraplegic human was able to obtain continuous two-dimensional control of a computer cursor using neural activity recorded from his motor cortex. This control, however, was not sufficiently accurate for reliable use in many common computer control tasks. Here, we studied several central design choices for such a system including the kinematic representation for cursor movement, the decoding method that translates neuronal ensemble spiking activity into a control signal and the cursor control task used during training for optimizing the parameters of the decoding method. In two tetraplegic participants, we found that controlling a cursor's velocity resulted in more accurate closed-loop control than controlling its position directly and that cursor velocity control was achieved more rapidly than position control. Control quality was further improved over conventional linear filters by using a probabilistic method, the Kalman filter, to decode human motor cortical activity. Performance assessment based on standard metrics used for the evaluation of a wide range of pointing devices demonstrated significantly improved cursor control with velocity rather than position decoding. Disclosure. JPD is the Chief Scientific Officer and a director of Cyberkinetics Neurotechnology Systems (CYKN); he holds stock and receives compensation. JDS has been a consultant for CYKN. LRH receives clinical trial support from CYKN.

Modelling and control system of multi motor conveyor

NASA Astrophysics Data System (ADS)

Kovalchuk, M. S.; Baburin, S. V.

2018-03-01

The paper deals with the actual problem of developing the mathematical model of electromechanical system: conveyor – multimotor electric drive with a frequency converter, with the implementation in Simulink/MatLab, which allows one to perform studies of conveyor operation modes, taking into account the specifics of the mechanism with different electric drives control algorithms. The authors designed the mathematical models of the conveyor and its control system that provides increased uniformity of load distribution between drive motors and restriction of dynamic loads on the belt (over-regulation until 15%).

The increase in the starting torque of PMSM motor by applying of FOC method

NASA Astrophysics Data System (ADS)

Plachta, Kamil

2017-05-01

The article presents field oriented control method of synchronous permanent magnet motor equipped in optical sensors. This method allows for a wide range regulation of torque and rotational speed of the electric motor. The paper presents mathematical model of electric motor and vector control method. Optical sensors have shorter time response as compared to the inductive sensors, which allow for faster response of the electronic control system to changes of motor loads. The motor driver is based on the digital signal processor which performs advanced mathematical operations in real time. The appliance of Clark and Park transformation in the software defines the angle of rotor position. The presented solution provides smooth adjustment of the rotational speed in the first operating zone and reduces the dead zone of the torque in the second and third operating zones.

Fundamental Study on Saving Energy for Electrified Railway System Applying High Temperature Superconductor Motor and Energy Storage System

NASA Astrophysics Data System (ADS)

Konishi, Takeshi; Nakamura, Taketsune; Amemiya, Naoyuki

Induction motor instead of dc one has been applied widely for dc electric rolling stock because of the advantage of its utility and efficiency. However, further improvement of motor characteristics will be required to realize environment-friendly dc railway system in the future. It is important to study more efficient machine applying dc electric rolling stock for next generation high performance system. On the other hand, the methods to reuse regenerative energy produced by motors effectively are also important. Therefore, we carried out fundamental study on saving energy for electrified railway system. For the first step, we introduced the energy storage system applying electric double-layer capacitors (EDLC), and its control system. And then, we tried to obtain the specification of high temperature superconductor induction/synchronous motor (HTS-ISM), which performance is similar with that of the conventional induction motors. Furthermore, we tried to evaluate an electrified railway system applying energy storage system and HTS-ISM based on simulation. We succeeded in showing the effectiveness of the introductions of energy storage system and HTS-ISM in DC electrified railway system.

Development of closed-fitting-type walking assistance device for legs and evaluation of muscle activity.

PubMed

Ikehara, Tadaaki; Nagamura, Kazuteru; Ushida, Takurou; Tanaka, Eiichirou; Saegusa, Shozo; Kojima, Sho; Yuge, Louis

2011-01-01

A walking assistance device using a flexible shaft was developed. The combination of a flexible shaft with a worm gear was successfully adopted on this device to simplify its appearance and reduce its size. A hybrid - control system on this device controls both torque and angle at the ankle and knee joints. In this system, the torsional spring constant of the flexible shaft is taken into account by the motor in controlling the power and angle of rotation of the motor. To expand the area in which a person may use the device, it is equipped with a self-contained system powered by a Lithium-ion battery and controlled by an SH-4 microcomputer and actuators, consisting of motors and gears, all of which are carried in a small backpack. Consequently, persons using the device may walk freely in both indoor and outdoor environments. © 2011 IEEE

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.

An overview of adaptive model theory: solving the problems of redundancy, resources, and nonlinear interactions in human movement control.

PubMed

Neilson, Peter D; Neilson, Megan D

2005-09-01

Adaptive model theory (AMT) is a computational theory that addresses the difficult control problem posed by the musculoskeletal system in interaction with the environment. It proposes that the nervous system creates motor maps and task-dependent synergies to solve the problems of redundancy and limited central resources. These lead to the adaptive formation of task-dependent feedback/feedforward controllers able to generate stable, noninteractive control and render nonlinear interactions unobservable in sensory-motor relationships. AMT offers a unified account of how the nervous system might achieve these solutions by forming internal models. This is presented as the design of a simulator consisting of neural adaptive filters based on cerebellar circuitry. It incorporates a new network module that adaptively models (in real time) nonlinear relationships between inputs with changing and uncertain spectral and amplitude probability density functions as is the case for sensory and motor signals.

Neural control of computer cursor velocity by decoding motor cortical spiking activity in humans with tetraplegia*

PubMed Central

Kim, Sung-Phil; Simeral, John D; Hochberg, Leigh R; Donoghue, John P; Black, Michael J

2010-01-01

Computer-mediated connections between human motor cortical neurons and assistive devices promise to improve or restore lost function in people with paralysis. Recently, a pilot clinical study of an intracortical neural interface system demonstrated that a tetraplegic human was able to obtain continuous two-dimensional control of a computer cursor using neural activity recorded from his motor cortex. This control, however, was not sufficiently accurate for reliable use in many common computer control tasks. Here, we studied several central design choices for such a system including the kinematic representation for cursor movement, the decoding method that translates neuronal ensemble spiking activity into a control signal and the cursor control task used during training for optimizing the parameters of the decoding method. In two tetraplegic participants, we found that controlling a cursor's velocity resulted in more accurate closed-loop control than controlling its position directly and that cursor velocity control was achieved more rapidly than position control. Control quality was further improved over conventional linear filters by using a probabilistic method, the Kalman filter, to decode human motor cortical activity. Performance assessment based on standard metrics used for the evaluation of a wide range of pointing devices demonstrated significantly improved cursor control with velocity rather than position decoding. PMID:19015583

Compensatory role of the cortico-rubro-spinal tract in motor recovery after stroke

PubMed Central

Rüber, Theodor

2012-01-01

Objectives: Studies on nonhuman primates have demonstrated that the cortico-rubro-spinal system can compensate for damage to the pyramidal tract (PT). In humans, so-called alternate motor fibers (aMF), which may comprise the cortico-rubro-spinal tract, have been suggested to play a similar role in motor recovery after stroke. Using diffusion tensor imaging, we examined PT and aMF in the context of human motor recovery by relating their microstructural properties to functional outcome in chronic stroke patients. Methods: PT and aMF were reconstructed based on their origins in primary motor, dorsal premotor, and supplementary motor cortices in 18 patients and 10 healthy controls. The patients' degree of motor recovery was assessed using the Wolf Motor Function Test (WMFT). Results: Compared to controls, fractional anisotropy (FA) was lower along ipsilesional PT and aMF in chronic stroke patients, but clusters of higher FA were found bilaterally in aMF within the vicinity of the red nuclei. FA along ipsilesional PT and aMF and within the red nuclei correlated significantly with WMFT scores. Probabilistic connectivity of aMF originating from ipsilesional primary motor cortex was higher in patients, whereas the ipsilesional PT exhibited lower connectivity compared to controls. Conclusions: The strong correlations observed between microstructural properties of bilateral red nuclei and the level of motor function in chronic stroke patients indicate possible remodeling during recovery. Our results shed light on the role of different corticofugal motor tracts, and highlight a compensatory function of the cortico-rubro-spinal system which may be used as a target in future restorative treatments. PMID:22843266

A Fully Implanted Drug Delivery System for Peripheral Nerve Blocks in Behaving Animals

PubMed Central

Pohlmeyer, Eric A.; Jordon, Luke R.; Kim, Peter; Miller, Lee E.

2009-01-01

Inhibiting peripheral nerve function can be useful for many studies of the nervous system or motor control. Accomplishing this in a temporary fashion in animal models by using peripheral nerve blocks permits studies of the immediate effects of the loss, and/or any resulting short-term changes and adaptations in behavior or motor control, while avoiding the complications commonly associated with permanent lesions, such as sores or self-mutilation. We have developed a method of quickly and repeatedly inducing temporary, controlled motor deficits in rhesus macaque monkeys via a chronically implanted drug delivery system. This assembly consists of a nerve cuff and a subdermal injection dome, and has proved effective for delivering local anesthetics directly to peripheral nerves for many months. Using this assembly for median and ulnar nerve blocks routinely resulted in over 80% losses in hand and wrist strength for rhesus monkeys. The assembly was also effective for inducing ambulatory motor deficits in rabbits through blocks of the sciatic nerve. Interestingly, while standard anesthetics were sufficient for the rabbit nerve blocks, the inclusion of epinephrine was essential for achieving significant motor blockade in the monkeys. PMID:19524613

An SCR inverter for electric vehicles

NASA Technical Reports Server (NTRS)

Latos, T.; Bosack, D.; Ehrlich, R.; Jahns, T.; Mezera, J.; Thimmesch, D.

1980-01-01

An inverter for an electric vehicle propulsion application has been designed and constructed to excite a polyphase induction motor from a fixed propulsion battery source. The inverter, rated at 35kW peak power, is fully regenerative and permits vehicle operation in both the forward and reverse directions. Thyristors are employed as the power switching devices arranged in a dc bus commutated topology. This paper describes the major role the controller plays in generating the motor excitation voltage and frequency to deliver performance similar to dc systems. Motoring efficiency test data for the controller are presented. It is concluded that an SCR inverter in conjunction with an ac induction motor is a viable alternative to present dc vehicle propulsion systems on the basis of performance and size criteria.

Interference effects between memory systems in the acquisition of a skill.

PubMed

Gagné, Marie-Hélène; Cohen, Henri

2016-10-01

There is now converging evidence that the declarative memory system (hippocampus dependent) contributes to sequential motor learning in concert with the procedural memory system (striatum dependent). Because of the competition for shared neuronal resources, introducing a declarative memory task can impair learning of a new motor sequence and interference may occur during the procedural consolidation process. Here, we investigated the extent to which interference effects between memory systems are seen at the retrieval phase of skill learning. Healthy participants were assigned to a control (n = 15) or a declarative condition (n = 15) and trained on a sequence of finger movements (FOS task). Both groups showed similar improvement at the end of the practice session on the first day. Twenty-four hours later, controls were tested solely on the FOS task, while subjects in the declarative condition first engaged in a visuospatial task. Additional offline gains in performance were observed only in the control condition. The introduction of a visuospatial memory task just before retrieval of the motor skill was sufficient to eliminate these gains. This suggests that interference between procedural and declarative memory systems may also occur during subsequent motor recall. It is proposed that the interference effects are linked, in part, to the spatial nature of the motor and declarative tasks, which specifically depends upon hippocampal involvement.

Evaluating the influence of motor control on selective attention through a stochastic model: the paradigm of motor control dysfunction in cerebellar patient.

PubMed

Veneri, Giacomo; Federico, Antonio; Rufa, Alessandra

2014-01-01

Attention allows us to selectively process the vast amount of information with which we are confronted, prioritizing some aspects of information and ignoring others by focusing on a certain location or aspect of the visual scene. Selective attention is guided by two cognitive mechanisms: saliency of the image (bottom up) and endogenous mechanisms (top down). These two mechanisms interact to direct attention and plan eye movements; then, the movement profile is sent to the motor system, which must constantly update the command needed to produce the desired eye movement. A new approach is described here to study how the eye motor control could influence this selection mechanism in clinical behavior: two groups of patients (SCA2 and late onset cerebellar ataxia LOCA) with well-known problems of motor control were studied; patients performed a cognitively demanding task; the results were compared to a stochastic model based on Monte Carlo simulations and a group of healthy subjects. The analytical procedure evaluated some energy functions for understanding the process. The implemented model suggested that patients performed an optimal visual search, reducing intrinsic noise sources. Our findings theorize a strict correlation between the "optimal motor system" and the "optimal stimulus encoders."

Design of power electronics for TVC EMA systems

NASA Technical Reports Server (NTRS)

Nelms, R. Mark

1993-01-01

The Composite Development Division of the Propulsion Laboratory at Marshall Space Flight Center (MSFC) is currently developing a class of electromechanical actuators (EMA's) for use in space transportation applications such as thrust vector control (TVC) and propellant control valves (PCV). These high power servomechanisms will require rugged, reliable, and compact power electronic modules capable of modulating several hundred amperes of current at up to 270 volts. MSFC has selected the brushless dc motor for implementation in EMA's. This report presents the results of an investigation into the applicability of two new technologies, MOS-controlled thyristors (MCT's) and pulse density modulation (PDM), to the control of brushless dc motors in EMA systems. MCT's are new power semiconductor devices, which combine the high voltage and current capabilities of conventional thyristors and the low gate drive requirements of metal oxide semiconductor field effect transistors (MOSFET's). The commanded signals in a PDM system are synthesized using a series of sinusoidal pulses instead of a series of square pulses as in a pulse width modulation (PWM) system. A resonant dc link inverter is employed to generate the sinusoidal pulses in the PDM system. This inverter permits zero-voltage switching of all semiconductors which reduces switching losses and switching stresses. The objectives of this project are to develop and validate an analytical model of the MCT device when used in high power motor control applications and to design, fabricate, and test a prototype electronic circuit employing both MCT and PDM technology for controlling a brushless dc motor.

Arduino-based automation of a DNA extraction system.

PubMed

Kim, Kyung-Won; Lee, Mi-So; Ryu, Mun-Ho; Kim, Jong-Won

2015-01-01

There have been many studies to detect infectious diseases with the molecular genetic method. This study presents an automation process for a DNA extraction system based on microfluidics and magnetic bead, which is part of a portable molecular genetic test system. This DNA extraction system consists of a cartridge with chambers, syringes, four linear stepper actuators, and a rotary stepper actuator. The actuators provide a sequence of steps in the DNA extraction process, such as transporting, mixing, and washing for the gene specimen, magnetic bead, and reagent solutions. The proposed automation system consists of a PC-based host application and an Arduino-based controller. The host application compiles a G code sequence file and interfaces with the controller to execute the compiled sequence. The controller executes stepper motor axis motion, time delay, and input-output manipulation. It drives the stepper motor with an open library, which provides a smooth linear acceleration profile. The controller also provides a homing sequence to establish the motor's reference position, and hard limit checking to prevent any over-travelling. The proposed system was implemented and its functionality was investigated, especially regarding positioning accuracy and velocity profile.

Effects of the Orion Launch Abort Vehicle Plumes on Aerodynamics and Controllability

NASA Technical Reports Server (NTRS)

Vicker, Darby; Childs, Robert; Rogers,Stuart E.; McMullen, Matthew; Garcia, Joseph; Greathouse, James

2013-01-01

Characterization of the launch abort system of the Multi-purpose Crew Vehicle (MPCV) for control design and accurate simulation has provided a significant challenge to aerodynamicists and design engineers. The design space of the launch abort vehicle (LAV) includes operational altitudes from ground level to approximately 300,000 feet, Mach numbers from 0-9, and peak dynamic pressure near 1300psf during transonic flight. Further complicating the characterization of the aerodynamics and the resultant vehicle controllability is the interaction of the vehicle flowfield with the plumes of the two solid propellant motors that provide attitude control and the main propulsive impulse for the LAV. These interactions are a function of flight parameters such as Mach number, altitude, dynamic pressure, vehicle attitude, as well as parameters relating to the operation of the motors themselves - either as a function of time for the AM, or as a result of the flight control system requests for control torque from the ACM. This paper discusses the computational aerodynamic modeling of the aerodynamic interaction caused by main abort motor and the attitude control motor of the MPCV LAV, showing the effects of these interactions on vehicle controllability.

Electro-Mechanical Actuator. DC Resonant Link Controller

NASA Technical Reports Server (NTRS)

Schreiner, Kenneth E.

1996-01-01

This report summarizes the work performed on the 68 HP electro-mechanical actuator (EMA) system developed on NASA contract for the Electrical Actuation (ELA) Technology Bridging Program. The system was designed to demonstrate the capability of large, high power linear ELAs for applications such as Thrust Vector Control (TVC) on rocket engines. It consists of a motor controller, drive electronics and a linear actuator capable of up to 32,00 lbs loading at 7.4 inches/second. The drive electronics are based on the Resonant DC link concept and operate at a nominal frequency of 55 kHz. The induction motor is a specially designed high speed, low inertia motor capable of a 68 peak HP. The actuator was originally designed by MOOG Aerospace under an internal R & D program to meet Space Shuttle Main Engine (SSME) TVC requirements. The design was modified to meet this programs linear rate specification of 7.4 inches/second. The motor and driver were tested on a dynamometer at the Martin Marietta Space Systems facility. System frequency response, step response and force-velocity tests were conducted at the MOOG Aerospace facility. A complete description of the system and all test results can be found in the body of the report.

Final Report: MaRSPlus Sensor System Electrical Cable Management and Distributed Motor Control Computer Interface

NASA Technical Reports Server (NTRS)

Reil, Robin

2011-01-01

The success of JPL's Next Generation Imaging Spectrometer (NGIS) in Earth remote sensing has inspired a follow-on instrument project, the MaRSPlus Sensor System (MSS). One of JPL's responsibilities in the MSS project involves updating the documentation from the previous JPL airborne imagers to provide all the information necessary for an outside customer to operate the instrument independently. As part of this documentation update, I created detailed electrical cabling diagrams to provide JPL technicians with clear and concise build instructions and a database to track the status of cables from order to build to delivery. Simultaneously, a distributed motor control system is being developed for potential use on the proposed 2018 Mars rover mission. This system would significantly reduce the mass necessary for rover motor control, making more mass space available to other important spacecraft systems. The current stage of the project consists of a desktop computer talking to a single "cold box" unit containing the electronics to drive a motor. In order to test the electronics, I developed a graphical user interface (GUI) using MATLAB to allow a user to send simple commands to the cold box and display the responses received in a user-friendly format.

Reliable fuzzy H∞ control for active suspension of in-wheel motor driven electric vehicles with dynamic damping

NASA Astrophysics Data System (ADS)

Shao, Xinxin; Naghdy, Fazel; Du, Haiping

2017-03-01

A fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.

Precision electronic speed controller for an alternating-current

DOEpatents

Bolie, Victor W.

1988-01-01

A high precision controller for an alternating-current multi-phase electrical motor that is subject to a large inertial load. The controller was developed for and is particularly suitable for controlling, in a neutron chopper system, a heavy spinning rotor that must be rotated in phase-locked synchronism with a reference pulse train that is representative of an ac power supply signal having a meandering line frequency. The controller includes a shaft revolution sensor which provides a feedback pulse train representative of the actual speed of the motor. An internal digital timing signal generator provides a reference signal which is compared with the feedback signal in a computing unit to provide a motor control signal. In the preferred embodiment, the motor control signal is a weighted linear sum of a speed error voltage, a phase error voltage, and a drift error voltage, each of which is computed anew with each revolution of the motor shaft. The stator windings of the motor are driven by two amplifiers which are provided with input signals having the proper quadrature relationship by an exciter unit consisting of a voltage controlled oscillator, a binary counter, a pair of readonly memories, and a pair of digital-to-analog converters.

Visuomotor Transformation in the Fly Gaze Stabilization System

PubMed Central

Huston, Stephen J; Krapp, Holger G

2008-01-01

For sensory signals to control an animal's behavior, they must first be transformed into a format appropriate for use by its motor systems. This fundamental problem is faced by all animals, including humans. Beyond simple reflexes, little is known about how such sensorimotor transformations take place. Here we describe how the outputs of a well-characterized population of fly visual interneurons, lobula plate tangential cells (LPTCs), are used by the animal's gaze-stabilizing neck motor system. The LPTCs respond to visual input arising from both self-rotations and translations of the fly. The neck motor system however is involved in gaze stabilization and thus mainly controls compensatory head rotations. We investigated how the neck motor system is able to selectively extract rotation information from the mixed responses of the LPTCs. We recorded extracellularly from fly neck motor neurons (NMNs) and mapped the directional preferences across their extended visual receptive fields. Our results suggest that—like the tangential cells—NMNs are tuned to panoramic retinal image shifts, or optic flow fields, which occur when the fly rotates about particular body axes. In many cases, tangential cells and motor neurons appear to be tuned to similar axes of rotation, resulting in a correlation between the coordinate systems the two neural populations employ. However, in contrast to the primarily monocular receptive fields of the tangential cells, most NMNs are sensitive to visual motion presented to either eye. This results in the NMNs being more selective for rotation than the LPTCs. Thus, the neck motor system increases its rotation selectivity by a comparatively simple mechanism: the integration of binocular visual motion information. PMID:18651791

Design of permanent magnet synchronous motor speed loop controller based on sliding mode control algorithm

NASA Astrophysics Data System (ADS)

Qiang, Jiang; Meng-wei, Liao; Ming-jie, Luo

2018-03-01

Abstract.The control performance of Permanent Magnet Synchronous Motor will be affected by the fluctuation or changes of mechanical parameters when PMSM is applied as driving motor in actual electric vehicle,and external disturbance would influence control robustness.To improve control dynamic quality and robustness of PMSM speed control system, a new second order integral sliding mode control algorithm is introduced into PMSM vector control.The simulation results show that, compared with the traditional PID control,the modified control scheme optimized has better control precision and dynamic response ability and perform better with a stronger robustness facing external disturbance,it can effectively solve the traditional sliding mode variable structure control chattering problems as well.

California motor vehicle pollution control: emission control system warranty regulations waiver of federal preemption

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

Not Available

1979-10-23

The U.S. Environmental Protection Agency has decided that the California Air Resources Board's (CARB) regulations on emission control system warranties for motor vehicles and engines sold in the state fall within the scope of previous waivers of federal preemption under the Clean Air Act; that they are neither standards nor enforcement procedures; and that they need not receive a separate waiver of federal preemption for their enforcement. Adopted on 12/14/78, the CARB regulations apply to all California certified 1973 and subsequent model year motorcycles, light-, medium-, and heavy-duty motor vehicles and engines. The decision, which followed a 5/17/79 public hearingmore » in San Francisco, Calif., will affect not only California motor vehicle manufacturers and industries but also those outside the state which sell the subject vehicles in California, thus, making it one of nationwide scope and effect.« less

Learning fuzzy logic control system

NASA Technical Reports Server (NTRS)

Lung, Leung Kam

1994-01-01

The performance of the Learning Fuzzy Logic Control System (LFLCS), developed in this thesis, has been evaluated. The Learning Fuzzy Logic Controller (LFLC) learns to control the motor by learning the set of teaching values that are generated by a classical PI controller. It is assumed that the classical PI controller is tuned to minimize the error of a position control system of the D.C. motor. The Learning Fuzzy Logic Controller developed in this thesis is a multi-input single-output network. Training of the Learning Fuzzy Logic Controller is implemented off-line. Upon completion of the training process (using Supervised Learning, and Unsupervised Learning), the LFLC replaces the classical PI controller. In this thesis, a closed loop position control system of a D.C. motor using the LFLC is implemented. The primary focus is on the learning capabilities of the Learning Fuzzy Logic Controller. The learning includes symbolic representation of the Input Linguistic Nodes set and Output Linguistic Notes set. In addition, we investigate the knowledge-based representation for the network. As part of the design process, we implement a digital computer simulation of the LFLCS. The computer simulation program is written in 'C' computer language, and it is implemented in DOS platform. The LFLCS, designed in this thesis, has been developed on a IBM compatible 486-DX2 66 computer. First, the performance of the Learning Fuzzy Logic Controller is evaluated by comparing the angular shaft position of the D.C. motor controlled by a conventional PI controller and that controlled by the LFLC. Second, the symbolic representation of the LFLC and the knowledge-based representation for the network are investigated by observing the parameters of the Fuzzy Logic membership functions and the links at each layer of the LFLC. While there are some limitations of application with this approach, the result of the simulation shows that the LFLC is able to control the angular shaft position of the D.C. motor. Furthermore, the LFLC has better performance in rise time, settling time and steady state error than to the conventional PI controller. This abstract accurately represents the content of the candidate's thesis. I recommend its publication.

Relationship of ocular accommodation and motor skills performance in developmental coordination disorder.

PubMed

Rafique, Sara A; Northway, Nadia

2015-08-01

Ocular accommodation provides a well-focussed image, feedback for accurate eye movement control, and cues for depth perception. To accurately perform visually guided motor tasks, integration of ocular motor systems is essential. Children with motor coordination impairment are established to be at higher risk of accommodation anomalies. The aim of the present study was to examine the relationship between ocular accommodation and motor tasks, which are often overlooked, in order to better understand the problems experienced by children with motor coordination impairment. Visual function, gross and fine motor skills were assessed in children with developmental coordination disorder (DCD) and typically developing control children. Children with DCD had significantly poorer accommodation facility and amplitude dynamics compared to controls. Results indicate a relationship between impaired accommodation and motor skills. Specifically, accommodation anomalies correlated with visual motor, upper limb and fine dexterity task performance. Consequently, we argue accommodation anomalies influence the ineffective coordination of action and perception in DCD. Furthermore, reading disabilities were related to poorer motor performance. We postulate the role of the fastigial nucleus as a common pathway for accommodation and motor deficits. Implications of the findings and recommended visual screening protocols are discussed. Copyright © 2015 Elsevier B.V. All rights reserved.

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Regaining motor control in musician's dystonia by restoring sensorimotor organisation

PubMed Central

Rosenkranz, Karin; Butler, Katherine; Williamon, Aaron; Rothwell, John C.

2010-01-01

Professional musicians are an excellent human model of long term effects of skilled motor training on the structure and function of the motor system. However, such effects are accompanied by an increased risk of developing motor abnormalities, in particular musician's dystonia. Previously we found that there was an expanded spatial integration of proprioceptive input into the hand area of motor cortex (sensorimotor organisation, SMO) in healthy musicians as tested with a transcranial magnetic stimulation (TMS) paradigm. In musician's dystonia, this expansion was even larger, resulting in a complete lack of somatotopic organisation. We hypothesised that the disordered motor control in musician's dystonia is a consequence of the disordered SMO. In the present paper we test this idea by giving pianists with musician's dystonia 15 min experience of a modified proprioceptive training task. This restored SMO towards that seen in healthy pianists. Crucially, motor control of the affected task improved significantly and objectively as measured with a MIDI piano, and the amount of behavioural improvement was significantly correlated to the degree of sensorimotor re-organisation. In healthy pianists and non-musicians, the SMO and motor performance remained essentially unchanged. These findings suggest a link between the differentiation of SMO in the hand motor cortex and the degree of motor control of intensively practiced tasks in highly skilled individuals. PMID:19923295

Basic fluid system trainer

DOEpatents

Semans, Joseph P.; Johnson, Peter G.; LeBoeuf, Jr., Robert F.; Kromka, Joseph A.; Goron, Ronald H.; Hay, George D.

1993-01-01

A trainer, mounted and housed within a mobile console, is used to teach and reinforce fluid principles to students. The system trainer has two centrifugal pumps, each driven by a corresponding two-speed electric motor. The motors are controlled by motor controllers for operating the pumps to circulate the fluid stored within a supply tank through a closed system. The pumps may be connected in series or in parallel. A number of valves are also included within the system to effect different flow paths for the fluid. In addition, temperature and pressure sensing instruments are installed throughout the closed system for measuring the characteristics of the fluid, as it passes through the different valves and pumps. These measurements are indicated on a front panel mounted to the console, as a teaching aid, to allow the students to observe the characteristics of the system.

Permanent Magnet Synchronous Motor Driven by PWM Inverter with Voltage Booster with Regenerating Capability Augmented by Double-Layer Capacitor

NASA Astrophysics Data System (ADS)

Yamamoto, Kichiro; Shinohara, Katsuji; Furukawa, Shinya

An interior permanent magnet (IPM) motor drive system which has regenerating capability augmented by double-layer capacitors is proposed. The motor is driven by a PWM inverter with voltage booster. The voltage booster is used to control the dc link voltage in high speed region to improve the system efficiency. Furthermore, the double-layer capacitor as a storage element is combined with the PWM inverter with voltage booster to gain the efficiency for the regenerating operation. In this system, normally, the regenerative power does not return to a battery directly but is stored in the double-layer capacitors for the next motoring action to suppress the excessive regenerative current to battery, and the regenerative power returns to the battery when the regenerative energy is larger than a certain value. The charging current to the battery is controlled to a constant value to extend the life-time of the battery. The transient and steady state characteristics of the system for 1.5kW IPM motor are investigated by both simulation and experiment. Finally, the effectiveness of the system is demonstrated by the simulated and experimental results.

Heat engine and electric motor torque distribution strategy for a hybrid electric vehicle

DOEpatents

Boberg, Evan S.; Gebby, Brian P.

1999-09-28

A method is provided for controlling a power train system for a hybrid electric vehicle. The method includes a torque distribution strategy for controlling the engine and the electric motor. The engine and motor commands are determined based upon the accelerator position, the battery state of charge and the amount of engine and motor torque available. The amount of torque requested for the engine is restricted by a limited rate of rise in order to reduce the emissions from the engine. The limited engine torque is supplemented by motor torque in order to meet a torque request determined based upon the accelerator position.

A microRNA-initiated DNAzyme motor operating in living cells

NASA Astrophysics Data System (ADS)

Peng, Hanyong; Li, Xing-Fang; Zhang, Hongquan; Le, X. Chris

2017-03-01

Synthetic DNA motors have great potential to mimic natural protein motors in cells but the operation of synthetic DNA motors in living cells remains challenging and has not been demonstrated. Here we report a DNAzyme motor that operates in living cells in response to a specific intracellular target. The whole motor system is constructed on a 20 nm gold nanoparticle (AuNP) decorated with hundreds of substrate strands serving as DNA tracks and dozens of DNAzyme molecules each silenced by a locking strand. Intracellular interaction of a target molecule with the motor system initiates the autonomous walking of the motor on the AuNP. An example DNAzyme motor responsive to a specific microRNA enables amplified detection of the specific microRNA in individual cancer cells. Activated by specific intracellular targets, these self-powered DNAzyme motors will have diverse applications in the control and modulation of biological functions.

Emotional Learning Based Intelligent Controllers for Rotor Flux Oriented Control of Induction Motor

NASA Astrophysics Data System (ADS)

Abdollahi, Rohollah; Farhangi, Reza; Yarahmadi, Ali

2014-08-01

This paper presents design and evaluation of a novel approach based on emotional learning to improve the speed control system of rotor flux oriented control of induction motor. The controller includes a neuro-fuzzy system with speed error and its derivative as inputs. A fuzzy critic evaluates the present situation, and provides the emotional signal (stress). The controller modifies its characteristics so that the critics stress is reduced. The comparative simulation results show that the proposed controller is more robust and hence found to be a suitable replacement of the conventional PI controller for the high performance industrial drive applications.

A telerobotic digital controller system

NASA Technical Reports Server (NTRS)

Brown, Richard J.

1992-01-01

This system is a network of joint mounted dual axes digital servo-controllers (DDSC), providing control of various joints and end effectors of different robotic systems. This report provides description of and user required information for the Digital Controller System Network (DSCN) and, in particular, the DDSC, Model DDSC-2, developed to perform the controller functions. The DDSC can control 3 phase brushless or brush type DC motors, requiring up to 8 amps. Only four wires, two for power and 2 for serial communication, are required, except for local sensor and motor connections. This highly capable, very flexible, programmable servo-controller, contained on a single, compact printed circuit board measuring only 4.5 x 5.1 inches, is applicable to control systems of all types from sub-arc second precision pointing to control of robotic joints and end effectors. This document concentrates on the robotic applications for the DDSC.

A new development on measurement and control software of SANS BATAN spectrometer (SMARTer) in Serpong, Indonesia

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

Bharoto,; Suparno, Nadi; Putra, Edy Giri Rachman

In 2005, the main computer for data acquisition and control system of Small-angle Neutron Scattering (SANS) BATAN Spectrometer (SMARTer) was replaced since it halted to operate the spectrometer. According to this replacement, the new software for data acquisition and control system has been developed in-house. Visual Basic programming language is used in developing the software. In the last two years, many developments have been made both in the hardware and also the software to conduct the experiment is more effective and efficient. Lately, the previous motor controller card (ISA Card) was replaced with the programmable motor controller card (PCI Card)more » for driving one motor of position sensitive detector (PSD), eight motors of four collimators, and six motors of six pinhole discs. This new control system software makes all motors can be moved simultaneously, then it reduces significantly the consuming time of setting up the instrument before running the experiment. Along with that development, the new data acquisition software under MS Windows operating system is also developed to drive a beam stopper in X-Y directions as well as to read the equipment status such as position of the collimators and PSD, to acquire neutron counts on monitor and PSD detectors, and also to manage 12 samples position automatically. A timer object which is set in one second to read the equipment status via serial port of the computer (RS232C), and general purpose interface board (GPIB) for reading the total counts of each pixel of the PSD from histogram memory was used in this new software. The experiment result displayed in real time on the main window, and the data is saved in the special format for further data reduction and analysis. The new software has been implemented and performed for experiment using a preset count or preset time mode for absolute scattering intensity method.« less

A new development on measurement and control software of SANS BATAN spectrometer (SMARTer) in Serpong, Indonesia

NASA Astrophysics Data System (ADS)

Bharoto, Suparno, Nadi; Putra, Edy Giri Rachman

2015-04-01

In 2005, the main computer for data acquisition and control system of Small-angle Neutron Scattering (SANS) BATAN Spectrometer (SMARTer) was replaced since it halted to operate the spectrometer. According to this replacement, the new software for data acquisition and control system has been developed in-house. Visual Basic programming language is used in developing the software. In the last two years, many developments have been made both in the hardware and also the software to conduct the experiment is more effective and efficient. Lately, the previous motor controller card (ISA Card) was replaced with the programmable motor controller card (PCI Card) for driving one motor of position sensitive detector (PSD), eight motors of four collimators, and six motors of six pinhole discs. This new control system software makes all motors can be moved simultaneously, then it reduces significantly the consuming time of setting up the instrument before running the experiment. Along with that development, the new data acquisition software under MS Windows operating system is also developed to drive a beam stopper in X-Y directions as well as to read the equipment status such as position of the collimators and PSD, to acquire neutron counts on monitor and PSD detectors, and also to manage 12 samples position automatically. A timer object which is set in one second to read the equipment status via serial port of the computer (RS232C), and general purpose interface board (GPIB) for reading the total counts of each pixel of the PSD from histogram memory was used in this new software. The experiment result displayed in real time on the main window, and the data is saved in the special format for further data reduction and analysis. The new software has been implemented and performed for experiment using a preset count or preset time mode for absolute scattering intensity method.

A cortical circuit for voluntary laryngeal control: Implications for the evolution language.

PubMed

Hickok, Gregory

2017-02-01

The development of voluntary laryngeal control has been argued to be a key innovation in the evolution of language. Part of the evidence for this hypothesis comes from neuroscience. For example, comparative research has shown that humans have direct cortical innervation of motor neurons controlling the larynx, whereas nonhuman primates do not. Research on cortical motor control circuits has shown that the frontal lobe cortical motor system does not work alone; it is dependent on sensory feedback control circuits. Thus, the human brain must have evolved not only the required efferent motor pathway but also the cortical circuit for controlling those efferent signals. To fill this gap, I propose a link between the evolution of laryngeal control and neuroscience research on the human dorsal auditory-motor speech stream. Specifically, I argue that the dorsal stream Spt (Sylvian parietal-temporal) circuit evolved in step with the direct cortico-laryngeal control pathway and together represented a key advance in the evolution of speech. I suggest that a cortical laryngeal control circuit may play an important role in language by providing a prosodic frame for speech planning.

A mathematical tool to generate complex whole body motor tasks and test hypotheses on underlying motor planning.

PubMed

Tagliabue, Michele; Pedrocchi, Alessandra; Pozzo, Thierry; Ferrigno, Giancarlo

2008-01-01

In spite of the complexity of human motor behavior, difficulties in mathematical modeling have restricted to rather simple movements attempts to identify the motor planning criterion used by the central nervous system. This paper presents a novel-simulation technique able to predict the "desired trajectory" corresponding to a wide range of kinematic and kinetic optimality criteria for tasks involving many degrees of freedom and the coordination between goal achievement and balance maintenance. Employment of proper time discretization, inverse dynamic methods and constrained optimization technique are combined. The application of this simulator to a planar whole body pointing movement shows its effectiveness in managing system nonlinearities and instability as well as in ensuring the anatomo-physiological feasibility of predicted motor plans. In addition, the simulator's capability to simultaneously optimize competing movement aspects represents an interesting opportunity for the motor control community, in which the coexistence of several controlled variables has been hypothesized.

Motor system hyperconnectivity in juvenile myoclonic epilepsy: a cognitive functional magnetic resonance imaging study.

PubMed

Vollmar, Christian; O'Muircheartaigh, Jonathan; Barker, Gareth J; Symms, Mark R; Thompson, Pamela; Kumari, Veena; Duncan, John S; Janz, Dieter; Richardson, Mark P; Koepp, Matthias J

2011-06-01

Juvenile myoclonic epilepsy is the most frequent idiopathic generalized epilepsy syndrome. It is characterized by predominant myoclonic jerks of upper limbs, often provoked by cognitive activities, and typically responsive to treatment with sodium valproate. Neurophysiological, neuropsychological and imaging studies in juvenile myoclonic epilepsy have consistently pointed towards subtle abnormalities in the medial frontal lobes. Using functional magnetic resonance imaging with an executive frontal lobe paradigm, we investigated cortical activation patterns and interaction between cortical regions in 30 patients with juvenile myoclonic epilepsy and 26 healthy controls. With increasing cognitive demand, patients showed increasing coactivation of the primary motor cortex and supplementary motor area. This effect was stronger in patients still suffering from seizures, and was not seen in healthy controls. Patients with juvenile myoclonic epilepsy showed increased functional connectivity between the motor system and frontoparietal cognitive networks. Furthermore, we found impaired deactivation of the default mode network during cognitive tasks with persistent activation in medial frontal and central regions in patients. Coactivation in the motor cortex and supplementary motor area with increasing cognitive load and increased functional coupling between the motor system and cognitive networks provide an explanation how cognitive effort can cause myoclonic jerks in juvenile myoclonic epilepsy. The supplementary motor area represents the anatomical link between these two functional systems, and our findings may be the functional correlate of previously described structural abnormalities in the medial frontal lobe in juvenile myoclonic epilepsy.

Sensor-Motor Maps for Describing Linear Reflex Composition in Hopping.

PubMed

Schumacher, Christian; Seyfarth, André

2017-01-01

In human and animal motor control several sensory organs contribute to a network of sensory pathways modulating the motion depending on the task and the phase of execution to generate daily motor tasks such as locomotion. To better understand the individual and joint contribution of reflex pathways in locomotor tasks, we developed a neuromuscular model that describes hopping movements. In this model, we consider the influence of proprioceptive length (LFB), velocity (VFB) and force feedback (FFB) pathways of a leg extensor muscle on hopping stability, performance and efficiency (metabolic effort). Therefore, we explore the space describing the blending of the monosynaptic reflex pathway gains. We call this reflex parameter space a sensor-motor map . The sensor-motor maps are used to visualize the functional contribution of sensory pathways in multisensory integration. We further evaluate the robustness of these sensor-motor maps to changes in tendon elasticity, body mass, segment length and ground compliance. The model predicted that different reflex pathway compositions selectively optimize specific hopping characteristics (e.g., performance and efficiency). Both FFB and LFB were pathways that enable hopping. FFB resulted in the largest hopping heights, LFB enhanced hopping efficiency and VFB had the ability to disable hopping. For the tested case, the topology of the sensor-motor maps as well as the location of functionally optimal compositions were invariant to changes in system designs (tendon elasticity, body mass, segment length) or environmental parameters (ground compliance). Our results indicate that different feedback pathway compositions may serve different functional roles. The topology of the sensor-motor map was predicted to be robust against changes in the mechanical system design indicating that the reflex system can use different morphological designs, which does not apply for most robotic systems (for which the control often follows a specific design). Consequently, variations in body mechanics are permitted with consistent compositions of sensory feedback pathways. Given the variability in human body morphology, such variations are highly relevant for human motor control.

Wire Rope Failure on the Guppy Winch

NASA Technical Reports Server (NTRS)

Figert, John

2016-01-01

On January 6, 2016 at El Paso, the Guppy winch motor was changed. After completion of the operational checks, the load bar was being reinstalled on the cargo pallet when the motor control FORWARD relay failed in the energized position. The pallet was pinned at all locations (each pin has a load capacity of 16,000 lbs.) while the winch was running. The wire rope snapped before aircraft power could be removed. After disassembly, the fractured wire rope was shipped to ES4 lab for further characterization of the wire rope portion of the failure. The system was being operated without a clear understanding of the system capability and function. The proximate cause was the failure of the K48 -Forward Winch Control Relay in the energized position, which allowed the motor to continuously run without command from the hand controller, and operation of the winch system with both controllers connected to the system. This prevented the emergency stop feature on the hand controller from functioning as designed. An electrical checkout engineering work instruction was completed and identified the failed relay and confirmed the emergency stop only paused the system when the STOP button on both connected hand controllers were depressed simultaneously. The winch system incorporates a torque limiting clutch. It is suspected that the clutch did not slip and the motor did not stall or overload the current limiter. Aircraft Engineering is looking at how to change the procedures to provide a checkout of the clutch and set to a slip torque limit appropriate to support operations.

Understanding molecular motor walking along a microtubule: a themosensitive asymmetric Brownian motor driven by bubble formation.

PubMed

Arai, Noriyoshi; Yasuoka, Kenji; Koishi, Takahiro; Ebisuzaki, Toshikazu; Zeng, Xiao Cheng

2013-06-12

The "asymmetric Brownian ratchet model", a variation of Feynman's ratchet and pawl system, is invoked to understand the kinesin walking behavior along a microtubule. The model system, consisting of a motor and a rail, can exhibit two distinct binding states, namely, the random Brownian state and the asymmetric potential state. When the system is transformed back and forth between the two states, the motor can be driven to "walk" in one direction. Previously, we suggested a fundamental mechanism, that is, bubble formation in a nanosized channel surrounded by hydrophobic atoms, to explain the transition between the two states. In this study, we propose a more realistic and viable switching method in our computer simulation of molecular motor walking. Specifically, we propose a thermosensitive polymer model with which the transition between the two states can be controlled by temperature pulses. Based on this new motor system, the stepping size and stepping time of the motor can be recorded. Remarkably, the "walking" behavior observed in the newly proposed model resembles that of the realistic motor protein. The bubble formation based motor not only can be highly efficient but also offers new insights into the physical mechanism of realistic biomolecule motors.

Control System Damps Vibrations

NASA Technical Reports Server (NTRS)

Kopf, E. H., Jr.; Brown, T. K.; Marsh, E. L.

1983-01-01

New control system damps vibrations in rotating equipment with help of phase-locked-loop techniques. Vibrational modes are controlled by applying suitable currents to drive motor. Control signals are derived from sensors mounted on equipment.

Lyapunov exponent for aging process in induction motor

NASA Astrophysics Data System (ADS)

Bayram, Duygu; Ünnü, Sezen Yıdırım; Şeker, Serhat

2012-09-01

Nonlinear systems like electrical circuits and systems, mechanics, optics and even incidents in nature may pass through various bifurcations and steady states like equilibrium point, periodic, quasi-periodic, chaotic states. Although chaotic phenomena are widely observed in physical systems, it can not be predicted because of the nature of the system. On the other hand, it is known that, chaos is strictly dependent on initial conditions of the system [1-3]. There are several methods in order to define the chaos. Phase portraits, Poincaré maps, Lyapunov Exponents are the most common techniques. Lyapunov Exponents are the theoretical indicator of the chaos, named after the Russian mathematician Aleksandr Lyapunov (1857-1918). Lyapunov Exponents stand for the average exponential divergence or convergence of nearby system states, meaning estimating the quantitive measure of the chaotic attractor. Negative numbers of the exponents stand for a stable system whereas zero stands for quasi-periodic systems. On the other hand, at least if one of the exponents is positive, this situation is an indicator of the chaos. For estimating the exponents, the system should be modeled by differential equation but even in that case mathematical calculation of Lyapunov Exponents are not very practical and evaluation of these values requires a long signal duration [4-7]. For experimental data sets, it is not always possible to acquire the differential equations. There are several different methods in literature for determining the Lyapunov Exponents of the system [4, 5]. Induction motors are the most important tools for many industrial processes because they are cheap, robust, efficient and reliable. In order to have healthy processes in industrial applications, the conditions of the machines should be monitored and the different working conditions should be addressed correctly. To the best of our knowledge, researches related to Lyapunov exponents and electrical motors are mostly focused on the controlling the mechanical parameters of the electrical machines. Brushless DC motor (BLDCM) and the other general purpose permanent magnet (PM) motors are the most widely examined motors [1, 8, 9]. But the researches, about Lyapunov Exponent, subjected to the induction motors are mostly focused on the control theory of the motors. Flux estimation of rotor, external load disturbances and speed tracking and vector control position system are the main research areas for induction motors [10, 11, 12-14]. For all the data sets which can be collected from an induction motor, vibration data have the key role for understanding the mechanical behaviours like aging, bearing damage and stator insulation damage [15-18]. In this paper aging of an induction motor is investigated by using the vibration signals. The signals consist of new and aged motor data. These data are examined by their 2 dimensional phase portraits and the geometric interpretation is applied for detecting the Lyapunov Exponents. These values are compared in order to define the character and state estimation of the aging processes.

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

Kasemir, Kay; Pearson, Matthew R

For several years, the Control System Studio (CS-Studio) Scan System has successfully automated the operation of beam lines at the Oak Ridge National Laboratory (ORNL) High Flux Isotope Reactor (HFIR) and Spallation Neutron Source (SNS). As it is applied to additional beam lines, we need to support simultaneous adjustments of temperatures or motor positions. While this can be implemented via virtual motors or similar logic inside the Experimental Physics and Industrial Control System (EPICS) Input/Output Controllers (IOCs), doing so requires a priori knowledge of experimenters requirements. By adding support for the parallel control of multiple process variables (PVs) to themore » Scan System, we can better support ad hoc automation of experiments that benefit from such simultaneous PV adjustments.« less

A battery-run pulsed motor with inherent dynamic electronic switch control

NASA Astrophysics Data System (ADS)

Tripathi, K. C.; Lal, P.; Sarma, P. R.; Sharma, A. K.; Prakash, V.

1980-02-01

A new type of battery-run brushless ferrite-magnet dc motor system is described. Its rotor part consists of a few permanent ceramic (ferrite) magnets uniformly spread on the rim of a disk (wheel) and the stator part consists of electromagnets placed in such a way that when energized, they always form a repulsive couple to rotate the disk. A sensor coil is placed to give an induced pulse signal, which acts as an inherent dynamic switching time control for the automatic electronic control system. Control of speed, brake system, and safety measures are also discussed. Experimental values for the present system are given. Some possible applications are suggested.

Adaptive fuzzy dynamic surface control for the chaotic permanent magnet synchronous motor using Nussbaum gain

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

Luo, Shaohua

This paper is concerned with the problem of adaptive fuzzy dynamic surface control (DSC) for the permanent magnet synchronous motor (PMSM) system with chaotic behavior, disturbance and unknown control gain and parameters. Nussbaum gain is adopted to cope with the situation that the control gain is unknown. And the unknown items can be estimated by fuzzy logic system. The proposed controller guarantees that all the signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal. Finally, the numerical simulations indicate that the proposed scheme can suppress the chaosmore » of PMSM and show the effectiveness and robustness of the proposed method.« less

Adaptive fuzzy dynamic surface control for the chaotic permanent magnet synchronous motor using Nussbaum gain.

PubMed

Luo, Shaohua

2014-09-01

This paper is concerned with the problem of adaptive fuzzy dynamic surface control (DSC) for the permanent magnet synchronous motor (PMSM) system with chaotic behavior, disturbance and unknown control gain and parameters. Nussbaum gain is adopted to cope with the situation that the control gain is unknown. And the unknown items can be estimated by fuzzy logic system. The proposed controller guarantees that all the signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal. Finally, the numerical simulations indicate that the proposed scheme can suppress the chaos of PMSM and show the effectiveness and robustness of the proposed method.

The design of liquid drip speed monitoring device system based on MCU

NASA Astrophysics Data System (ADS)

Zheng, Shiyong; Li, Zhao; Li, Biqing

2017-08-01

This page proposed an intelligent transfusion control and monitoring system which designed by using AT89S52 micro controller as the core, using the keyboard and photoelectric sensor as the input module, digital tube and motor as the output module. The keyboard is independent and photoelectric sensor can offer reliable detection for liquid drop speed and the transfusion bottle page. When the liquid amount is less than the warning value, the system sounded the alarm, you can remove the alert by hand movement. With the advantages of speed controllable and input pulse power can be maintained of the motor, the system can control the bottle through the upper and lower slow-moving liquid drip to control the speed of intelligent purpose.

Development of rehabilitation training support system for occupational therapy of upper limb motor function

NASA Astrophysics Data System (ADS)

Morita, Yoshifumi; Hirose, Akinori; Uno, Takashi; Uchid, Masaki; Ukai, Hiroyuki; Matsui, Nobuyuki

2007-12-01

In this paper we propose a new rehabilitation training support system for upper limbs. The proposed system enables therapists to quantitatively evaluate the therapeutic effect of upper limb motor function during training, to easily change the load of resistance of training and to easily develop a new training program suitable for the subjects. For this purpose we develop control algorithms of training programs in the 3D force display robot. The 3D force display robot has parallel link mechanism with three motors. The control algorithm simulating sanding training is developed for the 3D force display robot. Moreover the teaching/training function algorithm is developed. It enables the therapists to easily make training trajectory suitable for subject's condition. The effectiveness of the developed control algorithms is verified by experiments.

Electromechanical actuation for thrust vector control applications

NASA Technical Reports Server (NTRS)

Roth, Mary Ellen

1990-01-01

The advanced launch system (ALS), is a launch vehicle that is designed to be cost-effective, highly reliable, and operationally efficient with a goal of reducing the cost per pound to orbit. An electromechanical actuation (EMA) system is being developed as an attractive alternative to the hydraulic systems. The controller will integrate 20 kHz resonant link power management and distribution (PMAD) technology and pulse population modulation (PPM) techniques to implement field-oriented vector control (FOVC) of a new advanced induction motor. The driver and the FOVC will be microprocessor controlled. For increased system reliability, a built-in test (BITE) capability will be included. This involves introducing testability into the design of a system such that testing is calibrated and exercised during the design, manufacturing, maintenance, and prelaunch activities. An actuator will be integrated with the motor controller for performance testing of the EMA thrust vector control (TVC) system. The EMA system and work proposed for the future are discussed.

Road load simulator tests of the Gould phase 1 functional model silicon controlled rectifier ac motor controller for electric vehicles

NASA Astrophysics Data System (ADS)

Gourash, F.

1984-02-01

The test results for a functional model ac motor controller for electric vehicles and a three-phase induction motor which were dynamically tested on the Lewis Research Center road load simulator are presented. Results show that the controller has the capability to meet the SAE-J227a D cycle test schedule and to accelerate a 1576-kg (3456-lb) simulated vehicle to a cruise speed of 88.5 km/hr (55 mph). Combined motor controller efficiency is 72 percent and the power inverter efficiency alone is 89 percent for the cruise region of the D cycle. Steady state test results for motoring, regeneration, and thermal data obtained by operating the simulator as a conventional dynamometer are in agreement with the contractor's previously reported data. The regeneration test results indicate that a reduction in energy requirements for urban driving cycles is attainable with regenerative braking. Test results and data in this report serve as a data base for further development of ac motor controllers and propulsion systems for electric vehicles. The controller uses state-of-the-art silicon controlled rectifier (SCR) power semiconductors and microprocessor-based logic and control circuitry. The controller was developed by Gould Laboratories under a Lewis contract for the Department of Energy's Electric and Hybrid Vehicle program.

Road load simulator tests of the Gould phase 1 functional model silicon controlled rectifier ac motor controller for electric vehicles

NASA Technical Reports Server (NTRS)

Gourash, F.

1984-01-01

The test results for a functional model ac motor controller for electric vehicles and a three-phase induction motor which were dynamically tested on the Lewis Research Center road load simulator are presented. Results show that the controller has the capability to meet the SAE-J227a D cycle test schedule and to accelerate a 1576-kg (3456-lb) simulated vehicle to a cruise speed of 88.5 km/hr (55 mph). Combined motor controller efficiency is 72 percent and the power inverter efficiency alone is 89 percent for the cruise region of the D cycle. Steady state test results for motoring, regeneration, and thermal data obtained by operating the simulator as a conventional dynamometer are in agreement with the contractor's previously reported data. The regeneration test results indicate that a reduction in energy requirements for urban driving cycles is attainable with regenerative braking. Test results and data in this report serve as a data base for further development of ac motor controllers and propulsion systems for electric vehicles. The controller uses state-of-the-art silicon controlled rectifier (SCR) power semiconductors and microprocessor-based logic and control circuitry. The controller was developed by Gould Laboratories under a Lewis contract for the Department of Energy's Electric and Hybrid Vehicle program.

A PC-controlled microwave tomographic scanner for breast imaging

NASA Astrophysics Data System (ADS)

Padhi, Shantanu; Howard, John; Fhager, A.; Bengtsson, Sebastian

2011-01-01

This article presents the design and development of a personal computer based controller for a microwave tomographic system for breast cancer detection. The system uses motorized, dual-polarized antennas and a custom-made GUI interface to control stepper motors, a wideband vector network analyzer (VNA) and to coordinate data acquisition and archival in a local MDSPlus database. Both copolar and cross-polar scattered field components can be measured directly. Experimental results are presented to validate the various functionalities of the scanner.

Idling speed control system of an internal combustion engine

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

Miyazaki, M.; Ishii, M.; Kako, H.

1986-09-16

This patent describes an idling speed control system of an internal combustion engine comprising: a valve device which controls the amount of intake air for the engine; an actuator which includes an electric motor for variably controlling the opening of the value device; rotation speed detector means for detecting the rotation speed of the engine; idling condition detector means for detecting the idling condition of the engine; feedback control means responsive to the detected output of the idling condition detector means for generating feedback control pulses to intermittently drive the electric motor so that the detected rotation speed of themore » engine under the idling condition may converge into a target idling rotation speed; and control means responsive to the output of detector means that detects an abnormally low rotation speed of the engine detected by the rotation speed detector means for generating control pulses that do not overlap the feedback control pulses to drive the electric motor in a predetermined direction.« less

The Digital Motion Control System for the Submillimeter Array Antennas

NASA Astrophysics Data System (ADS)

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

2013-09-01

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

Joining forces: Motor control meets mirror neurons. Comment on "Grasping synergies: A motor-control approach to the mirror neuron mechanism" by D'Ausilio, Bartoli, and Maffongelli

NASA Astrophysics Data System (ADS)

Casile, Antonino

2015-03-01

Several consistent and compelling experimental findings suggest that in primates the observation of actions or movements activates the observer's motor cortex (for a recent and very thorough review see [1]). One important piece of evidence was the discovery of mirror neurons, that are neurons in the macaque ventral pre-motor (area F5), motor and parietal cortices (area PFG) that respond both when the monkey executes a goal-directed motor act (e.g. breaking a peanut) or when it sees a similar action executed by others [2-5]. A similar system has been later reported also in humans ([6-8] but see also [9,10] for negative results).

Effect of biased feedback on motor imagery learning in BCI-teleoperation system.

PubMed

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2014-01-01

Feedback design is an important issue in motor imagery BCI systems. Regardless, to date it has not been reported how feedback presentation can optimize co-adaptation between a human brain and such systems. This paper assesses the effect of realistic visual feedback on users' BCI performance and motor imagery skills. We previously developed a tele-operation system for a pair of humanlike robotic hands and showed that BCI control of such hands along with first-person perspective visual feedback of movements can arouse a sense of embodiment in the operators. In the first stage of this study, we found that the intensity of this ownership illusion was associated with feedback presentation and subjects' performance during BCI motion control. In the second stage, we probed the effect of positive and negative feedback bias on subjects' BCI performance and motor imagery skills. Although the subject specific classifier, which was set up at the beginning of experiment, detected no significant change in the subjects' online performance, evaluation of brain activity patterns revealed that subjects' self-regulation of motor imagery features improved due to a positive bias of feedback and a possible occurrence of ownership illusion. Our findings suggest that in general training protocols for BCIs, manipulation of feedback can play an important role in the optimization of subjects' motor imagery skills.

Field Programmable Gate Array for Implementation of Redundant Advanced Digital Feedback Control

NASA Technical Reports Server (NTRS)

King, K. D.

2003-01-01

The goal of this effort was to develop a digital motor controller using field programmable gate arrays (FPGAs). This is a more rugged approach than a conventional microprocessor digital controller. FPGAs typically have higher radiation (rad) tolerance than both the microprocessor and memory required for a conventional digital controller. Furthermore, FPGAs can typically operate at higher speeds. (While speed is usually not an issue for motor controllers, it can be for other system controllers.) Other than motor power, only a 3.3-V digital power supply was used in the controller; no analog bias supplies were used. Since most of the circuit was implemented in the FPGA, no additional parts were needed other than the power transistors to drive the motor. The benefits that FPGAs provide over conventional designs-lower power and fewer parts-allow for smaller packaging and reduced weight and cost.

Orderly recruitment of motor units under optical control in vivo.

PubMed

Llewellyn, Michael E; Thompson, Kimberly R; Deisseroth, Karl; Delp, Scott L

2010-10-01

A drawback of electrical stimulation for muscle control is that large, fatigable motor units are preferentially recruited before smaller motor units by the lowest-intensity electrical cuff stimulation. This phenomenon limits therapeutic applications because it is precisely the opposite of the normal physiological (orderly) recruitment pattern; therefore, a mechanism to achieve orderly recruitment has been a long-sought goal in physiology, medicine and engineering. Here we demonstrate a technology for reliable orderly recruitment in vivo. We find that under optical control with microbial opsins, recruitment of motor units proceeds in the physiological recruitment sequence, as indicated by multiple independent measures of motor unit recruitment including conduction latency, contraction and relaxation times, stimulation threshold and fatigue. As a result, we observed enhanced performance and reduced fatigue in vivo. These findings point to an unanticipated new modality of neural control with broad implications for nervous system and neuromuscular physiology, disease research and therapeutic innovation.

Once more on the equilibrium-point hypothesis (lambda model) for motor control.

PubMed

Feldman, A G

1986-03-01

The equilibrium control hypothesis (lambda model) is considered with special reference to the following concepts: (a) the length-force invariant characteristic (IC) of the muscle together with central and reflex systems subserving its activity; (b) the tonic stretch reflex threshold (lambda) as an independent measure of central commands descending to alpha and gamma motoneurons; (c) the equilibrium point, defined in terms of lambda, IC and static load characteristics, which is associated with the notion that posture and movement are controlled by a single mechanism; and (d) the muscle activation area (a reformulation of the "size principle")--the area of kinematic and command variables in which a rank-ordered recruitment of motor units takes place. The model is used for the interpretation of various motor phenomena, particularly electromyographic patterns. The stretch reflex in the lambda model has no mechanism to follow-up a certain muscle length prescribed by central commands. Rather, its task is to bring the system to an equilibrium, load-dependent position. Another currently popular version defines the equilibrium point concept in terms of alpha motoneuron activity alone (the alpha model). Although the model imitates (as does the lambda model) spring-like properties of motor performance, it nevertheless is inconsistent with a substantial data base on intact motor control. An analysis of alpha models, including their treatment of motor performance in deafferented animals, reveals that they suffer from grave shortcomings. It is concluded that parameterization of the stretch reflex is a basis for intact motor control. Muscle deafferentation impairs this graceful mechanism though it does not remove the possibility of movement.

Aversive stimuli exacerbate defensive motor behaviour in motor conversion disorder.

PubMed

Blakemore, Rebekah L; Sinanaj, Indrit; Galli, Silvio; Aybek, Selma; Vuilleumier, Patrik

2016-12-01

Conversion disorder or functional neurological symptom disorder (FND) can affect the voluntary motor system, without an organic cause. Functional symptoms are thought to be generated unconsciously, arising from underlying psychological stressors. However, attempts to demonstrate a direct relationship between the limbic system and disrupted motor function in FND are lacking. We tested whether negative affect would exacerbate alterations of motor control and corresponding brain activations in individuals with FND. Ten patients and ten healthy controls produced an isometric precision-grip contraction at 10% of maximum force while either viewing visual feedback of their force output, or unpleasant or pleasant emotional images (without feedback). Force magnitude was continuously recorded together with change in brain activity using fMRI. For controls, force output decayed from the target level while viewing pleasant and unpleasant images. Patients however, maintained force at the target level without decay while viewing unpleasant images, indicating a pronounced effect of negative affect on force output in FND. This emotional modulation of force control was associated with different brain activation patterns between groups. Contrasting the unpleasant with the pleasant condition, controls showed increased activity in the inferior frontal cortex and pre-supplementary motor area, whereas patients had greater activity in the cerebellum (vermis), posterior cingulate cortex, and hippocampus. Engagement of a cerebellar-limbic network in patients is consistent with heightened processing of emotional salience, and supports the role of the cerebellum in freezing responses in the presence of aversive events. These data highlight a possible neural circuit through which psychological stressors elicit defensive behaviour and modulate motor function in FND. Copyright © 2016 Elsevier Ltd. All rights reserved.

Computational motor control: feedback and accuracy.

PubMed

Guigon, Emmanuel; Baraduc, Pierre; Desmurget, Michel

2008-02-01

Speed/accuracy trade-off is a ubiquitous phenomenon in motor behaviour, which has been ascribed to the presence of signal-dependent noise (SDN) in motor commands. Although this explanation can provide a quantitative account of many aspects of motor variability, including Fitts' law, the fact that this law is frequently violated, e.g. during the acquisition of new motor skills, remains unexplained. Here, we describe a principled approach to the influence of noise on motor behaviour, in which motor variability results from the interplay between sensory and motor execution noises in an optimal feedback-controlled system. In this framework, we first show that Fitts' law arises due to signal-dependent motor noise (SDN(m)) when sensory (proprioceptive) noise is low, e.g. under visual feedback. Then we show that the terminal variability of non-visually guided movement can be explained by the presence of signal-dependent proprioceptive noise. Finally, we show that movement accuracy can be controlled by opposite changes in signal-dependent sensory (SDN(s)) and SDN(m), a phenomenon that could be ascribed to muscular co-contraction. As the model also explains kinematics, kinetics, muscular and neural characteristics of reaching movements, it provides a unified framework to address motor variability.

Control of a multidegree of freedom standing wave ultrasonic motor driven precise positioning system

NASA Astrophysics Data System (ADS)

Ferreira, Antoine; Minotti, Patrice

1997-04-01

A newly developed positioning system incorporating a multidegree of freedom standing wave ultrasonic motor (SWUM) is presented and its advantageous features, operating principles, and some experimental results are described. The principle of motorization is based on the conversion, through frictional contact, of a stationary bending vibration sustained in a slotted metallic resonator, into rigid body displacements. A small autonomous multidegree of freedom nanopositioner using a SWUM motor is presented for fine positioning in scanning tunneling microscopy. The positioning system is achieved via the simultaneous operation of two identical pulse width modulation servo-control systems, each having a laser vibrometer position feedback loop. The closed loop position schemes are theoretically considered and their results are demonstrated and evaluated in practice. Evaluations of experimental tests indicate that a positioning resolution less than 100 nm are successfully achieved for an unlimited X-Y travel range with linear speeds between 1 mm s-1 and few cm s-1.

Sensorimotor Integration by Corticospinal System

PubMed Central

Moreno-López, Yunuen; Olivares-Moreno, Rafael; Cordero-Erausquin, Matilde; Rojas-Piloni, Gerardo

2016-01-01

The corticospinal (CS) tract is a complex system which targets several areas of the spinal cord. In particular, the CS descending projection plays a major role in motor command, which results from direct and indirect control of spinal cord pre-motor interneurons as well as motoneurons. But in addition, this system is also involved in a selective and complex modulation of sensory feedback. Despite recent evidence confirms that CS projections drive distinct segmental neural circuits that are part of the sensory and pre-motor pathways, little is known about the spinal networks engaged by the corticospinal tract (CST), the organization of CS projections, the intracortical microcircuitry, and the synaptic interactions in the sensorimotor cortex (SMC) that may encode different cortical outputs to the spinal cord. Here is stressed the importance of integrated approaches for the study of sensorimotor function of CS system, in order to understand the functional compartmentalization and hierarchical organization of layer 5 output neurons, who are key elements for motor control and hence, of behavior. PMID:27013985

Sensorimotor Integration by Corticospinal System.

PubMed

Moreno-López, Yunuen; Olivares-Moreno, Rafael; Cordero-Erausquin, Matilde; Rojas-Piloni, Gerardo

2016-01-01

The corticospinal (CS) tract is a complex system which targets several areas of the spinal cord. In particular, the CS descending projection plays a major role in motor command, which results from direct and indirect control of spinal cord pre-motor interneurons as well as motoneurons. But in addition, this system is also involved in a selective and complex modulation of sensory feedback. Despite recent evidence confirms that CS projections drive distinct segmental neural circuits that are part of the sensory and pre-motor pathways, little is known about the spinal networks engaged by the corticospinal tract (CST), the organization of CS projections, the intracortical microcircuitry, and the synaptic interactions in the sensorimotor cortex (SMC) that may encode different cortical outputs to the spinal cord. Here is stressed the importance of integrated approaches for the study of sensorimotor function of CS system, in order to understand the functional compartmentalization and hierarchical organization of layer 5 output neurons, who are key elements for motor control and hence, of behavior.

Development of a prototype magnetically suspended rotor ventricular assist device.

PubMed

Bearnson, G B; Maslen, E H; Olsen, D B; Allaire, P E; Khanwilkar, P S; Long, J W; Kim, H C

1996-01-01

A continuous flow centrifugal blood pump with magnetically suspended impeller has been designed, constructed, and tested. The system can be functionally divided into three subsystem designs: 1) centrifugal pump and flow paths, 2) magnetic bearings, and 3) brushless DC motor. The centrifugal pump is a Francis vane type design with a designed operating point of 6 L/min flow and 100 mmHg pressure rise at 2,300 RPM. Peak hydraulic efficiency is over 50%. The magnetic bearing system is an all active design with five axes of control. Rotor position sensors were developed as part of the system to provide feedback to a proportional-integral-derivative controller. The motor is a sensorless brushless DC motor. Back electromotive force voltage generated by the motor is used to provide commutation for the motor. No slots are employed in the motor design in order to reduce the radial force that the bearings must generate. Tests pumping blood in vitro were very encouraging; an index of hemolysis of 0.0086 +/- 0.0012 was measured. Further design refinement is needed to reduce power dissipation and size of the device. The concept of using magnetic bearings in a blood pump shows promise in a long-term implantable blood pump.

Torque sensor

NASA Astrophysics Data System (ADS)

Fgeppert, E.

1984-09-01

Mechanical means for sensing turning torque generated by the load forces in a rotary drive system is described. The sensing means is designed to operate with minimal effect on normal operation of the drive system. The invention can be employed in various drive systems, e.g., automotive engine-transmission power plants, electric motor-operated tools, and metal cutting machines. In such drive systems, the torque-sensing feature may be useful for actuation of various control devices, such as electric switches, mechanical clutches, brake actuators, fluid control valves, or audible alarms. The torque-sensing function can be used for safety overload relief, motor de-energization, engine fuel control transmission clutch actuation, remote alarm signal, tool breakage signal, etc.

Control of a 7-DOF Robotic Arm System With an SSVEP-Based BCI.

PubMed

Chen, Xiaogang; Zhao, Bing; Wang, Yijun; Xu, Shengpu; Gao, Xiaorong

2018-04-12

Although robot technology has been successfully used to empower people who suffer from motor disabilities to increase their interaction with their physical environment, it remains a challenge for individuals with severe motor impairment, who do not have the motor control ability to move robots or prosthetic devices by manual control. In this study, to mitigate this issue, a noninvasive brain-computer interface (BCI)-based robotic arm control system using gaze based steady-state visual evoked potential (SSVEP) was designed and implemented using a portable wireless electroencephalogram (EEG) system. A 15-target SSVEP-based BCI using a filter bank canonical correlation analysis (FBCCA) method allowed users to directly control the robotic arm without system calibration. The online results from 12 healthy subjects indicated that a command for the proposed brain-controlled robot system could be selected from 15 possible choices in 4[Formula: see text]s (i.e. 2[Formula: see text]s for visual stimulation and 2[Formula: see text]s for gaze shifting) with an average accuracy of 92.78%, resulting in a 15 commands/min transfer rate. Furthermore, all subjects (even naive users) were able to successfully complete the entire move-grasp-lift task without user training. These results demonstrated an SSVEP-based BCI could provide accurate and efficient high-level control of a robotic arm, showing the feasibility of a BCI-based robotic arm control system for hand-assistance.

Neural synchrony within the motor system: what have we learned so far?

PubMed Central

van Wijk, Bernadette C. M.; Beek, Peter J.; Daffertshofer, Andreas

2012-01-01

Synchronization of neural activity is considered essential for information processing in the nervous system. Both local and inter-regional synchronization are omnipresent in different frequency regimes and relate to a variety of behavioral and cognitive functions. Over the years, many studies have sought to elucidate the question how alpha/mu, beta, and gamma synchronization contribute to motor control. Here, we review these studies with the purpose to delineate what they have added to our understanding of the neural control of movement. We highlight important findings regarding oscillations in primary motor cortex, synchronization between cortex and spinal cord, synchronization between cortical regions, as well as abnormal synchronization patterns in a selection of motor dysfunctions. The interpretation of synchronization patterns benefits from combining results of invasive and non-invasive recordings, different data analysis tools, and modeling work. Importantly, although synchronization is deemed to play a vital role, it is not the only mechanism for neural communication. Spike timing and rate coding act together during motor control and should therefore both be accounted for when interpreting movement-related activity. PMID:22969718

A universal six-joint robot controller

NASA Technical Reports Server (NTRS)

Bihn, D. G.; Hsia, T. C.

1987-01-01

A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

Tissue-specific models of spinal muscular atrophy confirm a critical role of SMN in motor neurons from embryonic to adult stages.

PubMed

Laird, Angela S; Mackovski, Nikolce; Rinkwitz, Silke; Becker, Thomas S; Giacomotto, Jean

2016-05-01

Spinal muscular atrophy (SMA) is an autosomal recessive disease linked to survival motor neuron (SMN) protein deficiency. While SMN protein is expressed ubiquitously, its deficiency triggers tissue-specific hallmarks, including motor neuron death and muscle atrophy, leading to impaired motor functions and premature death. Here, using stable miR-mediated knockdown technology in zebrafish, we developed the first vertebrate system allowing transgenic spatio-temporal control of the smn1 gene. Using this new model it is now possible to investigate normal and pathogenic SMN function(s) in specific cell types, independently or in synergy with other cell populations. We took advantage of this new system to first test the effect of motor neuron or muscle-specific smn1 silencing. Anti-smn1 miRNA expression in motor neurons, but not in muscles, reproduced SMA hallmarks, including abnormal motor neuron development, poor motor function and premature death. Interestingly, smn1 knockdown in motor neurons also induced severe late-onset phenotypes including scoliosis-like body deformities, weight loss, muscle atrophy and, seen for the first time in zebrafish, reduction in the number of motor neurons, indicating motor neuron degeneration. Taken together, we have developed a new transgenic system allowing spatio-temporal control of smn1 expression in zebrafish, and using this model, we have demonstrated that smn1 silencing in motor neurons alone is sufficient to reproduce SMA hallmarks in zebrafish. It is noteworthy that this research is going beyond SMA as this versatile gene-silencing transgenic system can be used to knockdown any genes of interest, filling the gap in the zebrafish genetic toolbox and opening new avenues to study gene functions in this organism. © The Author 2016. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

System and Method for Tensioning a Robotically Actuated Tendon

NASA Technical Reports Server (NTRS)

Reiland, Matthew J. (Inventor); Diftler, Myron A. (Inventor)

2013-01-01

A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.

A video based feedback system for control of an active commutator during behavioral physiology.

PubMed

Roh, Mootaek; McHugh, Thomas J; Lee, Kyungmin

2015-10-12

To investigate the relationship between neural function and behavior it is necessary to record neuronal activity in the brains of freely behaving animals, a technique that typically involves tethering to a data acquisition system. Optimally this approach allows animals to behave without any interference of movement or task performance. Currently many laboratories in the cognitive and behavioral neuroscience fields employ commercial motorized commutator systems using torque sensors to detect tether movement induced by the trajectory behaviors of animals. In this study we describe a novel motorized commutator system which is automatically controlled by video tracking. To obtain accurate head direction data two light emitting diodes were used and video image noise was minimized by physical light source manipulation. The system calculates the rotation of the animal across a single trial by processing head direction data and the software, which calibrates the motor rotation angle, subsequently generates voltage pulses to actively untwist the tether. This system successfully provides a tether twist-free environment for animals performing behavioral tasks and simultaneous neural activity recording. To the best of our knowledge, it is the first to utilize video tracking generated head direction to detect tether twisting and compensate with a motorized commutator system. Our automatic commutator control system promises an affordable and accessible method to improve behavioral neurophysiology experiments, particularly in mice.

Motor Experience Reprograms Development of a Genetically-Altered Bilateral Corticospinal Motor Circuit

PubMed Central

Serradj, Najet

2016-01-01

Evidence suggests that motor experience plays a role in shaping development of the corticospinal system and voluntary motor control, which is a key motor function of the system. Here we used a mouse model with conditional forebrain deletion of the gene for EphA4 (Emx1-Cre:EphA4tm2Kldr), which regulates development of the laterality of corticospinal tract (CST). We combined study of Emx1-Cre:EphA4tm2Kldr with unilateral forelimb constraint during development to expand our understanding of experience-dependent CST development from both basic and translational perspectives. This mouse develops dense ipsilateral CST projections, a bilateral motor cortex motor representation, and bilateral motor phenotypes. Together these phenotypes can be used as readouts of corticospinal system organization and function and the changes brought about by experience. The Emx1-Cre:EphA4tm2Kldr mouse shares features with the common developmental disorder cerebral palsy: bilateral voluntary motor impairments and bilateral CST miswiring. Emx1-Cre:EphA4tm2Kldr mice with typical motor experiences during development display the bilateral phenotype of “mirror” reaching, because of a strongly bilateral motor cortex motor representation and a bilateral CST. By contrast, Emx1-Cre:EphA4tm2Kldr mice that experienced unilateral forelimb constraint from P1 to P30 and tested at maturity had a more contralateral motor cortex motor representation in each hemisphere; more lateralized CST projections; and substantially more lateralized/independent reaching movements. Changes in CST organization and function in this model can be explained by reduced synaptic competition of the CST from the side without developmental forelimb motor experiences. Using this model we show that unilateral constraint largely abrogated the effects of the genetic mutation on CST projections and thus demonstrates how robust and persistent experience-dependent development can be for the establishment of corticospinal system connections and voluntary control. Further, our findings inform the mechanisms of and strategies for developing behavioral therapies to treat bilateral movement impairments and CST miswiring in cerebral palsy. PMID:27673329

Motor Experience Reprograms Development of a Genetically-Altered Bilateral Corticospinal Motor Circuit.

PubMed

Serradj, Najet; Martin, John H

Evidence suggests that motor experience plays a role in shaping development of the corticospinal system and voluntary motor control, which is a key motor function of the system. Here we used a mouse model with conditional forebrain deletion of the gene for EphA4 (Emx1-Cre:EphA4tm2Kldr), which regulates development of the laterality of corticospinal tract (CST). We combined study of Emx1-Cre:EphA4tm2Kldr with unilateral forelimb constraint during development to expand our understanding of experience-dependent CST development from both basic and translational perspectives. This mouse develops dense ipsilateral CST projections, a bilateral motor cortex motor representation, and bilateral motor phenotypes. Together these phenotypes can be used as readouts of corticospinal system organization and function and the changes brought about by experience. The Emx1-Cre:EphA4tm2Kldr mouse shares features with the common developmental disorder cerebral palsy: bilateral voluntary motor impairments and bilateral CST miswiring. Emx1-Cre:EphA4tm2Kldr mice with typical motor experiences during development display the bilateral phenotype of "mirror" reaching, because of a strongly bilateral motor cortex motor representation and a bilateral CST. By contrast, Emx1-Cre:EphA4tm2Kldr mice that experienced unilateral forelimb constraint from P1 to P30 and tested at maturity had a more contralateral motor cortex motor representation in each hemisphere; more lateralized CST projections; and substantially more lateralized/independent reaching movements. Changes in CST organization and function in this model can be explained by reduced synaptic competition of the CST from the side without developmental forelimb motor experiences. Using this model we show that unilateral constraint largely abrogated the effects of the genetic mutation on CST projections and thus demonstrates how robust and persistent experience-dependent development can be for the establishment of corticospinal system connections and voluntary control. Further, our findings inform the mechanisms of and strategies for developing behavioral therapies to treat bilateral movement impairments and CST miswiring in cerebral palsy.

Implementation of Temperature Sequential Controller on Variable Speed Drive

NASA Astrophysics Data System (ADS)

Cheong, Z. X.; Barsoum, N. N.

2008-10-01

There are many pump and motor installations with quite extensive speed variation, such as Sago conveyor, heating, ventilation and air conditioning (HVAC) and water pumping system. A common solution for these applications is to run several fixed speed motors in parallel, with flow control accomplish by turning the motors on and off. This type of control method causes high in-rush current, and adds a risk of damage caused by pressure transients. This paper explains the design and implementation of a temperature speed control system for use in industrial and commercial sectors. Advanced temperature speed control can be achieved by using ABB ACS800 variable speed drive-direct torque sequential control macro, programmable logic controller and temperature transmitter. The principle of direct torque sequential control macro (DTC-SC) is based on the control of torque and flux utilizing the stator flux field orientation over seven preset constant speed. As a result of continuous comparison of ambient temperature to the references temperatures; electromagnetic torque response is particularly fast to the motor state and it is able maintain constant speeds. Experimental tests have been carried out by using ABB ACS800-U1-0003-2, to validate the effectiveness and dynamic respond of ABB ACS800 against temperature variation, loads, and mechanical shocks.

Recurrent neural network control for LCC-resonant ultrasonic motor drive.

PubMed

Lin, F J; Wai, R J; Hong, C M

2000-01-01

A newly designed driving circuit for the traveling wave-type ultrasonic motor (USM), which consists of a push-pull DC-DC power converter and a two-phase voltage source inverter using one inductance and two capacitances (LCC) resonant technique, is presented in this study. Moreover, because the dynamic characteristics of the USM are difficult to obtain and the motor parameters are time varying, a recurrent neural network (RNN) controller is proposed to control the USM drive system. In the proposed controller, the dynamic backpropagation algorithm is adopted to train the RNN on-line using the proposed delta adaptation law. Furthermore, to guarantee the convergence of tracking error, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning rates for the training of the RNN. Finally, the effectiveness of the RNN-controlled USM drive system is demonstrated by some experimental results.

Use of an AC induction motor system for producing finger movements in human subjects.

PubMed

Proudlock, F A; Scott, J J

1998-12-01

This report describes the set-up and evaluation of a novel system for producing precise finger movements, for tests of movement perception. The specifications were to construct a system using commercially available components that were easy to use but which offered both flexibility and also high precision control. The system was constructed around an industrial AC induction motor with an optical encoder, controlled by an AC servo digital control module that could be programmed using a simple, high-level language. This set-up fulfilled the requirements regarding position and velocity control for a range of movements and also the facility for the subject to move the joint voluntarily while still attached to the motor. However a number of problems were encountered, the most serious being the level of vibration and the inability to vary the torque during movements. The vibration was reduced to the point where it did not affect the subject, by the introduction of mechanical dampening using an anti-vibration coupling and a pneumatic splint. The torque control could not be modified during rotation and so the system could only be operated using constant torque for any given movement.

[Implementation of control system and software design for limbs rehabilitation training based on PCI-1240].

PubMed

Zhu, Wenchao; Xu, Xiulin; Hu, Xiufang; An, Meijun

2017-06-01

This article presents the design of a motion control system for seated lower-limb rehabilitation training. The system is composed of lower limb exoskeleton, motor drive circuit, program of motion control, and so forth. The power of lower limbs joints is provided by six motors. The PCI-1240 motion control card is used as the core. This study achieved repetitive rotation training and gait trajectory training of lower limbs joints, of which the velocity, angle and time can be accurately controlled and adjusted. The experimental results showed that the motion control system can meet the requirement of repetitive rehabilitation training for patients with lower limb dysfunction. This article provides a new method to the research of motion control system in rehabilitation training, which can promote industrial automation technique to be used for health care, and conducive to the further study of the rehabilitation robot.

Motor Control Training for the Shoulder with Smart Garments.

PubMed

Wang, Qi; De Baets, Liesbet; Timmermans, Annick; Chen, Wei; Giacolini, Luca; Matheve, Thomas; Markopoulos, Panos

2017-07-22

Wearable technologies for posture monitoring and posture correction are emerging as a way to support and enhance physical therapy treatment, e.g., for motor control training in neurological disorders or for treating musculoskeletal disorders, such as shoulder, neck, or lower back pain. Among the various technological options for posture monitoring, wearable systems offer potential advantages regarding mobility, use in different contexts and sustained tracking in daily life. We describe the design of a smart garment named Zishi to monitor compensatory movements and evaluate its applicability for shoulder motor control training in a clinical setting. Five physiotherapists and eight patients with musculoskeletal shoulder pain participated in the study. The attitudes of patients and therapists towards the system were measured using standardized survey instruments. The results indicate that patients and their therapists consider Zishi a credible aid for rehabilitation and patients expect it will help towards their recovery. The system was perceived as highly usable and patients were motivated to train with the system. Future research efforts on the improvement of the customization of feedback location and modality, and on the evaluation of Zishi as support for motor learning in shoulder patients, should be made.

The propulsive design aspects on the world's first direct drive hybrid airplane

NASA Astrophysics Data System (ADS)

Nanda, Ankit

The purpose of this thesis is to design a safe technology demonstrator by implementing a direct drive propulsion system for a gas-electric hybrid aircraft. This system was integrated on the Embry-Riddle Eco-Eagle for the Green Flight Challenge 2011. The aim of the system is to allow the pilot to use the electric motor as an independent power source to fly the aircraft once at cruise altitude, while having a gas engine to allow for higher power capability. The system was designed to incorporate the motor and the motor control unit provided by Flight Design and Drivetek AG alongside a Rotax 912ULS engine. The hardware is integrated such that the pilot would be able to fly the aircraft with controls similar to conventional general aviation aircraft. This thesis discusses the method of integration of the hybrid powerplant system into a Stemme S-10 and describes the various components of that system.

Speech motor development: Integrating muscles, movements, and linguistic units.

PubMed

Smith, Anne

2006-01-01

A fundamental problem for those interested in human communication is to determine how ideas and the various units of language structure are communicated through speaking. The physiological concepts involved in the control of muscle contraction and movement are theoretically distant from the processing levels and units postulated to exist in language production models. A review of the literature on adult speakers suggests that they engage complex, parallel processes involving many units, including sentence, phrase, syllable, and phoneme levels. Infants must develop multilayered interactions among language and motor systems. This discussion describes recent studies of speech motor performance relative to varying linguistic goals during the childhood, teenage, and young adult years. Studies of the developing interactions between speech motor and language systems reveal both qualitative and quantitative differences between the developing and the mature systems. These studies provide an experimental basis for a more comprehensive theoretical account of how mappings between units of language and units of action are formed and how they function. Readers will be able to: (1) understand the theoretical differences between models of speech motor control and models of language processing, as well as the nature of the concepts used in the two different kinds of models, (2) explain the concept of coarticulation and state why this phenomenon has confounded attempts to determine the role of linguistic units, such as syllables and phonemes, in speech production, (3) describe the development of speech motor performance skills and specify quantitative and qualitative differences between speech motor performance in children and adults, and (4) describe experimental methods that allow scientists to study speech and limb motor control, as well as compare units of action used to study non-speech and speech movements.

e100 NeuroRobotic system.

PubMed

Stein, Joel

2009-01-01

Therapy incorporating the repeated practice of motor tasks has been found to enhance motor function after stroke. This type of therapy may be facilitated by robotic devices and several such devices are being developed for use in rehabilitation. The Myomo e100 NeuroRobotic system is a novel device developed to provide assistance during elbow movements in stroke survivors. The device uses surface electromyographic signals to control a powered elbow orthosis. Data from a pilot study reveals that the device can be used successfully by stroke survivors and suggests that it may be effective in helping to restore motor control after stroke. Further studies are needed to confirm these preliminary results.

Object-Oriented Control System Design Using On-Line Training of Artificial Neural Networks

NASA Technical Reports Server (NTRS)

Rubaai, Ahmed

1997-01-01

This report deals with the object-oriented model development of a neuro-controller design for permanent magnet (PM) dc motor drives. The system under study is described as a collection of interacting objects. Each object module describes the object behaviors, called methods. The characteristics of the object are included in its variables. The knowledge of the object exists within its variables, and the performance is determined by its methods. This structure maps well to the real world objects that comprise the system being modeled. A dynamic learning architecture that possesses the capabilities of simultaneous on-line identification and control is incorporated to enforce constraints on connections and control the dynamics of the motor. The control action is implemented "on-line", in "real time" in such a way that the predicted trajectory follows a specified reference model. A design example of controlling a PM dc motor drive on-line shows the effectiveness of the design tool. This will therefore be very useful in aerospace applications. It is expected to provide an innovative and noval software model for the rocket engine numerical simulator executive.

Motor function domains in alternating hemiplegia of childhood.

PubMed

Masoud, Melanie; Gordon, Kelly; Hall, Amanda; Jasien, Joan; Lardinois, Kara; Uchitel, Julie; Mclean, Melissa; Prange, Lyndsey; Wuchich, Jeffrey; Mikati, Mohamad A

2017-08-01

To characterize motor function profiles in alternating hemiplegia of childhood, and to investigate interrelationships between these domains and with age. We studied a cohort of 23 patients (9 males, 14 females; mean age 9y 4mo, range 4mo-43y) who underwent standardized tests to assess gross motor, upper extremity motor control, motor speech, and dysphagia functions. Gross Motor Function Classification System (GMFCS), Gross Motor Function Measure-88 (GMFM-88), Manual Ability Classification System (MACS), and Revised Melbourne Assessment (MA2) scales manifested predominantly mild impairments; motor speech, moderate to severe; Modified Dysphagia Outcome and Severity Scale (M-DOSS), mild-to moderate deficits. GMFCS correlated with GMFM-88 scores (Pearson's correlation, p=0.002), MACS (p=0.038), and MA2 fluency (p=0.005) and accuracy (p=0.038) scores. GMFCS did not correlate with motor speech (p=0.399), MA2 dexterity (p=0.247), range of motion (p=0.063), or M-DOSS (p=0.856). Motor speech was more severely impaired than the GMFCS (p<0.013). There was no correlation between any of the assessment tools and age (p=0.210-0.798). Our data establish a detailed profile of motor function in alternating hemiplegia of childhood, argue against the presence of worse motor function in older patients, identify tools helpful in evaluating this population, and identify oropharyngeal function as the more severely affected domain, suggesting that brain areas controlling this function are more affected than others. © 2017 Mac Keith Press.

Continuous Three-Dimensional Control of a Virtual Helicopter Using a Motor Imagery Based Brain-Computer Interface

PubMed Central

Doud, Alexander J.; Lucas, John P.; Pisansky, Marc T.; He, Bin

2011-01-01

Brain-computer interfaces (BCIs) allow a user to interact with a computer system using thought. However, only recently have devices capable of providing sophisticated multi-dimensional control been achieved non-invasively. A major goal for non-invasive BCI systems has been to provide continuous, intuitive, and accurate control, while retaining a high level of user autonomy. By employing electroencephalography (EEG) to record and decode sensorimotor rhythms (SMRs) induced from motor imaginations, a consistent, user-specific control signal may be characterized. Utilizing a novel method of interactive and continuous control, we trained three normal subjects to modulate their SMRs to achieve three-dimensional movement of a virtual helicopter that is fast, accurate, and continuous. In this system, the virtual helicopter's forward-backward translation and elevation controls were actuated through the modulation of sensorimotor rhythms that were converted to forces applied to the virtual helicopter at every simulation time step, and the helicopter's angle of left or right rotation was linearly mapped, with higher resolution, from sensorimotor rhythms associated with other motor imaginations. These different resolutions of control allow for interplay between general intent actuation and fine control as is seen in the gross and fine movements of the arm and hand. Subjects controlled the helicopter with the goal of flying through rings (targets) randomly positioned and oriented in a three-dimensional space. The subjects flew through rings continuously, acquiring as many as 11 consecutive rings within a five-minute period. In total, the study group successfully acquired over 85% of presented targets. These results affirm the effective, three-dimensional control of our motor imagery based BCI system, and suggest its potential applications in biological navigation, neuroprosthetics, and other applications. PMID:22046274

Muscle synergies in children with dystonia capture "healthy" patterns regardless the altered motor performance.

PubMed

Lunardini, Francesca; Casellato, Claudia; Bertucco, Matteo; Sanger, Terence D; Pedrocchi, Alessandra

2015-01-01

Muscle synergies are hypothesized to represent motor modules recruited by the nervous system to flexibly perform subtasks necessary to achieve movement. Muscle synergy analysis may offer a better view of the neural structure underlying motor behaviors and how they change in motor deficits and rehabilitation. The aim of this study is to investigate if muscle synergies are able to encode regularities in the musculoskeletal system organization and dynamic behavior of patients with dystonia, or if they are altered as a consequence of the nervous system dysfunction in dystonia. To do so, we applied muscle synergies analysis to muscle activity recorded during the execution of upper limb writing tasks in 10 children with dystonia and 9 age-matched healthy controls. We show that, although children with dystonia present movement abnormalities compared to control subjects, the muscle synergies extracted from the two groups are very similar, and that the two groups share a significant number of motor modules. Our finding therefore suggests that a regular modular organization of upper limb muscle coordination is preserved for childhood dystonia.

Mechanism controller system for the optical spectroscopic and infrared remote imaging system instrument on board the Rosetta space mission

NASA Astrophysics Data System (ADS)

Castro Marín, J. M.; Brown, V. J. G.; López Jiménez, A. C.; Rodríguez Gómez, J.; Rodrigo, R.

2001-05-01

The optical, spectroscopic infrared remote imaging system (OSIRIS) is an instrument carried on board the European Space Agency spacecraft Rosetta that will be launched in January 2003 to study in situ the comet Wirtanen. The electronic design of the mechanism controller board (MCB) system of the two OSIRIS optical cameras, the narrow angle camera, and the wide angle camera, is described here. The system is comprised of two boards mounted on an aluminum frame as part of an electronics box that contains the power supply and the digital processor unit of the instrument. The mechanisms controlled by the MCB for each camera are the front door assembly and a filter wheel assembly. The front door assembly for each camera is driven by a four phase, permanent magnet stepper motor. Each filter wheel assembly consists of two, eight filter wheels. Each wheel is driven by a four phase, variable reluctance stepper motor. Each motor, for all the assemblies, also contains a redundant set of four stator phase windings that can be energized separately or in parallel with the main windings. All stepper motors are driven in both directions using the full step unipolar mode of operation. The MCB also performs general housekeeping data acquisition of the OSIRIS instrument, i.e., mechanism position encoders and temperature measurements. The electronic design application used is quite new due to use of a field programmable gate array electronic devices that avoid the use of the now traditional system controlled by microcontrollers and software. Electrical tests of the engineering model have been performed successfully and the system is ready for space qualification after environmental testing. This system may be of interest to institutions involved in future space experiments with similar needs for mechanisms control.

Motor system evolution and the emergence of high cognitive functions.

PubMed

Mendoza, Germán; Merchant, Hugo

2014-11-01

In human and nonhuman primates, the cortical motor system comprises a collection of brain areas primarily related to motor control. Existing evidence suggests that no other mammalian group has the number, extension, and complexity of motor-related areas observed in the frontal lobe of primates. Such diversity is probably related to the wide behavioral flexibility that primates display. Indeed, recent comparative anatomical, psychophysical, and neurophysiological studies suggest that the evolution of the motor cortical areas closely correlates with the emergence of high cognitive abilities. Advances in understanding the cortical motor system have shown that these areas are also related to functions previously linked to higher-order associative areas. In addition, experimental observations have shown that the classical distinction between perceptual and motor functions is not strictly followed across cortical areas. In this paper, we review evidence suggesting that evolution of the motor system had a role in the shaping of different cognitive functions in primates. We argue that the increase in the complexity of the motor system has contributed to the emergence of new abilities observed in human and nonhuman primates, including the recognition and imitation of the actions of others, speech perception and production, and the execution and appreciation of the rhythmic structure of music. Copyright © 2014 Elsevier Ltd. All rights reserved.

Audio-vocal interaction in single neurons of the monkey ventrolateral prefrontal cortex.

PubMed

Hage, Steffen R; Nieder, Andreas

2015-05-06

Complex audio-vocal integration systems depend on a strong interconnection between the auditory and the vocal motor system. To gain cognitive control over audio-vocal interaction during vocal motor control, the PFC needs to be involved. Neurons in the ventrolateral PFC (VLPFC) have been shown to separately encode the sensory perceptions and motor production of vocalizations. It is unknown, however, whether single neurons in the PFC reflect audio-vocal interactions. We therefore recorded single-unit activity in the VLPFC of rhesus monkeys (Macaca mulatta) while they produced vocalizations on command or passively listened to monkey calls. We found that 12% of randomly selected neurons in VLPFC modulated their discharge rate in response to acoustic stimulation with species-specific calls. Almost three-fourths of these auditory neurons showed an additional modulation of their discharge rates either before and/or during the monkeys' motor production of vocalization. Based on these audio-vocal interactions, the VLPFC might be well positioned to combine higher order auditory processing with cognitive control of the vocal motor output. Such audio-vocal integration processes in the VLPFC might constitute a precursor for the evolution of complex learned audio-vocal integration systems, ultimately giving rise to human speech. Copyright © 2015 the authors 0270-6474/15/357030-11$15.00/0.

Motor control theories and their applications.

PubMed

Latash, Mark L; Levin, Mindy F; Scholz, John P; Schöner, Gregor

2010-01-01

We describe several influential hypotheses in the field of motor control including the equilibrium-point (referent configuration) hypothesis, the uncontrolled manifold hypothesis, and the idea of synergies based on the principle of motor abundance. The equilibrium-point hypothesis is based on the idea of control with thresholds for activation of neuronal pools; it provides a framework for analysis of both voluntary and involuntary movements. In particular, control of a single muscle can be adequately described with changes in the threshold of motor unit recruitment during slow muscle stretch (threshold of the tonic stretch reflex). Unlike the ideas of internal models, the equilibrium-point hypothesis does not assume neural computations of mechanical variables. The uncontrolled manifold hypothesis is based on the dynamic system approach to movements; it offers a toolbox to analyze synergic changes within redundant sets of elements related to stabilization of potentially important performance variables. The referent configuration hypothesis and the principle of abundance can be naturally combined into a single coherent scheme of control of multi-element systems. A body of experimental data on healthy persons and patients with movement disorders are reviewed in support of the mentioned hypotheses. In particular, movement disorders associated with spasticity are considered as consequences of an impaired ability to shift threshold of the tonic stretch reflex within the whole normal range. Technical details and applications of the mentioned hypo-theses to studies of motor learning are described. We view the mentioned hypotheses as the most promising ones in the field of motor control, based on a solid physical and neurophysiological foundation.

Optimal speech motor control and token-to-token variability: a Bayesian modeling approach.

PubMed

Patri, Jean-François; Diard, Julien; Perrier, Pascal

2015-12-01

The remarkable capacity of the speech motor system to adapt to various speech conditions is due to an excess of degrees of freedom, which enables producing similar acoustical properties with different sets of control strategies. To explain how the central nervous system selects one of the possible strategies, a common approach, in line with optimal motor control theories, is to model speech motor planning as the solution of an optimality problem based on cost functions. Despite the success of this approach, one of its drawbacks is the intrinsic contradiction between the concept of optimality and the observed experimental intra-speaker token-to-token variability. The present paper proposes an alternative approach by formulating feedforward optimal control in a probabilistic Bayesian modeling framework. This is illustrated by controlling a biomechanical model of the vocal tract for speech production and by comparing it with an existing optimal control model (GEPPETO). The essential elements of this optimal control model are presented first. From them the Bayesian model is constructed in a progressive way. Performance of the Bayesian model is evaluated based on computer simulations and compared to the optimal control model. This approach is shown to be appropriate for solving the speech planning problem while accounting for variability in a principled way.

Realization of station for testing asynchronous three-phase motors

NASA Astrophysics Data System (ADS)

Wróbel, A.; Surma, W.

2016-08-01

Nowadays, you cannot imagine the construction and operation of machines without the use of electric motors [13-15]. The proposed position is designed to allow testing of asynchronous three-phase motors. The position consists of a tested engine and the engine running as a load, both engines combined with a mechanical clutch [2]. The value of the load is recorded by measuring shaft created with Strain Gauge Bridge. This concept will allow to study the basic parameters of the engines, visualization motor parameters both vector and scalar controlled, during varying load drive system. In addition, registration during the variable physical parameters of the working electric motor, controlled by a frequency converter or controlled by a contactor will be possible. Position is designed as a teaching and research position to characterize the engines. It will be also possible selection of inverter parameters.

Effect of Artificial Gravity: Central Nervous System Neurochemical Studies

NASA Technical Reports Server (NTRS)

Fox, Robert A.; D'Amelio, Fernando; Eng, Lawrence F.

1997-01-01

The major objective of this project was to assess chemical and morphological modifications occurring in muscle receptors and the central nervous system of animals subjected to altered gravity (2 x Earth gravity produced by centrifugation and simulated micro gravity produced by hindlimb suspension). The underlying hypothesis for the studies was that afferent (sensory) information sent to the central nervous system by muscle receptors would be changed in conditions of altered gravity and that these changes, in turn, would instigate a process of adaptation involving altered chemical activity of neurons and glial cells of the projection areas of the cerebral cortex that are related to inputs from those muscle receptors (e.g., cells in the limb projection areas). The central objective of this research was to expand understanding of how chronic exposure to altered gravity, through effects on the vestibular system, influences neuromuscular systems that control posture and gait. The project used an approach in which molecular changes in the neuromuscular system were related to the development of effective motor control by characterizing neurochemical changes in sensory and motor systems and relating those changes to motor behavior as animals adapted to altered gravity. Thus, the objective was to identify changes in central and peripheral neuromuscular mechanisms that are associated with the re-establishment of motor control which is disrupted by chronic exposure to altered gravity.

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1992-01-01

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

A parametric study of motor starting for a 2- to 10-kilowatt Brayton power system

NASA Technical Reports Server (NTRS)

Cantoni, D. A.

1971-01-01

A study of the motor starting of a Brayton cycle power system was conducted to provide estimates of system sensitivity to several controllable parameters. These sensitivity estimates were used as a basis for selection of an optimum motor-start scheme to be implemented on the 2- to 10-kilowatt Brayton power system designed and presently under test. The studies were conducted with an analog simulation of the Brayton power system and covered a range of frequencies from 400 Hz (33 percent design) to 1200 Hz (design), voltage-to-frequency ratios of 0.050 (50 percent design) to 0.100 (design), turbine-inlet temperatures of 800 K (1440 R, 70 percent design) to 1140 K (2060 deg R, design), and prestart pressure levels of 14.5 psia to 29.0 psia. These studies have shown the effect of selected system variables on motor starting. The final selection of motor-start variables can therefore be made on the basis of motor-start inverter complexity, battery size and weight, desired steady-state pressure level after startup, and other operational limitations. In general, the study showed the time required for motor starting to be inversely proportional to motor frequency, voltage, turbine-inlet temperature, and pressure level. An increase in any of these parameters decreases startup time.

EVA Metro Sedan electric-propulsion system: test and evaluation

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

Reimers, E.

1979-09-01

The procedure and results of the performance evaluation of the EVA Metro Sedan (car No. 1) variable speed dc chopper motor drive and its three speed automatic transmission are presented. The propulsion system for a battery powered vehicle manufactured by Electric Vehicle Associates, Valley View, Ohio, was removed from the vehicle, mounted on the programmable electric dynamometer test facility and evaluated with the aid of a hp 3052A Data Acquisition System. Performance data for the automatic transmission, the solid state dc motor speed controller, and the dc motor in the continuous and pulsating dc power mode, as derived on themore » dynamometer test facility, as well as the entire propulsion system are given. This concept and the system's components were evaluated in terms of commercial applicability, maintainability, and energy utility to establish a design base for the further development of this system or similar propulsion drives. The propulsion system of the EVA Metro Sedan is powered by sixteen 6-volt traction batteries, Type EV 106 (Exide Battery Mfg. Co.). A thyristor controlled cable form Pulsomatic Mark 10 controller, actuated by a foot throttle, controls the voltage applied to a dc series field motor, rated at 10 hp at 3800 rpm (Baldor Electric Co.). Gear speed reduction to the wheel is accomplished by the original equipment three speed automatic transmission with torque converter (Renault 12 Sedan). The brake consists of a power-assisted, hydraulic braking system with front wheel disk and rear drum. An ability to recuperate electric energy with subsequent storage in the battery power supply is not provided.« less

Air/fuel ratio control system for internal combustion engine having rotary valve and step motor

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

Saito, M.

A system for feedback control of the air/fuel mixing ratio in an internal combustion engine equipped with a carburetor. The control system has an air/fuel ratio detector of a gas sensor type which provides a feedback signal to a control circuit and a rotary valve which is operated by a stepping motor responsive to a control pulse signal produced by the control circuit to regulate the fuel feed rate so as to nullify a deviation of the detected actual air/fuel ratio from a preset air/fuel ratio. The control system may include two auxiliary air-admitting passages respectively connected to a mainmore » fuel passage and a slow fuel passage in the carburetor, and in this case the single rotary valve is designed and arranged so as to simultaneously control the admission of air into both of the two auxiliary air-admitting passages.« less

An advanced robust method for speed control of switched reluctance motor

NASA Astrophysics Data System (ADS)

Zhang, Chao; Ming, Zhengfeng; Su, Zhanping; Cai, Zhuang

2018-05-01

This paper presents an advanced robust controller for the speed system of a switched reluctance motor (SRM) in the presence of nonlinearities, speed ripple, and external disturbances. It proposes that the adaptive fuzzy control is applied to regulate the motor speed in the outer loop, and the detector is used to obtain rotor detection in the inner loop. The new fuzzy logic tuning rules are achieved from the experience of the operator and the knowledge of the specialist. The fuzzy parameters are automatically adjusted online according to the error and its change of speed in the transient period. The designed detector can obtain the rotor's position accurately in each phase module. Furthermore, a series of contrastive simulations are completed between the proposed controller and proportion integration differentiation controller including low speed, medium speed, and high speed. Simulations show that the proposed robust controller enables the system reduced by at least 3% in overshoot, 6% in rise time, and 20% in setting time, respectively, and especially under external disturbances. Moreover, an actual SRM control system is constructed at 220 V 370 W. The experiment results further prove that the proposed robust controller has excellent dynamic performance and strong robustness.

The bliss (not the problem) of motor abundance (not redundancy).

PubMed

Latash, Mark L

2012-03-01

Motor control is an area of natural science exploring how the nervous system interacts with other body parts and the environment to produce purposeful, coordinated actions. A central problem of motor control-the problem of motor redundancy-was formulated by Nikolai Bernstein as the problem of elimination of redundant degrees-of-freedom. Traditionally, this problem has been addressed using optimization methods based on a variety of cost functions. This review draws attention to a body of recent findings suggesting that the problem has been formulated incorrectly. An alternative view has been suggested as the principle of abundance, which considers the apparently redundant degrees-of-freedom as useful and even vital for many aspects of motor behavior. Over the past 10 years, dozens of publications have provided support for this view based on the ideas of synergic control, computational apparatus of the uncontrolled manifold hypothesis, and the equilibrium-point (referent configuration) hypothesis. In particular, large amounts of "good variance"-variance in the space of elements that has no effect on the overall performance-have been documented across a variety of natural actions. "Good variance" helps an abundant system to deal with secondary tasks and unexpected perturbations; its amount shows adaptive modulation across a variety of conditions. These data support the view that there is no problem of motor redundancy; there is bliss of motor abundance.

[Transcranial magnetic stimulation (TMS), inhibition processes and attention deficit/hyperactivity disorder (ADHD) - an overview].

PubMed

Hoegl, Thomas; Bender, Stephan; Buchmann, Johannes; Kratz, Oliver; Moll, Gunther H; Heinrich, Hartmut

2014-11-01

Motor system excitability can be tested by transcranial magnetic stimulation CFMS). In this article, an overview of recent methodological developments and research findings related to attention deficit/hyperactivity disorder (ADHD) is provided. Different TMS parameters that reflect the function of interneurons in the motor cortex may represent neurophysiological markers of inhibition in ADHD, particularly the so-called intracortical inhibition. In children with a high level of hyperactivity and impulsivity, intracortical inhibition was comparably low at rest as shortly before the execution of a movement. TMS-evoked potentials can also be measured in the EEG so that investigating processes of excitability is not restricted to motor areas in future studies. The effects of methylphenidate on motor system excitability may be interpreted in the sense of a 'fine-tuning' with these mainly dopaminergic effects also depending on genetic parameters (DAT1 transporter). A differentiated view on the organization of motor control can be achieved by a combined analysis of TMS parameters and event-related potentials. Applying this bimodal approach, strong evidence for a deviant implementation of motor control in children with ADHD and probably compensatory mechanisms (with involvement of the prefrontal cortex) was obtained. These findings, which contribute to a better understanding of hyperactivity/impulsivity, inhibitory processes and motor control in ADHD as well as the mechanisms of medication, underline the relevance of TMS as a neurophysiological method in ADHD research.

Adaptive sliding mode back-stepping pitch angle control of a variable-displacement pump controlled pitch system for wind turbines.

PubMed

Yin, Xiu-xing; Lin, Yong-gang; Li, Wei; Liu, Hong-wei; Gu, Ya-jing

2015-09-01

A variable-displacement pump controlled pitch system is proposed to mitigate generator power and flap-wise load fluctuations for wind turbines. The pitch system mainly consists of a variable-displacement hydraulic pump, a fixed-displacement hydraulic motor and a gear set. The hydraulic motor can be accurately regulated by controlling the pump displacement and fluid flows to change the pitch angle through the gear set. The detailed mathematical representation and dynamic characteristics of the proposed pitch system are thoroughly analyzed. An adaptive sliding mode pump displacement controller and a back-stepping stroke piston controller are designed for the proposed pitch system such that the resulting pitch angle tracks its desired value regardless of external disturbances and uncertainties. The effectiveness and control efficiency of the proposed pitch system and controllers have been verified by using realistic dataset of a 750 kW research wind turbine. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Hybrid P300-based brain-computer interface to improve usability for people with severe motor disability: electromyographic signals for error correction during a spelling task.

PubMed

Riccio, Angela; Holz, Elisa Mira; Aricò, Pietro; Leotta, Francesco; Aloise, Fabio; Desideri, Lorenzo; Rimondini, Matteo; Kübler, Andrea; Mattia, Donatella; Cincotti, Febo

2015-03-01

To evaluate the impact of a hybrid control on usability of a P300-based brain-computer interface (BCI) system that was designed to control an assistive technology software and was integrated with an electromyographic channel for error correction. Proof-of-principle study with a convenience sample. Neurologic rehabilitation hospital. Participants (N=11) in this pilot study included healthy (n=8) and severely motor impaired (n=3) persons. The 3 people with severe motor disability were identified as potential candidates to benefit from the proposed hybrid BCI system for communication and environmental interaction. To eventually investigate the improvement in usability, we compared 2 modalities of BCI system control: a P300-based and a hybrid P300 electromyographic-based mode of control. System usability was evaluated according to the following outcome measures within 3 domains: (1) effectiveness (overall system accuracy and P300-based BCI accuracy); (2) efficiency (throughput time and users' workload); and (3) satisfaction (users' satisfaction). We also considered the information transfer rate and time for selection. Findings obtained in healthy participants were in favor of a higher usability of the hybrid control as compared with the nonhybrid. A similar trend was indicated by the observational results gathered from each of the 3 potential end-users. The proposed hybrid BCI control modality could provide end-users with severe motor disability with an option to exploit some residual muscular activity, which could not be fully reliable for properly controlling an assistive technology device. The findings reported in this pilot study encourage the implementation of a clinical trial involving a large cohort of end-users. Copyright © 2015 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Using ipsilateral motor signals in the unaffected cerebral hemisphere as a signal platform for brain-computer interfaces in hemiplegic stroke survivors

NASA Astrophysics Data System (ADS)

Bundy, David T.; Wronkiewicz, Mark; Sharma, Mohit; Moran, Daniel W.; Corbetta, Maurizio; Leuthardt, Eric C.

2012-06-01

Brain-computer interface (BCI) systems have emerged as a method to restore function and enhance communication in motor impaired patients. To date, this has been applied primarily to patients who have a compromised motor outflow due to spinal cord dysfunction, but an intact and functioning cerebral cortex. The cortical physiology associated with movement of the contralateral limb has typically been the signal substrate that has been used as a control signal. While this is an ideal control platform in patients with an intact motor cortex, these signals are lost after a hemispheric stroke. Thus, a different control signal is needed that could provide control capability for a patient with a hemiparetic limb. Previous studies have shown that there is a distinct cortical physiology associated with ipsilateral, or same-sided, limb movements. Thus far, it was unknown whether stroke survivors could intentionally and effectively modulate this ipsilateral motor activity from their unaffected hemisphere. Therefore, this study seeks to evaluate whether stroke survivors could effectively utilize ipsilateral motor activity from their unaffected hemisphere to achieve this BCI control. To investigate this possibility, electroencephalographic (EEG) signals were recorded from four chronic hemispheric stroke patients as they performed (or attempted to perform) real and imagined hand tasks using either their affected or unaffected hand. Following performance of the screening task, the ability of patients to utilize a BCI system was investigated during on-line control of a one-dimensional control task. Significant ipsilateral motor signals (associated with movement intentions of the affected hand) in the unaffected hemisphere, which were found to be distinct from rest and contralateral signals, were identified and subsequently used for a simple online BCI control task. We demonstrate here for the first time that EEG signals from the unaffected hemisphere, associated with overt and imagined movements of the affected hand, can enable stroke survivors to control a one-dimensional computer cursor rapidly and accurately. This ipsilateral motor activity enabled users to achieve final target accuracies between 68% and 91% within 15 min. These findings suggest that ipsilateral motor activity from the unaffected hemisphere in stroke survivors could provide a physiological substrate for BCI operation that can be further developed as a long-term assistive device or potentially provide a novel tool for rehabilitation.

Hemispheric Lateralization of Motor Thresholds in Relation to Stuttering

PubMed Central

Alm, Per A.; Karlsson, Ragnhild; Sundberg, Madeleine; Axelson, Hans W.

2013-01-01

Stuttering is a complex speech disorder. Previous studies indicate a tendency towards elevated motor threshold for the left hemisphere, as measured using transcranial magnetic stimulation (TMS). This may reflect a monohemispheric motor system impairment. The purpose of the study was to investigate the relative side-to-side difference (asymmetry) and the absolute levels of motor threshold for the hand area, using TMS in adults who stutter (n = 15) and in controls (n = 15). In accordance with the hypothesis, the groups differed significantly regarding the relative side-to-side difference of finger motor threshold (p = 0.0026), with the stuttering group showing higher motor threshold of the left hemisphere in relation to the right. Also the absolute level of the finger motor threshold for the left hemisphere differed between the groups (p = 0.049). The obtained results, together with previous investigations, provide support for the hypothesis that stuttering tends to be related to left hemisphere motor impairment, and possibly to a dysfunctional state of bilateral speech motor control. PMID:24146930

Robust tracking and distributed synchronization control of a multi-motor servomechanism with H-infinity performance.

PubMed

Wang, Minlin; Ren, Xuemei; Chen, Qiang

2018-01-01

The multi-motor servomechanism (MMS) is a multi-variable, high coupling and nonlinear system, which makes the controller design challenging. In this paper, an adaptive robust H-infinity control scheme is proposed to achieve both the load tracking and multi-motor synchronization of MMS. This control scheme consists of two parts: a robust tracking controller and a distributed synchronization controller. The robust tracking controller is constructed by incorporating a neural network (NN) K-filter observer into the dynamic surface control, while the distributed synchronization controller is designed by combining the mean deviation coupling control strategy with the distributed technique. The proposed control scheme has several merits: 1) by using the mean deviation coupling synchronization control strategy, the tracking controller and the synchronization controller can be designed individually without any coupling problem; 2) the immeasurable states and unknown nonlinearities are handled by a NN K-filter observer, where the number of NN weights is largely reduced by using the minimal learning parameter technique; 3) the H-infinity performances of tracking error and synchronization error are guaranteed by introducing a robust term into the tracking controller and the synchronization controller, respectively. The stabilities of the tracking and synchronization control systems are analyzed by the Lyapunov theory. Simulation and experimental results based on a four-motor servomechanism are conducted to demonstrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Spinal motor control system incorporates an internal model of limb dynamics.

PubMed

Shimansky, Y P

2000-10-01

The existence and utilization of an internal representation of the controlled object is one of the most important features of the functioning of neural motor control systems. This study demonstrates that this property already exists at the level of the spinal motor control system (SMCS), which is capable of generating motor patterns for reflex rhythmic movements, such as locomotion and scratching, without the aid of the peripheral afferent feedback, but substantially modifies the generated activity in response to peripheral afferent stimuli. The SMCS is presented as an optimal control system whose optimality requires that it incorporate an internal model (IM) of the controlled object's dynamics. A novel functional mechanism for the integration of peripheral sensory signals with the corresponding predictive output from the IM, the summation of information precision (SIP) is proposed. In contrast to other models in which the correction of the internal representation of the controlled object's state is based on the calculation of a mismatch between the internal and external information sources, the SIP mechanism merges the information from these sources in order to optimize the precision of the controlled object's state estimate. It is demonstrated, based on scratching in decerebrate cats as an example of the spinal control of goal-directed movements, that the results of computer modeling agree with the experimental observations related to the SMCS's reactions to phasic and tonic peripheral afferent stimuli. It is also shown that the functional requirements imposed by the mathematical model of the SMCS comply with the current knowledge about the related properties of spinal neuronal circuitry. The crucial role of the spinal presynaptic inhibition mechanism in the neuronal implementation of SIP is elucidated. Important differences between the IM and a state predictor employed for compensating for a neural reflex time delay are discussed.

Propulsion Powertrain Real-Time Simulation Using Hardware-in-the-Loop (HIL) for Aircraft Electric Propulsion System

NASA Technical Reports Server (NTRS)

Choi, Benjamin B.; Brown, Gerald V.

2017-01-01

It is essential to design a propulsion powertrain real-time simulator using the hardware-in-the-loop (HIL) system that emulates an electrified aircraft propulsion (EAP) systems power grid. This simulator would enable us to facilitate in-depth understanding of the system principles, to validate system model analysis and performance prediction, and to demonstrate the proof-of-concept of the EAP electrical system. This paper describes how subscale electrical machines with their controllers can mimic the power components in an EAP powertrain. In particular, three powertrain emulations are presented to mimic 1) a gas turbo-=shaft engine driving a generator, consisting of two permanent magnet (PM) motors with brushless motor drives, coupled by a shaft, 2) a motor driving a propulsive fan, and 3) a turbo-shaft engine driven fan (turbofan engine) operation. As a first step towards the demonstration, experimental dynamic characterization of the two motor drive systems, coupled by a mechanical shaft, were performed. The previously developed analytical motor models1 were then replaced with the experimental motor models to perform the real-time demonstration in the predefined flight path profiles. This technique can convert the plain motor system into a unique EAP power grid emulator that enables rapid analysis and real-time simulation performance using hardware-in-the-loop (HIL).

Effects of different seating equipment on postural control and upper extremity function in children with cerebral palsy.

PubMed

Sahinoğlu, Dilek; Coskun, Gürsoy; Bek, Nilgün

2017-02-01

Adaptive seating supports for cerebral palsy are recommended to develop and maintain optimum posture, and functional use of upper extremities. To compare the effectiveness of different seating adaptations regarding postural alignment and related functions and to investigate the effects of these seating adaptations on different motor levels. Prospective study. A total of 20 children with spastic cerebral palsy (Gross Motor Function Classification System 3-5) were included. Postural control and function (Seated Postural Control Measure, Sitting Assessment Scale) were measured in three different systems: standard chair, adjustable seating system and custom-made orthosis. In results of all participants ungrouped, there was a significant difference in most parameters of both measurement tools in favor of custom-made orthosis and adjustable seating system when compared to standard chair ( p < 0.0017). There was a difference among interventions in most of the Seated Postural Control Measure results in Level 4 when subjects were grouped according to Gross Motor Function Classification System levels. A difference was observed between standard chair and adjustable seating system in foot control, arm control, and total Sitting Assessment Scale scores; and between standard chair and custom-made orthosis in trunk control, arm control, and total Sitting Assessment Scale score in Level 4. There was no difference in adjustable seating system and custom-made orthosis in Sitting Assessment Scale in this group of children ( p < 0.017). Although custom-made orthosis fabrication is time consuming, it is still recommended since it is custom made, easy to use, and low-cost. On the other hand, the adjustable seating system can be modified according to a patient's height and weight. Clinical relevance It was found that Gross Motor Function Classification System Level 4 children benefitted most from the seating support systems. It was presented that standard chair is sufficient in providing postural alignment. Both custom-made orthosis and adjustable seating system have pros and cons and the best solution for each will be dependent on a number of factors.

Motor Room, overall view to the west. The control cabinet ...

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

Motor Room, overall view to the west. The control cabinet and cement pipes along the south wall are being temporarily stored in the Pumping Plant and are not part of the original equipment - Wellton-Mohawk Irrigation System, Pumping Plant No. 1, Bounded by Gila River & Union Pacific Railroad, Wellton, Yuma County, AZ

76 FR 38270 - Terrafugia, Inc.; Grant of Application for Temporary Exemption From Certain Requirements of FMVSS...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-29

... No. 110, Tire Selection and Rims for Motor Vehicles, FMVSS No. 126, Electronic Stability Control..., Electronic Stability Control Systems, FMVSS No. 205, Glazing Materials, and FMVSS No. 208, Occupant Crash... FMVSS requirements for tire selection and rims for motor vehicles (FMVSS No. 110), electronic stability...

Control Technologies for Room Air-conditioner and Packaged Air-conditioner

NASA Astrophysics Data System (ADS)

Ito, Nobuhisa

Trends of control technologies about air-conditioning machineries, especially room or packaged air conditioners, are presented in this paper. Multiple air conditioning systems for office buildings are mainly described as one application of the refrigeration cycle control technologies including sensors for thermal comfort and heating/ cooling loads are also described as one of the system control technologies. Inverter systems and related technologies for driving variable speed compressors are described in both case of including induction motors and brushless DC motors. Technologies for more accurate control to meet various kind of regulations such as ozone layer destruction, energy saving and global warming, and for eliminating harmonic distortion of power source current, as a typical EMC problem, will be urgently desired.

Neuromodelling based on evolutionary robotics: on the importance of motor control for spatial attention.

PubMed

Gigliotta, Onofrio; Bartolomeo, Paolo; Miglino, Orazio

2015-09-01

Mainstream approaches to modelling cognitive processes have typically focused on (1) reproducing their neural underpinning, without regard to sensory-motor systems and (2) producing a single, ideal computational model. Evolutionary robotics is an alternative possibility to bridge the gap between neural substrate and behavior by means of a sensory-motor apparatus, and a powerful tool to build a population of individuals rather than a single model. We trained 4 populations of neurorobots, equipped with a pan/tilt/zoom camera, and provided with different types of motor control in order to perform a cancellation task, often used to tap spatial cognition. Neurorobots' eye movements were controlled by (a) position, (b) velocity, (c) simulated muscles and (d) simulated muscles with fixed level of zoom. Neurorobots provided with muscle and velocity control showed better performances than those controlled in position. This is an interesting result since muscle control can be considered a particular type of position control. Finally, neurorobots provided with muscle control and zoom outperformed those without zooming ability.

Automatic alignment method for calibration of hydrometers

NASA Astrophysics Data System (ADS)

Lee, Y. J.; Chang, K. H.; Chon, J. C.; Oh, C. Y.

2004-04-01

This paper presents a new method to automatically align specific scale-marks for the calibration of hydrometers. A hydrometer calibration system adopting the new method consists of a vision system, a stepping motor, and software to control the system. The vision system is composed of a CCD camera and a frame grabber, and is used to acquire images. The stepping motor moves the camera, which is attached to the vessel containing a reference liquid, along the hydrometer. The operating program has two main functions: to process images from the camera to find the position of the horizontal plane and to control the stepping motor for the alignment of the horizontal plane with a particular scale-mark. Any system adopting this automatic alignment method is a convenient and precise means of calibrating a hydrometer. The performance of the proposed method is illustrated by comparing the calibration results using the automatic alignment method with those obtained using the manual method.

Balanced bridge feedback control system

NASA Technical Reports Server (NTRS)

Lurie, Boris J. (Inventor)

1990-01-01

In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.

Motor Cortical Plasticity to Training Started in Childhood: The Example of Piano Players.

PubMed

Chieffo, Raffaella; Straffi, Laura; Inuggi, Alberto; Gonzalez-Rosa, Javier J; Spagnolo, Francesca; Coppi, Elisabetta; Nuara, Arturo; Houdayer, Elise; Comi, Giancarlo; Leocani, Letizia

2016-01-01

Converging evidence suggest that motor training is associated with early and late changes of the cortical motor system. Transcranial magnetic stimulation (TMS) offers the possibility to study plastic rearrangements of the motor system in physiological and pathological conditions. We used TMS to characterize long-term changes in upper limb motor cortical representation and interhemispheric inhibition associated with bimanual skill training in pianists who started playing in an early age. Ipsilateral silent period (iSP) and cortical TMS mapping of hand muscles were obtained from 30 strictly right-handed subjects (16 pianists, 14 naïve controls), together with electromyographic recording of mirror movements (MMs) to voluntary hand movements. In controls, motor cortical representation of hand muscles was larger on the dominant (DH) than on the non-dominant hemisphere (NDH). On the contrary, pianists showed symmetric cortical output maps, being their DH less represented than in controls. In naïve subjects, the iSP was smaller on the right vs left abductor pollicis brevis (APB) indicating a weaker inhibition from the NDH to the DH. In pianists, interhemispheric inhibition was more symmetric as their DH was better inhibited than in controls. Electromyographic MMs were observed only in naïve subjects (7/14) and only to voluntary movement of the non-dominant hand. Subjects with MM had a lower iSP area on the right APB compared with all the others. Our findings suggest a more symmetrical motor cortex organization in pianists, both in terms of muscle cortical representation and interhemispheric inhibition. Although we cannot disentangle training-related from preexisting conditions, it is possible that long-term bimanual practice may reshape motor cortical representation and rebalance interhemispheric interactions, which in naïve right-handed subjects would both tend to favour the dominant hemisphere.

Motor Cortical Plasticity to Training Started in Childhood: The Example of Piano Players

PubMed Central

Inuggi, Alberto; Gonzalez-Rosa, Javier J.; Spagnolo, Francesca; Coppi, Elisabetta; Nuara, Arturo; Houdayer, Elise; Comi, Giancarlo; Leocani, Letizia

2016-01-01

Converging evidence suggest that motor training is associated with early and late changes of the cortical motor system. Transcranial magnetic stimulation (TMS) offers the possibility to study plastic rearrangements of the motor system in physiological and pathological conditions. We used TMS to characterize long-term changes in upper limb motor cortical representation and interhemispheric inhibition associated with bimanual skill training in pianists who started playing in an early age. Ipsilateral silent period (iSP) and cortical TMS mapping of hand muscles were obtained from 30 strictly right-handed subjects (16 pianists, 14 naïve controls), together with electromyographic recording of mirror movements (MMs) to voluntary hand movements. In controls, motor cortical representation of hand muscles was larger on the dominant (DH) than on the non-dominant hemisphere (NDH). On the contrary, pianists showed symmetric cortical output maps, being their DH less represented than in controls. In naïve subjects, the iSP was smaller on the right vs left abductor pollicis brevis (APB) indicating a weaker inhibition from the NDH to the DH. In pianists, interhemispheric inhibition was more symmetric as their DH was better inhibited than in controls. Electromyographic MMs were observed only in naïve subjects (7/14) and only to voluntary movement of the non-dominant hand. Subjects with MM had a lower iSP area on the right APB compared with all the others. Our findings suggest a more symmetrical motor cortex organization in pianists, both in terms of muscle cortical representation and interhemispheric inhibition. Although we cannot disentangle training-related from preexisting conditions, it is possible that long-term bimanual practice may reshape motor cortical representation and rebalance interhemispheric interactions, which in naïve right-handed subjects would both tend to favour the dominant hemisphere. PMID:27336584

Cognitive functioning in dyskinetic cerebral palsy: Its relation to motor function, communication and epilepsy.

PubMed

Ballester-Plané, Júlia; Laporta-Hoyos, Olga; Macaya, Alfons; Póo, Pilar; Meléndez-Plumed, Mar; Toro-Tamargo, Esther; Gimeno, Francisca; Narberhaus, Ana; Segarra, Dolors; Pueyo, Roser

2018-01-01

Cerebral palsy (CP) is a disorder of motor function often accompanied by cognitive impairment. There is a paucity of research focused on cognition in dyskinetic CP and on the potential effect of related factors. To describe the cognitive profile in dyskinetic CP and to assess its relationship with motor function and associated impairments. Fifty-two subjects with dyskinetic CP (28 males, mean age 24 y 10 mo, SD 13 y) and 52 typically-developing controls (age- and gender-matched) completed a comprehensive neuropsychological assessment. Gross Motor Function Classification System (GMFCS), Communication Function Classification System (CFCS) and epilepsy were recorded. Cognitive performance was compared between control and CP groups, also according different levels of GMFCS. The relationship between cognition, CFCS and epilepsy was examined through partial correlation coefficients, controlling for GMFCS. Dyskinetic CP participants performed worse than controls on all cognitive functions except for verbal memory. Milder cases (GMFCS I) only showed impairment in attention, visuoperception and visual memory. Participants with GMFCS II-III also showed impairment in language-related functions. Severe cases (GMFCS IV-V) showed impairment in intelligence and all specific cognitive functions but verbal memory. CFCS was associated with performance in receptive language functions. Epilepsy was related to performance in intelligence, visuospatial abilities, visual memory, grammar comprehension and learning. Cognitive performance in dyskinetic CP varies with the different levels of motor impairment, with more cognitive functions impaired as motor severity increases. This study also demonstrates the relationship between communication and epilepsy and cognitive functioning, even controlling for the effect of motor severity. Copyright © 2017 European Paediatric Neurology Society. Published by Elsevier Ltd. All rights reserved.

Molten metal feed system controlled with a traveling magnetic field

DOEpatents

Praeg, Walter F.

1991-01-01

A continuous metal casting system in which the feed of molten metal is controlled by means of a linear induction motor capable of producing a magnetic traveling wave in a duct that connects a reservoir of molten metal to a caster. The linear induction motor produces a traveling magnetic wave in the duct in opposition to the pressure exerted by the head of molten metal in the reservoir so that p.sub.c =p.sub.g -p.sub.m where p.sub.c is the desired pressure in the caster, p.sub.g is the gravitational pressure in the duct exerted by the force of the head of molten metal in the reservoir, and p.sub.m is the electromagnetic pressure exerted by the force of the magnetic field traveling wave produced by the linear induction motor. The invention also includes feedback loops to the linear induction motor to control the casting pressure in response to measured characteristics of the metal being cast.

In-orbit performance of the ITOS improved attitude control system with Hall generator brushless motor and earth-splitting technique

NASA Technical Reports Server (NTRS)

Peacock, W. M.

1973-01-01

The National Aeronautics and Space Administration (NASA), launched ITOS-D with an improved attitude control system. A Hall generator brushless dc torque motor replaced the brush dc torque motor on Tiros-M and ITOS-A. Two CO2 attitude horizon sensors and one mirror replaced the four wideband horizon sensors and two mirrors on ITOS-1 and NOAA-1. Redundant pitch-control electronic boxes containing additional electronic circuitry for earth-splitting and brushless motor electronics were used. A method of generating a spacecraft earth-facing side reference for comparison to the time occurrence of the earth-splitting pulse was used to automatically correct pitch-attitude error. A single rotating flywheel, supported by a single bearing, provided gyroscopic stability and the required momentum interchange to keep one side of the satellite facing the earth. Magnetic torquing against the earth's magnetic field eliminated the requirement for expendable propellants which would limit satellite life in orbit.

A causal test of the motor theory of speech perception: A case of impaired speech production and spared speech perception

PubMed Central

Stasenko, Alena; Bonn, Cory; Teghipco, Alex; Garcea, Frank E.; Sweet, Catherine; Dombovy, Mary; McDonough, Joyce; Mahon, Bradford Z.

2015-01-01

In the last decade, the debate about the causal role of the motor system in speech perception has been reignited by demonstrations that motor processes are engaged during the processing of speech sounds. However, the exact role of the motor system in auditory speech processing remains elusive. Here we evaluate which aspects of auditory speech processing are affected, and which are not, in a stroke patient with dysfunction of the speech motor system. The patient’s spontaneous speech was marked by frequent phonological/articulatory errors, and those errors were caused, at least in part, by motor-level impairments with speech production. We found that the patient showed a normal phonemic categorical boundary when discriminating two nonwords that differ by a minimal pair (e.g., ADA-AGA). However, using the same stimuli, the patient was unable to identify or label the nonword stimuli (using a button-press response). A control task showed that he could identify speech sounds by speaker gender, ruling out a general labeling impairment. These data suggest that the identification (i.e. labeling) of nonword speech sounds may involve the speech motor system, but that the perception of speech sounds (i.e., discrimination) does not require the motor system. This means that motor processes are not causally involved in perception of the speech signal, and suggest that the motor system may be used when other cues (e.g., meaning, context) are not available. PMID:25951749

Distributed Motor Controller (DMC) for Operation in Extreme Environments

NASA Technical Reports Server (NTRS)

McKinney, Colin M.; Yager, Jeremy A.; Mojarradi, Mohammad M.; Some, Rafi; Sirota, Allen; Kopf, Ted; Stern, Ryan; Hunter, Don

2012-01-01

This paper presents an extreme environment capable Distributed Motor Controller (DMC) module suitable for operation with a distributed architecture of future spacecraft systems. This motor controller is designed to be a bus-based electronics module capable of operating a single Brushless DC motor in extreme space environments: temperature (-120 C to +85 C required, -180 C to +100 C stretch goal); radiation (>;20K required, >;100KRad stretch goal); >;360 cycles of operation. Achieving this objective will result in a scalable modular configuration for motor control with enhanced reliability that will greatly lower cost during the design, fabrication and ATLO phases of future missions. Within the heart of the DMC lies a pair of cold-capable Application Specific Integrated Circuits (ASICs) and a Field Programmable Gate Array (FPGA) that enable its miniaturization and operation in extreme environments. The ASICs are fabricated in the IBM 0.5 micron Silicon Germanium (SiGe) BiCMOS process and are comprised of Analog circuitry to provide telemetry information, sensor interface, and health and status of DMC. The FPGA contains logic to provide motor control, status monitoring and spacecraft interface. The testing and characterization of these ASICs have yielded excellent functionality in cold temperatures (-135 C). The DMC module has demonstrated successful operation of a motor at temperature.

Constant Switching Frequency DTC for Matrix Converter Fed Speed Sensorless Induction Motor Drive

NASA Astrophysics Data System (ADS)

Mir, Tabish Nazir; Singh, Bhim; Bhat, Abdul Hamid

2018-05-01

The paper presents a constant switching frequency scheme for speed sensorless Direct Torque Control (DTC) of Matrix Converter fed Induction Motor Drive. The use of matrix converter facilitates improved power quality on input as well as motor side, along with Input Power Factor control, besides eliminating the need for heavy passive elements. Moreover, DTC through Space Vector Modulation helps in achieving a fast control over the torque and flux of the motor, with added benefit of constant switching frequency. A constant switching frequency aids in maintaining desired power quality of AC mains current even at low motor speeds, and simplifies input filter design of the matrix converter, as compared to conventional hysteresis based DTC. Further, stator voltage estimation from sensed input voltage, and subsequent stator (and rotor) flux estimation is done. For speed sensorless operation, a Model Reference Adaptive System is used, which emulates the speed dependent rotor flux equations of the induction motor. The error between conventionally estimated rotor flux (reference model) and the rotor flux estimated through the adaptive observer is processed through PI controller to generate the rotor speed estimate.

Physiology of the motor cortex in polio survivors.

PubMed

Lupu, Vitalie D; Danielian, Laura; Johnsen, Jacqueline A; Vasconcelos, Olavo M; Prokhorenko, Olga A; Jabbari, Bahman; Campbell, William W; Floeter, Mary Kay

2008-02-01

We hypothesized that the corticospinal system undergoes functional changes in long-term polio survivors. Central motor conduction times (CMCTs) to the four limbs were measured in 24 polio survivors using transcranial magnetic stimulation (TMS). Resting motor thresholds and CMCTs were normal. In 17 subjects whose legs were affected by polio and 13 healthy controls, single- and paired-pulse TMS was used to assess motor cortex excitability while recording from tibialis anterior (TA) muscles at rest and following maximal contraction until fatigue. In polio survivors the slope of the recruitment curve was normal, but maximal motor evoked potentials (MEPs) were larger than in controls. MEPs were depressed after fatiguing exercise. Three patients with central fatigue by twitch interpolation had a trend toward slower recovery. There was no association with symptoms of post-polio syndrome. These changes occurring after polio may allow the motor cortex to activate a greater proportion of the motor neurons innervating affected muscles.

Cytoskeletal motor-driven active self-assembly in in vitro systems

DOE PAGES

Lam, A. T.; VanDelinder, V.; Kabir, A. M. R.; ...

2015-11-11

Molecular motor-driven self-assembly has been an active area of soft matter research for the past decade. Because molecular motors transform chemical energy into mechanical work, systems which employ molecular motors to drive self-assembly processes are able to overcome kinetic and thermodynamic limits on assembly time, size, complexity, and structure. Here, we review the progress in elucidating and demonstrating the rules and capabilities of motor-driven active self-assembly. Lastly, we focus on the types of structures created and the degree of control realized over these structures, and discuss the next steps necessary to achieve the full potential of this assembly mode whichmore » complements robotic manipulation and passive self-assembly.« less

Self-organized adaptation of a simple neural circuit enables complex robot behaviour

NASA Astrophysics Data System (ADS)

Steingrube, Silke; Timme, Marc; Wörgötter, Florentin; Manoonpong, Poramate

2010-03-01

Controlling sensori-motor systems in higher animals or complex robots is a challenging combinatorial problem, because many sensory signals need to be simultaneously coordinated into a broad behavioural spectrum. To rapidly interact with the environment, this control needs to be fast and adaptive. Present robotic solutions operate with limited autonomy and are mostly restricted to few behavioural patterns. Here we introduce chaos control as a new strategy to generate complex behaviour of an autonomous robot. In the presented system, 18 sensors drive 18 motors by means of a simple neural control circuit, thereby generating 11 basic behavioural patterns (for example, orienting, taxis, self-protection and various gaits) and their combinations. The control signal quickly and reversibly adapts to new situations and also enables learning and synaptic long-term storage of behaviourally useful motor responses. Thus, such neural control provides a powerful yet simple way to self-organize versatile behaviours in autonomous agents with many degrees of freedom.

Bidirectional control system for energy flow in solar powered flywheel

NASA Technical Reports Server (NTRS)

Nola, Frank J. (Inventor)

1987-01-01

An energy storage system for a spacecraft is provided which employs a solar powered flywheel arrangement including a motor/generator which, in different operating modes, drives the flywheel and is driven thereby. A control circuit, including a threshold comparator, senses the output of a solar energy converter, and when a threshold voltage is exceeded thereby indicating the availability of solar power for the spacecraft loads, activates a speed control loop including the motor/generator so as to accelerate the flywheel to a constant speed and thereby store mechanical energy, while also supplying energy from the solar converter to the loads. Under circumstances where solar energy is not available and thus the threshold voltage is not exceeded, the control circuit deactivates the speed control loop and activates a voltage control loop that provides for operation of the motor as a generator so that mechanical energy from the flywheel is converted into electrical energy for supply to the spacecraft loads.

Interactive visuo-motor therapy system for stroke rehabilitation.

PubMed

Eng, Kynan; Siekierka, Ewa; Pyk, Pawel; Chevrier, Edith; Hauser, Yves; Cameirao, Monica; Holper, Lisa; Hägni, Karin; Zimmerli, Lukas; Duff, Armin; Schuster, Corina; Bassetti, Claudio; Verschure, Paul; Kiper, Daniel

2007-09-01

We present a virtual reality (VR)-based motor neurorehabilitation system for stroke patients with upper limb paresis. It is based on two hypotheses: (1) observed actions correlated with self-generated or intended actions engage cortical motor observation, planning and execution areas ("mirror neurons"); (2) activation in damaged parts of motor cortex can be enhanced by viewing mirrored movements of non-paretic limbs. We postulate that our approach, applied during the acute post-stroke phase, facilitates motor re-learning and improves functional recovery. The patient controls a first-person view of virtual arms in tasks varying from simple (hitting objects) to complex (grasping and moving objects). The therapist adjusts weighting factors in the non-paretic limb to move the paretic virtual limb, thereby stimulating the mirror neuron system and optimizing patient motivation through graded task success. We present the system's neuroscientific background, technical details and preliminary results.

Model-free adaptive speed control on travelling wave ultrasonic motor

NASA Astrophysics Data System (ADS)

Di, Sisi; Li, Huafeng

2018-01-01

This paper introduced a new data-driven control (DDC) method for the speed control of ultrasonic motor (USM). The model-free adaptive control (MFAC) strategy was presented in terms of its principles, algorithms, and parameter selection. To verify the efficiency of the proposed method, a speed-frequency-time model, which contained all the measurable nonlinearity and uncertainties based on experimental data was established for simulation to mimic the USM operation system. Furthermore, the model was identified using particle swarm optimization (PSO) method. Then, the control of the simulated system using MFAC was evaluated under different expectations in terms of overshoot, rise time and steady-state error. Finally, the MFAC results were compared with that of proportion iteration differentiation (PID) to demonstrate its advantages in controlling general random system.

A continually online-trained neural network controller for brushless DC motor drives

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

Rubaai, A.; Kotaru, R.; Kankam, M.D.

2000-04-01

In this paper, a high-performance controller with simultaneous online identification and control is designed for brushless dc motor drives. The dynamics of the motor/load are modeled online, and controlled using two different neural network based identification and control schemes, as the system is in operation. In the first scheme, an attempt is made to control the rotor angular speed, utilizing a single three-hidden-layer network. The second scheme attempts to control the stator currents, using a predetermined control law as a function of the estimated states. This schemes incorporates three multilayered feedforward neural networks that are online trained, using the Levenburg-Marquadtmore » training algorithm. The control of the direct and quadrature components of the stator current successfully tracked a wide variety of trajectories after relatively short online training periods. The control strategy adapts to the uncertainties of the motor/load dynamics and, in addition, learns their inherent nonlinearities. Simulation results illustrated that a neurocontroller used in conjunction with adaptive control schemes can result in a flexible control device which may be utilized in a wide range of environments.« less

Motor System Development Depends on Experience: A Microgravity Study of Rats

NASA Technical Reports Server (NTRS)

Walton, Kerry D.; Llinas, Rodolfo R.; Kalb, Robert; Hillman, Dean; DeFelipe, Javier; Garcia-Segura, Luis Miguel

2003-01-01

Animals move about their environment by sensing their surroundings and making adjustments according to need. All animals take the force of gravity into account when the brain and spinal cord undertake the planning and execution of movements. To what extent must animals learn to factor in the force of gravity when making neural calculations about movement? Are animals born knowing how to respond to gravity, or must the young nervous system learn to enter gravity into the equation? To study this issue, young rats were reared in two different gravitational environments (the one-G of Earth and the microgravity of low Earth orbit) that necessitated two different types of motor operations (movements) for optimal behavior. We inquired whether those portions of the young nervous system involved in movement, the motor system, can adapt to different gravitational levels and, if so, the cellular basis for this phenomenon. We studied two groups of rats that had been raised for 16 days in microgravity (eight or 14 days old at launch) and compared their walking and righting (ability to go from upside down to upright) and brain structure to those of control rats that developed on Earth. Flight rats were easily distinguished from the age-matched ground control rats in terms of both motor function and central nervous system structure. Mature surface righting predominated in control rats on the day of landing (R+O), while immature righting predominated in the flight rats on landing day and 30 days after landing. Some of these changes appear to be permanent. Several conclusions can be drawn from these studies: (1) Many aspects of motor behavior are preprogrammed into the young nervous system. In addition, several aspects of motor behavior are acquired as a function of the interaction of the developing organism and the rearing environment; (2) Widespread neuroanatomical differences between one-G- and microgravity-reared rats indicate that there is a structural basis for the adaptation to the rearing environment. These observations provide support for the idea that an animal's motor system adapts for optimal function within the environment experienced during a critical period in early postnatal life.

Where is the action? Action sentence processing in Parkinson's disease

PubMed Central

Fernandino, Leonardo; Conant, Lisa L.; Binder, Jeffrey R.; Blindauer, Karen; Hiner, Bradley; Spangler, Katie; Desai, Rutvik H.

2013-01-01

According to an influential view of conceptual representation, action concepts are understood through motoric simulations, involving motor networks of the brain. A stronger version of this embodied account suggests that even figurative uses of action words (e.g., grasping the concept) are understood through motoric simulations. We investigated these claims by assessing whether Parkinson's disease (PD), a disorder affecting the motor system, is associated with selective deficits in comprehending action-related sentences. Twenty PD patients and 21 age-matched controls performed a sentence comprehension task, where sentences belonged to one of four conditions: literal action, non-idiomatic metaphoric action, idiomatic action, and abstract. The same verbs (referring to hand/arm actions) were used in the three action-related conditions. Patients, but not controls, were slower to respond to literal and idiomatic action than to abstract sentences. These results indicate that sensory-motor systems play a functional role in semantic processing, including processing of figurative action language. PMID:23624313

Impaired Feedforward Control and Enhanced Feedback Control of Speech in Patients with Cerebellar Degeneration

PubMed Central

Agnew, Zarinah; Nagarajan, Srikantan; Houde, John; Ivry, Richard B.

2017-01-01

The cerebellum has been hypothesized to form a crucial part of the speech motor control network. Evidence for this comes from patients with cerebellar damage, who exhibit a variety of speech deficits, as well as imaging studies showing cerebellar activation during speech production in healthy individuals. To date, the precise role of the cerebellum in speech motor control remains unclear, as it has been implicated in both anticipatory (feedforward) and reactive (feedback) control. Here, we assess both anticipatory and reactive aspects of speech motor control, comparing the performance of patients with cerebellar degeneration and matched controls. Experiment 1 tested feedforward control by examining speech adaptation across trials in response to a consistent perturbation of auditory feedback. Experiment 2 tested feedback control, examining online corrections in response to inconsistent perturbations of auditory feedback. Both male and female patients and controls were tested. The patients were impaired in adapting their feedforward control system relative to controls, exhibiting an attenuated anticipatory response to the perturbation. In contrast, the patients produced even larger compensatory responses than controls, suggesting an increased reliance on sensory feedback to guide speech articulation in this population. Together, these results suggest that the cerebellum is crucial for maintaining accurate feedforward control of speech, but relatively uninvolved in feedback control. SIGNIFICANCE STATEMENT Speech motor control is a complex activity that is thought to rely on both predictive, feedforward control as well as reactive, feedback control. While the cerebellum has been shown to be part of the speech motor control network, its functional contribution to feedback and feedforward control remains controversial. Here, we use real-time auditory perturbations of speech to show that patients with cerebellar degeneration are impaired in adapting feedforward control of speech but retain the ability to make online feedback corrections; indeed, the patients show an increased sensitivity to feedback. These results indicate that the cerebellum forms a crucial part of the feedforward control system for speech but is not essential for online, feedback control. PMID:28842410

Accuracy and Precision of a Custom Camera-Based System for 2-D and 3-D Motion Tracking during Speech and Nonspeech Motor Tasks

ERIC Educational Resources Information Center

Feng, Yongqiang; Max, Ludo

2014-01-01

Purpose: Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable…

HVAC System Automatic Controls and Indoor Air Quality in Schools. Technical Bulletin.

ERIC Educational Resources Information Center

Wheeler, Arthur E.

Fans, motors, coils, and other control components enable a heating, ventilating, and air-conditioning (HVAC) system to function smoothly. An explanation of these control components and how they make school HVAC systems work is provided. Different systems may be compared by counting the number of controlled devices that are required. Control…

Optimal input selection for neural machine interfaces predicting multiple non-explicit outputs.

PubMed

Krepkovich, Eileen T; Perreault, Eric J

2008-01-01

This study implemented a novel algorithm that optimally selects inputs for neural machine interface (NMI) devices intended to control multiple outputs and evaluated its performance on systems lacking explicit output. NMIs often incorporate signals from multiple physiological sources and provide predictions for multidimensional control, leading to multiple-input multiple-output systems. Further, NMIs often are used with subjects who have motor disabilities and thus lack explicit motor outputs. Our algorithm was tested on simulated multiple-input multiple-output systems and on electromyogram and kinematic data collected from healthy subjects performing arm reaches. Effects of output noise in simulated systems indicated that the algorithm could be useful for systems with poor estimates of the output states, as is true for systems lacking explicit motor output. To test efficacy on physiological data, selection was performed using inputs from one subject and outputs from a different subject. Selection was effective for these cases, again indicating that this algorithm will be useful for predictions where there is no motor output, as often is the case for disabled subjects. Further, prediction results generalized for different movement types not used for estimation. These results demonstrate the efficacy of this algorithm for the development of neural machine interfaces.

The hybrid BCI system for movement control by combining motor imagery and moving onset visual evoked potential.

PubMed

Ma, Teng; Li, Hui; Deng, Lili; Yang, Hao; Lv, Xulin; Li, Peiyang; Li, Fali; Zhang, Rui; Liu, Tiejun; Yao, Dezhong; Xu, Peng

2017-04-01

Movement control is an important application for EEG-BCI (EEG-based brain-computer interface) systems. A single-modality BCI cannot provide an efficient and natural control strategy, but a hybrid BCI system that combines two or more different tasks can effectively overcome the drawbacks encountered in single-modality BCI control. In the current paper, we developed a new hybrid BCI system by combining MI (motor imagery) and mVEP (motion-onset visual evoked potential), aiming to realize the more efficient 2D movement control of a cursor. The offline analysis demonstrates that the hybrid BCI system proposed in this paper could evoke the desired MI and mVEP signal features simultaneously, and both are very close to those evoked in the single-modality BCI task. Furthermore, the online 2D movement control experiment reveals that the proposed hybrid BCI system could provide more efficient and natural control commands. The proposed hybrid BCI system is compensative to realize efficient 2D movement control for a practical online system, especially for those situations in which P300 stimuli are not suitable to be applied.

Drive control and position measurement of RailCab vehicles driven by linear motors

NASA Astrophysics Data System (ADS)

Pottharst, Andreas; Henke, Christian; Schneider, Tobias; Böcker, Joachim; Grotstollen, Horst

2006-11-01

The novel railway system RailCab makes use of autonomous vehicles which are driven by an AC linear motor. Depending on the track-side motor part, long-stator or short-stator operations are possible. The paper deals with the operation of the doubly-fed induction motor which is used for motion control and for transferring the energy required onboard the vehicle. This type of linear motor synchronization of the traveling fields generated by the stationary primary and moving secondary windings is an important and demanding task because the instantaneous positions of the vehicle or the primary traveling wave must be determined with high accuracy. The paper shows how this task is solved at the moment and what improvements are under development.

Primary control of a Mach scale swashplateless rotor using brushless DC motor actuated trailing edge flaps

NASA Astrophysics Data System (ADS)

Saxena, Anand

The focus of this research was to demonstrate a four blade rotor trim in forward flight using integrated trailing edge flaps instead of using a swashplate controls. A compact brushless DC motor was evaluated as an on-blade actuator, with the possibility of achieving large trailing edge flap amplitudes. A control strategy to actuate the trailing edge flap at desired frequency and amplitude was developed and large trailing edge flap amplitudes from the motor (instead of rotational motion) were obtained. Once the actuator was tested on the bench-top, a lightweight mechanism was designed to incorporate the motor in the blade and actuate the trailing edge flaps. A six feet diameter, four bladed composite rotor with motor-flap system integrated into the NACA 0012 airfoil section was fabricated. Systematic testing was carried out for a range of load conditions, first in the vacuum chamber followed by hover tests. Large trailing edge flap deflections were observed during the hover testing, and a peak to peak trailing edge flap amplitude of 18 degree was achieved at 2000 rotor RPM with hover tip Mach number of 0.628. A closed loop controller was designed to demonstrate trailing edge flap mean position and the peak to peak amplitude control. Further, a soft pitch link was designed and fabricated, to replace the stiff pitch link and thereby reduce the torsional stiffness of the blade to 2/rev. This soft pitch link allowed for blade root pitch motion in response to the trailing edge flap inputs. Blade pitch response due to both steady as well as sinusoidal flap deflections were demonstrated. Finally, tests were performed in Glenn L. Martin wind tunnel using a model rotor rig to assess the performance of motor-flap system in forward flight. A swashplateless trim using brushless DC motor actuated trailing edge flaps was achieved for a rotor operating at 1200 RPM and an advance ratio of 0.28. Also, preliminary exploration was carried out to test the scalability of the motor driven trailing edge flap concept. In conclusion, the concept of using brushless DC motors as on-blade actuators, actuating trailing edge flaps has the potential to replace the current mechanically complex swashplate with a hydraulic-free swashplateless system and thereby reduce overall weight and hub drag.

Development of a motorized cryovalve for the control of superfluid liquid helium

NASA Technical Reports Server (NTRS)

Lorell, K. R.; Aubrun, J-N.; Zacharie, D. F.; Frank, D. J.

1988-01-01

Recent advances in the technology of infrared detectors have made possible a wide range of scientific measurements and investigations. One of the requirements for the use of sensitive IR detectors is that the entire instrument be cooled to temperatures approaching absolute zero. The cryogenic cooling system for these instruments is commonly designed as a large dewar containing liquid helium which completely surrounds the apparatus. Thus, there is a need for a remotely controlled, motorized cryovalve that is simple, reliable, and compact and can operate over extended periods of time in cryo-vac conditions. The design, development, and test of a motorized cryovalve with application to a variety of cryogenic systems currently under development is described.

Automatic Control of Arc Process for Making Carbon Nanotubes

NASA Technical Reports Server (NTRS)

Scott, Carl D.; Pulumbarit, Robert B.; Victor, Joe

2004-01-01

An automatic-control system has been devised for a process in which carbon nanotubes are produced in an arc between a catalyst-filled carbon anode and a graphite cathode. The control system includes a motor-driven screw that adjusts the distance between the electrodes. The system also includes a bridge circuit that puts out a voltage proportional to the difference between (1) the actual value of potential drop across the arc and (2) a reference value between 38 and 40 V (corresponding to a current of about 100 A) at which the yield of carbon nanotubes is maximized. Utilizing the fact that the potential drop across the arc increases with the interelectrode gap, the output of the bridge circuit is fed to a motor-control circuit that causes the motor to move the anode toward or away from the cathode if the actual potential drop is more or less, respectively, than the reference potential. Thus, the system regulates the interelectrode gap to maintain the optimum potential drop. The system also includes circuitry that records the potential drop across the arc and the relative position of the anode holder as function of time.

Development of a high-efficiency motor/generator for flywheel energy storage

NASA Astrophysics Data System (ADS)

Lashley, Christopher; Anand, Dave K.; Kirk, James A.; Zmood, Ronald B.

This study addresses the design changes and extensions necessary to construct and test a working prototype of a motor/generator for a magnetically suspended flywheel energy storage system. The brushless motor controller for the motor was specified and the electronic commutation arrangement designed. The laminations were redesigned and fabricated using laser machining. Flux density measurements were made and the results used to redesign the armature windings. A test rig was designed and built, and the motor/generator was installed and speed tested to 9000 rpm. Experimental methods of obtaining the machine voltage and torque constants Kv and Kt, obtaining the useful air-gap flux density, and characterizing the motor and other system components are described. The measured Kv and Kt were approximately 40 percent greater than predicted by theory and initial experiment.

Development of a high-efficiency motor/generator for flywheel energy storage

NASA Technical Reports Server (NTRS)

Lashley, Christopher; Anand, Dave K.; Kirk, James A.; Zmood, Ronald B.

1991-01-01

This study addresses the design changes and extensions necessary to construct and test a working prototype of a motor/generator for a magnetically suspended flywheel energy storage system. The brushless motor controller for the motor was specified and the electronic commutation arrangement designed. The laminations were redesigned and fabricated using laser machining. Flux density measurements were made and the results used to redesign the armature windings. A test rig was designed and built, and the motor/generator was installed and speed tested to 9000 rpm. Experimental methods of obtaining the machine voltage and torque constants Kv and Kt, obtaining the useful air-gap flux density, and characterizing the motor and other system components are described. The measured Kv and Kt were approximately 40 percent greater than predicted by theory and initial experiment.

Control system for a wound-rotor motor

DOEpatents

Ellis, James N.

1983-01-01

A load switching circuit for switching two or more transformer taps under load carrying conditions includes first and second parallel connected bridge rectifier circuits which control the selective connection of a direct current load to taps of a transformer. The first bridge circuit is normally conducting so that the load is connected to a first tap through the first bridge circuit. To transfer the load to the second tap, a switch is operable to connect the second bridge circuit to a second tap, and when the second bridge circuit begins to conduct, the first bridge circuit ceases conduction because the potential at the second tap is higher than the potential at the first tap, and the load is thus connected to the second tap through the second bridge circuit. The load switching circuit is applicable in a motor speed controller for a wound-rotor motor for effecting tap switching as a function of motor speed while providing a stepless motor speed control characteristic.

Probabilistic models in human sensorimotor control

PubMed Central

Wolpert, Daniel M.

2009-01-01

Sensory and motor uncertainty form a fundamental constraint on human sensorimotor control. Bayesian decision theory (BDT) has emerged as a unifying framework to understand how the central nervous system performs optimal estimation and control in the face of such uncertainty. BDT has two components: Bayesian statistics and decision theory. Here we review Bayesian statistics and show how it applies to estimating the state of the world and our own body. Recent results suggest that when learning novel tasks we are able to learn the statistical properties of both the world and our own sensory apparatus so as to perform estimation using Bayesian statistics. We review studies which suggest that humans can combine multiple sources of information to form maximum likelihood estimates, can incorporate prior beliefs about possible states of the world so as to generate maximum a posteriori estimates and can use Kalman filter-based processes to estimate time-varying states. Finally, we review Bayesian decision theory in motor control and how the central nervous system processes errors to determine loss functions and optimal actions. We review results that suggest we plan movements based on statistics of our actions that result from signal-dependent noise on our motor outputs. Taken together these studies provide a statistical framework for how the motor system performs in the presence of uncertainty. PMID:17628731

Leap Motion-based virtual reality training for improving motor functional recovery of upper limbs and neural reorganization in subacute stroke patients.

PubMed

Wang, Zun-Rong; Wang, Ping; Xing, Liang; Mei, Li-Ping; Zhao, Jun; Zhang, Tong

2017-11-01

Virtual reality is nowadays used to facilitate motor recovery in stroke patients. Most virtual reality studies have involved chronic stroke patients; however, brain plasticity remains good in acute and subacute patients. Most virtual reality systems are only applicable to the proximal upper limbs (arms) because of the limitations of their capture systems. Nevertheless, the functional recovery of an affected hand is most difficult in the case of hemiparesis rehabilitation after a stroke. The recently developed Leap Motion controller can track the fine movements of both hands and fingers. Therefore, the present study explored the effects of a Leap Motion-based virtual reality system on subacute stroke. Twenty-six subacute stroke patients were assigned to an experimental group that received virtual reality training along with conventional occupational rehabilitation, and a control group that only received conventional rehabilitation. The Wolf motor function test (WMFT) was used to assess the motor function of the affected upper limb; functional magnetic resonance imaging was used to measure the cortical activation. After four weeks of treatment, the motor functions of the affected upper limbs were significantly improved in all the patients, with the improvement in the experimental group being significantly better than in the control group. The action performance time in the WMFT significantly decreased in the experimental group. Furthermore, the activation intensity and the laterality index of the contralateral primary sensorimotor cortex increased in both the experimental and control groups. These results confirmed that Leap Motion-based virtual reality training was a promising and feasible supplementary rehabilitation intervention, could facilitate the recovery of motor functions in subacute stroke patients. The study has been registered in the Chinese Clinical Trial Registry (registration number: ChiCTR-OCH-12002238).

Leap Motion-based virtual reality training for improving motor functional recovery of upper limbs and neural reorganization in subacute stroke patients

PubMed Central

Wang, Zun-rong; Wang, Ping; Xing, Liang; Mei, Li-ping; Zhao, Jun; Zhang, Tong

2017-01-01

Virtual reality is nowadays used to facilitate motor recovery in stroke patients. Most virtual reality studies have involved chronic stroke patients; however, brain plasticity remains good in acute and subacute patients. Most virtual reality systems are only applicable to the proximal upper limbs (arms) because of the limitations of their capture systems. Nevertheless, the functional recovery of an affected hand is most difficult in the case of hemiparesis rehabilitation after a stroke. The recently developed Leap Motion controller can track the fine movements of both hands and fingers. Therefore, the present study explored the effects of a Leap Motion-based virtual reality system on subacute stroke. Twenty-six subacute stroke patients were assigned to an experimental group that received virtual reality training along with conventional occupational rehabilitation, and a control group that only received conventional rehabilitation. The Wolf motor function test (WMFT) was used to assess the motor function of the affected upper limb; functional magnetic resonance imaging was used to measure the cortical activation. After four weeks of treatment, the motor functions of the affected upper limbs were significantly improved in all the patients, with the improvement in the experimental group being significantly better than in the control group. The action performance time in the WMFT significantly decreased in the experimental group. Furthermore, the activation intensity and the laterality index of the contralateral primary sensorimotor cortex increased in both the experimental and control groups. These results confirmed that Leap Motion-based virtual reality training was a promising and feasible supplementary rehabilitation intervention, could facilitate the recovery of motor functions in subacute stroke patients. The study has been registered in the Chinese Clinical Trial Registry (registration number: ChiCTR-OCH-12002238). PMID:29239328

Contribution from motor unit firing adaptations and muscle co-activation during fatigue.

PubMed

Contessa, Paola; Letizi, John; De Luca, Gianluca; Kline, Joshua C

2018-03-14

The control of motor unit firing behavior during fatigue is still debated in the literature. Most studies agree that the central nervous system increases the excitation to the motoneuron pool to compensate for decreased force contributions of individual motor units and sustain muscle force output during fatigue. However, some studies claim that motor units may decrease their firing rates despite increased excitation, contradicting the direct relationship between firing rates and excitation that governs the voluntary control of motor units. To investigate whether the control of motor units in fact changes with fatigue, we measured motor unit firing behavior during repeated contractions of the first dorsal interosseous (FDI) muscle while concurrently monitoring the activation of surrounding muscles - including the flexor carpi radialis, extensor carpi radialis, and pronator teres. Across all subjects, we observed an overall increase in FDI activation and motor unit firing rates by the end of the fatigue task. However, in some subjects we observed increases in FDI activation and motor unit firing rates only during the initial phase of the fatigue task, followed by subsequent decreases during the late phase of the fatigue task while the co-activation of surrounding muscles increased. These findings indicate that the strategy for sustaining force output may occasionally change leading to increases in the relative activation of surrounding muscles while the excitation to the fatiguing muscle decreases. Importantly, irrespective of changes in the strategy for sustaining force output, the control properties regulating motor unit firing behavior remain unchanged during fatigue.

40 CFR 600.005-81 - Maintenance of records and rights of entry.

Code of Federal Regulations, 2010 CFR

2010-07-01

... (CONTINUED) ENERGY POLICY FUEL ECONOMY AND CARBON-RELATED EXHAUST EMISSIONS OF MOTOR VEHICLES Fuel Economy... applicable: (a) The manufacturer of any new motor vehicle subject to any of the standards or procedures... ensure that the vehicle with respect to its engine, drive train, fuel system, emission control system...

Optics derotator servo control system for SONG Telescope

NASA Astrophysics Data System (ADS)

Xu, Jin; Ren, Changzhi; Ye, Yu

2012-09-01

The Stellar Oscillations Network Group (SONG) is an initiative which aims at designing and building a groundbased network of 1m telescopes dedicated to the study of phenomena occurring in the time domain. Chinese standard node of SONG is an Alt-Az Telescope of F/37 with 1m diameter. Optics derotator control system of SONG telescope adopts the development model of "Industrial Computer + UMAC Motion Controller + Servo Motor".1 Industrial computer is the core processing part of the motion control, motion control card(UMAC) is in charge of the details on the motion control, Servo amplifier accepts the control commands from UMAC, and drives the servo motor. The position feedback information comes from the encoder, to form a closed loop control system. This paper describes in detail hardware design and software design for the optics derotator servo control system. In terms of hardware design, the principle, structure, and control algorithm of servo system based on optics derotator are analyzed and explored. In terms of software design, the paper proposes the architecture of the system software based on Object-Oriented Programming.

SERVOMOTOR CONTROL SYSTEM

DOEpatents

MacNeille, S.M.

1958-12-01

Control systems for automatic positioning of an electric motor operated vapor valve are described which is operable under the severe conditions existing in apparatus for electro-magnetlcally separating isotopes. In general, the system includes a rotor for turning the valve comprising two colls mounted mutually perpendicular to each other and also perpendicular to the magnetic field of the isotope separating apparatus. The coils are furnished with both a-c and d- c current by assoclate control circuitry and a position control is provided for varying the ratlo of the a-c currents in the coils and at the same time, but in an inverse manner, the ratio between the d-c currents in the coils is varied. With the present system the magnitude of the motor torque is constant for all valves of the rotor orientatlon angle.

In-situ Condition Monitoring of Components in Small Modular Reactors Using Process and Electrical Signature Analysis. Final report, volume 1. Development of experimental flow control loop, data analysis and plant monitoring

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

Upadhyaya, Belle; Hines, J. Wesley; Damiano, Brian

The research and development under this project was focused on the following three major objectives: Objective 1: Identification of critical in-vessel SMR components for remote monitoring and development of their low-order dynamic models, along with a simulation model of an integral pressurized water reactor (iPWR). Objective 2: Development of an experimental flow control loop with motor-driven valves and pumps, incorporating data acquisition and on-line monitoring interface. Objective 3: Development of stationary and transient signal processing methods for electrical signatures, machinery vibration, and for characterizing process variables for equipment monitoring. This objective includes the development of a data analysis toolbox. Themore » following is a summary of the technical accomplishments under this project: - A detailed literature review of various SMR types and electrical signature analysis of motor-driven systems was completed. A bibliography of literature is provided at the end of this report. Assistance was provided by ORNL in identifying some key references. - A review of literature on pump-motor modeling and digital signal processing methods was performed. - An existing flow control loop was upgraded with new instrumentation, data acquisition hardware and software. The upgrading of the experimental loop included the installation of a new submersible pump driven by a three-phase induction motor. All the sensors were calibrated before full-scale experimental runs were performed. - MATLAB-Simulink model of a three-phase induction motor and pump system was completed. The model was used to simulate normal operation and fault conditions in the motor-pump system, and to identify changes in the electrical signatures. - A simulation model of an integral PWR (iPWR) was updated and the MATLAB-Simulink model was validated for known transients. The pump-motor model was interfaced with the iPWR model for testing the impact of primary flow perturbations (upsets) on plant parameters and the pump electrical signatures. Additionally, the reactor simulation is being used to generate normal operation data and data with instrumentation faults and process anomalies. A frequency controller was interfaced with the motor power supply in order to vary the electrical supply frequency. The experimental flow control loop was used to generate operational data under varying motor performance characteristics. Coolant leakage events were simulated by varying the bypass loop flow rate. The accuracy of motor power calculation was improved by incorporating the power factor, computed from motor current and voltage in each phase of the induction motor.- A variety of experimental runs were made for steady-state and transient pump operating conditions. Process, vibration, and electrical signatures were measured using a submersible pump with variable supply frequency. High correlation was seen between motor current and pump discharge pressure signal; similar high correlation was exhibited between pump motor power and flow rate. Wide-band analysis indicated high coherence (in the frequency domain) between motor current and vibration signals. - Wide-band operational data from a PWR were acquired from AMS Corporation and used to develop time-series models, and to estimate signal spectrum and sensor time constant. All the data were from different pressure transmitters in the system, including primary and secondary loops. These signals were pre-processed using the wavelet transform for filtering both low-frequency and high-frequency bands. This technique of signal pre-processing provides minimum distortion of the data, and results in a more optimal estimation of time constants of plant sensors using time-series modeling techniques.« less

Differences in Learning Volitional (Manual) and Non-Volitional (Posture) Aspects of a Complex Motor Skill in Young Adult Dyslexic and Skilled Readers

PubMed Central

Sela, Itamar; Karni, Avi

2012-01-01

The ‘Cerebellar Deficit Theory’ of developmental dyslexia proposes that a subtle developmental cerebellar dysfunction leads to deficits in attaining ‘automatic’ procedures and therefore manifests as subtle motor impairments (e.g., balance control, motor skill learning) in addition to the reading and phonological difficulties. A more recent version of the theory suggests a core deficit in motor skill acquisition. This study was undertaken to compare the time-course and the nature of practice-related changes in volitional (manual) and non-volitional (posture) motor performance in dyslexic and typical readers while learning a new movement sequence. Seventeen dyslexic and 26 skilled young adult readers underwent a three-session training program in which they practiced a novel sequence of manual movements while standing in a quiet stance position. Both groups exhibited robust and well-retained gains in speed, with no loss of accuracy, on the volitional, manual, aspects of the task, with a time-course characteristic of procedural learning. However, the dyslexic readers exhibited a pervasive slowness in the initiation of volitional performance. In addition, while typical readers showed clear and well-retained task-related adaptation of the balance and posture control system, the dyslexic readers had significantly larger sway and variance of sway throughout the three sessions and were less efficient in adapting the posture control system to support the acquisition of the novel movement sequence. These results support the notion of a non-language-related deficit in developmental dyslexia, one related to the recruitment of motor systems for effective task performance rather than to a general motor learning disability. PMID:23049736

Reusable Solid Rocket Motor - Accomplishment, Lessons, and a Culture of Success

NASA Technical Reports Server (NTRS)

Moore, D. R.; Phelps, W. J.

2011-01-01

The Reusable Solid Rocket Motor (RSRM) represents the largest solid rocket motor (SRM) ever flown and the only human-rated solid motor. High reliability of the RSRM has been the result of challenges addressed and lessons learned. Advancements have resulted by applying attention to process control, testing, and postflight through timely and thorough communication in dealing with all issues. A structured and disciplined approach was taken to identify and disposition all concerns. Careful consideration and application of alternate opinions was embraced. Focus was placed on process control, ground test programs, and postflight assessment. Process control is mandatory for an SRM, because an acceptance test of the delivered product is not feasible. The RSRM maintained both full-scale and subscale test articles, which enabled continuous improvement of design and evaluation of process control and material behavior. Additionally RSRM reliability was achieved through attention to detail in post flight assessment to observe any shift in performance. The postflight analysis and inspections provided invaluable reliability data as it enables observation of actual flight performance, most of which would not be available if the motors were not recovered. RSRM reusability offered unique opportunities to learn about the hardware. NASA is moving forward with the Space Launch System that incorporates propulsion systems that takes advantage of the heritage Shuttle and Ares solid motor programs. These unique challenges, features of the RSRM, materials and manufacturing issues, and design improvements will be discussed in the paper.

Permanent magnet synchronous motor servo system control based on μC/OS

NASA Astrophysics Data System (ADS)

Shi, Chongyang; Chen, Kele; Chen, Xinglong

2015-10-01

When Opto-Electronic Tracking system operates in complex environments, every subsystem must operate efficiently and stably. As a important part of Opto-Electronic Tracking system, the performance of PMSM(Permanent Magnet Synchronous Motor) servo system affects the Opto-Electronic Tracking system's accuracy and speed greatly[1][2]. This paper applied embedded real-time operating system μC/OS to the control of PMSM servo system, implemented SVPWM(Space Vector Pulse Width Modulation) algorithm in PMSM servo system, optimized the stability of PMSM servo system. Pointing on the characteristics of the Opto-Electronic Tracking system, this paper expanded μC/OS with software redundancy processes, remote debugging and upgrading. As a result, the Opto- Electronic Tracking system performs efficiently and stably.

Design of electric control system for automatic vegetable bundling machine

NASA Astrophysics Data System (ADS)

Bao, Yan

2017-06-01

A design can meet the requirements of automatic bale food structure and has the advantages of simple circuit, and the volume is easy to enhance the electric control system of machine carrying bunch of dishes and low cost. The bundle of vegetable machine should meet the sensor to detect and control, in order to meet the control requirements; binding force can be adjusted by the button to achieve; strapping speed also can be adjusted, by the keys to set; sensors and mechanical line connection, convenient operation; can be directly connected with the plug, the 220V power supply can be connected to a power source; if, can work, by the transmission signal sensor, MCU to control the motor, drive and control procedures for small motor. The working principle of LED control circuit and temperature control circuit is described. The design of electric control system of automatic dish machine.

Controllability of Free-piston Stirling Engine/linear Alternator Driving a Dynamic Load

NASA Technical Reports Server (NTRS)

Kankam, M. David; Rauch, Jeffrey S.

1994-01-01

This paper presents the dynamic behavior of a Free-Piston Stirling Engine/linear alternator (FPSE/LA) driving a single-phase fractional horse-power induction motor. The controllability and dynamic stability of the system are discussed by means of sensitivity effects of variations in system parameters, engine controller, operating conditions, and mechanical loading on the induction motor. The approach used expands on a combined mechanical and thermodynamic formulation employed in a previous paper. The application of state-space technique and frequency domain analysis enhances understanding of the dynamic interactions. Engine-alternator parametric sensitivity studies, similar to those of the previous paper, are summarized. Detailed discussions are provided for parametric variations which relate to the engine controller and system operating conditions. The results suggest that the controllability of a FPSE-based power system is enhanced by proper operating conditions and built-in controls.

Oropharyngeal dysphagia and gross motor skills in children with cerebral palsy.

PubMed

Benfer, Katherine A; Weir, Kelly A; Bell, Kristie L; Ware, Robert S; Davies, Peter S W; Boyd, Roslyn N

2013-05-01

To determine the prevalence of oropharyngeal dysphagia (OPD) and its subtypes (oral phase, pharyngeal phase, saliva control), and their relationship to gross motor functional skills in preschool children with cerebral palsy (CP). It was hypothesized that OPD would be present across all gross motor severity levels, and children with more severe gross motor function would have increased prevalence and severity of OPD. Children with a confirmed diagnosis of CP, 18 to 36 months corrected age, born in Queensland between 2006 and 2009, participated. Children with neurodegenerative conditions were excluded. This was a cross-sectional population-based study. Children were assessed by using 2 direct OPD measures (Schedule for Oral Motor Assessment; Dysphagia Disorders Survey), and observations of signs suggestive of pharyngeal phase impairment and impaired saliva control. Gross motor skills were described by using the Gross Motor Function Measure, Gross Motor Function Classification System (GMFCS), Manual Ability Classification System, and motor type/ distribution. OPD was prevalent in 85% of children with CP, and there was a stepwise relationship between OPD and GMFCS level. There was a significant increase in odds of having OPD, or a subtype, for children who were nonambulant (GMFCS V) compared with those who were ambulant (GMFCS I) (odds ratio = 17.9, P = .036). OPD was present across all levels of gross motor severity using direct assessments. This highlights the need for proactive screening of all young children with CP, even those with mild impairments, to improve growth and nutritional outcomes and respiratory health.

Influence of stimulant medication and response speed on lateralization of movement-related potentials in attention-deficit/hyperactivity disorder.

PubMed

Bender, Stephan; Resch, Franz; Klein, Christoph; Renner, Tobias; Fallgatter, Andreas J; Weisbrod, Matthias; Romanos, Marcel

2012-01-01

Hyperactivity is one of the core symptoms in attention deficit hyperactivity disorder (ADHD). However, it remains unclear in which way the motor system itself and its development are affected by the disorder. Movement-related potentials (MRP) can separate different stages of movement execution, from the programming of a movement to motor post-processing and memory traces. Pre-movement MRP are absent or positive during early childhood and display a developmental increase of negativity. We examined the influences of response-speed, an indicator of the level of attention, and stimulant medication on lateralized MRP in 16 children with combined type ADHD compared to 20 matched healthy controls. We detected a significantly diminished lateralisation of MRP over the pre-motor and primary motor cortex during movement execution (initial motor potential peak, iMP) in patients with ADHD. Fast reactions (indicating increased visuo-motor attention) led to increased lateralized negativity during movement execution only in healthy controls, while in children with ADHD faster reaction times were associated with more positive amplitudes. Even though stimulant medication had some effect on attenuating group differences in lateralized MRP, this effect was insufficient to normalize lateralized iMP amplitudes. A reduced focal (lateralized) motor cortex activation during the command to muscle contraction points towards an immature motor system and a maturation delay of the (pre-) motor cortex in children with ADHD. A delayed maturation of the neuronal circuitry, which involves primary motor cortex, may contribute to ADHD pathophysiology.

Sensorimotor Oscillations Prior to Speech Onset Reflect Altered Motor Networks in Adults Who Stutter

PubMed Central

Mersov, Anna-Maria; Jobst, Cecilia; Cheyne, Douglas O.; De Nil, Luc

2016-01-01

Adults who stutter (AWS) have demonstrated atypical coordination of motor and sensory regions during speech production. Yet little is known of the speech-motor network in AWS in the brief time window preceding audible speech onset. The purpose of the current study was to characterize neural oscillations in the speech-motor network during preparation for and execution of overt speech production in AWS using magnetoencephalography (MEG). Twelve AWS and 12 age-matched controls were presented with 220 words, each word embedded in a carrier phrase. Controls were presented with the same word list as their matched AWS participant. Neural oscillatory activity was localized using minimum-variance beamforming during two time periods of interest: speech preparation (prior to speech onset) and speech execution (following speech onset). Compared to controls, AWS showed stronger beta (15–25 Hz) suppression in the speech preparation stage, followed by stronger beta synchronization in the bilateral mouth motor cortex. AWS also recruited the right mouth motor cortex significantly earlier in the speech preparation stage compared to controls. Exaggerated motor preparation is discussed in the context of reduced coordination in the speech-motor network of AWS. It is further proposed that exaggerated beta synchronization may reflect a more strongly inhibited motor system that requires a stronger beta suppression to disengage prior to speech initiation. These novel findings highlight critical differences in the speech-motor network of AWS that occur prior to speech onset and emphasize the need to investigate further the speech-motor assembly in the stuttering population. PMID:27642279

An Adaptive Supervisory Sliding Fuzzy Cerebellar Model Articulation Controller for Sensorless Vector-Controlled Induction Motor Drive Systems

PubMed Central

Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang

2015-01-01

This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes—the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC—were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes. PMID:25815450

An adaptive supervisory sliding fuzzy cerebellar model articulation controller for sensorless vector-controlled induction motor drive systems.

PubMed

Wang, Shun-Yuan; Tseng, Chwan-Lu; Lin, Shou-Chuang; Chiu, Chun-Jung; Chou, Jen-Hsiang

2015-03-25

This paper presents the implementation of an adaptive supervisory sliding fuzzy cerebellar model articulation controller (FCMAC) in the speed sensorless vector control of an induction motor (IM) drive system. The proposed adaptive supervisory sliding FCMAC comprised a supervisory controller, integral sliding surface, and an adaptive FCMAC. The integral sliding surface was employed to eliminate steady-state errors and enhance the responsiveness of the system. The adaptive FCMAC incorporated an FCMAC with a compensating controller to perform a desired control action. The proposed controller was derived using the Lyapunov approach, which guarantees learning-error convergence. The implementation of three intelligent control schemes--the adaptive supervisory sliding FCMAC, adaptive sliding FCMAC, and adaptive sliding CMAC--were experimentally investigated under various conditions in a realistic sensorless vector-controlled IM drive system. The root mean square error (RMSE) was used as a performance index to evaluate the experimental results of each control scheme. The analysis results indicated that the proposed adaptive supervisory sliding FCMAC substantially improved the system performance compared with the other control schemes.

Design and control of one precise tracking simulation bed for Chinese 20/30 meter optic/infrared telescope

NASA Astrophysics Data System (ADS)

Ren, Changzhi; Li, Xiaoyan; Song, Xiaoli; Niu, Yong; Li, Aihua; Zhang, Zhenchao

2012-09-01

Direct drive technology is the key to solute future 30-m and larger telescope motion system to guarantee a very high tracking accuracy, in spite of unbalanced and sudden loads such as wind gusts and in spite of a structure that, because of its size, can not be infinitely stiff. However, this requires the design and realization of unusually large torque motor that the torque slew rate must be extremely steep too. A conventional torque motor design appears inadequate. This paper explores one redundant unit permanent magnet synchronous motor and its simulation bed for 30-m class telescope. Because its drive system is one high integrated electromechanical system, one complexly electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. This paper discusses the design and control of the precise tracking simulation bed in detail.

Neurofeedback Control of the Human GABAergic System Using Non-invasive Brain Stimulation.

PubMed

Koganemaru, Satoko; Mikami, Yusuke; Maezawa, Hitoshi; Ikeda, Satoshi; Ikoma, Katsunori; Mima, Tatsuya

2018-06-01

Neurofeedback has been a powerful method for self-regulating brain activities to elicit potential ability of human mind. GABA is a major inhibitory neurotransmitter in the central nervous system. Transcranial magnetic stimulation (TMS) is a tool that can evaluate the GABAergic system within the primary motor cortex (M1) using paired-pulse stimuli, short intracortical inhibition (SICI). Herein we investigated whether neurofeedback learning using SICI enabled us to control the GABAergic system within the M1 area. Forty-five healthy subjects were randomly divided into two groups: those receiving SICI neurofeedback learning or those receiving no neurofeedback (control) learning. During both learning periods, subjects made attempts to change the size of a circle, which was altered according to the degree of SICI in the SICI neurofeedback learning group, and which was altered independent of the degree of SICI in the control learning group. Results demonstrated that the SICI neurofeedback learning group showed a significant enhancement in SICI. Moreover, this group showed a significant reduction in choice reaction time compared to the control group. Our findings indicate that humans can intrinsically control the intracortical GABAergic system within M1 and can thus improve motor behaviors by SICI neurofeedback learning. SICI neurofeedback learning is a novel and promising approach to control our neural system and potentially represents a new therapy for patients with abnormal motor symptoms caused by CNS disorders. Copyright © 2018 IBRO. Published by Elsevier Ltd. All rights reserved.

Spacecraft boost and abort guidance and control systems requirement study, boost dynamics and control analysis study. Exhibit A: Boost dynamics and control anlaysis

NASA Technical Reports Server (NTRS)

Williams, F. E.; Price, J. B.; Lemon, R. S.

1972-01-01

The simulation developments for use in dynamics and control analysis during boost from liftoff to orbit insertion are reported. Also included are wind response studies of the NR-GD 161B/B9T delta wing booster/delta wing orbiter configuration, the MSC 036B/280 inch solid rocket motor configuration, the MSC 040A/L0X-propane liquid injection TVC configuration, the MSC 040C/dual solid rocket motor configuration, and the MSC 049/solid rocket motor configuration. All of the latest math models (rigid and flexible body) developed for the MSC/GD Space Shuttle Functional Simulator, are included.

PWM Inverter with Voltage Boosters with Regenerating Capability Augmented by Electric Double-Layer Capacitor

NASA Astrophysics Data System (ADS)

Yamamoto, Kichiro; Imakiire, Akihiro; Iimori, Kenichi

An interior permanent magnet (IPM) motor drive system which has regenerating capability augmented by electric double-layer capacitors (EDLCs) is proposed. In the proposed system, EDLCs are arranged in series with batteries so that a lesser number of the EDLCs and batteries will be required. The proposed system has two bi-directional voltage boosters: one is for both the batteries and EDLCs to control the dc-link voltage of a PWM inverter and the other is for only the EDLCs and is used to control the energy flow from and to the EDLCs. In this paper, a strategy to control the energy flow to and from the EDLCs is explained and its effectiveness is confirmed by simulation and experimental results. Furthermore, the efficiencies of the voltage booster, inverter, PM motor, and whole system are measured for the system with the basic configuration, i.e., which consists of only one bi-directional voltage booster and PWM inverter. Then, the steady-state characteristics are determined. Finally, the efficiency of the voltage boosters in the proposed system is determined, and the advantage of the proposed PM motor drive system is discussed.

Passive Thermal Control for the Low Density Supersonic Decelerator (LDSD) Test Vehicle Spin Motors Sub-System

NASA Technical Reports Server (NTRS)

Redmond, Matthew; Mastropietro, A. J.; Pauken, Michael; Mobley, Brandon

2014-01-01

Future missions to Mars will require improved entry, descent, and landing (EDL) technology over the Viking-heritage systems which recently landed the largest payload to date, the 900 kg Mars Science Laboratory. As a result, NASA's Low Density Supersonic Decelerator (LDSD) project is working to advance the state of the art in Mars EDL systems by developing and testing three key technologies which will enable heavier payloads and higher altitude landing sites on the red planet. These technologies consist of a large 33.5 m diameter Supersonic Disk Sail (SSDS) parachute and two different Supersonic Inflatable Aerodynamic Decelerator (SIAD) devices - a robotic class that inflates to a 6 m diameter torus (SIAD-R), and an exploration class that inflates to an 8 m diameter isotensoid (SIADE). All three technologies will be demonstrated on test vehicles at high earth altitudes in order to simulate the Mars EDL environment. Each vehicle will be carried to altitude by a large helium balloon, released, spun up using spin motors to stabilize the vehicle's trajectory, and accelerated to supersonic speeds using a large solid rocket motor. The vehicle will then be spun down using another set of spin motors, and will deploy either the SIAD-R or SIAD-E, followed by the SSDS parachute until the vehicle lands in the ocean. Component level testing and bounding analysis are used to ensure the survival of system components in extreme thermal environments and predict temperatures throughout the flight. This paper presents a general description of the thermal testing, model correlation, and analysis of the spin motor passive thermal control sub-system to maintain spin motor performance, prescribed vehicle trajectory, and structural integrity of the test vehicle. The spin motor subsystem is predicted to meet its requirements with margin.

Monoaminergic Modulation of Motor Cortex Function

PubMed Central

Vitrac, Clément; Benoit-Marand, Marianne

2017-01-01

Elaboration of appropriate responses to behavioral situations rests on the ability of selecting appropriate motor outcomes in accordance to specific environmental inputs. To this end, the primary motor cortex (M1) is a key structure for the control of voluntary movements and motor skills learning. Subcortical loops regulate the activity of the motor cortex and thus contribute to the selection of appropriate motor plans. Monoamines are key mediators of arousal, attention and motivation. Their firing pattern enables a direct encoding of different states thus promoting or repressing the selection of actions adapted to the behavioral context. Monoaminergic modulation of motor systems has been extensively studied in subcortical circuits. Despite evidence of converging projections of multiple neurotransmitters systems in the motor cortex pointing to a direct modulation of local circuits, their contribution to the execution and learning of motor skills is still poorly understood. Monoaminergic dysregulation leads to impaired plasticity and motor function in several neurological and psychiatric conditions, thus it is critical to better understand how monoamines modulate neural activity in the motor cortex. This review aims to provide an update of our current understanding on the monoaminergic modulation of the motor cortex with an emphasis on motor skill learning and execution under physiological conditions. PMID:29062274

Extended-Kalman-filter-based regenerative and friction blended braking control for electric vehicle equipped with axle motor considering damping and elastic properties of electric powertrain

NASA Astrophysics Data System (ADS)

Lv, Chen; Zhang, Junzhi; Li, Yutong

2014-11-01

Because of the damping and elastic properties of an electrified powertrain, the regenerative brake of an electric vehicle (EV) is very different from a conventional friction brake with respect to the system dynamics. The flexibility of an electric drivetrain would have a negative effect on the blended brake control performance. In this study, models of the powertrain system of an electric car equipped with an axle motor are developed. Based on these models, the transfer characteristics of the motor torque in the driveline and its effect on blended braking control performance are analysed. To further enhance a vehicle's brake performance and energy efficiency, blended braking control algorithms with compensation for the powertrain flexibility are proposed using an extended Kalman filter. These algorithms are simulated under normal deceleration braking. The results show that the brake performance and blended braking control accuracy of the vehicle are significantly enhanced by the newly proposed algorithms.

Modeling Control Strategies and Range Impacts for Electric Vehicle Integrated Thermal Management Systems with MATLAB/Simulink

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

Titov, Gene; Lustbader, Jason Aaron

The National Renewable Energy Laboratory's (NREL's) CoolSim MATLAB/Simulink modeling framework was used to explore control strategies for an electric vehicle combined loop system. Three system variants of increased complexity and efficiency were explored: a glycol-based positive temperature coefficient heater (PTC), PTC with power electronics and electric motor (PEEM) waste heat recovery, and PTC with PEEM waste heat recovery plus heat pump versions. Additionally, the benefit of electric motor preheating was considered. A two-level control strategy was developed where the mode selection and component control were treated separately. Only the parameters typically available by vehicle sensors were used to control themore » system. The control approach included a mode selection algorithm and controllers for the compressor speed, cabin blower flow rate, coolant flow rate, and the front-end heat exchanger coolant bypass rate. The electric motor was bypassed by the cooling circuit until its temperature exceeded the coolant inlet temperature. The impact of these thermal systems on electric vehicle range during warmup was simulated for the Urban Dynamometer Driving Schedule (UDDS) and Highway Fuel Economy Test (HWFET2X) drive cycles weighted 45%/55% respectively. A range of ambient temperatures from -20 degrees C to +20 degrees C was considered. NREL's Future Automotive Systems Technology Simulator (FASTSim) vehicle modeling tool showed up to a 10.9% improvement in range for the full system over the baseline during warmup from cold soak. The full system with preheat showed up to 17% improvement in range.« less

Nonlinear analysis of dynamic signature

NASA Astrophysics Data System (ADS)

Rashidi, S.; Fallah, A.; Towhidkhah, F.

2013-12-01

Signature is a long trained motor skill resulting in well combination of segments like strokes and loops. It is a physical manifestation of complex motor processes. The problem, generally stated, is that how relative simplicity in behavior emerges from considerable complexity of perception-action system that produces behavior within an infinitely variable biomechanical and environmental context. To solve this problem, we present evidences which indicate that motor control dynamic in signing process is a chaotic process. This chaotic dynamic may explain a richer array of time series behavior in motor skill of signature. Nonlinear analysis is a powerful approach and suitable tool which seeks for characterizing dynamical systems through concepts such as fractal dimension and Lyapunov exponent. As a result, they can be analyzed in both horizontal and vertical for time series of position and velocity. We observed from the results that noninteger values for the correlation dimension indicates low dimensional deterministic dynamics. This result could be confirmed by using surrogate data tests. We have also used time series to calculate the largest Lyapunov exponent and obtain a positive value. These results constitute significant evidence that signature data are outcome of chaos in a nonlinear dynamical system of motor control.

Reusable Solid Rocket Motor - Accomplishments, Lessons, and a Culture of Success

NASA Technical Reports Server (NTRS)

Moore, Dennis R.; Phelps, Willie J.

2011-01-01

The Reusable Solid Rocket Motor represents the largest solid rocket motor ever flown and the only human rated solid motor. Each Reusable Solid Rocket Motor (RSRM) provides approximately 3-million lb of thrust to lift the integrated Space Shuttle vehicle from the launch pad. The motors burn out approximately 2 minutes later, separate from the vehicle and are recovered and refurbished. The size of the motor and the need for high reliability were challenges. Thrust shaping, via shaping of the propellant grain, was needed to limit structural loads during ascent. The motor design evolved through several block upgrades to increase performance and to increase safety and reliability. A major redesign occurred after STS-51L with the Redesigned Solid Rocket Motor. Significant improvements in the joint sealing systems were added. Design improvements continued throughout the Program via block changes with a number of innovations including development of low temperature o-ring materials and incorporation of a unique carbon fiber rope thermal barrier material. Recovery of the motors and post flight inspection improved understanding of hardware performance, and led to key design improvements. Because of the multidecade program duration material obsolescence was addressed, and requalification of materials and vendors was sometimes needed. Thermal protection systems and ablatives were used to protect the motor cases and nozzle structures. Significant understanding of design and manufacturing features of the ablatives was developed during the program resulting in optimization of design features and processing parameters. The project advanced technology in eliminating ozone-depleting materials in manufacturing processes and the development of an asbestos-free case insulation. Manufacturing processes for the large motor components were unique and safety in the manufacturing environment was a special concern. Transportation and handling approaches were also needed for the large hardware segments. The reusable solid rocket motor achieved significant reliability via process control, ground test programs, and postflight assessment. Process control is mandatory for a solid rocket motor as an acceptance test of the delivered product is not feasible. Process control included process failure modes and effects analysis, statistical process control, witness panels, and process product integrity audits. Material controls and inspections were maintained throughout the sub tier vendors. Material fingerprinting was employed to assess any drift in delivered material properties. The RSRM maintained both full scale and sub-scale test articles. These enabled continuous improvement of design and evaluation of process control and material behavior. Additionally RSRM reliability was achieved through attention to detail in post flight assessment to observe any shift in performance. The postflight analysis and inspections provided invaluable reliability data as it enables observation of actual flight performance, most of which would not be available if the motors were not recovered. These unique challenges, features of the reusable solid rocket motor, materials and manufacturing issues, and design improvements will be discussed in the paper.

BCI Use and Its Relation to Adaptation in Cortical Networks.

PubMed

Casimo, Kaitlyn; Weaver, Kurt E; Wander, Jeremiah; Ojemann, Jeffrey G

2017-10-01

Brain-computer interfaces (BCIs) carry great potential in the treatment of motor impairments. As a new motor output, BCIs interface with the native motor system, but acquisition of BCI proficiency requires a degree of learning to integrate this new function. In this review, we discuss how BCI designs often take advantage of the brain's motor system infrastructure as sources of command signals. We highlight a growing body of literature examining how this approach leads to changes in activity across cortex, including beyond motor regions, as a result of learning the new skill of BCI control. We discuss the previous research identifying patterns of neural activity associated with BCI skill acquisition and use that closely resembles those associated with learning traditional native motor tasks. We then discuss recent work in animals probing changes in connectivity of the BCI control site, which were linked to BCI skill acquisition, and use this as a foundation for our original work in humans. We present our novel work showing changes in resting state connectivity across cortex following the BCI learning process. We find substantial, heterogeneous changes in connectivity across regions and frequencies, including interactions that do not involve the BCI control site. We conclude from our review and original work that BCI skill acquisition may potentially lead to significant changes in evoked and resting state connectivity across multiple cortical regions. We recommend that future studies of BCIs look beyond motor regions to fully describe the cortical networks involved and long-term adaptations resulting from BCI skill acquisition.

Switching of actin-myosin motors by voltage-induced pH bias in vitro.

PubMed

Hatori, Kuniyuki; Iwase, Takahiro; Wada, Reito

2016-08-01

ATP-driven motor proteins, which function in cell motility and organelle transport, have potential applications as bio-inspired micro-devices; however, their control remains unsatisfactory. Here, we show rapid-velocity control of actin filaments interacting with myosin motors using voltage applied to Pt electrodes in an in vitro motility system, by which immediate increases and decreases in velocity were induced beside the cathode and anode, respectively. Indicator dye revealed pH changes after voltage application, and alternate voltage switching allowed actin filaments to cyclically alter their velocity in response to these changes. This principle provides a basis for on-demand control of not only motor proteins but also pH-sensitive events at a microscopic level. Copyright © 2016 Elsevier Inc. All rights reserved.

Assessment of flywheel energy storage for spacecraft power systems

NASA Technical Reports Server (NTRS)

Rodriguez, G. E.; Studer, P. A.; Baer, D. A.

1983-01-01

The feasibility of inertial energy storage in a spacecraft power system is evaluated on the basis of a conceptual integrated design that encompasses a composite rotor, magnetic suspension, and a permanent magnet (PM) motor/generator for a 3-kW orbital average payload at a bus distribution voltage of 250 volts dc. The conceptual design, which evolved at the Goddard Space Flight Center (GSFC), is referred to as a Mechanical Capacitor. The baseline power system configuration selected is a series system employing peak-power-tracking for a Low Earth-Orbiting application. Power processing, required in the motor/generator, provides a potential alternative configurations that can only be achieved in systems with electrochemical energy storage by the addition of power processing components. One such alternative configuration provides for peak-power-tracking of the solar array and still maintains a regulated bus, without the expense of additional power processing components. Precise speed control of the two counterrotating wheels is required to reduce interaction with the attitude control system (ACS) or alternatively, used to perform attitude control functions. Critical technologies identified are those pertaining to the energy storage element and are prioritized as composite wheel development, magnetic suspension, motor/generator, containment, and momentum control. Comparison with a 3-kW, 250-Vdc power system using either NiCd or NiH2 for energy storage results in a system in which inertial energy storage offers potential advantages in lifetime, operating temperature, voltage regulation, energy density, charge control, and overall system weight reduction.

High speed reaction wheels for satellite attitude control and energy storage

NASA Technical Reports Server (NTRS)

Studer, P.; Rodriguez, E.

1985-01-01

The combination of spacecraft attitude control and energy storage (ACES) functions in common hardware, to synergistically maintain three-axis attitude control while supplying electrical power during earth orbital eclipses, allows the generation of control torques by high rotating speed wheels that react against the spacecraft structure via a high efficiency bidirectional energy conversion motor/generator. An ACES system encompasses a minimum of four wheels, controlling power and the three torque vectors. Attention is given to the realization of such a system with composite flywheel rotors that yield high energy density, magnetic suspension technology yielding low losses at high rotational speeds, and an ironless armature permanent magnet motor/generator yielding high energy conversion efficiency.

40 CFR 63.7290 - What emission limitations must I meet for capture systems and control devices applied to pushing...

Code of Federal Regulations, 2014 CFR

2014-07-01

... to capture emissions; (3) If a mobile scrubber car that does not capture emissions during travel is... each capture system that uses an electric motor to drive the fan, you must maintain the daily average... (ii) For each capture system that does not use a fan driven by an electric motor, you must maintain...

40 CFR 63.7290 - What emission limitations must I meet for capture systems and control devices applied to pushing...

Code of Federal Regulations, 2013 CFR

2013-07-01

... to capture emissions; (3) If a mobile scrubber car that does not capture emissions during travel is... each capture system that uses an electric motor to drive the fan, you must maintain the daily average... (ii) For each capture system that does not use a fan driven by an electric motor, you must maintain...

40 CFR 63.7290 - What emission limitations must I meet for capture systems and control devices applied to pushing...

Code of Federal Regulations, 2012 CFR

2012-07-01

... to capture emissions; (3) If a mobile scrubber car that does not capture emissions during travel is... each capture system that uses an electric motor to drive the fan, you must maintain the daily average... (ii) For each capture system that does not use a fan driven by an electric motor, you must maintain...

40 CFR 63.7290 - What emission limitations must I meet for capture systems and control devices applied to pushing...

Code of Federal Regulations, 2011 CFR

2011-07-01

... to capture emissions; (3) If a mobile scrubber car that does not capture emissions during travel is... each capture system that uses an electric motor to drive the fan, you must maintain the daily average... (ii) For each capture system that does not use a fan driven by an electric motor, you must maintain...

40 CFR 63.7290 - What emission limitations must I meet for capture systems and control devices applied to pushing...

Code of Federal Regulations, 2010 CFR

2010-07-01

... to capture emissions; (3) If a mobile scrubber car that does not capture emissions during travel is... each capture system that uses an electric motor to drive the fan, you must maintain the daily average... (ii) For each capture system that does not use a fan driven by an electric motor, you must maintain...

Automated system for acquisition and image processing for the control and monitoring boned nopal

NASA Astrophysics Data System (ADS)

Luevano, E.; de Posada, E.; Arronte, M.; Ponce, L.; Flores, T.

2013-11-01

This paper describes the design and fabrication of a system for acquisition and image processing to control the removal of thorns nopal vegetable (Opuntia ficus indica) in an automated machine that uses pulses of a laser of Nd: YAG. The areolas, areas where thorns grow on the bark of the Nopal, are located applying segmentation algorithms to the images obtained by a CCD. Once the position of the areolas is known, coordinates are sent to a motors system that controls the laser to interact with all areolas and remove the thorns of the nopal. The electronic system comprises a video decoder, memory for image and software storage, and digital signal processor for system control. The firmware programmed tasks on acquisition, preprocessing, segmentation, recognition and interpretation of the areolas. This system achievement identifying areolas and generating table of coordinates of them, which will be send the motor galvo system that controls the laser for removal

The Application of LOGO! in Control System of a Transmission and Sorting Mechanism

NASA Astrophysics Data System (ADS)

Liu, Jian; Lv, Yuan-Jun

Logic programming of general logic control module LOGO! has been recommended the application in transmission and sorting mechanism. First, the structure and operating principle of the mechanism had been introduced. Then the pneumatic loop of the mechanism had been plotted in the software of FluidSIM-P. At last, pneumatic loop and motors had been control by LOGO!, which makes the control process simple and clear instead of the complicated control of ordinary relay. LOGO! can achieve the complicated interlock control composed of inter relays and time relays. In the control process, the logic control function of LOGO! is fully used to logic programming so that the system realizes the control of air cylinder and motor. It is reliable and adjustable mechanism after application.

Development of Permanent Magnet Synchronous Motor Control System for the Traction Purpose of the Gauge Changing Train

NASA Astrophysics Data System (ADS)

Kondo, Keiichiro; Hata, Hiroshi; Yuki, Kazuaki; Naganuma, Katsunori; Matsuoka, Koichi; Hasebe, Toshio

This paper is aimed at providing the designing method of a permanent magnet synchronous motor (PMSM) control system for the high-speed and the single-phase AC powered Gauge Changing Train (GCT). The state-of-the-art electrical motive unit is equipped with downsized direct drive type PMSMs for the simplified gauge changeable truck. Due to the feeding the AC single phase power, we propose a beat-less control for PMSMs. We verify the development results of designing procedures by the experimental results of operation on a high-speed test line in Colorado, USA.

Neural network control of a parallel hybrid-electric propulsion system for a small unmanned aerial vehicle

NASA Astrophysics Data System (ADS)

Harmon, Frederick G.

2005-11-01

Parallel hybrid-electric propulsion systems would be beneficial for small unmanned aerial vehicles (UAVs) used for military, homeland security, and disaster-monitoring missions. The benefits, due to the hybrid and electric-only modes, include increased time-on-station and greater range as compared to electric-powered UAVs and stealth modes not available with gasoline-powered UAVs. This dissertation contributes to the research fields of small unmanned aerial vehicles, hybrid-electric propulsion system control, and intelligent control. A conceptual design of a small UAV with a parallel hybrid-electric propulsion system is provided. The UAV is intended for intelligence, surveillance, and reconnaissance (ISR) missions. A conceptual design reveals the trade-offs that must be considered to take advantage of the hybrid-electric propulsion system. The resulting hybrid-electric propulsion system is a two-point design that includes an engine primarily sized for cruise speed and an electric motor and battery pack that are primarily sized for a slower endurance speed. The electric motor provides additional power for take-off, climbing, and acceleration and also serves as a generator during charge-sustaining operation or regeneration. The intelligent control of the hybrid-electric propulsion system is based on an instantaneous optimization algorithm that generates a hyper-plane from the nonlinear efficiency maps for the internal combustion engine, electric motor, and lithium-ion battery pack. The hyper-plane incorporates charge-depletion and charge-sustaining strategies. The optimization algorithm is flexible and allows the operator/user to assign relative importance between the use of gasoline, electricity, and recharging depending on the intended mission. A MATLAB/Simulink model was developed to test the control algorithms. The Cerebellar Model Arithmetic Computer (CMAC) associative memory neural network is applied to the control of the UAVs parallel hybrid-electric propulsion system. The CMAC neural network approximates the hyper-plane generated from the instantaneous optimization algorithm and produces torque commands for the internal combustion engine and electric motor. The CMAC neural network controller saves on the required memory as compared to a large look-up table by two orders of magnitude. The CMAC controller also prevents the need to compute a hyper-plane or complex logic every time step.

Composite synchronization of three eccentric rotors driven by induction motors in a vibrating system

NASA Astrophysics Data System (ADS)

Kong, Xiangxi; Chen, Changzheng; Wen, Bangchun

2018-03-01

This paper addresses the problem of composite synchronization of three eccentric rotors (ERs) driven by induction motors in a vibrating system. The composite synchronous motion of three ERs is composed of the controlled synchronous motion of two ERs and the self-synchronous motion of the third ER. Combining an adaptive sliding mode control (ASMC) algorithm with a modified master-slave control structure, the controllers are designed to implement controlled synchronous motion of two ERs with zero phase difference. Based on Lyapunov stability theorem and Barbalat's lemma, the stability of the designed controllers is verified. On basis of controlled synchronization of two ERs, self-synchronization of the third ER is introduced to implement composite synchronous motion of three ERs. The feasibility of the proposed composite synchronization method is analyzed by numerical method. The effects of motor and structure parameters on composite synchronous motion are discussed. Experiments on a vibrating test bench driven by three ERs are operated to validate the effectiveness of the proposed composite synchronization method, including a comparison with self-synchronization method.

Sensored Field Oriented Control of a Robust Induction Motor Drive Using a Novel Boundary Layer Fuzzy Controller

PubMed Central

Saghafinia, Ali; Ping, Hew Wooi; Uddin, Mohammad Nasir

2013-01-01

Physical sensors have a key role in implementation of real-time vector control for an induction motor (IM) drive. This paper presents a novel boundary layer fuzzy controller (NBLFC) based on the boundary layer approach for speed control of an indirect field-oriented control (IFOC) of an induction motor (IM) drive using physical sensors. The boundary layer approach leads to a trade-off between control performances and chattering elimination. For the NBLFC, a fuzzy system is used to adjust the boundary layer thickness to improve the tracking performance and eliminate the chattering problem under small uncertainties. Also, to eliminate the chattering under the possibility of large uncertainties, the integral filter is proposed inside the variable boundary layer. In addition, the stability of the system is analyzed through the Lyapunov stability theorem. The proposed NBLFC based IM drive is implemented in real-time using digital signal processor (DSP) board TI TMS320F28335. The experimental and simulation results show the effectiveness of the proposed NBLFC based IM drive at different operating conditions.

SCI Hazard Report Methodology

NASA Technical Reports Server (NTRS)

Mitchell, Michael S.

2010-01-01

This slide presentation reviews the methodology in creating a Source Control Item (SCI) Hazard Report (HR). The SCI HR provides a system safety risk assessment for the following Ares I Upper Stage Production Contract (USPC) components (1) Pyro Separation Systems (2) Main Propulsion System (3) Reaction and Roll Control Systems (4) Thrust Vector Control System and (5) Ullage Settling Motor System components.

A Cryogenic High-Power-Density Bearingless Motor for Future Electric Propulsion

NASA Technical Reports Server (NTRS)

Choi, Benjamin; Siebert, Mark

2008-01-01

The NASA Glenn Research Center (GRC) is developing a high-power-density switched-reluctance cryogenic motor for all-electric and pollution-free flight. However, cryogenic operation at higher rotational speeds markedly shortens the life of mechanical rolling element bearings. Thus, to demonstrate the practical feasibility of using this motor for future flights, a non-contact rotor-bearing system is a crucial technology to circumvent poor bearing life that ordinarily accompanies cryogenic operation. In this paper, a bearingless motor control technology for a 12-8 (12 poles in the stator and 8 poles in the rotor) switched-reluctance motor operating in liquid nitrogen (boiling point, 77 K (-196 C or -321 F)) was presented. We pushed previous disciplinary limits of electromagnetic controller technique by extending the state-of-the-art bearingless motor operating at liquid nitrogen for high-specific-power applications. The motor was levitated even in its nonlinear region of magnetic saturation, which is believed to be a world first for the motor type. Also we used only motoring coils to generate motoring torque and levitation force, which is an important feature for developing a high specific power motor.

Increased sensorimotor network activity in DYT1 dystonia: a functional imaging study

PubMed Central

Argyelan, Miklos; Habeck, Christian; Ghilardi, M. Felice; Fitzpatrick, Toni; Dhawan, Vijay; Pourfar, Michael; Bressman, Susan B.; Eidelberg, David

2010-01-01

Neurophysiological studies have provided evidence of primary motor cortex hyperexcitability in primary dystonia, but several functional imaging studies suggest otherwise. To address this issue, we measured sensorimotor activation at both the regional and network levels in carriers of the DYT1 dystonia mutation and in control subjects. We used 15Oxygen-labelled water and positron emission tomography to scan nine manifesting DYT1 carriers, 10 non-manifesting DYT1 carriers and 12 age-matched controls while they performed a kinematically controlled motor task; they were also scanned in a non-motor audio-visual control condition. Within- and between-group contrasts were analysed with statistical parametric mapping. For network analysis, we first identified a normal motor-related activation pattern in a set of 39 motor and audio-visual scans acquired in an independent cohort of 18 healthy volunteer subjects. The expression of this pattern was prospectively quantified in the motor and control scans acquired in each of the gene carriers and controls. Network values for the three groups were compared with ANOVA and post hoc contrasts. Voxel-wise comparison of DYT1 carriers and controls revealed abnormally increased motor activation responses in the former group (P < 0.05, corrected; statistical parametric mapping), localized to the sensorimotor cortex, dorsal premotor cortex, supplementary motor area and the inferior parietal cortex. Network analysis of the normative derivation cohort revealed a significant normal motor-related activation pattern topography (P < 0.0001) characterized by covarying neural activity in the sensorimotor cortex, dorsal premotor cortex, supplementary motor area and cerebellum. In the study cohort, normal motor-related activation pattern expression measured during movement was abnormally elevated in the manifesting gene carriers (P < 0.001) but not in their non-manifesting counterparts. In contrast, in the non-motor control condition, abnormal increases in network activity were present in both groups of gene carriers (P < 0.001). In this condition, normal motor-related activation pattern expression in non-manifesting carriers was greater than in controls, but lower than in affected carriers. In the latter group, measures of normal motor-related activation pattern expression in the audio-visual condition correlated with independent dystonia clinical ratings (r = 0.70, P = 0.04). These findings confirm that overexcitability of the sensorimotor system is a robust feature of dystonia. The presence of elevated normal motor-related activation pattern expression in the non-motor condition suggests that abnormal integration of audio-visual input with sensorimotor network activity is an important trait feature of this disorder. Lastly, quantification of normal motor-related activation pattern expression in individual cases may have utility as an objective descriptor of therapeutic response in trials of new treatments for dystonia and related disorders. PMID:20207699

Testing of Lightweight Fuel Cell Vehicles System at Low Speeds with Energy Efficiency Analysis

NASA Astrophysics Data System (ADS)

Mustaffa, Muhammad Rizuwan B.; Mohamed, Wan Ahmad Najmi B. Wan

2013-12-01

A fuel cell vehicle power train mini test bench was developed which consists of a 1 kW open cathode hydrogen fuel cell, electric motor, wheel, gearing system, DC/DC converter and vehicle control system (VCS). Energy efficiency identification and energy flow evaluation is a useful tool in identifying a detail performance of each component and sub-systems in a fuel cell vehicle system configuration. Three artificial traction loads was simulated at 30 kg, 40 kg and 50 kg force on a single wheel drive configuration. The wheel speed range reported here covers from idle to 16 km/h (low speed range) as a preliminary input in the research work frame. The test result shows that the system efficiency is 84.5 percent when the energy flow is considered from the fuel cell to the wheel and 279 watts of electrical power was produced by the fuel cell during that time. Dynamic system responses was also identified as the load increases beyond the motor traction capabilities where the losses at the converter and motor controller increased significantly as it tries to meet the motor traction power demands. This work is currently being further expanded within the work frame of developing a road-worthy fuel cell vehicle.

Multimodal sensorimotor system in unicellular zoospores of a fungus.

PubMed

Swafford, Andrew J M; Oakley, Todd H

2018-01-19

Complex sensory systems often underlie critical behaviors, including avoiding predators and locating prey, mates and shelter. Multisensory systems that control motor behavior even appear in unicellular eukaryotes, such as Chlamydomonas , which are important laboratory models for sensory biology. However, we know of no unicellular opisthokonts that control motor behavior using a multimodal sensory system. Therefore, existing single-celled models for multimodal sensorimotor integration are very distantly related to animals. Here, we describe a multisensory system that controls the motor function of unicellular fungal zoospores. We found that zoospores of Allomyces arbusculus exhibit both phototaxis and chemotaxis. Furthermore, we report that closely related Allomyces species respond to either the chemical or the light stimuli presented in this study, not both, and likely do not share this multisensory system. This diversity of sensory systems within Allomyces provides a rare example of a comparative framework that can be used to examine the evolution of sensory systems following the gain/loss of available sensory modalities. The tractability of Allomyces and related fungi as laboratory organisms will facilitate detailed mechanistic investigations into the genetic underpinnings of novel photosensory systems, and how multisensory systems may have functioned in early opisthokonts before multicellularity allowed for the evolution of specialized cell types. © 2018. Published by The Company of Biologists Ltd.

Experience-dependent development of spinal motor neurons

NASA Technical Reports Server (NTRS)

Inglis, F. M.; Zuckerman, K. E.; Kalb, R. G.; Walton, K. D. (Principal Investigator)

2000-01-01

Locomotor activity in many species undergoes pronounced alterations in early postnatal life, and environmental cues may be responsible for modifying this process. To determine how these events are reflected in the nervous system, we studied rats reared under two different conditions-the presence or absence of gravity-in which the performance of motor operations differed. We found a significant effect of rearing environment on the size and complexity of dendritic architecture of spinal motor neurons, particularly those that are likely to participate in postural control. These results provide evidence that neurons subserving motor function undergo activity-dependent maturation in early postnatal life in a manner analogous to sensory systems.

A New Type Hi-Speed BLDC Control System Base on Indirect Current Control Strategy

NASA Astrophysics Data System (ADS)

Wang, D. P.; Wang, Y. C.; Zhang, F. G.; Jin, S.

2017-05-01

High speed BLDC has the characteristic as larger air gap smaller armature inductance, traditional PWM modulation will produce a great number of high frequency current harmonics which led problem like large torque ripple and serious motor heat. In the meantime traditional PWM modulation use the diode rectifier which cause harmonic pollution in electric power net. To solve the problem above, proposes a new motor controller topology. Using the IGBT device to replace the diode on frequency converter rectifier side, apply the power factor correction technology, reduce the pollution on the grid. Using busbar current modulation on the inverter, driving bridge-arm use 3-phase 6-state open as driving Mode, realize the control on a 10000r/min,10kw BLDC. The results of Simulation on matlab show the topological structure as proposed can effectively improve the network side power factor and reduce the motor armature winding harmonic and motor torque ripple.

Speed control of an induction motor by 6-switched 3-level inverter

NASA Astrophysics Data System (ADS)

Saygin, Ali; Kerem, Alper

2017-12-01

This paper presents speed control analysis of an induction motor by a 6-switched 3-level inverter. In the analysis of topology, the study used the field oriented control technique which is widely used in the literature, easy and stable for operating systems. The field weaking technique was used for speeds exceeding nominal speed to reduce magnetic saturation and thermal losses. At the end of the process, it was observed to increase motor torque and inverter efficiency. Instead of using 12 switches in conventional 3-level inverters, 6 switches are used in this topology. Reduced number of switches is the greatest contribution of this study.

Motor cortex electrical stimulation augments sprouting of the corticospinal tract and promotes recovery of motor function

PubMed Central

Carmel, Jason B.; Martin, John H.

2014-01-01

The corticospinal system—with its direct spinal pathway, the corticospinal tract (CST) – is the primary system for controlling voluntary movement. Our approach to CST repair after injury in mature animals was informed by our finding that activity drives establishment of connections with spinal cord circuits during postnatal development. After incomplete injury in maturity, spared CST circuits sprout, and partially restore lost function. Our approach harnesses activity to augment this injury-dependent CST sprouting and to promote function. Lesion of the medullary pyramid unilaterally eliminates all CST axons from one hemisphere and allows examination of CST sprouting from the unaffected hemisphere. We discovered that 10 days of electrical stimulation of either the spared CST or motor cortex induces CST axon sprouting that partially reconstructs the lost CST. Stimulation also leads to sprouting of the cortical projection to the magnocellular red nucleus, where the rubrospinal tract originates. Coordinated outgrowth of the CST and cortical projections to the red nucleus could support partial re-establishment of motor systems connections to the denervated spinal motor circuits. Stimulation restores skilled motor function in our animal model. Lesioned animals have a persistent forelimb deficit contralateral to pyramidotomy in the horizontal ladder task. Rats that received motor cortex stimulation either after acute or chronic injury showed a significant functional improvement that brought error rate to pre-lesion control levels. Reversible inactivation of the stimulated motor cortex reinstated the impairment demonstrating the importance of the stimulated system to recovery. Motor cortex electrical stimulation is an effective approach to promote spouting of spared CST axons. By optimizing activity-dependent sprouting in animals, we could have an approach that can be translated to the human for evaluation with minimal delay. PMID:24994971

Crash Fatality Rates After Recreational Marijuana Legalization in Washington and Colorado.

PubMed

Aydelotte, Jayson D; Brown, Lawrence H; Luftman, Kevin M; Mardock, Alexandra L; Teixeira, Pedro G R; Coopwood, Ben; Brown, Carlos V R

2017-08-01

To evaluate motor vehicle crash fatality rates in the first 2 states with recreational marijuana legalization and compare them with motor vehicle crash fatality rates in similar states without recreational marijuana legalization. We used the US Fatality Analysis Reporting System to determine the annual numbers of motor vehicle crash fatalities between 2009 and 2015 in Washington, Colorado, and 8 control states. We compared year-over-year changes in motor vehicle crash fatality rates (per billion vehicle miles traveled) before and after recreational marijuana legalization with a difference-in-differences approach that controlled for underlying time trends and state-specific population, economic, and traffic characteristics. Pre-recreational marijuana legalization annual changes in motor vehicle crash fatality rates for Washington and Colorado were similar to those for the control states. Post-recreational marijuana legalization changes in motor vehicle crash fatality rates for Washington and Colorado also did not significantly differ from those for the control states (adjusted difference-in-differences coefficient = +0.2 fatalities/billion vehicle miles traveled; 95% confidence interval = -0.4, +0.9). Three years after recreational marijuana legalization, changes in motor vehicle crash fatality rates for Washington and Colorado were not statistically different from those in similar states without recreational marijuana legalization. Future studies over a longer time remain warranted.

Fine motor skills in adult Tourette patients are task-dependent.

PubMed

Neuner, Irene; Arrubla, Jorge; Ehlen, Corinna; Janouschek, Hildegard; Nordt, Carlos; Fimm, Bruno; Schneider, Frank; Shah, N Jon; Kawohl, Wolfram

2012-10-11

Tourette syndrome is a neuropsychiatric disorder characterized by motor and phonic tics. Deficient motor inhibition underlying tics is one of the main hypotheses in its pathophysiology. Therefore the question arises whether this supposed deficient motor inhibition affects also voluntary movements. Despite severe motor tics, different personalities who suffer from Tourette perform successfully as neurosurgeon, pilot or professional basketball player. For the investigation of fine motor skills we conducted a motor performance test battery in an adult Tourette sample and an age matched group of healthy controls. The Tourette patients showed a significant lower performance in the categories steadiness of both hands and aiming of the right hand in comparison to the healthy controls. A comparison of patients' subgroup without comorbidities or medication and healthy controls revealed a significant difference in the category steadiness of the right hand. Our results show that steadiness and visuomotor integration of fine motor skills are altered in our adult sample but not precision and speed of movements. This alteration pattern might be the clinical vignette of complex adaptations in the excitability of the motor system on the basis of altered cortical and subcortical components. The structurally and functionally altered neuronal components could encompass orbitofrontal, ventrolateral prefrontal and parietal cortices, the anterior cingulate, amygdala, primary motor and sensorimotor areas including altered corticospinal projections, the corpus callosum and the basal ganglia.

Motor System Upgrades Smooth the Way to Savings of $700,000 at Chevron Refinery

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

None

1999-01-01

By upgrading its motor systems at its Richmond, California refinery, Chevron was able to realize cost savings of more than $700,000 per year, in addition to reduced energy consumption of approximately 1 million kilowatts per month and improved equipment reliability and process control. This fact sheet tells how they did it.

Design of a wheeled articulating land rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Mathew; Yandle, Barbara

1994-01-01

The WALRUS is a wheeled articulating land rover that will provide Ames Research Center with a reliable, autonomous vehicle for demonstrating and evaluating advanced technologies. The vehicle is one component of the Ames Research Center's on-going Human Exploration Demonstration Project. Ames Research Center requested a system capable of traversing a broad spectrum of surface types and obstacles. In addition, this vehicle must have an autonomous navigation and control system on board and its own source of power. The resulting design is a rover that articulates in two planes of motion to allow for increased mobility and stability. The rover is driven by six conical shaped aluminum wheels, each with an independent, internally coupled motor. Mounted on the rover are two housings and a removable remote control system. In the housings, the motor controller board, tilt sensor, navigation circuitry, and QED board are mounted. Finally, the rover's motors and electronics are powered by thirty C-cell rechargeable batteries, which are located in the rover wheels and recharged by a specially designed battery charger.